JP6915109B2 - Unmanned aircraft, methods and programs - Google Patents

Description

The present disclosure relates to unmanned aircraft flying by remote control and methods and programs for controlling the flight of unmanned aircraft flying by remote control.

In recent years, small unmanned aircraft that are remotely controlled by a remote controller have become widespread. This unmanned vehicle is equipped with a plurality of propellers, and can fly freely in the air by controlling the rotation speed of each of the plurality of propellers.

As described above, since an unmanned air vehicle can fly freely in the air, regulations regarding the flight of various unmanned air vehicles are being studied.

For example, in Patent Document 1, when a designation of a movement permission area of a model device is received and a command for moving the model device is received, does the model device leave the movement permission area by the command based on the position of the model device? Disclosure of a controller that determines whether or not, sends a command to the model device via the communication interface when the model device does not leave the movement permission area, and does not send a command to the model device when the model device leaves the movement permission area. Has been done.

Regulations are also under consideration to prohibit the flight of unmanned vehicles at night and allow them to fly only during the day.

International Publication No. 2012/096282

However, for example, if the unmanned aircraft is allowed to fly until the sunset time, even if the operator instructs the unmanned aircraft to return before the sunset time, depending on the position of the unmanned aircraft at the time of the instruction. It may not be possible to return to the position where the operator is by the sunset time.

This disclosure is made to solve the above problems, and is an unmanned vehicle, a method and a program capable of returning an unmanned vehicle by the end time of the time zone in which the flight of the unmanned vehicle is permitted. Is intended to provide.

The unmanned air vehicle according to one aspect of the present disclosure is an unmanned air vehicle, and the unmanned air vehicle drives a control unit that controls the operation of the unmanned air vehicle and a propulsion device that flies the unmanned air vehicle. The control unit includes a drive unit, a position measurement unit that acquires the current position of the unmanned aircraft, and a storage unit that stores a time zone in which the unmanned flight is permitted to fly, and the control unit is the unmanned flight. The flight range of the unmanned aviation is determined according to the time from the end time of the time zone in which the body is allowed to fly to the current time, and the unmanned aviation is based on the current position of the unmanned aviation. Determines whether or not is within the flightable range.

According to the present disclosure, the flight range of an unmanned vehicle is determined according to the time from the end time of the time zone in which the flight of the unmanned vehicle is permitted to the current time, so that the flight of the unmanned vehicle can be performed. Unmanned aircraft can be returned by the end time of the permitted time zone.

It is a figure which shows the structure of the flight control system in Embodiment 1 of this disclosure. It is an overall view which shows an example of the unmanned flying body in Embodiment 1 of this disclosure. It is a block diagram which shows the structure of the unmanned flying body in Embodiment 1 of this disclosure. It is a figure which shows an example of the flight possible range table in this Embodiment 1. It is a block diagram which shows the structure of the control device in Embodiment 1 of this disclosure. It is a flowchart for demonstrating the flight control processing of an unmanned vehicle in Embodiment 1 of this disclosure. It is a schematic diagram for demonstrating the reduction of the flight range in Embodiment 1. It is a figure which shows the structure of the flight control system in Embodiment 2 of this disclosure. It is a block diagram which shows the structure of the unmanned flying body in Embodiment 2 of this disclosure. It is a block diagram which shows the structure of the communication terminal in Embodiment 2 of this disclosure. It is a flowchart for demonstrating the division notice processing of an unmanned aircraft in Embodiment 2 of this disclosure. It is a 1st flowchart for demonstrating the flight control processing of an unmanned vehicle in Embodiment 2 of this disclosure. It is a 2nd flowchart for demonstrating the flight control processing of an unmanned vehicle in Embodiment 2 of this disclosure. It is a 3rd flowchart for demonstrating the flight control processing of an unmanned vehicle in Embodiment 2 of this disclosure. It is a schematic diagram for demonstrating the division between the 1st flight range and the 2nd flight range in Embodiment 2. It is a schematic diagram for demonstrating the division between the first flight range, the second flight range, and the third flight range in the second embodiment. It is a schematic diagram for demonstrating the overlap of the 1st flight range, the 2nd flight range, and the 3rd flight range in Embodiment 2. In the second embodiment, it is a schematic diagram for demonstrating the process of moving an unmanned vehicle to the widest flight range among a plurality of divided flight ranges. It is a block diagram which shows the structure of the unmanned flying body in the modification of Embodiment 2 of this disclosure.

(Knowledge on which this disclosure was based)
As mentioned above, conventional unmanned air vehicles may not be able to return by the end time of the time zone in which unmanned air vehicles are allowed to fly.

In order to solve such a problem, the unmanned air vehicle according to one aspect of the present disclosure is an unmanned air vehicle that flies by remote control, and the unmanned air vehicle is a control unit that controls the operation of the unmanned air vehicle. A communication unit that communicates with a controller used for remote control of the unmanned aircraft, a drive unit that drives a propulsion unit that flies the unmanned aircraft, and a position for acquiring the current position of the unmanned aircraft. The control unit includes a measurement unit and a storage unit that stores the current position of the pilot, depending on the time from the end time of the time zone in which the unmanned aircraft is permitted to fly to the current time. Determines the flight range of the unmanned aviation and whether the unmanned aviation is within the flight range based on the distance between the current position of the unmanned aviation and the current position of the pilot. Judge whether or not.

According to this configuration, the flight range of the unmanned aviation is determined according to the time from the end time of the time zone in which the unmanned aviation is permitted to fly to the current time, and the current position and maneuver of the unmanned aviation are determined. Based on the distance from the current position of the vessel, it is determined whether or not the unmanned aircraft is within the flight range.

Therefore, the flight range of the unmanned vehicle is determined according to the time from the end time of the time zone in which the flight of the unmanned vehicle is permitted to the current time, so that the flight of the unmanned vehicle is permitted. The unmanned aircraft can be returned by the end time of the time zone.

Further, in the above-mentioned unmanned vehicle, the control unit may sequentially reduce the flightable range at predetermined time intervals.

According to this configuration, since the flight range is sequentially reduced at predetermined time intervals, the unmanned aircraft can be reliably returned by the end time of the time zone in which the unmanned aircraft is permitted to fly.

Further, in the above-mentioned unmanned aircraft, the control unit may automatically move the unmanned aircraft toward the pilot when it is determined that the unmanned aircraft exists outside the flightable range. good.

According to this configuration, when it is determined that the unmanned aircraft is out of the flight range, the unmanned aircraft is automatically moved toward the pilot, so that the unmanned aircraft is automatically moved within the flight range. Can be moved.

Further, in the above-mentioned unmanned aircraft, when it is determined that the unmanned aircraft exists outside the flightable range, the control unit does not have to accept operations other than the operation toward the controller.

According to this configuration, when it is determined that the unmanned aircraft is out of the flight range, operations other than maneuvering toward the pilot are not accepted, so that the unmanned aircraft can be guided within the flight range. ..

Further, in the unmanned vehicle, the control unit may notify the pilot that the flight range is determined before the time when the flight range is determined.

According to this configuration, the pilot is notified that the flight range is determined before the time when the flight range is determined, so that the operator is notified in advance that the flight range is determined. It is possible to urge the operator to move the unmanned aircraft within the flight range before the time when the flight range is determined.

Further, in the above-mentioned unmanned aircraft, the flightable range includes the first flightable range determined based on the position of the pilot and the position of the communication terminal held by the observer who monitors the unmanned aircraft. The control unit includes the second flightable range determined with reference to the above, and the control unit determines the first flight according to the time from the end time of the time zone in which the unmanned aircraft is permitted to fly to the current time. The flight range of the above and the second flight range may be determined.

According to this configuration, the flight range is determined based on the first flight range determined based on the position of the pilot and the position of the communication terminal operated by the observer who monitors the unmanned vehicle. Includes 2 flight ranges. Then, the first flight range and the second flight range are determined according to the time from the end time of the time zone in which the unmanned aircraft is permitted to fly to the current time.

Therefore, if there is an observer who monitors the unmanned aircraft separately from the operator, the second flight range, which is determined based on the position of the communication terminal operated by the observer, is determined based on the position of the pilot. It is possible to return the unmanned aircraft to either the pilot or the communication terminal by the end time of the time zone in which the unmanned aircraft is allowed to fly, as it is determined together with the first flight range. can.

Further, in the unmanned aircraft, the control unit controls the unmanned aircraft to perform the first flight range before the time when the first flight range and the second flight range are determined. And if it is estimated whether or not it exists outside the second flight range, and it is estimated that the unmanned aircraft exists outside the first flight range and the second flight range. The pilot or the communication terminal may be notified of guidance information for guiding the unmanned aircraft to move within the first flight range and the second flight range.

According to this configuration, the unmanned air vehicle is outside the first flight range and the second flight range before the time when the first flight range and the second flight range are determined. It is estimated whether or not. Then, when it is estimated that the unmanned aircraft exists outside the first flight range and the second flight range, the unmanned aircraft is placed within the first flight range or within the second flight range. Guidance information for guiding the flight to the flight is notified to the pilot or the communication terminal.

Therefore, before the time when the first flight range and the second flight range are determined, the unmanned aircraft should be moved to either the first flight range or the second flight range. Can be done.

Further, in the unmanned aircraft, the control unit may change the notification time for notifying the guidance information according to the distance between the pilot and the unmanned aircraft.

According to this configuration, the notification time for notifying the guidance information is changed according to the distance between the pilot and the unmanned aircraft. Therefore, for example, as the distance between the pilot and the unmanned aircraft increases, the notification time is changed. By advancing the notification time of the guidance information, the unmanned aircraft can be reliably returned to the location of the pilot.

Further, in the unmanned aircraft, when the first flight range and the second flight range are determined, the aircraft moves to either the first flight range or the second flight range. The movement range information indicating whether or not to fly is stored in advance in the storage unit, and the control unit receives the unmanned flying object when the first flight range and the second flight range are actually determined. Does not exist in either the first flightable range and the second flightable range represented by the movement range information, the first flightable range represented by the movement range information and the first flightable range. The unmanned air vehicle may be automatically moved towards any of the two flight ranges.

According to this configuration, when the first flight range and the second flight range are determined, the movement range information indicating whether to move to the first flight range or the second flight range is determined. Is stored in the storage unit in advance. Then, when the first flight range and the second flight range are actually determined, either the first flight range or the second flight range represented by the movement range information of the unmanned vehicle If it does not exist, the unmanned aircraft is automatically moved toward either the first flight range or the second flight range represented by the movement range information.

Therefore, when the first flight range and the second flight range are determined, it is possible to determine in advance whether to move to the first flight range or the second flight range, which is determined in advance. The unmanned aircraft can be automatically returned to the location.

Further, in the unmanned vehicle, even if the control unit reduces only one of the first flight range and the second flight range represented by the movement range information at predetermined time intervals. good.

According to this configuration, only one of the first flight range and the second flight range represented by the movement range information is reduced at predetermined time intervals, so that the first flight range and the second flight range can be reduced. It is possible to prevent unnecessary processing such as reducing the undetermined one of the flight range.

Further, in the unmanned aircraft, when the control unit determines the first flight range and the second flight range, the unmanned vehicle determines the first flight range and the first flight range and the second flight range. If it is determined that the aircraft is outside the second flight range, the unmanned aircraft may be automatically moved toward the pilot and the communication terminal, whichever is closer.

According to this configuration, when the first flight range and the second flight range are determined, it is determined that the unmanned vehicle is outside the first flight range and the second flight range. If so, the unmanned aircraft is automatically moved toward whichever of the pilot and the communication terminal is closer.

Therefore, when the first flight range and the second flight range are determined, if it is determined that the unmanned aircraft is outside the first flight range and the second flight range, maneuvering The unmanned aircraft can be reliably moved to either the vessel or the communication terminal.

Further, in the unmanned aircraft, when the first flight range and the second flight range are determined, the aircraft moves to either the first flight range or the second flight range. The movement range information indicating whether or not to fly is stored in advance in the storage unit, and the control unit receives the unmanned flying object when the first flight range and the second flight range are actually determined. If it is determined that the aircraft exists in a range different from the range represented by the movement range information, the unmanned air vehicle currently exists in the first flight range and the second flight range. The unmanned air vehicle may be controlled to fly within the range in which it is flying.

According to this configuration, when the first flight range and the second flight range are determined, the movement range information indicating whether to move to the first flight range or the second flight range is determined. Is stored in the storage unit in advance. Then, when the first flight range and the second flight range are actually determined, it is determined that the unmanned vehicle exists in a range different from the range represented by the movement range information. , The unmanned aircraft is controlled to fly within the range in which the unmanned aircraft currently exists in the first flight range and the second flight range.

Therefore, when the first flight range and the second flight range are determined, it is a case where it is decided in advance whether to move to the first flight range or the second flight range. Even if the unmanned aircraft is controlled to fly within the range in which the unmanned aircraft currently exists in the first flight range and the second flight range, the maneuvering is performed by the end time. The unmanned aircraft can be reliably moved to the location where either the vessel or the communication terminal is present.

The flight control method according to another aspect of the present disclosure is a flight control method for controlling the flight of an unmanned flying object flying by remote control, and includes a controller used for remote control of the unmanned flying object and various information. Communicate to obtain the current position of the unmanned vehicle, and determine the flight range of the unmanned vehicle according to the time from the end time of the time zone in which the unmanned vehicle is permitted to fly to the current time. It is determined and it is determined whether or not the unmanned aircraft is within the flightable range based on the distance between the current position of the unmanned aircraft and the current position of the pilot.

According to this configuration, the current time is acquired, and the flight range of the unmanned aviation is determined according to the time from the end time of the time zone in which the unmanned aviation is permitted to fly to the current time, and the unmanned flight is unmanned. Based on the distance between the current position of the body and the current position of the pilot, it is determined whether or not the unmanned aircraft is within the flight range.

Therefore, the flight range of the unmanned vehicle is determined according to the time from the end time of the time zone in which the flight of the unmanned vehicle is permitted to the current time, so that the flight of the unmanned vehicle is permitted. The unmanned aircraft can be returned by the end time of the time zone.

The basic flight program according to another aspect of the present disclosure is a basic flight program that controls the flight of an unmanned aircraft flying by remote control, and a computer is used during a time period during which the unmanned aircraft is permitted to fly. A flight range changing unit that determines the flight range of the unmanned vehicle according to the time from the end time to the current time, and a control used for remote control of the current position of the unmanned vehicle and the remote control of the unmanned vehicle. It functions as a flight control unit that determines whether or not the unmanned flying object is within the flightable range based on the distance from the current position of the vessel.

According to this configuration, the current time is acquired, and the flight range of the unmanned aviation is determined according to the time from the end time of the time zone in which the unmanned aviation is permitted to fly to the current time, and the unmanned flight is unmanned. Based on the distance between the current position of the body and the current position of the controller used for remote control of the unmanned aircraft, it is determined whether the unmanned aircraft is within the flight range.

Therefore, the flight range of the unmanned vehicle is determined according to the time from the end time of the time zone in which the flight of the unmanned vehicle is permitted to the current time, so that the flight of the unmanned vehicle is permitted. The unmanned aircraft can be returned by the end time of the time zone.

The forced movement program according to another aspect of the present disclosure is a forced movement program for forcibly controlling the flight of an unmanned vehicle flying by remote control, and the computer is permitted to fly the unmanned vehicle. Used for the flight range change unit that determines the flight range of the unmanned aircraft according to the time from the end time of the time zone to the current time, the current position of the unmanned aircraft, and the remote control of the unmanned aircraft. A flight control unit that determines whether or not the unmanned aircraft is within the flightable range based on the distance between the current position of the pilot and the flight control unit, and the unmanned aircraft in the flight control unit. Is determined to be outside the flightable range, the unmanned aircraft is made to function as a forced movement control unit that automatically moves toward the pilot.

According to this configuration, the flight range of the unmanned vehicle is determined according to the time from the end time of the time zone in which the flight of the unmanned vehicle is permitted to the current time. Based on the distance between the current position of the unmanned vehicle and the current position of the controller used for remote control of the unmanned vehicle, it is determined whether or not the unmanned vehicle is within the flight range. If it is determined that the unmanned aircraft is out of the flight range, the unmanned aircraft is automatically moved toward the pilot.

Therefore, if it is determined that the unmanned aircraft is out of the flight range, the unmanned aircraft is automatically moved toward the pilot, so that the unmanned aircraft can be automatically moved within the flight range. can.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The following embodiments are examples that embody the present disclosure, and do not limit the technical scope of the present disclosure.

(Embodiment 1)
FIG. 1 is a diagram showing a configuration of a flight control system according to the first embodiment of the present disclosure. The flight control system shown in FIG. 1 includes an unmanned aircraft body 10 and a pilot 20.

The controller 20 is operated by the operator 1 to remotely control the unmanned aircraft 10. The pilot 20 transmits an operation command for operating the unmanned aircraft 10 by radio, for example.

The unmanned vehicle 10 flies by remote control. The unmanned aircraft 10 receives an operation command from the controller 20 and flies based on the received operation command.

FIG. 2 is an overall view showing an example of an unmanned aircraft according to the first embodiment of the present disclosure. FIG. 3 is a block diagram showing a configuration of an unmanned aircraft according to the first embodiment of the present disclosure.

As shown in FIG. 2, the unmanned vehicle 10 includes at least various sensors 1001 and a propulsion device 1002. Further, inside the unmanned flying object 10, a time measuring unit 101, a position measuring unit 102, a driving unit 103, a first communication unit 104, a second communication unit 105, a battery 106, a control unit 107, and a storage unit 108 are housed. ing.

The various sensors 1001 are, for example, an image sensor or a motion sensor, and can be freely mounted according to the purpose of use of the unmanned flying object 10.

The propeller 1002 includes a propeller for obtaining lift, thrust, and torque for flying the unmanned vehicle 10, and a motor for rotating the propeller. In the example of FIG. 2, the unmanned vehicle 10 has four propulsion units 1002, but the number of propulsion units 1002 may be, for example, five or more.

The unmanned aircraft 10 shown in FIG. 3 includes a time measuring unit 101, a position measuring unit 102, a driving unit 103, a first communication unit 104, a second communication unit 105, a battery 106, a control unit 107, and a storage unit 108.

The time measurement unit 101 measures the time and acquires the current time. The position measuring unit 102 is, for example, GPS (Global Positioning System), and acquires the current position of the unmanned aircraft 10. The current position of the unmanned aircraft 10 is represented by latitude, longitude and height.

The drive unit 103 drives a plurality of propulsion units 1002 for flying the unmanned vehicle 10. The drive unit 103 rotates a plurality of propellers that fly the unmanned vehicle 10.

The first communication unit 104 receives an operation command from the controller 20 by, for example, a specific low power radio. The second communication unit 105 transmits various information to the pilot 20 and receives various information from the pilot 20 according to a communication standard such as LTE (Long Term Evolution).

The battery 106 is a power source for the unmanned vehicle 10, and supplies electric power to each part of the unmanned vehicle 10. The unmanned vehicle 10 may be powered by a wire from an external battery without having a battery inside.

The control unit 107 is, for example, a CPU (Central Processing Unit) and controls the operation of the unmanned aircraft 10. The control unit 107 includes a flight control unit 111, a flight range changing unit 112, a forced movement control unit 113, and a notification unit 114.

The storage unit 108 is, for example, a semiconductor memory and stores various information. The storage unit 108 stores the flight basic program 121, the flight range table 122, the pilot position information 123, the forced movement program 124, the flight range information 125, and the sunset time information 126.

The flight basic program 121 is a program for controlling the flight of the unmanned flying object 10. The flight control unit 111 controls the flight of the unmanned aircraft 10 by executing the basic flight program 121.

The flightable range table 122 is a table that associates the time before a predetermined time with the sunset time with the flightable range (flyable distance).

FIG. 4 is a diagram showing an example of a flight range table according to the first embodiment. As shown in FIG. 4, a flight range of 50 m is associated with the time from 30 minutes before the sunset time to 20 minutes before the sunset time. The flightable range represents the distance that the unmanned flying object 10 can move with respect to the pilot 20. Further, the time from 20 minutes before the sunset time to 15 minutes before the sunset time is associated with a flight range of 40 m. A flight range of 30 m is associated with the time from 15 minutes before sunset time to 10 minutes before sunset time. A flight range of 20 m is associated with the time from 10 minutes before sunset time to 5 minutes before sunset time. A flight range of 10 m is associated with the time from 5 minutes before the sunset time to the sunset time.

The flight range table 122 is an example, and the time and flight range are not limited to the above.

The pilot position information 123 is information representing the current position of the pilot 20. The second communication unit 105 periodically receives the pilot position information 123 transmitted by the pilot 20 and stores the received pilot position information 123 in the storage unit 108.

The sunset time information 126 is information representing the sunset time of the current day. When the date changes, for example, the second communication unit 105 acquires the sunset time information representing the sunset time of the current day from the external server, and stores the acquired sunset time information in the storage unit 108. The second communication unit 105 may acquire the sunset time information input by the operator and store the acquired sunset time information in the storage unit 108. Further, the storage unit 108 may store in advance the sunset time information in which the date and the sunset time are associated with each other.

Further, the flight basic program 121, the flight range table 122, and the forced displacement program 124 may also be acquired from an external server in the same manner as the sunset time information 126.

The flight range changing unit 112 determines the flight range of the unmanned vehicle 10 according to the time from the end time of the time zone in which the flight of the unmanned vehicle 10 is permitted to the current time. In the present embodiment, the end time is the sunset time of the place where the unmanned aircraft 10 exists. The flight range changing unit 112 determines the flight range of the unmanned aircraft 10 according to the time from the sunset time to the current time. The flightable range changing unit 112 reads the sunset time information 126 from the storage unit 108, acquires the current time from the time measuring unit 101, and calculates the time from the sunset time to the current time. Then, the flightable range changing unit 112 refers to the flightable range table 122 and extracts the flightable range associated with the time from the sunset time to the current time.

In addition, the flightable range changing unit 112 sequentially reduces the flightable range at predetermined time intervals. In the present embodiment, the flightable range changing unit 112 determines the flightable range to 50 m when the current time is 30 minutes before the sunset time, and when the current time is 20 minutes before the sunset time. , Determine the flight range to 40m and reduce the flight range. In this way, the flightable range changing unit 112 sequentially reduces the flightable range as the current time approaches the sunset time.

The flight range information 125 is information representing the current flight range of the unmanned aircraft 10 determined by the flight range changing unit 112.

The flight control unit 111 controls the unmanned flying object 10 so as to fly within the flight range. For example, when the flight control unit 111 receives an operation command to fly in a direction leaving the flightable range, the flight control unit 111 does not accept the operation command and controls the flight so as to stay in the flightable range. For example, the flight control unit 111 calculates the distance between the unmanned aircraft 10 and the controller 20 based on the current position of the unmanned aircraft 10 and the current position of the controller 20. Then, the flight control unit 111 determines whether or not the unmanned flying object 10 exists within the flightable range by determining whether or not the calculated distance is equal to or less than the flightable distance.

The forced displacement program 124 is a program for forcibly flying the unmanned aircraft 10. The forced displacement control unit 113 forcibly flies the unmanned vehicle 10 in a predetermined direction by executing the forced displacement program 124. When the flight control unit 113 determines that the flightable range is determined by the flight range change unit 112 and the flight control unit 111 determines that the unmanned vehicle 10 is outside the flight range, the forced movement control unit 113 sets the unmanned vehicle 10 to the flight control unit 10. It is automatically moved toward the controller 20. When the unmanned aircraft body 10 is outside the flight range, the forced displacement control unit 113 does not accept any operation other than the operation toward the pilot.

In the present embodiment, the control unit 107 individually includes the flight control unit 111 and the forced movement control unit 113, but the control unit 107 may include only the flight control unit 111, and the flight control unit 107 may be provided. 111 may have the function of the forced movement control unit 113.

When the unmanned aircraft 10 is forcibly flown toward the controller 20, the notification unit 114 notifies the controller 20 that the unmanned aircraft 10 is forcibly flown toward the controller 20.

Further, the notification unit 114 may determine whether or not the flightable range is changed, and if the flightable range is changed, notify the pilot 20 that the flightable range is changed. The notification unit 114 notifies the pilot 20 that the flight range is determined before the time when the flight range change unit 112 determines the flight range.

For example, consider a case where the flight range is changed every 10 minutes from 30 minutes before sunset time. In this case, the flight range is changed 30 minutes, 20 minutes, and 10 minutes before sunset time. By grasping the changed flight range in advance, the operator can guide the unmanned aircraft 10 to the changed flight range before the change of the flight range. Therefore, the unmanned aircraft 10 determines the flight range and notifies the pilot 20, for example, 5 minutes before the flight range is changed. In the case of this example, the unmanned aircraft 10 determines the flight range to be changed 35 minutes, 25 minutes, and 15 minutes before sunset time and 5 minutes later, and notifies the pilot 20.

FIG. 5 is a block diagram showing a configuration of a controller according to the first embodiment of the present disclosure. The controller 20 is gripped by the operator 1 with both hands. The control unit 20 includes a control unit 201, a position measurement unit 202, a battery 203, a display unit 204, an operation command input unit 205, a first radio communication unit 206, and a second radio communication unit 207.

The control unit 201 is, for example, a CPU and controls the operation of the controller 20. The position measuring unit 202 is, for example, GPS, and acquires the current position of the controller 20. The current position of the controller 20 is represented by latitude, longitude and height. The battery 203 is a power source for the controller 20 and supplies electric power to each part of the controller 20.

The operation command input unit 205 includes a left stick provided on the left hand side of the operator and a right stick provided on the right hand side of the operator. When the left stick and the right stick are tilted by the operator, the operation command input unit 205 outputs the angle information regarding the tilt angle to the first radio communication unit 206. The movement of the unmanned flying object 10 is controlled according to the tilt angle. The operation command includes angle information indicating, for example, the tilt angle of the left stick and the right stick.

The first radio communication unit 206 transmits an operation command to the unmanned aircraft 10 by, for example, a specific low power radio. The second wireless communication unit 207 transmits various information to the unmanned vehicle 10 and receives various information from the unmanned vehicle 10 according to a communication standard such as LTE. The second radio communication unit 207 transmits the pilot position information 123 indicating the current position of the pilot 20 measured by the position measuring unit 202 to the unmanned aircraft 10. Further, the second radio communication unit 207 receives information from the unmanned aviation body 10 indicating that the flight range is changed or information indicating that the unmanned aviation body 10 is forcibly flown toward the pilot 20. do.

The second radio communication unit 207 periodically transmits the current position of the pilot 20 measured by the position measurement unit 202 to the unmanned aircraft 10, but the present disclosure is not particularly limited to this, and the second radio communication unit 207 is not particularly limited to this. 2 When the radio communication unit 207 receives a position information request requesting the current position of the pilot 20 from the unmanned aircraft 10, the radio communication unit 207 transfers the current position of the controller 20 measured by the position measurement unit 202 to the unmanned aircraft 10. You may send it.

The display unit 204 displays information indicating that the flightable range received by the second radio communication unit 207 is changed. Further, the display unit 204 displays information indicating that the unmanned aircraft 10 received by the second radio communication unit 207 is forcibly flown toward the pilot 20.

The controller 20 may be, for example, a smartphone, a tablet computer, or a personal computer, or may display an operation screen on a touch panel and accept an input operation by the operator.

Subsequently, the flight control process of the unmanned vehicle 10 according to the first embodiment will be described.

FIG. 6 is a flowchart for explaining the flight control process of the unmanned vehicle according to the first embodiment of the present disclosure.

First, in step S1, the time measurement unit 101 acquires the current time.

Next, in step S2, the flightable range changing unit 112 refers to the flightable range table 122 and determines whether or not the current time is the time for changing the flightable range. The time to change the flight range is a time before a predetermined time from the sunset time. The flight range is a distance at which the unmanned aircraft 10 can return to the location of the controller 20 (operator) by the sunset time. Here, if it is determined that the current time is not the time to change the flight range (NO in step S2), the process returns to step S1.

On the other hand, when it is determined that the current time is the time to change the flightable range (YES in step S2), in step S3, the flightable range changing unit 112 changes the flightable range according to the time from the sunset time to the current time. The flight range of the unmanned vehicle 10 is determined. For example, if the time from the sunset time to the current time is 30 minutes, the flightable range changing unit 112 refers to the flightable range table 122 and travels within a hemisphere having a radius of 50 m centered on the current position of the controller 20. Determine the flight range. The flightable range changing unit 112 stores the determined flightable range in the storage unit 108 as the flightable range information 125.

When the current positions of the unmanned aircraft 10 and the pilot 20 include latitude information, longitude information, and height information, the flightable range is a hemisphere centered on the current position of the pilot 20 and having a flight distance as a radius. It becomes a shape. When the current positions of the unmanned aircraft 10 and the pilot 20 include latitude information and longitude information and do not include height information, the flight range is centered on the current position of the pilot 20 and the flight distance is the radius. It becomes a circular shape.

Next, in step S4, the position measuring unit 102 acquires the current position of the unmanned flying object 10.

Next, in step S5, the flightable range changing unit 112 reads the pilot position information 123 from the storage unit 108 and acquires the current position of the pilot 20. The pilot position information 123 stored in the storage unit 108 does not always indicate the current position of the pilot 20, but by shortening the interval for acquiring the pilot position information 123 from the pilot 20. , The accuracy of the current position of the controller 20 can be improved. Further, in step S5, the second communication unit 105 may request the current position from the controller 20 and receive the current position from the controller 20.

Next, in step S6, the flightable range changing unit 112 calculates the distance between the unmanned aircraft 10 and the controller 20 based on the current position of the unmanned aircraft 10 and the current position of the controller 20. ..

Next, in step S7, the flightable range changing unit 112 is such that the unmanned vehicle 10 is within the flightable range based on the distance between the unmanned vehicle 10 and the controller 20 and the flight range. Judge whether or not. That is, the flight range changing unit 112 compares the distance between the unmanned vehicle 10 and the pilot 20 and the flight distance, and the distance between the unmanned vehicle 10 and the controller 20 is the flight distance. If the following, it is determined that the unmanned aviation body 10 is within the flight range, and if the distance between the unmanned fleet 10 and the controller 20 is longer than the flight range, the unmanned aviation body 10 is within the flight range. Judge that it does not exist in.

Here, when it is determined that the unmanned aircraft 10 is within the flight range (YES in step S7), in step S8, the flight control unit 111 receives an operation command from the pilot 20 and responds to the operation command. Fly the unmanned aircraft 10. At this time, the flight control unit 111 controls the movement of the unmanned aviation body 10 and moves the unmanned aviation body 10 according to the operation of the operator. The flight control unit 111 generates a drive signal for driving each of the plurality of propellers based on the operation command received by the first communication unit 104, and outputs the generated drive signal to the drive unit 103. The unmanned vehicle 10 can move forward, backward, leftward, rightward, upwardly and downwardly by controlling the rotation speed of each of the plurality of propellers. The flight control unit 111 detects a change in flight attitude according to the output from the 3-axis gyro sensor (not shown) and the 3-axis acceleration sensor (not shown), and automatically controls the flight attitude so that it is stable. You may.

On the other hand, when it is determined that the unmanned vehicle 10 does not exist within the flight range (NO in step S7), in step S9, the forced displacement control unit 113 causes the unmanned vehicle 10 to fall within the flight range. , The unmanned aircraft 10 is forcibly moved toward the controller 20. At this time, the forced displacement control unit 113 does not receive an operation command from the controller 20 until the unmanned vehicle 10 is within the flight range.

Next, in step S10, the notification unit 114 notifies the pilot 20 that the unmanned aircraft 10 is forcibly moved toward the pilot 20. Then, returning to the process of step S7, the forced displacement control unit 113 automatically flies the unmanned vehicle 10 toward the controller 20 until the unmanned vehicle 10 enters the flight range.

FIG. 7 is a schematic diagram for explaining the reduction of the flight range in the first embodiment. In FIG. 7, the unmanned aircraft 10 and the pilot 20 are viewed from above. In FIG. 7, when the current time becomes the first time before the predetermined time of the sunset time, the flightable range changing unit 112 determines the flightable range 2 centered on the pilot 20 and having the flightable distance FD1 as the radius. do. Then, when the current time becomes the second time, which is closer to the sunset time than the first time, the flightable range changing unit 112 centers on the pilot 20 and sets the flightable distance FD2 shorter than the flightable distance FD1 as the radius. The flight range 21 to be operated is determined.

In this way, the flightable range changing unit 112 reduces the flightable range as the current time approaches the sunset time. As a result, the unmanned aircraft 10 can be returned to the location of the controller 20 by the sunset time, and the unmanned aircraft 10 can be prevented from flying after the sunset time.

In the first embodiment, the unmanned vehicle 10 can move without particular limitation until the flightable range is first determined in step S3 of FIG. 6, but step S3 of FIG. 6 The initial flight range may be determined in advance before the flight range is first determined in. The initial flightable range is, for example, a visible range predetermined by regulation, a visible range determined by the operator, or a range within which radio can reach.

Further, in the first embodiment, the end time of the time zone in which the unmanned vehicle 10 is permitted to fly is set as the sunset time, but the present disclosure is not particularly limited to this, for example, 17:00 or 18:00. A predetermined time may be used as the end time. Further, the end time may be the sunset time of the place where the controller 20 exists.

Further, in the first embodiment, the flightable range is circular, but the present disclosure is not particularly limited to this, and the flightable range may be elliptical. That is, the moving speed of the unmanned flying object 10 may change depending on the wind direction and the wind speed. Therefore, the flightable range changing unit 112 may change the shape of the flightable range according to the wind direction and the wind speed.

Further, in the first embodiment, the controller 20 includes a time measuring unit 101, a flightable range changing unit 112, a forced movement control unit 113, a flightable range table 122, a forced movement program 124, a flightable range information 125, and sunset. The time information 126 may be provided. In this case, the forced movement control unit 113 is changed to a function of generating and transmitting a command for forced movement control. Further, the forced movement program 124 is changed to a program that generates and transmits a command for forced movement control. The flight range table 122, the forced displacement program 124, the flight range information 125, and the sunset time information 126 are stored in a storage unit included in the pilot 20. The storage unit further stores the position information of the unmanned aircraft 10. As a result, the process performed by the unmanned aircraft 10 can be performed by the controller 20.

Further, when the flightable range is determined by the flightable range changing unit 112 and the unmanned aircraft body 10 exists outside the flightable range, the forced movement control unit 113 automatically controls the unmanned aircraft body 10. A control signal for moving toward 20 may be transmitted to the unmanned aircraft 10. Further, when the unmanned aviation body 10 is outside the flight range, the forced displacement control unit 113 does not have to transmit a control signal instructing the unmanned aviation body 10 to perform a maneuver other than the maneuvering toward the controller 20.

Further, in the first embodiment, the flight control system may include an unmanned aircraft body 10, a controller 20, and a server. The server is connected to the controller 20 via a network. The server may include a time measuring unit 101, a flight range changing unit 112, a forced movement control unit 113, a flight range table 122, a forced movement program 124, a flight range information 125, and a sunset time information 126. In this case, the forced movement control unit 113 is changed to a function of generating and transmitting a command for forced movement control. Further, the forced movement program 124 is changed to a program that generates and transmits a command for forced movement control. The flight range table 122, the forced displacement program 124, the flight range information 125, and the sunset time information 126 are stored in a storage unit provided in the server. The storage unit further stores the position information of the unmanned aircraft 10. As a result, the processing performed by the unmanned aircraft 10 can be performed by the server. The information transmitted from the server may be received by the unmanned aircraft 10 via the controller 20, and the information transmitted from the unmanned aircraft 10 may be received by the server via the controller 20. You may. Further, the information transmitted from the server may be directly received by the unmanned aircraft 10, and the information transmitted from the unmanned aircraft 10 may be directly received by the server.

(Embodiment 2)
Subsequently, the flight control system according to the second embodiment will be described.

FIG. 8 is a diagram showing a configuration of a flight control system according to the second embodiment of the present disclosure. The flight control system shown in FIG. 8 includes an unmanned aircraft body 10, a controller 20, and a communication terminal 30.

When the unmanned aircraft 10 flies outside the visible range of the operator 1, the VO (Visual Observer) 3 monitors the unmanned aircraft 10 on behalf of the operator 1. The VO3 is located away from the operator 1 and informs the operator 1 of the position of the unmanned aircraft 10. As for the method of transmitting the position of the unmanned aircraft 10 from the VO3 to the operator 1, voice transmission can be considered. The VO3 holds a communication terminal 30 capable of communicating with the pilot 20, and transmits the position of the unmanned aircraft 10 from the communication terminal 30 to the pilot 20 by voice.

When the VO3 exists separately from the driver 1, it is possible to determine the first flight range 2 based on the driver 1 and the second flight range 4 based on the VO3. If the first and second flight ranges 2 and 4, which are determined by the pilot 1 and VO3, respectively, are reduced as the sunset time approaches, the first and second flight ranges 2 and 4 are divided. , The unmanned flying object 10 may not exist in any of the first and second flightable ranges 2 and 4. Therefore, in the second embodiment, when the first and second flightable ranges 2 and 4 are divided, the pilot 20 is notified that the first and second flight ranges 2 and 4 are divided. At the same time, the flight controller 20 is notified to move the unmanned aircraft 10 within the first flight range 2 on the flight controller 20 side.

FIG. 9 is a block diagram showing a configuration of an unmanned aircraft according to the second embodiment of the present disclosure. The unmanned aircraft 10 shown in FIG. 9 includes a time measuring unit 101, a position measuring unit 102, a driving unit 103, a first communication unit 104, a second communication unit 105, a battery 106, a control unit 107, and a storage unit 108. In the second embodiment, the description of the same configuration as that of the first embodiment will be omitted.

The second communication unit 105 transmits various information to the pilot 20 and receives various information from the pilot 20 according to a communication standard such as LTE. Further, the second communication unit 105 transmits various information to the communication terminal 30 and receives various information from the communication terminal 30 according to a communication standard such as LTE.

The control unit 107 includes a flight control unit 111, a flight range changing unit 112, a forced movement control unit 113, and a notification unit 114.

The storage unit 108 stores the basic flight program 121, the flight range table 122, the pilot position information 123, the forced movement program 124, the flight range information 125, the sunset time information 126, and the VO position information 127.

The VO position information 127 is information representing the current position of the communication terminal 30. The second communication unit 105 periodically receives the VO position information 127 transmitted by the communication terminal 30, and stores the received VO position information 127 in the storage unit 108. The VO position information 127 may be transmitted from the communication terminal 30 to the server, collected by the server, and then received by the unmanned aircraft 10 via the pilot 20.

The flight range changing unit 112 has a first flight range determined based on the position of the pilot 20 according to the time from the end time of the time zone in which the unmanned aircraft 10 is permitted to fly to the current time. And the second flight range determined based on the position of the communication terminal 30 operated by the VO that monitors the unmanned aircraft 10.

In the notification unit 114, the unmanned aircraft 10 makes a first flight range and a second flight before the time when the first flight range and the second flight range are determined by the flight range change unit 112. Estimate whether it exists outside the possible range. The notification unit 114 causes the unmanned vehicle 10 to move within the first flight range when it is estimated that the unmanned aircraft 10 is outside the first flight range and the second flight range. Notify the pilot 20 of the guidance information to be guided. Further, when it is estimated that the unmanned aviation body 10 exists outside the first flight range and the second flight range, the notification unit 114 moves the unmanned aviation body 10 into the first flight range. The communication terminal 30 may be notified of the guidance information for guiding the flight. Further, the notification unit 114 may change the notification time for notifying the guidance information according to the distance between the pilot 20 and the unmanned aircraft 10.

In the forced displacement control unit 113, when the first flight range and the second flight range are determined, the unmanned vehicle 10 exists outside the first flight range and the second flight range. In this case, the unmanned aircraft 10 is automatically moved toward the controller 20. When the unmanned aircraft 10 is forcibly flown toward the controller 20, the notification unit 114 notifies the controller 20 that the unmanned aircraft 10 is forcibly flown toward the controller 20. Further, the notification unit 114 notifies the communication terminal 30 that when the unmanned aircraft 10 is forcibly flown toward the controller 20, the unmanned aircraft 10 is forcibly flown toward the controller 20. May be good.

Since the configuration of the controller 20 in the second embodiment is the same as the configuration of the controller 20 in the first embodiment, the description thereof will be omitted.

FIG. 10 is a block diagram showing a configuration of a communication terminal according to the second embodiment of the present disclosure.

The communication terminal 30 is, for example, a smartphone, a tablet computer, or a personal computer. The communication terminal 30 includes a battery 301, a control unit 302, a position measurement unit 303, a microphone 304, a speaker 305, a display unit 306, an input unit 307, and a wireless communication unit 308.

The battery 301 is a power source for the communication terminal 30, and supplies electric power to each part of the communication terminal 30. The control unit 302 is, for example, a CPU and controls the operation of the communication terminal 30.

The position measuring unit 303 is, for example, GPS, and acquires the current position of the communication terminal 30. The current position of the communication terminal 30 is represented by latitude, longitude and height.

The microphone 304 acquires the voice of VO3 and converts the acquired voice into a voice signal. The speaker 305 converts the voice signal from the controller 20 into voice, and outputs the converted voice to the outside.

The display unit 306 displays various information related to, for example, a call. The input unit 307 receives, for example, input of various information related to a call.

The wireless communication unit 308 transmits various information to the unmanned vehicle 10 and receives various information from the unmanned vehicle 10 according to a communication standard such as LTE. The wireless communication unit 308 transmits various information to the pilot 20 and receives various information from the pilot 20. The wireless communication unit 308 transmits VO position information 127 indicating the current position of the communication terminal 30 measured by the position measurement unit 303 to the unmanned aircraft 10. Further, the wireless communication unit 308 transmits the audio signal to the controller 20 and receives the audio signal from the controller 20.

The communication terminal 30 may include at least a position measuring unit 303 and a wireless communication unit 308. Further, it is preferable that the controller 20 is provided with a microphone and a speaker for talking with the communication terminal 30.

Subsequently, the division notification process of the unmanned aircraft 10 according to the second embodiment will be described. The division notification process is a process of notifying the pilot 20 that the first flight distance and the second flight distance are divided.

FIG. 11 is a flowchart for explaining the division notification process of the unmanned aircraft according to the second embodiment of the present disclosure.

First, in step S21, the notification unit 114 reads the pilot position information 123 from the storage unit 108 and acquires the current position of the pilot 20. The pilot position information 123 stored in the storage unit 108 does not always indicate the current position of the pilot 20, but by shortening the interval for acquiring the pilot position information 123 from the pilot 20. , The accuracy of the current position of the controller 20 can be improved. Further, in step S21, the second communication unit 105 may request the current position from the controller 20 and receive the current position from the controller 20.

Next, in step S22, the notification unit 114 reads the VO position information 127 from the storage unit 108 and acquires the current position of the communication terminal 30. The VO position information 127 stored in the storage unit 108 does not always indicate the current position of the communication terminal 30, but communication is performed by shortening the interval for acquiring the VO position information 127 from the communication terminal 30. The accuracy of the current position of the terminal 30 can be improved. Further, in step S22, the second communication unit 105 may request the communication terminal 30 for the current position and receive the current position from the communication terminal 30.

Next, in step S23, the notification unit 114 calculates the distance between the controller 20 and the communication terminal 30 based on the current position of the controller 20 and the current position of the communication terminal 30.

Next, in step S24, the notification unit 114 reads the flightable distance from the flightable range table 122 stored in the storage unit 108. The notification unit 114 first reads the flightable distance of the highest row, and from the second time onward, reads the flightable distance in order from the upper row.

Next, in step S25, the notification unit 114 has a first flight distance, which is the radius of the first flight range centered on the controller 20, and a second flight range centered on the communication terminal 30. Calculate the total value with the second flight distance, which is the radius of. In the second embodiment, the first flight distance and the second flight distance are the same length, and the flight distance read from the flight range table 122 is the first flight possible. Used as a distance and a second flightable distance.

Next, in step S26, the notification unit 114 determines whether or not the distance between the pilot 20 and the communication terminal 30 is larger than the total value of the first flight distance and the second flight distance. do. Here, when it is determined that the distance between the pilot 20 and the communication terminal 30 is equal to or less than the total value of the first flightable distance and the second flightable distance (NO in step S26), step. In S27, the notification unit 114 determines whether or not all the flightable distances in the flightable range table 122 have been read. When it is determined that all the flightable distances in the flightable range table 122 have been read (YES in step S27), the process returns to step S21. On the other hand, when it is determined that all the flightable distances in the flightable range table 122 have not been read (NO in step S27), the process returns to step S24, and the notification unit 114 is stored in the storage unit 108. Read the flight distance of the next row in the flight range table 122.

On the other hand, when it is determined that the distance between the pilot 20 and the communication terminal 30 is larger than the total value of the first flightable distance and the second flightable distance (YES in step S26), in step S28. , The notification unit 114 notifies the pilot 20 that the first flight distance and the second flight distance are divided. At this time, the notification unit 114 not only divides the first flight distance and the second flight distance, but also the time when the first flight distance and the second flight distance are divided. May be notified to the pilot 20. Further, the notification unit 114 controls to move the unmanned aviation body 10 to the first flight distance on the controller 20 side when the first flight distance and the second flight distance are divided. You may notify the vessel 20.

Further, the time for notifying that the first flight distance and the second flight distance are divided may be determined according to the distance between the pilot 20 and the unmanned vehicle 10. That is, the unmanned aircraft 10 needs to return to the place where the pilot 20 or the communication terminal 30 exists. If the distance between the pilot 20 and the unmanned aircraft 10 is long, the time required for returning will be long. Therefore, the notification unit 114 advances the notification time as the distance between the pilot 20 and the unmanned aircraft 10 increases. For example, the notification unit 114 may take the return time required for the unmanned aviation body 10 to return to the location of the control body 20 based on the distance between the pilot 20 and the unmanned aviation body 10 and the maximum speed of the unmanned aviation body 10. Is calculated. Then, the notification unit 114 sets the first flight distance and the second flight distance at the time when the return time is traced back from the time when the first flight distance and the second flight distance are divided. You may notify that it will be divided.

The notification unit 114 notifies that the first flight distance and the second flight distance are divided at the time when the first flight distance and the second flight distance are divided. You may.

Subsequently, the flight control process of the unmanned vehicle 10 according to the second embodiment will be described.

FIG. 12 is a first flowchart for explaining the flight control process of the unmanned aircraft according to the second embodiment of the present disclosure, and FIG. 13 is the flight control process of the unmanned aircraft according to the second embodiment of the present disclosure. Is a second flowchart for explaining the above, and FIG. 14 is a third flowchart for explaining the flight control process of the unmanned vehicle according to the second embodiment of the present disclosure.

First, in step S31, the time measurement unit 101 acquires the current time.

Next, in step S32, the flightable range changing unit 112 refers to the flightable range table 122 and determines whether or not the current time is the time to change the first and second flightable ranges. The time when the first flight range is changed is the same as the time when the second flight range is changed. Here, when it is determined that the current time is not the time to change the first and second flightable ranges (NO in step S32), the process returns to the process of step S31.

On the other hand, when it is determined that the current time is the time to change the first and second flightable ranges (YES in step S32), in step S33, the flight range changing unit 112 changes the flight range from the sunset time to the current time. The first and second flight range of the unmanned vehicle 10 is determined according to the time of. For example, if the time from the sunset time to the current time is 30 minutes, the flight range changing unit 112 refers to the flight range table 122 and first sets a hemisphere having a radius of 50 m centered on the position of the controller 20. And determine the second flight range. The flightable range changing unit 112 stores the determined first and second flightable ranges in the storage unit 108 as flight range information 125.

In the second embodiment, the first flight range and the second flight range have the same flight distance, and the flight range read from the flight range table 122 is the first flight range. It is used as a flight range and a second flight range.

Further, the first flight distance of the first flight range and the second flight distance of the second flight range may be different. In this case, the storage unit 108 stores the flightable range table 122 in which the time before the sunset time, the first flightable range, and the second flightable range are associated with each other.

When the current positions of the unmanned aircraft 10 and the pilot 20 include latitude information, longitude information, and height information, the first and second flightable ranges are centered on the current position of the pilot 20 and are the first. It has a hemispherical shape with the radius of the second flight distance. Further, when the current positions of the unmanned aircraft 10 and the pilot 20 include latitude information and longitude information and do not include height information, the first and second flightable ranges are centered on the current position of the pilot 20. , The first and second flight distances are the radius of the circle.

Next, in step S34, the flightable range changing unit 112 reads the pilot position information 123 from the storage unit 108 and acquires the current position of the pilot 20. The pilot position information 123 stored in the storage unit 108 does not always indicate the current position of the pilot 20, but by shortening the interval for acquiring the pilot position information 123 from the pilot 20. , The accuracy of the current position of the controller 20 can be improved. Further, in step S34, the second communication unit 105 may request the current position from the controller 20 and receive the current position from the controller 20.

Next, in step S35, the flightable range changing unit 112 reads the VO position information 127 from the storage unit 108 and acquires the current position of the communication terminal 30. The VO position information 127 stored in the storage unit 108 does not always indicate the current position of the communication terminal 30, but communication is performed by shortening the interval for acquiring the VO position information 127 from the communication terminal 30. The accuracy of the current position of the terminal 30 can be improved. Further, in step S35, the second communication unit 105 may request the current position from the communication terminal 30 and receive the current position from the communication terminal 30.

Next, in step S36, the flight range changing unit 112 calculates the distance between the pilot 20 and the communication terminal 30 based on the current position of the pilot 20 and the current position of the communication terminal 30.

Next, in step S37, the flightable range changing unit 112 has a first flightable distance, which is the radius of the first flightable range centered on the controller 20, and a second flightable distance centered on the communication terminal 30. The total value with the second flight distance, which is the radius of the flight range, is calculated.

Next, in step S38, whether or not the distance between the pilot 20 and the communication terminal 30 is larger than the total value of the first flight distance and the second flight distance of the flight range changing unit 112. To judge. That is, when the distance between the pilot 20 and the communication terminal 30 is larger than the total value of the first flight distance and the second flight distance, the first flight range and the second flight range are available. Does not overlap with, and is divided.

Here, when it is determined that the distance between the pilot 20 and the communication terminal 30 is larger than the total value of the first flightable distance and the second flightable distance (YES in step S38), step S39. In, the position measuring unit 102 acquires the current position of the unmanned flying object 10.

Next, in step S40, the flightable range changing unit 112 calculates the distance between the unmanned aircraft 10 and the controller 20 based on the current position of the unmanned aircraft 10 and the current position of the controller 20. ..

Next, in step S41, the flightable range changing unit 112 makes the unmanned aircraft 10 make the first flight based on the distance between the unmanned aircraft 10 and the pilot 20 and the first flight range. Determine if it is within the possible range. That is, the flightable range changing unit 112 compares the distance between the unmanned flying object 10 and the pilot 20 with the first flightable distance, and determines the distance between the unmanned flying object 10 and the pilot 20. If it is less than or equal to the first flight distance, it is determined that the unmanned aircraft 10 is within the first flight range, and the distance between the unmanned aircraft 10 and the controller 20 is greater than the first flight distance. If it is long, it is determined that the unmanned flying object 10 does not exist within the first flight range.

Here, when it is determined that the unmanned flight object 10 is within the first flight range (YES in step S41), in step S42, the flight control unit 111 receives an operation command from the pilot 20 and operates the operation command. The unmanned air vehicle 10 is flown according to the above. The process of step S42 is the same as the process of step S8 of FIG.

On the other hand, when it is determined that the unmanned vehicle 10 does not exist within the first flight range (NO in step S41), in step S43, the forced displacement control unit 113 allows the unmanned vehicle 10 to fly first. The unmanned aircraft 10 is forcibly moved toward the controller 20 so as to be within the range. At this time, the forced displacement control unit 113 does not receive an operation command from the pilot 20 until the unmanned aircraft 10 enters the first flight range.

Next, in step S44, the notification unit 114 notifies the pilot 20 that the unmanned aircraft 10 is forcibly moved toward the pilot 20. Then, returning to the process of step S41, the forced displacement control unit 113 automatically flies the unmanned aircraft 10 toward the controller 20 until the unmanned aircraft 10 enters the first flight range.

On the other hand, in step S38, when it is determined that the distance between the pilot 20 and the communication terminal 30 is equal to or less than the total value of the first flightable distance and the second flightable distance (NO in step S38). ), In step S45, the position measuring unit 102 acquires the current position of the unmanned flying object 10.

Next, in step S46, the flightable range changing unit 112 calculates the distance between the unmanned aircraft 10 and the controller 20 based on the current position of the unmanned aircraft 10 and the current position of the controller 20. ..

Next, in step S47, the flightable range changing unit 112 calculates the distance between the unmanned aircraft 10 and the communication terminal 30 based on the current position of the unmanned aircraft 10 and the current position of the communication terminal 30. ..

Next, in step S48, the flightable range changing unit 112 can make a first flight by determining the distance between the unmanned aircraft 10 and the controller 20 and the distance between the unmanned aircraft 10 and the communication terminal 30. Based on the range and the second flight range, it is determined whether or not the unmanned vehicle 10 is within the first or second flight range. That is, the flightable range changing unit 112 compares the distance between the unmanned flying object 10 and the pilot 20 with the first flightable distance, and the distance between the unmanned flying object 10 and the pilot 20 is determined. If it is equal to or less than the first flight distance, it is determined that the unmanned aircraft 10 is within the first flight range. Further, the flightable range changing unit 112 compares the distance between the unmanned flying object 10 and the communication terminal 30 with the second flightable distance, and determines the distance between the unmanned flying object 10 and the communication terminal 30. If it is equal to or less than the second flightable distance, it is determined that the unmanned flying object 10 exists within the second flightable range. Further, in the flightable range changing unit 112, the distance between the unmanned aircraft 10 and the controller 20 is longer than the first flightable distance, and the distance between the unmanned aircraft 10 and the communication terminal 30 is the second. If it is longer than the flight distance of, it is determined that the unmanned vehicle 10 does not exist within the first or second flight range.

Here, when it is determined that the unmanned aircraft 10 is within the first or second flightable range (YES in step S48), in step S49, the flight control unit 111 receives an operation command from the pilot 20. , The unmanned aircraft 10 is flown according to the operation command. The process of step S49 is the same as the process of step S8 of FIG.

On the other hand, when it is determined that the unmanned vehicle 10 does not exist within the first or second flight range (NO in step S48), in step S50, the forced displacement control unit 113 uses the unmanned vehicle 10 as the first. The unmanned vehicle 10 is forcibly moved toward the controller 20 so as to be within the flight range of. At this time, the forced displacement control unit 113 does not receive an operation command from the pilot 20 until the unmanned aircraft 10 enters the first flight range.

Next, in step S51, the notification unit 114 notifies the pilot 20 that the unmanned aircraft 10 is forcibly moved toward the pilot 20. Then, returning to the process of step S48, the forced displacement control unit 113 automatically flies the unmanned aircraft 10 toward the controller 20 until the unmanned aircraft 10 enters the first flight range.

FIG. 15 is a schematic diagram for explaining the division between the first flight range and the second flight range in the second embodiment. In FIG. 15, the unmanned aircraft 10, the controller 20, and the communication terminal 30 are viewed from above. In FIG. 15, when the current time becomes the first time before the predetermined time of the sunset time, the flightable range changing unit 112 is the first flightable range changing unit 112 having the pilot 20 as the center and the first flightable distance FFD1 as the radius. The flightable range 2 is determined, and the second flightable range 4 centered on the communication terminal 30 and having the second flightable distance SFD1 as the radius is determined. Then, when the current time becomes a second time closer to the sunset time than the first time, the flightable range changing unit 112 centers on the pilot 20 and makes a first flight shorter than the first flight distance FFD1. The first flight range 21 having the possible distance FFD2 as the radius is determined, and the second flight centered on the communication terminal 30 and having the second flight distance SFD2 shorter than the second flight distance SFD1 as the radius. The possible range 41 is determined.

In this way, when the first flight range 2 and the second flight range 4 are reduced, the reduced first flight range 21 and the second flight range 41 are separated. There is. At this time, if the unmanned aircraft 10 is present at an intermediate point between the pilot 20 and the communication terminal 30, the unmanned aircraft 10 is present in both the first flight range 21 and the second flight range 41. It may disappear. Therefore, when the first flight range and the second flight range are reduced and the first flight range and the second flight range are separated, the first flight range and the second flight range are separated. By notifying the pilot 20 that the flight range is separated, it is possible to prevent the unmanned aircraft 10 from disappearing from either the first flight range 21 or the second flight range 41. be able to.

Further, in the second embodiment, when the first flight range and the second flight range are divided, the unmanned vehicle 10 needs to move within the first flight range on the pilot 20 side. There is. Therefore, when the first flight range and the second flight range are divided, the pilot 20 is notified to move within the first flight range 2, but the present disclosure specifically covers this. Not limited. When the first flight range and the second flight range are separated, the unmanned aircraft 10 is within the first flight range on the pilot 20 side and within the second flight range on the communication terminal 30 side. You may move to either. In this case, when the first flight range and the second flight range are divided, the first flight range 2 on the pilot 20 side and the second flight range 4 on the communication terminal 30 side The pilot 20 may be notified to move to either.

At this time, the notification unit 114 has the first flight range and the second flight range before the time when the first flight range and the second flight range are determined by the flight range change unit 112. It may be estimated whether or not the unmanned vehicle 10 is outside the first flight range and the second flight range when is determined. Then, when it is estimated that the unmanned aviation body 10 exists outside the first flight range and the second flight range, the notification unit 114 puts the unmanned aviation body 10 within the first flight range and the second flight range. The pilot 20 may be notified of guidance information for guiding the aircraft to move to any of the flight range of the aircraft.

For example, if the first flight range and the second flight range are divided at 17:00, the unmanned aircraft 10 will "divide the flight range at 16:00, which is before the time of division. 17 Please move to either the flight range on the operator side or the flight range on the VO side by the time. ”The guidance information may be notified to the pilot 20.

Further, in the second embodiment, the pilot 20 is notified that the first flight range and the second flight range are divided, but the present disclosure is not particularly limited to this, and the maneuvering is not limited to this. A terminal (for example, a smartphone) held by the operator may be notified separately from the device 20.

Further, when the first flight range and the second flight range are determined, the forced displacement control unit 113 moves the unmanned vehicle 10 out of the first flight range and the second flight range. If present, the unmanned aircraft 10 may be automatically moved toward whichever of the pilot 20 and the communication terminal 30 is closer.

Further, in the second embodiment, the operator or the VO may move. Therefore, the division notification process shown in FIG. 11 may be executed periodically to notify that the first flight distance and the second flight distance are divided in real time.

Further, in the second embodiment, the controller 20 includes a time measuring unit 101, a flightable range changing unit 112, a forced movement control unit 113, a flightable range table 122, a forced movement program 124, a flightable range information 125, and sunset. Time information 126 and VO position information 127 may be provided. In this case, the forced movement control unit 113 is changed to a function of generating and transmitting a command for forced movement control. Further, the forced movement program 124 is changed to a program that generates and transmits a command for forced movement control. The flight range table 122, the forced displacement program 124, the flight range information 125, the sunset time information 126, and the VO position information 127 are stored in a storage unit included in the pilot 20. The storage unit further stores the position information of the unmanned aircraft 10. As a result, the process performed by the unmanned aircraft 10 can be performed by the controller 20. Further, the VO position information 127 transmitted from the communication terminal 30 may be received by the pilot 20 via the server.

Further, in the second embodiment, the flight control system may include an unmanned aircraft body 10, a controller 20, and a server. The server is connected to the controller 20 via a network. Then, the server displays the time measurement unit 101, the flight range change unit 112, the forced movement control unit 113, the flight range table 122, the forced movement program 124, the flight range information 125, the sunset time information 126, and the VO position information 127. You may prepare. In this case, the forced movement control unit 113 is changed to a function of generating and transmitting a command for forced movement control. Further, the forced movement program 124 is changed to a program that generates and transmits a command for forced movement control. The flight range table 122, the forced movement program 124, the flight range information 125, the sunset time information 126, and the VO position information 127 are stored in a storage unit provided in the server. The storage unit further stores the position information of the unmanned aircraft 10. As a result, the processing performed by the unmanned aircraft 10 can be performed by the server. The information transmitted from the server may be received by the unmanned aircraft 10 via the controller 20, and the information transmitted from the unmanned aircraft 10 may be received by the server via the controller 20. You may. Further, the information transmitted from the server may be directly received by the unmanned aircraft 10, and the information transmitted from the unmanned aircraft 10 may be directly received by the server. Further, the information transmitted from the communication terminal 30 may be received by the server via the pilot 20 or may be directly received by the server.

Here, the case where there are a plurality of VOs in the second embodiment will be described.

FIG. 16 is a schematic diagram for explaining the division between the first flight range, the second flight range, and the third flight range in the second embodiment. In the example shown in FIG. 16, the flight control system includes an unmanned aircraft 10, a pilot 20, a first communication terminal 31, and a second communication terminal 32. The first communication terminal 31 is operated by the first VO that monitors the unmanned vehicle 10, and the second communication terminal 32 monitors the unmanned vehicle 10 at a place different from the first VO. Operated by VO. The configuration of the first communication terminal 31 and the second communication terminal 32 is the same as the configuration of the communication terminal 30.

In FIG. 16, the unmanned aircraft 10, the pilot 20, the first communication terminal 31, and the second communication terminal 32 are viewed from above. In FIG. 16, when the current time becomes the first time before the predetermined time of the sunset time, the flightable range changing unit 112 takes the first flight with the pilot 20 as the center and the first flight distance as the radius. The possible range 2 is determined, the second communicable range 4 is determined with the first communicative terminal 31 as the center, and the second flightable distance is the radius, and the second communicative terminal 32 is centered with the third. A third flight range 5 is determined with the flight distance of the flight as the radius. Then, when the current time becomes a second time closer to the sunset time than the first time, the flightable range changing unit 112 has a radius of the reduced first flightable distance centered on the pilot 20. The flightable range 21 of 1 is determined, the second flightable range 41 centered on the communication terminal 31 and the radius of the reduced second flightable distance is determined, and the reduced flight range 41 is determined centered on the communication terminal 32. A third flight range 51 with the flight distance of 3 as the radius is determined.

In FIG. 16, as a result of the reduction of the first flight range 2, the second flight range 4, and the third flight range 5, the reduced first flight range 21 and the third flight range 21 and the third flight range 5 are reduced. 51 is separated from the reduced second flight range 41, and a part of the first flight range 21 overlaps with the third flight range 51.

Even if the unmanned aircraft 10 needs to be present in the first flight range 21 on the pilot side when the flight range is divided, it is not divided from the first flight range 21. The third flight range 51 can be regarded as a part of the first flight range 21.

Therefore, the position of the first flight range determined by the flight range changing unit 112 with reference to the position of the controller 20 and the position of the first communication terminal 31 operated by the first VO that monitors the unmanned vehicle 10 are set. When the second flight range defined as a reference and the third flight range defined based on the position of the second communication terminal 32 operated by the second VO that monitors the unmanned vehicle 10 are determined. In addition, when the first flight range and the third flight range are separated from the second flight range and the first flight range overlaps with the third flight range, the notification unit 114 , Information regarding a third flight range that is not separated from the first flight range may be notified. At this time, the flight control unit 111 may control the unmanned flying object 10 so as to fly within the first flight range and the third flight range.

Further, when the first flight range, the second flight range, and the third flight range are determined by the flight range changing unit 112, the first flight range and the third flight range are set. When the flight range is separated from the second flight range and the first flight range overlaps with the third flight range, the forced movement control unit 113 is among the pilot 20 and the second communication terminal 32. , The unmanned flying object 10 may be automatically moved toward the direction closer to the unmanned flying object 10.

In addition, when the first flight range, the second flight range, and the third flight range are reduced, the first flight range, the second flight range, and the third flight range are divided. It may be duplicated without being done.

FIG. 17 is a schematic diagram for explaining the overlap between the first flight range, the second flight range, and the third flight range in the second embodiment. In the example shown in FIG. 17, the flight control system includes an unmanned aircraft 10, a pilot 20, a first communication terminal 31, and a second communication terminal 32. The first communication terminal 31 is operated by the first VO that monitors the unmanned vehicle 10, and the second communication terminal 32 monitors the unmanned vehicle 10 at a place different from the first VO. Operated by VO.

In FIG. 17, the unmanned aircraft 10, the pilot 20, the first communication terminal 31, and the second communication terminal 32 are viewed from above. In FIG. 17, when the current time becomes the first time before the predetermined time of the sunset time, the flightable range changing unit 112 takes the first flight with the pilot 20 as the center and the first flight distance as the radius. The possible range 2 is determined, the second communicable range 4 is determined with the first communicative terminal 31 as the center, and the second flightable distance is the radius, and the second communicative terminal 32 is centered with the third. A third flight range 5 is determined with the flight distance of the flight as the radius. Then, when the current time becomes a second time closer to the sunset time than the first time, the flightable range changing unit 112 has a radius of the reduced first flightable distance centered on the pilot 20. The flightable range 21 of 1 is determined, the second flightable range 41 centered on the communication terminal 31 and the radius of the reduced second flightable distance is determined, and the reduced flight range 41 is determined centered on the communication terminal 32. A third flight range 51 with the flight distance of 3 as the radius is determined.

In FIG. 17, as a result of the reduction of the first flight range 2, the second flight range 4, and the third flight range 5, a part of the reduced first flight range 21 is reduced. It overlaps with the third flight range 51 of the above, and a part of the second flight range 41 after reduction overlaps with the third flight range 51 after reduction. The first flight range 21 is separated from the second flight range 41, but is connected to the second flight range 41 via the third flight range 51. In this way, when the first flight range 21, the second flight range 41, and the third flight range 51 are connected, the unmanned vehicle 10 is within the first flight range 21 and the second. It is possible to fly within the flight range 41 of the above and within the third flight range 51.

However, if the first flight range 21, the second flight range 41, and the third flight range 51 are further reduced over time, the first flight range 21 becomes the second flight range. There is a possibility that the second flight range 41 is separated from the range 41, or the second flight range 41 is separated from the third flight range 51. In this case, the unmanned aircraft 10 existing in the second flight range 41 or the third flight range 51 cannot return to the first flight range 21.

Therefore, the position of the first flight range determined by the flight range changing unit 112 with reference to the position of the controller 20 and the position of the first communication terminal 31 operated by the first VO that monitors the unmanned vehicle 10 are set. When the second flight range defined as a reference and the third flight range defined based on the position of the second communication terminal 32 operated by the second VO that monitors the unmanned vehicle 10 are determined. In addition, when the first flight range is separated from the second flight range and the third flight range overlaps with the first flight range and the second flight range, the notification unit 114 , Notifying the pilot 20 of guidance information for guiding the unmanned aircraft 10 to move within the first flight range 21 or within the third flight range 51 adjacent to the first flight range 21. May be good.

Further, when the first flight range 21, the second flight range 41, and the third flight range 51 are determined by the flight range changing unit 112, the first flight range becomes the second flight. Divided from the possible range, the third flight range overlaps the first flight range and the second flight range, and the unmanned aircraft 10 can fly the first flight range 21 and the third flight range 21 and the third flight range. When present outside the range 51, the forced movement control unit 113 controls the unmanned aircraft 10 so that the unmanned aircraft 10 is within the first flight range 21 or the third flight range 51. It may be forcibly moved toward the 20 or the second communication terminal 32.

Further, when the first flight range 21, the second flight range 41, and the third flight range 51 are determined by the flight range changing unit 112, the first flight range becomes the second flight. Divided from the possible range, the third flight range overlaps the first flight range and the second flight range, and the unmanned aircraft 10 can fly the first flight range 21 and the third flight range 21 and the third flight range. When present outside the range 51, the forced movement control unit 113 is an unmanned aircraft among the pilot 20 in the first flight range 21 and the second communication terminal 32 in the third flight range 51. The unmanned air vehicle 10 may be forcibly moved toward the direction closer to 10.

Furthermore, the first flight range, the second flight range, and the third flight range were reduced, and the first flight range, the second flight range, and the third flight range were divided. In this case, the unmanned flying object 10 may be moved to the widest flight range.

FIG. 18 is a schematic diagram for explaining a process of moving an unmanned vehicle to the widest flight range among a plurality of divided flight ranges in the second embodiment. In the example shown in FIG. 18, the flight control system includes an unmanned aircraft 10, a pilot 20, a first communication terminal 31, and a second communication terminal 32. The first communication terminal 31 is operated by the first VO that monitors the unmanned vehicle 10, and the second communication terminal 32 monitors the unmanned vehicle 10 at a place different from the first VO. Operated by VO.

In FIG. 18, the unmanned aircraft 10, the pilot 20, the first communication terminal 31, and the second communication terminal 32 are viewed from above. In FIG. 18, when the current time becomes the first time before the predetermined time of the sunset time, the flightable range changing unit 112 takes the first flight with the pilot 20 as the center and the first flight distance as the radius. The possible range 2 is determined, the second communicable range 4 is determined with the first communicative terminal 31 as the center, and the second flightable distance is the radius, and the second communicative terminal 32 is centered with the third. A third flight range 5 is determined with the flight distance of the flight as the radius. Then, when the current time becomes a second time closer to the sunset time than the first time, the flightable range changing unit 112 has a radius of the reduced first flightable distance centered on the pilot 20. The flightable range 21 of 1 is determined, the second flightable range 41 centered on the communication terminal 31 and the radius of the reduced second flightable distance is determined, and the reduced flight range 41 is determined centered on the communication terminal 32. A third flight range 51 with the flight distance of 3 as the radius is determined.

In FIG. 18, as a result of the reduction of the first flight range 2, the second flight range 4, and the third flight range 5, the reduced first flight range 21 becomes the second flight possible. It is divided into a range 41 and a third flight range 51, and a part of the reduced second flight range 41 overlaps with the reduced third flight range 51.

Here, the forced movement control unit 113 calculates the area of the plurality of flightable ranges and specifies the widest flightable range among the plurality of flightable ranges. At this time, when the plurality of flightable ranges overlap, the forced movement control unit 113 sets the overlapping plurality of flightable ranges as one flightable range, and within the overlapping plurality of flightable ranges. Calculate the area. For example, in the example shown in FIG. 18, since the second flight range 41 and the third flight range 51 overlap, the forced movement control unit 113 has the second flight range 41 and the third flight range 41. The flight range 51 is regarded as one flight range, and the area within the flight range including the second flight range 41 and the third flight range 51 is calculated.

Then, the forced movement control unit 113 forcibly moves the unmanned aviation body 10 toward the widest flightable range among the plurality of flightable ranges. For example, in the example shown in FIG. 18, the flight range in which the second flight range 41 and the third flight range 51 are combined is wider than the first flight range 21. Therefore, the forced displacement control unit 113 forcibly moves the unmanned aircraft 10 toward either the second flight range 41 or the third flight range 51. At this time, the forced movement control unit 113 forcibly moves the unmanned aviation body 10 toward the flightable range which is closer to the second flightable range 41 or the third flightable range 51.

Furthermore, in the second embodiment, when the first flight range and the second flight range are determined, the unmanned aviation body 10 is either in the first flight range or the second flight range. Input by the operator as to whether to move to may be accepted in advance. Then, when the first flight range and the second flight range are determined, the storage unit stores whether the unmanned aircraft 10 should move to the first flight range or the second flight range. It may be stored in advance.

FIG. 19 is a block diagram showing a configuration of an unmanned flying object in a modified example of the second embodiment of the present disclosure.

The unmanned aircraft 10 shown in FIG. 19 includes a time measuring unit 101, a position measuring unit 102, a driving unit 103, a first communication unit 104, a second communication unit 105, a battery 106, a control unit 107, and a storage unit 108. In the modified example of the second embodiment, the description of the same configuration as that of the first and second embodiments will be omitted.

The control unit 107 includes a flight control unit 111, a flight range changing unit 112, a forced movement control unit 113, and a notification unit 114.

The storage unit 108 stores the flight basic program 121, the flight range table 122, the pilot position information 123, the forced movement program 124, the flight range information 125, the sunset time information 126, the VO position information 127, and the movement range information 128. ..

The movement range information 128 indicates whether the unmanned vehicle 10 should move to the first flight range or the second flight range when the first flight range and the second flight range are determined. Information that represents. The storage unit 108 stores the movement range information 128 in advance. For example, the pilot 20 receives the input of the movement range information 128 by the operator and transmits the received movement range information 128 to the unmanned aircraft 10. The second communication unit 105 receives the movement range information 128 transmitted by the control device 20, and stores the received movement range information 128 in the storage unit 108.

In the forced movement control unit 113, when the first flight range and the second flight range are actually determined, the unmanned vehicle 10 has the first flight range and the first flight range represented by the movement range information 128. If it does not exist in any of the two flight ranges, the unmanned aircraft 10 is automatically moved toward either the first flight range or the second flight range stored in the storage unit 108. ..

The flight range changing unit 112 reduces only one of the first flight range and the second flight range represented by the movement range information 128 at predetermined time intervals.

Note that the movement range information 128 is not stored in advance in the storage unit 108, and when the first flight range and the second flight range are actually determined, the unmanned vehicle 10 uses the movement range information 128. If it does not exist in either the first flight range or the second flight range represented, the forced movement control unit 113 is unmanned toward the pilot 20 and the communication terminal 30, whichever is closer. The flying object 10 may be moved automatically.

Further, when the movement range information 128 is not stored in advance in the storage unit 108 and the first flight range and the second flight range are actually determined, the unmanned vehicle 10 uses the movement range information 128. The forced movement control unit 113 may automatically move the unmanned vehicle 10 toward the controller 20 if it is not present in either the first flight range or the second flight range represented. ..

Further, the flight control unit 111 exists in a range different from the range represented by the movement range information 128 when the first flight range and the second flight range are actually determined. If so, the unmanned aircraft 10 may be controlled so that the unmanned aircraft 10 in the first flight range and the second flight range flies within the range in which the unmanned aircraft 10 currently exists.

Further, also in the modified example of the second embodiment, the flight control system may include an unmanned flying object 10, a pilot 20, a first communication terminal 31, and a second communication terminal 32. For example, in FIG. 16, the movement range information 128 is not stored in advance in the storage unit 108, and the flight range changing unit 112 sets the first flight range, the second flight range, and the third flight range. When the first flight range and the third flight range are separated from the second flight range and the first flight range overlaps with the third flight range when determined. The forced movement control unit 113 may automatically move the unmanned aircraft 10 toward whichever of the pilot 20 and the second communication terminal 32 is closer.

Further, in FIG. 18, the movement range information 128 is not stored in advance in the storage unit 108, and the flight range changing unit 112 determines the first flight range, the second flight range, and the third flight range. When the first flight range is divided into the second flight range and the third flight range, and the second flight range overlaps with the third flight range when determined. The forced movement control unit 113 heads toward the closer of the first communication terminal 31 and the second communication terminal 32 inside the second flight range and the third flight range, which have the largest area. The unmanned flying object 10 may be automatically moved.

Further, in the modified example of the second embodiment, the controller 20 includes the time measuring unit 101, the flightable range changing unit 112, the forced movement control unit 113, the flightable range table 122, the forced movement program 124, and the flightable range information. 125, sunset time information 126, VO position information 127, and movement range information 128 may be provided. In this case, the forced movement control unit 113 is changed to a function of generating and transmitting a command for forced movement control. Further, the forced movement program 124 is changed to a program that generates and transmits a command for forced movement control. The flight range table 122, the forced movement program 124, the flight range information 125, the sunset time information 126, the VO position information 127, and the movement range information 128 are stored in a storage unit included in the pilot 20. The storage unit further stores the position information of the unmanned aircraft 10. As a result, the process performed by the unmanned aircraft 10 can be performed by the controller 20.

Further, in the modified example of the second embodiment, the flight control system may include an unmanned aircraft body 10, a controller 20, and a server. The server is connected to the controller 20 via a network. Then, the server includes a time measurement unit 101, a flight range change unit 112, a forced movement control unit 113, a flight range table 122, a forced movement program 124, a flight range information 125, a sunset time information 126, a VO position information 127, and the like. The movement range information 128 may be provided. In this case, the forced movement control unit 113 is changed to a function of generating and transmitting a command for forced movement control. Further, the forced movement program 124 is changed to a program that generates and transmits a command for forced movement control. The flightable range table 122, the forced movement program 124, the flightable range information 125, the sunset time information 126, the VO position information 127, and the movement range information 128 are stored in a storage unit provided in the server. The storage unit further stores the position information of the unmanned aircraft 10. As a result, the processing performed by the unmanned aircraft 10 can be performed by the server. The information transmitted from the server may be received by the unmanned aircraft 10 via the controller 20, and the information transmitted from the unmanned aircraft 10 may be received by the server via the controller 20. You may. Further, the information transmitted from the server may be directly received by the unmanned aircraft 10, and the information transmitted from the unmanned aircraft 10 may be directly received by the server. Further, the information transmitted from the communication terminal 30 may be received by the server via the pilot 20 or may be directly received by the server.

In the present disclosure, all or part of a unit, device, member or part, or all or part of the functional blocks in the block diagram shown in FIGS. 3,4,5,12,18,19,22 is a semiconductor device. It may be executed by a semiconductor integrated circuit (IC) or one or more electronic circuits including an LSI (Large Block Integration). The LSI or IC may be integrated on one chip, or may be configured by combining a plurality of chips. For example, functional blocks other than the storage element may be integrated on one chip. Here, it is called an LSI or an IC, but the name changes depending on the degree of integration, and it may be called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). A Field Programmable Gate Array (FPGA), which is programmed after the LSI is manufactured, or a Reconfigurable Logic Device, which can reconfigure the junction relationship inside the LSI or set up the circuit partition inside the LSI, can also be used for the same purpose.

Further, all or part of the function or operation of a unit, device, member or part can be performed by software processing. In this case, the software is recorded on a non-temporary recording medium such as one or more ROMs, optical discs, hard disk drives, and is identified by the software when it is executed by a processor. Functions are performed by the processor and peripherals. The system or device may include one or more non-temporary recording media on which the software is recorded, a processor, and the required hardware device, such as an interface.

The unmanned aircraft, flight control method, basic flight program and forced movement program according to the present disclosure can return the unmanned aircraft by the end time of the time zone in which the unmanned aircraft is permitted to fly, and can be remotely controlled. It is useful as a flight control method for controlling the flight of an unmanned flying object flying by, a flight control method for controlling the flight of an unmanned flying object flying by remote control, a basic flight program, and a forced movement program.

1 Operator 3 VO
10 Unmanned vehicle 20 Manipulator 30 Communication terminal 31 First communication terminal 32 Second communication terminal 101 Time measurement unit 102 Position measurement unit 103 Drive unit 104 First communication unit 105 Second communication unit 106 Battery 107 Control unit 108 Storage Part 111 Flight control unit 112 Flight range change unit 113 Forced movement control unit 114 Notification unit 121 Flight basic program 122 Flight range table 123 Pilot position information 124 Forced movement program 125 Flight range information 126 Time information 127 VO position information 128 Movement range information 201 Control unit 202 Position measurement unit 203 Battery 204 Display unit 205 Operation command input unit 206 First wireless communication unit 207 Second wireless communication unit 301 Battery 302 Control unit 303 Position measurement unit 304 Microphone 305 Speaker 306 Display unit 307 Input Part 308 Wireless communication part 1001 Various sensors 1002 Propulsion unit

Claims (4)

A method performed by a computer
Obtain the current position of an unmanned aircraft flying by remote control,
Obtain the current position of the controller used for remote control of the unmanned aircraft.
Get the current time,
To get the time zone in which the flight of the unmanned air vehicle is permitted,
The flight range of the unmanned vehicle is determined according to the time from the end time of the time zone in which the unmanned vehicle is permitted to fly to the current time.
Based on the current position of the unmanned vehicle and the current position of the pilot, it is determined whether or not the unmanned vehicle exists within the flightable range.
Notifies the pilot used for remote control of the unmanned aircraft that the flight range has been determined.
Method. The notification includes notifying the pilot that the flight range has been determined before the determined flight range has been set.
The method according to claim 1. If it is determined that the unmanned aircraft is outside the flight range, the pilot is notified that the unmanned aircraft will be automatically moved toward the pilot.
The method according to claim 1. Computer,
Get the current time,
Obtain the current position of an unmanned aircraft flying by remote control,
Obtain the current position of the controller used for remote control of the unmanned aircraft.
Obtain the time zone when the unmanned aircraft is allowed to fly,
The flight range of the unmanned vehicle is determined according to the time from the end time of the time zone in which the unmanned vehicle is permitted to fly to the current time.
Based on the current position of the unmanned vehicle and the current position of the pilot, it is determined whether or not the unmanned vehicle exists within the flightable range.
The controller used for remote control of the unmanned aircraft is made to function as a control unit for notifying that the flight range has been determined.
program.

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