JP7060158B2 - Control systems, control devices, objects to be controlled, control methods, and control programs - Google Patents

Description

The present invention relates to a control system, a control device, a controlled object, a control method, and a control program.

In order to autonomously and dynamically control a moving body, it is required to derive its position and posture with high accuracy and at the same time. As a result, guided navigation methods (also referred to as "GPS / INS navigation") based on GPS (Global Positioning System) and INS (Inertial Navigation System) have become widely applied to dynamic control.
Regarding such dynamic control, for example, the technique described in Patent Document 1-5 is known.

Japanese Unexamined Patent Publication No. 7-244150 Japanese Patent Application Laid-Open No. 2003-344526 Japanese Unexamined Patent Publication No. 2004-345435 Japanese Unexamined Patent Publication No. 2006-153816 Japanese Unexamined Patent Publication No. 2014-50919

However, in the technique described in Patent Document 1-5, the accuracy of the position or posture of the controlled object may not be sufficient. In that case, the technique described in Patent Document 1-5 may not be able to operate the controlled object with high accuracy.

Therefore, an object of the present invention is to provide a control system, a control device, a controlled object, a control method, and a control program capable of operating the controlled object with high accuracy.

The present invention has been made to solve the above-mentioned problems. In order to achieve the above object, the control system of one aspect of the present invention is the measurement position information measured by the sensor mounted on the controlled object, and is the position between the first reference position and the surface of the controlled object. A plurality of measurement information acquisition units that acquire measurement position information indicating a relationship, and a coordinate information acquisition unit that acquires external position information that is external coordinates of the control object and indicates a second reference position of the control object. The control target is based on the reference position acquisition unit that acquires the reference relative position information indicating the positional relationship between the first reference position and the second reference position, the measurement position information, the external position information, and the reference relative position information. It is equipped with a control unit that determines the operation of an object.

Further, the control device according to one aspect of the present invention provides measurement position information measured by a sensor mounted on the controlled object and indicates a positional relationship between a first reference position and a surface of the controlled object. A measurement information acquisition unit to be acquired, a coordinate information acquisition unit that acquires external position information indicating the second reference position of the control object, which is the external coordinates of the control object, and a plurality of the first reference positions and the said. A reference position acquisition unit that acquires reference relative position information indicating a positional relationship with a second reference position, and a control that determines the operation of the control object based on the measurement position information, the external position information, and the reference relative position information. It has a part.

Further, the controlled object of one aspect of the present invention includes an actuator for controlling the operation, operation information indicating the operation of the controlled object determined by the control unit of the control device, and an output signal output from the actuator. It includes a control module that generates a control signal for the actuator based on the above.

Further, the control method of one aspect of the present invention is a method in a control device, which is measurement position information measured by a sensor mounted on a control object by a measurement information acquisition unit, and is a first reference of the control object. The measurement position information indicating the positional relationship between the position and the surface is acquired, and the coordinate information acquisition unit acquires the external position information indicating the second reference position of the control object, which is the external coordinates of the control object, and is the reference. The position acquisition unit acquires reference relative position information indicating the positional relationship between the plurality of first reference positions and the second reference position, and the control unit is based on the measurement position information, the external position information, and the reference relative position information. To determine the operation of the controlled object.

Further, the recording medium of one aspect of the present invention is a measurement of a computer, which is measurement position information measured by a sensor mounted on a controlled object and indicates a positional relationship between a first reference position and a surface of the controlled object. Measurement information acquisition means for acquiring position information, coordinate information acquisition means for acquiring external position information indicating the second reference position of the control object, which is the external coordinates of the control object, and a plurality of the first reference positions. Control for determining the operation of the controlled object based on the reference position acquisition means for acquiring the reference relative position information indicating the positional relationship with the second reference position, the measurement position information, the external position information, and the reference relative position information. Record a control program to function as a means.

The control system according to the present invention has an effect that the controlled object can be operated with high accuracy as compared with the case where only external position information such as positioning is used.

It is a schematic diagram which shows the control system which concerns on one Embodiment of this invention. It is explanatory drawing which shows the compensation process of the position and attitude of the flying object which concerns on this embodiment. It is a block diagram which shows the structure of the flying object which concerns on this embodiment. It is a flowchart which shows the processing of the flying object which concerns on this embodiment. It is a figure which shows the hardware composition of the control device which concerns on this embodiment.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

<Control system>
FIG. 1 is a schematic diagram showing a control system Sys according to the present embodiment.
In this figure, the control system Sys includes a flying object M (an example of a “controlled object” and a “control device”) and a total station TS (an example of a “surveying device”).

The aircraft M is a manned aircraft such as an aircraft or an unmanned large aircraft such as a drone. The aircraft M has four propellers 8-1 to 8-4 (an example of a "control mechanism"). Each propeller 8-1 to 8-4 includes a rotary blade (blade) and a motor (rotor). By controlling the rotation speed of each motor, the flying object M can control takeoff, landing, movement, and attitude. The movement control includes control of takeoff, movement direction, movement speed, stationary in the air (hovering), landing, loading and unloading of cargo, and the like.
Riders 2-1 to 2-4 (an example of a "sensor"; collectively referred to as "rider 2") are attached to the propellers 8-1 to 8-4, respectively. The lidar 2 is a remote sensing device using light, and performs detection and ranging (Light Detection and Ranging) or laser image detection and ranging (Laser Imaging Detection and Ranging).

The rider 2 is provided with an irradiation port for irradiating a laser downward on the lower side of the housing. The raider 2 is also provided with a light receiving port facing downward to receive the reflected light from the measurement target G of the laser irradiated from the irradiation port. The downward direction is the direction opposite to the ascending direction of the propeller 8, the direction of the ground surface at the time of flight, or the vertical downward direction. The lower side is these downward sides. Each rider 2 has a distance (“positional relationship”” between the position of each rider 2 (an example of a “first reference position”) and a measurement target G that reflects a laser (for example, a ground surface G and an example of a “plane”). One example) is measured.

The total station TS is a surveying device that measures the position of an object such as a flying object M, an obstacle, or the surface of the earth. For example, the total station TS recognizes the flying object M by image analysis from the captured image, and detects the position and attitude of the flying object M. Here, the total station TS detects the coordinates of the center of gravity of the flying object M (an example of "external position information") in the coordinate system TSC (an example of "external coordinates") having global coordinates X, Y, and Z. The center of gravity coordinates are the coordinates of the position of the center of gravity (an example of the "second reference position"). However, the coordinates of the center of gravity may be the coordinates of the center of the housing of the recognized flying object M, or may be a predetermined position.
The total station TS transmits the detected center of gravity coordinates of the flying object M, the attitude, and the survey information indicating the state of the flying object M to the flying object M. The total station TS directly transmits the survey information to the aircraft M. However, the present invention is not limited to this, and survey information may be transmitted to the flying object M via a device capable of directly communicating with the total station TS and the flying object M.

<Compensation processing>
FIG. 2 is an explanatory diagram illustrating compensation processing for the position and attitude of the flying object M according to the present embodiment.
In FIG. 2, for the sake of simplicity of explanation, two-dimensional coordinates will be used for explanation. FIG. 2 is an explanatory diagram in the case where the flying object M is oriented straight in the Y-axis direction of FIG. 1 and is not rotating with the Y-axis as the rotation axis. The fact that the flying object M faces straight in the Y-axis direction means that the straight line connecting the riders 2-1 and 2-3 is along the Y-axis.

The internal coordinate display portion F21 in FIG. 2 represents the reference relative position information stored in the flying object M and the measurement information measured by the rider 2.
The reference relative position information indicates the positional relationship between the position of the center of gravity of the flying object M and the position of each rider 2. The measurement information indicates the distance between the position of each rider 2 and the ground surface G.

Specifically, the reference relative position information has the position of the center of gravity of the flying object M as the origin, the vertical direction of the flying object M is the y'axis direction, the horizontal (width) direction is the x'axis direction, and the height direction is z'. It is represented by local coordinates x', y', z'(also referred to as "internal coordinates") in the axial direction. For example, the internal coordinates of the riders 2-1, 2-2, 2-3, 2-4 are (a, -b, c), (-a, -b, c), (a, b, c, respectively. ), (-A, b, c) (a, b, c are constants, respectively). Of the internal coordinates, y'and z'are shown in the internal coordinate display portion F21 of FIG. 2. The points p11 and p13 are the internal coordinates of the riders 2-1 and 2-3, respectively. The point g1 is the coordinate of the position of the center of gravity and is the origin.
The distance D1 is measured by the rider 2-1 and indicates the distance between the position of the rider 2-1 and the ground surface G. The distance D2 is measured by the rider 2-2 and indicates the distance between the position of the rider 2-2 and the ground surface G.

The external coordinate display portion F22 in FIG. 2 represents the content of compensation processing for compensating for the coordinates of the center of gravity and the attitude of the flying object M when survey information (an example of “external position information”) is input. The external coordinate display portion F22 of FIG. 2 represents the content of compensation processing when the survey center of gravity coordinates (G1, G2, G3), which are the coordinates of the center of gravity in the external coordinates, are input as the survey information.

In the external coordinate display portion F22 of FIG. 2, each position is represented by the external coordinates (global coordinates X, Y, Z) of FIG. The points P21 and P23 are coordinates (also referred to as "mounting position coordinates") representing the positions of the riders 2-1 and 2-3 in external coordinates, respectively. The mounting position coordinates P21 and P23 are uniquely determined because the Z-axis values are the distances D1 and D3, respectively, and the mounting position coordinates distance is 2b.
The angle θ formed by the surface SF2 (line in the external coordinate display portion F22) including the mounting position coordinates P21 and P23 and the horizontal plane SF1 (Z = constant) is the inclination angle from the actual horizontal plane. Further, the estimated center of gravity coordinates (Yg, Zg), which are the estimated estimated center of gravity positions, are uniquely determined from the mounted position coordinates P21 and P23 and the reference relative position information. The value obtained by subtracting the surveyed center of gravity coordinates (G2, G3) from the estimated center of gravity coordinates (Yg, Zg) is the deviation Diff of the coordinates of the center of gravity position.
In this way, the flying object M has a deviation Diff from the survey center of gravity coordinates (G2, G3) and a deviation (inclination) from the horizontal posture with respect to the survey information detected by the total station TS based on the measurement information measured by the rider 2. The angle θ) can be calculated. Thereby, the flying object M can compensate for these deviations.

As described above, in the control system Sys according to the present embodiment, the flying object M acquires the measurement information measured by each of the mounted riders 2 and indicates the distance between the position of each rider 2 and the ground surface. do. The flight object M acquires survey information indicating the position of the center of gravity of the flight object M in the external coordinates of the flight object M. The flying object M stores in advance reference relative position information indicating the positional relationship between the position of the center of gravity of the own device and the position of each rider 2. The aircraft M acquires this reference relative position information by reading it from the memory. The flying object M determines the operation of the flying object M based on the measurement information, the survey information (an example of "external position information"), and the reference relative position information.
As a result, the control system Sys can operate the flying object M more accurately than when using only the survey information detected by the total station TS. The flying object M has measurement information and positioning information by the GPS function. Alternatively, the operation of the flying object M may be determined based on the inertial measurement information by the INS function (another example of "external position information") and the reference relative position information.

<Composition of the flying object>
FIG. 3 is a schematic block diagram showing the configuration of the flying object M according to the present embodiment.
In FIG. 3, the flight body M includes GPS / INS 1, N riders 2-1 to 2-N, a communication chip 3, a flight body target state quantity generator 4, an altitude / attitude compensator 5, and a flight control module 6. Includes actuator 7 and flying object dynamics 8.
The aircraft target state quantity generator 4, the altitude / attitude compensator 5, and the flight control module 6 are also referred to as a control device M1. The control device M1 may be provided in whole or in part in a device other than the flying object M, for example, a server, a personal computer, or a total station TS.

GPS / INS1 calculates the position of the flying object M by the GPS function. For example, GPS / INS1 receives radio waves from GPS satellites by an antenna provided at the position of the center of gravity of the flying object M, and calculates the position of the center of gravity of the flying object M. The GPS / INS1 calculates the position, attitude, and speed of the flying object M by using the sensor mounted on the flying object M by the INS function.
The GPS / INS1 generates and outputs a derivation signal Sg1 representing a positioning information indicating a position calculated by the GPS function and an inertial measurement information indicating a position, an attitude and a speed calculated by the INS function.

The riders 2-1 to 2-N measure the distance between the mounting position of the riders 2-1 to 2-N and the ground surface G as measurement information, respectively. The riders 2-1 to 2-N output measurement signals Sg2-1 to Sg2-N representing measurement information, respectively.
The communication chip 3 is a circuit that transmits / receives information to / from an external device. The communication chip 3 receives the survey information from the total station TS and outputs the survey signal Sg3 representing the survey information. The communication chip 3 may transmit the sensor information detected by the flight object M and the control instruction generated by the flight object M to the total station TS, the server, or the personal computer.

The flying object target state quantity generator 4 calculates the target value of each state quantity with respect to the state quantity such as the position, velocity, acceleration, attitude, trajectory, and stability of the flying object M. The air vehicle target state quantity generator 4 outputs a target state quantity signal Sg4 representing a target value of each state quantity.
The altitude / attitude compensator 5 performs position and attitude compensation processing (see FIG. 2) based on the derived signal Sg1, the measurement signals Sg2-1 to Sg2-N, the survey signal Sg3, and the target state quantity signal Sg4. The details of the compensation process will be described later. The altitude / attitude compensator 5 generates and outputs a compensation signal Sg5 as a result of the compensation processing. The compensation signal Sg5 is an observation value of each state quantity of the flying object M, and represents a corrected observation value (also referred to as an “estimated observation value”) when correction is required.

The flight control module 6 determines the operation of the flying object M for each state quantity according to the target value represented by the target state quantity signal Sg4, the estimated observation value represented by the compensation signal Sg5, and the drive value represented by the drive signal Sg7. do. Specifically, the flight control module 6 stores correspondence information (functions, tables, trained models, etc.) in which the target value, the estimated observation value, and the drive value are associated with the operation of the flying object M in advance from the memory. read out. The flight control module 6 determines the operation corresponding to the target value and the estimated observed value as the operation of the flying object M in the correspondence information.

The movement of the vehicle M is, for example, ascending or descending, forward or backward, stop, left or right, yawing, pitch up or pitch down, right roll or left roll, and stationary. The movement of the flying object M includes the amount of change in the movement. The flight control module 6 may accept this operation from an operation unit (not shown) provided on the flight object M or an operation unit of the remote controller.
The flight control module 6 generates and outputs a flight control signal Sg6 for performing the determined operation.

The actuator 7 determines a drive value for driving the flying object dynamics 8 according to the flight control signal Sg6, and generates a drive signal Sg7 according to the determined drive value. The drive value is, for example, a voltage value and a current value.
The aircraft dynamics 8 are four propellers 8-1 to 8-4. A voltage is applied to each of the propellers 8-1 to 8-4 according to the drive signal Sg7, and the rotation speed of each motor is controlled. The flying object dynamics 8 detects a state quantity of the flying object dynamics 8 or a change thereof. The flying object dynamics 8 generates and outputs a dynamics detection signal Sg8 indicating the detected state quantity or its change. The dynamics detection signal Sg8 represents a state quantity or a change thereof generated as a result of the drive signal Sg7, and is, for example, the rotation speed of each motor.

<Flight processing flow>
FIG. 4 is a flowchart showing the processing of the flying object M according to the present embodiment.
(Step S11) In the control device M1, the flying object M has landed stably on the ground surface G. The control device M1 may determine that the flying object M is stably landing by the derived signal Sg1 or the dynamics detection signal Sg8, the acceleration sensor mounted on the flying object M, the gyro sensor, or the like. .. Alternatively, the total station TS may determine that the flying object M has landed stably based on the survey information.

(Step S12) The control device M1 acquires the derivation signal Sg1 representing the positioning information and the inertial measurement information.
(Step S13) The control device M1 acquires a survey signal Sg3 representing survey information.
(Step S14) The control device M1 acquires measurement signals Sg2-1 to Sg2-N representing measurement information.

The positioning information, inertial measurement information, survey information, or measurement information for compensation processing is detected, calculated, and calculated when it is determined that the flying object M is stably landing on the ground surface G. It may be generated or output. In other words, the positioning information, inertial measurement information, survey information, or measurement information for compensation processing is detected when it is not determined that the aircraft M is landing stably on the ground surface G. It does not have to be calculated, generated or output. Thereby, the flying object M can reduce the load for detection, calculation, generation or output.

(Step S15) The control device M1 refers to the target value represented by the target state quantity signal Sg4, and determines whether or not the flying object M is in a state of continuing landing. For example, the target value determined to be in this state has, for example, a value indicating that the rotation speed of all the motors is zero (does not rotate, there is no output of the motor), and there is no speed or acceleration.

(Step S16) When the flying object M is in a state of continuing landing (Yes in step S15), the control device M1 performs compensation processing.
(Step S17) The control device M1 determines the operation of the flying object M according to the target value represented by the target state quantity signal Sg4, the estimated observation value represented by the compensation signal Sg5, and the driving value represented by the driving signal Sg7.
(Step S18) The control device M1 operates the flying object M by the determined operation.

<Compensation processing>
Hereinafter, the compensation process performed by the control device M1 (altitude / attitude compensator 5) will be described.
The control device M1 calculates the mounting position coordinates (external coordinates) of the riders 2-1 to 2-N based on the measurement information represented by the measurement signals Sg2-1 to Sg2-N and the survey information represented by the survey signals Sg3. (See Fig. 2). For example, assuming that the mounting position coordinates of the rider 2-n (n = 1, 2, ..., N) are (x _n , y _n , z _n ), the control device M1 satisfies, for example, a solution (x) that satisfies the following equation. _n , y _n , z _n ) is calculated as the mounting position coordinates.

・ (X _n − x _m ) ² + (y _n − y _m ) ² + (z _n − z _m ) ²
= Distance between rider 2-n and rider 2-m in internal coordinates ・ z _n = Dn

Here, the equation of a plane passing through each mounting position coordinate is expressed as follows.

The total number of combinations for selecting three equations of a plane from the _N equations of a plane described by the equations (1), ..., And the equation (N) is NC3 = N! / (3! (N-3)!). Here, s! Is the factorial of s. In other words, s! = S × (s-1) × (s-2) × ・ ・ ・ × 2 × 1, which is obtained by multiplying the number obtained by subtracting 1 from s (a positive integer) until it becomes 1.
The control device M1 selects three equations of a plane from the combinations of _NC3 . This selection is random, for example, but may be a predetermined condition such as a plane equation passing through three mounting position coordinates higher or lower than the value of Dn.

Some of the three selected equations of a plane include three mounting position coordinates. In the equation of a plane, the constant coefficients (an, b _n , _{cn )} of the three equations of a plane have the same value.
The control device M1 calculates the constant coefficient (an, b _n , _{cn )} at that time. Specifically, when N = 4 (see FIG. 1) and three mounting position coordinates of riders 2-1, 2-2, and 2-3 are selected, the three equations of a plane are given by the following equations. expressed.

The control device M1 calculates, for example, constant coefficients (an, b _n , _{cn )} satisfying the equations (10), (20), and (30). Specifically, the constant coefficients (an, b _n , _cn ) are _expressed by the following equations from the three mounting position coordinates.

The control device M1 calculates α, β, and γ from the three mounting position coordinates using the equation (40), the equation (50), and the equation (60). Here, the equation of a plane satisfying the equation (40), the equation (50), and the equation (60) is expressed by the following equation (70).

Therefore, in the external coordinates, the plane equation (horizontal plane) fixed to the aircraft surface is the reference when the inclination of the aircraft M becomes zero when the altitude h ^~ (tilde) is reached while the aircraft M remains horizontal. It is represented by the horizontal equation z + h ^~ = 0. The inclination angle θ of the flying object M at this time is represented by the following equation (80) by the angle formed by the plane represented by the reference plane equation and the plane represented by the equation of plane (70).

The control device M1 calculates the inclination angle θ from α, β, and γ by using the following equation (80).
Further, the control device M1 calculates the estimated center of gravity coordinates (Xg, Yg, Zg) from the three mounting position coordinates using the reference relative position information.

The control device M1 similarly calculates the tilt angle θ and the estimated center of gravity coordinates (Xg, Yg, Zg) from the combination of the other three mounting position coordinates. The control device M1 calculates the tilt angle θ and the estimated center of gravity coordinates (Xg, Yg, Zg) in a plurality of combinations, and calculates the average value of these as the average tilt angle θ _ave and the average estimated center of gravity coordinates (Xg _ave , Yg _ave , Zg). _ave ).
The control device M1 has the center of gravity position and tilt angle of the flying object M based on the center of gravity position and orientation represented by the survey signal Sg3, the average tilt angle θ _ave , and the average estimated center of gravity coordinates (Xg _ave , Yg _ave , Zg _ave ). Is calculated. For example, the control device M1 has a center of gravity position (G1, G2, G3) and an attitude (tilt angle) represented by the survey signal Sg3, an average tilt angle θ _ave , and an average estimated center of gravity coordinates (Xg _ave , Yg _ave , Zg _ave ). The average value of the above values or a value obtained by adding a predetermined weight to these values is calculated as the position of the center of gravity and the inclination angle of the flying object M.

The control device M1 may use the position or posture represented by the derived signal Sg1 as a reference value. For example, when the difference between the position and attitude represented by the derived signal Sg1 and the position of the center of gravity of the flying object M and the tilt angle is equal to or greater than the threshold value, the control device M1 causes the riders 2-1 to 2-N to measure the measurement information again. Then, compensation processing may be performed. In this case, the control device M1 may detect an abnormal value of the inclination angle θ and the estimated center of gravity coordinates (Xg, Yg, Zg), eliminate the abnormal value, and calculate the average value. That is, the control device M1 may select or reselect the combination of the mounting position coordinates based on the derived signal Sg1 (or the survey signal Sg3).

Through the above compensation processing, the control device M1 uses the calculated center of gravity position and tilt angle of the flying object M as estimated observation values, and generates and outputs a compensation signal Sg5 representing the estimated observation values.
As a result, in the flight object M (FIG. 3), the flight control module 6 normally controls the flight based on the derived signal g1 output by GPS / INS1, for example, based on the position of the center of gravity and the attitude represented by the derived signal g1. Generate signal Sg6. On the other hand, the flight control module 6 generates the flight control signal Sg6 while using the compensation signal Sg5 generated by the altitude / attitude compensator 5 according to the target value represented by the target state quantity signal Sg4.

Therefore, in the present embodiment, the control system Sys has N riders 2-1 to 2-N, a total station TS, and an altitude with respect to the GPS / INS 1 and the flight control module 6 (which may be a general-purpose product). -Combine the posture compensator 5. As a result, even when the accuracy of the positioning and inertial measurement of the control system such as GPS / INS1 cannot be obtained, the control regarding the position and attitude of the flying object M can be performed more accurately, and the flying object M can be operated more accurately. can.

<Hardware configuration of control device>
FIG. 5 is a configuration diagram showing the hardware of the control device M1 according to the present embodiment.
The control device M1 includes a communication interface M11, an input / output interface M12, a drive M13, a memory M14, and a processor M15.
These components are communicably connected to each other via a bus.

The communication interface M11 is an interface with the communication chip 3 (FIG. 3). The communication chip 3 is a wireless communication module and communicates with other devices.
The input / output interface M12 is an interface with an input / output device, a physical control device (for example, an actuator), and a sensor. The input / output device may be, for example, a control panel, a keyboard, a mouse, a touch pad, or a microphone into which various instructions are input by voice, for example, a display, a light, a speaker, or a vibration generating device. There may be.

The drive M13 is, for example, an auxiliary storage medium such as a hard disk drive or a solid state drive, a non-volatile memory such as an EEPROM or a flash memory, or a magneto-optical disk drive or a flexible disk drive. The drive M13 is not limited to the one built in the control device M1, and may be an external storage device connected by a digital input / output port such as a USB (Universal Seriul Bus).

The memory M14 is a main storage medium such as a random access memory. The memory M14 may be a cache memory. The memory M14 stores these instructions when they are executed by one or more processors M15.
The processor M15 is a CPU, MPU, or GPU. The processor M15 reads a program and various data from the drive M13 via the memory M14 and performs an operation to execute an instruction stored in one or a plurality of memories.
Although the control device M1 is connected to hardware such as a camera (not shown), an acceleration sensor, a gyro sensor, and a GPS receiving module, the control device M1 may be configured to include these. Further, the total station TS and other computers (not shown) may be configured to include a part or all of the control device M.

<Summary>
From the above description, the present invention can be grasped as follows, for example. Reference numerals in the accompanying drawings are added in parentheses for convenience in order to facilitate understanding of the present invention, but the present invention is not limited to the illustrated embodiment.

(1) The control system of one aspect of the present invention (for example, control system Sys) is measurement position information measured by a sensor mounted on a controlled object (for example, a flying object M), and is the measured position information of the controlled object. A measurement information acquisition unit (for example, each rider 2 or an altitude / attitude compensator 5) that acquires measurement position information indicating a positional relationship between a first reference position (for example, the position of each rider 2) and a surface (ground surface G), and the above. External position indicating the second reference position (center of gravity) of the controlled object in the external coordinates of the controlled object (for example, the coordinate system TSC used by Total Station TS for surveying, the latitude and longitude by GPS, and the coordinate system of inertial measurement by INS). A reference relative position indicating the positional relationship between a coordinate information acquisition unit (for example, a communication chip 3, GPS / INS 1, or an altitude / attitude compensator 5) for acquiring information, and a plurality of the first reference positions and the second reference positions. A reference position acquisition unit (for example, altitude / attitude compensator 5) that acquires information, and a control unit (for example, a control unit that determines the operation of the controlled object based on the measured position information, the external position information, and the reference relative position information). For example, it is equipped with a flight control module 6).

As a result, the control system Sys can operate the controlled object more accurately than in the case of using only the external position information.
The controlled object may be an aircraft such as a drone, a helicopter, or an airplane, or a mobile body (including a portable device) such as a ship, a submersible device, an automobile, a mobile phone, or a personal computer. good.
The "face" is not limited to the ground surface, but may be a structure (a surface of a structure such as a road or a landing port, or a water surface). Further, the surface is not limited to horizontal, and may be inclined or uneven. Further, the surface may be a surface such as a wall or a surface on the vertically lower side (for example, the lower surface of the bridge).
The second reference position does not have to be the center of gravity. For example, it may be a position such as a mark or a specific shape attached to a position (surface of a controlled object) that can be observed on the total station TS.
The external coordinates are coordinates different from the coordinates used for the rider 2, and may be, for example, the coordinates of latitude and longitude by GPS, the coordinates of inertial measurement by INS, or by a measuring device such as a camera mounted on the flying object M. It may be coordinates.

(2) In the control system of one aspect of the present invention, the coordinate information acquisition unit is mounted on the external position information (for example, survey information) measured by the surveying device or the controlled object. The external position information (for example, positioning information or inertial measurement information) measured or inertially measured by the sensor is acquired, and the control unit is based on the measured position information, the external position information, and the reference relative position information. The operation of the controlled object is determined according to the position or attitude (for example, estimated observed value) of the controlled object estimated in the above.

As a result, the control system is controlled as compared with the case where only the external position information measured by the surveying device or the external position information measured by the sensor mounted on the controlled object or the inertial measurement is used. The position or attitude of the object can be estimated more accurately, and the flying object M can be operated more accurately.

(3) In the control system of one aspect of the present invention, in the control system, the controlled object is a flying object, and the measurement information acquisition unit is the measurement indicating the positional relationship between the first reference position and the ground surface. The position information is acquired, the coordinate information acquisition unit acquires external position information indicating the altitude of the air vehicle, and the control unit determines the altitude or attitude of the air vehicle.

As a result, the control system can estimate the altitude or attitude of the flying object more accurately, and can operate the flying object more accurately. The altitude may be the height from the ground surface to be surveyed or the altitude to be positioned.

(4) In the control system according to one aspect of the present invention, in the control system, the measurement information acquisition unit acquires measurement position information measured when the flying object is in a predetermined state, and the control unit obtains the measurement position information. The operation of the controlled object is determined based on the measured position information, the external position information, and the reference relative position information when the flying object is in a predetermined state.

Thereby, the control system can estimate the altitude or the attitude of the flying object more accurately in a predetermined state, and can operate the flying object M more accurately.
The predetermined state is, for example, when the controlled object is landing, when the controlled object is stationary (including stationary in the air such as hovering), the controlled object is constant (including substantially constant). For example, when the controlled object is moving at a speed of (the change in speed is within the threshold value), the controlled object is located at a predetermined distance from the first reference position, at a predetermined distance or less, and at a predetermined distance or more. When a predetermined object, mark, or shape is detected, when the controlled object is located at a predetermined position (latitude / longitude, position in the external coordinate system), and the like. The predetermined object may be a takeoff start point, a landing point, a waypoint, an abnormal point (crack or rust), or an inspection / inspection target. Further, the predetermined state may be when a predetermined timing or a predetermined signal is received. The predetermined signal may be, for example, a signal transmitted from an external object (for example, a signal for short-range communication).
Further, the signal includes an identifier for identifying the controlled object, and the predetermined state may be a state in which the controlled object receives the identifier of the own device. The predetermined state may be a state in which the controlled object detects an abnormality in its own device.

In the control system of one aspect of the present invention, the predetermined state is a state in which the flying object is landing.
As a result, the control system can estimate the altitude or attitude of the flying object more accurately when it is in the landing state, and can operate the flying object M more accurately. In the landing state, the flying object is stable, so that the measurement information and the calculation accuracy of the equation of a plane of the equation (70) can be improved, for example.

(5) In the control system of one aspect of the present invention, the predetermined state is a state in which the flying object continues to land based on the measured value by the sensor and the target value for the operation.
As a result, the control system can more accurately estimate the altitude or attitude of the flying object when it is in a landing state and when the landing is continuous, and it is possible to operate the flying object M more accurately. can. The control system can perform compensation processing in a more stable state.

(6) In the control system of one aspect of the present invention, in the control system, the measurement information acquisition unit acquires measurement position information indicating at least three positional relationships between the first reference position and the ground surface, and controls the control. The unit estimates the angle between the flying object and the ground surface based on the planes specified by the three first reference positions in the external coordinates.

As a result, the control system can perform compensation processing by at least three riders 2, can estimate the attitude of the flying object more accurately, and can operate the flying object M more accurately.
The ground surface may be a horizontal plane or a horizontal plane in the coordinate system TSC of the total station TS.

In the control system of the above embodiment, the GPS / INS1 may calculate the positioning information or the inertial measurement information or generate the derived signal Sg1 according to the state of the flying object M. For example, GPS / INS1 calculates positioning information or inertial measurement information when it is determined that the flying object M is in a stable landing state, and generates a derived signal Sg1.

The above-mentioned flying object M has a computer system inside. Then, a part or all of the process of FIG. 5 described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Further, this computer program may be distributed to a computer via a communication line, and the computer receiving the distribution may execute the program.

A program for realizing the function of the control system Sys in FIG. 1 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into the computer system and executed to perform various processes. You may go. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. Further, the "computer system" shall also include a WWW system provided with a homepage providing environment (or display environment). Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, and a storage device such as a hard disk built in a computer system. Furthermore, a "computer-readable recording medium" is a volatile memory (RAM) inside a computer system that serves as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, it shall include those that hold the program for a certain period of time.

Further, the program may be transmitted from a computer system in which this program is stored in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting a program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. Further, the above program may be for realizing a part of the above-mentioned functions. Further, a so-called difference file (difference program) may be used, which can realize the above-mentioned function in combination with a program already recorded in the computer system.

This application claims priority on the basis of Japanese Patent Application No. 2019-48630 filed on March 15, 2019, and incorporates all of its disclosures herein.

One aspect of the present invention can be used for an aircraft such as a drone, a helicopter, or an airplane. Further, one aspect of the present invention can also be used for mobile objects (including portable devices) such as ships, diving devices, automobiles (including heavy machinery), mobile phones, and personal computers. Further, one aspect of the present invention can be used for these automatic controls (automatic driving, automatic navigation, driving support and navigation support).

Sys Control System M Aircraft TS Total Station TS
8-1-8-4 Propeller 2, 2-1-2-4 Rider 1 GPS / INS
3 Communication chip
4 Aircraft Target State Quantity Generator 5 Altitude / Attitude Compensator 6 Flight Control Module 7 Actuator 8 Aircraft Dynamics M1 Controller M11 Communication Interface M12 Input / Output Interface M13 Drive M14 Memory M15 Processor

Claims (10)

A measurement information acquisition unit that acquires measurement position information that is measurement position information measured by a sensor mounted on the control object and indicates a positional relationship between a first reference position and a surface of the control object.
A coordinate information acquisition unit that acquires external position information indicating a second reference position of the controlled object using the external coordinates of the controlled object, and a coordinate information acquisition unit.
A reference position acquisition unit that acquires reference relative position information indicating a positional relationship between a plurality of the first reference positions and the second reference position, and
A control unit that determines the operation of the controlled object based on the measured position information, the external position information, and the reference relative position information.
Control system with. The coordinate information acquisition unit acquires the external position information measured by the surveying device or the external position information measured by the sensor mounted on the controlled object or inertially measured.
The control unit determines the operation of the controlled object according to the position or posture of the controlled object estimated based on the measured position information, the external position information, and the reference relative position information. The control system described in. The controlled object is a flying object.
The measurement information acquisition unit acquires the measurement position information indicating the positional relationship between the first reference position and the ground surface, and obtains the measurement position information.
The coordinate information acquisition unit acquires the external position information indicating the altitude of the flying object, and obtains the external position information.
The control system according to claim 1 or 2, wherein the control unit determines the altitude or attitude of the flying object. The measurement information acquisition unit acquires measurement position information measured when the flying object is in a predetermined state, and obtains measurement position information.
The control system according to claim 3, wherein the control unit determines the operation of the controlled object based on the measured position information, the external position information, and the reference relative position information when the flying object is in a predetermined state. .. The control system according to claim 4, wherein the predetermined state is a state in which the flying object continues to land based on the measured value by the sensor and the target value for the operation. The measurement information acquisition unit acquires at least three measurement position information indicating the positional relationship between the first reference position and the ground surface.
Any one of claims 3 to 5 in which the control unit estimates the angle formed by the flying object and the ground surface based on the plane specified by the three first reference positions in the external coordinates. The control system according to paragraph 1. A measurement information acquisition unit that acquires measurement position information that is measurement position information measured by a sensor mounted on the control object and indicates a positional relationship between a first reference position and a surface of the control object.
A coordinate information acquisition unit that acquires external position information indicating a second reference position of the controlled object using the external coordinates of the controlled object, and a coordinate information acquisition unit.
A reference position acquisition unit that acquires reference relative position information indicating a positional relationship between a plurality of the first reference positions and the second reference position, and
A control unit that determines the operation of the controlled object based on the measured position information, the external position information, and the reference relative position information.
A control device equipped with. A control mechanism that controls the operation and
Control to generate a control signal for the control mechanism based on the operation information indicating the operation of the control object determined by the control unit of the control device according to claim 7 and the output signal output from the control mechanism. Module and
A controlled object that comprises. It is a method in the control device,
The measurement information acquisition unit acquires the measurement position information measured by the sensor mounted on the control object and indicates the positional relationship between the first reference position and the surface of the control object.
The coordinate information acquisition unit acquires the external position information indicating the second reference position of the controlled object by using the external coordinates of the controlled object.
The reference position acquisition unit acquires reference relative position information indicating the positional relationship between the plurality of first reference positions and the second reference position, and obtains reference relative position information.
The control unit determines the operation of the controlled object based on the measured position information, the external position information, and the reference relative position information.
Control method. Computer,
A measurement information acquisition means for acquiring measurement position information measured by a sensor mounted on a control object and indicating a positional relationship between a first reference position and a surface of the control object.
A coordinate information acquisition means for acquiring external position information indicating a second reference position of the controlled object using the external coordinates of the object.
A reference position acquisition means for acquiring reference relative position information indicating a positional relationship between a plurality of the first reference positions and the second reference position.
A control means for determining the operation of the controlled object based on the measured position information, the external position information, and the reference relative position information.
A control program to function as .

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