JP7421396B2 - Autonomous flying vehicle and flight control method - Google Patents

Description

The present disclosure relates to an autonomous flying vehicle and a flight control method.

Autonomous flying vehicles such as drones that fly autonomously control their propellers based on information detected by various sensors such as range sensors, electronic compasses, and GNSS (Global Navigation Satellite System) receivers. This enables autonomous flight. In particular, accuracy can be improved by identifying the heading direction of an autonomous aircraft based on the earth's magnetic field detected by an electronic compass, and by detecting the autonomous aircraft's own position based on radio signals received from positioning satellites by a GNSS receiver. Highly autonomous flight will be achieved.

For example, Patent Document 1 discloses a multicopter that is equipped with an electronic compass and a GPS (Global Positioning System) receiver and is capable of autonomous flight.

Patent No. 6661136

The above-mentioned autonomous flying vehicle has a problem in that it cannot normally fly autonomously in an environment where radio waves from a positioning satellite cannot be normally received and an electronic compass cannot normally detect the earth's magnetism.

For example, there is a demand for sending an autonomous flying vehicle equipped with an imaging device into underground tunnels housing power lines to check the status of power lines without transporting personnel. However, there is a high possibility that radio waves from positioning satellites cannot be properly received in underground tunnels, and electronic compasses are also unlikely to be able to properly detect the earth's magnetism due to the magnetism generated by power transmission lines.

In view of the above circumstances, the purpose of the present disclosure is to provide a self-sustaining flying vehicle that is capable of autonomous flight in environments where radio waves from positioning satellites cannot be received normally and where geomagnetism cannot be detected normally. .

In order to achieve the above object, the autonomous flying vehicle according to the first aspect of the present disclosure:
An autonomous flying vehicle,
a flight controller that controls flight of the autonomous flying vehicle;
an electronic compass module that detects magnetism and obtains a first magnetic flux density that is a magnetic flux density of the detected magnetism;
a satellite positioning module that receives a radio signal emitted by a positioning satellite and obtains first positioning information representing the position of the autonomous flying vehicle on the earth in terms of latitude, longitude, and altitude based on the radio signal;
a range sensor that detects obstacles around the autonomous flying vehicle;
map creation means for creating an environmental map based on the detection results by the range sensor;
Estimating means for estimating the nose direction and position of the autonomous flying vehicle on the environmental map;
pseudo positioning means for obtaining second positioning information representing the position estimated by the estimating means using pseudo latitude, longitude, and altitude;
pseudo compass means for calculating a second magnetic flux density that is a pseudo magnetic flux density based on the nose direction estimated by the estimating means;
Equipped with
The flight controller includes:
Flight control means for controlling the flight of the autonomous flying vehicle;
an abnormality determining means for determining whether there is an abnormality in at least one of the first magnetic flux density and the first positioning information;
When the abnormality determination means determines that there is no abnormality in either the first magnetic flux density or the first positioning information, the first magnetic flux density and the first positioning information are transmitted to the flight control means. and when the abnormality determining means determines that there is an abnormality in at least one of the first magnetic flux density and the first positioning information, the second magnetic flux density and the second positioning information output means for outputting the information to the flight control means;
Equipped with
The flight control means is based on the first magnetic flux density and the first positioning information outputted by the outputting means, or based on the second magnetic flux density and the second positioning information outputted by the outputting means. The flight of the autonomous flying vehicle is controlled based on the following.

The pseudo compass means obtains a smoothed pseudo magnetic flux density as the second magnetic flux density based on the nose direction estimated multiple times within a predetermined period.
You can do it like this.

The abnormality determination means determines that there is an abnormality in the first magnetic flux density when the first magnetic flux density is the one when the electronic compass module could not normally detect earth's magnetism, and determining that there is an abnormality in the first positioning information when the first positioning information is when the satellite positioning module was unable to normally receive radio waves from the positioning satellite;
You can do it like this.

In order to achieve the above object, a flight control method according to a second aspect of the present disclosure includes:
A flight control method for an autonomous flying vehicle, the method comprising:
detecting magnetism and determining a first magnetic flux density that is the magnetic flux density of the detected magnetism;
receiving a radio signal emitted by a positioning satellite, and obtaining first positioning information representing the position of the autonomous flying vehicle on the earth in terms of latitude, longitude, and altitude based on the radio signal;
detecting obstacles around the autonomous flying vehicle and creating an environmental map;
estimating the nose direction and position of the autonomous flying vehicle on the environmental map;
obtaining second positioning information representing the estimated position using pseudo latitude, longitude, and altitude;
Determining a second magnetic flux density that is a pseudo magnetic flux density based on the estimated nose direction,
Determining whether there is an abnormality in at least one of the first magnetic flux density and the first positioning information,
When it is determined that there is no abnormality in either the first magnetic flux density or the first positioning information, the flight of the autonomous flying object is controlled based on the first magnetic flux density and the first positioning information. control,
When it is determined that there is an abnormality in at least one of the first magnetic flux density and the first positioning information, the control of the autonomous flying vehicle is performed based on the second magnetic flux density and the second positioning information. Control your flight.

According to the present disclosure, autonomous flight is possible in an environment where radio waves from a positioning satellite cannot be normally received and where geomagnetism cannot be normally detected.

A diagram showing the configuration of a drone according to an embodiment of the present disclosure A diagram showing an example of flight plan data according to an embodiment of the present disclosure A diagram showing a functional configuration of a companion computer according to an embodiment of the present disclosure A diagram showing a functional configuration of a flight controller according to an embodiment of the present disclosure Flowchart illustrating an example of flight control operation by a drone according to an embodiment of the present disclosure Flowchart in FIG. 5 illustrating an example of flight control operation by the flight controller included in the drone according to the embodiment of the present disclosure A diagram showing a functional configuration of a companion computer according to Modification 1 of the embodiment of the present disclosure

Hereinafter, an embodiment in which an autonomous flying object according to the present disclosure is applied to a drone will be described with reference to the drawings. In each drawing, the same or equivalent parts are given the same reference numerals.

(Embodiment)
A drone 1 according to an embodiment will be described with reference to FIG. As will be described later, the drone 1 is an autonomous flying vehicle that is capable of autonomous flight in environments where radio waves from positioning satellites cannot be received normally, such as inside underground tunnels or inside power facilities, or where geomagnetism cannot be detected normally. . Although the details will be described later, in environments where radio waves from positioning satellites cannot be received normally or where geomagnetism cannot be detected normally, Drone 1 will fly autonomously based on pseudo magnetic flux density and pseudo positioning information. I do.

The drone 1 includes a companion computer 2, a flight controller 3, a range sensor 4, an electronic compass module 5, a satellite positioning module 6, and a drive unit 7. The companion computer 2 is communicably connected to the range sensor 4 and the flight controller 3. The flight controller 3 is communicably connected to the companion computer 2, electronic compass module 5, satellite positioning module 6, and drive unit 7. The drone 1 is an example of an autonomous flying vehicle according to the present disclosure.

Note that the drone 1 may include various sensors such as a gyro sensor, an acceleration sensor, and an atmospheric pressure sensor in addition to the above.

The companion computer 2 is a general microcontroller that can be built into the drone 1, for example. The companion computer 2 includes a processor 201, a memory 202, an interface 203, and a secondary storage device 204, which are connected to each other via a bus B2.

The processor 201 is, for example, a CPU (Central Processing Unit). When the processor 201 reads the operating program stored in the secondary storage device 204 into the memory 202 and executes it, the functions of each functional unit described below are realized.

The memory 202 is a main storage device composed of, for example, RAM (Random Access Memory). Memory 202 stores an operating program read by processor 201 from secondary storage device 204 . Furthermore, the memory 202 functions as a work memory when the processor 201 executes an operating program.

The interface 203 is an I/O (input/output) interface such as a GPIO (General-purpose input/output), a serial port, a USB (Universal Serial Bus) port, or a network interface. By connecting the range sensor 4 and the flight controller 3 to the interface 203, the companion computer 2 is communicably connected to the range sensor 4 and the flight controller 3.

The secondary storage device 204 is, for example, a flash memory. Secondary storage device 204 stores operating programs executed by processor 201. The secondary storage device 204 also stores flight plan data, which will be described later. For example, the user of the drone 1 creates flight plan data in advance on a personal computer, connects the personal computer to the interface 203 and transfers the flight plan data to the companion computer 2, and the flight plan data is stored in the secondary storage device. 204.

Flight plan data will be explained with reference to the example shown in FIG. The flight plan data is created, for example, by the user of the drone 1 setting a flight route by specifying a starting point, one or more way points, and an ending point on a map. The example shown in FIG. 2 specifies what kind of flight route the drone 1 should take within the underground tunnel by specifying the starting point, one way point, and the ending point on the map showing the underground tunnel. This is an example. In the example shown in FIG. 2, the starting point, way point, and ending point are indicated by a set of latitude, longitude, and altitude. Since the flight controller 3 uses information expressed in latitude, longitude, and altitude in flight control, each point in the flight plan data is also expressed in latitude, longitude, and altitude.

Referring again to FIG. The flight controller 3 is a flight controller composed of, for example, a microcontroller. As the flight controller 3, for example, a commercially available flight controller can be employed. Like the companion computer 2, the flight controller 3 includes a processor 301, a memory 302, an interface 303, and a secondary storage device 304, which are connected to each other via a bus B3. The secondary storage device 304 also includes a driver program P31 and a flight program P32 as operating programs for the flight controller 3.

Processor 301 is, for example, a CPU. When the processor 301 reads the driver program P31 and the flight program P32 stored in the secondary storage device 304 into the memory 302 and executes them, the functions of each functional unit described below are realized.

The memory 302 is a main storage device composed of, for example, a RAM. The memory 302 stores the operating program read by the processor 301 from the secondary storage device 304. Furthermore, the memory 302 functions as a work memory when the processor 301 executes the driver program P31 and the flight program P32.

The interface 303 is an I/O interface such as a GPIO, serial port, USB port, or network interface. By connecting the companion computer 2, electronic compass module 5, satellite positioning module 6, and drive section 7 to the interface 303, the flight controller 3 can communicate with the companion computer 2, electronic compass module 5, satellite positioning module 6, and drive section 7. possible to be connected.

The secondary storage device 304 is, for example, a flash memory. As described above, the secondary storage device 304 stores the driver program P31 and the flight program P32 as operating programs executed by the processor 301. The manufacturer of the drone 1 can create the driver program P31 and store it in the secondary storage device 204. That is, by creating and saving the driver program P31 by the manufacturer of the drone 1, the manufacturer can realize the functions of some of the functional units described below. Although the details will be described later, each function of the companion computer 2 and the driver program P31 created by the manufacturer of the drone 1 allow the drone to operate in an environment where radio waves from positioning satellites cannot be received or where geomagnetism cannot be detected normally. autonomous flight can be achieved.

The range sensor 4 detects obstacles around the drone 1 and outputs information indicating the relative position of the detected obstacle (distance and direction with respect to the current position of the drone 1) to the companion computer 2. The range sensor 4 is, for example, a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that can detect obstacles in a 360-degree circumference in the horizontal direction. The range sensor 4 is an example of a range sensor according to the present disclosure.

The electronic compass module 5 detects magnetism passing through the electronic compass module 5 itself, determines a first magnetic flux density indicating the detected magnetism, and outputs the determined first magnetic flux density to the flight controller 3. The electronic compass module 5 is an electronic compass module that includes, for example, a Hall element and detects magnetism using the Hall element. The electronic compass module 5 is an example of an electronic compass module according to the present disclosure.

The satellite positioning module 6 receives a radio signal from a positioning satellite, and based on the received radio signal, obtains and obtains first positioning information representing the position of the drone 1 on the earth in terms of latitude, longitude, and altitude. The first positioning information is output to the flight controller 3. However, if the satellite positioning module 6 cannot normally receive the radio signal from the positioning satellite, it outputs information indicating that positioning could not be performed to the flight controller 3 as first positioning information. The satellite positioning module 6 is, for example, a GPS receiver that receives radio signals from GPS satellites and performs positioning. The satellite positioning module 6 is an example of a satellite positioning module according to the present disclosure.

The drive unit 7 generates lift based on control by the flight controller 3 and causes the drone 1 to fly. The drive unit 7 includes, for example, an ESC (Electric Speed Controller), a motor, and a propeller. For example, when the drone 1 is a multicopter equipped with four propellers, the drive unit 7 includes four sets of ESC, motor, and propeller.

Next, with reference to FIG. 3, the functional configuration of the companion computer 2 when the processor 201 of the companion computer 2 executes the operating program will be described. The companion computer 2 includes a map creation section 21, an estimation section 22, a nose direction output section 23, a pseudo positioning section 24, and a flight command section 25 as functional configurations.

The map creation unit 21 creates an environmental map based on the relative positions of obstacles detected by the range sensor 4. The map creation unit 21 performs SLAM (Simultaneous Localization and Mapping) together with the estimation unit 22 described below. For example, when first creating an environmental map, the map creation unit 21 creates the environmental map by temporarily determining an arbitrary direction as "north." The map creation unit 21 compares the created environmental map with the map indicated by the flight plan data, and appropriately corrects the direction provisionally determined as "north." The map creation unit 21 is an example of a map creation means according to the present disclosure.

The estimation unit 22 estimates the position and nose direction of the drone 1 on the environmental map based on the environmental map created by the map creation unit 21. The position of the drone 1 on the environmental map is expressed, for example, in relative coordinates with the position of the drone 1 at the start of flight as the origin. The nose direction on the environmental map is estimated based on, for example, changes in position on the environmental map. The estimation unit 22 performs SLAM together with the map creation unit 21 described above. The estimating unit 22 is an example of estimating means according to the present disclosure.

The nose direction output unit 23 outputs nose direction information indicating the nose direction on the environmental map estimated by the estimation unit 22 to the flight controller 3. Since the nose direction information is processed by the pseudo compass section 31 of the flight controller 3, which will be described later, FIG.

The pseudo positioning unit 24 obtains second positioning information that represents the position of the drone 1 on the environmental map estimated by the estimating unit 22 using pseudo latitude, longitude, and altitude, and uses the obtained second positioning information in the flight. Output to controller 3. Since the flight controller 3 performs flight control of the drone 1 based on positioning information expressed in latitude, longitude, and altitude, the pseudo positioning unit 24 accordingly generates second positioning information as pseudo positioning information. Output. In other words, the pseudo positioning section 24 functions as a pseudo satellite positioning module. The second positioning information is processed by the output unit 33 of the flight controller 3, which will be described later, and therefore is shown in FIG. 3 as being output from the pseudo positioning unit 24 to the output unit 33. The pseudo positioning unit 24 is an example of pseudo positioning means according to the present disclosure.

As described above, in the flight plan data stored in the secondary storage device 204, each of the starting point, way point, and ending point is represented by latitude, longitude, and altitude. Furthermore, as described above, on the environmental map, the position of the drone 1 at the start of the flight, for example, is the origin. Therefore, the latitude and longitude of the starting point in the flight plan data correspond to the origin on the environmental map. Therefore, the pseudo positioning unit 24 can pseudo-represent the position of the drone 1 on the environmental map using latitude and longitude. However, the simulated latitude and longitude may be slightly different from the actual latitude and longitude. This is because the flight command unit 25, which will be described later, issues a flight command to the flight controller 3, taking this deviation into consideration. Note that the pseudo positioning unit 24 may express the altitude by, for example, the altitude of each point in the flight plan data, or may calculate the altitude based on the atmospheric pressure detected by an atmospheric pressure sensor (not shown).

The flight command unit 25 determines the position where the drone 1 should fly based on the position of the drone 1 on the environmental map estimated by the estimation unit 22 and the flight route indicated by the flight plan data, and moves to the determined position. Command the flight controller 3 to fly. The commands from the flight command section 25 to the flight controller 3 are processed by the flight control section 34 of the flight controller 3, which will be described later. There is.

Next, with reference to FIG. 4, the functional configuration of the flight controller 3 when the processor 301 of the flight controller 3 executes the driver program P31 and the flight program P32 will be described. The flight controller 3 includes a pseudo compass section 31, an abnormality determination section 32, an output section 33, and a flight control section 34 as functional configurations. Among these functional units, the functions of the pseudo compass unit 31, the abnormality determination unit 32, and the output unit 33 are realized by the processor 301 executing the driver program P31, and the functions of the flight control unit 34 are realized by the processor 301 executing the driver program P31. This is realized by executing program P32.

The pseudo compass unit 31 generates a second magnetic flux that is a pseudo magnetic flux density based on nose direction information indicating the nose direction of the drone 1 on the environmental map, which is output by the nose direction output unit 23 of the companion computer 2. Find the density. Specifically, the pseudo compass unit 31 calculates the magnetic flux density indicating the magnetism passing through the drone 1 when assuming that the nose of the drone 1 is actually facing in the direction indicated by the nose direction information. Obtained as magnetic flux density. For example, when the direction indicated by the nose direction information is "north", the magnetic flux density that is expected to be detected by the electronic compass module 5 when the nose of the drone 1 is actually facing "north" is determined as the second magnetic flux density. In other words, the pseudo compass section 31 functions as a pseudo electronic compass module that detects magnetism based on the nose direction on the environmental map. The pseudo compass section 31 is an example of a pseudo compass means according to the present disclosure.

The abnormality determining unit 32 determines whether there is an abnormality in at least one of the first magnetic flux density output by the electronic compass module 5 and the first positioning information output by the satellite positioning module 6. For example, when the direction of the first magnetic flux density constantly changes greatly, or when the magnitude of the first magnetic flux density is much larger than that caused by geomagnetism, the abnormality determination unit 32 determines whether the first magnetic flux It is determined that there is an abnormality in density. For example, when the latitude, longitude, and altitude indicated by the first positioning information deviate significantly from the flight route indicated by the flight plan data, the abnormality determination unit 32 determines that the first positioning information indicates that the above-mentioned positioning was not possible. In this case, it is determined that there is an abnormality in the first positioning information. That is, when the first magnetic flux density is the one when the electronic compass module 5 could not normally detect the earth's magnetism, the abnormality determination unit 32 determines that there is an abnormality in the first magnetic flux density, and the first When the positioning information obtained when the satellite positioning module 6 was unable to normally receive radio waves from the positioning satellite, the abnormality determination unit 32 determines that there is an abnormality in the first positioning information. The abnormality determination unit 32 is an example of an abnormality determination means according to the present disclosure.

When the abnormality determination unit 32 determines that there is no abnormality in either the first magnetic flux density or the first positioning information, the output unit 33 outputs the first magnetic flux density and the second positioning information to the flight control unit. Output to 34. The output unit 33 outputs the second magnetic flux density and the second positioning information when the abnormality determining unit 32 determines that there is an abnormality in at least one of the first magnetic flux density and the first positioning information. It is output to the control section 34. That is, when both the electronic compass module 5 and the satellite positioning module 6 are functioning normally, the output unit 33 transmits the first magnetic flux density and first positioning information, which are the actual magnetic flux density and positioning information, to the flight control unit. 34, and when at least one of the electronic compass module 5 and the satellite positioning module 6 is not functioning properly, the second magnetic flux density and second positioning information, which are pseudo magnetic flux density and positioning information, are output to flight control. The output signal is output to the section 34. The output unit 33 is an example of an output means according to the present disclosure.

As described above, the functions of the pseudo compass section 31, the abnormality determination section 32, and the output section 33 are realized by the processor 301 of the flight controller 3 executing the driver program P31. When the processor 301 executes the driver program P31, the first magnetic flux density or the second magnetic flux density and the first positioning information or the second positioning information are finally used for flight control by the function of the output unit 33. It is output to section 34. Therefore, it appears from the flight control unit 34 as if the magnetic flux density and positioning information are being output from one virtual electronic compass module and one virtual satellite positioning module.

The flight control unit 34 receives the first magnetic flux density or the second magnetic flux density, the first positioning information or the second positioning information output from the output unit 33, and the flight command unit 25 of the companion computer 2. The flight of the drone 1 is controlled by controlling the driving unit 7 based on the flight command. The flight control unit 34 itself simply outputs the output from the output unit 33 without distinguishing between the first magnetic flux density and the second magnetic flux density or between the first positioning information and the second positioning information. The driving unit 7 is controlled based on the magnetic flux density and positioning information obtained. The flight control unit 34 is an example of flight control means according to the present disclosure.

As described above, the functions of the flight control unit 34 are realized by the processor 301 of the flight controller 3 executing the flight program P32. The flight program P32 is a program created by the manufacturer of the flight controller 3, for example. Flight program P32 is created on the premise that geomagnetism and position on the earth are detected normally, so it is essential that magnetic flux density and positioning information be output from some kind of driver program during flight control. There is. Therefore, the flight program P32 (the flight control unit 34 that functions by) can distinguish between the first magnetic flux density and the second magnetic flux density, and between the first positioning information and the second positioning information. Nor.

Therefore, when the user of the drone 1 adopts a commercially available flight controller as the flight controller 3, the user of the drone 1 can create the driver program P31 without changing the hardware configuration of the flight controller 3 or changing the flight program P32. By doing so, each function of the flight controller 3 can be realized.

Next, an example of flight control operation by the drone 1 will be described with reference to FIG. 5. At the start of the operation shown in FIG. 5, it is assumed that the flight plan data has already been stored in the secondary storage device 204 and the flight has started.

The electronic compass module 5 of the drone 1 detects magnetism, determines a first magnetic flux density, and outputs the first magnetic flux density to the flight controller 3 (step S1).

The satellite positioning module 6 of the drone 1 receives a radio signal emitted by a positioning satellite, and based on the received radio signal, obtains first positioning information representing the position of the drone 1 on the earth in terms of latitude, longitude, and altitude. and outputs it to the flight controller 3 (step S2).

The range sensor 4 of the drone 1 detects obstacles around the drone 1 and outputs information indicating the relative position of the detected obstacles to the companion computer 2 (step S3).

The map creation unit 21 of the companion computer 2 of the drone 1 creates an environmental map based on the relative positions of the obstacles detected in step S3 (step S4).

The estimation unit 22 of the companion computer 2 estimates the nose direction and position of the drone 1 on the environmental map created in step S4 (step S5).

The nose direction output unit 23 of the companion computer 2 outputs nose direction information indicating the nose direction estimated in step S5 to the flight controller 3 (step S6).

The pseudo positioning unit 24 of the companion computer 2 obtains second positioning information representing the position estimated in step S5 using pseudo latitude, longitude, and altitude, and outputs it to the flight controller 3 (step S7).

The flight command unit 25 of the companion computer 2 determines the position to which the drone 1 should fly based on the position of the drone 1 on the environmental map estimated in step S5 and the flight route indicated by the flight plan data, The flight controller 3 is instructed to fly to the determined position (step S8).

The flight controller 3 of the drone 1 performs the operation shown in FIG. 6 to control the flight of the drone 1 (step S9). Then, the drone 1 repeats the operation from step S1. The operation shown in FIG. 6 will be explained below.

The pseudo compass unit 31 of the flight controller 3 calculates a second magnetic flux density, which is a pseudo magnetic flux density, based on the nose direction information output in step S6 of FIG. 5 (step S91).

The abnormality determination unit 32 of the flight controller 3 determines whether there is an abnormality in at least one of the first magnetic flux density output in step S1 of FIG. 5 and the first positioning information output in step S2. (Step S92).

When it is determined that there is an abnormality in at least one of the first magnetic flux density and the first positioning information (step S92: Yes), the output unit 33 of the flight controller 3 outputs the second The magnetic flux density and the second positioning information output in step S7 of FIG. 5 are output to the flight control unit 34 (step S93). Then, the operations from step S95 are executed.

When it is determined that there is no abnormality in either the first magnetic flux density or the first positioning information (step S92: No), the output unit 33 uses the first magnetic flux density and the first positioning information for flight control. It is output to the section 34 (step S94). Then, the operations from step S95 are executed.

The flight control unit 34 of the flight controller 3 uses the magnetic flux density and positioning information outputted from the output unit 33 in step S93 or step S94, and the flight command from the flight command unit 25 in step S8 of FIG. The drive section 7 is controlled (step S95). The flight control section 34 controls the drive section 7, so that the drone 1 flies and moves according to the flight command from the flight command section 25. The drone 1 then repeats the operations from step S1 in FIG.

The drone 1 according to the embodiment has been described above. According to Drone 1, in an environment where radio waves from positioning satellites cannot be received normally or where geomagnetism cannot be detected normally, the second magnetic flux density, which is a pseudo magnetic flux density, and pseudo positioning information are used. Flight control of the drone 1 is performed based on the second positioning information. Therefore, according to the drone 1, autonomous flight is possible in an environment in which radio waves from a positioning satellite cannot be normally received and in an environment in which the earth's magnetism cannot be normally detected.

Furthermore, when adopting a commercially available flight controller as the flight controller 3, the user of the drone 1 can operate the drone 1 by creating the driver program P31 without changing the hardware configuration of the flight controller 3 or the flight program P32. Can be configured. Further, each function of the companion computer 2 is also realized by a general microcontroller executing an operating program. Therefore, according to the drone 1, autonomous flight can be realized at low cost in an environment where radio waves from a positioning satellite cannot be normally received and in an environment where the earth's magnetism cannot be normally detected.

(Modification 1)
In the embodiment, the flight controller 3 is provided with the pseudo compass section 31, but the companion computer 2 is provided with a functional section similar to the pseudo compass section 31, and the flight controller 3 is not provided with the pseudo compass section 31. You can.

For example, as shown in FIG. 7, the companion computer 2 may include the pseudo compass section 29, and the flight controller 3 may not include the pseudo compass section 31. The pseudo compass section 29 calculates a second magnetic flux density based on the nose direction on the environmental map estimated by the estimation section 22 in the same manner as the pseudo compass section 31 of the embodiment, and calculates the second magnetic flux density. is output to the flight controller 3. Since the second magnetic flux density is processed by the output section 33, it is shown in FIG. 7 as being output from the pseudo compass section 29 to the output section 33.

(Modification 2)
The flight controller 3 of the drone 1 always controls the drive unit 7 during flight. Therefore, the position of the drone 1 repeats slight changes in the vertical and horizontal directions in a short period of time (for example, 30 times, 100 times, etc. per second). Therefore, the nose direction estimated by the estimation unit 22 also changes repeatedly in a short period of time.

If the second magnetic flux density is determined based on the nose direction, which repeatedly changes in a short period of time, and flight control is performed based on the second magnetic flux density, it is assumed that the position of the drone 1 will change even more rapidly. Ru. Therefore, the pseudo compass unit 31 may obtain a smoothed pseudo magnetic flux density as the second magnetic flux density based on the average of the nose direction within a predetermined period (for example, 100 milliseconds). .

1 Drone, 2 Companion computer, 3 Flight controller, 4 Range sensor, 5 Electronic compass module, 6 Satellite positioning module, 7 Drive unit, 21 Map creation unit, 22 Estimation unit, 23 Heading direction output unit, 24 Pseudo positioning unit , 25 flight command section, 29 pseudo compass section, 31 pseudo compass section, 32 abnormality determination section, 33 output section, 34 flight control section, 201 processor, 202 memory, 203 interface, 204 secondary storage device, 301 processor, 302 memory , 303 interface, 304 secondary storage device, B2, B3 bus, P31 driver program, P32 flight program.

Claims (4)

An autonomous flying vehicle,
a flight controller that controls flight of the autonomous flying vehicle;
an electronic compass module that detects magnetism and obtains a first magnetic flux density that is a magnetic flux density of the detected magnetism;
a satellite positioning module that receives a radio signal emitted by a positioning satellite and obtains first positioning information representing the position of the autonomous flying vehicle on the earth in terms of latitude, longitude, and altitude based on the radio signal;
a range sensor that detects obstacles around the autonomous flying vehicle;
map creation means for creating an environmental map based on the detection results by the range sensor;
Estimating means for estimating the nose direction and position of the autonomous flying vehicle on the environmental map;
pseudo positioning means for obtaining second positioning information representing the position estimated by the estimating means using pseudo latitude, longitude, and altitude;
pseudo compass means for calculating a second magnetic flux density that is a pseudo magnetic flux density based on the nose direction estimated by the estimating means;
Equipped with
The flight controller includes:
Flight control means for controlling the flight of the autonomous flying vehicle;
an abnormality determining means for determining whether there is an abnormality in at least one of the first magnetic flux density and the first positioning information;
When the abnormality determination means determines that there is no abnormality in either the first magnetic flux density or the first positioning information, the first magnetic flux density and the first positioning information are transmitted to the flight control means. and when the abnormality determination means determines that there is an abnormality in at least one of the first magnetic flux density and the first positioning information, the second magnetic flux density and the second positioning information output means for outputting the information to the flight control means;
Equipped with
The flight control means is based on the first magnetic flux density and the first positioning information outputted by the outputting means, or based on the second magnetic flux density and the second positioning information outputted by the outputting means. controlling the flight of the autonomous flying vehicle based on
Autonomous flying vehicle. The pseudo compass means obtains a smoothed pseudo magnetic flux density as the second magnetic flux density based on the nose direction estimated multiple times within a predetermined period.
The autonomous flying vehicle according to claim 1. The abnormality determination means determines that there is an abnormality in the first magnetic flux density when the first magnetic flux density is the one when the electronic compass module could not normally detect earth's magnetism, and determining that there is an abnormality in the first positioning information when the first positioning information is when the satellite positioning module was unable to normally receive radio waves from the positioning satellite;
The autonomous flying vehicle according to claim 1 or 2. A flight control method for an autonomous flying vehicle, the method comprising:
detecting magnetism and determining a first magnetic flux density that is the magnetic flux density of the detected magnetism;
receiving a radio signal emitted by a positioning satellite, and obtaining first positioning information representing the position of the autonomous flying vehicle on the earth in terms of latitude, longitude, and altitude based on the radio signal;
detecting obstacles around the autonomous flying vehicle and creating an environmental map;
estimating the nose direction and position of the autonomous flying vehicle on the environmental map;
obtaining second positioning information representing the estimated position using pseudo latitude, longitude, and altitude;
Determining a second magnetic flux density that is a pseudo magnetic flux density based on the estimated nose direction,
Determining whether there is an abnormality in at least one of the first magnetic flux density and the first positioning information,
When it is determined that there is no abnormality in either the first magnetic flux density or the first positioning information, the flight of the autonomous flying object is controlled based on the first magnetic flux density and the first positioning information. control,
When it is determined that there is an abnormality in at least one of the first magnetic flux density and the first positioning information, the control of the autonomous flying vehicle is performed based on the second magnetic flux density and the second positioning information. control flight,
Flight control method.

Images