JP7428461B2 - Unmanned aircraft system and flight control method - Google Patents

Description

The present invention relates to an unmanned aircraft system that includes an unmanned aircraft such as a drone and a transmitter that can remotely control the unmanned aircraft.

For example, inspection of the surface of power transmission lines installed on a steel tower can be carried out by a worker using binoculars to directly observe the surface of the power line, by a helicopter, or by a person climbing the tower and inspecting the surface of the power line as it travels along the line. This is done by using self-propelled aircraft. If it were possible to inspect such high-altitude structures by bringing a drone equipped with an aerial photography function close and photographing the inspection area with a camera, it would be possible to obtain images similar to those seen by workers visually inspecting the inspection area. This makes it possible to significantly reduce the costs required. Furthermore, autonomous control technology is being developed and put into practical use to control the aircraft so that it flies along a predetermined flight route at a predetermined speed, automatically returns to the takeoff point, and then lands.

In the aerial photography method disclosed in Patent Document 1, as shown in FIG. Fly to point (a) above, then fly parallel to point (b) above steel tower B along the elevated power line W, during which time the elevated power line W is located at the center of the camera's imaging area. While tracking the elevated power line W, images of the elevated power line W are continuously recorded. In addition, by measuring the distance to the elevated wire W during flight and adjusting the zoom magnification of the camera according to the measured distance, the high-definition elevated wire W can be enlarged to a sufficient size within the camera frame. It is possible to record video.

JP2006-027448A

In recent years, there has been development and practical use of systems for inspecting overhead ground wires and power lines using small unmanned aerial vehicles such as drones, and surveying systems that obtain detailed shapes of terrain by continuously photographing the terrain over a certain area. It is progressing. The drone is equipped with an object detection sensor (for example, LiDAR) that detects the distance and angle to the object to be inspected, and the drone maintains a constant positional relationship between the aircraft and the object to be inspected based on the detection results of the object detection sensor. By flying autonomously in such a way that the robot is able to track the object to be inspected, contact with the object is prevented. Additionally, the drone is equipped with a camera via a gimbal that captures images of the inspection target. A gimbal is an actuator that can finely adjust the orientation of a camera in three dimensions, and a gimbal is an actuator that uses object detection sensors to ensure that the camera always points in the direction of the object to be photographed even if the drone's attitude changes. Use the results to control the camera angle. As a result, imaging is controlled so that the inspection target is imaged at the center of the imaging frame.

When photographing objects to be inspected, the drone automatically navigates while maintaining a fixed distance and angle from the structure. There are cases where you want to adjust the distance, angle, or shooting position rather than the angle. FIG. 2(A) shows a side view of the drone and the elevated electric wire. When capturing an image of the elevated electric wire W with the camera 12 mounted on the drone 10, there may be cases where you want to adjust the relative angle S between the drone 10 and the elevated electric wire W to prevent shadows from forming depending on the position of the sun, or when you want to adjust the relative angle S between the drone 10 and the elevated electric wire W to There may be cases where it is desired to adjust the distance L from W. FIG. 2(B) shows a side view of the drone and a structure (such as a dam). When flying the drone 10 along the wall surface of the structure 20, there are cases where it is desired to adjust the distance L from the structure 20.

In the conventional technology, the parameters for the drone 10 to maintain a certain distance L or relative angle S are input and set numerically, and the parameters are intuitively changed using a control lever or the like while the drone is automatically navigating. I couldn't. Additionally, when adjusting the direction and speed of the drone's movement, automatic navigation requires flexibility as inspection photography is performed based on pre-set details.

An object of the present invention is to provide an unmanned aircraft system and a flight control method that solve the above-mentioned conventional problems and improve the operability of the unmanned aircraft.

An unmanned aircraft system according to the present invention includes an unmanned aircraft and a transmitter capable of remotely controlling the unmanned aircraft, and the unmanned aircraft includes a detection means for detecting the position of a target object and a transmitter for controlling the flight of the unmanned aircraft. The control means includes a control means and a communication means for communicating with the transmitter, and the control means transmits the information from the transmitter to the transmitter via the communication means while controlling automatic flight of the unmanned aircraft based on the detection result of the detection means. When an operation signal related to remote control of an unmanned aircraft is received, it has an operation mode that enables interrupt flight control based on the operation signal.

In one embodiment, the mode of operation fixes one of the distance or the relative angle between the object and the unmanned aerial vehicle and allows the other to change. In one embodiment, the automatic flight tracks an object while maintaining a distance and relative angle between the unmanned aircraft and the object. In one embodiment, when transitioning to the operation mode, the control means switches the received operation signal of the normal mode to the operation signal of the operation mode. In one embodiment, the transmitter includes a stick that can be operated by a user, a generation means that generates the operation signal based on the operation direction of the stick, and a transmission means that transmits the generated operation signal to the unmanned aerial vehicle. The generating means generates, in the operating mode, an operating signal different from an operating signal assigned to the stick in the normal mode. In one embodiment, the generating means generates an operation signal for raising and lowering the unmanned aircraft based on the first and second operation directions of the stick when in the normal mode, and when in the operation mode, generates an operation signal for raising and lowering the unmanned aircraft. An operation signal is generated to increase or decrease the distance between the unmanned aerial vehicle and the object based on the first and second operation directions. In one embodiment, the generating means generates an operation signal for moving the unmanned aerial vehicle to the left and right based on the third and fourth operation directions of the stick when in the normal mode, and when in the operation mode, , generating an operation signal for changing a left side relative angle and a right side relative angle between the unmanned aerial vehicle and the object based on the third and fourth operation directions. In one embodiment, the first and second operating directions are vertical movements of the stick, and the third and fourth operating directions are horizontal movements of the stick. In one embodiment, the generating means generates an operation signal that increases or decreases the distance between the unmanned aircraft and the object by a constant distance per unit time when the stick is tilted upward or downward at a constant angle. generate. In one embodiment, the generating means increases or decreases the relative angle between the unmanned aerial vehicle and the object by a constant angle per unit time when the stick is tilted at a constant angle to the left or right. Generate operation signals. In one embodiment, the transmitter further includes another stick for causing the unmanned aircraft to move forward, backward, turn left, or turn right when in the normal mode, and the generating means, when in the operation mode, Generate operation signals for moving the unmanned aircraft forward and backward based on first and second operation directions of the other stick, and disable operation signals for left turn and right turn based on third and fourth operation directions. Make it. In one embodiment, the transmitter further includes another stick for causing the unmanned aircraft to move forward, backward, turn left, or turn right when in the normal mode, and the generating means, when in the operation mode, The operation signals based on all operation directions of the other stick are invalidated. In one embodiment, the detection means includes LiDAR and detects the distance and relative angle to the object.

A flight control method according to the present invention is for an unmanned aircraft system including an unmanned aircraft and a transmitter capable of remotely controlling the unmanned aircraft, wherein the unmanned aircraft detects a distance and a relative angle to an object. When an operation signal related to remote control of the unmanned aircraft is received from the transmitter during automatic flight control based on the result, the operation mode is shifted to an operation mode that enables interrupt flight control based on the operation signal, and in the operation mode, , one of the distance and relative angle between the unmanned aircraft and the object is fixed and the other is changeable based on the operation signal.

In one embodiment, the automatic flight tracks an object while maintaining a distance and relative angle between the unmanned aircraft and the object. In one embodiment, when transitioning to the operation mode, the received operation signal of the normal mode is switched to the operation signal of the operation mode. In one embodiment, the transmitter includes a stick operable by a user, generates the operation signal based on a direction of operation of the stick, and transmits the generated operation signal to the unmanned aerial vehicle, and the transmitter includes: In the operation mode, an operation signal different from the operation signal assigned to the stick in the normal mode is transmitted to the unmanned aircraft. In one embodiment, the transmitter generates operational signals for raising and lowering the unmanned aerial vehicle based on the first and second operational directions of the stick when in the normal mode; An operation signal is generated to increase or decrease the distance between the unmanned aerial vehicle and the object based on the first and second operation directions. In one embodiment, the transmitter generates operation signals for moving the unmanned aerial vehicle to the left and right based on the third and fourth operation directions of the stick when in the normal mode, and when in the operation mode, , generating an operation signal for changing a left side relative angle and a right side relative angle between the unmanned aerial vehicle and the object based on the third and fourth operation directions.

According to the present invention, an operation mode is provided that enables interrupt flight control based on operation signals from a transmitter during automatic flight control of an unmanned aircraft, thereby increasing the flexibility of remote control of the unmanned aircraft. can be done.

FIG. 2 is a diagram illustrating an example of a conventional unmanned aerial vehicle that takes aerial photographs of elevated power lines and the like. FIG. 2(A) is a schematic diagram of a drone and an elevated electric wire viewed from the side, and FIG. 2(B) is a schematic diagram of a drone and a structure viewed from the side. 1 is a block diagram showing the configuration of an unmanned aircraft system according to an embodiment of the present invention. FIG. 1 is a block diagram showing the electrical configuration of an unmanned aircraft according to an embodiment of the present invention. 1 is a diagram illustrating flight modes of an unmanned aircraft system according to an embodiment of the present invention. FIG. 1 is a block diagram showing the electrical configuration of a transmitter according to an embodiment of the present invention. FIG. 7(A) is a diagram illustrating the operation signals assigned to the stick movement direction in the normal flight mode, and FIG. 7(B) is a diagram explaining the operation signals assigned to the stick movement direction in the interrupt operation mode. It is a figure explaining an operation signal. Figure 8 (A) is a diagram explaining the flight of the unmanned aircraft when the stick is tilted upward in normal flight mode, and Figure 8 (B) is a diagram illustrating the flight of the unmanned aircraft when the stick is tilted upward in the interrupt operation mode. FIG. 2 is a diagram illustrating the flight of an unmanned aircraft when it is knocked down. 1 is a flowchart illustrating the operation of an unmanned aircraft system according to an embodiment of the present invention. FIG. 10(A) shows an example of fine adjustment of the distance in the interrupt operation mode of this embodiment, and FIG. 10(B) shows an example of fine adjustment of the relative angle in the interrupt operation mode. FIG. 11(A) is a diagram for explaining the operation signals assigned to the moving direction of the stick in the normal flight mode, and FIG. 11(B) is a diagram for explaining the operation signals assigned to the stick movement direction in the normal flight mode. FIG. 3 is a diagram illustrating operation signals assigned to moving directions. FIG. 7 is a diagram illustrating a flight example of the unmanned aircraft when the right stick is operated in the interrupt operation mode according to the second embodiment.

Next, embodiments of the present invention will be described. The unmanned aircraft system of the present invention includes, for example, an unmanned aircraft such as a drone, a helicopter, or an airship, and a transmitter that can remotely control the unmanned aircraft. The unmanned aircraft system of the present invention is used to inspect structures such as power transmission lines installed on steel towers, dams, etc., sites of natural disasters such as landslides, etc., which are difficult for humans to visually inspect, or to survey topography.

FIG. 3 is a diagram showing the configuration of an unmanned aircraft system according to an embodiment of the present invention. Unmanned aircraft system 100 includes an unmanned aircraft 110 and a transmitter 120. In the following description, a drone will be illustrated as an unmanned moving object. The unmanned aerial vehicle 110 is equipped with a photographing camera 112 on its body for photographing an object to be inspected (for example, a structure such as an elevated electric wire or a dam) or an object to be measured. The photographing camera 112 is attached to the main body of the aircraft via an angle adjustment actuator such as a gimbal. The angle adjustment actuator can adjust the angle or posture of the photographing camera 112 with three degrees of freedom in the X-axis, Y-axis, and Z-axis, for example.

The transmitter 120 includes a housing 122, and an antenna 124, operating sticks 126A and 126B, a display 128, and the like are attached to the housing 122. Furthermore, electronic components for controlling the operation of the transmitter 120 are housed inside the casing. The transmitter 120 is capable of bidirectional data communication with the unmanned aircraft 110 via wireless communication means. The sticks 126A, 126B are levers for remotely controlling the unmanned aircraft 110. In this example, the two sticks 126A, 126B can be tilted in four directions, up, down, left and right, respectively. An operation signal corresponding to the direction of movement is transmitted to the unmanned aircraft 110, and the unmanned aircraft 110 can fly based on the received operation signal.

FIG. 4 is a block diagram showing the electrical configuration of the unmanned aircraft 110 according to this embodiment. The unmanned aircraft 110 includes a GPS receiving section 200, an autonomous navigation sensor 210, an object detecting section 220, a photographing camera 230, a camera angle adjusting section 240, a rotor driving section 250, a storage section 260, an output section 270, a communication section 280, and a control section 290. It consists of: However, the above configuration is an example and is not necessarily limited to this.

The GPS receiving unit 200 receives GPS signals emitted from GPS satellites, and detects the absolute position of the unmanned aircraft 110, including latitude and longitude. The unmanned aircraft 110 can automatically navigate according to flight information prepared in advance. For example, as shown in FIG. 1, the flight information includes a flight route (flying from ground station 2 as a departure point, point (a) of tower A, point (b) of tower B, and ground station 2 as a return point). (including location information such as latitude and longitude), flight speed, flight altitude, and when tracking an object, flight conditions such as distance and relative angle to the object. The unmanned aircraft 110 uses the position information detected by the GPS receiver 200 to fly according to a flight route.

The self-sustaining navigation sensor 210 includes sensors necessary for the unmanned aircraft 110 to perform self-sustaining navigation, such as a direction sensor and an altitude sensor. The sensor output of the autonomous navigation sensor 210 can be used for control when autonomously flying according to flight information.

The object detection unit 220 detects the relative distance and angle to the inspection target. The object detection unit 220 is configured using, for example, LiDAR (Laser Imaging Detection and Ranging). LiDAR detects the distance and angle to an object by emitting pulsed laser light in 360-degree directions and measuring the reflected light from the laser irradiation. The object detection unit 220 detects, for example, the distance and angle to the elevated electric wire W, which is the object to be inspected, or the distance and angle to the verification point, which is the object to be surveyed. Note that the object detection unit 220 is not limited to LiDAR, and may detect the distance and angle to the object using one or more cameras. Based on the detection result of the object detection unit 220, the unmanned aerial vehicle 110 tracks the elevated electric wire W so as to maintain a constant distance and angle from the elevated electric wire W that is the object to be inspected, or to keep a constant distance and angle from the elevated electric wire W that is the object to be measured. The verification point can be tracked so as to maintain the distance and angle of .

As described above, the photographing camera 230 is attached to the lower part of the aircraft body via the angle adjustment actuator. The photographing camera 230 takes a video of a structure such as an elevated electric wire or a dam, which is an object to be inspected, or a verification point, which is an object to be measured, and generates, for example, 24 video frames (still images) per second. . Further, the photographing camera 230 has a zoom function, and its magnification is adjusted so that an object of a certain size is imaged within the video frame.

The camera angle adjustment section 240 drives an angle adjustment actuator in response to an angle adjustment signal from the control section 290 to adjust the angle of the photographing camera 230. The control unit 290 calculates the angle at which the imaging direction of the imaging camera 230 (optical axis of the lens of the imaging camera) is vertical based on the detection results of the independent navigation sensor 210 and the object detection unit 220, and calculates the angle based on the calculation result. Generate an adjustment signal. The camera angle adjustment unit 240 drives an angle adjustment actuator based on the angle adjustment signal to adjust the shooting direction of the imaging camera 230. For example, the camera angle calculating unit 240 calculates an angle so that the photographing direction (optical axis) of the imaging camera 230 is vertical, and takes aerial photographs of the elevated electric wire W and the verification point from directly above.

The rotor drive unit 250 rotates a rotor connected to a propeller or the like based on a drive signal from the control unit 290. The control unit 290 uses the information detected by the GPS reception unit 200, the self-contained navigation sensor 210, and the object detection unit 220 to control the flight of the unmanned aircraft 110 based on the operation signal and flight information from the transmitter 120. Generate a signal. When automatically tracking a target object, automatic control is performed to keep the distance and relative angle to the target constant.

Storage unit 260 stores various information necessary for operating unmanned aircraft 110. For example, the storage unit 260 stores flight information prepared in advance, stores programs and software to be executed by the control unit 290, and stores information on objects to be inspected or measured that are imaged by the camera 230. Store video data.

The output unit 270 reads information stored in the storage unit 260 and outputs it to the outside. Although the configuration of the output unit 270 is not particularly limited, for example, the output unit 270 may include a display unit that displays video data in the storage unit 260, or may display video data read out from the storage unit 260 through the communication unit 280. The signal can be output to the transmitter 120 or an external base station via wire or wirelessly.

The communication unit 280 enables wireless data communication between the unmanned aircraft 110 and the transmitter 120, or enables data communication with an external base station by wire or wireless. The transmitter 120 transmits operation signals for remotely controlling the unmanned aircraft 110 via the communication unit 280, or the unmanned aerial vehicle 110 transmits real-time video data captured by the camera 230 or read out from the storage unit 260. It is possible to transmit video data and the like to the transmitter 120 and the base station.

The control unit 290 controls each part of the unmanned aircraft 110. In one embodiment, the control unit 290 includes a microcontroller including a ROM/RAM, a microprocessor, an image processing processor, etc., and controls the unmanned aircraft by executing programs and software stored in the storage unit 260 or the ROM/RAM. Controls the flight of 110 and the photographing of objects to be inspected.

In this embodiment, the unmanned aircraft 110 has three flight modes, as shown in FIG. Normal flight mode 300 controls the flight of unmanned aircraft 110 based on operational signals from transmitter 120. The automatic flight mode 310 controls automatic flight of the unmanned aircraft 110 so as to track an object to be inspected or an object to be measured. In automatic flight mode, the unmanned aircraft 110 flies along a pre-prepared flight route based on the absolute position (latitude, longitude, altitude) detected by the GPS receiver 200 and the direction, altitude, etc. detected by the autonomous navigation sensor 210. control to do so. Further, in the automatic flight mode 310, the automatic flight of the unmanned aircraft 110 is controlled so as to track the object while keeping the distance and relative angle constant from the inspection target or measurement target detected by the object detection unit 220. In the interrupt operation mode 320, when an operation signal for remote control is received from the transmitter 120 during the automatic flight mode 310, the flight control is interrupted by the operation signal. The details will be described later.

FIG. 6 is a block diagram showing the electrical configuration of the transmitter 120 of this embodiment. The transmitter 120 includes an input unit 400 that receives operation input according to the movement direction of the sticks 126A and 126B (see FIG. 3), and an input unit 400 that enables wireless data communication with the unmanned aircraft 110 via the antenna 124 and other electronic A communication unit 410 that enables wired or wireless data communication with the device displays various information on the display 128 of the housing 122 (for example, video data of the object to be inspected, etc. transmitted from the unmanned aircraft 110, flight mode status, etc.) The transmitter 120 includes a display section 420 for displaying , an audio output section 430 , a storage section 440 for storing various data, software, etc., and a control section 450 for controlling the entire transmitter 120 .

In one embodiment, the control unit 450 includes a microcontroller, a microprocessor, etc. including ROM/RAM, and remotely controls the unmanned aircraft 110 by executing programs and software stored in the storage unit 440 or the ROM/RAM. control etc.

The control unit 450 includes a mode selection unit 452 that selects between normal flight mode and automatic flight mode, an operation signal generation unit 454 that generates an operation signal assigned to the moving direction of the stick, and a communication unit 410 that transmits the operation signal. and an operation signal transmitter 456 that transmits the operation signal to the unmanned aircraft 110 via the controller. Mode selection section 452 selects normal flight mode 300 or automatic flight mode 310. For example, the normal flight mode 300 or the automatic flight mode 310 is selected by the user operating a switch provided on the housing 122.

The operation signal generation section 454 generates an operation signal assigned to the movement direction of the sticks 126A, 126B according to the mode selected by the mode selection section 252, but in this embodiment, in the normal flight mode 300 The operation signals assigned to the sticks 126A and 126B are changed between the interrupt operation mode 320 and the interrupt operation mode 320.

FIG. 7(A) is a diagram showing the relationship between the stick and operation signals in normal flight mode. The left and right sticks 126A and 126B can be tilted vertically and horizontally, respectively. The up and down directions of the right stick 126A are assigned to operation signals for raising and lowering the body, respectively, and the left and right directions are assigned to operation signals for moving the body to the left and right, respectively. The up and down directions of the left stick 126B are assigned to operation signals for forward and backward movement of the aircraft, respectively, and the left and right directions are assigned to operation signals for left turn and right turn of the aircraft, respectively.

FIG. 7(B) is a diagram showing the relationship between the stick and the operation signal in the interrupt operation mode. In this case, the up and down directions of the right stick 126A are assigned to operation signals for separating and approaching the distance between the aircraft and the object, respectively, and the left and right directions change the relative angle in the left and right direction between the aircraft and the object, respectively. assigned to the operation signal that causes the On the other hand, all operation signals corresponding to the moving direction of the left stick 126B are invalidated.

The operation signal transmission unit 456 transmits the generated operation signal to the unmanned aircraft 110, and the control unit 290 of the unmanned aircraft 110 controls the flight of the unmanned aircraft via the rotor drive unit 250 based on the received operation signal.

FIG. 8(A) shows the flight control of the unmanned aircraft 110 when the stick 126A is tilted upward at a certain angle in the normal flight mode. In this case, the unmanned aircraft 110 is controlled to ascend at a constant speed (for example, 0.5 m/sec) based on the current position calculated from a GPS signal or the like. FIG. 8(B) shows the flight control of the unmanned aircraft 110 when the stick 126A is tilted upward at a certain angle in the interrupt operation mode. In this case, based on the detection results of the object detection unit 220 such as LiDAR, the distance L between the unmanned aerial vehicle 110 and the object to be inspected (the elevated electric wire W) increases at a constant speed (for example, 0.5 m/sec). controlled to do so. The relative distance L may be increased in accordance with the tilting time of the stick 126A, or may be increased in accordance with the number of times the stick 126A is tilted. For example, if the stick 126A is tilted once, the relative distance L may increase by 0.5 m, and if the stick 126A is tilted twice, the relative distance L may be increased by 1.0 m.

Furthermore, although not shown, if the stick 126A is tilted to the right at a certain angle during the normal flight mode, the unmanned aircraft 110 will display the current position calculated from the GPS and the detection results of the autonomous navigation sensor 210. The flight is controlled so that it moves to the right at a constant speed. When the stick 126A is tilted to the right at a certain angle in the interrupt operation mode, the unmanned aerial vehicle 110 determines the relative angle between the unmanned aerial vehicle 110 and the object to be inspected based on the detection result of the object detection unit 220. The flight is controlled so that the angle increases (in this example, the vertical direction of the object to be inspected is set as zero angle, and the angle on the right side increases from there at a constant speed).

Next, the operation of the unmanned aircraft system of this embodiment will be explained. First, the flight mode of the unmanned aircraft is selected. The mode selection unit 452 selects the normal flight mode 300 or the automatic flight mode, for example, in response to a user operation of a switch on the transmitter 120. When the normal flight mode 300 is selected, the user operates the left and right sticks 126A and 126B of the transmitter 120, and an operation signal corresponding to the moving direction of the sticks 126A and 126B is sent to the unmanned aircraft 110 via the communication unit 410. Sent. The unmanned aircraft 110 receives the operation signal via the communication unit 280, and the control unit 290 controls the flight of the unmanned aircraft 110 via the rotor drive unit 250 based on the received operation signal.

Next, the operation when the automatic flight mode is selected will be explained with reference to the flowchart of FIG. 9. First, when the automatic flight mode is selected in the transmitter 120 (S100), the transmitter 120 notifies the unmanned aircraft of the mode via the communication unit 410, and both parties share the selected mode.

Before the unmanned aircraft 110 performs automatic flight, flight information including a flight route and flight conditions is set in the storage unit 260 or the like (S100). For example, when inspecting and photographing a target part such as an elevated power line, the flight route includes the coordinates of the starting point where the inspection begins and the end point where the inspection ends, and the flight conditions include the flight speed and the distance between the target part and the target object. Including distance, relative angle, etc. During automatic flight, the unmanned aircraft 110 tracks the object using the detection results of the GPS reception unit 200, autonomous navigation sensor 210, and object detection unit 220 according to the flight information so that the distance and relative angle to the elevated power line are constant. While doing so, the object is photographed by the photographing camera 230. The method of setting the flight information is arbitrary, but for example, the unmanned aircraft 110 and the computer device of the base station may be connected and the flight information may be written from the computer device to the storage unit 260 of the unmanned aircraft 110. The flight information may be written to the unmanned aircraft 110 from there.

When the flight information is set, the control unit 290 starts automatic flight of the unmanned aircraft 110 according to the flight information (S120), and when the unmanned aircraft 110 reaches the starting point, the control unit 290 starts automatic flight of the unmanned aircraft 110 according to the flight information. The object is tracked while keeping the relative angle constant, and at the same time, photographing of the object is started (S130). In the initially set parameters, when the unmanned aerial vehicle 110 tracks a target object, the unmanned aerial vehicle 110 is positioned directly above the target object at a certain distance, and photographs the target object from the vertical direction. Video data captured by the unmanned aerial vehicle 110 can be stored in the storage unit 260 or transmitted to the transmitter 120 in real time via the communication unit 280. When transmitter 120 receives video data in real time, it can display this video data on display 120.

During automatic flight of the unmanned aerial vehicle 110, for example, as shown in FIGS. 2(A) and 2(B), fine adjustment of the distance L and relative angle S to the elevated electric wire W, or fine adjustment of the distance L to the dam wall is performed. There may be times when you want to make adjustments. For example, depending on the position of the sun, you may want to adjust the positional relationship between the unmanned aircraft and the object so that the shadow of the unmanned aircraft is not reflected, or you may want to move the aircraft closer to the object to capture details depending on the damage to the object. In some cases, when photographing a set of four electric wires, depending on the angle, the wires in the foreground may hide the wires in the back. The fine adjustment can be determined at any timing, but for example, when the positional relationship between the unmanned aerial vehicle 110 and the object is visually observed, or when video data transmitted from the unmanned aerial vehicle 110 to the transmitter 120 is visually observed on the display 128. or when the unmanned aircraft 110 is visually viewing video data captured in a past flight on the display 128.

If the user determines that fine adjustment is necessary (S140), the user operates the stick of the transmitter 120 to finely adjust the distance or relative angle of the unmanned aerial vehicle 110 to the object (S150). When the control unit 290 of the unmanned aircraft 110 receives the operation signal from the transmitter 120 during the automatic flight mode, it shifts to the interrupt operation mode (160), and controls the connection between the unmanned aircraft and the object based on the operation signal received from the transmitter 120. Fine adjustment of the distance/angle is made possible by fixing one of the distance or the relative angle and changing the other (S170).

As shown in FIG. 7, the operation signals assigned to the sticks 126A, 126B of the transmitter 120 are different in the normal mode and the interrupt operation mode. In the interrupt operation mode, the operation of the left stick 126B is invalid, that is, no operation signal is transmitted to the unmanned aircraft 110 even if the left stick 126B is operated. When the right stick 126A is operated in the up and down direction, the operation signal generation unit 454 generates an operation signal that increases or decreases the distance between the unmanned aircraft 110 and the object; Vary the left relative angle or right relative angle between the object and the object.

FIG. 10(A) shows an example of finely adjusting the distance between the unmanned aircraft and the target object. Here, an elevated electric wire W is illustrated as an object. The distance L is a value initially set based on the flight information, and the user can change the distance L between the unmanned aircraft 110 and the elevated wire W to the distance La or the distance Lb by operating the stick 126A of the transmitter 120 in the vertical direction. Can be changed. In the interrupt operation mode, the up and down directions of the stick 126A are assigned to distance separation and approach, which correspond to the ascent and descent in normal flight mode, so the user can intuitively determine the distance without confusion. Fine adjustment of L can be made.

FIG. 10(B) shows an example of finely adjusting the relative angle between the unmanned aircraft and the target object. In the initial setting of the flight information, the central axis of the unmanned aerial vehicle 110 (for example, the optical axis of the photographing camera) is set to be directly above the overhead electric wire W (θ = 0 degrees). By operating the stick 126A to the left, the relative angle between the unmanned aircraft 110 and the overhead wire W can be changed to θa, and by operating the stick 126A to the right, the relative angle can be changed to θb. In the interrupt operation mode, the left and right directions of the stick 126A are assigned to change the left and right relative angles, and this corresponds to left and right movements in normal flight mode, so the user can intuitively move the stick 126A without feeling any discomfort. You can make fine adjustments to the relative angle.
Note that when the relative angle of the unmanned aircraft 110 is changed to θa, θb, the control unit 290 of the unmanned aerial vehicle 110 causes the camera angle adjustment unit 240 to direct the optical axis of the photographing camera 230 toward the elevated electric wire W. Thus, the attitude of the photographing camera 230 is also adjusted.

The control unit 290 of the unmanned aircraft 110 ends the interrupt operation mode when it does not receive an operation signal from the transmitter 120 for a certain period of time during the interrupt operation mode, or when it receives a signal to end the interrupt operation mode from the transmitter 120. (S180), the automatic flight mode is entered (S190), and the object is photographed at the finely adjusted distance and/or relative angle.

As described above, according to this embodiment, by providing the interrupt operation mode during the automatic flight mode, it is possible to provide flexibility in remote control of the unmanned aircraft. Furthermore, since the stick operations of the transmitter 120 in the interrupt operation mode correspond to the operations in the normal flight mode, the user can intuitively calculate distances and relative angles by operating the sticks without causing confusion. You can make fine adjustments.

Next, a second embodiment of the present invention will be described. In the first embodiment, the operation of the left stick 126B of the transmitter 120 is disabled in the interrupt operation mode, but in the second embodiment, the forward and backward operations of the left stick 126B in the vertical direction are enabled. FIG. 11(A) shows the relationship between the stick and the operation signal in the normal flight mode, and FIG. 11(B) shows the relationship between the stick and the operation signal in the interrupt operation mode according to the second embodiment. . In the second embodiment, when the left stick 126B is operated in the up-down direction in the interrupt operation mode, the operation signal generation unit 454 generates an operation signal for moving the unmanned aircraft 110 forward or backward, and operates the unmanned aircraft 110 in the left-right direction. If it is, no operation signal will be generated. Other than that, the same operation signals as in the first embodiment are generated.

An example of adjustment using the left stick in the interrupt operation mode is shown in FIGS. 12(A) and 12(B). FIG. 12A shows that when tracking an elevated electric wire W as a target object, the distance and relative angle between the unmanned aircraft 110 and the elevated electric wire W can be determined by operating the left stick 126B on the transmitter 120 in the left and right directions. The unmanned aerial vehicle 110 can be moved forward in the P direction or backward in the Q direction while maintaining a constant value. FIG. 12(B) shows that when tracking the wall surface of a structure 20 such as a dam, by operating the left stick 126B on the transmitter 120 in the left and right directions, the distance between the unmanned aircraft 110 and the structure 20 can be changed. The unmanned aircraft 110 can be moved forward in the P direction or backward in the Q direction while keeping the angle constant. Also in this embodiment, in the interrupt operation mode, the up and down directions of the left stick 126B are assigned to forward and backward movement, which correspond to forward and backward movement in the normal flight mode, so the user may be confused. You can easily and intuitively make fine adjustments to the position of the unmanned aircraft.

Next, a modification of the present invention will be described. In the first and second embodiments described above, an example was shown in which the operation signal is switched when the transmitter 120 is in the interrupt operation mode (FIGS. 7(B) and 11(B)). Switch the operation signal when the aircraft 110 is in the interrupt operation mode.

During the automatic flight mode, the control unit 290 of the unmanned aircraft 110 receives an operation signal from the transmitter 120 (this is the operation signal assigned during the normal flight mode (FIG. 7(A), FIG. 11(A)). (see Figure 7 (B), Figure 11 (B)). This allows the user to make fine adjustments to the unmanned aircraft 110 in the same way as in normal flight mode.

In the above-mentioned embodiment, an example of photographing an elevated power line or a topography is shown, but this is just an example, and the present invention can also be applied to photographing other high-rise buildings, natural disaster areas, etc. Furthermore, this embodiment has shown an example in which the photographing camera is attached to the aircraft body via the angle adjustment actuator, but if the photographing camera itself is equipped with an electronic or optical angle adjustment function for the photographing direction, An angle adjustment actuator is not necessarily required.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to specific embodiments, and various modifications and variations can be made within the scope of the gist of the invention described in the claims. Changes are possible.

100: Unmanned aircraft system 110: Unmanned aircraft 120: Transmitter 200: GPS receiving section 210: Independent navigation sensor 220: Object detecting section 230: Photographing camera 240: Camera angle adjusting section 250: Rotor driving section 260: Storage section 270: Output Department 280: Communication Department 190
290: Control unit

Claims (19)

An unmanned aircraft system including an unmanned aircraft and a transmitter that can remotely control the unmanned aircraft,
The unmanned aerial vehicle is
detection means for detecting the position of the object;
control means for controlling flight;
a communication means for communicating with the transmitter;
The transmitter is
an operation unit for remotely controlling the unmanned aircraft;
generating means for generating an operation signal according to the operation of the operation unit;
Transmitting means for transmitting the operation signal to the unmanned aircraft;
selection means for selecting a normal flight mode or an automatic flight mode;
The generation means changes the operation signal assigned to the operation unit according to the mode selected by the selection means,
The control means controls an operation mode that enables interrupt flight control based on the operation signal received from the transmitter via the communication means while controlling automatic flight of the unmanned aircraft based on the detection result of the detection means. unmanned aircraft system. The unmanned aircraft system according to claim 1, wherein the operation mode fixes one of a distance or a relative angle between the object and the unmanned aircraft, and allows the other to be changed. The unmanned aircraft system according to claim 1, wherein the automatic flight tracks the object while maintaining the distance and relative angle between the unmanned aircraft and the object. The unmanned aircraft system according to claim 1, wherein when the automatic flight mode is selected, the generating means changes the operation signal assigned during the normal flight mode to the automatic flight mode . The operation unit includes a stick that can be operated by a user,
The generation means generates the operation signal based on the operation direction of the stick ,
2. The unmanned aircraft system according to claim 1, wherein the generating means generates an operation signal in the automatic flight mode that is different from an operation signal assigned to a stick in the normal flight mode. The generating means generates operation signals for raising and lowering the unmanned aircraft based on the first and second operation directions of the stick when in the normal flight mode, and generates operation signals for raising and lowering the unmanned aircraft based on the first and second operation directions of the stick when in the automatic flight mode. The unmanned aircraft system according to claim 5, wherein the unmanned aircraft system generates an operation signal for increasing and decreasing the distance between the unmanned aircraft and the object based on the second operation direction. The generating means generates operation signals for moving the unmanned aircraft to the left and right based on the third and fourth operation directions of the stick when in the normal flight mode, and generates operation signals for moving the unmanned aircraft to the left and right when in the automatic flight mode. The unmanned aircraft system according to claim 5 or 6, which generates an operation signal that changes a left side relative angle and a right side relative angle between the unmanned aircraft and the object based on the third and fourth operation directions. The first and second operating directions are vertical movement of the stick, and the third and fourth operating directions are horizontal movement of the stick, according to claim 6 or 7. unmanned aircraft system. 2. The generating means generates an operation signal that increases or decreases the distance between the unmanned aircraft and the object by a constant distance per unit time when the stick is tilted upward or downward at a constant angle. 8. The unmanned aircraft system according to 8. The generating means generates an operation signal that increases or decreases the relative angle between the unmanned aerial vehicle and the target object by a constant angle per unit time when the stick is tilted at a constant angle to the left or right. , an unmanned aircraft system according to claim 8. The transmitter further includes another stick for causing the unmanned aircraft to move forward, backward, turn left, turn right when in the normal flight mode;
The generating means generates operation signals for moving the unmanned aircraft forward and backward based on first and second operation directions of the other stick when in the automatic flight mode, and generates operation signals for moving the unmanned aircraft forward and backward based on first and second operation directions of the other stick, and 6. The unmanned aircraft system of claim 5, wherein the unmanned aircraft system disables left turn and right turn operation signals. The transmitter further includes another stick for causing the unmanned aircraft to move forward, backward, turn left, turn right when in the normal flight mode;
The unmanned aircraft system according to claim 5, wherein the generating means disables operation signals based on all operation directions of the other stick when in the automatic flight mode. The unmanned aircraft system according to claim 1, wherein the detection means includes LiDAR and detects the distance and relative angle to the object. A flight control method for an unmanned aircraft system including an unmanned aircraft and a transmitter that can remotely control the unmanned aircraft, the method comprising:
The transmitter typically includes an operating section for remotely controlling the unmanned aircraft, a generating means for generating an operating signal according to the operation of the operating section, and a transmitting means for transmitting the operating signal to the unmanned aircraft. a selection means for selecting a flight mode or an automatic flight mode, the generation means changing an operation signal assigned to the operation unit according to the mode selected by the selection means,
The unmanned aircraft transitions to an operation mode that enables interrupt flight control based on the operation signal received from the transmitter during automatic flight control based on the detection results of the distance and relative angle to the object,
A flight control method in which, in the operation mode, one of a distance and a relative angle between the unmanned aircraft and a target object is fixed and the other can be changed based on the operation signal. 15. The flight control method according to claim 14, wherein the automatic flight tracks the object while maintaining a distance and a relative angle between the unmanned aircraft and the object. 15. The flight control method according to claim 14, wherein, when the automatic flight mode is selected, the generating means changes the operation signal assigned during the normal flight mode to the automatic flight mode . The operation unit includes a stick that can be operated by a user, and the generation means generates the operation signal based on the operation direction of the stick,
15. The flight control method according to claim 14, wherein the generating means generates an operation signal in the automatic flight mode that is different from an operation signal assigned to the stick in the normal flight mode. The transmitter generates operation signals for raising and lowering the unmanned aircraft based on the first and second operation directions of the stick when in the normal flight mode, and generates operation signals for raising and lowering the unmanned aircraft based on the first and second operation directions of the stick when in the automatic flight mode. 15. The flight control method according to claim 14, further comprising generating an operation signal for increasing or decreasing the distance between the unmanned aircraft and the object based on the second operation direction. The transmitter generates operation signals for moving the unmanned aircraft to the left and right based on the third and fourth operation directions of the stick when in the normal flight mode, and generates operation signals for moving the unmanned aircraft to the left and right when in the automatic flight mode. The flight control method according to claim 14 or 18, wherein an operation signal is generated to change a left side relative angle and a right side relative angle between the unmanned aircraft and the target object based on the third and fourth operation directions.

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