JPWO2019168043A1 - Drone, operating device, drone control method, operating device control method, and drone control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drone with high safety. [Solution] A drone 100 including a receiving unit 22 capable of receiving an emergency operation command, and a flight control unit 23 for controlling flight operation based on an emergency operation command transmitted by the operating device 10 and received by the receiving unit. So, the emergency operation command, an emergency stop command to drop the drone, an emergency landing command to land the drone, an emergency air stop command to hover the drone, and an emergency return command to return the drone to a predetermined point It includes any one or more commands. [Selection diagram] Fig. 6

Description

The present invention relates to an aircraft (drone), in particular, a drone with improved safety, a control method and control program therefor, an operating device used with the drone, and a controlling method for the operating device.

The application of small helicopters (multicopters) generally called drones is progressing. One of its important fields of application is spraying chemicals such as pesticides and liquid fertilizers on farmland (field) (for example, Patent Document 1. In Japan, where farmland is smaller than in the US and Europe, manned airplanes and helicopters are There are many cases where the use of drones is suitable.

With technologies such as the quasi-zenith satellite system and RTK-GPS (Real Time Kinematic-Global Positioning System), it became possible for a drone to accurately know its absolute position in centimeters during flight. Even in a farmland with a narrow and complicated terrain typical of the above, it is possible to autonomously fly with minimal manual operation, and to perform chemical spraying efficiently and accurately.

On the other hand, there were cases in which it was hard to say that safety considerations were sufficient for autonomous flight drones for agricultural drug spraying. A drone loaded with medicines weighs several tens of kilograms, which could have serious consequences in the event of an accident such as falling onto a person. In addition, the drone operator is usually not an expert, so a fool-proof mechanism is necessary, but the consideration for this was insufficient. Until now, there have been drone safety technologies that are premised on human control (for example, Patent Document 2, in particular, addressing safety issues peculiar to autonomous flight drones for drug spraying for agriculture). There was no technology for that.

Japanese Patent Laid-Open No. 2001-120151 Patent publication gazette JP, 2017-163265, A

Provide an agricultural drone (unmanned aerial vehicle) that can maintain high safety even during autonomous flight.

In order to achieve the above object, a drone according to an aspect of the present invention provides a flight operation based on a receiving unit capable of receiving an emergency operation command and an emergency operation command transmitted by an operating device and received by the receiving unit. A flight control unit for controlling the drone, wherein the emergency operation command is an emergency stop command for dropping the drone, an emergency landing command for landing the drone, and an emergency air stop command for hovering the drone. And an emergency return instruction for returning the drone to a predetermined point, one or more instructions.

Further, the emergency stop command may be executed when the emergency operation command is input a predetermined number of times or more within a predetermined time.

The emergency stop command may be executed when the emergency operation command is continuously input for a predetermined time or more.

A drug control unit for controlling whether or not to discharge the drug from the drone to the outside may be further provided, and the drug control unit may stop the drug discharge based on the emergency operation command received by the receiving unit. ..

The operating device includes a mounting detection unit that determines whether or not the operating device is mounted on a user, and the flight control unit includes the mounting device that is mounted on the user by the mounting detection unit. If this is not detected, the drone may not fly.

The operating device has a mounting detection unit that determines whether the operating device is mounted on the user, and when the mounting detection unit does not determine that the operating device is mounted on the user during flight of the drone. The flight control unit may cause the drone to take an evacuation action.

The operating device may further be provided with an operating device abnormality detection unit that detects that the operating device is in a state in which the operating device cannot transmit the emergency operation command, and the operating device is in a state in which the operating device cannot transmit the emergency operation command. If detected, the flight controller may not fly the drone.

The operating device further includes an operating device abnormality detection unit that detects that the operating device is in a state where it cannot send the emergency operation command, and the operating device sends the emergency operation command by the operating device error detection unit during flight of the drone. The flight control unit may cause the drone to take a retreat action when it is detected that the drone is in an impossible state.

Moreover, the operating device which concerns on another viewpoint of this invention has a transmission part which transmits an emergency operation command to the said drone, and the said emergency operation command makes an emergency stop command to drop the drone, and makes the drone land. One or more of an emergency landing command, an emergency aerial stop command for hovering the drone, and an emergency return command for returning the drone to a predetermined point are included.

The continuous operation detection unit that counts the number of times the emergency operation command is input within a predetermined first time period, wherein the continuous operation detection unit is configured such that the emergency operation command is input a predetermined number of times or more within the first time period. May be detected and an emergency stop command may be transmitted to the receiving unit.

The repeated hit detection unit further measures the time interval at which the emergency operation command is input, and resets the count of the number of times the emergency operation command is input when there is no input for a predetermined second time shorter than the first time. It may be done.

When the emergency operation command is continuously input for a predetermined time, an emergency stop command may be transmitted to the receiving unit.

It may have only the function of transmitting the emergency operation command to the receiving unit.

It may have a plurality of input means for transmitting different emergency operation commands.

The second emergency operation command may be transmitted after the first emergency operation command is transmitted.

The first emergency operation command is an emergency aerial stop command, the second emergency operation command includes any one of a plurality of types of emergency operation commands, and the plurality of types are transmitted after the first emergency operation command is transmitted. The emergency operation command may be selectively transmitted.

The operating device may be a wearable terminal worn by a user on the body.

The flight control unit may further include a mounting detection unit that determines whether the drone is mounted on the user, and the flight control unit may fly the drone when the mounting detection unit does not determine that the operating device is mounted on the user. It may not be allowed.

A mounting detection unit that determines whether the operating device is mounted on the user is provided, and when the mounting detection unit does not determine that the operating device is mounted on the user during flight of the drone, the device is retracted to the drone. It may be an action.

The operating device may further be provided with an operating device abnormality detection unit that detects that the operating device is in a state in which the operating device cannot transmit the emergency operation command, and the operating device is in a state in which the operating device cannot transmit the emergency operation command. If detected, the drone may not fly.

The operating device further includes an operating device abnormality detection unit that detects that the operating device is in a state where it cannot send the emergency operation command, and the operating device sends the emergency operation command by the operating device error detection unit during flight of the drone. If it is detected that the drone is in an impossible state, the drone may be caused to take an evacuation action.

Also, a drone control method according to another aspect of the present invention controls a flight operation based on a receiving unit capable of receiving an emergency operation command and an emergency operation command transmitted by an operating device and received by the receiving unit. A flight control unit for controlling the drone, wherein the emergency operation command includes an emergency stop command for dropping the drone, an emergency landing command for landing the drone, and an emergency aerial stop for hovering the drone. A command and an emergency return command for returning the drone to a predetermined point, a step of inputting an emergency operation command to the operating device, and an emergency operation command for the receiving unit. And dropping the drone based on an emergency stop command received by the receiving unit, landing the drone based on an emergency landing command received by the receiving unit, and receiving the At least one of a step of hovering the drone based on an emergency aerial stop command received by the section, and a step of returning the drone to a predetermined point based on an emergency return command received by the receiving section, Including steps.

The method may further include a step of executing the emergency stop command when the emergency operation command is input a predetermined number of times or more within a predetermined time.

The method may further include a step of executing an emergency stop command when the emergency operation command is continuously input for a predetermined time or more.

A method of controlling a drone further comprising a drug control unit for controlling whether or not to discharge the drug from the drone to the outside, the step of stopping the discharge of the drug based on the emergency operation command received by the receiving unit. Further, it may be provided.

A mounting detection step of determining whether or not the operating device is mounted on the user, and prohibiting the drone from flying if the mounting detection unit does not detect that the operating device is mounted on the user. It is also possible to further include the step of performing.

The method further includes a mounting detection step of determining whether or not the operating device is mounted on a user, and when the operating device is not determined to be mounted on the user by the mounting detection step during flight of the drone, the evacuation to the drone is performed. It may be an action.

The operation device abnormality detection step of detecting that the operation device is in a state in which the emergency operation command cannot be transmitted, and the operation device abnormality detection step detects that the operation device is in a state in which the emergency operation command cannot be transmitted. In this case, the step of prohibiting the flight of the drone may be further included.

A state in which the operation unit cannot transmit the emergency operation command due to the operation unit abnormality detection step of detecting that the operation unit cannot transmit the emergency operation command and the operation unit abnormality detection step during the flight of the drone. If it is detected that the drone is present, the drone may be caused to take refuge.

Further, a control method of an operating device according to another aspect of the present invention is a control method of an operating device used together with a drone, including a step of transmitting an emergency operation command to the drone, and the emergency operation command is the One of an emergency stop command for dropping the drone, an emergency landing command for landing the drone, an emergency aerial stop command for hovering the drone, and an emergency return command for returning the drone to a predetermined point Including the above steps.

The emergency operation command further includes a continuous hit detection unit that counts the number of times that the emergency operation command is input within a predetermined first time, and detects that the emergency operation command is input a predetermined number of times or more within the first time, The method may further include the step of transmitting an emergency stop command.

Measuring a time interval at which the emergency operation command is input, and resetting a count of the number of times the emergency operation command is input when there is no input for a predetermined second time shorter than the first time. Further, it may be included.

Further comprising: a step of determining whether the operating device is attached to a user, and a step of prohibiting flight of the drone when the operating device is not determined to be attached to the user, and Good.

The method further includes a mounting detection step of determining whether or not the operating device is mounted on a user, and when the operating device is not determined to be mounted on the user by the mounting detection step during flight of the drone, the evacuation to the drone is performed. It may be an action.

The operation device abnormality detection step of detecting that the operation device is in a state in which the emergency operation command cannot be transmitted, and the operation device abnormality detection step detects that the operation device is in a state in which the emergency operation command cannot be transmitted. In this case, the step of prohibiting the flight of the drone may be further included.

A state in which the operation unit cannot transmit the emergency operation command due to the operation unit abnormality detection step of detecting that the operation unit cannot transmit the emergency operation command and the operation unit abnormality detection step during the flight of the drone. If it is detected that the drone is present, the drone may be caused to take refuge.

Further, a drone control program according to another aspect of the present invention, a reception command for receiving an emergency operation command, a flight control command for controlling a flight operation based on the emergency operation command transmitted by the operating device,
Is a drone control program for causing a computer to execute, the emergency operation command, an emergency stop command to drop the drone, an emergency landing command to land the drone, an emergency air stop command to hover the drone, the It includes one or more commands of an emergency return command for returning the drone to a predetermined point.

Further, when the emergency operation command is input a predetermined number of times or more within a predetermined time, the computer may be caused to execute a command for executing the emergency stop command.

Further, when the emergency operation command is continuously input for a predetermined time or more, the computer may be caused to execute an instruction to execute the emergency operation command.

Further, the computer may be caused to execute an instruction to stop the ejection of the medicine based on the emergency operation instruction.

Further, if the operation device used together with the drone is a wearing detection command for determining whether or not the user wears the operating device, and if the operation device is not determined to be worn by the user by the wearing detection command, The computer may execute the instruction to prohibit the drone from flying.

Further, the computer is caused to execute a mounting detection command for determining whether or not the operating device used together with the drone is mounted on the user, and the operating device is instructed to the user by the mounting detection command during the flight of the drone. When it is not determined that the drone is attached, the computer may be caused to execute an instruction to cause the drone to take an evacuation action.

Causes the computer to execute an operating device abnormality detection command that detects that the operating device used with the drone is in a state in which the emergency operation command cannot be transmitted, and the operating device issues the emergency operation command according to the operating device abnormality detection command. If it is detected that transmission is impossible, the computer may be caused to execute an instruction to prohibit the flight of the drone.

The operating machine abnormality detection command for detecting that the operating machine used together with the drone is in a state in which the emergency operation command cannot be transmitted is executed by the computer, and the operating machine is detected by the operating machine abnormality detecting step during the flight of the drone. When it is detected that the emergency operation command cannot be transmitted by the computer, the computer may be caused to execute an instruction to cause the drone to take an evacuation action.
The computer program can be provided by being downloaded via a network such as the Internet, or can be provided by being recorded in various computer-readable recording media such as a CD-ROM.

Provide an agricultural drone (unmanned aerial vehicle) that can maintain high safety even during autonomous flight.

It is a top view of the example of the drone concerning the invention in this application. It is a front view of the Example of the drone concerning this invention. It is a right side view of the example of the drone concerning the invention in this application. It is an example of an overall conceptual diagram of a drug spraying system using an example of a drone according to the present invention. It is a schematic diagram showing the control function of the Example of the drone which concerns on this invention. It is a functional block diagram regarding an emergency operation of the drone and an operating device included in the drone. It is a schematic diagram which shows the command input part which the said operating device has. It is a flowchart which the continuous hit detection part which the said drone determines whether the said operation machine was repeatedly hit. It is a flowchart when an emergency command is transmitted from the operating device to a receiving unit included in the drone. It is a schematic diagram which shows 2nd Embodiment of the operating device which concerns on this invention. It is a schematic diagram which shows a mode that another display is displayed in the emergency operation area|region of the said operating device. It is a schematic perspective view which shows 3rd Embodiment of the operating device which concerns on this invention. It is a functional block diagram regarding the emergency operation of the operating device.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. The figures are all examples.

FIG. 1 is a plan view of an embodiment of a drone 100 according to the present invention, FIG. 2 is a front view (viewed from the traveling direction side), and FIG. 3 is a right side view thereof. In the specification of the present application, the drone means any power means (electric power, prime mover, etc.), control method (whether wireless or wired, and whether it is an autonomous flight type or a manual control type). Instead, it refers to all flying bodies having multiple rotors or flight means.

Rotators 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also called rotors) are means for flying the drone 100. Considering the balance of flight stability, airframe size, and battery consumption, it is desirable to have 8 aircraft (4 sets of 2-stage rotary blades).

The motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are rotor blades 101-1a, 101-1b, 101-2a, 101-. 2b, 101-3a, 101-3b, 101-4a, 101-4b is a means for rotating (typically an electric motor, but may be a motor, etc.), one for each rotor It is desirable that the The upper and lower rotors (eg, 101-1a and 101-1b, and their corresponding motors (eg, 102-1a and 102-1b)) in one set are used for the stability of drone flight. Are on the same straight line and rotate in mutually opposite directions. Incidentally, although some of the rotor blades 101-3b and the motor 102-3b are not shown, their positions are self-explanatory, If there was a left side view, it would be in the position shown. As shown in Figures 2 and 3, the radial member for supporting the propeller guard, which is provided so that the rotor does not interfere with foreign matter, is horizontal. It is desirable that the structure is a rugged structure, because it promotes buckling of the member to the outside of the rotor during a collision and prevents it from interfering with the rotor.

The medicine nozzles 103-1, 103-2, 103-3, 103-4 are means for spraying the medicine downward, and are preferably provided in four units. In the specification of the present application, the term "medicine" generally refers to pesticides, herbicides, liquid fertilizers, insecticides, seeds, and liquids or powders applied to fields such as water.

The drug tank 104 is a tank for storing the drug to be sprayed, and is preferably provided at a position close to the center of gravity of the drone 100 and a position lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the drug tank 104 and each drug nozzle 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above-mentioned material and also have a role of supporting the medicine nozzle. The pump 106 is a means for discharging the medicine from the nozzle.

FIG. 4 shows an overall conceptual diagram of a system using an example of a drug spraying application of the drone 100 according to the present invention. This figure is a schematic diagram and the scale is not accurate. The pilot 401 is a means for transmitting a command to the drone 100 by the operation of the user 402 and displaying information received from the drone 100 (for example, position, drug amount, battery level, camera image, etc.). Yes, and may be realized by a portable information device such as a general tablet terminal that runs a computer program. Although it is desirable that the drone 100 according to the present invention be controlled to perform autonomous flight, it is desirable to be able to perform manual operation during basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, an emergency operating device (emergency operating device 10 shown in FIG. 6) having a function dedicated to emergency stop may be used (the emergency operating device is a large size so that it can respond quickly in an emergency). It is desirable that it is a dedicated device equipped with an emergency stop button, etc.). It is desirable that the pilot 401 and the drone 100 perform wireless communication by Wi-Fi or the like.

The field 403 is a rice field, a field, or the like to which the drug is sprayed by the drone 100. Actually, the topography of the farm field 403 is complicated, and there are cases where the topographic map cannot be obtained in advance or the topographic map and the situation at the site are inconsistent. Normally, the farm field 403 is adjacent to a house, a hospital, a school, another crop farm field, a road, a railroad, and the like. In addition, there may be obstacles such as buildings and electric wires in the field 403.

The base station 404 is a device that provides a master device function of Wi-Fi communication and the like, and it is desirable that the base station 404 also functions as an RTK-GPS base station and can provide an accurate position of the drone 100 (Wi-Fi Communication master unit function and RTK-GPS base station may be independent devices). The farm cloud 405 is typically a group of computers operated on a cloud service and related software, and is preferably wirelessly connected to the controller 401 by a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the drone 100 may be provided with the stored topographical information of the field 403 and the like. In addition, the history of the drone 100 flight and captured images may be accumulated and various analysis processes may be performed.

Usually, the drone 100 takes off from a landing point 406 outside the field 403 and returns to the landing point 406 after spraying a drug on the field 403 or when it becomes necessary to replenish the drug or charge the battery. The flight route (intrusion route) from the landing point 406 to the target field 403 may be stored in advance in the farm cloud 405 or the like, or may be input by the user 402 before the start of takeoff.

FIG. 5 is a schematic diagram showing the control function of the embodiment of the drug spraying drone according to the present invention. The flight controller 501 is a component that controls the entire drone, and specifically may be an embedded computer including a CPU, memory, related software, and the like. The flight controller 501, based on the input information received from the controller 401 and the input information obtained from various sensors described later, via the control means such as ESC (Electronic Speed Control), the motor 102-1a, 102-1b , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are controlled to control the flight of the drone 100. The actual rotation speed of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b is fed back to the flight controller 501 to perform normal rotation. It is desirable to have a configuration that can monitor whether or not it is. Alternatively, the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the flight controller 501.

The software used by the flight controller 501 is preferably rewritable through a storage medium or the like for function expansion/change, problem correction, or the like, or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by unauthorized software is not performed. In addition, a part of the calculation process used by the flight controller 501 for control may be executed by another computer existing on the controller 401, the farm cloud 405, or another place. Since the flight controller 501 is highly important, some or all of its constituent elements may be duplicated.

The battery 502 is a means of supplying power to the flight controller 501 and other components of the drone and is preferably rechargeable. The battery 502 is preferably connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker. The battery 502 is preferably a smart battery that has a function of transmitting its internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to a power supply function.

The flight controller 501 communicates with the controller 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives a necessary command from the controller 401, and transmits necessary information to the controller. It is desirable to be able to send to 401. In this case, it is desirable to encrypt the communication so as to prevent illegal acts such as interception, spoofing, and hijacking of equipment. The base station 404 preferably has an RTK-GPS base station function in addition to a Wi-Fi communication function. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is highly important, it is desirable to duplicate and multiplex it. Also, in order to cope with the failure of a specific GPS satellite, each redundant GPS module 504 should use another satellite. It is desirable to control.

The 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body (further, a means for calculating the velocity by integrating the acceleration), and is preferably a 6-axis sensor. The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism. The atmospheric pressure sensor 507 is a means for measuring atmospheric pressure, and can indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of laser light, and it is preferable to use an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected depending on the drone's cost goals and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the tilt of the machine body, a wind force sensor for measuring wind force, and the like may be added. Moreover, it is desirable that these sensors be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, switch to an alternative sensor. Alternatively, a plurality of sensors may be used simultaneously, and if the measurement results do not match, it may be considered that a failure has occurred.

The flow rate sensor 510 is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of places on the path from the medicine tank 104 to the medicine nozzle 103. The liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount. The multi-spectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the orientation of the lens are different from those of the multispectral camera 512, it is desirable that the obstacle detection camera 513 be a device different from the multispectral camera 512. The switch 514 is a means for the user 402 of the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard portion has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone. .. The cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are open. The drug injection port sensor 517 is a sensor that detects that the injection port of the drug tank 104 is open. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed. In addition, a sensor may be provided at the base station 404 outside the drone 100, the controller 401, or another place, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station 404, and information regarding wind force/wind direction may be transmitted to the drone 100 via Wi-Fi communication.

The flight controller 501 sends a control signal to the pump 106 to adjust the medicine ejection amount and stop the medicine ejection. It is desirable that the current status of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.

The LED 107 is a display means for informing the drone operator of the status of the drone. Display means such as a liquid crystal display may be used instead of or in addition to the LEDs. The buzzer 518 is an output means for notifying a drone state (especially an error state) by a voice signal. The Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like, for example, for software transfer, in addition to the controller 401. In addition to or in addition to the Wi-Fi cordless handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used. The speaker 520 is an output means for notifying the drone state (particularly, the error state) by the recorded human voice, synthesized voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight, and in such a case, it is effective to communicate the situation by voice. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (in particular, an error state). These input/output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated/multiplexed.

In an autonomously flying drone 100, a user 402 may oversee the operation of the drone. When the user 402 confirms that an abnormality has occurred in the drone by visual observation or a monitor, it is desirable to send an emergency operation command by an arbitrary operation by the user 402 to safely evacuate the drone.

(First embodiment)
As shown in FIG. 6, the drone 100 according to the present invention includes a receiving unit 22 that can receive an emergency operation command, and a flight control unit 23 that controls the flight of the drone 100 based on the emergency operation command received by the receiving unit 22. And a drug control unit 30 for controlling the amount of drug discharged from the drone 100. The flight controller 23 and the medicine controller 30 are realized by the flight controller 501 in FIG. The drone 100 is connected to the emergency operating device 10 by wire or wirelessly, and can be arbitrarily operated by the user 402 while the drone 100 is autonomously flying. The emergency operation device 10 transmits an emergency operation command to the drone 100.

The emergency operation device 10 may be configured to have only a function of transmitting an emergency stop command. Further, it may have a function of transmitting all instructions of the drone 100 flying for the purpose of monitoring and spraying, other than the emergency stop instruction. Further, a display unit that receives information from the drone 100 and displays it to the user 402 may be provided.

As shown in FIG. 6, the emergency operation device 10 includes a command input unit 11, a transmission unit 12, and an emergency operation detection unit 13. The command input unit 11 is configured to allow the user 402 to input an emergency operation command, and is, for example, a soft switch displayed on the screen of the emergency operating device 10. The command input unit 11 may be a mechanical switch such as a push button.

As shown in FIG. 7, the command input unit 11 can input a plurality of types of emergency operation commands. The emergency operation command includes one or more of an emergency stop command, an emergency landing command, an emergency return command, an emergency air stop command, and a normal return command. In the present embodiment, the command input unit 11 can input all of the above-mentioned five types of emergency operation commands. The command input unit 11 is a plurality of switches 111 to 115 corresponding to the number of types of emergency operation commands. The emergency operation command input to the plurality of switches 111 to 115 is transmitted to the reception unit 22 by the transmission unit 12. Transmission and reception are performed in any format such as Bluetooth (registered trademark), infrared communication, or Wi-Fi.

The switch 111 is a switch that transmits an emergency stop command. When the receiving unit 22 receives the emergency stop command, the flight control unit 23, the motor 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104- Perform an "emergency stop" that stops all operations in b. Then, the drone 100 freely falls downward due to gravity.

The switch 112 is a switch that transmits an emergency landing command. When the receiving unit 22 receives the emergency landing command, the flight control unit 23 executes "normal landing" at the point where the emergency landing command is received.

The switch 113 is a switch that transmits an emergency return command. When the receiving unit 22 receives the emergency return command, the flight control unit 23 immediately moves to a predetermined return point along the shortest route and performs “emergency return”. The predetermined return point is a point stored in advance in the flight control unit 23, and is, for example, the departure point 406 that has taken off. The predetermined return point is, for example, a land-based point other than the farm field 403 where the user 402 can approach the drone 100, and the user 402 can inspect the drone 100 reaching the return point or manually change the drone 100. Can be carried to a place.

The switch 114 is a switch that transmits an emergency air stop command. When the receiving unit 22 receives the emergency aerial stop command, the flight control unit 23 performs “hovering” at the point where the emergency aerial stop command is received.

The switch 115 is a switch that normally sends a feedback command. When the receiving unit 22 receives the normal return instruction, the drone 100 moves to a predetermined return point along the optimized route. The optimized route is, for example, a route calculated by referring to the route in which the medicine is sprayed before receiving the normal return command. For example, the flight control unit 23 moves to a predetermined return point while spraying the drug via a route on which the drug has not been sprayed yet.

The drone 100 may have multiple emergency actions such as landing and hovering, but which action is appropriate depends on the abnormal situation. Therefore, according to the emergency operating device 10 capable of transmitting different emergency operation commands from the plurality of switches 111 to 115, the user 402 can selectively transmit a plurality of types of emergency operation commands.

The command input unit 11 is capable of distinguishing and recognizing operations performed on the screen, such as taps, swipes, flicks, repeated hits, and long presses, and each operation may be associated with the switches 111 to 115. At least continuous hitting and long-pressing among the respective operations are discriminated by the emergency operation detection unit 13 included in the emergency operation device 10.

The emergency operation detection unit 13 is a functional unit that detects that a specific operation different from the normal input operation is performed on the emergency operation device 10. The emergency operation detection unit 13 includes a continuous hit detection unit 131 and a long press detection unit 132.

The repeated hit detection unit 131 is a functional unit that detects whether the switches 111 to 115 have been operated by the user 402 a plurality of times within a predetermined time, that is, whether or not the switches have been repeatedly hit. The repeated hit detection unit 131 appropriately has a timer and a counting unit for counting the number of times of operation within a predetermined first time.

When the repeated hit detection unit 131 detects the repeated hits, the multiple hits is converted into one emergency stop command. That is, the flight controller 23 stops all the operations of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b, and the drone 100. Free fall. According to this configuration, even when the user 402 hurriedly operates the emergency operation device 10 in an emergency, the drone 100 can be safely retracted.

It is assumed that, in an emergency, operations that are performed in a hurry are input with a certain degree of regularity. That is, for example, in the case where the button is pressed a number of times less than the threshold for repeated hit detection and then further pressed after a certain time, the operation is different from the expected operation. Therefore, the repeated hit detection unit 131 may further measure the time interval at which the switches 111 to 115 are pressed, and reset the count if the switch has not been pressed for a predetermined second time shorter than the first time.

As shown in FIG. 8, first, the repeated hit detection unit 131 detects that the switches 111 to 115 have been pressed once and an emergency command has been input (step S31). The repeated hit detection unit 131 records the number of inputs from "0" to "1" (step S32), and starts timers for measuring the first time and the second time (steps S33 to S34).

The repeated hit detection unit 131 determines whether the first time has elapsed (step S35). When the first time has elapsed without inputting the next emergency command, the timer for measuring the first time and the second time is reset, and the process proceeds to step S4 in FIG. 9 to be described later to correspond to the pressed switch. An emergency command to be sent. Further, it is determined whether or not the second time has elapsed (step S36), and it is determined whether or not the next input is made before the second time has elapsed (step S37). Even when the second time elapses without inputting the next emergency command, the timer for measuring the first time and the second time is reset and the process proceeds to step S4 in FIG. 9 described later to transmit the normal emergency command. To be done. For example, when inputs less than a predetermined number of times, which are detected as repeated hits, are continuously made, an emergency command corresponding to the switches 111 to 115 that are pressed last may be transmitted.

When the next input is made before the elapse of the second time, the repeated hit detection unit 131 continues the measurement of the timer for the first time and adds 1 to the number of inputs (step S38). Further, the repeated hit detection unit 131 determines whether or not the number of inputs reaches a predetermined number (step S39). When the number of times of input reaches the predetermined number of times, the repeated hit detection unit 131 determines that repeated hits have been performed, and proceeds to step S3 of FIG. If the number of inputs has not reached the predetermined number, the second time timer is reset, the process returns to step S34, and the second time timer is newly started.

With this configuration, the repeated hit detection unit 131 can more accurately detect the panicked operation of the user 402.

The long press detection unit 132 is a functional unit that detects whether or not the switches 111 to 115 are continuously pressed for a predetermined time or more, that is, whether or not the switches are long pressed. When the long press detection unit 132 detects that the switches 111 to 115 have been pressed for a predetermined time or longer, the long press detection unit 132 converts the input into one emergency stop command. According to this configuration, even if the user 402 hurriedly presses the emergency operation device 10 in an emergency, the drone 100 can be safely retracted.

The drug control unit 30 is a control unit that controls the amount or timing of spraying the drug solution from the drug tank 104. For example, somewhere in the path from the drug tank 104 to each drug nozzle 103-1, 103-2, 103-3, 103-4, an opening/closing means for opening and closing the drug solution path is provided, and the drug control unit 30 is Alternatively, various emergency operations may be performed after the release of the drug solution is blocked by the opening/closing means. Further, the medicine control unit 30 may stop the pump 106 before executing the emergency operation.

The flow of the drone 100 performing the emergency operation will be described with reference to the flowchart of FIG. 9. As shown in the figure, first, when the user 402 operates any of the switches 111 to 115 included in the command input unit 11, the command input unit 11 of the emergency operating device 10 acquires an emergency operation command (step S1).

The long press detection unit 132 determines whether the switches 111 to 115 have been pressed for a predetermined time or longer (step S21).

When it is determined that the command input unit 11 has been pressed for a predetermined time or longer, the transmission unit 12 transmits one emergency stop command to the reception unit 22 (step S3).

When the long press detection unit 132 does not detect the long press, the continuous hit detection unit 131 determines whether or not the switches 111 to 115 are continuously pressed a predetermined number of times or more within a predetermined time (step S22). When it is determined that the switches 111 to 115 are continuously pressed a predetermined number of times or more within a predetermined time, the transmission unit 12 transmits one emergency stop command to the reception unit 22 (step S3).

Following step S3, the receiver 22 receives the emergency stop command from the transmitter 12 (step S5). The drug control unit 30 closes the opening/closing means that is appropriately provided in the drug solution discharge path, stops the pump 106, and stops the drug discharge (step S7). Next, the flight control unit 23 performs an emergency stop operation. That is, the flight controller 23 stops all the operations of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b, and the drone 100. To fall freely (step S81).

When the repeated hit detection unit 131 does not detect the emergency operation command more than the predetermined number of times within the predetermined time, the transmission unit 12 transmits one emergency operation command corresponding to the pressed switches 111 to 115 to the reception unit 22 ( Step S4).

The receiver 22 receives the emergency operation command from the transmitter 12 (step S5). The flight control unit 23 performs an emergency operation according to the type of emergency operation command (step S6). When the received emergency operation command is other than the normal return command, the medicine control unit 30 closes the opening/closing means appropriately provided in the drug solution discharge path, stops the pump 106, and stops the medicine discharge (step S7). ). When the drug control unit 30 receives the normal return command, the drug control unit 30 moves to a predetermined return point while spraying a predetermined drug in accordance with the route through which the drug is returned (step S85).

The flight control unit 23 causes the drone 100 to perform an emergency operation based on the emergency operation command received by the reception unit 22 (steps S81 to S84). That is, when the emergency stop command is received, the "emergency stop" is performed (step S81), and when the emergency landing command is received, the "landing" operation is performed (step S82). When the emergency return command is received, "emergency return" is performed (step S83), and when the emergency air stop command is received, "hovering" is performed (step S84).

It should be noted that the drone 100 may be configured to include a continuous reception detection unit that detects whether or not the reception unit 22 has received an emergency operation command a predetermined number of times or more, instead of the continuous hit detection unit 131 included in the emergency operation device 10. .. When the continuous reception detection unit detects that the reception unit 22 has received the emergency operation command a predetermined number of times or more, the continuous reception detection unit converts the plurality of emergency operation commands into one emergency stop command and transmits the command to the flight control unit 23. To do.

Further, it is preferable that the drone 100 is prevented from flying when the emergency operation device 10 becomes unable to send an emergency operation command due to a failure of the emergency operation device 10, a dead battery, or the like. Do not let drone 100 take off while drone 100 is landing. If the drone 100 is in flight, you may want the drone 100 to take shelter. The evacuation action may be any action such as normal landing, hovering, normal return, and emergency return, or a combination thereof. In addition, the user 402 may be notified of that fact by an appropriate display means included in the pilot 401 or the drone 100 itself.

The failure of the emergency operation device 10 or the detection of the battery exhaustion may be detected by providing the operation device abnormality detection unit in the emergency operation device 10. When the operating device abnormality detection unit detects a failure or a dead battery, the farming cloud 405 may be notified of that fact. Further, the farming cloud 405 side may have a function of detecting a failure of the emergency operation device 10 or a battery exhaustion. By periodically transmitting and receiving a communication confirmation command other than the emergency operation command between the emergency operation device 10 and the farming cloud 405, etc., it is possible to periodically check whether or not the emergency operation device 10 is in a state capable of transmitting the emergency operation command. If it is confirmed that it is not possible to transmit the emergency operation command, the drone 100 may be caused to take a retreat action. Further, the operating device abnormality detection unit that detects a failure of the emergency operating device 10 or a battery exhaustion may be mounted on the drone 100.

(Second embodiment)
Another embodiment in which the emergency operating device 10 transmits an emergency operation command will be described with reference to FIG. 10. The figure is an example of a main screen 800 displayed by the emergency operating device 10. In the present embodiment, the emergency operating device 10 has a function of displaying the operation state of the drone 100 and instructing the operation of the drone 100, in addition to transmitting the emergency operation command.

On the main screen 800, there are a peripheral device status display area 801, a flight status display area 802, an aircraft status display area 803, an altitude adjustment input means 804, a map display area 805, a route information display area 806, and an emergency operation area 807. It is provided.

The peripheral device status display area 801 displays the battery remaining amount of the drone 100, the pump condition, the drug remaining amount, the communication condition, the GPS reception condition, and the like. It is preferable to simplify the information as much as possible and to surely inform the operator of a highly important situation by changing the color when an error occurs.

The flight status display area 802 displays the flight time, GPS coordinates, flight speed, altitude, etc. of the drone 100.

The airframe status display area 803 displays the current status of the drone 100, such as flight preparation, drug replenishment, takeoff, flight, and emergency evacuation.

The altitude adjustment input means 804 is a user interface input means such as a button for increasing or decreasing the current altitude of the drone 100. The drone 100 according to the present invention flies autonomously in principle, and the altitude is automatically adjusted by a computer program, for example, when the operator wants to finely adjust the altitude according to the height of the crop or the like. Can occur.

The map display area 805 is a map including fields that are targets of drug spraying, and may be an aerial photograph, a topographical map, or a superimposed display thereof. It is desirable that the scale and position can be adjusted by gesture operation or the like. In the map display area 805, the current position of the drone 100 is displayed in real time.

The route information display area 806 is a route in which the drone should autonomously fly, which is calculated in advance by the pilot, the drone 100, or the farm cloud 405. The route can be displayed by switching between the shooting-only plan and the pesticide spraying plan. Further, in the pesticide spraying plan, it is possible to select and display a route giving priority to required time, a route giving priority to battery consumption, and a route giving priority to minimizing leakage of chemicals. The medicine-dispersed area may be displayed in different colors. Information on obstacles (electric wires, buildings, trees, etc.) in the field is also displayed along with the route.

The emergency operation area 807 is an area in which an emergency operation command can be input, and is an example of a command input unit. The emergency operation area 807 may occupy a large portion (typically one third or more of the entire screen space) on the main screen 800 so that the user 402 can easily operate it in an emergency. When the user 402 grips the emergency operating device 10 from the side, the fingers, particularly the thumb, may come into contact with a part of the screen. Therefore, the outer edge of the emergency operation area may be defined sufficiently inside the outer peripheral end of the emergency operation device 10. According to this configuration, the user 402 does not accidentally touch the emergency operation area 807 while holding the emergency operation device 10.

The emergency operation area 807 has a plurality of input means for transmitting different emergency operation commands. For example, in the emergency operation area 807, at least two actions among actions performed on the screen, such as tap, swipe, flick, continuous hit, and long press, can be distinguished and can be recognized. Different emergency action commands are associated with the actions. The emergency operation area 807 may be subdivided into a plurality of areas to be recognized, and different emergency operation commands may be associated with each other depending on the position where the operation is performed. In an input operation having a direction such as swipe or flick, a different command may be associated with each input direction. According to this configuration, the user 402 can selectively transmit a plurality of types of emergency operation commands. As shown in the figure, in the present embodiment, the swipe sends an emergency aerial stop command that causes a temporary stop, that is, hover. In addition, the operation of tapping four times in succession sends an emergency stop command.

When the emergency operation device 10 detects a predetermined operation on the main screen 800 in the emergency operation area 807, the emergency operation device 10 transmits the first emergency operation command and then can send the second emergency operation command. Good. The emergency operation area 807 may transition to a mode in which another input is received in the area after detecting a predetermined motion. For example, when the emergency operation area 807 on the main screen 800 detects a swipe operation, the emergency operation area 807 transmits an emergency aerial stop instruction as the first emergency operation instruction to hover the drone 100. As shown in FIG. 11, the emergency operation area 807 is changed to a display for selecting the type of emergency operation after the drone 100 is hovering. The user 402 transmits an emergency stop command, an emergency landing command, an emergency aerial stop command or an emergency return command as the second emergency operation command by selecting on the emergency operation area 807. It is difficult for the user 402 to instantly determine an appropriate emergency action type when an unexpected situation occurs in the drone 100. Therefore, according to this configuration, the user 402 can hover the drone 100 in an unexpected situation and calmly consider it before determining the type of emergency operation.

(Third Embodiment)
A third embodiment of the drone and the emergency operating device according to the present invention will be described focusing on the parts different from the first embodiment described above. The emergency operating device of the third embodiment is different from that of the first embodiment in that it is an eyewear type wearable terminal device or an earphone type wearable terminal device. Further, the emergency operation device may be configured by one or a combination of a button type, an eyewear type wearable terminal device, and an earphone type wearable terminal device. The same components as those in the first embodiment are designated by the same reference numerals.

As shown in FIG. 11, the emergency operation device 20 is an eyewear type wearable terminal device 4011 or an earphone type wearable terminal device 4012. The eyewear-type wearable terminal 4011 is an eyewear or spectacle-shaped device in appearance, and a vine can be worn over the ear of the user 402. The earphone-type wearable terminal 4012 can be inserted by inserting the earphone part into the ear of the user 402, and in both cases, the burden of wearing is small and the information from the device can be acquired hands-free, so that it can be used during agricultural work. Suitable for use in.

As shown in FIG. 12, the emergency operation device 20 includes a command input unit 11, a transmission unit 12, and a mounting detection unit 14.

The command input unit 11 has a configuration for the user 402 to input an emergency operation command, and corresponds to the command input unit 11 of the first embodiment. The command input unit 11 is, for example, a vibration sensor, and in any of the eyewear-type wearable terminal device 4011 and the earphone-type wearable terminal device, the vibration sensor allows the user 402 to tap an arbitrary part of each terminal device. It is possible to detect the vibration generated in.

The command input unit 11 is a contact detection sensor including a pressure detection element such as a micro switch or a piezo element, and the operation of the user 402 hitting the emergency operating device 20 is input. In the case of the eyewear-type wearable terminal 4011, the command input unit 11 is arranged, for example, on a temple or a joint portion with a lens arranged in front of the eye in a worn state. Further, in the case of a configuration in which the left and right temples are connected by a belt that contacts the back of the head when worn, the command input unit 11 may be arranged on the belt. In the case of an earphone type wearable terminal, the command input unit 11 is arranged, for example, on the back side of the earpiece. The earphone wearable terminal 4012 may have a microphone function, and a command may be input by voice input to the microphone.

The attachment detection unit 14 is a functional unit that detects whether or not the emergency operation device 20 is attached to the user 402. The attachment detection unit 14 has a contact detection unit 141 and a determination unit 142. The contact detection unit 141 is composed of, for example, a micro switch or a pressure detection element such as a piezo element. The contact detection unit 141 may be a capacitance sensor that can detect that the human body is touching. In the case of the eyewear-type wearable terminal 4011, the contact detection unit 141 is arranged on, for example, a curved surface at the bottom of the temple, and contacts the ear of the user 402 when worn. In the case of the earphone type wearable terminal 4012, the contact detection unit 141 is arranged on the outer periphery of the ear piece and comes into contact with the ear of the user 402 when worn.

The determination unit 142 determines whether or not the emergency operating device 20 is attached to the user 402 based on the signal from the contact detection unit 141. The determining unit may determine that the emergency operating device 20 is attached to the user 402 only when contact can be detected continuously for a predetermined time or more, for example. When the wearing detection unit 14 does not detect the wearing of the emergency operation device 20, it is preferable that the drone 1 is prohibited from flying. Further, the attachment detection unit 14 is configured to permit the flight of the drone 1 only when it is determined that the emergency operation device 20 is attached to the user 402 and to enable the input to the command input unit 11. It may have been done.

In addition, the attachment detection unit 14 may detect whether or not the emergency operating device 20 is attached to the user 402 continuously or at predetermined time intervals even during the flight of the drone 100. If the attachment detection unit 14 cannot detect attachment during flight, the flight control unit 23 may cause the drone 100 to take a retracting action. The evacuation action here is, for example, landing. Before landing as an evacuation action, an operation of hovering and/or returning to a predetermined return point may be performed. The fact that the mounting of the emergency operation device 20 cannot be detected may be notified to the user 402 by an appropriate method through a display unit included in the pilot 401 or the drone 100 itself. Even after the drone 100 starts flying, if the user 402 removes the emergency operation device 20, an emergency stop operation cannot be performed, which is a dangerous situation. According to this configuration, it is possible to detect such a situation and prevent the drone 100 from continuing the flight in a dangerous situation.

Further, the pilot 401 may be configured by combining one or more of a button type, eyewear type wearable terminal 4011, and earphone type wearable terminal 4012, and a part or all of the pilot 401 may be configured. The device may be shared with the emergency operation device 20. In this case, only when it is determined by the wearing detection unit 14 of the eyewear-type wearable terminal 4011 and the earphone-type wearable terminal 4012 that the pilot 401 is worn by the user 402, the pilot 401 It may be configured to be able to start the operation of the drone connected to the. The operation of the drone mainly refers to takeoff by the flight control unit 23 and spraying of the drug by the drug control unit 30. Further, when the pilot 401 is removed from the user 402 during operation, the operation of the drone may be stopped. Specifically, the spraying of the drug may be stopped and the drone may be configured to land. Furthermore, a warning that the pilot 401 is not attached to the user 402 may be notified by an image display or sound to notify the user 402.

In the present description, the agricultural chemical spray drone has been described as an example, but the technical idea of the present invention is not limited to this and is applicable to drones in general.

(Technically remarkable effect of the present invention)
With the drone according to the present invention, it is possible to provide a drone (aircraft) that can maintain high safety even during autonomous flight.

Claims (44)

A receiver that can receive emergency operation commands,
A flight control unit that controls the flight operation based on the emergency operation command transmitted by the operating device and received by the reception unit,
A drone comprising
The emergency operation command, an emergency stop command to drop the drone, an emergency landing command to land the drone, an emergency aerial stop command to hover the drone, and an emergency return command to return the drone to a predetermined point. A drone that includes one or more of the following directives:
The drone according to claim 1, wherein the emergency stop command is executed when the emergency operation command is input a predetermined number of times or more within a predetermined time.
The drone according to claim 1, wherein the emergency stop command is executed when the emergency operation command is continuously input for a predetermined time or more.
The drug control unit for controlling whether or not to discharge the drug from the drone to the outside is further provided, and the drug control unit stops the discharge of the drug based on the emergency operation command received by the receiving unit. The drone according to any one of 1 to 3.
The operating device has a mounting detection unit that determines whether or not the operating device is mounted on the user, and when the mounting detection unit does not detect that the operating device is mounted on the user, The drone according to any one of claims 1 to 4, wherein the flight control unit does not fly the drone.
The operating device has a mounting detection unit that determines whether the operating device is mounted on the user, and when the mounting detection unit does not determine that the operating device is mounted on the user during flight of the drone. The drone according to any one of claims 1 to 5, wherein the flight control unit causes the drone to take an evacuation action.
The operating device may further be provided with an operating device abnormality detection unit that detects that the operating device is in a state in which the operating device cannot transmit the emergency operation command, and the operating device is in a state in which the operating device cannot transmit the emergency operation command. The drone according to any one of claims 1 to 6, wherein when detected, the flight control unit does not fly the drone.
The operating device further includes an operating device abnormality detection unit that detects that the operating device is in a state where it cannot send the emergency operation command, and the operating device sends the emergency operation command by the operating device error detection unit during flight of the drone. The drone according to any one of claims 1 to 7, wherein the flight control unit causes the drone to take an evacuation action when it is detected that the drone is in a disabled state.
It has a transmission unit that sends an emergency operation command to the drone,
The emergency operation command is an emergency stop command for dropping the drone, an emergency landing command for landing the drone, an emergency aerial stop command for hovering the drone, and an emergency return command for returning the drone to a predetermined point. An operating device for use with the drone according to any one of claims 1 to 8, further comprising any one or more of the above commands.
Further comprising a continuous hit detection unit that counts the number of times the emergency operation command is input within a predetermined first time,
The operating device according to claim 9, wherein the repeated hit detection unit detects that the emergency operation command has been input a predetermined number of times or more within the first time period, and transmits an emergency stop command to the reception unit.
The repeated hit detection unit further measures the time interval at which the emergency operation command is input, and resets the count of the number of times the emergency operation command is input when there is no input for a predetermined second time shorter than the first time. The operating device according to claim 10.
The operating device according to claim 9, wherein when the emergency operation command is continuously input for a predetermined time, the emergency stop command is transmitted to the receiving unit.
The operating device according to claim 9, which has only a function of transmitting the emergency operation command to the receiving unit.
The operating device according to claim 9, further comprising a plurality of input means for transmitting different emergency operation commands.
The operating device according to any one of claims 9 to 14, which is capable of transmitting the second emergency operation command after transmitting the first emergency operation command.
The first emergency operation command is an emergency aerial stop command, the second emergency operation command includes any one of a plurality of types of emergency operation commands, and the plurality of types are transmitted after the first emergency operation command is transmitted. 16. The operating device according to claim 15, which is capable of selectively transmitting the emergency operation command of.
The operating device is a wearable terminal that the user wears on the body and uses.
The operating device according to any one of claims 9 to 16.
The flight control unit may further include a mounting detection unit that determines whether the drone is mounted on the user, and the flight control unit may fly the drone when the mounting detection unit does not determine that the operating device is mounted on the user. The operating device according to claim 17, which is not allowed to operate.
A mounting detection unit that determines whether the operating device is mounted on the user is provided, and when the mounting detection unit does not determine that the operating device is mounted on the user during flight of the drone, the device is retracted to the drone. The operating device according to claim 17 or 18, which causes an action.

The operating device may further be provided with an operating device abnormality detection unit that detects that the operating device is in a state in which the operating device cannot transmit the emergency operation command, and the operating device is in a state in which the operating device cannot transmit the emergency operation command. The operating device according to any one of claims 9 to 19, which, if detected, does not fly the drone.
The operating device further includes an operating device abnormality detection unit that detects that the operating device is in a state where it cannot send the emergency operation command, and the operating device sends the emergency operation command by the operating device error detection unit during flight of the drone. The operating device according to any one of claims 9 to 20, which causes the drone to take a retracting action when it is detected that the drone is in a disabled state.
A receiver that can receive emergency operation commands,
A flight control unit that controls the flight operation based on the emergency operation command transmitted by the operating device and received by the reception unit,
A method of controlling a drone comprising:
The emergency operation command, an emergency stop command to drop the drone, an emergency landing command to land the drone, an emergency aerial stop command to hover the drone, and an emergency return command to return the drone to a predetermined point. , Which includes one or more directives,
A step of inputting an emergency operation command to the controller, a step of receiving the emergency operation command by the receiving unit, and dropping the drone based on an emergency stop command received by the receiving unit; The step of landing the drone based on the emergency landing command received by the receiving unit, the step of hovering the drone based on the emergency aerial stop command received by the receiving unit, and the emergency return command received by the receiving unit. Returning the drone to a predetermined location based on the following:
How to control the drone.
The drone control method according to claim 22, further comprising a step of executing an emergency stop command when the emergency operation command is input a predetermined number of times or more within a predetermined time.
24. The drone control method according to claim 22, further comprising a step of executing an emergency stop command when the emergency operation command is continuously input for a predetermined time or more.
A method of controlling a drone further comprising a drug control unit for controlling whether or not to discharge the drug from the drone to the outside, the step of stopping the discharge of the drug based on the emergency operation command received by the receiving unit. The drone control method according to any one of claims 22 to 24, further comprising:
A mounting detection step of determining whether or not the operating device is mounted on the user, and prohibiting the drone from flying if the mounting detection step does not detect that the operating device is mounted on the user The method of controlling a drone according to any one of claims 22 to 25, further comprising:
The method further includes a mounting detection step of determining whether or not the operating device is mounted on a user, and when the operating device is not determined to be mounted on the user by the mounting detection step during flight of the drone, the evacuation to the drone is performed. 27. The drone control method according to claim 22, wherein the drone control action is taken.
The operation device abnormality detection step of detecting that the operation device is in a state in which the emergency operation command cannot be transmitted, and the operation device abnormality detection step detects that the operation device is in a state in which the emergency operation command cannot be transmitted. 28. The drone control method according to claim 22, further comprising the step of: prohibiting the drone from flying.
A state in which the operation unit cannot transmit the emergency operation command due to the operation unit abnormality detection step of detecting that the operation unit cannot transmit the emergency operation command and the operation unit abnormality detection step during the flight of the drone. 29. The drone control method according to any one of claims 22 to 28, wherein the drone is caused to take a retreat action when it is detected that the drone exists.
A control method for an operating device used with a drone,
Including sending an emergency action command to the drone,
The emergency operation command, an emergency stop command to drop the drone, an emergency landing command to land the drone, an emergency aerial stop command to hover the drone, and an emergency return command to return the drone to a predetermined point. A control method for an operating device, comprising any one or more of the following commands.
Further comprising a continuous hit detection unit that counts the number of times the emergency operation command is input within a predetermined first time,
31. The method for controlling an operating device according to claim 30, further comprising: detecting that the emergency operation command has been input a predetermined number of times or more within the first time period and transmitting the emergency stop command.
Measuring a time interval at which the emergency operation command is input, and resetting a count of the number of times the emergency operation command is input when there is no input for a predetermined second time shorter than the first time. 32. The control method of the operating device according to claim 31, further comprising:
The method further comprising: determining whether the operating device is worn by a user, and prohibiting the drone from flying if the operating device is not determined to be worn by the user. Item 33. A method for controlling an operating device according to any one of Items 30 to 32.
The method further includes a mounting detection step of determining whether or not the operating device is mounted on a user, and when the operating device is not determined to be mounted on the user by the mounting detection step during flight of the drone, the evacuation to the drone is performed. The control method for an operating device according to any one of claims 30 to 33, which causes an action.
The operation device abnormality detection step of detecting that the operation device is in a state in which the emergency operation command cannot be transmitted, and the operation device abnormality detection step detects that the operation device is in a state in which the emergency operation command cannot be transmitted. 35. The control method of the operating device according to claim 30, further comprising the step of prohibiting the drone from flying.
A state in which the operation unit cannot transmit the emergency operation command due to the operation unit abnormality detection step of detecting that the operation unit cannot transmit the emergency operation command and the operation unit abnormality detection step during the flight of the drone. 36. The control method for the operating device according to claim 30, wherein the drone is caused to take an evacuation action when it is detected that the condition is present.
A receiving command for receiving an emergency operation command,
A flight control command for controlling flight operation based on the emergency operation command transmitted by the operating device,
A drone control program that causes a computer to execute
The emergency operation command is an emergency stop command for dropping the drone, an emergency landing command for landing the drone, an emergency air stop command for hovering the drone, and an emergency return command for returning the drone to a predetermined point. A drone control program including any one or more of the following commands.
The drone control program according to claim 37, further comprising causing a computer to execute an instruction to execute an emergency stop instruction when the emergency operation instruction is input a predetermined number of times or more within a predetermined time. The drone control program according to claim 37 or 38, further causing a computer to execute an instruction to execute the emergency operation command when the emergency operation command is continuously input for a predetermined time or more.
The drone control program according to any one of claims 37 to 39, further causing a computer to execute an instruction to stop the discharge of the medicine based on the emergency operation instruction.
Further, a mounting detection command for determining whether or not the operating device used together with the drone is mounted on the user, and if the mounting detection command does not determine that the operating device is mounted on the user, The drone control program according to any one of claims 37 to 40, which causes a computer to execute an instruction to prohibit the drone from flying.
Further, the computer is caused to execute a mounting detection command for determining whether or not the operating device used together with the drone is mounted on the user, and the operating device is instructed to the user by the mounting detection command during the flight of the drone. The drone control program according to any one of claims 37 to 41, which causes a computer to execute an instruction to cause the drone to take an evacuation action when it is not determined that the drone is mounted.
Causes the computer to execute an operating device abnormality detection command that detects that the operating device used with the drone is in a state in which the emergency operation command cannot be transmitted, and the operating device issues the emergency operation command according to the operating device abnormality detection command. The drone control program according to any one of claims 37 to 42, which causes a computer to execute an instruction to prohibit the flight of the drone when it is detected that the drone cannot be transmitted.
Causes a computer to execute an operation device abnormality detection command that detects that the operation device used with the drone is in a state in which the emergency operation command cannot be transmitted, and the operation device is detected by the operation device abnormality detection command during flight of the drone. 44. The drone control program according to claim 37, which causes a computer to execute an instruction for causing the drone to take an evacuation action when it is detected that the emergency operation command cannot be transmitted.

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