WO2018138882A1 - 飛行体、動作制御方法、動作制御システム、プログラム及び記録媒体 - Google Patents
飛行体、動作制御方法、動作制御システム、プログラム及び記録媒体 Download PDFInfo
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- WO2018138882A1 WO2018138882A1 PCT/JP2017/002997 JP2017002997W WO2018138882A1 WO 2018138882 A1 WO2018138882 A1 WO 2018138882A1 JP 2017002997 W JP2017002997 W JP 2017002997W WO 2018138882 A1 WO2018138882 A1 WO 2018138882A1
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- flying object
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- 238000003384 imaging method Methods 0.000 claims description 177
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Definitions
- the present disclosure relates to an aircraft having a movable part, an operation control method for controlling the operation of the aircraft, an operation control system, a program, and a computer-readable recording medium on which the program is recorded.
- Patent Documents 1 and 2 In recent years, it has become possible to provide various services by allowing a plurality of unmanned aircraft to fly together in one area (see Patent Documents 1 and 2).
- Patent Document 1 a plurality of flying objects as unmanned aerial vehicles stop moving to a designated position in the air in response to a command from a ground station and emit light. As a result, the observer can observe the constellation and the like in a pseudo manner.
- Cited Document 2 a plurality of drones as unmanned aerial vehicles are mounted on a delivery vehicle together with a package to be delivered, and each of the plurality of drones flies to a delivery house for each predetermined area and delivers the package.
- the flying object is a flying object having a movable unit, and an acquisition unit that acquires a first signal, and a movable unit based on internal information of the flying object when the first signal is acquired.
- the flying object may further include a communication unit that communicates with an operation terminal that instructs control of the flying object.
- the acquisition unit may acquire a first communication signal received in communication with the operation terminal as the first signal.
- the communication unit may receive an operation signal indicating a first operation to the operation unit provided in the operation terminal.
- the acquisition unit may acquire the operation signal as the first signal.
- the communication unit may perform a wireless communication connection process with the operation terminal.
- the acquisition unit may acquire the second communication signal received in the connection process as the first signal.
- the communication unit may receive an instruction signal from an application executed by the operation terminal.
- the acquisition unit may acquire the instruction signal as the first signal.
- the flying object may further include a detection unit that detects a power input operation of the flying object.
- the acquisition unit may acquire a detection signal indicating that a power input operation has been detected as the first signal.
- the detection unit may detect the power input operation for a predetermined number of times or more or for a predetermined time or more.
- the movable part may have a rotating blade.
- the control unit may control the rotor wing of the flying object based on the internal information.
- the control unit may control the rotation time of the flying wing of the flying object based on the internal information.
- the control unit may control the number of times the rotating wing of the flying object is rotated based on the internal information.
- the movable part may have a plurality of rotor blades.
- the control unit may control the number of times the plurality of rotating blades are simultaneously rotated based on the internal information.
- the movable part may have a plurality of rotor blades.
- the control unit may control the rotation order of the plurality of rotor blades based on the internal information.
- the movable portion includes at least one of a first support member that supports the position of the rotor blade relative to the casing of the aircraft in a changeable manner and a second support member that rotatably supports the imaging portion of the aircraft. You can do it.
- the control unit may control at least one of the operations of the first support member and the second support member based on the internal information.
- the movable part may include a plurality of movable parts.
- the internal information may be indicated by multi-digit information.
- the control unit may control each of the plurality of movable parts based on each piece of information of a plurality of digits.
- the internal information may include individual identification information of the flying object.
- the control unit may control the operation of the movable unit based on the individual identification information.
- the internal information may include information on the functions of the aircraft.
- the control unit may control the operation of the movable unit based on the function information.
- the flying object may further include an imaging unit that captures an image and a first setting unit that sets an imaging mode by the imaging unit.
- the internal information may include information on the set imaging mode.
- the control unit may control the operation of the movable unit based on information on the imaging mode.
- the flying object may further include a storage unit.
- the internal information may include information on the remaining capacity of the storage unit.
- the control unit may control the operation of the movable unit based on information on the remaining capacity of the storage unit.
- the flying object may further include a second setting unit that sets a flight course on which the flying object flies.
- the internal information may include information on the set flight course.
- the control unit may control the operation of the movable unit based on the flight course information.
- the motion control method is a motion control method of a flying object having a movable part, the step of obtaining a first signal, and when the first signal is obtained, based on internal information of the flying object. And controlling the operation of the movable part.
- the operation control method may further include a step of communicating with an operation terminal that instructs control of the flying object.
- the step of acquiring the first signal may include a step of acquiring a first communication signal received in communication with the operation terminal as the first signal.
- the step of communicating with the operation terminal may include a step of receiving an operation signal indicating a first operation to the operation unit included in the operation terminal.
- the step of acquiring the first signal may include a step of acquiring the operation signal as the first signal.
- the step of communicating with the operation terminal may include a step of performing a wireless communication connection process with the operation terminal.
- the step of acquiring the first signal may include a step of acquiring the second communication signal received in the connection process as the first signal.
- the step of communicating with the operation terminal may include a step of receiving an instruction signal from an application executed by the operation terminal.
- the step of obtaining the first signal may include a step of obtaining the instruction signal as the first signal.
- the operation control method may further include a step of detecting a power input operation of the flying object.
- the step of acquiring the first signal may include a step of acquiring a detection signal indicating that the power input operation has been detected as the first signal.
- the step of detecting the power input operation may include a step of detecting the power input operation a predetermined number of times or more or a predetermined time or more.
- the movable part may have a rotating blade.
- the step of controlling the operation of the movable part may include a step of controlling the rotor wing of the flying object based on the internal information.
- the step of controlling the operation of the movable part may include a step of controlling the rotation time of the rotor wing of the flying object based on the internal information.
- the step of controlling the operation of the movable part may include a step of controlling the number of times of rotating the rotor wing of the flying object based on the internal information.
- the movable part may have a plurality of rotor blades.
- the step of controlling the operation of the movable part may include a step of controlling the number of times the plurality of rotating blades are simultaneously rotated based on the internal information.
- the movable part may have a plurality of rotor blades.
- the step of controlling the operation of the movable part may include a step of controlling the rotation order of the plurality of rotor blades based on the internal information.
- the movable portion includes at least one of a first support member that supports the position of the rotor blade relative to the casing of the aircraft in a changeable manner and a second support member that rotatably supports the imaging portion of the aircraft. You can do it.
- the step of controlling the operation of the movable part may include a step of controlling at least one of the operations of the first support member and the second support member based on the internal information.
- the movable part may include a plurality of movable parts.
- the internal information may be indicated by multi-digit information.
- the step of controlling the operation of the movable part may include a step of controlling each of the plurality of movable parts based on each piece of information of a plurality of digits.
- the internal information may include individual identification information of the flying object.
- the step of controlling the operation of the movable unit may include the step of controlling the operation of the movable unit based on the individual identification information.
- the internal information may include information on the functions of the aircraft.
- the step of controlling the operation of the movable unit may include the step of controlling the operation of the movable unit based on the function information.
- the operation control method may further include a step of capturing an image and a step of setting an imaging mode for capturing the image.
- the internal information may include information on the set imaging mode.
- the step of controlling the operation of the movable unit may include the step of controlling the operation of the movable unit based on information on the imaging mode.
- the internal information may include information on the remaining capacity of the storage unit included in the flying object.
- the step of controlling the operation of the movable unit may include the step of controlling the operation of the movable unit based on information on the remaining capacity of the storage unit.
- the operation control method may further include a step of setting a flight course on which the flying object flies.
- the internal information may include information on the set flight course.
- the step of controlling the operation of the movable unit may include the step of controlling the operation of the movable unit based on the flight course information.
- the operation control system includes a flying object having a movable part and an operation terminal that instructs control of the flying object.
- the operation terminal may communicate with the flying object.
- the flying object may communicate with the operation terminal, and when a communication signal is received in communication with the operation terminal, the operation of the movable unit may be controlled based on the internal information of the flying object.
- the program acquires the first signal to the aircraft, which is a computer, and, when the first signal is acquired, based on the internal information of the aircraft having the movable unit, And a step for controlling the operation.
- the recording medium includes a step of acquiring a first signal to a flying object that is a computer, and a moving part based on internal information of the flying object having a moving part when the first signal is acquired.
- a figure showing an example of the appearance of an unmanned aerial vehicle The figure which shows an example of the concrete appearance of an unmanned aerial vehicle
- the block diagram which shows an example of the hardware constitutions of the unmanned aircraft in 1st Embodiment The block diagram which shows an example of a function structure of the unmanned aerial vehicle in 1st Embodiment
- Block diagram showing an example of the hardware configuration of the transmitter A plan view of an unmanned aerial vehicle viewed from above a rotor wing Diagram for explaining the representation of internal information by rotation order Diagram for explaining different digits of internal information for each rotor blade
- Flow chart showing an example of operation of an unmanned aerial vehicle The schematic diagram which shows the structural example of the flight system in 2nd Embodiment.
- the block diagram which shows an example of a function structure of the unmanned aerial vehicle in 2nd Embodiment Front view of unmanned aerial vehicle with arms in first form Front view of unmanned aerial vehicle with arms in second form The schematic diagram which shows the structural example of the flight system in 3rd Embodiment.
- the block diagram which shows an example of a function structure of the unmanned aerial vehicle in 3rd Embodiment Block diagram showing a configuration example of a portable terminal Diagram for explaining notification of individual identification number from application menu The figure which shows the identification number affixed outside the fuselage of the unmanned aircraft
- an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicle) is exemplified as a flying object.
- Aircraft includes aircraft that travel in various airs.
- the unmanned aerial vehicle is represented as “UAV”.
- a flight system is illustrated as an operation control system.
- the operation control method defines the operation in the unmanned aircraft.
- the recording medium is a recording medium of a program (for example, a program that causes an unmanned aircraft to execute various processes).
- FIG. 1 is a schematic diagram illustrating a configuration example of a flight system 10 according to the first embodiment.
- the flight system 10 includes an unmanned aircraft 100 and a transmitter 50.
- the unmanned aircraft 100 and the transmitter 50 can communicate by wired communication or wireless communication (for example, wireless LAN (Local Area Network), Bluetooth (registered trademark)).
- wireless LAN Local Area Network
- Bluetooth registered trademark
- FIG. 2 is a diagram illustrating an example of the appearance of the unmanned aerial vehicle 100.
- FIG. 3 is a diagram illustrating an example of a specific appearance of the unmanned aerial vehicle 100. A side view when the unmanned aircraft 100 flies in the moving direction STV0 is shown in FIG. 2, and a perspective view when the unmanned aircraft 100 flies in the moving direction STV0 is shown in FIG.
- a roll axis (see x-axis) is defined in a direction parallel to the ground and along the moving direction STV0.
- a pitch axis (see y-axis) is defined in a direction parallel to the ground and perpendicular to the roll axis, and further, a yaw axis (z-axis) in a direction perpendicular to the ground and perpendicular to the roll axis and the pitch axis. See).
- the unmanned aerial vehicle 100 includes a UAV main body 102, a gimbal 200, an imaging device 220, and a plurality of imaging devices 230.
- the imaging devices 220 and 230 are an example of an imaging unit.
- the UAV main body 102 includes a plurality of rotor blades (propellers).
- the UAV main body 102 causes the unmanned aircraft 100 to fly by controlling the rotation of a plurality of rotor blades.
- the UAV main body 102 causes the unmanned aircraft 100 to fly using, for example, four rotary wings.
- the number of rotor blades is not limited to four.
- Unmanned aerial vehicle 100 may also be a fixed wing aircraft that does not have rotating wings.
- the imaging device 220 is an imaging camera that captures a subject included in a desired imaging range (for example, an aerial subject, a landscape such as a mountain or a river, a building on the ground).
- a desired imaging range for example, an aerial subject, a landscape such as a mountain or a river, a building on the ground.
- the plurality of imaging devices 230 are sensing cameras that image the surroundings of the unmanned aircraft 100 in order to control the flight of the unmanned aircraft 100.
- the two imaging devices 230 may be provided on the front surface that is the nose of the unmanned aircraft 100.
- the other two imaging devices 230 may be provided on the bottom surface of the unmanned aircraft 100.
- the two imaging devices 230 on the front side may be paired and function as a so-called stereo camera.
- the two imaging devices 230 on the bottom side may also be paired and function as a stereo camera.
- Three-dimensional spatial data around the unmanned aerial vehicle 100 may be generated based on images captured by the plurality of imaging devices 230. Note that the number of imaging devices 230 included in the unmanned aerial vehicle 100 is not limited to four.
- the unmanned aircraft 100 only needs to include at least one imaging device 230.
- the unmanned aerial vehicle 100 may include at least one imaging device 230 on each of the nose, tail, side, bottom, and ceiling of the unmanned aircraft 100.
- the angle of view that can be set by the imaging device 230 may be wider than the angle of view that can be set by the imaging device 220.
- the imaging device 230 may have a single focus lens or a fisheye lens.
- FIG. 4 is a block diagram showing an example of the hardware configuration of the unmanned aerial vehicle 100.
- the unmanned aircraft 100 includes a UAV control unit 110, a communication interface 150, a memory 160, a gimbal 200, a rotary wing mechanism 210, an imaging device 220, an imaging device 230, a GPS receiver 240, an inertial measurement device (
- the configuration includes an IMU (Inertial Measurement Unit) 250, a magnetic compass 260, a barometric altimeter 270, an ultrasonic altimeter 280, and an LED (Light Emitting Diode) 290.
- the communication interface 150 is an example of a communication unit.
- the UAV control unit 110 is configured using, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor).
- the UAV control unit 110 performs signal processing for overall control of operations of each unit of the unmanned aircraft 100, data input / output processing with respect to other units, data calculation processing, and data storage processing.
- the UAV control unit 110 controls the flight of the unmanned aircraft 100 according to a program stored in the memory 160.
- UAV control unit 110 controls the flight of unmanned aerial vehicle 100 in accordance with instructions received from remote transmitter 50 via communication interface 150.
- Memory 160 may be removable from unmanned aerial vehicle 100.
- the UAV control unit 110 may specify the environment around the unmanned aircraft 100 by analyzing a plurality of images captured by the plurality of imaging devices 230.
- the UAV control unit 110 controls the flight based on the environment around the unmanned aircraft 100 while avoiding obstacles, for example.
- the UAV control unit 110 acquires date / time information indicating the current date / time.
- the UAV control unit 110 may acquire date / time information indicating the current date / time from the GPS receiver 240.
- the UAV control unit 110 may acquire date / time information indicating the current date / time from a timer (not shown) mounted on the unmanned aircraft 100.
- the UAV control unit 110 acquires position information indicating the position of the unmanned aircraft 100.
- the UAV control unit 110 may acquire position information indicating the latitude, longitude, and altitude at which the unmanned aircraft 100 exists from the GPS receiver 240.
- the UAV control unit 110 acquires, from the GPS receiver 240, latitude / longitude information indicating the latitude and longitude where the unmanned aircraft 100 exists, and altitude information indicating the altitude where the unmanned aircraft 100 exists from the barometric altimeter 270, as position information.
- the UAV control unit 110 may acquire the distance between the ultrasonic radiation point and the ultrasonic reflection point by the ultrasonic altimeter 280 as altitude information.
- the UAV control unit 110 acquires orientation information indicating the orientation of the unmanned aircraft 100 from the magnetic compass 260.
- direction information for example, a direction corresponding to the nose direction of the unmanned aircraft 100 is indicated.
- the UAV control unit 110 may acquire position information indicating a position where the unmanned aircraft 100 should be present when the imaging device 220 captures an imaging range to be imaged.
- the UAV control unit 110 may acquire position information indicating the position where the unmanned aircraft 100 should be present from the memory 160.
- the UAV control unit 110 may acquire position information indicating the position where the unmanned aircraft 100 should exist from another device such as the transmitter 50 via the communication interface 150.
- the UAV control unit 110 refers to the 3D map database, specifies a position where the unmanned aircraft 100 can exist in order to capture an imaging range to be imaged, and sets the position where the unmanned aircraft 100 should exist. May be acquired as position information indicating.
- the UAV control unit 110 acquires imaging information indicating the imaging ranges of the imaging device 220 and the imaging device 230.
- the UAV control unit 110 acquires angle-of-view information indicating the angle of view of the imaging device 220 and the imaging device 230 from the imaging device 220 and the imaging device 230 as parameters for specifying the imaging range.
- the UAV control unit 110 acquires information indicating the imaging direction of the imaging device 220 and the imaging device 230 as a parameter for specifying the imaging range.
- the UAV control unit 110 acquires posture information indicating the posture state of the imaging device 220 from the gimbal 200 as information indicating the imaging direction of the imaging device 220, for example.
- the UAV control unit 110 acquires information indicating the direction of the unmanned aircraft 100.
- Information indicating the posture state of the imaging device 220 indicates a rotation angle from the reference rotation angle of the pitch axis and yaw axis of the gimbal 200.
- the UAV control unit 110 acquires position information indicating a position where the unmanned aircraft 100 exists as a parameter for specifying the imaging range.
- the UAV control unit 110 defines an imaging range indicating a geographical range captured by the imaging device 220 based on the angle of view and the imaging direction of the imaging device 220 and the imaging device 230, and the position where the unmanned aircraft 100 exists.
- the imaging information may be acquired by generating imaging information indicating the imaging range.
- the UAV control unit 110 may acquire imaging information indicating an imaging range to be imaged by the imaging device 220.
- the UAV control unit 110 may acquire imaging information to be imaged by the imaging device 220 from the memory 160.
- the UAV control unit 110 may acquire imaging information to be imaged by the imaging device 220 from another device such as the transmitter 50 via the communication interface 150.
- the UAV control unit 110 may acquire three-dimensional information (three-dimensional information) indicating the three-dimensional shape (three-dimensional shape) of an object existing around the unmanned aircraft 100.
- the object is a part of a landscape such as a building, a road, a car, and a tree.
- the three-dimensional information is, for example, three-dimensional space data.
- the UAV control unit 110 may acquire the three-dimensional information by generating the three-dimensional information indicating the three-dimensional shape of the object existing around the unmanned aircraft 100 from each image obtained from the plurality of imaging devices 230.
- the UAV control unit 110 may acquire the three-dimensional information indicating the three-dimensional shape of the object existing around the unmanned aircraft 100 by referring to the three-dimensional map database stored in the memory 160.
- the UAV control unit 110 may acquire three-dimensional information related to the three-dimensional shape of an object existing around the unmanned aircraft 100 by referring to a three-dimensional map database managed by a server existing on the network.
- the UAV control unit 110 acquires image data captured by the imaging device 220 and the imaging device 230.
- the UAV control unit 110 controls the gimbal 200, the rotary blade mechanism 210, the imaging device 220, and the imaging device 230.
- the UAV control unit 110 controls the imaging range of the imaging device 220 by changing the imaging direction or angle of view of the imaging device 220.
- the UAV control unit 110 controls the imaging range of the imaging device 220 supported by the gimbal 200 by controlling the rotation mechanism of the gimbal 200.
- the imaging range refers to a geographical range captured by the imaging device 220 or the imaging device 230.
- the imaging range is defined by latitude, longitude, and altitude.
- the imaging range may be a range in three-dimensional spatial data defined by latitude, longitude, and altitude.
- the imaging range is specified based on the angle of view and imaging direction of the imaging device 220 or the imaging device 230, and the position where the unmanned aircraft 100 is present.
- the imaging directions of the imaging device 220 and the imaging device 230 are defined from the azimuth and the depression angle in which the front surface where the imaging lenses of the imaging device 220 and the imaging device 230 are provided is directed.
- the imaging direction of the imaging device 220 is a direction specified from the heading direction of the unmanned aerial vehicle 100 and the posture state of the imaging device 220 with respect to the gimbal 200.
- the imaging direction of the imaging device 230 is a direction specified from the heading of the unmanned aerial vehicle 100 and the position where the imaging device 230 is provided.
- the UAV control unit 110 controls the flight of the unmanned aircraft 100 by controlling the rotary wing mechanism 210. That is, the UAV control unit 110 controls the position including the latitude, longitude, and altitude of the unmanned aircraft 100 by controlling the rotary wing mechanism 210.
- the UAV control unit 110 may control the imaging ranges of the imaging device 220 and the imaging device 230 by controlling the flight of the unmanned aircraft 100.
- the UAV control unit 110 may control the angle of view of the imaging device 220 by controlling a zoom lens included in the imaging device 220.
- the UAV control unit 110 may control the angle of view of the imaging device 220 by digital zoom using the digital zoom function of the imaging device 220.
- the UAV control unit 110 moves the unmanned aircraft 100 to a specific position at a specific date and time to perform desired imaging under a desired environment.
- the range can be imaged by the imaging device 220.
- the UAV control unit 110 moves the unmanned aircraft 100 to a specific position at the specified date and time to In this environment, the imaging device 220 can capture a desired imaging range.
- the communication interface 150 communicates with the transmitter 50.
- the communication interface 150 receives various commands and information for the UAV control unit 110 from the remote transmitter 50.
- the communication interface 150 may transmit data of a captured image captured by the imaging device 220 or the imaging device 230 or other data to the transmitter 50.
- the UAV control unit 110 controls the gimbal 200, the rotating blade mechanism 210, the imaging device 220, the imaging device 230, the GPS receiver 240, the inertial measurement device 250, the magnetic compass 260, the barometric altimeter 270, and the ultrasonic altimeter 280. Stores the programs necessary for this.
- the memory 160 may be a computer-readable recording medium, such as SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and It may include at least one flash memory such as a USB memory.
- the memory 160 may be provided inside the UAV main body 102. It may be provided so as to be removable from the UAV main body 102.
- the gimbal 200 supports the imaging device 220 to be rotatable about at least one axis.
- the gimbal 200 may support the imaging device 220 rotatably about the yaw axis, pitch axis, and roll axis.
- the gimbal 200 may change the imaging direction of the imaging device 220 by rotating the imaging device 220 about at least one of the yaw axis, the pitch axis, and the roll axis.
- the rotary blade mechanism 210 includes a plurality of rotary blades 211 and a plurality of drive motors 212 that rotate the plurality of rotary blades 211.
- the rotary blade mechanism 210 may include a current sensor 213 that measures a current value (actual value) of a drive current for driving the drive motor 212. The drive current is supplied to the drive motor 212.
- the imaging device 220 captures a subject within a desired imaging range and generates captured image data.
- Image data obtained by imaging by the imaging device 220 is stored in a memory included in the imaging device 220 or the memory 160.
- the imaging device 230 captures the surroundings of the unmanned aircraft 100 and generates captured image data. Image data of the imaging device 230 is stored in the memory 160.
- the GPS receiver 240 receives a plurality of signals indicating times and positions (coordinates) of each GPS satellite transmitted from a plurality of navigation satellites (that is, GPS satellites).
- the GPS receiver 240 calculates the position of the GPS receiver 240 (that is, the position of the unmanned aircraft 100) based on the plurality of received signals.
- the GPS receiver 240 outputs the position information of the unmanned aircraft 100 to the UAV control unit 110.
- the calculation of the position information of the GPS receiver 240 may be performed by the UAV control unit 110 instead of the GPS receiver 240. In this case, the UAV control unit 110 receives information indicating the time and the position of each GPS satellite included in a plurality of signals received by the GPS receiver 240.
- the inertial measurement device 250 detects the attitude of the unmanned aircraft 100 and outputs the detection result to the UAV control unit 110.
- the inertial measurement device IMU 250 detects the acceleration of the unmanned aircraft 100 in the three axial directions of the front, rear, left and right, and the angular velocity in the three axial directions of the pitch axis, the roll axis, and the yaw axis. .
- the magnetic compass 260 detects the heading of the unmanned aircraft 100 and outputs the detection result to the UAV control unit 110.
- the barometric altimeter 270 detects the altitude at which the unmanned aircraft 100 flies and outputs the detection result to the UAV control unit 110.
- Ultrasonic altimeter 280 emits ultrasonic waves, detects ultrasonic waves reflected by the ground and objects, and outputs detection results to UAV control unit 110.
- the detection result may indicate a distance from the unmanned aircraft 100 to the ground, that is, an altitude.
- the detection result may indicate the distance from the unmanned aerial vehicle 100 to the object.
- LED 290 displays various states of unmanned aerial vehicle 100 in various lighting forms.
- the various states include a flight state of the unmanned aircraft 100, a setting state set in the unmanned aircraft 100, a state of abnormality occurring in the unmanned aircraft 100, a communication state of the unmanned aircraft 100 and other communication devices, or the unmanned aircraft 100.
- the activation state may be included.
- Various lighting modes may include lighting, extinguishing, and blinking of the LED 290.
- the lighting mode may be a different lighting mode depending on a plurality of blinking patterns.
- the lighting mode may include display colors of the LED 290 (green, red, white, and other colors). The indication by the LED 290 can be confirmed by the operator during the flight and non-flight of the unmanned aerial vehicle 100.
- the LED 290 may be provided on the lower side of the rotating blade 211 in FIG. 4, for example, corresponding to the position of the rotating blade 211.
- the LED 290 may be arbitrarily provided at a position that does not correspond to the position of the rotary blade 211.
- four LEDs 290 are provided (one is not shown), but may be provided in a number other than four.
- FIG. 5 is a block diagram illustrating an example of a functional configuration of the UAV control unit 110.
- the UAV control unit 110 includes an operation detection unit 111, a signal acquisition unit 112, an imaging mode setting unit 113, a flight course setting unit 114, and an operation control unit 115.
- the operation control unit 115 realizes at least one function among the rotor blade control, the gimbal control, and the light emission control.
- the operation detection unit 111 is an example of a detection unit.
- the signal acquisition unit 112 is an example of an acquisition unit.
- the imaging mode setting unit 113 is an example of a first setting unit.
- the flight course setting unit 114 is an example of a second setting unit.
- the operation control unit 115 is an example of a control unit.
- the operation detection unit 111 detects operations (for example, input operations) to various operation units (not shown) provided in the unmanned aircraft 100.
- the operation unit may include buttons, keys, a touch panel, and the like.
- the operation unit may include a power button.
- the operation detection unit 111 may detect pressing, touch, proximity, and other states of the operation unit as operations on the operation unit.
- the operation detection unit 111 sends a detection signal including the detection result to the signal acquisition unit 112.
- the signal acquisition unit 112 acquires a trigger signal (an example of a first signal).
- the signal acquisition unit 112 may acquire a communication signal (an example of a first communication signal) communicated with another communication device via the communication interface 150. In this case, the communication signal becomes a trigger signal.
- Other communication devices may include an operation terminal that instructs control of the unmanned aircraft 100 or other communication devices.
- the operation terminal may include a transmitter 50, a smartphone, or a tablet terminal. In this embodiment, the transmitter 50 is mainly illustrated as an operation terminal.
- the communication signal may be a communication signal received in communication with the transmitter 50.
- the communication signal may be an operation signal including an arbitrary operation (an example of the first operation) on the operation unit of the transmitter 50.
- the communication signal may be a communication signal (an example of a second communication signal) received in a connection process for wireless communication with the transmitter 50.
- the wireless communication connection process may include a connection process with the transmitter 50 paired in Bluetooth (registered trademark) communication.
- the signal acquisition unit 112 may acquire a detection signal from the operation detection unit 111. In this case, the detection signal becomes a trigger signal.
- the signal acquisition unit 112 may acquire a detection signal indicating that a power input operation has been detected as a trigger signal.
- the imaging mode setting unit 113 sets an arbitrary imaging mode included in the plurality of imaging modes from the plurality of imaging modes.
- Information on a plurality of imaging modes may be held in the memory 160.
- the plurality of imaging modes may include imaging modes of different imaging methods (for example, moving images and still images).
- the plurality of imaging modes may include imaging modes with different refresh rates (for example, 30P and 60P).
- the plurality of imaging modes may include imaging modes with different resolutions (eg, 4K, FHD (full high-definition)).
- the imaging mode setting unit 113 may set the imaging mode of, for example, a 4K30P moving image and a 4K60P still image as the imaging mode.
- the imaging mode setting unit 113 may store information on the set imaging mode in the memory 160 or may send the information to the operation control unit 115.
- the flight course setting unit 114 sets an arbitrary flight course included in the plurality of flight courses from the plurality of flight courses.
- Information on a plurality of flight courses may be held in the memory 160.
- the plurality of flight courses may include flight courses having different three-dimensional positions (latitude, longitude, altitude) through which the unmanned aircraft 100 passes.
- the plurality of flight courses may include flight courses having different orders in which the unmanned aircraft 100 passes through the three-dimensional position.
- the plurality of flight courses may include flight courses with different speeds at which the unmanned aircraft 100 flies.
- Each of the plurality of flight courses may be managed with identification information such as an ID.
- the flight course setting unit 114 may hold the set flight course information in the memory 160 or send it to the operation control unit 115.
- the operation control unit 115 controls the movement (operation) of the movable unit that can be moved (operated) in the unmanned aircraft 100 based on the internal information of the unmanned aircraft 100.
- the movable part of the unmanned aerial vehicle 100 may include at least one of the rotary wing 211 and the gimbal 200 of the rotary wing mechanism 210.
- the internal information of the unmanned aircraft 100 may be unique information inside the unmanned aircraft 100.
- the gimbal 200 is an example of a second support member.
- the operation control unit 115 determines a command value of a drive current for driving the rotor blade 221, and drives the drive current corresponding to the command value from the battery 291 (see FIG. 8).
- the motor 212 is supplied.
- the rotary blade 211 drives the rotary blade 211 by the drive motor 212.
- the unmanned aerial vehicle 100 can visually express (notify) internal information of the unmanned aerial vehicle 100 by the operation of the rotary wing 221.
- the operation control unit 115 When controlling the operation of the gimbal 200, the operation control unit 115 generates a gimbal control signal for controlling the operation of the gimbal 200 and sends it to the gimbal 200.
- the gimbal 200 adjusts the direction, position, and angle of the gimbal 200 with respect to the UAV main body 102 based on the gimbal control signal.
- the unmanned aerial vehicle 100 can visually represent the internal information of the unmanned aerial vehicle 100 by the operation of the gimbal 200.
- the operation control unit 115 may control the lighting state of the LED 290.
- the operation control unit 115 may specify the LED 290 to be lit among the plurality of LEDs 290, the lighting mode of the LED 290 to be lit, and the like in the lighting state control.
- the operation control unit 115 generates an LED control signal for controlling the operation of the LED 290 according to the designation, and sends the LED control signal to the LED 290.
- the LED 290 adjusts the lighting state such as the lighting state of the LED 290 based on the LED control signal.
- the unmanned aerial vehicle 100 can visually express internal information of the unmanned aerial vehicle 100 by the operation of the LED 290.
- the operation control unit 115 may set which of the rotating blade 211, the gimbal 200, and the LED 290 represents the internal information. Further, the operation control unit 115 may determine the state of the movable unit and set which of the internal information is expressed. Such setting information may be held in the memory 160 and read by the operation control unit 115 when necessary.
- FIG. 6 is a perspective view showing an example of the appearance of the transmitter 50.
- the up / down / front / rear and left / right directions with respect to the transmitter 50 are assumed to follow the directions of the arrows shown in FIG.
- the transmitter 50 is used in a state of being held by both hands of a person using the transmitter 50 (hereinafter referred to as “operator”), for example.
- the transmitter 50 includes, for example, a resin casing 50B having a substantially rectangular parallelepiped shape (in other words, a substantially box shape) having a substantially square bottom surface and a height shorter than one side of the bottom surface.
- a left control rod 53L and a right control rod 53R are provided in a projecting manner at approximately the center of the housing surface of the transmitter 50.
- the left control rod 53L and the right control rod 53R are used in operations for remotely controlling the movement of the unmanned aircraft 100 by the operator (for example, moving the unmanned aircraft 100 back and forth, moving left and right, moving up and down, and changing the direction).
- the left control rod 53L and the right control rod 53R automatically return to a predetermined position (for example, the initial position shown in FIG. 6) after the external force applied by the operator is released.
- the power button B1 of the transmitter 50 is disposed on the front side (in other words, the operator side) of the left control rod 53L.
- the power button B1 is pressed once by the operator, for example, the remaining capacity of the battery (not shown) built in the transmitter 50 is displayed in the remaining battery capacity display portion L2.
- the power button B1 is pressed again by the operator, for example, the power of the transmitter 50 is turned on, and power is supplied to each part (see FIG. 7) of the transmitter 50 so that it can be used.
- RTH (Return To Home) button B2 is arranged on the front side (in other words, the operator side) of the right control rod 53R.
- the transmitter 50 transmits a signal for automatically returning the unmanned aircraft 100 to a predetermined position.
- the transmitter 50 can automatically return the unmanned aircraft 100 to a predetermined position (for example, a take-off position stored in the unmanned aircraft 100).
- the RTH button B2 is used when, for example, the operator loses sight of the fuselage of the unmanned aircraft 100 during aerial shooting with the unmanned aircraft 100 outdoors, or when it becomes impossible to operate due to radio interference or unexpected troubles. Is available.
- the remote status display part L1 and the remaining battery capacity display part L2 are arranged on the front side (in other words, the operator side) of the power button B1 and the RTH button B2.
- the remote status display unit L1 is configured using, for example, an LED (Light Emission Diode), and displays a wireless connection state between the transmitter 50 and the unmanned aircraft 100.
- the battery remaining amount display unit L2 is configured using, for example, an LED, and displays the remaining amount of the capacity of a battery (not shown) built in the transmitter 50.
- Two antennas AN1 and AN2 project from the rear side of the housing 50B of the transmitter 50 and rearward from the left control rod 53L and the right control rod 53R.
- the antennas AN1 and AN2 are unmanned signals generated by the transmitter control unit 61 (that is, signals for controlling the movement of the unmanned aircraft 100) based on the operations of the left control rod 53L and the right control rod 53R by the operator. Transmit to aircraft 100.
- the antennas AN1 and AN2 can cover a transmission / reception range of 2 km, for example.
- the antennas AN ⁇ b> 1 and AN ⁇ b> 2 are used when images taken by the imaging devices 220 and 230 included in the unmanned aircraft 100 wirelessly connected to the transmitter 50 or various data acquired by the unmanned aircraft 100 are transmitted from the unmanned aircraft 100. In addition, these images or various data can be received.
- the display unit DP includes, for example, an LCD (Crystal Liquid Display).
- LCD Crystal Liquid Display
- the shape, size, and arrangement position of the display unit DP are arbitrary, and are not limited to the example of FIG.
- FIG. 7 is a block diagram illustrating an example of a hardware configuration of the transmitter 50.
- the transmitter 50 includes a left control rod 53L, a right control rod 53R, a transmitter control unit 61, a wireless communication unit 63, a memory 65, a power button B1, an RTH button B2, an operation unit set OPS,
- the configuration includes a remote status display unit L1, a battery remaining amount display unit L2, and a display unit DP.
- the transmitter 50 is an example of an operation terminal that instructs control of the unmanned aircraft 100.
- the left control rod 53L is used for an operation for remotely controlling the movement of the unmanned aircraft 100 by, for example, the left hand of the operator.
- the right control rod 53R is used for an operation for remotely controlling the movement of the unmanned aircraft 100 by, for example, the operator's right hand.
- the unmanned aircraft 100 may move forward, move backward, move left, move right, move up, move down, rotate the unmanned aircraft 100 left. Or a combination thereof, and so on.
- the transmitter control unit 61 displays the remaining capacity of the battery (not shown) built in the transmitter 50 on the remaining battery amount display unit L2. Thus, the operator can easily check the remaining capacity of the battery capacity built in the transmitter 50.
- the power button B1 is pressed twice, a signal indicating that the power button B1 has been pressed twice is passed to the transmitter control unit 61.
- the transmitter control unit 61 instructs a battery (not shown) built in the transmitter 50 to supply power to each unit in the transmitter 50. As a result, the operator turns on the power of the transmitter 50 and can easily start using the transmitter 50.
- a signal indicating that the RTH button B2 has been pressed is input to the transmitter control unit 61.
- the transmitter control unit 61 generates a signal for automatically returning the unmanned aircraft 100 to a predetermined position (for example, the takeoff position of the unmanned aircraft 100), via the wireless communication unit 63 and the antennas AN1 and AN2. Transmit to unmanned aerial vehicle 100.
- the operator can automatically return (return) the unmanned aircraft 100 to a predetermined position by a simple operation on the transmitter 50.
- the operation unit set OPS is configured using a plurality of operation units OP (for example, operation units OP1,..., Operation unit OPn) (n: an integer of 2 or more).
- the operation unit set OPS supports other operation units (for example, the remote control of the unmanned aircraft 100 by the transmitter 50) except for the left control rod 53L, the right control rod 53R, the power button B1, and the RTH button B2 shown in FIG. Various operation units).
- the various operation units referred to here are, for example, a button for instructing imaging of a still image using the imaging device 220 of the unmanned aerial vehicle 100, and an instruction for starting and ending video recording using the imaging device 220 of the unmanned aircraft 100.
- the remote status display unit L1 and the remaining battery level display unit L2 have been described with reference to FIG.
- the transmitter controller 61 is configured using a processor (for example, CPU, MPU or DSP).
- the transmitter control unit 61 performs signal processing for overall control of operations of the respective units of the transmitter 50, data input / output processing with other units, data calculation processing, and data storage processing.
- the transmitter control unit 61 may generate a signal for controlling the movement of the unmanned aircraft 100 specified by the operation of the left control rod 53L and the right control rod 53R of the operator.
- the transmitter control unit 61 may remotely control the unmanned aircraft 100 by transmitting the generated signal to the unmanned aircraft 100 via the wireless communication unit 63 and the antennas AN1 and AN2. Thereby, the transmitter 50 can control the movement of the unmanned aircraft 100 remotely.
- the transmitter control unit 61 generates an operation input signal based on an operation on an arbitrary button or an arbitrary operation unit included in the transmitter 50, and transmits the operation input signal to the unmanned aircraft 100 via the wireless communication unit 63. It's okay. In this case, the unmanned aircraft 100 can recognize that it is under the control of the operator of the transmitter 50 by receiving the operation input signal from the transmitter 50.
- the transmitter control unit 61 may receive the internal information of the unmanned aircraft 100 from the unmanned aircraft 100 via the wireless communication unit 63.
- the transmitter control unit 61 may present internal information of the unmanned aircraft 100.
- the transmitter control unit 61 may display internal information of the unmanned aircraft 100 via the display unit DP.
- the transmitter controller 61 may output the internal information of the unmanned aerial vehicle 100 through a voice output unit (speaker, not shown).
- the transmitter control unit 61 may present internal information of the unmanned aerial vehicle 100 by vibration via a vibration unit (vibrator, not shown).
- the wireless communication unit 63 is connected to two antennas AN1 and AN2.
- the wireless communication unit 63 transmits / receives information and data to / from the unmanned aircraft 100 via the two antennas AN1 and AN2 using a predetermined wireless communication method (for example, WiFi (registered trademark)).
- a predetermined wireless communication method for example, WiFi (registered trademark)
- Display unit DP displays various data. Display unit DP may display internal information of unmanned aerial vehicle 100.
- the internal information of the unmanned aircraft 100 may include individual identification information for identifying the unmanned aircraft 100.
- the individual identification information may include a product serial number given at the time of manufacture, a user setting number arbitrarily set by a user (for example, an operator), or other information that can identify an individual.
- the user setting number may be input by the transmitter 50 or other communication device, received via the communication interface 150, and held in the memory 160.
- the operation control unit 115 may control the operation of the movable unit based on the individual identification information of the unmanned aircraft 100. Thereby, the operator can grasp
- the internal information of the unmanned aerial vehicle 100 may include information on functions of the unmanned aircraft 100.
- the operation control unit 115 may refer to the memory 160 and control the operation of the movable unit based on information on the functions of the unmanned aircraft 100.
- the operator can grasp
- the internal information of the unmanned aerial vehicle 100 may include information of a personal identification number (a personal identification number when setting Bluetooth (registered trademark)) for performing various settings and confirmations.
- a personal identification number a personal identification number when setting Bluetooth (registered trademark) for performing various settings and confirmations.
- the internal information of the unmanned aerial vehicle 100 may include information on a set imaging mode for capturing an image by the imaging device 220 or 230.
- the operation control unit 115 may control the operation of the movable unit based on information on the set imaging mode. Accordingly, the operator can easily grasp the imaging mode by the operation of the movable unit without transmitting the imaging mode to an external device (for example, the transmitter 50, the smartphone, or the tablet terminal) and displaying it.
- an external device for example, the transmitter 50, the smartphone, or the tablet terminal
- the internal information of the unmanned aircraft 100 may include information on the remaining capacity of the recording medium (an example of a storage unit).
- the remaining capacity information may be indicated by a specific remaining capacity (for example, the remaining 1 GB), or may be indicated by a ratio of the remaining capacity to the total recording capacity (for example, the remaining 10%).
- the information on the remaining capacity may indicate that the recording capacity is expressed in 10 levels and the vacancy is changed from 80% to 8%. Further, the remaining capacity information may be indicated by other values that allow the remaining capacity to be recognized.
- the recording medium may be a device or component for recording data such as an optical disk, a flash memory, or a magnetic disk.
- the recording medium may include a DVD, Blu-Ray disk, USB memory, HDD (Hard Disk Drive), SSD (Solid State Drive), and the like.
- the recording medium may be the memory 160 or other than the memory 160.
- the operation control unit 115 may control the operation of the movable unit based on information on the remaining capacity of the recording medium. Thereby, the operator can grasp the shortage of the capacity of the recording medium that is difficult to recognize from the appearance of the unmanned aircraft 100. For example, the operator can take appropriate measures such as charging and battery replacement by grasping the capacity shortage of the recording medium before the unmanned aircraft 100 flies.
- the internal information of the unmanned aircraft 100 may include identification information for identifying a set flight course.
- the flight course identification information may be a flight course number assigned to each flight course, or other identification information.
- the operation control unit 115 may control the operation of the movable unit based on the set flight course information. Thereby, the operator can confirm the flight course of the flight schedule which is difficult to recognize from the appearance of the unmanned aircraft 100 before the unmanned aircraft 100 is flying, for example.
- FIG. 8 is a plan view of the unmanned aerial vehicle 100 as viewed from above (above the rotor wing 211).
- the battery 291 is located below the UAV main body 102 in the plan view shown in FIG. FIG. 8 illustrates that the unmanned aerial vehicle 100 includes four rotor wings 211.
- the rotary blade 211 may rotate for a predetermined time T1 (for example, 0.5 seconds) in one rotation when expressing internal information.
- a predetermined time T1 for example, 0.5 seconds
- the time T1 may be another time.
- a time interval (time T2 indicating a rotor blade transition time) from when an arbitrary rotor blade 211 rotates until the next rotor blade 211 rotates is predetermined. (For example, 0.5 seconds).
- This 0.5 second is an example, and the time T2 may be another time.
- a different value for notifying internal information may be assigned to each of the plurality of rotor blades 211. This assignment may be performed by the operation control unit 115. The allocation result may be held in the memory 160 and may be read by the operation control unit 115 when necessary.
- the rotation of the upper left rotary blade 211a in the plan view of the unmanned aircraft 100 may indicate a value of zero.
- the rotation of the upper right rotating blade 211b in the plan view of the unmanned aircraft 100 may indicate a value of 1.
- the rotation of the lower left rotating blade 211c in the plan view of the unmanned aircraft 100 may indicate a value of 2.
- the rotation of the lower right rotor blade 211d in the plan view of the unmanned aircraft 100 may indicate a value of 3.
- the operation control unit 115 rotates the lower right rotor blade 211d.
- the above assignment is an example, and the combination of the position and value of the rotor blades 211a to 211d is arbitrary.
- the operation control unit 115 may determine which of the plurality of rotor blades 211a to rotate is based on the internal information, and express different internal information. That is, the operation control unit 115 may control the rotating blade 211 at a specific position among the plurality of rotating blades 211 based on the internal information. Thereby, the operator can grasp
- the rotation order of the plurality of rotor blades 211a to 211d may correspond to different digits (ranks) for notifying internal information indicated by a plurality of digits.
- FIG. 9 is a diagram for explaining the representation of internal information based on the rotation order.
- the rotary blade 211a having a value of 0 rotates first
- the rotary blade 211b having a value of 1 rotates second
- the rotary blade 211c having a value of 2 rotates third
- the rotating blade 211d shown rotates.
- a value 0123 as internal information is expressed.
- the operation control unit 115 may express different internal information by controlling the rotation order of the rotating blades 211 based on the internal information. Thereby, the operator can grasp
- the unmanned aerial vehicle 100 can also express a plurality (for example, a large number) of internal information by rotating the rotor blades 211 in order even when the number of movable parts is small.
- Each of the plurality of rotor blades 211 may be assigned a different digit (rank) for notifying internal information indicated by a plurality of digits. This assignment may be performed by the operation control unit 115. The allocation result may be held in the memory 160 and may be read by the operation control unit 115 when necessary.
- the rotation of the upper left rotary wing 211a may indicate a thousandth place (one example of the highest order) out of multiple digits of information.
- the rotation of the upper right rotary wing 211b in a plan view of the unmanned aircraft 100 may indicate the hundredth place (second highest example) of the multi-digit information.
- the rotation of the lower left rotary wing 211c in the plan view of the unmanned aircraft 100 may indicate the tenth place (third example of the highest order) of the multi-digit information.
- the rotation of the lower right rotary wing 211d in the plan view of the unmanned aerial vehicle 100 may indicate the first place (one example of the lowest order) among the multiple digits of information. In this case, the number of times each of the rotary blades 211a to 211d rotates may indicate the value of each digit.
- FIG. 10 is a diagram for explaining expressing different digits of internal information for each rotor blade 211.
- the rotating blade 211a rotates once
- the rotating blade 211b rotates twice
- the rotating blade 211c rotates three times
- the rotating blade 211d rotates four times.
- a value 1234 is shown as internal information.
- Each of the rotary blades 211a to 211d may rotate at the same time or may rotate in turn.
- the operation control unit 115 can express the internal information represented by a plurality of decimal digits by the number of rotations of each of the four rotor blades 211 (for example, the number of non-consecutive short-time (for example, time T1) rotations).
- the rotation of the upper left rotary wing 211a in the plan view of the unmanned aircraft 100 may indicate bit3 (an example of the most significant bit) of the plurality of bits of information.
- the rotation of the upper right rotor wing 211b in plan view of the unmanned aerial vehicle 100 may indicate bit2 (an example of the second most significant bit) of the multiple bits of information.
- the rotation of the lower left rotary wing 211c in the plan view of the unmanned aircraft 100 may indicate bit1 (an example of the third highest bit) of the plurality of bits of information.
- the rotation of the lower right rotary wing 211d in the plan view of the unmanned aircraft 100 may indicate bit0 (an example of the least significant bit) of the plurality of bits of information.
- a value E (2 expressed in hexadecimal as internal information)
- the decimal value 1110 and the decimal value 14 may rotate at the same time or may rotate in turn.
- the operation control unit 115 can express the internal information indicated by a one-digit hexadecimal number by one rotation of each of the four rotor blades 211.
- the operation control unit 115 performs the plurality of rotor blades 211a to 211d (the plurality of movable parts of the plurality of movable parts) based on each piece of information (for example, “1” of the value “1234”) indicating the internal information.
- Each of the examples (for example, the rotary blade 211a) may be controlled. Accordingly, the operator can determine which digit (rank) of the internal information is represented by visually recognizing which rotary blade 211 is rotating.
- the unmanned aerial vehicle 100 can express a large number of pieces of internal information in a short time by placing a part of the internal information on a plurality of movable parts and operating each of the movable parts, even with multiple digits of internal information. Is possible.
- the operation control unit 115 may control the number of discontinuous rotations of the flying wing 211 of the flying object based on the internal information.
- the unmanned aerial vehicle 100 can express the internal information by using the non-continuous number of continuous rotations, with the rotating wing 211 taking one continuous rotation for a short time (for example, time T1) as one time. Therefore, the operator can grasp internal information easily in a short time.
- the internal information may be expressed according to the number of rotating blades 211a to 211d that rotate simultaneously among the plurality of rotating blades 211. For example, when the rotating blades 211a, 211b, and 211c rotate at the same time, the number of the rotating blades 211 that rotate at the same time is three, so the value 3 may be indicated as internal information.
- the operation control unit 115 may control the number of times the plurality of rotating blades 211a to 211d are simultaneously rotated based on the internal information. Thereby, the operator can grasp
- the internal information may be expressed by the rotation time of the rotary blade 211.
- the value 1 may be indicated by a rotation time of 1 second
- the value 2 may be indicated by a rotation time of 2 seconds
- the value 3 may be indicated by a rotation time of 3 seconds
- the value 4 may be indicated by a rotation time of 4 seconds.
- the operation control unit 115 may control the rotation time of the rotary blade 211 based on the internal information. Therefore, even when the continuous rotation of the rotary blade 211 becomes high speed and it is difficult to grasp the rotation speed, the operator can easily grasp the internal information by the rotation time.
- the internal information may be expressed by the rotor blade transition time when a plurality of rotor blades 211 are used. For example, a value 1 is indicated by a rotor blade transition time 1 second, a value 2 is indicated by a rotor blade transition time 2 seconds, a value 3 is indicated by a rotor blade transition time 3 seconds, and a value 4 is indicated by a rotor blade transition time 4 seconds.
- the unmanned aerial vehicle 100 can express internal information using the operation of the rotary wings 211 indirectly and using the length of the transition period of the rotary wings 211 in which the rotary wings 211 are not rotating.
- the gimbal 200 adjusts the direction, position, and angle of the gimbal 200 with respect to the UAV main body 102 based on the internal information under the control of the operation control unit 115.
- the first direction, position, and angle may indicate a value of 1.
- a second direction, position, or angle different from the first direction, position, or angle may indicate the value 2.
- a third direction, position, or angle that is different from the first direction, position, angle, and second direction, position, or angle may indicate the value 3.
- it may show two or less, and may show four or more.
- the gimbal 200 is in the initial orientation, position, and angle immediately after startup before flight.
- the operation control unit 115 may express the internal information by the first to third directions, positions, and angles with respect to the initial state. Thereby, even when the gimbal 200 is stationary in the three-dimensional space before the unmanned aircraft 100 is flying, the internal information can be appropriately expressed by the movement of the gimbal 200.
- the gimbal 200 is adjusted to the direction, position and angle according to the flight posture of the unmanned aircraft 100 during flight. Therefore, the operation control unit 115 may express the internal information by the first to third directions, positions, and angles with respect to the gimbal state corresponding to the flight posture. Thereby, even when the gimbal 200 moves in the three-dimensional space during the flight of the unmanned aircraft 100, the internal information can be appropriately expressed by the movement of the gimbal 200.
- the operation control unit 115 may express the internal information by the operation time of the gimbal in the internal information notification process.
- the operation control unit 115 may express the internal information by the number of gimbal operations (for example, the number of discontinuous operations) in the internal information notification process.
- the operation control unit 115 operates the gimbal 200 in arbitrary directions (for example, the x direction, the y direction, and the z direction) orthogonal to each other in the three-dimensional space, so that each direction becomes each digit (place) in a plurality of digits. Also good.
- the unmanned aerial vehicle 100 can express internal information even during the flight of the unmanned aerial vehicle 100 by operating the gimbal 200. Therefore, the unmanned aircraft 100 can expand the timing at which internal information can be notified, and the operator can check the internal information at various timings.
- the operation control unit 115 may express internal information depending on the lighting mode and lighting time of the LED 290.
- the operation control unit 115 may express internal information by the position of one or more LEDs 290 to be lit among the plurality of LEDs 290.
- the operation control unit 115 may synchronize LED light emission when the rotating blade 211 is rotated or when the gimbal 200 is operated. For example, the operation control unit 115 may match the position of the rotary blade 211a with the position of the LED 290 to be lit in the vertical direction (the yaw axis direction in FIG. 3). Thereby, the operator can grasp
- the unmanned aerial vehicle 100 can express internal information by turning on the LED 290, whether the unmanned aircraft 100 is flying or not flying.
- the unmanned aircraft 100 can improve the visibility of internal information by an operator located far from the unmanned aircraft 100 by using the LED 290.
- the operation control unit 115 performs internal information notification processing at the internal information notification timing.
- the operation control unit 115 controls the movable unit based on the internal information of the unmanned aircraft 100 to express the internal information.
- the internal information notification process may be performed when the power button of the unmanned aerial vehicle 100 is operated (an operation to turn on) (an example of a power-down input operation).
- the operation detection unit 111 detects the operation of the power button.
- the signal acquisition unit 112 acquires a detection signal indicating the operation of the power button from the operation detection unit 111.
- the operation control unit 115 performs the process at the time of activation (activation process). In the startup process, the operation control unit 115 may rotate each rotor blade 211 or turn on each LED 290 in order to determine whether the operation of the unmanned aircraft 100 is normal.
- the operation control unit 115 may perform other processes in the startup process.
- the operation control unit 115 performs internal information notification processing after the start-up processing is completed.
- the unmanned aerial vehicle 100 can notify the internal information immediately after the unmanned aircraft 100 is activated.
- the operator can quickly identify the unmanned aircraft 100 owned by the operator from among the plurality of unmanned aircraft 100.
- the internal information notification process may be performed when the power button of the unmanned aerial vehicle 100 is long-pressed or pressed a specific number of times.
- the operation detection unit 111 detects pressing of a power button operation for a predetermined time (for example, 3 seconds) or more or a predetermined number of times (for example, 3 times) or more. These 3 seconds and 3 times are examples, and other times and other times may be sufficient.
- the signal acquisition unit 112 acquires a detection signal indicating a press for a predetermined time or a predetermined number of presses from the operation detection unit 111.
- the operation control unit 115 performs activation processing.
- the operation control unit 115 performs internal information notification processing after the start-up processing is completed.
- the unmanned aerial vehicle 100 can suppress the malfunction of the power operation and notify the internal information immediately after the unmanned aircraft 100 is started.
- the operation control unit 115 may perform at least a part of the activation process and at least a part of the internal information notification process. For example, the presence or absence of abnormality in the startup process may be determined by rotating the rotary blade 211, and the internal information may be expressed together. Thereby, unmanned aerial vehicle 100 can shorten the time required until notification of internal information.
- the internal information notification process may be performed when a button (an example of the operation unit OP) of the transmitter 50 is pressed.
- any operation unit OP in the operation unit set OPS of the transmitter 50 detects pressing, and sends an operation signal to the wireless communication unit 63.
- the wireless communication unit 63 transmits an operation signal to the unmanned aircraft 100.
- the communication interface 150 receives the operation signal, and the signal acquisition unit 112 acquires the operation signal.
- the detection signal is acquired by the signal acquisition unit 112, internal information notification processing is performed.
- the unmanned aerial vehicle 100 can notify the internal information by a button operation reflecting the operator's intention of the transmitter 50 for operating the unmanned aircraft 100. Therefore, the operator can confirm internal information at a timing desired by the user.
- the internal information notification process may be performed when the button of the transmitter 50 and the power button of the unmanned aircraft 100 are pressed.
- pressing of the button of the transmitter 50 is detected by the operation unit OP of the transmitter 50
- pressing of the power button of the unmanned aircraft 100 is detected by the operation detection unit 111.
- the signal acquisition unit 112 acquires an operation signal from the transmitter 50 and a detection signal from the operation detection unit 111.
- the signal acquisition unit 112 may acquire the operation signal and the detection signal simultaneously or sequentially.
- the operation control unit 115 performs an internal information notification process.
- the unmanned aerial vehicle 100 can notify the internal information after receiving a clear user operation on both the transmitter 50 side and the unmanned aircraft 100 side. Therefore, the unmanned aerial vehicle 100 can reduce an operator's oversight of notification of internal information and can notify the operator of internal information.
- the internal information notification process may be performed when the unmanned aircraft 100 and the transmitter 50 start communication.
- the signal acquisition unit 112 acquires a communication signal from the transmitter 50 via the communication interface 150.
- the operation control unit 115 performs internal information notification processing.
- the unmanned aerial vehicle 100 can notify the internal information in a state where the transmitter 50 can communicate. Therefore, the operator who has confirmed the internal information can identify the desired unmanned aircraft 100 and immediately shift to the flight operation of the unmanned aircraft 100. The unmanned aerial vehicle 100 can also confirm that communication between the transmitter 50 and the unmanned aerial vehicle 100 is smooth by notification of internal information.
- the internal information notification process may be performed when Bluetooth (registered trademark) is wirelessly connected between the unmanned aircraft 100 and the transmitter 50 (when the wireless connection is completed).
- the Bluetooth (registered trademark) pairing may be performed in advance by an operation (for example, pressing) of a predetermined operation unit (for example, a button) of the unmanned aircraft 100 and a predetermined operation unit OP (for example, a button) of the transmitter 50.
- a predetermined operation unit for example, a button
- OP for example, a button
- the ID of the paired unmanned aircraft 100 and the ID of the transmitter 50 may be associated with each other and held in the memory 160 of the unmanned aircraft 100 and the memory 65 of the transmitter 50, respectively.
- Bluetooth (registered trademark) wireless connection is performed based on the information on the pairing result in the startup process.
- the signal acquisition unit 112 acquires a communication signal from the transmitter 50 at the time of wireless connection.
- the operation control unit 115 performs internal information notification processing.
- the wireless communication unit 63 may receive internal information from the unmanned aircraft 100 when Bluetooth (registered trademark) wireless connection is performed in the startup process.
- the transmitter 50 may display this internal information on the display unit DP. Thereby, the operator of the transmitter 50 can surely grasp the internal information by confirming the display together with the operation of the movable part (for example, the rotation of the rotary blade 211).
- the unmanned aerial vehicle 100 can notify the internal information in a state where the transmitter 50 can communicate with Bluetooth (registered trademark). Therefore, the operator who has confirmed the internal information can identify the desired unmanned aircraft 100 and immediately shift to the flight operation of the unmanned aircraft 100.
- the unmanned aerial vehicle 100 can also confirm that the Bluetooth (registered trademark) communication between the transmitter 50 and the unmanned aerial vehicle 100 is also smooth by notification of internal information.
- FIG. 11 is a flowchart illustrating an operation example of the unmanned aerial vehicle 100.
- FIG. 11 exemplifies that notification processing of internal information is performed with power ON as a trigger.
- the operation detection unit 111 detects a power input operation and detects power ON (S11).
- the UAV control unit 110 performs a start-up process using the power ON as a trigger (S12).
- the operation control unit 115 performs internal information notification processing (S13). After the notification process of the internal information, the unmanned aircraft 100 performs a normal operation (for example, flight according to the maneuver from the transmitter 50) (S14).
- the operation control unit 115 controls the operation of the movable unit based on the internal information of the unmanned aircraft 100.
- the unmanned aircraft 100 can notify the internal information of the unmanned aircraft 100 to a person who can visually recognize the unmanned aircraft 100 (for example, an operator) without marking the airframe of the unmanned aircraft 100.
- the unmanned aerial vehicle 100 may be used in a commercial venue such as an event venue. At this venue, the operator of the transmitter 50 uses the unmanned aircraft 100 for capturing 4K moving images, the unmanned aircraft 100 for capturing still images, and the like when a plurality of unmanned aircraft 100 are used simultaneously. Can be identified by notification of internal information. In addition, even when a plurality of unmanned aircrafts 100 having the same application (function) are operated by a plurality of operators, the internal information is notified of which unmanned aircraft 100 is assigned to each operator. Can be identified. Thus, the unmanned aerial vehicle 100 can improve the aesthetics of the appearance of the unmanned aerial vehicle 100 and notify the operator of the internal information by notifying the internal information.
- FIG. 12 is a schematic diagram illustrating a configuration example of a flight system 10A according to the second embodiment.
- the flight system 10A includes an unmanned aerial vehicle 100A and a transmitter 50.
- the unmanned aircraft 100A and the transmitter 50 can communicate by wired communication or wireless communication (for example, wireless LAN, Bluetooth (registered trademark)).
- the unmanned aircraft 100A includes an arm 295 that connects the UAV main body 102 side and the rotor blade 211 side.
- the arm 295 adjusts the positional relationship between the UAV main body 102 and the rotary blade 211. Specifically, the arm 295 can change the position of the rotary blade 211 with respect to the UAV main body 102.
- the arm 295 is an example of a first support member.
- FIG. 13 is a block diagram illustrating an example of a functional configuration of the UAV control unit 110A.
- the UAV control unit 110A includes an operation control unit 115A instead of the operation control unit 115.
- the operation control unit 115A realizes at least one function among rotor control, arm control, gimbal control, and light emission control.
- the operation control unit 115A controls the operation of the movable unit.
- This movable part may include at least one of the rotary blade 211, the gimbal 200, and the arm 295 of the rotary blade mechanism 210.
- the operation control unit 115 ⁇ / b> A may control the operation of the arm 295 to change the position of the rotary blade 211 with respect to the UAV main body 102.
- the operation control unit 115A When controlling the operation of the arm 295, the operation control unit 115A generates an arm control signal for controlling the operation of the arm 295 and sends it to the arm 295.
- the arm 295 adjusts the direction, position, and angle of the arm 295 with respect to the UAV main body 102 based on the arm control signal.
- the operation control unit 115A can move (operate) the arm 295 to change the position of the rotary wing 211 with respect to the UAV main body 102, and can visually express the internal information of the unmanned aircraft 100A.
- the operation control unit 115A may set which of the rotary blade 211, the gimbal 200, the arm 295, and the LED 290 represents the internal information. Further, the operation control unit 115A may determine the state of the movable part and set which of the internal information is expressed. Such setting information may be stored in the memory 160 and read by the operation control unit 115A when necessary.
- FIG. 14 is a front view of the unmanned aerial vehicle 100A in which the arm 295 is in the first form.
- the position of the rotary blade 211 with respect to the UAV main body 102 is relatively low, and is suitable for non-flight.
- the unmanned aerial vehicle 100 ⁇ / b> A can be stably installed on an installation surface (not shown) via the support member 296.
- Support member 296 may support rotor wing 211 against the installation surface of unmanned aerial vehicle 100A.
- FIG. 15 is a front view of an unmanned aerial vehicle 100A in which the arm 295 is in the second form.
- the position of the rotor blade 211 with respect to the UAV main body 102 is relatively high, and is suitable for flight.
- the unmanned aircraft 100A can appropriately capture an image without the support member 296 obstructing the imaging range of the imaging device 220.
- the unmanned aerial vehicle 100A using the arm 295 may be deformed into a shape different from that shown in FIGS.
- the unmanned aerial vehicle 100A may deform a part including the rotor wing 211 by folding or unfolding by the operation of the arm 295.
- unmanned aircraft 100A can be reduced in size when not in use, and the storage space of unmanned aircraft 100A can be reduced.
- Each different form of the arm 295 may indicate different values for expressing internal information.
- the first form of arm 295 may represent the value 0.
- the second form of arm 295 may represent the value 1.
- the form of the arm is not limited to these two types.
- the position of the arm 295 between the first form and the second form may be divided in stages, and the third form, the fourth form, and so on of the arm 295 may be provided.
- the operation control unit 115A may control the position of the rotary blade 211 with respect to the UAV main body 102 defined in the form of the arm 295 based on the internal information.
- each different form of the arm 295 may express a different digit (position) for expressing internal information of a plurality of digits.
- the first form of arm 295 may indicate the decimal place.
- the second form of the arm 295 may indicate the decimal place. That is, the operation control unit 115 ⁇ / b> A may represent different digits of information depending on the position of the rotary blade 211 with respect to the UAV main body 102 defined in the form of the arm 295.
- the change order of each form of the arm 295 may indicate the value of internal information.
- a change of the arm 295 from the first configuration to the second configuration may indicate a value of zero.
- a change of the arm 295 from the second configuration to the first configuration may indicate a value of one.
- the time required for changing to each form of the arm 295 may indicate the value of internal information.
- the number of times the arm 295 has the same form may indicate the value of the internal information.
- the value of the internal information may be indicated using the arm 295 by other methods.
- the operation control unit 115A controls the operation of the movable unit based on the internal information of the unmanned aircraft 100A.
- the unmanned aircraft 100A can notify the internal information of the unmanned aircraft 100A to a person who can visually recognize the unmanned aircraft 100A (for example, an operator) without marking the airframe of the unmanned aircraft 100A.
- unmanned aircraft 100A can express internal information without using the rotary wing 211 by expressing internal information using the arm 295, the internal information can be displayed during non-flight (for example, before flight, after flight) or during flight. Can be notified. Therefore, unmanned aerial vehicle 100A can improve the degree of freedom with respect to the timing of notification processing of internal information.
- the instruction to control the unmanned aerial vehicle by the transmitter is exemplified.
- indicating control of an unmanned aerial vehicle at least with a portable terminal is illustrated.
- FIG. 16 is a schematic diagram illustrating a configuration example of a flight system 10B according to the third embodiment.
- the flight system 10B includes an unmanned aircraft 100B and a mobile terminal 80 (for example, a smartphone or a tablet terminal).
- the unmanned aircraft 100B and the portable terminal 80 can communicate by wired communication or wireless communication (for example, wireless LAN, Bluetooth (registered trademark)).
- FIG. 17 is a block diagram illustrating an example of a functional configuration of the UAV control unit 110B.
- the UAV control unit 110B includes a signal acquisition unit 112B instead of the signal acquisition unit 112, as compared with the UAV control units 110 and 110A.
- the signal acquisition unit 112B has the function of the signal acquisition unit 112.
- the signal acquisition unit 112B may acquire an instruction signal from an application executed by the transmitter 50 as a trigger signal.
- the instruction signal may include an instruction signal for notifying internal information of unmanned aerial vehicle 100B communicated in the application.
- FIG. 18 is a block diagram illustrating a configuration example of the mobile terminal 80.
- the portable terminal 80 may include a processor 81, a wireless communication unit 85, a memory 87, and a display 88.
- the portable terminal 80 may have the same function as the transmitter 50 regarding the notification process of the internal information of the unmanned aircraft 100B.
- the portable terminal 80 is an example of an operation terminal.
- the processor 81 is configured using, for example, a CPU, MPU, or DSP.
- the processor 81 performs signal processing for overall control of operations of each unit of the mobile terminal 80, data input / output processing with other units, data calculation processing, and data storage processing.
- the processor 81 executes an application for instructing control of the unmanned aircraft 100B.
- This application may include one or more application menus.
- the application menu may have a “execute serial number” menu for notifying the individual identification number of the unmanned aerial vehicle 100B.
- the processor 81 generates various data used in the application.
- the wireless communication unit 85 communicates with the unmanned aircraft 100B by various wireless communication methods.
- the memory 87 includes, for example, a ROM that stores a program that defines the operation of the mobile terminal 80 and data of setting values, and a RAM that temporarily stores various information and data used during processing by the processor 81.
- the display 88 is configured using, for example, an LCD and displays various information and data output from the processor 81.
- the display 88 may display aerial image data captured by the imaging device 220 of the unmanned aerial vehicle 100B.
- the display 88 may be configured using a touch panel that can accept an input operation of an operator's touch operation or tap operation.
- a touch panel is mainly exemplified as the display 88.
- FIG. 19 is a diagram for explaining the notification of the individual identification number from the application menu.
- An application menu AM is displayed on the display 88, and a serial number execution button B8 is displayed in the application menu AM.
- the processor 81 When detecting the touch operation on the serial number execution button B8, the processor 81 generates an instruction signal (command) for notifying the individual identification information of the unmanned aircraft 100B.
- This instruction signal is transmitted to unmanned aerial vehicle 100B through wireless communication unit 85.
- the internal information notification process may be performed when an internal information notification is instructed via an application executed by the transmitter 50.
- the processor 81 executes the application and detects a touch operation on the serial number execution button B8 displayed on the display 88, the processor 81 generates an instruction signal for notifying the individual identification information of the unmanned aircraft 100B.
- Radio communication unit 85 transmits the generated instruction signal to unmanned aerial vehicle 100B.
- the communication interface 150 receives the instruction signal, and the signal acquisition unit 112 acquires the instruction signal.
- the operation control unit 115 performs internal information notification processing.
- the unmanned aerial vehicle 100B can notify the internal information via the application. Therefore, the operator can easily grasp the internal information of the unmanned aircraft 100B by a simple operation by the operator while executing an application that supports control of the unmanned aircraft 100B, for example. Therefore, the operator can perform a batch operation from the confirmation instruction of the internal information to the control instruction such as the flight of the unmanned aerial vehicle 100B by the operation on the portable terminal 80 without the need to operate other devices.
- the internal information notification process may be performed when the unmanned aerial vehicle 100B and the mobile terminal 80 start communication.
- the signal acquisition unit 112B acquires a communication signal from the mobile terminal 80 via the communication interface.
- the operation control unit 115 performs an internal information notification process.
- the mobile terminal 80 may perform communication with the unmanned aircraft 100B via the transmitter 50.
- the portable terminal 80 and the transmitter 50 may be connected via a USB cable (not shown), and may send and receive communication signals via the USB cable. Therefore, the instruction signal from the application executed by the mobile terminal 80 includes a USB interface unit (not shown) of the mobile terminal 80, a USB cable (not shown), a USB interface unit (not shown) of the transmitter 50, the wireless communication unit 63, It may be transmitted to unmanned aerial vehicle 100B via antennas AN1 and AN2.
- the portable terminal 80 and the transmitter 50 may perform wired or wireless communication other than communication via a USB cable.
- the mobile terminal 80 executes the application.
- the transmitter 50 executes the application and sends an application instruction signal to the unmanned aircraft. You may transmit to 100,100A.
- the unmanned aircraft 100, 100A may receive the instruction signal of the application and perform the internal information notification process in response to the acquisition of the instruction signal.
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Abstract
Description
図1は、第1の実施形態における飛行システム10の構成例を示す模式図である。飛行システム10は、無人航空機100及び送信機50を備える。無人航空機100及び送信機50は、有線通信又は無線通信(例えば無線LAN(Local Area Network)、Bluetooth(登録商標))により通信可能である。
図11は、無人航空機100の動作例を示すフローチャートである。図11では、電源ONをトリガとして内部情報の通知処理が実施されることを例示している。
第1の実施形態では、UAV本体102に対する回転翼211の位置が不変であることを例示した。第2の実施形態では、アームの変形により、UAV本体102に対する回転翼211の位置が可変であることを例示する。
第1,第2の実施形態では、送信機により無人航空機の制御を指示することを例示した。第3の実施形態では、少なくとも携帯端末(スマートフォン又はタブレット端末)により無人航空機の制御を指示することを例示する。
50 送信機
50B 筐体
53L 左制御棒
53R 右制御棒
61 送信機制御部
63 無線通信部
65 メモリ
80 携帯端末
81 プロセッサ
85 無線通信部
87 メモリ
88 ディスプレイ
100,100A,100B 無人航空機
102 UAV本体
110,110A UAV制御部
111 操作検出部
112,112B 信号取得部
113 撮像モード設定部
114 飛行コース設定部
115,115A 動作制御部
150 通信インタフェース
160 メモリ
200 ジンバル
210 回転翼機構
211,211a,211b,211c,211d 回転翼
212 駆動モータ
213 電流センサ
220,230 撮像装置
240 GPS受信機
250 慣性計測装置
260 磁気コンパス
270 気圧高度計
280 超音波高度計
290 LED
291 バッテリ
295 アーム
296 支持部材
AN1,AN2 アンテナ
B1 電源ボタン
B2 RTHボタン
DP 表示部
L1 リモートステータス表示部
L2 バッテリ残量表示部
OPS 操作部セット
OP 操作部
Claims (41)
- 可動部を有する飛行体であって、
第1の信号を取得する取得部と、
前記第1の信号が取得された場合、前記飛行体の内部情報に基づいて、前記可動部の動作を制御する制御部と、
を備える飛行体。 - 前記飛行体の制御を指示する操作端末との間で通信する通信部、を更に備え、
前記取得部は、前記操作端末との通信において受信される第1の通信信号を、前記第1の信号として取得する、
請求項1に記載の飛行体。 - 前記通信部は、前記操作端末が備える操作部への第1の操作を示す操作信号を受信し、
前記取得部は、前記操作信号を、前記第1の信号として取得する、
請求項2に記載の飛行体。 - 前記通信部は、前記操作端末との間で無線通信の接続処理を行い、
前記取得部は、前記接続処理において受信される第2の通信信号を、前記第1の信号として取得する、
請求項2または3に記載の飛行体。 - 前記通信部は、前記操作端末が実行するアプリケーションによる指示信号を受信し、
前記取得部は、前記指示信号を、前記第1の信号として取得する、
請求項2~4のいずれか1項に記載の飛行体。 - 前記飛行体の電源入力操作を検出する検出部、を更に備え、
前記取得部は、前記電源入力操作が検出された旨を示す検出信号を、前記第1の信号として取得する、
請求項1~5のいずれか1項に記載の飛行体。 - 前記検出部は、前記電源入力操作を所定回数以上又は所定時間以上検出する、
請求項6に記載の飛行体。 - 前記可動部は、回転翼を有し、
前記制御部は、前記内部情報に基づいて、前記飛行体の回転翼を制御する、
請求項1~7のいずれか1項に記載の飛行体。 - 前記制御部は、前記内部情報に基づいて、前記飛行体の回転翼の回転時間を制御する、
請求項8に記載の飛行体。 - 前記制御部は、前記内部情報に基づいて、前記飛行体の回転翼を回転させる回数を制御する、
請求項8に記載の飛行体。 - 前記可動部は、複数の前記回転翼を有し、
前記制御部は、前記内部情報に基づいて、複数の前記回転翼を同時に回転させる回数を制御する、
請求項10に記載の飛行体。 - 前記可動部は、複数の前記回転翼を有し、
前記制御部は、前記内部情報に基づいて、複数の前記回転翼の回転順序を制御する、
請求項10に記載の飛行体。 - 前記可動部は、前記飛行体の筐体に対する回転翼の位置を変更可能に支持する第1の支持部材と、前記飛行体の撮像部を回転可能に支持する第2の支持部材と、の少なくとも一方を有し、
前記制御部は、前記内部情報に基づいて、前記第1の支持部材及び前記第2の支持部材の動作の少なくとも一方を制御する、
請求項1~12のいずれか1項に記載の飛行体。 - 前記可動部は、複数の可動部分を含み、
前記内部情報は、複数桁の情報で示され、
前記制御部は、前記複数桁の各々の情報に基づいて、複数の前記可動部分の各々を制御する、
請求項1~13のいずれか1項に記載の飛行体。 - 前記内部情報は、前記飛行体の個体識別情報を含み、
前記制御部は、前記個体識別情報に基づいて、前記可動部の動作を制御する、
請求項1~14のいずれか1項に記載の飛行体。 - 前記内部情報は、前記飛行体が有する機能の情報を含み、
前記制御部は、前記機能の情報に基づいて、前記可動部の動作を制御する、
請求項1~15のいずれか1項に記載の飛行体。 - 画像を撮像する撮像部と、
前記撮像部による撮像モードを設定する第1の設定部と、
を更に備え、
前記内部情報は、設定された前記撮像モードの情報を含み、
前記制御部は、前記撮像モードの情報に基づいて、前記可動部の動作を制御する、
請求項16に記載の飛行体。 - 記憶部、を更に備え、
前記内部情報は、前記記憶部の残容量の情報を含み、
前記制御部は、前記記憶部の残容量の情報に基づいて、前記可動部の動作を制御する、
請求項16に記載の飛行体。 - 前記飛行体が飛行する飛行コースを設定する第2の設定部、を更に備え、
前記内部情報は、設定された前記飛行コースの情報を含み、
前記制御部は、前記飛行コースの情報に基づいて、前記可動部の動作を制御する、
請求項16に記載の飛行体。 - 可動部を有する飛行体の動作制御方法であって、
第1の信号を取得するステップと、
前記第1の信号が取得された場合、前記飛行体の内部情報に基づいて、前記可動部の動作を制御するステップと、
を有する動作制御方法。 - 前記飛行体の制御を指示する操作端末との間で通信するステップ、を更に含み、
前記第1の信号を取得するステップは、前記操作端末との通信において受信される第1の通信信号を、前記第1の信号として取得するステップを含む、
請求項20に記載の動作制御方法。 - 前記操作端末との間で通信するステップは、前記操作端末が備える操作部への第1の操作を示す操作信号を受信するステップを含み、
前記第1の信号を取得するステップは、前記操作信号を、前記第1の信号として取得するステップを含む、
請求項21に記載の動作制御方法。 - 前記操作端末との間で通信するステップは、前記操作端末との間で無線通信の接続処理を行うステップを含み、
前記第1の信号を取得するステップは、前記接続処理において受信される第2の通信信号を、前記第1の信号として取得するステップを含む、
請求項21または22に記載の動作制御方法。 - 前記操作端末との間で通信するステップは、前記操作端末が実行するアプリケーションによる指示信号を受信するステップを含み、
前記第1の信号を取得するステップは、前記指示信号を、前記第1の信号として取得するステップを含む、
請求項21~23のいずれか1項に記載の動作制御方法。 - 前記飛行体の電源入力操作を検出するステップ、を更に含み、
前記第1の信号を取得するステップは、前記電源入力操作が検出された旨を示す検出信号を、前記第1の信号として取得するステップを含む、
請求項20~24のいずれか1項に記載の動作制御方法。 - 前記電源入力操作を検出するステップは、前記電源入力操作を所定回数以上又は所定時間以上検出するステップを含む、
請求項25に記載の動作制御方法。 - 前記可動部は、回転翼を有し、
前記可動部の動作を制御するステップは、前記内部情報に基づいて、前記飛行体の回転翼を制御するステップを含む、
請求項20~26のいずれか1項に記載の動作制御方法。 - 前記可動部の動作を制御するステップは、前記内部情報に基づいて、前記飛行体の回転翼の回転時間を制御するステップを含む、
請求項27に記載の動作制御方法。 - 前記可動部の動作を制御するステップは、前記内部情報に基づいて、前記飛行体の回転翼を回転させる回数を制御するステップを含む、
請求項27に記載の動作制御方法。 - 前記可動部は、複数の前記回転翼を有し、
前記可動部の動作を制御するステップは、前記内部情報に基づいて、複数の前記回転翼を同時に回転させる回数を制御するステップを含む、
請求項29に記載の動作制御方法。 - 前記可動部は、複数の前記回転翼を有し、
前記可動部の動作を制御するステップは、前記内部情報に基づいて、複数の前記回転翼の回転順序を制御するステップを含む、
請求項29に記載の動作制御方法。 - 前記可動部は、前記飛行体の筐体に対する回転翼の位置を変更可能に支持する第1の支持部材と、前記飛行体の撮像部を回転可能に支持する第2の支持部材と、の少なくとも一方を有し、
前記可動部の動作を制御するステップは、前記内部情報に基づいて、前記第1の支持部材及び前記第2の支持部材の動作の少なくとも一方を制御するステップを含む、
請求項20~31のいずれか1項に記載の動作制御方法。 - 前記可動部は、複数の可動部分を含み、
前記内部情報は、複数桁の情報で示され、
前記可動部の動作を制御するステップは、前記複数桁の各々の情報に基づいて、複数の前記可動部分の各々を制御するステップを含む、
請求項20~32のいずれか1項に記載の動作制御方法。 - 前記内部情報は、前記飛行体の個体識別情報を含み、
前記可動部の動作を制御するステップは、前記個体識別情報に基づいて、前記可動部の動作を制御するステップを含む、
請求項20~33のいずれか1項に記載の動作制御方法。 - 前記内部情報は、前記飛行体が有する機能の情報を含み、
前記可動部の動作を制御するステップは、前記機能の情報に基づいて、前記可動部の動作を制御するステップを含む、
請求項20~34のいずれか1項に記載の動作制御方法。 - 画像を撮像するステップと、
前記画像を撮像するための撮像モードを設定するステップと、
を更に含み、
前記内部情報は、設定された前記撮像モードの情報を含み、
前記可動部の動作を制御するステップは、前記撮像モードの情報に基づいて、前記可動部の動作を制御するステップを含む、
請求項35に記載の動作制御方法。 - 前記内部情報は、前記飛行体が備える記憶部の残容量の情報を含み、
前記可動部の動作を制御するステップは、前記記憶部の残容量の情報に基づいて、前記可動部の動作を制御するステップを含む、
請求項35に記載の動作制御方法。 - 前記飛行体が飛行する飛行コースを設定するステップ、を更に含み、
前記内部情報は、設定された前記飛行コースの情報を含み、
前記可動部の動作を制御するステップは、前記飛行コースの情報に基づいて、前記可動部の動作を制御するステップを含む、
請求項35に記載の動作制御方法。 - 可動部を有する飛行体と、前記飛行体の制御を指示する操作端末と、を備える動作制御システムであって、
前記操作端末は、前記飛行体との間で通信し、
前記飛行体は、
前記操作端末との間で通信し、
前記操作端末との通信において通信信号が受信された場合、前記飛行体の内部情報に基づいて、前記可動部の動作を制御する、
動作制御システム。 - コンピュータである飛行体に、
第1の信号を取得するステップと、
前記第1の信号が取得された場合、可動部を有する飛行体の内部情報に基づいて、前記可動部の動作を制御するステップと、
を実行させるためのプログラム。 - コンピュータである飛行体に、
第1の信号を取得するステップと、
前記第1の信号が取得された場合、可動部を有する飛行体の内部情報に基づいて、前記可動部の動作を制御するステップと、
を実行させるためのプログラムを記録したコンピュータ読取り可能な記録媒体。
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