WO2019041633A1

WO2019041633A1 - Communication relay method, relay aerial vehicle, program, and recording medium

Info

Publication number: WO2019041633A1
Application number: PCT/CN2017/115892
Authority: WO
Inventors: 顾磊; 瞿宗耀
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-08-28
Filing date: 2017-12-13
Publication date: 2019-03-07
Also published as: JP6943684B2; JP2019040514A; CN110383712A; CN110383712B

Abstract

The present invention reduces the blocking of communication between an unmanned aerial vehicle which performs survey operation and an operation terminal, and expands the range of remote operation of the unmanned aerial vehicle from the operation terminal. A communication relay method is a communication relay method for relaying communication between an operation terminal and an operating aerial vehicle that performs a predetermined operation, and comprises: the step of obtaining the state of the operating aerial vehicle; and the step of controlling, according to the state of the operating aerial vehicle, the state of a relay aerial vehicle that relays communication between the operation terminal and the operating aerial vehicle.

Description

Communication relay method, relay flying body, program, and recording medium

Technical field

The present disclosure relates to a communication relay method, a relay flight, a program, and a recording medium that relay communication between an unmanned aircraft and an operation terminal.

Background technique

In recent years, for example, UAV (Unmanned Aerial Vehicle), such as a UAV (unmanned aerial vehicle), has been promoted as a relay station for the purpose of resuming the convenience of mobile phone services that are difficult to use when disasters occur. Introduction and research of a drone relay station that is effectively utilized (for example, see Non-Patent Document 1).

The UAV relay station of Non-Patent Document 1 forms a temporary mobile phone service area by charging and relaying radio waves from a dedicated base station that is assumed to be used for a drone, and receiving radio waves from the surrounding operational base stations. Compared with the conventional mobile base station car or the like, the UAV relay station has excellent mobility, and therefore, it is expected to be quickly rescued, for example, in the event of a disaster, without being affected by the ground.

Prior art literature

Non-patent literature

Non-Patent Document 1: "电ンでンで帯帯帯电电电帯ドコモがドコモがドコモがドコモが Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc Doc ", [online], May 18, 2017, ITmedia NEWS, [Search on August 15, 2017], Internet <URL:http:/www.itmedia.co.jp/news/articles/1705/18/news117 .html>

Summary of the invention

Technical problem to be solved by the invention

In order to conduct on-the-spot investigations at the time of a disaster or on-site investigation at the time of an event or accident, the demand for remotely controlling unmanned aerial vehicles such as drones is increasing. However, even when the UAV relay station of Non-Patent Document 1 is used, for example, when an area having a large number of buildings such as an urban area is to be inspected, between the unmanned flying body that performs the survey operation and the operation terminal operated by the user, The communication may be blocked by the building, and remote control of the unmanned aerial vehicle at a location remote from the operating terminal may become difficult. Further, as a countermeasure, it is also considered to increase the radio wave intensity of the operation signal transmitted from the operation terminal to the unmanned aerial vehicle, but it may interfere with the surrounding mobile phone, which is not preferable from the viewpoint of the relationship with the radio method.

Means for solving technical problems

In one aspect, a communication relay method is a communication relay method for relaying communication between an operation terminal and a work aircraft that performs a predetermined job, and has a step of acquiring a state of the work flying body; And a step of controlling a state of the relay flying body that relays communication between the operation terminal and the work aircraft based on the state of the work aircraft.

The step of obtaining the status of the working flying body may include the step of acquiring the position information of the working flying body. The step of controlling the state of the relay flying body may include the step of controlling the flying height of the relay flying body based on the position information of the working flying body.

The step of obtaining the status of the working flying body may include the step of calculating a first distance between the working flying body and the relay flying body. The step of controlling the state of the relay flying body may include the step of moving to make the first distance become the tracking distance when the first distance is above a predetermined tracking distance.

The step of obtaining the status of the working flying body may include the step of calculating a first distance between the working flying body and the relay flying body. The step of controlling the state of the relay flying body may include the step of continuing the flight of the current flight position when the first distance is less than the predetermined tracking distance.

The step of obtaining the status of the working flying body may include the step of calculating a second distance between the operating terminal and the relay flying body. The steps of controlling the state of the relay flying body may be packaged When the second distance is above a predetermined safety control distance, the step of indicating an alarm indicating a failure in the communication between the operation terminal and the relay flying body to the operation terminal is included.

The step of obtaining the status of the flying body of the work may include the step of calculating a third distance between the working flying body and the operating terminal. The step of controlling the state of the relaying flying body may include the step of performing a rising mode of the relaying flying body when the third distance is below a predetermined direct control distance.

The step of performing the ascending mode of the relay flying body may include: calculating a flight height difference between the working flying body and the relay flying body; and performing the becoming and the working when the flying height difference is greater than a predetermined tracking height difference The flight steps of the flight height of the flight body at the same flight height.

The step of obtaining the status of the working flying body may include the step of calculating a first distance between the working flying body and the relay flying body. The step of performing the ascending mode of the relay flying body may include: calculating a flight height difference between the working flying body and the relay flying body; and calculating that the flying height difference is less than a predetermined tracking height difference, and the first distance is at a predetermined time When the tracking distance is above, the step of moving to make the first distance become the tracking distance.

The step of obtaining the status of the working flying body may include the step of calculating a first distance between the working flying body and the relay flying body. The step of performing the ascending mode of the relay flying body may include: calculating a flight height difference between the working flying body and the relay flying body; and calculating that the flying height difference is less than a predetermined tracking height difference, and the first distance is less than a predetermined The step of continuing the flight of the current flight position when tracking the distance.

The step of obtaining the status of the flying body of the work may include the step of calculating a third distance between the working flying body and the operating terminal. The step of controlling the state of the relay flying body may include the step of performing a relay mode of the relaying flying body when the third distance is below a predetermined direct control distance.

The step of performing the ascending mode of the relaying flying body may include the step of performing a flight that causes the flying height of the relaying flying body to be a predetermined tracking height.

The step of obtaining the status of the working flying body may include the step of calculating a second distance between the operating terminal and the relay flying body. The step of performing the relay mode of the relay flying body may include the step of indicating to the operating terminal that an alarm indicating a failure in communication between the operating terminal and the relay flying body is performed when the second distance is above a predetermined safety control distance.

The step of acquiring the state of the working flying body may include the steps of: calculating a first distance between the working flying body and the relay flying body; and calculating a second distance between the operating terminal and the relay flying body. The step of performing the ascending mode of the relay flying body may include the step of moving to make the first distance become the tracking distance when the second distance is less than the predetermined safety control distance and the first distance is above the predetermined tracking distance.

The step of acquiring the state of the working flying body may include the steps of: calculating a first distance between the working flying body and the relay flying body; and calculating a second distance between the operating terminal and the relay flying body. The step of performing the ascending mode of the relaying flying body may include the step of continuing the flight of the current flight position when the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance.

The step of obtaining the state of the working flying body may include the step of acquiring the flying height of the working flying body. The step of performing the relay mode of the relay flying body may include the step of performing a flight that becomes the same flying height as the flying height of the working flying body when the flying height of the working flying body is within a predetermined tracking height range.

The step of obtaining the state of the working flying body may include the step of acquiring the flying height of the working flying body. The step of performing the relay mode of the relay flying body may include the step of moving to the flying height of the upper or lower limit of the tracking height range to approach the working flying body when the flying height of the working flying body is outside the predetermined tracking height range.

The step of acquiring the state of the working flying body may include the steps of: calculating a first distance between the working flying body and the relay flying body; and calculating a second distance between the operating terminal and the relay flying body. The step of performing the ascending mode of the relay flying body may include The step of continuing the flight of the current flight position when the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance.

In one aspect, a relay flying body is a relay flying body that relays communication between an operation terminal and a work flying body that performs a predetermined operation, and has a control unit that performs communication and communication Following the related processing, the control unit acquires the state of the working flying body and controls the state of the relay flying body according to the state of the working flying body.

The control unit may acquire the position information of the working flying body in the acquisition of the state of the working flying body, and control the flying height of the relay flying body based on the position information of the working flying body in the control of the state of the relay flying body.

The control unit may calculate a first distance between the working flying body and the relay flying body in the acquisition of the state of the working flying body, and in the control of the state of the relay flying body, the first distance is at a predetermined tracking distance In the above case, the movement is made such that the first distance becomes the tracking distance.

The control unit may calculate a first distance between the working flying body and the relay flying body in the acquisition of the state of the working flying body, and in the control of the state of the relay flying body, the first distance is smaller than the predetermined tracking distance When continuing, the flight at the current flight location.

The control unit may calculate a second distance between the operation terminal and the relay flying body in the acquisition of the state of the working flying body, and in the control of the state of the relaying flying body, at the second distance at a predetermined safety control distance In the above case, an alarm indicating that a failure has occurred in the communication between the operation terminal and the relay flying body is given to the operation terminal.

The control unit may calculate a third distance between the work aircraft and the operation terminal in the acquisition of the state of the work aircraft, and in the control of the state of the relay flight body, the third distance is below a predetermined direct control distance. At the time, the rising mode of the relay flying body is executed.

The control unit may calculate a flying height difference between the working flying body and the relay flying body during execution of the rising mode of the relay flying body, and perform the work and the work when the flying height difference is equal to or greater than a predetermined tracking height difference. The flight height of the flight body is the same as the flight altitude.

The control unit may calculate a first distance between the working flying body and the relay flying body in the acquisition of the state of the working flying body, and calculate the working flying body and the relay in the execution of the rising mode of the relay flying body. The difference in flying height between the flying bodies is less than the difference in flying height When the predetermined tracking height difference is and the first distance is above a predetermined tracking distance, the movement is made such that the first distance becomes the tracking distance.

The control unit may calculate a first distance between the working flying body and the relay flying body in the acquisition of the state of the working flying body, and calculate the working flying body and the relay in the execution of the rising mode of the relay flying body. The flight height difference between the flying bodies is continued when the flying height difference is less than a predetermined tracking height difference and the first distance is less than the predetermined tracking distance.

The control unit may calculate a third distance between the work aircraft and the operation terminal in the acquisition of the state of the work aircraft, and in the control of the state of the relay flight body, the third distance is below a predetermined direct control distance. At the time, the relay mode of the relay flight body is executed.

The control unit may perform a flight in which the flying height of the relay flying body is a predetermined tracking height in the execution of the rising mode of the relay flying body.

The control unit may calculate a second distance between the operation terminal and the relay flying body in the acquisition of the state of the working flying body, and in the execution of the relay mode of the relay flying body, the predetermined safety at the second distance When the control distance is equal to or higher, an alarm indicating that a failure has occurred in the communication between the operation terminal and the relay flying body is given to the operation terminal.

The control unit may calculate a first distance between the working flying body and the relay flying body in the acquisition of the state of the working flying body, and calculate a second distance between the operating terminal and the relay flying body, and relay In the execution of the ascending mode of the flying body, when the second distance is less than the predetermined safety control distance and the first distance is above the predetermined tracking distance, the movement is made such that the first distance becomes the tracking distance.

The control unit may calculate a first distance between the working flying body and the relay flying body in the acquisition of the state of the working flying body, and calculate a second distance between the operating terminal and the relay flying body, and relay In the execution of the ascending mode of the flying body, the flight of the current flight position is continued when the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance.

The control unit may acquire the flying height of the working flying body in the acquisition of the state of the working flying body, and in the execution of the relay mode of the relay flying body, when the flying height of the working flying body is within a predetermined tracking height range, The flight is performed at the same flying height as the flying height of the working flying body.

The control unit may acquire the flying height of the working flying body in the acquisition of the state of the working flying body, and in the execution of the relay mode of the relay flying body, when the flying height of the working flying body is outside the predetermined tracking height range , move to the flying height of the upper or lower limit of the tracking height range to approach the working flying body.

In one aspect, a program is a program for relaying a communication between an operation terminal and a work flying body that performs a predetermined job, that is, a relay flying body, which performs the following steps: acquiring a work flying body a step of a state; and a step of controlling a state of the relay flying body that relays communication between the operation terminal and the work aircraft according to the state of the work aircraft.

In one aspect, a recording medium is a computer readable body on which a program for relaying communication between an operation terminal and a work aircraft that performs a predetermined job, that is, a relay flying body, performs the following steps; Recording medium: a step of acquiring a state of the flying body of the work; and a step of controlling a state of the relay flying body that relays communication between the operating terminal and the working flying body according to the state of the flying body.

In addition, the above description of the present invention does not exhaust all the features of the present disclosure. Furthermore, sub-combinations of these feature sets may also constitute an invention.

DRAWINGS

FIG. 1 is a schematic diagram showing a configuration example of a communication relay system of the present embodiment.

2 is a block diagram showing an example of a hardware configuration of a work drone or a relay drone.

FIG. 3 is a block diagram showing one example of a hardware configuration of an operation terminal.

4 is a block diagram showing an example of a main functional configuration of a work drone, a relay drone, and an operation terminal.

FIG. 5 is an explanatory diagram of setting parameters set when relaying communication by a relay drone.

6 is an explanatory diagram showing positions of an operation terminal, a relay drone, and a work drone at the time of communication relay in the first embodiment.

Fig. 7 is a flowchart showing an example of an operational sequence of communication relay of the relay drone of the first embodiment.

8 is an explanatory diagram showing positions of an operation terminal, a relay drone, and a work drone at the time of communication relay in the ascending mode in the second embodiment.

FIG. 9 is an explanatory diagram showing positions of an operation terminal, a relay drone, and a job drone at the time of communication relay in the relay mode of the second embodiment.

FIG. 10 is a flowchart showing an example of an operation sequence of communication relay of the relay drone of the second embodiment.

FIG. 11 is an explanatory diagram showing positions of an operation terminal, a relay drone, and a work drone at the time of communication relay in the relay mode of the third embodiment.

FIG. 12 is a flowchart showing an example of an operation sequence of communication relay in the relay mode of the relay drone of the third embodiment.

Detailed ways

Hereinafter, the present disclosure will be described by way of embodiments of the invention, but the following embodiments do not limit the invention according to the claims. The combinations of features described in the embodiments are not all that are necessary for the solution of the invention.

The claims, the description, the drawings of the specification, and the abstract of the specification are included as Matters protected by the rights. Anyone who makes copies of these documents as indicated in the documents or records of the Patent Office cannot be objected to by the copyright owner. However, in other cases, all copyrights are reserved.

The communication relay method of the present disclosure defines various processes (steps) performed in a relay flying body that relays communication between the operation terminal and the work aircraft that performs the predetermined work. The operation terminal includes a transmitter for instructing remote control of various processes including movement of the work aircraft or the relay flight body, or can be connected to input and output of information and data with the transmitter. Terminal device. The terminal device may be, for example, a PC (Personal Computer), a tablet terminal, a smartphone, a portable terminal, or the like. Both the operational flight body and the relay flight body may be aircraft (eg, drones, helicopters) or unmanned aerial vehicles (UAVs) that move in the air.

The relay flying body of the present disclosure is a computer that relays, for example, communication between an operation terminal and a work aircraft that performs a predetermined job.

The program of the present disclosure is a program for causing a computer, that is, a relay flying body, to perform various processes (steps).

The recording medium of the present disclosure records a program (i.e., a program for causing a computer, i.e., a relay flying body, to perform various processes (steps)).

In the embodiment of the communication relay method of the present disclosure (hereinafter referred to as "the present embodiment"), the unmanned aerial vehicle as the unmanned flying body is exemplified as the working aircraft and the relay flying body. They are called job drones and relay drones. In the present embodiment, for example, in order to perform a field investigation in which a disaster has occurred or a scene in which an event or an accident has occurred, the working drone flies to the site or the site, and performs a predetermined operation in the field or on the spot. The relay drone moves in accordance with the remote control flight from the operation terminal used by the user, and relays communication between the operation terminal and the work drone. The term "communication" as used herein is a broad concept including all data communication, and includes not only a case where a cable is connected by a cable or the like but also a case where a connection is made by wireless communication.

First, a configuration example of the communication relay system 10 of the present embodiment will be described.

FIG. 1 is a schematic diagram showing a configuration example of the communication relay system 10 of the present embodiment. The communication relay system 10 includes a job drone 100, a relay drone 30, and an operation terminal 50. Between the work drone 100 and the operation terminal 50, between the relay drone 30 and the operation terminal 50, and between the work drone 100 and the relay drone 30, wired communication or wireless communication can be used ( For example, a wireless LAN (Local Area Network) or Bluetooth (registered trademark) communicates with each other. The operation terminal 50 is used in a state of being held by both hands of a person who uses the operation terminal 50 (hereinafter referred to as "user"). The operation terminal 50 can be, for example, a transmitter, a tablet terminal, a smartphone, a portable terminal, a PC, or the like. The operation terminal 50 may be a configuration in which a tablet terminal, a smartphone or a portable terminal is installed on a transmitter and arranged to be able to communicate with each other.

FIG. 2 is a block diagram showing an example of a hardware configuration of the work drone 100 and the relay drone 30. The internal configuration of the work drone 100 and the relay drone 30 may be the same (see FIG. 2), and the internal configuration of the relay drone 30 may be a configuration in which part of the internal configuration of the work drone 100 is omitted. . In FIG. 2, the operation drone 100 will be exemplified first, and when the configuration between the work drone 100 and the relay drone 30 is different, a different configuration will be described. The operation drone 100 is configured to include a UAV control unit 110, a memory 120, a pan-tilt GIM, a rotor mechanism 130, an imaging device CAM1, CAM2, a GPS receiver 140, an inertial measurement device 150, a magnetic compass 160, a barometric altimeter 170, and a millimeter. The wave radar 180, the wind speed and direction finder 190, the injection nozzle 200, the water tank 210, the pressure sensor 220, the flow sensor 230, the memory 240, the communication interface 250, and the battery 260.

The UAV control unit 110 is configured using a processor (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 the operation of each part of the work drone 100 or the relay drone 30, input/output processing of data with other parts, arithmetic processing of data, and data. Storage processing. The UAV control section 110 has a function of performing processing related to control of flight in the work aircraft 100 or the relay aircraft 30.

The UAV control unit 110 controls the flight of the work drone 100 or the relay drone 30 in accordance with a program stored in the memory 120 or the memory 240 and information related to the flight path. Further, the UAV control section 110 controls the movement of the job drone 100 or the relay drone 30 in accordance with an instruction received from the remote operation terminal 50 through the communication interface 250. (ie flying).

The UAV control unit 110 (an example of the control unit) controls the flight of the work drone 100 or the relay drone 30 by controlling the rotor mechanism 130. That is, the UAV control unit 110 controls the position including the latitude, longitude, and altitude of the work drone 100 or the relay drone 30 by controlling the rotor mechanism 130. The UAV control unit 110 controls the rotor mechanism 130 based on position information acquired by at least one of the GPS receiver 140, the inertial measurement device 150, the magnetic compass 160, the barometric altimeter 170, and the millimeter wave radar 180.

The memory 120 is an example of a storage section. The memory 120 stores the UAV control unit 110, the rotor mechanism 130, the GPS receiver 140, the inertial measurement device 150, the magnetic compass 160, the barometric altimeter 170, the millimeter wave radar 180, the wind speed and direction finder 190, the injection nozzle 200, the water tank 210, and the pressure sensor 220. The flow sensor 230, the memory 240, and the communication interface 250 perform programs and the like required for control. The memory 120 stores various kinds of information and data used in the processing of the UAV control unit 110. The memory 120 may be a computer readable recording medium, and may include an SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), and an EPROM (Erasable Programmable Read Only Memory: Erasable). At least one of a flash memory such as a programmable read only memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a USB memory. The memory 120 may be disposed inside the work drone 100 or the relay drone 30, and may be disposed to be detachable from the work drone 100 or the relay drone 30.

The pan-tilt GIM supports the imaging device CAM1 in such a manner that the imaging device CAM1 can be rotated around at least one axis. The pan-tilt GIM can support the imaging device CAM1 in such a manner that the imaging device CAM1 can be rotated around the yaw axis, the pitch axis, and the roll axis. The pan-tilt GIM can change the imaging direction of the imaging device CAM1 by rotating the imaging device CAM1 around at least one of the yaw axis, the pitch axis, and the roll axis. In addition, the pan/tilt GIM can be omitted from the internal configuration of the relay drone 30.

The rotor mechanism 130 has a plurality of rotors 131 and a plurality of drive motors that rotate the plurality of rotors 131. The rotor mechanism 130 controls the flight of the drone 100 or the relay drone 30 by raising the rotor 131 to generate airflow in a specific direction (rising, descending, horizontal) Move, rotate, tilt, etc.).

The imaging device CAM1 is rotatably supported by the pan-tilt GIM, and captures a subject of a desired imaging range (for example, a place where a disaster occurs or an event or an accident occurs) and generates data of a captured image. The image data obtained by the imaging of the imaging device CAM1 is stored in the memory of the imaging device CAM1 or in the memory 120. Further, the imaging device CAM1 can be omitted from the internal configuration of the relay drone 30.

The imaging device CAM2 can be provided in plurality from the housing of the work drone 100 or the relay drone 30, and captures the periphery of the work drone 100 or the relay drone 30 to generate data of the captured image. . The image data of the image pickup device CAM2 is stored in the memory 120. Further, the imaging device CAM2 can be omitted from the internal configuration of the relay drone 30.

The GPS receiver 140 receives a plurality of signals indicating the time transmitted from a plurality of navigation satellites (i.e., GPS satellites) and the position (coordinates) of each GPS satellite. The GPS receiver 140 calculates the position of the GPS receiver 140 (i.e., the position of the work drone 100 or the relay drone 30) based on the received plurality of signals. The GPS receiver 140 outputs the position information of the work drone 100 or the relay drone 30 to the UAV control unit 110. In addition, the UAV control unit 110 can be used to calculate the position information of the GPS receiver 140 instead of the GPS receiver 140. In this case, the UAV control unit 110 inputs information indicating the time and the position of each GPS satellite included in the plurality of signals received by the GPS receiver 140.

An inertial measurement unit (IMU: Inertial Measurement Unit) 150 detects the posture of the work drone 100 or the relay drone 30, and outputs the detection result to the UAV control unit 110. The inertial measurement device 150 detects the acceleration in the three-axis direction of the front, rear, left and right, and up and down of the work drone 100 or the relay drone 30, and the angular velocity in the three-axis direction of the pitch axis, the roll axis, and the yaw axis as the work. The posture of the human machine 100 or the relay drone 30.

The magnetic compass 160 detects the orientation of the head of the work drone 100 or the relay drone 30, and outputs the detection result to the UAV control unit 110.

The barometric altimeter 170 detects the flying height of the work drone 100 or the relay drone 30, and outputs the detection result to the UAV control unit 110.

The millimeter wave radar 180 transmits a high frequency electric wave of a millimeter wave band, and measures a reflected wave reflected from the ground and the object to detect the position of the ground and the object, and outputs the detection result to the UAV control unit 110. The detection result may indicate, for example, the distance (i.e., height) from the work drone 100 or the relay drone 30 to the ground. The detection result may indicate, for example, the distance from the work drone 100 or the relay drone 30 to the object. The detection result may indicate, for example, the topography of the work area of the work drone 100 where the disaster occurred in the sky.

The wind speed and direction finder 190 detects the wind speed and the wind direction around the work drone 100 or the relay drone 30, and outputs the detection result to the UAV control unit 110. The detection result may indicate the wind speed and the wind direction in the work area in which the work drone 100 or the relay drone 30 flies.

The memory 240 is an example of a storage section. The memory 240 stores and stores various data and information. The memory 240 may be an HDD (Hard Disk Drive), an SSD (Solid State Drive), a memory card, a USB memory, or the like. The memory 240 may be disposed inside the work drone 100 or the relay drone 30, respectively, and may be disposed to be detachable from the work drone 100 or the relay drone 30, respectively.

The communication interface 250 communicates with the operation terminal 50 and communicates with the job drone 100 or the relay drone 30. The communication interface 250 receives various information related to the flight path from the operation terminal 50 (e.g., flight related control commands). The communication interface 250 receives various commands (instructions) from the operation terminal 50 for the UAV control section 110. The communication interface 250 transmits information related to the state of the work drone 100 or the relay drone 30 or information collected by the work drone 100 or the relay drone 30 to the operation terminal 50. In addition, the collected information may further include data of a captured image that is aerially photographed by the job drone 100 or the relay drone 30.

The battery 260 has a function as a drive source for each part of the work drone 100 or the relay drone 30, and supplies the required power to each part of the work drone 100 or the relay drone 30.

Next, an example of the functions of the UAV control unit 110 of the work drone 100 or the relay drone 30 will be described.

The UAV control unit 110 acquires position information indicating the position of the work drone 100 or the relay drone 30. The location information may be information of latitude, longitude and altitude calculated by the GPS receiver 140, or may further include a barometric altimeter 170 or millimeter wave The information of the height information detected by the radar 180. The UAV control unit 110 can acquire position information indicating the latitude, longitude, and altitude at which the work drone 100 or the relay drone 30 is located from the GPS receiver 140. The UAV control unit 110 can acquire latitude and longitude information indicating the latitude and longitude of the work drone 100 or the relay drone 30 from the GPS receiver 140, respectively, and acquire the unmanned work from the barometric altimeter 170 or the millimeter wave radar 180. The height information of the height of the machine 100 or the relay drone 30 is used as the position information.

The UAV control unit 110 can acquire orientation information indicating the orientation of the work drone 100 or the relay drone 30 from the magnetic compass 160. The orientation information may indicate, for example, an orientation corresponding to the orientation of the head of the work drone 100 or the relay drone 30.

The UAV control unit 110 can acquire location information indicating the location where the job drone 100 or the relay drone 30 should exist from the memory 120 or the memory 240. The UAV control unit 110 can acquire position information indicating a position where the work drone 100 or the relay drone 30 should exist from the other device such as the operation terminal 50 via the communication interface 250.

The UAV control unit 110 can acquire the wind speed information and the wind direction information around the work drone 100 or the relay drone 30 from the wind speed and direction meter 190. The UAV control unit 110 can acquire the wind speed information, the wind direction information, or the work drone 100 or the relay drone 30 around the work drone 100 or the relay drone 30 from the other device such as the operation terminal 50 via the communication interface 250. Wind speed information and wind direction information in the flight work area.

The UAV control unit 110 can control the flight to the flight area in which the flight is swirled during the investigation of the place where the disaster occurred or the event or the occurrence of the accident, based on the information related to the flight area stored in the memory 120 or the memory 240, and the work drone 100. Or relaying at least one of the height of the drone 30, the start of flight, the end of flight, and the flight path during flight.

Next, a configuration example of the operation terminal 50 will be described.

FIG. 3 is a block diagram showing one example of the hardware configuration of the operation terminal 50. The operation terminal 50 includes a processing unit 51, a memory 52, a wireless communication unit 53, a display unit 54, an operation unit 55, an input/output interface 56, a memory 57, and a battery 58. The operation terminal 50 has a function of transmitting a control command (instruction) for remotely controlling the job drone 100 or relaying the drone 30. The operation terminal 50 has a function of inputting and outputting various kinds of information and data related to the flight of the work drone 100 or the relay drone 30. In addition, the operation terminal 50 may be a transmitter and a tablet terminal, a smartphone or a portable terminal. The configuration of the interconnected splits may also be constituted by a single device consisting of any one of a transmitter, a tablet terminal, a smartphone, or a portable terminal.

The processing unit 51 is configured using a processor (for example, a CPU, an MPU, or a DSP). The processing unit 51 performs signal processing for overall controlling the operation of each part of the operation terminal 50, input/output processing of data with other parts, arithmetic processing of data, and storage processing of data.

The processing unit 51 can acquire data and information from the work drone 100 or the relay drone 30 via the wireless communication unit 53. The processing unit 51 can acquire data and information from other devices through the input/output interface 56. The processing unit 51 can acquire data and information input through the operation unit 55. The processing unit 51 can acquire data and information stored in the memory 52. The processing unit 51 can transmit data and information to the display unit 54, and display the display information based on the data and the information on the display unit 54. The processing unit 51 can send data and information to the memory 57 and store the data and information. The processing unit 51 can acquire data and information stored in the memory 57.

The processing unit 51 can perform setting of a flight area of a convoluted flight at the time of occurrence of a disaster occurrence place, an event, or an accident, and setting of the work content in the flight area, and the flight area, based on the operation input of the operation unit 55. At least one of the setting of the flight path, the setting of the flight start position of the flight path, and the setting of the flight end position is input.

The processing unit 51 can generate an operation signal for remotely controlling the movement of the work drone 100 or the relay drone 30 based on the operation input of the operation unit 55. The processing unit 51 can remotely control the work drone 100 or the relay drone by transmitting the generated operation signal as a command for movement control to the work drone 100 or the relay drone 30 via the wireless communication unit 53. 30.

The processing unit 51 can generate at least one display screen displayed on the setting screen and the operation screen of the display unit 54.

The memory 52 is an example of a storage section. The memory 52 has, for example, a ROM (Read Only Memory) that stores data specifying a program and a setting value for the operation of the processing unit 51, and various information and data used when the temporary storage processing unit 51 performs processing. RAM (Random Access Memory). The program and set value data stored in the ROM of the memory 52 can be copied to the schedule. In a recording medium (for example, CD-ROM, DVD-ROM). The flight information including, for example, the flight area of the work drone 100 or the relay drone 30, the flight path, the flight altitude, various set distances (see FIG. 5 described later), and the like can be stored in the RAM of the memory 52.

The wireless communication unit 53 communicates with the work drone 100 or the relay drone 30 via the antenna in various wireless communication methods, and transmits and receives information and data. The wireless communication method may include, for example, communication by wireless LAN, Bluetooth (registered trademark), short-range wireless communication, or a public wireless network. The wireless communication unit 53 can communicate with other devices to transmit and receive information and data.

The display unit 54 is configured by, for example, an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence) display, and displays various kinds of information and data output from the processing unit 51. The display unit 54 may have, for example, a display lamp using an LED (Light Emission Diode). The display lamp displays, for example, the wireless connection state of the work drone 100 or the relay drone 30 and the operation terminal 50, the startup state of the work drone 100 or the relay drone 30, the work drone 100 or the relay no. At least one of the balance of the battery capacity of the human machine 30 or the operation terminal 50.

The operation unit 55 accepts an operation instruction, data, or information input by the user who holds the operation terminal 50. The operation portion 55 may include a joystick, a button, a button, a touch display screen, a microphone, and the like. The operation unit 55 is, for example, for remotely controlling the movement of the work drone 100 or the relay drone 30 by the user (for example, the work drone 100 or the relay drone 30 moves back and forth, moves left and right, moves up and down, and faces It is used in the operation of the change). The operation unit 55 is used, for example, in an operation of inputting various settings related to a flight area (see above). The operation unit 55 is used, for example, in an operation instructing the start or end of the flight of the work drone 100 or the relay drone 30 to the flight area.

The input/output interface 56 performs input and output of information and data between the operation terminal 50 and other devices. The input/output interface 56 may be, for example, a USB port (not shown) provided on the operation terminal 50. The input/output interface 56 can also be an interface other than the USB port.

The memory 57 is an example of a storage section. The memory 57 stores and stores various data and information. The memory 57 may be a flash memory, an SSD (Solid State Drive), a memory card, a USB memory, or the like. The memory 57 may be disposed to be operably from the operation terminal 50 The main body is removed.

The battery 58 has a function as a drive source for each portion of the operation terminal 50, and supplies necessary power to each portion of the operation terminal 50.

Next, an example of a main functional configuration of the work drone 100, the relay drone 30, and the operation terminal 50 will be described.

4 is a block diagram showing an example of a main functional configuration of the work drone 100, the relay drone 30, and the operation terminal 50. In FIG. 4, an example of a main functional configuration in the hardware configuration of the work drone 100, the relay drone 30, and the operation terminal 50 shown in FIGS. 2 and 3 is described.

The configuration of the operation terminal 50 mainly includes a transmission unit 53T and a reception unit 53R. The transmitting unit 53T and the receiving unit 53R correspond to the wireless communication unit 53 (see FIG. 3).

The transmitting unit 53T transmits, for example, various control commands (instructions) related to flight or information collection of the work drone 100 or the relay drone 30 to the relay drone 30 based on an operation signal based on the user operation. In addition, although illustration is omitted in FIG. 4, when the operation terminal 50 exists in a position that can be directly controlled with the work drone 100, it may be related to flight or information collection of the work drone 100. Various control commands (instructions) are sent directly to the job drone 100. Further, the transmitting unit 53T can transmit the current location information in which the operation terminal 50 is located to the relay drone 30 and the job drone 100.

The receiving unit 53R receives information related to the current state of the work drone 100 transmitted from the relay drone 30 or information collected by the work drone 100. The received information is displayed, for example, on the display portion 54 (see FIG. 3) of the operation terminal 50.

The relay drone 30 mainly includes a terminal data receiving unit 31, a job drone data transmitting unit 32, a job drone data receiving unit 33, a terminal data transmitting unit 34, a job drone tracking unit 35, and Following the drone control unit 36. The terminal data receiving unit 31, the job drone data transmitting unit 32, the job drone data receiving unit 33, and the terminal data transmitting unit 34 correspond to the communication interface 250 (see FIG. 2). The work drone tracking unit 35 and the relay drone control unit 36 correspond to the UAV control unit 110 (see FIG. 2).

The terminal data receiving unit 31 receives various control commands (instructions) related to flight or information collection of the job drone 100 or the relay drone 30 transmitted from the operation terminal 50. The terminal data receiving unit 31 will variously relate to the flight or information collection of the work drone 100. The control command (command) is sent to the job drone data transmitting unit 32. Further, the terminal data receiving unit 31 can receive the position information of the operation terminal 50 transmitted from the operation terminal 50. The terminal data receiving unit 31 can send the position information of the operation terminal 50 to the work drone tracking unit 35.

The work drone data transmitting unit 32 acquires various control commands (instructions) related to the flight or information collection of the work drone 100 transmitted from the terminal data receiving unit 31. The work drone data transmitting unit 32 transmits various control commands (instructions) related to flight or information collection of the work drone 100 to the work drone 100.

The work drone data receiving unit 33 receives information related to the current state of the work drone 100 transmitted from the work drone 100 or information collected by the work drone 100. The work drone data receiving unit 33 sends the information related to the current state of the work drone 100 or the information collected by the work drone 100 to the terminal data transmitting unit 34. Further, the work drone data receiving unit 33 can receive the current position information of the work drone 100 transmitted from the work drone 100. The work drone data receiving unit 33 can send the position information of the work drone 100 to the work drone tracking unit 35.

The terminal data transmitting unit 34 transmits information related to the current state of the job drone 100 or information collected by the job drone 100 transmitted from the job drone data receiving unit 33 to the operation terminal 50.

The work drone tracking unit 35 acquires the position information of the operation terminal 50 transmitted from the terminal data receiving unit 31, the position information of the work drone 100 transmitted from the work drone data receiving unit 33, and the relay drone. 30 Calculated position information of the relay drone 30. The work drone tracking unit 35 executes various processes related to the tracking of the work drone 100 using the position information of each of the work drone 100, the relay drone 30, and the operation terminal 50.

For example, the work drone tracking unit 35 calculates the relative distance L0 between the work drone 100 and the operation terminal 50 using the position information of each of the work drone 100, the relay drone 30, and the operation terminal 50 ( Referring to FIG. 9), the relative distance L1 between the operation drone 100 and the relay drone 30 (see FIG. 9), the relative distance L2 between the relay drone 30 and the operation terminal 50 (see FIG. 9) . The work drone tracking unit 35 calculates the calculation results of the relative distances L0, L1, and L2, and the work drone 100 and the relay drone 30. The positional information of each of the operation terminals 50 is sent to the relay drone control unit 36.

The relay drone control unit 36 acquires the calculation results of the relative distances L0, L1, and L2 transmitted from the work drone tracking unit 35, and the respective positions of the work drone 100, the relay drone 30, and the operation terminal 50. information. The relay drone control unit 36 uses the work drone 100, the relay drone 30, and the operation in order to relay the communication between the operation terminal 50 and the work drone 100 by the relay drone 30. The respective position information of the terminal 50 controls the respective position information of the relay drone 30 before the flight starts, during the flight, and at the end of the flight. In other words, the relay drone control unit 36 controls the state of the relay drone 30 that relays communication between the operation terminal 50 and the work drone 100 in accordance with the state of the work drone 100.

Thereby, the relay drone 30 can relay the communication between the operation terminal 50 and the work drone 100 without particularly increasing the radio wave intensity from the operation signal of the operation terminal 50 operated by the user, and thus can be reduced. The communication between the work drone 100 and the operation terminal 50 that performs the survey operation is blocked. Therefore, according to the communication relay system 10, the relay drone 30 can relay the mutual communication between the operation terminal 50 and the work drone 100, so that the work drone 100 of the self-operation terminal 50 can be actually expanded. The scope of remote operations.

Further, the relay drone 30 acquires the position information of the work drone 100 in the UAV control unit 110 as the state of the work drone 100. The relay drone 30 controls the flying height of the relay drone 30 based on the position information of the work drone 100 as the state of the relay drone 30. Thereby, the relay drone 30 can control the flying height (in other words, its own position information) during the flight according to the position information of the work drone 100, and can effectively operate the operation terminal 50 and the work. The communication between the humans 100 is relayed.

The configuration of the work drone 100 mainly includes a work drone receiving unit 101, a work drone transmitting unit 103, a work drone processing unit 105, and a work drone control unit 107. The work drone receiving unit 101 and the work drone transmitting unit 103 correspond to the communication interface 250 (see FIG. 2). The work drone control unit 107 corresponds to the UAV control unit 110 (see Fig. 2).

The job drone data receiving unit 101 receives the slave drone data transmitting unit 32. Various control commands (instructions) related to flight or information collection of the drone 100 are sent. The work drone receiving unit 101 sends various control commands (instructions) related to the flight or information collection of the work drone 100 to the work drone control unit 107.

The work drone transmitting unit 103 transmits information related to the current state of the work drone 100 or information collected by the work drone 100 transmitted from the work drone processing unit 105 to the relay drone 30.

The work drone processing unit 105 calculates or measures to acquire information related to the state of the work drone 100 itself (for example, position, flight speed, flight altitude, acceleration during flight), or the state around the work drone 100. (eg wind speed, wind direction, humidity). Further, the work drone processing unit 105 acquires data of captured images (including captured images, the same applies hereinafter) that are captured by the imaging devices CAM1, CAM2 (that is, aerial photography). The work drone processing unit 105 sets information on the state of the work drone 100 itself or the state around the work drone 100 and the data of the captured image as information related to the current state of the work drone 100 or by the job. The information collected by the drone 100 is sent to the job drone transmitting unit 103.

The work drone control unit 107 controls the execution of a predetermined work performed as a place where a disaster occurs in a flight area, an event, or an accident. For example, when a robot arm (not shown) is mounted on the work drone 100, the work drone control unit 107 controls the operation of the robot arm to carry the conveyance of materials and the like during the flight of the flight area. As a result, the work drone 100 can perform rescue by material transportation or the like in the place where the disaster occurs in the flight area, the place where the event or the accident occurs.

Further, for example, when at least one injection nozzle (not shown) and a water tank (not shown) are mounted on the work drone 100, the operation drone control section 107 controls a valve (not shown) that connects the water tank and the injection nozzle. The opening and closing, so that the water in the water tank flows out and is ejected from the injection nozzle during the flight in the flight area. In this way, the work drone 100 can extinguish the fire of the emergency response, for example, in the event of a disaster occurrence in the flight area, before the fire truck arrives.

Next, the setting parameters set at the time of relaying by the relay drone 30 will be described.

FIG. 5 is a setting parameter set when relaying by the relay drone 30 performs communication. Illustrating. In FIG. 5, the location where the user using the operation terminal 50 exists on the ground (ie, the ground GND), that is, the position Ps1, and the relay drone 30 and the work drone 100 are both at the departure position Ps1 are shown. The state of flight in the air. In FIG. 5, the position Ps1 where the operation terminal 50 is located corresponds to the semicircle center position when the safety control distance Sf1 from the position of the operation terminal 50 is indicated by a semicircle.

The setting parameters include at least a direct control distance Cnt1, a tracking distance Tr1, a tracking height Hg1, a safety control distance Sf1, and a tracking height range RNG1.

The direct control distance Cnt1 is a distance at which the operation terminal 50 can directly control communication with the work drone 100 or the relay drone 30 regardless of whether or not there is a communication obstacle such as a building. Therefore, even when the work drone 100 or the relay drone 30 is within the range of the direct control distance Cnt1 from the operation terminal 50, even between the operation terminal 50 and the work drone 100 or the relay drone 30 There is a building and there is no blocking of communication between them. The direct control distance Cnt1 is, for example, 30 m, but is not limited to 30 m.

The tracking distance Tr1 indicates that both the working drone 100 and the relay drone 30 are flying in order to allow the relay drone 30 to stably relay communication between the operation terminal 50 and the work drone 100. The distance during the flight that is maintained between the relay drone 30 and the work drone 100 during the process. The tracking distance Tr1 is, for example, 10 m, but is not limited to 10 m.

The tracking height Hg1 represents a flight during the flight of the relay drone 30 in order to enable the relay drone 30 to stably relay communication between the operation terminal 50 and the work drone 100. Flight height. The tracking height Hg1 is, for example, 200 m, but is not limited to 200 m.

The safety control distance Sf1 is that when there is a communication obstacle such as a building, although communication may be blocked, the operation terminal 50 can control and relay the drone 30 as long as it is not affected by a communication obstacle such as a building. The distance between the farthest position of the communication. Therefore, when the relay drone 30 is within the range of the safety control distance Sf1 of the operation terminal 50, communication between the operation terminal 50 and the relay drone 30 may be blocked by a communication obstacle such as a building. However, communication can still be performed between the operation terminal 50 and the relay drone 30. The safety control distance Sf1 is, for example, 3000 m, but is not limited to 3000 m.

The tracking height range RNG1 indicates that in order to make the relay drone 30 to the operation terminal 50 The communication with the drone 100 is relayed, and the range of flight height during the flight maintained during the flight of the relay drone 30. The tracking height range RNG1 is, for example, 100 m to 500 m, but is not limited to 100 m to 500 m.

Next, in the communication relay system 10 of the present embodiment, three embodiments in which the relay drone 30 relays communication between the operation terminal 50 and the work drone 100 will be described in order.

(Example 1)

FIG. 6 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay in the first embodiment. In FIG. 6, the position Ps1 where the operation terminal 50 is located corresponds to the semicircle center position when the safety control distance Sf1 from the position of the operation terminal 50 is indicated by a semicircle.

As shown in FIG. 6, when the relay drone 30 is flying at the position Ps2 in the sky, the distance between the operation terminal 50 and the relay drone 30 does not exceed the aforementioned safety control distance Sf1. Therefore, although the communication between the operation terminal 50 and the relay drone 30 may be blocked by a communication obstacle such as a building, the communication between the operation terminal 50 and the work drone 100 may be relayed by the drone. 30 relay.

On the other hand, when the relay drone 30 is flying at the position Ps3 in the sky, the distance between the operation terminal 50 and the relay drone 30 exceeds the aforementioned safety control distance Sf1. Therefore, the communication between the operation terminal 50 and the relay drone 30 is blocked by a communication obstacle such as a building, and the relay drone 30 indicates a predetermined alarm (see FIG. 7) to the operation terminal 50. . Thereby, the user can move through the relay drone 30 by moving to the position within the security control distance Sf1 by the distance between the operation terminal 50 and the relay drone 30 while maintaining the operation terminal 50. Relaying of communication between the drone 100 and the operating terminal 50.

FIG. 7 is a flowchart showing an example of an operation sequence of communication relay of the relay drone 30 of the first embodiment. In the description of Fig. 7, reference is made to Fig. 6 as appropriate.

In FIG. 7, the work drone tracking unit 35 of the relay aircraft 30 performs various processes related to the tracking of the work drone 100 (S1).

Specifically, the work drone tracking unit 35 extracts the position information of the work drone 100 transmitted from the work drone data receiving unit 33 (S11), and the extraction is performed by the relay drone 30. The calculated position information of the relay drone 30 (S12) extracts the position information of the operation terminal 50 transmitted from the terminal data receiving unit 31 (S13). The order of execution of the processes of steps S11 to S13 is not limited.

Further, the work drone tracking unit 35 calculates the work drone 100 and the relay drone 30 using the position information of each of the work drone 100 and the relay drone 30 extracted in steps S11 and S12. The relative distance D1 between the horizontal directions (see Fig. 6, an example of the first distance) (S14). The work drone tracking unit 35 calculates the relative orientation between the relay drone 30 and the operation terminal 50 using the position information of each of the relay drone 30 and the operation terminal 50 extracted in steps S12 and S13. Distance D3 (see Fig. 6, an example of the second distance) (S15).

The relay drone control unit 36 of the relay drone 30 performs processing related to relaying of communication between the operation terminal 50 and the work drone 100 using the processing result of step S1 (S2).

Specifically, the relay drone control unit 36 determines whether or not the relative distance D3 calculated in step S15 is equal to or less than the aforementioned safety control distance Sf1 (for example, 3000 m) (S21).

When the relay drone control unit 36 determines that the relative distance D3 is equal to or less than the safety control distance Sf1 (S21, YES), it is determined whether or not the relative distance D1 calculated in step S14 is equal to or greater than the aforementioned tracking distance Tr1 (for example, 10 m). (S22).

When it is determined that the relative distance D1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 controls the flight of the relay drone 30 to fly and move so as to be between the work drone 100 and the work drone 100. The relative distance D1 becomes the tracking distance Tr1 (S23). As a result, even when the distance from the work drone 100 exceeds the tracking distance Tr1, the relay drone 30 can move in accordance with the movement of the work drone 100, so that the operation terminal 50 and the work can be stably performed. The communication between the drones 100 is relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance D1 is smaller than the tracking distance Tr1 (S22, NO), it controls the flight of the relay drone 30 to hover (ie, maintains the current flight position and Continue to fly) (S24). Thereby, since the relative distance D1 with the work drone 100 is within the tracking distance Tr1, the relay drone 30 can stably operate the operation terminal 50 and the job without being actively hovering. The communication between the humans 100 is relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance D3 exceeds the safety control distance Sf1 (S21, NO), the communication between the relay drone 30 and the operation terminal 50 is broken. The alarm is instructed (sent) as a predetermined alarm to the operation terminal 50 (S25). Thereby, the user can move through the relay drone 30 by moving to the position within the security control distance Sf1 by the distance between the operation terminal 50 and the relay drone 30 while maintaining the operation terminal 50. Relaying of communication between the drone 100 and the operating terminal 50.

After the step S2, for example, when a control command (command) indicating the end of the flight of the relay drone 30 is transmitted from the operation terminal 50 (S3, YES), the relay drone 30 ends the flight. On the other hand, after step S2, for example, when a control command (command) indicating that the flight of the relay drone 30 is ended is not transmitted from the operation terminal 50 (S3, NO), the relay drone 30 continues to fly, so The process of the relay drone 30 returns to step S1, and the processes of steps S1 and S2 are repeated, respectively, until the flight of the relay drone 30 is over.

(Example 2)

8 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay in the ascending mode in the second embodiment. FIG. 9 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay in the relay mode of the second embodiment. In FIGS. 8 and 9, the position Ps1 where the operation terminal 50 is located corresponds to the semicircle center position when the safety control distance Sf1 from the position of the operation terminal 50 is indicated by a semicircle.

The ascending mode means that, for example, the relay drone 30 does not rise to a sufficient flying height capable of stably relaying communication between the operation terminal 50 and the work drone 100, and the relay drone 30 is relayed. The flight mode up to the same flying height as the operating drone 100. On the other hand, the relay mode means that, for example, the relay drone 30 rises to a sufficient flying height to stably communicate the communication between the operation terminal 50 and the work drone 100, The drone 30 can also follow the movement of the work drone 100 to move and relay the flight mode.

As shown in FIG. 8, when the relay drone 30 is located at the position Ps4 in the upper air, it does not rise to a sufficient degree to stably relay the communication between the operation terminal 50 and the work drone 100. height. That is, the relay drone 30 shown in FIG. 8 is on The state up to the same flying height as the working drone 100 (in other words, in the ascending mode).

As shown in FIG. 9, when the relay drone 30 is located at the position Ps5 in the upper air, it is sufficient to have been able to stably relay the communication between the operation terminal 50 and the work drone 100. The state of flight height. That is, the relay drone 30 shown in FIG. 9 is in a state in which it has risen to the same flying height as the work drone 100 (in other words, in the relay mode).

FIG. 10 is a flowchart showing an example of an operational sequence of communication relay of the relay drone 30 of the second embodiment. In the description of Fig. 10, reference is made to Fig. 8 or Fig. 9 as appropriate. In addition, in the description of FIG. 10, the same step numbers are added to the same processes as those described in FIG. 7, and the description is simplified or omitted.

In FIG. 10, the work drone tracking unit 35 of the relay aircraft 30 performs various processes related to the tracking of the work drone 100 (S1A).

The work drone tracking unit 35 calculates the position between the work drone 100 and the relay drone 30 using the position information of each of the work drone 100 and the relay drone 30 extracted in steps S11 and S12. The relative distance L1 in the horizontal direction (see FIGS. 8 and 9, an example of the first distance) (S16). The work drone tracking unit 35 calculates the relative distance L0 in the horizontal direction between the work drone 100 and the operation terminal 50 using the position information of each of the work drone 100 and the operation terminal 50 extracted in steps S11 and S13. (See Fig. 8, Fig. 9, an example of the third distance) (S17). The work drone tracking unit 35 calculates the relative orientation between the relay drone 30 and the operation terminal 50 using the position information of each of the relay drone 30 and the operation terminal 50 extracted in steps S12 and S13. The distance L2 (see Fig. 6, an example of the second distance) (S18).

The relay drone control unit 36 of the relay drone 30 performs relaying of the communication between the operation terminal 50 and the work drone 100 in accordance with the processing result of step S1A, corresponding to the rising mode or the relay mode. Processing (S2A).

The relay drone control unit 36 determines whether or not the relative distance L0 calculated in step 17 is equal to or less than the aforementioned direct control distance Cnt1 (for example, 30 m) (S26).

When the relay drone control unit 36 determines that the relative distance L0 is equal to or less than the direct control distance Cnt1 (S26, YES), the relay terminal control unit 36 can stably operate the operation terminal 50 and the work. Since the communication between the drones 100 is sufficiently high in the degree of relaying, the ascending mode is set to the flight mode of the relay drone 30, and various processes corresponding to the ascending mode are executed. Thereby, the relay drone 30 can efficiently control its own flying height so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed, and the drone can also be maintained. 100 tracks the distance to fly.

Specifically, the relay drone control unit 36 calculates the work drone 100 and the relay drone using the position information of each of the work drone 100 and the relay drone 30 extracted in steps S11 and S12. The difference in flying height between 30 is K1 (see Figures 8 and 9). The relay drone control unit 36 determines whether or not the flying height difference K1 is equal to or greater than a predetermined tracking height difference (for example, 20 m) (S27).

When it is determined that the flying height difference K1 is equal to or greater than a predetermined tracking height difference (S27, YES), the relay drone control unit 36 increases the flying height in order to perform the same flying height as the flying height of the working drone 100. And rise (S28). Thereby, the relay drone 30 can be raised to a sufficient flying height that can stably relay communication between the operation terminal 50 and the work drone 100.

On the other hand, when the relay drone control unit 36 determines that the flying height difference K1 is smaller than the predetermined tracking height difference (S27, NO), it is determined whether or not the relative distance L1 calculated in step S16 is at the aforementioned tracking distance Tr1. (for example, 10 m) or more (S22).

When it is determined that the relative distance L1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 controls the flight of the relay drone 30 to fly and move so as to be between the work drone 100 and the work drone 100. The relative distance L1 becomes the tracking distance Tr1 (S23). As a result, even when the distance from the work drone 100 exceeds the tracking distance Tr1, the relay drone 30 can move in accordance with the movement of the work drone 100, so that the operation terminal 50 and the work can be stably performed. The communication between the drones 100 is relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is smaller than the tracking distance Tr1 (S22, NO), it controls the flight of the relay drone 30 to hover (ie, maintains the current flight position and Continue to fly) (S24). Thereby, since the relative distance L1 with the work drone 100 is within the tracking distance Tr1, the relay drone 30 can stably operate the operation terminal 50 and the job without being actively hovering. The communication between the humans 100 is relayed.

On the other hand, when it is determined that the relative distance L0 exceeds the direct control distance Cnt1 (S26, NO), the relay drone control unit 36 has risen to be stable between the operation terminal 50 and the work drone 100. Since the communication has a sufficient flying height to the extent of relaying, the relay mode is set to the flight mode of the relay drone 30, and various processes corresponding to the relay mode are executed. Thereby, the relay drone 30 can efficiently control its own flight position so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed, and the drone can also be maintained. 100 tracks the distance to fly.

Specifically, the relay drone control unit 36 controls the flying height to be constant so that the current flying height becomes the above-described tracking height Hg1 (for example, 200 m), and performs control of raising or lowering the relay drone 30 (S29). Thus, the relay drone 30 can stably communicate with the work drone 100 and the operation terminal 50 while maintaining the same flying height as the work drone 100 that has risen to the tracking height Hg1, for example. Relay.

After the step S29, the relay drone control unit 29 determines whether or not the relative distance L2 calculated in the step S18 is equal to or greater than the above-described safety control distance Sf1 (for example, 3000 m) (S30).

When the relay drone control unit 36 determines that the relative distance L2 is smaller than the safety control distance Sf1 (No in S30), it is determined whether or not the relative distance L1 calculated in step S16 is equal to or larger than the aforementioned tracking distance Tr1 (for example, 10 m) ( S22).

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is smaller than the tracking distance Tr1 (S22, NO), it controls the flight of the relay drone 30 to hover (ie, maintains the current flight position and Continue to fly) (S24). Thereby, since the relative distance L1 with the work drone 100 is within the tracking distance Tr1, the relay drone 30 can stably operate the operation terminal 50 and the job without being actively hovering. Man-machine Communication between 100 is relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L2 exceeds the safety control distance Sf1 (S30, NO), the communication between the relay drone 30 and the operation terminal 50 is broken. The alarm is instructed (sent) as a predetermined alarm to the operation terminal 50 (S25). Thereby, the user can move through the relay drone 30 by moving to the position within the security control distance Sf1 by the distance between the operation terminal 50 and the relay drone 30 while maintaining the operation terminal 50. Relaying of communication between the drone 100 and the operating terminal 50.

After the step S2A, for example, when a control command (command) indicating the end of the flight of the relay drone 30 is transmitted from the operation terminal 50 (S3, YES), the relay drone 30 ends the flight. On the other hand, after step S2A, for example, when a control command (command) indicating that the flight of the relay drone 30 is ended is not transmitted from the operation terminal 50 (S3, NO), the relay drone 30 continues to fly, so The processing of the relay drone 30 returns to step S1A, and the processes of steps S1A and S2A are repeated, respectively, until the flight of the relay drone 30 is over.

(Example 3)

FIG. 11 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay in the relay mode of the third embodiment. In the third embodiment, the relay drone 30 is different from the first and second embodiments in that the flying height during the flight is controlled within the tracking height range RNG1 according to the flying height of the working drone 100. Thereby, communication between the work drone 100 and the operation terminal 50 is relayed.

As shown in FIG. 11, when the drone 100 is flying within the tracking height range RNG1, the relay drone 30 flies above the same flying height as the working drone 100 (see, for example, position Ps6). ).

Further, when the drone 100 is flying over the tracking height range RNG1, the relay drone 30 flies on the basis of the flying height rising to the upper limit of the tracking height range RNG1 (see, for example, the position Ps7).

Further, when the drone 100 is flying at a lower altitude than the tracking height range RNG1, the relay drone 30 flies on the basis of the flying height descending to the lower limit of the tracking height range RNG1 (see, for example, the position Ps8).

FIG. 12 is a communication relay in the relay mode of the relay drone 30 of the third embodiment. A flow chart of an example of the sequence of actions. In the third embodiment and the second embodiment, the execution contents of the processing of the work drone tracking unit 35 are the same, and the description of the same contents will be omitted. Further, in the third embodiment and the second embodiment, the processing of the relay drone control unit 36 differs only in the case of the relay mode, and the processing in the ascending mode is the same. Therefore, the processing in the ascending mode is performed with reference to FIG. Since the description is omitted, the description will be omitted again in the third embodiment. Therefore, in FIG. 12, only the processing in the relay mode different from the processing in the relay mode of the relay drone control unit 36 in FIG. 9 is shown, but in Embodiment 3, the relay mode The processing other than the time is the same as that of the second embodiment, and therefore the description of the same contents will be omitted.

In the third embodiment, when it is determined that the relative distance L0 exceeds the direct control distance Cnt1 (S26, NO), the relay drone control unit 36 has risen to be able to stably operate the operation terminal 50 and the work drone 100. Since the communication is performed at a sufficient flying height to the extent of the relay, the relay mode is set to the flight mode of the relay drone 30, and various processes corresponding to the relay mode are executed. Thereby, the relay drone 30 can efficiently control its own flight position so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed, and the drone can also be maintained. 100 tracks the distance to fly.

In FIG. 12, the relay drone control unit 36 determines whether or not the flying height of the work drone 100 is in the tracking height range RNG1 using the position information (including the height information) of the work drone 100 extracted in step S11. The range from the lower limit to the upper limit (S31).

When it is determined that the flying height of the working drone 100 is within the range from the lower limit of the tracking height range RNG1 to the upper limit (S31, YES), the relay drone control unit 36 controls the flight of the relay drone 30 and moves. The flying height of the relay drone 30 is made the same as the flying height of the work drone 100 (S32). Thereby, the relay drone 30 can fly at the same flying height as the work drone 100 flying within the predetermined tracking height range RNG1, and thus can stably operate between the operation terminal 50 and the work drone 100. Communication is relayed.

After step S32, the relay drone control unit 36 determines whether or not the relative distance L2 calculated in step S18 is equal to or greater than the above-described safety control distance Sf1 (for example, 3000 m) (S30).

The relay drone control unit 36 determines that the relative distance L2 is smaller than the safety control distance In the case of Sf1 (No in S30), it is determined whether or not the relative distance L1 calculated in the step S16 is equal to or larger than the aforementioned tracking distance Tr1 (for example, 10 m) (S22).

When it is determined that the relative distance L1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 controls the flight of the relay drone 30 to fly and move so as to be between the work drone 100 and the work drone 100. The relative distance L1 becomes the tracking distance Tr1 (S23). Thereby, the relay drone 30 can follow the movement of the work drone 100 even when the distance from the work drone 100 exceeds the tracking distance Tr1, while maintaining the same flying height as the work drone 100. The flight height is simultaneously moved, so that communication between the operation terminal 50 and the work drone 100 can be stably relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is smaller than the tracking distance Tr1 (S22, NO), it controls the flight of the relay drone 30 to hover (ie, maintains the current flight position and Continue to fly) (S24). Thereby, since the relative distance L1 with the work drone 100 is within the tracking distance Tr1 while maintaining the same flying height, the relay drone 30 can be stabilized without being actively moved and hovering. The communication between the operation terminal 50 and the work drone 100 is relayed.

On the other hand, when the relay drone control unit 36 determines that the flying height of the work drone 100 is not within the range from the lower limit of the tracking height range RNG1 to the upper limit (S31, NO), the relay drone is enabled. The flying height of 30 is close to the flying height of the working drone 100, and the flying height is moved in accordance with the lower limit or the upper limit of the tracking height range RNG1 (S33). Thereby, the relay drone 30 can fly in the predetermined tracking height range RNG1 and in the direction approaching the work drone 100, so that communication between the operation terminal 50 and the work drone 100 can be stably performed. Relay.

The relay drone control unit 36 determines that the calculation is performed in step S18 after step S33. Whether or not the relative distance L2 is equal to or greater than the aforementioned safety control distance Sf1 (for example, 3000 m) (S30).

When it is determined that the relative distance L1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 controls the flight of the relay drone 30 to fly and move so as to be between the work drone 100 and the work drone 100. The relative distance L1 becomes the tracking distance Tr1 (S23). Thereby, even when the distance from the work drone 100 exceeds the tracking distance Tr1, the relay drone 30 can follow the movement of the work drone 100 while maintaining the flying height in the tracking height range RNG1. Since it moves in the direction approaching the work drone 100, communication between the operation terminal 50 and the work drone 100 can be stably relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is smaller than the tracking distance Tr1 (S22, NO), it controls the flight of the relay drone 30 to hover (ie, maintains the current flight position and Continue to fly) (S24). Thereby, since it is possible to move in the direction approaching the work drone 100 while maintaining the flying height in the tracking height range RNG1, and since the relative distance L1 with the work drone 100 is within the tracking distance Tr1, The relay drone 30 can stably relay communication between the operation terminal 50 and the work drone 100 in a state where it does not have to be actively moved and hovered.

The present disclosure has been described above by way of embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. It will be obvious to those skilled in the art that various changes or modifications may be made to the above-described embodiments. It will also be apparent from the description of the claims that such modifications or improvements can be included in the techniques of the present invention. Within the scope of surgery.

The order of execution of the processes, the procedures, the steps, the stages, and the like in the devices, the systems, the procedures, and the methods in the claims, the description, and the drawings, unless specifically stated as "before" , "prior", etc., as long as the output of the previous processing is not used in the subsequent processing, it can be implemented in any order. The operation flow in the claims, the description, and the drawings of the specification has been described using "first", "next", etc. for convenience, but does not mean that it must be implemented in this order.

Symbol Description

10 communication relay system

30 relay drone

31 Terminal Data Receiving Department

32 operating drone data transmission department

33 Operation UAV Data Receiving Department

34 terminal data transmission department

35 Operation Drone Tracking Department

36 Relay UAV Control Department

50 operating terminal

51 Processing Department

52 memory

53 Wireless Communication Department

53R receiving department

53T sending department

54 display

55 Operation Department

56 input and output interface

57 memory

58 battery

100 working drone

101 Operation Drone Receiving Department

103 Job Drone Sending Department

105 Operation UAV Processing Department

107 Operation UAV Control Department

110 UAV Control Department

120 memory

130 rotor mechanism

140 GPS receiver

150 inertial measurement device

160 magnetic compass

170 barometer

180 mm wave radar

190 wind speed and direction meter

240 memory

250 communication interface

260 battery

CAM1, CAM2 camera

GIM Yuntai

Claims

A communication relay method is a communication relay method for relaying communication between an operation terminal and a work aircraft that performs a predetermined operation, and has:

Obtaining a state of the flight of the work aircraft; and

A step of controlling a state of the relay flying body that relays the communication between the operation terminal and the work aircraft according to the state of the work aircraft.
The communication relay method according to claim 1, wherein

The step of acquiring the state of the working flying body includes the step of acquiring position information of the working flying body,

The step of controlling the state of the relay flying body includes the step of controlling the flying height of the relay flying body based on the position information of the working flying body.
The communication relay method according to claim 1 or 2, wherein

The step of acquiring the state of the working flying body includes the step of calculating a first distance between the working flying body and the relay flying body,

The step of controlling the state of the relay flying body includes the step of moving to make the first distance become the tracking distance when the first distance is above a predetermined tracking distance.
The communication relay method according to claim 1 or 2, wherein

The step of acquiring the state of the working flying body includes the step of calculating a first distance between the working flying body and the relay flying body,

The step of controlling the state of the relay flying body includes the step of continuing the flight of the current flight position when the first distance is less than a predetermined tracking distance.
The communication relay method according to claim 1 or 2, wherein

The step of acquiring the state of the working flying body includes the step of calculating a second distance between the operating terminal and the relay flying body,

The step of controlling the state of the relay flying body includes indicating, when the second distance is above a predetermined safety control distance, an alarm indicating a failure in communication between the operating terminal and the relay flying body Steps to operate the terminal.
The communication relay method according to claim 1 or 2, wherein

The step of acquiring the state of the working flying body includes the step of calculating a third distance between the working flying body and the operating terminal,

The step of controlling the state of the relay flying body includes the step of performing a rising mode of the relaying flying body when the third distance is below a predetermined direct control distance.
The communication relay method according to claim 6, wherein

The steps of performing the rising mode of the relay flying body include:

Calculating a flight height difference between the working aircraft and the relay flying body;

When the flying height difference is equal to or greater than a predetermined tracking height difference, a step of flying at the same flying height as the flying height of the working flying body is performed.
The communication relay method according to claim 6, wherein

The step of acquiring the state of the working flying body includes the step of calculating a first distance between the working flying body and the relay flying body,

The steps of performing the rising mode of the relay flying body include:

Calculating a flight height difference between the working aircraft and the relay flying body;

And when the flying height difference is less than a predetermined tracking height difference and the first distance is above a predetermined tracking distance, moving to make the first distance become the tracking distance.
The communication relay method according to claim 6, wherein

The step of acquiring the state of the working flying body includes the step of calculating a first distance between the working flying body and the relay flying body,

The steps of performing the rising mode of the relay flying body include:

Calculating a flight height difference between the working aircraft and the relay flying body;

The step of continuing the flight of the current flight position when the difference in flying height is less than a predetermined tracking height difference and the first distance is less than a predetermined tracking distance.
The communication relay method according to claim 1 or 2, wherein

The step of acquiring the state of the working flying body includes calculating the working flying body a step of a third distance from the operating terminal,

The step of controlling the state of the relay flying body includes the step of performing a relay mode of the relay flying body when the third distance is below a predetermined direct control distance.
The communication relay method according to claim 10, wherein

The step of performing the ascending mode of the relaying flying body includes the step of performing a flight that causes the flying height of the relaying flying body to be a predetermined tracking height.
The communication relay method according to claim 11, wherein

The step of acquiring the state of the working flying body includes the step of calculating a second distance between the operating terminal and the relay flying body,

The step of performing the relay mode of the relay flying body includes indicating, when the second distance is above a predetermined safety control distance, an alarm indicating that a failure occurs in communication between the operation terminal and the relay flying body The step of operating the terminal.
The communication relay method according to claim 11, wherein

The steps of obtaining the status of the working flying body include:

Calculating a first distance between the working aircraft and the relay flying body;

Calculating a second distance between the operation terminal and the relay flying body,

Performing the rising mode of the relay flying body includes moving when the second distance is less than a predetermined safety control distance and the first distance is above a predetermined tracking distance to make the first distance become The step of tracking the distance.
The communication relay method according to claim 11, wherein

The steps of obtaining the status of the working flying body include:

Calculating a first distance between the working aircraft and the relay flying body;

Calculating a second distance between the operation terminal and the relay flying body,

The step of performing the ascending mode of the relay flying body includes the step of continuing the flight of the current flight position when the second distance is less than a predetermined safety control distance and the first distance is less than a predetermined tracking distance.
The communication relay method according to claim 11, wherein

Obtaining the state of the working flying body includes acquiring the working flying body Flight height steps,

The step of performing the relay mode of the relay flying body includes performing a flight that becomes the same flying height as the flying height of the working flying body when the flying height of the working flying body is within a predetermined tracking height range step.
The communication relay method according to claim 11, wherein

The step of acquiring the state of the working flying body includes the step of acquiring the flying height of the working flying body,

The step of performing the relay mode of the relay flying body includes moving to a flying height of an upper limit or a lower limit of the tracking height range when the flying height of the working flying body is outside a predetermined tracking height range to approach the The steps of the working flight.
A communication relay method according to claim 15 or 16, wherein

The step of acquiring the state of the working flying body includes the step of calculating a second distance between the operating terminal and the relay flying body,

The step of performing the relay mode of the relay flying body includes indicating, when the second distance is above a predetermined safety control distance, an alarm indicating that a failure occurs in communication between the operation terminal and the relay flying body The step of operating the terminal.
A communication relay method according to claim 15 or 16, wherein

The steps of obtaining the status of the working flying body include:

Calculating a first distance between the working aircraft and the relay flying body;

Calculating a second distance between the operation terminal and the relay flying body,

Performing the rising mode of the relay flying body includes moving when the second distance is less than a predetermined safety control distance and the first distance is above a predetermined tracking distance to make the first distance become The step of tracking the distance.
A communication relay method according to claim 15 or 16, wherein

The steps of obtaining the status of the working flying body include:

Calculating a first distance between the working aircraft and the relay flying body;

Calculating a second distance between the operation terminal and the relay flying body,

The step of performing the rising mode of the relay flying body includes small at the second distance The step of continuing the flight of the current flight position when the predetermined safety control distance is and the first distance is less than the predetermined tracking distance.
A relay flying body is a relay flying body that relays communication between an operation terminal and a work flying body that performs a predetermined operation, and has:

a control unit that performs processing related to relaying of the communication,

The control unit acquires a state of the work flying body, and controls a state of the relay flying body according to a state of the work flying body.
The relay flying body according to claim 20, wherein

The control unit acquires position information of the work aircraft in the acquisition of the state of the work aircraft, and controls the position of the work aircraft based on the position information of the work aircraft in the control of the state of the relay aircraft The flying height of the relay flying body.
The relay flying body according to claim 20, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, and in the control of the state of the relay flight body, When the first distance is above a predetermined tracking distance, movement is performed such that the first distance becomes the tracking distance.
The relay flying body according to claim 20 or 21, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, and in the control of the state of the relay flight body, When the first distance is less than the predetermined tracking distance, the flight of the current flight position is continued.
The relay flying body according to claim 20 or 21, wherein

The control unit calculates a second distance between the operation terminal and the relay flying body in the acquisition of the state of the work aircraft, and in the control of the state of the relay flight body, When the second distance is above a predetermined safety control distance, an alarm indicating that a failure occurs in communication between the operation terminal and the relay flying body is indicated to the operation terminal.
The relay flying body according to claim 20 or 21, wherein

The control unit calculates a third distance between the work aircraft and the operation terminal in the acquisition of the state of the work aircraft, in a state of the relay flying body In the control, when the third distance is below a predetermined direct control distance, the rising mode of the relay flying body is executed.
The relay flying body according to claim 25, wherein

The control unit calculates a difference in flying height between the working flying body and the relay flying body in execution of the rising mode of the relay flying body, and the predetermined difference in the flying height difference When the height difference is equal to or greater than the altitude, the flight having the same flying height as the flying height of the working aircraft is executed.
The relay flying body according to claim 25, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, in the execution of the ascending mode of the relay flying body Calculating a flight height difference between the working aircraft and the relay flying body, where the flying height difference is less than a predetermined tracking height difference, and the first distance is greater than a predetermined tracking distance Moving to make the first distance become the tracking distance.
The relay flying body according to claim 25, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, in the execution of the ascending mode of the relay flying body Calculating a flight height difference between the working aircraft and the relay flying body, and continuing the current when the flying height difference is less than a predetermined tracking height difference and the first distance is less than a predetermined tracking distance Flight in flight position.
The relay flying body according to claim 20 or 21, wherein

The control unit calculates a third distance between the work aircraft and the operation terminal in the acquisition of the state of the work aircraft, and in the control of the state of the relay flight body, The relay mode of the relay flying body is executed when the third distance is below a predetermined direct control distance.
The relay flying body according to claim 29, wherein

The control unit executes a flight in which the flying height of the relay flying body is a predetermined tracking height during execution of the rising mode of the relay flying body.
The relay flying body according to claim 30, wherein

The control unit calculates the operation in the acquisition of the state of the work aircraft a second distance between the terminal and the relay flying body, in the execution of the relay mode of the relay flying body, when the second distance is above a predetermined safety control distance, the operation terminal An alarm indicating a failure in communication with the relay flying body is indicated to the operating terminal.
The relay flying body according to claim 30, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, and calculates the operation terminal and the relay flight a second distance between the bodies, in the execution of the rising mode of the relay flying body, when the second distance is less than a predetermined safety control distance, and the first distance is above a predetermined tracking distance Moving to make the first distance become the tracking distance.
The relay flying body according to claim 30, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, and calculates the operation terminal and the relay flight a second distance between the bodies, in the execution of the rising mode of the relay flying body, when the second distance is less than a predetermined safety control distance, and the first distance is less than a predetermined tracking distance, continuing the current Flight in flight position.
The relay flying body according to claim 30, wherein

The control unit acquires a flying height of the working flying body in the acquisition of the state of the working flying body, and in the execution of the relay mode of the relay flying body, the flying height of the working flying body When it is within the predetermined tracking height range, the flight that becomes the same flying height as the flying height of the working flying body is executed.
The relay flying body according to claim 30, wherein

The control unit acquires a flying height of the working flying body in the acquisition of the state of the working flying body, and in the execution of the relay mode of the relay flying body, the flying height of the working flying body When outside the predetermined tracking height range, the flying height is moved to the upper or lower limit of the tracking height range to approach the working flying body.
The relay flying body according to claim 34 or 35, wherein

The control unit calculates a second distance between the operation terminal and the relay flying body in the acquisition of the state of the working flying body, and a relay mode in the relay flying body In the execution of the formula, when the second distance is above a predetermined safety control distance, an alarm indicating that a failure occurs in communication between the operation terminal and the relay flying body is indicated to the operation terminal.
The relay flying body according to claim 34 or 35, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, and calculates the operation terminal and the relay flight a second distance between the bodies, in the execution of the rising mode of the relay flying body, when the second distance is less than a predetermined safety control distance, and the first distance is above a predetermined tracking distance Moving to make the first distance become the tracking distance.
The relay flying body according to claim 34 or 35, wherein

The control unit calculates a first distance between the work aircraft and the relay flying body in the acquisition of the state of the work aircraft, and calculates the operation terminal and the relay flight a second distance between the bodies, in the execution of the rising mode of the relay flying body, when the second distance is less than a predetermined safety control distance, and the first distance is less than a predetermined tracking distance, continuing the current Flight in flight position.
A recording medium recording a computer-readable recording medium on which a program for relaying communication between an operation terminal and a work aircraft that performs a predetermined job, that is, a relay flying body, performs the following steps:

Obtaining a state of the flight of the work aircraft; and

A step of controlling a state of the relay flying body that relays the communication between the operation terminal and the work aircraft according to the state of the work aircraft.