WO2019189077A1 - Drone, son procédé de commande et programme - Google Patents

Drone, son procédé de commande et programme Download PDF

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Publication number
WO2019189077A1
WO2019189077A1 PCT/JP2019/012686 JP2019012686W WO2019189077A1 WO 2019189077 A1 WO2019189077 A1 WO 2019189077A1 JP 2019012686 W JP2019012686 W JP 2019012686W WO 2019189077 A1 WO2019189077 A1 WO 2019189077A1
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WIPO (PCT)
Prior art keywords
drone
caught
foreign object
landing
flight
Prior art date
Application number
PCT/JP2019/012686
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English (en)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
Original Assignee
株式会社ナイルワークス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ナイルワークス filed Critical 株式会社ナイルワークス
Priority to JP2020510856A priority Critical patent/JP6795244B2/ja
Priority to CN201980010980.4A priority patent/CN111670418B/zh
Publication of WO2019189077A1 publication Critical patent/WO2019189077A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D25/00—Emergency apparatus or devices, not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/299—Rotor guards

Definitions

  • the present invention relates to a flying object (drone), in particular, a drone with improved safety, a control method therefor, and a program.
  • the drone can know the absolute position of its own aircraft accurately in centimeters during flight. Even in farmland with a narrow and complex terrain typical in Japan, it is possible to fly autonomously with a minimum of manual maneuvering, and to disperse medicines efficiently and accurately.
  • a drone that can maintain high safety that is, an unmanned air vehicle can be provided.
  • a drone includes a flying unit, a flight control unit that operates the flying unit, and a hook that determines whether or not a foreign object is caught and generates a detection signal.
  • the operation of shaking the drone may be an action of repeatedly moving the drone forward and backward with respect to the traveling direction.
  • the landing operation may be an operation in which landing is performed at a lower speed than normal landing.
  • the catch detection unit determines whether or not the foreign object is still caught, and if it is determined that the foreign object is caught, the second A detection signal may be generated, and the flight control unit may repeat the drone based on the second detection signal.
  • the catch detection unit determines whether a foreign object is still caught, and if it is determined that the foreign object is caught, generates a third detection signal, The flight control unit may land the drone based on the third detection signal.
  • the hook detection unit may generate a detection signal by detecting whether or not a foreign object is caught based on one or more information of acceleration, angular velocity, moving speed, absolute position, and thrust. .
  • the drone can safely perform the normal landing based on one or more information of acceleration, angular velocity, moving speed, absolute position, and thrust during normal landing operation. If it is determined that the safe normal landing cannot be performed, a landing operation different from the normal landing may be performed.
  • the hook detection unit may determine that a foreign object is caught on the drone when the acceleration is decelerated more than a predetermined time within a predetermined time.
  • the hook detection unit compares the difference between the absolute position and the planned flight path, and the difference between the absolute position and the planned flight path starts the flight operation to the planned flight path. It may be determined that a foreign object is caught on the drone when the predetermined time is exceeded after a predetermined time has elapsed.
  • the hook detection unit compares a difference between the measured thrust and a command value of the thrust, and determines that a foreign object is caught on the drone when the difference between the thrust and the command value is greater than or equal to a predetermined value. It is good.
  • a medicine control unit that controls whether or not medicine is discharged from the drone to the outside may be further provided, and the medicine control unit may stop discharging the medicine based on the detection signal.
  • the catch detection unit determines whether or not a foreign object is caught on the drone in a state where the drone is landing. If it is determined that a foreign matter is caught, the flight control unit does not fly the drone. It may be a thing.
  • the hook detection unit determines whether or not a foreign object is caught on the drone until the drone has taken off and is in a hovering state, and when it is determined that a foreign object is caught,
  • the flight control unit may land the drone.
  • a drone control method includes a flight unit, a flight control unit that operates the flight unit, and whether or not a foreign object is caught and outputs a detection signal.
  • a method for controlling a drone comprising: a detection unit for generating a detection signal based on a determination step for determining whether a foreign object is caught and a determination that the foreign object is caught in the determination step; And a step of causing the drone to take an evacuation action based on the detection signal, wherein the evacuation action includes hovering, an operation of repeatedly driving the drone, an action of moving the drone backward, and the drone Including at least one action of landing to land.
  • the operation of shaking the drone may be an action of repeatedly moving the drone forward and backward with respect to the traveling direction.
  • the landing operation may be an operation in which landing is performed at a lower speed than normal landing.
  • the hook detection unit may generate a detection signal by detecting whether or not a foreign object is caught based on one or more information of acceleration, angular velocity, moving speed, absolute position, and thrust. .
  • the drone performs the normal landing safely based on one or more information of acceleration, angular velocity, moving speed, absolute position, and thrust.
  • the determination step may determine that a foreign object is caught on the drone when the acceleration is decelerated more than a predetermined value within a predetermined time.
  • the determination step compares the difference between the absolute position and the planned flight path, and the difference between the absolute position and the planned flight path is predetermined after the flight operation to the planned flight path is started. When there is a predetermined value or more after the elapse of time, it may be determined that a foreign object is caught on the drone.
  • the difference between the measured thrust and the command value of the thrust is compared, and when the difference between the thrust and the command value is greater than or equal to a predetermined value, it is determined that a foreign object is caught on the drone. Also good.
  • the apparatus may further include a medicine control unit that controls whether or not medicine is ejected from the drone to the outside, and further includes a step of stopping ejection of the medicine based on the detection signal.
  • a drone control program detects a flight signal, a flight control unit that operates the flight mechanism, and whether or not a foreign object is caught and outputs a detection signal.
  • a control program for a drone comprising a detection unit for generating a detection signal based on a determination command for determining whether or not a foreign object is caught and a determination that the foreign object is caught in the determination step
  • a command to generate and a command to cause the drone to take an evacuation action based on the detection signal, and the evacuation action includes hovering, an action of repeatedly driving the drone, an action of moving the drone backward, And at least one action of landing the drone.
  • the operation of shaking the drone may be an action of repeatedly moving the drone forward and backward with respect to the traveling direction.
  • the landing operation may be an operation in which landing is performed at a lower speed than normal landing.
  • An instruction to repeat the drone an instruction to determine whether a foreign object is still caught following the instruction to repeat, an instruction to land the drone when it is determined that a foreign object is caught, May be further executed by a computer.
  • the determination command may generate a detection signal by detecting whether or not a foreign object is caught based on one or more information of acceleration, angular velocity, moving velocity, absolute position, and thrust.
  • the drone can safely perform the normal landing based on one or more information of acceleration, angular velocity, moving speed, absolute position, and thrust during the normal landing operation and the normal landing operation. If it is determined that the safe normal landing cannot be performed, the computer may execute a command for performing a landing operation different from the normal landing.
  • the determination command may determine that a foreign object is caught on the drone when the acceleration is decelerated more than a predetermined value within a predetermined time.
  • the determination command compares the difference between the absolute position and the planned flight path, and the difference between the absolute position and the planned flight path is predetermined after the flight operation to the planned flight path is started. When there is a predetermined value or more after the elapse of time, it may be determined that a foreign object is caught on the drone.
  • the determination command is to compare the difference between the measured thrust and the command value of the thrust, and to determine that a foreign object is caught on the drone when the difference between the thrust and the command value is greater than or equal to a predetermined value. Also good.
  • the medicine control unit for controlling whether or not the medicine is discharged from the drone to the outside may be further provided, and the computer may further execute an instruction to stop the medicine discharge based on the detection signal.
  • An instruction for determining whether or not a foreign object is caught on the drone during the period from the time when the drone takes off to the state where it is hovering, and if it is determined that a foreign object is caught, the drone is landed The instructions may be further executed by a computer.
  • the computer program can be provided by downloading through a network such as the Internet, or can be provided by being recorded on various computer-readable recording media such as a CD-ROM.
  • a drone unmanned aerial vehicle that can maintain high safety even during autonomous flight.
  • Example of the drone It is a top view of the Example of the drone concerning this invention. It is a front view of the Example of the drone concerning this invention. It is a right view of the Example of the drone which concerns on this invention. It is an example of the whole conceptual diagram of the medicine distribution system using the example of the drone concerning the present invention. It is the schematic diagram showing the control function of the Example of the drone which concerns on this invention. It is a functional block diagram regarding the structure which detects the catch of the foreign material to the said drone which the said drone has. It is a flowchart which detects the catch of a foreign material by the catch detection part which the said drone has, when it takes off from the state where the said drone lands and it reaches a hovering state. It is a flowchart which detects the catch of a foreign material by the said catch detection part while the said drone is normal flight or hovering.
  • FIG. 1 is a plan view of an embodiment of the drone 100 according to the present invention
  • FIG. 2 is a front view thereof (viewed from the traveling direction side)
  • FIG. 3 is a right side view thereof.
  • drone refers to power means (electric power, prime mover, etc.) and control method (whether wireless or wired, autonomous flight type or manual control type).
  • power means electric power, prime mover, etc.
  • control method whether wireless or wired, autonomous flight type or manual control type.
  • the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b are means for flying the drone 100
  • the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are connected to the rotor blades 101-1a, 101-1b, 101-2a, 101- 2b, 101-3a, 101-3b, 101-4a, 101-4b
  • Rotating means typically an electric motor, but it may be a motor
  • the upper and lower rotors for example, 101-1a and 101-1b
  • their corresponding motors for example, 102-1a and 102-1b
  • the axes are collinear and rotate in opposite directions.
  • the radial member for supporting the propeller guard provided so that the rotor does not interfere with the foreign object is desirably a horizontal structure rather than horizontal. This is to prevent the member from buckling to the outside of the rotor blade and to interfere with the rotor at the time of collision.
  • medical agent generally refers to the liquid or powder disperse
  • the medicine tank 104 is a tank for storing medicine to be sprayed, and is preferably provided at a position close to the center of gravity of the drone 100 and lower than the center of gravity from the viewpoint of weight balance.
  • the chemical hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the chemical tank 104 and the chemical nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. And may also serve as a support for the drug nozzle.
  • the pump 106 is a means for discharging the medicine from the nozzle.
  • FIG. 4 shows an overall conceptual diagram of a system using an embodiment of the drug spraying application of the drone 100 according to the present invention.
  • the controller 401 is a means for transmitting a command to the drone 100 by an operation of the user 402 and displaying information received from the drone 100 (for example, position, amount of medicine, remaining battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that operates a computer program.
  • the drone 100 according to the present invention is desirably controlled so as to perform autonomous flight, but it is desirable that a manual operation can be performed at the time of basic operations such as takeoff and return, and in an emergency.
  • an emergency operating device with a dedicated emergency stop function may be used (the emergency operating device is a dedicated device equipped with a large emergency stop button, etc., so that it can respond quickly in an emergency.
  • the controller 401 and the drone 100 perform wireless communication using Wi-Fi or the like.
  • the field 403 is a rice field, a field, or the like that is a target of drug spraying by the drone 100.
  • the topography of the field 403 is complicated, and a topographic map cannot be obtained in advance, or the topographic map and the situation at the site may be different.
  • the farm 403 is adjacent to houses, hospitals, schools, other crop farms, roads, railways, and the like. Further, there may be an obstacle such as a building or an electric wire in the field 403.
  • the base station 404 is a device that provides a base unit function of Wi-Fi communication, etc., and preferably functions as an RTK-GPS base station so that the exact position of the drone 100 can be provided (Wi-Fi
  • the communication master unit and the RTK-GPS base station may be independent devices).
  • the farming cloud 405 is typically a computer group operated on a cloud service and related software, and is desirably wirelessly connected to the controller 401 via a mobile phone line or the like.
  • the farming cloud 405 may analyze the image of the field 403 taken by the drone 100, grasp the growth status of the crop, and perform processing for determining the flight route.
  • the drone 100 may be provided with the topographic information and the like of the stored farm 403.
  • the history of the flight of the drone 100 and the captured video may be accumulated and various analysis processes may be performed.
  • the drone 100 takes off from the landing point 406 outside the field 403 and returns to the landing point 406 after spraying the medicine on the field 403 or when it is necessary to refill or charge the medicine.
  • the flight route (intrusion route) from the landing point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the user 402 before the takeoff starts.
  • the flight controller 501 is a component that controls the entire drone. Specifically, the flight controller 501 may be an embedded computer including a CPU, a memory, related software, and the like.
  • the flight controller 501 receives motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on input information received from the pilot 401 and input information obtained from various sensors described below.
  • 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b are controlled to control the flight of the drone 100.
  • the actual rotational speed of motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b is fed back to the flight controller 501, and normal rotation is performed. It is desirable to have a configuration that can monitor whether Alternatively, a configuration in which an optical sensor or the like is provided on the rotor blade 101 and the rotation of the rotor blade 101 is fed back to the flight controller 501 may be employed.
  • the software used by the flight controller 501 is desirably rewritable through a storage medium or the like for function expansion / change, problem correction, or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by illegal software is not performed. Further, a part of calculation processing used for control by the flight controller 501 may be executed by another computer that exists on the pilot 401, the farming cloud 405, or in another place. Since the flight controller 501 is highly important, some or all of the components may be duplicated.
  • the battery 502 is a means for supplying power to the flight controller 501 and other components of the drone, and is preferably rechargeable.
  • the battery 502 is preferably connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker.
  • the battery 502 is desirably a smart battery having a function of transmitting the internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to the power supply function.
  • the flight controller 501 communicates with the pilot 401 via the Wi-Fi slave function 503 and further via the base station 404, receives necessary commands from the pilot 401, and sends necessary information to the pilot. It is desirable to be able to send to 401. In this case, it is desirable to encrypt the communication so that it is possible to prevent illegal acts such as interception, spoofing, and takeover of the device.
  • the base station 404 preferably has an RTK-GPS base station function in addition to a Wi-Fi communication function. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is highly important, it is desirable to duplicate or multiplex, and each redundant GPS module 504 should use a different satellite in order to cope with the failure of a specific GPS satellite. It is desirable to control.
  • the 6-axis gyro sensor 505 is means for measuring the acceleration of the drone body (and means for calculating the speed by integrating the acceleration).
  • the geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring geomagnetism.
  • the atmospheric pressure sensor 507 is a means for measuring atmospheric pressure, and can indirectly measure the altitude of the drone.
  • the laser sensor 508 is a means for measuring the distance between the drone body and the ground surface using the reflection of laser light, and it is preferable to use an IR (infrared) laser.
  • the sonar 509 is a means for measuring the distance between the drone body and the ground surface using reflection of sound waves such as ultrasonic waves. These sensors may be selected according to drone cost targets and performance requirements.
  • a gyro sensor for measuring the inclination of the aircraft
  • a wind sensor for measuring wind force
  • these sensors are preferably duplexed or multiplexed.
  • the flight controller 501 may use only one of them, and when a failure occurs, it may be switched to an alternative sensor.
  • a plurality of sensors may be used at the same time, and when each measurement result does not match, it may be considered that a failure has occurred.
  • the flow sensor 510 is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of locations in the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become a predetermined amount or less.
  • the multispectral camera 512 is a means for capturing the field 403 and acquiring data for image analysis.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the lens orientation are different from those of the multispectral camera 512, the obstacle detection camera 513 is preferably a device different from the multispectral camera 512.
  • the switch 514 is a means for the user 402 of the drone 100 to perform various settings.
  • Obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard part has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone.
  • the cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the internal maintenance cover are open.
  • the medicine inlet sensor 517 is a sensor that detects that the inlet of the medicine tank 104 is open. These sensors may be selected according to drone cost targets and performance requirements, and may be duplicated or multiplexed.
  • a sensor may be provided in the base station 404, the controller 401, or other place outside the drone 100, and the read information may be transmitted to the drone.
  • a wind sensor may be provided in the base station 404, and information regarding wind power and wind direction may be transmitted to the drone 100 via Wi-Fi communication.
  • the flight controller 501 transmits a control signal to the pump 106 to adjust the medicine discharge amount and stop the medicine discharge. It is desirable that the current situation (for example, the rotational speed) of the pump 106 is fed back to the flight controller 501.
  • the LED 107 is a display means for informing the drone operator of the drone status.
  • Display means such as a liquid crystal display may be used instead of or in addition to the LED.
  • the buzzer 518 is an output means for notifying a drone state (particularly an error state) by an audio signal.
  • the Wi-Fi handset function 519 is an optional component for communicating with an external computer or the like for software transfer or the like, separately from the controller 401. In place of or in addition to the Wi-Fi handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used.
  • the speaker 520 is an output means for notifying a drone state (particularly an error state) by a recorded human voice or synthesized voice. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 during the flight, and in such a case, the situation transmission by voice is effective.
  • the warning light 521 is a display unit such as a strobe light that notifies the drone state (particularly an error state).
  • a foreign object may be caught by the drone, and the drone may not be allowed to fly along the intended route. Therefore, it is desirable to have a function of detecting foreign matter caught on the drone and removing the foreign matter by the operation of the drone itself. Moreover, when a foreign material cannot be excluded, it is desirable to have a function of safely retracting the drone. In addition, when the drone is landing or when the drone is landing and taking off and hovering, it detects the catch of the foreign object. It is desirable to have a function that does not.
  • the foreign object means a predetermined drone usage such as flying in the flight and caught on the drone, garbage such as paper and vinyl bags, and the user hooking an unspecified baggage on the drone. Includes deposits when used beyond.
  • the drone 100 includes rotating blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b, Motor 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b, flight control unit 23, catch detection unit 24, and discharge from the drone A drug control unit 30 that controls the amount of the drug.
  • reference numerals for the rotor blades and the motor may be omitted.
  • the flight control unit 23 is a functional unit that controls the rotation speed and rotation direction of the rotor blades by controlling the motor, and causes the drone 100 to fly within the section intended by the user.
  • the flight control unit 23 is a CPU implemented by a microcomputer or the like, and is realized by the flight controller together with the medicine control unit 30.
  • the flight control unit 23 transmits a command value for the rotational speed of each motor for each motor.
  • the command value for the number of rotations of each motor is calculated from the planned flight path based on the input section information.
  • the flight path plan and command value calculation are performed on the farming cloud 405 shown in FIG. 4 and transmitted to the flight control unit 23 via the controller 401.
  • the flight control unit 23 controls take-off and landing of the drone 100.
  • the flight control unit 23 controls the evacuation behavior.
  • the evacuation behavior includes, for example, an air stop using hovering as an example, and “emergency return” that moves immediately to a predetermined return point by the shortest route.
  • the predetermined return point is a point that is previously stored in the flight control unit 23, for example, a point that has taken off.
  • the predetermined return point is a land point where the user 402 can approach the drone 100, for example, and the user 402 can check the drone 100 that has reached the return point or manually carry it to another location. can do.
  • the evacuation action includes an operation of repeatedly drone 100.
  • the operation of repeatedly moving the drone 100 is an operation of repeatedly moving the drone 100 forward and backward with respect to the traveling direction.
  • the shaking operation may be an operation of repeatedly moving the drone 100 to the left and right with respect to the traveling direction.
  • the swaying motion may be a motion that swings back and forth or from side to side about the center of the drone 100.
  • the evacuation action includes landing action.
  • “Landing operation” means “normal landing” that performs normal landing operation, “emergency landing” that descends and landers faster than normal landing, and all drones are stopped and the drone 100 is moved downward from the spot Including "Emergency stop” to drop.
  • the posture control in the normal state cannot be performed at the time of catching and the accuracy of the posture control is poor. Therefore, in “Emergency Landing”, not only landing at the same point as when performing normal landing while descending faster than normal landing and performing the same posture control as normal, but also the accuracy of posture control This includes the action to establish landing while the posture is slightly broken. As one specific example, by slowly and evenly reducing the rotational speed of all the motors, it is possible to reach the landing while descending, but not precisely below.
  • the landing operation may be performed at a lower speed than normal landing.
  • the flight control unit 23 may operate to control the flight of the drone 100 in the normal operation of the drone 100, or may be configured separately from the flight control means in the normal operation.
  • the flight control unit 23 may be a functional unit that operates only when a retreat action is taken when a catch is detected.
  • the drug control unit 30 is a control unit that controls the amount or timing of spraying the drug solution from the drug tank 104.
  • an opening / closing means for opening and closing the drug solution path is provided somewhere in the path from the drug tank 104 to each drug nozzle 103-1, 103-2, 103-3, 103-4.
  • Various emergency operations may be executed after the release of the chemical solution is blocked by the opening / closing means.
  • the medicine control unit 30 may stop the pump 106 before executing the retreat action. This is because spraying the medicine on a flight route different from the normal time causes an adverse effect such as an excessive spraying amount or spraying the medicine on a place where the medicine should not be sprayed.
  • the catch detection unit 24 is a functional unit that detects whether or not a foreign object is caught on the drone 100 so that stable flight is difficult.
  • the catch detection unit 24 detects whether or not a foreign object is caught in the state where the drone 100 is hovering, in flight, landing, and from landing to take off and hovering. Can do.
  • the hook detection unit 24 includes a state measurement unit 240 and a determination unit 241.
  • the state measuring unit 240 is a functional unit that measures a value indicating the state of the drone 100.
  • the value indicating the state of the drone is a value indicating the acceleration, absolute position, thrust of the propeller, the angular velocity, and the moving speed of the drone 100.
  • the state measuring unit 240 includes an acceleration measuring unit 242, a position measuring unit 243, a thrust measuring unit 244, an angular velocity measuring unit 245, and a moving velocity measuring unit 246.
  • the acceleration measuring unit 242 is a measuring unit that measures the acceleration of the drone 100. Specifically, it is a 6-axis gyro sensor 505. The acceleration measurement unit 242 may measure acceleration using a plurality of different types of sensors. The acceleration measuring unit 242 is configured to measure the acceleration finely at a continuous or higher sampling frequency than a predetermined value, and to measure sudden deceleration of acceleration that occurs when a foreign object is caught during the flight of the drone 100. .
  • the position measurement unit 243 is a measurement unit that measures the absolute position of the drone 100, and includes, for example, an RTK antenna and GPS modules RTK504-1 and 504-2. Further, the position measuring unit 252 may calculate the relative position from the predetermined position by integrating the acceleration value measured by the 6-axis gyro sensor 505 twice, and calculate the absolute position by converting the relative position. Good.
  • the position measuring unit 243 can measure the absolute position of the drone 100 with an accuracy capable of detecting a state where the drone 100 cannot move as planned when the drone 100 is caught by a foreign object during the flight.
  • the thrust measuring unit 244 is a functional unit that measures the number of revolutions of the motor to measure the thrust.
  • the thrust measurement unit 244 refers to a rotation measurement function arranged inside the motor itself, for example. That is, the thrust measuring unit 244 measures the thrust generated by the rotor blades controlled by the motor by measuring the rotational speed of the motor.
  • the thrust measuring unit 244 can measure the rotational speed with an accuracy capable of detecting a state in which the rotor blade cannot be rotated at the rotational speed according to the command value due to a foreign object.
  • the thrust measuring unit 244 may be a functional unit that measures the operating state of the propulsion device when the thrust of the drone is realized by a configuration other than the rotor blades.
  • the thrust measurement unit 244 may be a functional unit that measures the pressure of jet injection.
  • the angular velocity measuring unit 245 is a functional unit that measures the angular velocity of the drone 100.
  • the angular velocity measuring unit 245 measures the triaxial angular velocity using, for example, a six-axis gyro sensor 505.
  • the moving speed measuring unit 246 is a functional unit that measures the moving speed of the drone 100.
  • the moving speed measurement unit 246 estimates the body speed by integrating the acceleration value measured by the 6-axis gyro sensor 505.
  • the moving speed may be estimated by processing, with software, phase differences of radio waves from a plurality of GPS base stations that can be acquired by the GPS module Doppler 504-3. Further, the moving speed at a predetermined time may be calculated using the sonar 509 to estimate the moving speed.
  • the determination unit 241 is a functional unit that detects that a foreign object is caught on the drone based on a value indicating the state of the drone 100 measured by the state measurement unit 240.
  • the determining unit 241 determines that the drone 100 is caught by a foreign object when the acceleration measuring unit 242 measures acceleration that suddenly decelerates rapidly in a short time. The deceleration of the acceleration is assumed when a foreign object comes into contact with the drone 100 in a normal flight state.
  • the determination unit 241 may determine whether or not the drone 100 is caught by a foreign object based on the fact that the measured value of acceleration from a predetermined time before to the present has decreased by a predetermined value or more. Since the deceleration of acceleration occurs for a short time of about several hundred ms, for example, the determination unit 241 may use a measured value of acceleration from several hundred ms before to the present for determination.
  • the determination unit 241 compares the absolute position of the drone 100 measured by the position measurement unit 243 with the difference between the planned flight path. If the difference between the absolute position and the planned flight path is greater than or equal to a predetermined value, it is determined that a foreign object is caught on the drone 100.
  • the determination unit 241 may determine that a foreign object is caught on the drone 100 when the difference between the absolute position and the planned flight path is not less than a predetermined value even after a predetermined time has elapsed. Normally, after the target position is set, the drone 100 gradually approaches the target position and reaches the target position, but if the drone 100 is caught by a foreign object, the drone 100 cannot approach the target position and the target position is reached. This is because the difference between the position and the absolute position does not shrink.
  • the determination unit 241 compares the absolute position measured by the position measurement unit 243 a predetermined time before the current absolute position on the route planned to fly at a constant speed, and the position has not changed. In this case, it may be determined that a foreign object is caught on the drone 100.
  • the determination unit 241 compares the actual rotation number of the motor measured by the thrust measurement unit 244 with the command value of the rotation number that the flight control unit 23 transmits to the motor. If the difference between the actual rotational speed and the command value is greater than or equal to a predetermined value, the determination unit 241 determines that a foreign object is caught on the drone 100. In particular, the determination unit 241 determines that a foreign object is caught on the drone 100 when the actual rotational speed is lower than the command value and the difference between the actual rotational speed and the command value is greater than or equal to a predetermined value. This is because an event in which the rotational speed increases due to foreign matter caught on the drone 100 cannot occur.
  • the determination unit 241 may determine that a foreign object is caught on the drone 100 when the difference between the actual rotational speed and the command value is equal to or greater than a predetermined value even after a predetermined time has elapsed. Normally, after the command value is set, the motor speed gradually approaches the command value and reaches the command value, but if the drone 100, especially the rotor blade is caught by a foreign object, the motor speed is the command value. This is because the difference between the actual rotational speed and the command value cannot be reduced.
  • the determining unit 241 determines that a foreign object is caught on the drone 100.
  • the determination unit 241 determines that a foreign object is caught on the drone 100 when the angular velocity in at least one direction among the three-axis angular velocities changes abruptly. This is because the airframe may rotate suddenly when a foreign object is caught on the drone 100.
  • the determining unit 241 determines that a foreign object is caught on the drone 100 when the difference between the actual moving speed measured by the moving speed measuring unit 246 and the command value of the moving speed is greater than or equal to a predetermined value. In particular, the determination unit 241 determines that a foreign object is caught on the drone 100 when the actual moving speed is lower than the command value and the difference between the actual rotational speed and the command value is greater than or equal to a predetermined value. This is because an event in which the rotational speed increases due to foreign matter caught on the drone 100 cannot occur.
  • the determination unit 241 determines that a foreign object is caught on the drone 100 when the difference between the actual movement speed and the command value is equal to or greater than a predetermined value even after a predetermined time has elapsed. Also good.
  • the determination unit 241 may determine that a foreign object is caught when the moving speed becomes equal to or less than a predetermined value during the flight of the drone 100.
  • This predetermined value is a value in the vicinity of 0 km per hour. This is because if the drone 100 is caught by a foreign object, the movement of the drone 100 is hindered, and the drone 100 hardly moves from the point where the foreign object is caught.
  • the hook detection unit 24 performs a first determination during normal flight, and generates a first detection signal when a foreign object is detected in the first determination.
  • the hook detection unit 24 performs the second determination after the generation of the first detection signal, and generates a second detection signal when the foreign object is still detected in the second determination.
  • the hook detection unit 24 performs the third determination after the generation of the second detection signal, and generates a third detection signal when the foreign object is still detected in the third determination.
  • the catch detection unit 24 determines whether or not a foreign object is caught on the drone in a situation where the drone 100 takes off from the landing state based on each value measured by the state measurement unit 240. When a foreign object is detected, the hook detection unit 24 generates a take-off prohibition signal. The flight control unit 23 to which the takeoff prohibition signal is transmitted stops the operation for takeoff.
  • the motor stops rotating.
  • the operator is notified that the drone 100 is in a state where the take-off cannot be permitted through appropriate display means provided in the controller 401 or the drone 100.
  • the catch detection unit 24 determines whether or not a foreign object is caught on the drone 100 from the state where the drone 100 is landed to the state where the drone 100 is taking off and hovering. When it is determined that a foreign object is caught, the catch detection unit 24 generates a flight prohibition signal. The flight control unit 23 causes the drone 100 to land based on the flight prohibition signal. In addition, the operator is notified that the drone 100 is not allowed to start normal flight through appropriate display means provided in the controller 401 or the drone 100.
  • a foreign object may be caught on the foot of the drone 100 and may be locked to the ground.
  • the drone 100 cannot take off, or cannot rise to a predetermined height after takeoff, even though the rotor blades are rotating at a high rotation speed. If the predetermined speed expected for the acceleration, position change, and moving speed of the drone 100 does not occur even though the actual rotational speed of the rotor blade is greater than or equal to the predetermined value, the determination unit 241 has a foreign object caught on the drone 100. Is detected.
  • Whether the catch detection unit 24 generates a take-off prohibition signal or a flight prohibition signal is determined by measuring whether the drone 100 has landed by an appropriate mechanism incorporated in the feet of the drone 100 or the like. When the drone 100 is landing, a take-off prohibition signal is generated, and when the drone 100 is away from the ground, a flight prohibition signal may be generated.
  • the drone 100 will not rise even if you increase the number of rotations of the motor, so feedback will be applied to the motor, the motor may overrotate, and the motor may be damaged is there.
  • the drone 100 may be suddenly released, causing unintended runaway. According to the configuration for detecting a foreign object in a situation from landing to take-off and hovering, it is possible to prevent the motor from being damaged or the drone 100 from running away.
  • the threshold value that the determination unit 241 determines that a foreign object is caught on the drone 100 may be a fixed threshold value that is stored in advance in the drone 100, or a variable threshold value that is changed according to the situation. There may be. In the case of a drone that flies while holding a medicine tank and spraying medicine, the weight of the aircraft becomes lighter as the amount of medicine to be held decreases, so the risk to foreign objects also varies. In the case of the fluctuating threshold value, it may be automatically changed by an appropriate configuration connected to the drone 100 wirelessly or by wire, or may be manually changed by the user.
  • the threshold value determined by the determination unit 241 may be an independent value for each of acceleration, absolute position, thrust, moving speed, and angular velocity, or may be determined comprehensively using functions that are linked to each other. . In this case, the determination unit 241 determines that a foreign object is caught on the drone 100 when the relationship between the acceleration, the absolute position, the rotation speed, the moving speed, and the angular speed falls below the normal range.
  • the determination unit 241 may determine whether or not the foreign object is caught based on a value indicating the state of the drone at a certain time point measured, or whether or not the foreign object is caught based on a plurality of past measurement results It may be determined whether or not. In this case, for example, the latest measurement results may be averaged and used for determination.
  • the determination threshold values held by the determination unit 241 may be the same or different from each other.
  • the hook detection unit 24 transmits a first detection signal to the medicine control unit 30.
  • the medicine control unit 30 stops the medicine spraying.
  • the threshold at which the determination unit 241 transmits the first detection signal to the flight control unit 23 and the threshold at which the first detection signal is transmitted to the drug control unit 30 may be the same or different from each other.
  • the threshold value at which the drug control unit 30 stops the drug spraying may be set lower than the threshold values for the initial determination, landing determination, and stop determination.
  • the hook detection unit 24 displays on the tablet monitored by the user that a foreign object has been detected by appropriate communication means of the drone 100.
  • the catch detection unit 24 may be configured to display that a foreign object is caught on the drone 100 by display means of the drone 100, for example, an LED. Also, an appropriate sound may be emitted from the speaker of the drone 100.
  • the user when the user acquires the information of the drone 100 with the eyewear type wearable terminal, it may be displayed or projected on the eyewear screen. In addition, when the user acquires information on the drone 100 using an earphone-type wearable terminal, the user may be notified by sound.
  • the state measuring unit 240 of the drone 100 measures a value indicating the state of the drone 100 (step S1). To S5).
  • the acceleration measuring unit 242 measures acceleration (step S1)
  • the position measuring unit 243 of the drone 100 measures the absolute position of the drone 100 (step S2).
  • the thrust measuring unit 244 of the drone 100 measures the rotational speed of the motor (step S3).
  • the angular velocity measuring unit 245 of the drone 100 measures the angular velocity of the drone 100 (step S4).
  • the moving speed measuring unit 246 of the drone 100 measures the moving speed of the drone 100 (step S5).
  • Steps S1 to S5 are in no particular order. Steps S1 to S5 may be performed simultaneously.
  • the determination unit 241 performs initial determination to determine whether or not a foreign object is caught on the drone 100 based on the information measured by the hook detection unit 24 (step S6).
  • step S7 it is determined whether the drone 100 has reached a predetermined height after taking off, that is, whether the drone 100 is in a hovering state. If it has not reached the predetermined height, the process returns to step S0 and continues to rise. When the drone 100 is in a hovering state, it shifts to a normal flight operation.
  • the determination unit 241 determines that “foreign matter is caught”, it is determined whether the drone 100 is taking off, that is, whether the foot of the drone 100 is away from the ground (step S8). If the drone 100 has not taken off, the determination unit 241 generates a takeoff prohibition signal and transmits it to the flight control unit 23 (step S32). The flight control unit 23 to which the takeoff prohibition signal has been transmitted stops the operation for takeoff, for example, the rotation of the motor (step S33).
  • the drone 100 If a foreign object is detected, the drone 100 generates a landing signal (step S30), and the flight control unit 23 performs a normal landing operation (step S31). At this time, the catch detection unit 24 may notify the user that the drone 100 is detecting a foreign object through an appropriate display unit provided in the tablet, eyewear, or the drone 100 itself.
  • step S10 the state measuring unit 240 of the drone 100 measures a value indicating the state of the drone 100 in the same manner as steps S1 to S5.
  • Steps S11 to S15 are in no particular order. Steps S11 to S15 may be performed simultaneously.
  • the determination unit 241 performs a first determination to determine whether or not a foreign object is caught on the drone 100 based on the acceleration, the absolute position, the rotation speed, the angular velocity, or the moving speed (step S16).
  • step S12 the process of step S11 thru
  • step S12 is omitted.
  • the catch detection unit 24 transmits the first detection signal to the flight control unit 23, and the flight control unit 23 moves the drone 100 backward (step S13).
  • the determination unit 241 After the retreat, the determination unit 241 performs hovering and performs a second determination for determining whether or not a foreign object is still caught (step S14).
  • step S10 This flow is a flow that is assumed when the trapping of the foreign matter has been resolved by the retreat of the drone 100.
  • the catch detection unit 24 When the determination unit 241 still detects the catch of a foreign object, the catch detection unit 24 generates a second detection signal and transmits the second detection signal to the flight control unit 23.
  • the flight control unit 23 to which the second detection signal is transmitted shakes the drone 100 (step S15). Note that the shaking operation may be shaken any number of times and may be performed for any number of seconds. Further, the different types of operations described above may be combined.
  • the catch detection unit 24 notifies the user that the drone 100 is detecting a foreign object through an appropriate display unit included in the tablet, eyewear, or the drone 100 itself.
  • the determination unit 241 performs a third determination to determine whether or not a foreign object is still caught after performing a hovering operation (step S16).
  • step S10 If the determination unit 241 does not detect the catch of a foreign object, the process returns to step S10.
  • This flow is a flow that is assumed in the case where the catching of the foreign matter has been eliminated by the swaying operation.
  • the catch detection unit 24 When the determination unit 241 still detects the catch of a foreign object, the catch detection unit 24 generates a third detection signal and transmits it to the flight control unit 23.
  • the flight control unit 23 to which the third detection signal has been transmitted performs normal landing (step S17). At this time, the catch detection unit 24 notifies the user that the drone 100 starts normal landing through an appropriate display means provided in the tablet, eyewear, or the drone 100 itself.
  • the determination unit 241 determines whether the normal landing operation can be performed safely (step S18), and performs landing if it can be performed safely. If it is determined that the normal landing operation cannot be performed safely, an emergency landing operation is performed (step S19). If it is determined that the emergency landing operation cannot be performed safely, an “emergency stop” may be performed. That is, the drone 100 motor stops, and the drone 100 falls downward on the spot.
  • hovering, retreating, swinging, hovering, and normal landing are performed in this order.
  • the order of retreating action is not limited to this. Specifically, it may be retracted after performing the first motion. Further, the hovering, retreating, and swinging operations may be combined a plurality of times before the normal landing.
  • the agricultural chemical spraying drone has been described as an example, but the technical idea of the present invention is not limited to this and can be applied to all drones. This is particularly useful for drones that perform autonomous flight.
  • the drone according to the present invention can provide a drone that can maintain high safety even during autonomous flight.

Abstract

Le problème à résoudre dans le cadre de la présente invention consiste à produire un drone qui est sans danger. La solution consiste en un drone (100) qui est pourvu de moyens de vol (101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b), d'une unité de commande de vol (23) qui commande les moyens de vol, et d'un moyen de détection de capture qui détermine si un objet étranger est, ou non, capturé et qui génère un signal de détection, l'unité de commande de vol amenant le drone à effectuer une opération d'évacuation sur la base du signal de détection et l'opération d'évacuation comprenant au moins une opération sélectionnée parmi le vol stationnaire, une opération qui secoue de manière répétée le drone, une opération qui amène le drone à reculer, et l'atterrissage, ce qui amène le drone à atterrir.
PCT/JP2019/012686 2018-03-27 2019-03-26 Drone, son procédé de commande et programme WO2019189077A1 (fr)

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