WO2020071305A1 - 運転経路生成装置、運転経路生成方法、運転経路生成プログラム、およびドローン - Google Patents

運転経路生成装置、運転経路生成方法、運転経路生成プログラム、およびドローン

Info

Publication number
WO2020071305A1
WO2020071305A1 PCT/JP2019/038484 JP2019038484W WO2020071305A1 WO 2020071305 A1 WO2020071305 A1 WO 2020071305A1 JP 2019038484 W JP2019038484 W JP 2019038484W WO 2020071305 A1 WO2020071305 A1 WO 2020071305A1
Authority
WO
WIPO (PCT)
Prior art keywords
area
driving route
drone
unit
obstacle
Prior art date
Application number
PCT/JP2019/038484
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
泰 村雲
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=70055088&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2020071305(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
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 JP2020550415A priority Critical patent/JP7270265B2/ja
Priority to CN201980073773.3A priority patent/CN112997129B/zh
Publication of WO2020071305A1 publication Critical patent/WO2020071305A1/ja

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • 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
    • B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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
    • B64U30/24—Coaxial rotors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the present invention relates to a driving route generation device, a driving route generation method, a driving route generation program, and a drone.
  • the drone can now accurately know its absolute position in centimeters while flying, and In the agricultural land of typical narrow and complicated terrain, the autonomous flight can be performed with minimal manual operation, and the medicine can be sprayed efficiently and accurately.
  • Patent Literature 3 discloses a traveling route generation system that generates a reciprocating traveling route that reciprocates in a field and a revolving traveling route that revolves along an outer peripheral shape. This system is assumed to be a ground traveling type machine such as a seedling planting device.
  • Patent Literature 4 discloses a travel route generation device that performs route generation in a case where a contour of a field has a concave portion that locally enters inside.
  • Patent Literature 5 discloses an autonomous traveling route generation system that generates a traveling route that bypasses an obstacle existing in a traveling area.
  • a driving route generation device that generates a driving route that moves efficiently even during autonomous driving and can maintain high safety.
  • a driving route generation device includes an entry-prohibition area determination unit that determines an entry-prohibition area around the obstacle and the obstacle based on coordinate information of the obstacle. And a movement permission area determining unit that determines a movement permission area in which the mobile device can move while ensuring safety within the target area by removing the entry prohibited area from the obtained target area.
  • the movement permission area determination unit sums at least the height of the ground of the target area, the height of crops growing in the target area, and a margin that can ensure safety when controlling flight, and The range in the height direction of the area may be determined.
  • the entry-prohibited area determination section may determine the entry-prohibited area based on the coordinate information of the obstacle and the type of the obstacle.
  • the target area is defined in a three-dimensional direction
  • the movement-permitted area determining unit calculates the entry-prohibited area based on coordinate information in a height direction of the obstacle, and specifies the three-dimensional direction.
  • the movement permitted area may be generated by excluding the entry prohibited area from the target area.
  • An area formulating unit that formulates one or a plurality of shaping areas and one or a plurality of deformed areas each having an area smaller than that of the shaping area in the movement permission area; and the shaping area and the deformed area.
  • a route generating unit that generates a driving route of the mobile device with different route patterns from each other.
  • the area defining unit may be capable of generating a plurality of shaping areas each having a convex polygon with respect to the movement-permitted area having a concave polygon shape.
  • the vehicle may further include an outer peripheral area generating unit that generates an annular outer peripheral area that forms an outer edge of the shaping area, and an outer peripheral path generating unit that generates a circulating driving path that goes around the outer peripheral area.
  • the vehicle may further include an inner area generating unit that generates an inner area inside the outer peripheral area, and an inner path generating unit that generates a reciprocating driving route to and from the inner area.
  • the vehicle may further include a route generation target area determination unit that determines whether or not a route can be generated for the shaped area and the deformed area based on the driving performance of the moving device.
  • the route generation unit can generate a plurality of types of driving routes in the target area, and further includes a route selection unit that can select one of the driving routes to be determined.
  • the configuration may be such that the driving route is selected based on the rank information.
  • a driving route generation method includes the steps of: determining, based on coordinate information of an obstacle, the obstacle and an entry-prohibited area around the obstacle; Removing the entry-prohibited area from the target area to determine a movement-permitted area in which the mobile device can move while ensuring safety within the target area.
  • a driving route generation program includes, based on coordinate information of an obstacle, an instruction to determine the obstacle and an inaccessible area around the obstacle, and And excluding the entry-prohibited area from the target area, and causing the computer to execute a command to determine a movement-permitted area in which the mobile device can move while ensuring safety within the target area.
  • a drone is a drone that receives a driving route generated by a driving route generation device and can fly along the driving route,
  • the generator is the driving route generator described in any of the above.
  • a drone is a drone including a driving route generation device and a flight control unit, wherein the driving route generation device includes any one of the above. It is a driving route generation device.
  • the example of the moving area in which the area division necessity determination unit included in the driving route generation device performs a process of dividing an area includes: (a) an example of a moving area having a concave portion having two sides; and (b) an example of a moving area.
  • the drone means any type of power means (electric power, prime mover, etc.) and any type of control (wireless or wired, autonomous flight type or manual control type, etc.) It refers to a general flying object having a plurality of rotors.
  • a drone is an example of a mobile device, and can appropriately receive information on a driving route generated by the driving route generating device according to the present invention and fly along the driving route.
  • the rotating wings 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also called rotors) It is a means for flying the drone 100.
  • Eight aircraft (four sets of two-stage rotors) are provided in consideration of the balance between flight stability, aircraft size, and battery consumption.
  • the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b have rotating blades 101-1a, 101-1b, 101-2a, 101- 2b, means for rotating 101-3a, 101-3b, 101-4a, 101-4b (typically an electric motor but may be a motor, etc.), one for each rotor Have been.
  • Motor 102 is an example of a propulsion device.
  • the upper and lower rotors (eg, 101-1a and 101-1b) and their corresponding motors (eg, 102-1a and 102-1b) in one set are used for drone flight stability and the like.
  • 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 matter is not horizontal but has a scalloped structure. This is to promote the member to buckle to the outside of the rotor at the time of collision and prevent the member from interfering with the rotor.
  • the medicine nozzles 103-1, 103-2, 103-3, and 103-4 are means for spraying the medicine downward and are provided with four units.
  • the term “drug” generally refers to a liquid or powder, such as a pesticide, a herbicide, a liquid fertilizer, a pesticide, a seed, and water, which is sprayed on a field.
  • the medicine tank 104 is a tank for storing the medicine to be sprayed, and is 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 drug hoses 105-1, 105-2, 105-3, and 105-4 are means for connecting the drug tank 104 and each of the drug nozzles 103-1, 103-2, 103-3, and 103-4. And may also serve to support the drug nozzle.
  • the pump 106 is a unit for discharging a medicine from a nozzle.
  • FIG. 6 shows an overall conceptual diagram of a system using an embodiment of the drone 100 according to the present invention for spraying medicine.
  • the operating device 401 is a means for transmitting a command to the drone 100 by an operation of the user 402 and displaying information (for example, a position, a medicine amount, a battery level, a camera image, and the like) received from the drone 100. Yes, and may be realized by a portable information device such as a general tablet terminal that runs a computer program.
  • the drone 100 according to the present invention is controlled to perform an autonomous flight, but may be configured to be able to perform a manual operation at the time of basic operations such as takeoff and return, and in an emergency.
  • an emergency operation device (not shown) having a function dedicated to emergency stop may be used (the emergency operation device has a large emergency stop button and the like so that an emergency operation device can quickly respond in an emergency. It may be a dedicated device provided with).
  • the operating device 401 and the drone 100 perform wireless communication using Wi-Fi or the like.
  • the field 403 is a field or a field to which the drone 100 is to apply the medicine.
  • the terrain of the field 403 is complicated, and there is a case where a topographic map cannot be obtained in advance, or a case where the topographic map differs from the situation of the site.
  • the field 403 is adjacent to houses, hospitals, schools, other crop fields, roads, railways and the like. Further, an obstacle such as a building or an electric wire may exist in the field 403 in some cases.
  • the base station 404 is a device that provides a master device function or the like of Wi-Fi communication, also functions as an RTK-GPS base station, and may provide an accurate position of the drone 100 (Wi-Fi communication).
  • the base station function of Fi communication and the RTK-GPS base station may be independent devices.
  • the farming cloud 405 is typically a group of computers and related software operated on a cloud service, and may be 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 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the stored topographical information of the field 403 may be provided to the drone 100. In addition, the history of the flying and photographed images of the drone 100 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 becomes necessary to replenish or charge the medicine.
  • the flight route (entry route) from the departure / arrival 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 start of takeoff.
  • FIG. 7 is a block diagram showing a control function of the embodiment of the medicine spraying drone according to the present invention.
  • the flight controller 501 is a component that controls the entire drone, and may specifically be an embedded computer including a CPU, a memory, related software, and the like.
  • the flight controller 501 controls the motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on input information received from the operating device 401 and input information obtained from various sensors described below. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b to control the rotation speed of the drone 100.
  • ESC Electronic Speed Control
  • the actual rotation speeds of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are fed back to the flight controller 501, and normal rotation is performed. It is configured to monitor whether it is running.
  • the rotation wing 101 may be provided with an optical sensor or the like, and the rotation of the rotation wing 101 may be fed back to the flight controller 501.
  • the flight controller 501 is an example of a flight control unit.
  • the software used by the flight controller 501 can be rewritten through a storage medium or the like for function expansion / change, problem correction, or the like, or through communication means such as Wi-Fi communication or USB. In this case, protection by encryption, checksum, digital signature, virus check software, etc. is performed to prevent rewriting by unauthorized software.
  • a part of the calculation processing used by the flight controller 501 for control may be executed by the operation device 401, the farming cloud 405, or another computer existing in another place. Since the flight controller 501 is highly important, some or all of its 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 may be rechargeable.
  • the battery 502 is connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker.
  • the battery 502 may be a smart battery having a function of transmitting its internal state (power storage amount, accumulated use time, and the like) to the flight controller 501 in addition to a power supply function.
  • the flight controller 501 communicates with the operation device 401 via the Wi-Fi slave device function 503 and further via the base station 404, receives necessary commands from the operation device 401, and transmits necessary information to the operation device 401. Can be sent to 401. In this case, the communication may be encrypted so as to prevent eavesdropping, impersonation, hijacking of the device and the like.
  • the base station 404 has a function of an RTK-GPS base station in addition to a communication function using Wi-Fi. 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.
  • the GPS modules 504 are of high importance and may be duplicated or multiplexed.Also, in order to cope with the failure of a specific GPS satellite, each redundant GPS module 504 uses a different satellite. It may be controlled.
  • the six-axis gyro sensor 505 is a means for measuring accelerations of the drone body in three directions orthogonal to each other (further, a means for calculating a speed by integrating the accelerations).
  • the six-axis gyro sensor 505 is means for measuring a change in the attitude angle of the drone body in the above three directions, that is, an angular velocity.
  • the geomagnetic sensor 506 is means for measuring the direction of the drone body by measuring geomagnetism.
  • the air pressure sensor 507 is a means for measuring the air pressure, and can also indirectly measure the altitude of the drone.
  • the laser sensor 508 is a means for measuring the distance between the drone aircraft and the ground surface using reflection of laser light, and may be an IR (infrared) laser.
  • the sonar 509 is a means for measuring the distance between the drone body and the surface of the earth using reflection of sound waves such as ultrasonic waves. These sensors may be selected based on the cost objectives and performance requirements of the drone. Further, a gyro sensor (angular velocity sensor) for measuring the inclination of the airframe, a wind sensor for measuring wind power, and the like may be added. Further, these sensors may be duplicated or multiplexed.
  • the flight controller 501 may use only one of them, and in the event of a failure, may switch to the alternative sensor for use.
  • a plurality of sensors may be used at the same time, and if the respective measurement results do not match, it may be determined that a failure has occurred.
  • the flow rate sensors 510 are means for measuring the flow rate of the medicine, and are provided at a plurality of locations on the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount.
  • the multispectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle, and is a device different from the multispectral camera 512 because the image characteristics and the lens direction are different from those of the multispectral camera 512.
  • the switch 514 is a means for the user 402 of the drone 100 to perform various settings.
  • the obstacle contact sensor 515 is a sensor for detecting that the drone 100, particularly its rotor or propeller guard, has contacted 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 an operation panel of the drone 100 and a cover for internal maintenance are open.
  • the drug inlet sensor 517 is a sensor that detects that the inlet of the drug tank 104 is open. These sensors may be selected or duplicated or multiplexed depending on the cost objectives and performance requirements of the drone.
  • a sensor may be provided in the base station 404, the operation device 401, or another 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 on the wind 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, and adjusts the medicine ejection amount and stops the medicine ejection.
  • the current state of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.
  • the LED 107 is display means for notifying the drone operator of the status of the drone.
  • a 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 unit for notifying a drone state (particularly an error state) by an audio signal.
  • the Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like for transferring software, for example, separately from the operation device 401.
  • 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 instead of or in addition to the Wi-Fi slave unit function. May be used.
  • the speaker 520 is an output unit that notifies a drone state (especially an error state) by a recorded human voice, a synthesized voice, or the like. Depending on the weather condition, the visual display of the drone 100 during flight may be difficult to see, and in such a case, voice communication is effective.
  • the warning light 521 is a display means such as a strobe light for notifying a drone state (especially an error state). These input / output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated / multiplexed.
  • the drone 100 needs an operation route for moving efficiently to a field having various shapes. That is, when spraying a medicine in a certain field or monitoring the inside of a certain field, the drone 100 needs to fly all over the field. At this time, by not flying the same route as much as possible, battery consumption and flight time can be reduced. In the case of spraying a medicine, if the medicine is sprayed on the same route, there is a possibility that the concentration of the drug under the route increases. Therefore, the driving route generation device generates a driving route for moving devices such as the drone 100 to move efficiently based on the coordinate information of the field.
  • the driving route generating device 1 is connected to the drone 100, the base station 404, and the coordinate surveying device 2 via a network NW.
  • the function of the driving route generation device 1 may be on the farming cloud 405, or may be a separate device. Further, the driving route generation device 1 may have a configuration that the drone 100 has.
  • a field is an example of a target area. Drone 100 is an example of a mobile device.
  • the coordinate surveying device 2 is a device having a function of a mobile station of RTK-GPS, and can measure the coordinate information of a field.
  • the coordinate surveying device 2 is a small device that can be walked while being held by a user, and is, for example, a rod-shaped device.
  • the coordinate surveying device 2 may be a wand-like device that is long enough to allow the user to stand upright and hold the upper end with the lower end on the ground.
  • the number of coordinate surveying devices 2 that can be used to read the coordinate information of a certain field may be one or more. According to the configuration in which the coordinate information relating to one field can be measured by the plurality of coordinate surveying apparatuses 2, a plurality of users can walk on the field by holding the coordinate surveying apparatus 2 respectively. Can be completed in a short time.
  • the coordinate surveying device 2 can survey information on obstacles in the field.
  • the obstacle includes a wall or a slope, a power pole, an electric wire, and the like, at which the drone 100 may collide, and various objects that do not require the spraying or monitoring of the medicine.
  • the coordinate surveying device 2 includes an input unit 201, a coordinate detection unit 202, and a transmission unit 203.
  • the input unit 201 is provided at the upper end of the coordinate surveying device 2, and is, for example, a button for receiving a press by the user. The user presses a button of the input unit 201 when measuring the coordinates of the lower end of the coordinate surveying device 2.
  • the input unit 201 is configured so as to be able to input whether information to be input is coordinates related to the outer periphery of the field or coordinates of the outer periphery of the obstacle. Further, the input unit 201 can input the coordinates of the outer periphery of the obstacle in association with the type of the obstacle.
  • the coordinate detection unit 202 is a functional unit that can detect three-dimensional coordinates of the lower end of the coordinate surveying device 2 by appropriately communicating with the base station 404.
  • the transmitting unit 203 is a functional unit that transmits, based on the input to the input unit 201, the three-dimensional coordinates of the lower end of the coordinate surveying device 2 at the time of the input to the operating device 401 or the driving route generating device 1 via the network NW. is there.
  • the transmitting unit 203 transmits the three-dimensional coordinates together with the pointed order.
  • the user moves the field with the coordinate surveying device 2. First, three-dimensional coordinates of the field are acquired. The user performs the pointing by the input unit 201 on the end point or the end side of the field. Next, the user performs pointing with the input unit 201 on the end point or the end side of the obstacle.
  • the three-dimensional coordinates on the end point or the edge of the field transmitted by pointing are distinguished between the three-dimensional coordinates of the outer periphery of the field and the three-dimensional coordinates of the obstacle, and are received by the driving route generating device 1. Further, the three-dimensional coordinates to be pointed may be received by the receiving unit 4011 of the operation device 401 and displayed on the display unit 4012. Further, the operating device 401 determines whether the received three-dimensional coordinates are suitable as the three-dimensional coordinates of the outer periphery of the field or the obstacle, and if it is determined that the re-measurement is necessary, the operating device 401 prompts the user through the display unit 4012 again. Surveying may be prompted.
  • the driving route generating device 1 includes a target area information acquiring unit 10, a movement permitted area generating unit 20, an area defining unit 30, a route generating unit 40, and a route selecting unit 50.
  • the target area information acquisition unit 10 is a functional unit that acquires information on three-dimensional coordinates transmitted from the coordinate surveying device 2.
  • the movement permitted area generation unit 20 specifies the movement permitted area 80i in which the drone 100 moves in the field 80 based on the three-dimensional coordinates acquired by the target area information acquisition unit 10.
  • the movement permitted area generation unit 20 has an entry prohibited area determination unit 21 and a movement permitted area determination unit 22.
  • the entry-prohibited area determination unit 21 determines the entry-prohibited area 81b of the drone 100 based on the three-dimensional coordinates of the obstacles 81a, 82a, 83a, 84a, and 85a acquired by the target area information acquisition unit 10 and the type of the obstacle. , 82b, 83b, 84b, and 85b.
  • the entry prohibited areas 81b, 82b, 83b, 84b, 85b are areas including obstacles 81a, 82a, 83a, 84a, 85a and areas around the obstacles.
  • the entry prohibited areas 81b, 82b, 83b, 84b, 85b are areas defined in the horizontal direction and the height direction and extending in a three-dimensional direction, for example, around the obstacles 81a, 82a, 83a, 84a, 85a.
  • This is a rectangular parallelepiped area drawn as follows.
  • the entry prohibited area may be a spherical area drawn around an obstacle. Since the drone 100 flies in the air, it is possible to fly over the obstacle depending on the size of the obstacle in the height direction. According to the configuration in which the height of the obstacle in the height direction is not regarded as an entry-prohibited area, it is possible to efficiently fly in the field without excessively bypassing the obstacle.
  • the distance from the outer edge of the obstacle to the outer edge of the no-go area 81b, 82b, 83b, 84b, 85b is determined by the type of the obstacle 81a, 82a, 83a, 84a, 85a.
  • a range of 50 cm from the outer edge of the house is set as a no-entry area
  • a range of 80 cm from the outer edge of the electric wire is set as a no-entry area.
  • the entry-prohibited area determination unit 21 previously stores an obstacle table in which the type of the obstacle and the size of the entry-prohibited area are associated with each other, and determines the size of the entry-prohibited area according to the type of the obtained obstacle. I do.
  • the movement permission area determination unit 22 is a functional unit that determines the movement permission area 80i. Regarding the plane direction of the movement permission area 80i, it is assumed that the coordinates on the plane acquired by the target area information acquisition unit 10 of the field 80 are at the outer peripheral position of the field 80.
  • the movement-permitted area determining unit 22 determines the height direction of the movement-permitted area 80i, the coordinates in the height direction acquired by the target area information acquisition unit 10, that is, the height of the crop, the height of the ground of the field 80,
  • the margin in the height direction of the movement permission area 80i is determined by summing the margins that can ensure the safety when controlling the flight.
  • the movement permission area determination unit 22 determines the movement permission area 80i by excluding the no-go areas 81b, 82b, 83b, 84b, and 85b from the inner area surrounded by the three-dimensional coordinates.
  • the area defining unit 30 is a functional unit that divides the movement-permitted area 80i determined by the movement-permitted-area generator 20 into regions that fly with different route patterns from each other.
  • the area defining unit 30 can divide the movement permitted area 80i into one or a plurality of shaping areas 81i and one or a plurality of deformed areas 82i and 83i having an area smaller than the shaping area 81i.
  • a path pattern is a rule for automatically generating a path according to the shape of a certain area in order to fly comprehensively in a certain area.
  • the route pattern is roughly classified into a route pattern for a shaping area and a route pattern for a deformed area.
  • the path pattern for the shaping area 81i includes an outer circumferential pattern that goes around the outer circumference of the shaping area 81i and an inner pattern that goes back and forth inside the orbiting path.
  • an area flying according to the outer pattern is referred to as an outer area 811i
  • an area flying according to the inner pattern is referred to as an inner area 812i.
  • the features of the deformed area, the outer peripheral area, and the inner area will be described later.
  • the area defining unit 30 includes an area division necessity determining unit 31, a shaping area generating unit 32, and a deformed area generating unit 33.
  • the area division necessity determining unit 31 is a functional unit that determines whether it is necessary to divide the movement permitted area into a plurality of shaping areas.
  • the area division necessity judging unit 31 divides the movement permission area, particularly when the movement permission area has a concave polygonal shape when the bird's-eye view is made from above.
  • a concave polygon is a polygon in which at least one of the interior angles of the polygon is an angle exceeding 180 °, in other words, a polygon having a concave shape.
  • a process in which the area division necessity determination unit 31 determines the necessity of division of the movement permitted area 90i and performs the area division will be described with reference to FIGS. 12 (a), (b), and FIG.
  • the movement permitted area 90i shown in FIG. 12 (a) has a concave portion 93i composed of two sides, a side 91i and a side 92i when viewed from the sky. Therefore, as shown in FIG. 13, when the area division necessity determination unit 31 determines that there is a concave portion 93i composed of two sides (S11), the area division necessity determination unit 31 determines the longer side 91i of the two sides 91i and 92i as a determination target side. The length is calculated (S12). The area division necessity determination unit 31 does not perform the area division when a concave portion cannot be found in the movement permission area 90i.
  • the area division necessity determination unit 31 determines that the area including the side 91i needs to be divided (S13).
  • the movement permitted area 90i is divided into two areas 901i and 902i (S14).
  • the dividing line 94i is a side constituting an end of the smaller area after division and is determined to be parallel to an end 95i facing the dividing line 94i. According to this configuration, when the drone 100 flies back and forth in the divided area, it is possible to fly more comprehensively in the area.
  • At least one shaping area can be generated for each of the plurality of areas divided and generated by the area division necessity determination unit 31.
  • the shaping area 81i has a shape and an area capable of generating the outer peripheral area 811i and the inner area 812i.
  • the outer peripheral area 811i is an annular area having an effective width of the drone 100, and the inner area 812i needs to have a width excluding the overlap allowable width from the effective width of the drone 100. Therefore, the area division necessity determining unit 31 divides the area when the length of the side (91i) is equal to or more than three times the effective width of the drone 100 and excluding the overlap allowable width.
  • the effective width of the drone 100 is, for example, a medicine spraying width in the case of a medicine spraying drone.
  • the effective width of the drone 100 is the monitorable width when the drone is a monitoring drone.
  • the movement permitted area 100i shown in FIG. 12 (b) has a concave portion 110i in which three sides of a side 111i, a side 112i, and a side 113i are adjacent to each other in this order when viewed from the sky. Therefore, as shown in FIG. 13, when the area division necessity determining unit 31 determines that there is a concave portion 110i including three sides 111i to 113i (S11), the area dividing necessity determining unit 31 determines which of the opposite sides 111i and 113i of the concave portion 110i is longer. The length is calculated using the side 111i as the determination target side (S12).
  • the area division necessity determination unit 31 determines that the area including the side 111i needs to be divided (S13).
  • the movement permitted area 100i is divided into two areas 1001i and 1002i by a dividing line (121i) (S14).
  • step S15 it is determined whether there is a concave portion in the divided area (S15). If a recess is found, the process returns to step S12.
  • the area division necessity determination unit 31 determines that the divided area needs to be further divided (S13), and the area 1001i is further divided into two areas 1003i and 1004i by the division line 122i. Divide (S14).
  • Partition lines 121i and 122i are defined from both ends of the bottom 113i of the recess 110i to the left and right sides 101i and 102i of the movement permission area 100i.
  • the division lines 121i and 122i are sides that form the edges of the smaller area after the division, and are determined to be parallel to the opposing edges 103i and 104i. According to this configuration, when the drone 100 flies back and forth in the divided area, it is possible to fly more comprehensively in the area.
  • the area division necessity determination unit 31 may be configured to determine whether or not the target area is divided, instead of the movement permitted area.
  • the shaping area generating unit 32 is a functional unit that generates a shaping area for each of one or a plurality of areas generated by the area division necessity determining unit 31.
  • the shaping area generation unit 32 generates a convex polygon having the largest area inside the movement permission area 80i as the shaping area 81i.
  • a convex polygon is a polygon whose interior angles are all less than 180 °.
  • the shaping area generating unit 32 includes an outer peripheral area generating unit 321 and an inner area generating unit 322.
  • the outer peripheral area generation unit 321 sets the annular area having the effective width of the drone 100, which forms the outer edge of the shaping area 81i, as the outer peripheral area 811i.
  • the inside area generation unit 322 sets the inside of the outer peripheral area 811i as the inside area 812i.
  • the deformed area generation unit 33 is a functional unit that generates a deformed area for each of one or a plurality of areas generated by the area division necessity determination unit 31.
  • the deformed areas 82i and 83i are areas each having a smaller area than the shaping area 81i, and are areas in which the outer peripheral area and the inner area cannot be defined. More specifically, in the deformed areas 82i and 83i, the length of the shortest side of the area is smaller than a value obtained by removing the overlap allowable width from three times the effective width of the drone 100. In the example of FIG. 11, two irregular areas 82i and 83i are defined.
  • the route generation target area determination unit 34 is a functional unit that determines whether or not each of the formulated areas 811i, 812i, 82i, and 83i is an area where a route can be generated, and determines an area for which a route is to be generated. is there. This is because the shaping area 81i and the deformed areas 82i and 83i may not be able to operate depending on their shapes.
  • the route generation target area determination unit 34 determines whether or not the area is one in which a route can be generated, based on a predetermined value determined based on the driving performance of the drone 100.
  • the driving performance of the drone 100 includes the approach distance required for the drone 100 to reach the constant speed operation and the stopping distance required for stopping the drone 100 from the constant speed operation.
  • the driving performance of the drone 100 includes an effective width in spraying and monitoring a medicine.
  • the route generation target area It is determined that no route is to be created for the area 811i. For example, when the long side of the outer peripheral area 811i is less than the sum of the approach distance and the stop distance, it is determined that the route is not generated.
  • the route is not generated. More specifically, when the shortest side of the outer peripheral area 811i is smaller than the effective width of the drone 100, no route is generated. This is because if it is less than the predetermined value, a route that goes around the outer peripheral area 811i cannot be generated.
  • the route generation target area determination unit 34 determines that the long side of the inner area 812i is less than a predetermined value determined based on the approach distance required for the drone 100 to reach constant speed operation and the stop distance required for stopping. , Does not perform route generation. For example, when the long side of the inner area 812i is less than the sum of the approach distance and the stop distance, it is determined that the route is not generated. When the shortest side of the inner area 812i is smaller than a predetermined value determined based on the effective width of the drone 100, it is determined that the route is not generated. More specifically, when the shortest side of the inner area 812i is less than twice the effective width of the drone 100 and excluding the overlap allowable value, no route is generated.
  • the route generation target area determination unit 34 determines whether or not the drone 100 can be operated for each of the deformed areas 82i and 83i to be determined.
  • the path pattern for the deformed areas 82i and 83i is a path that flies to one side in the long side direction or a path that makes one round trip. Therefore, when the shortest sides of the deformed areas 82i and 83i are less than a predetermined value determined based on the effective width of the drone 100, the route generation target area determining unit 34 does not perform driving of the drone 100 in the deformed area. Make a decision. More specifically, when the shortest sides of the deformed areas 82i and 83i are less than the overlap allowance, it is determined that the driving is not performed.
  • the overlap allowable value may be, for example, 10% of the effective width of the drone 100.
  • the driving is not performed.
  • a predetermined value determined based on the approach distance required for the drone 100 to reach the constant speed operation and the stop distance required for stopping.
  • the area defining unit 30 may transmit information on the area to be determined to the operation device 401 and display the information on the operation device 401. If there is an area where driving is not possible, a display warning that fact may be displayed.
  • the outer peripheral area 811i, the inner area 812i, and the deformed area 83i are operable areas, and the deformed area 82i is an inoperable area.
  • the target area information acquisition unit 10 acquires coordinate information on a field (S21). Further, the target area information acquisition unit 10 acquires coordinate information on an obstacle (S22). Steps S21 to S22 are not in any particular order, and may be performed simultaneously.
  • the movement permission area generation unit 20 generates a movement permission area based on the coordinate information on the field and the obstacle (S23).
  • the area division necessity determination unit 31 determines whether it is necessary to divide the movement permitted area based on the shape and size of the movement permitted area (S24). If division is necessary, the area division necessity determining unit 31 divides the movement permitted area into a plurality of areas (S25).
  • the shaping area generation unit 32 generates a shaping area in each of the movement permitted area or the plurality of areas divided by the area division necessity determination unit 31, and further generates an outer peripheral area and an inner area in each shaping area (S26). ).
  • the deformed area generation unit 33 sets an area other than the shaping area in the movement permitted area as the deformed area (S27).
  • the route generation target area determination unit 34 determines whether or not the drone 100 can be operated for each of the specified areas (S28). When it is determined that the drone 100 cannot be driven, the route generation target area determination unit 34 removes the area from the movement permission area (S29). Finally, the route generation target area determination unit 34 determines a drivable area as a route generation target area (S30).
  • the route generation unit 40 shown in FIG. 9 is a functional unit that generates a driving route in a route generation target area based on a route pattern.
  • the route generation unit 40 includes an outer circumference route generation unit 41, an inside route generation unit 42, a deformed area route generation unit 43, and a route connection unit 44.
  • the outer peripheral route generating unit 41 is a functional unit that generates the round driving route 811r in the outer peripheral area 811i.
  • the orbital driving route 811r is a route that makes one orbit around the outer peripheral area 811i. In the present embodiment, it is counterclockwise, but it may be clockwise.
  • the inner route generating unit 42 is a functional unit that generates a reciprocating driving route 812r in the inner area 812i.
  • the reciprocating operation route 812r is a route that reciprocates in the inner area 812i.
  • the reciprocating operation path 812r is a path that is continuously generated along the longest long side 813i direction of each side of the inner area 812i, and is a short side 814i direction that is a shorter side of the sides adjacent to the long side. It has been generated to make a turn above.
  • the driving route along the long side 813i may or may not be parallel to the long side 813i.
  • each of the driving routes along the long side 813i may or may not be parallel to each other.
  • the deformed area route generation unit 43 is a functional unit that generates the deformed area driving route 83r in the deformed area 83i.
  • the deformed area operation route 83r is a route that flies to one side in the long side direction of the deformed area 83i, or a route that makes one round trip.
  • the route connection unit 44 is a functional unit that connects the circuit driving route 811r, the reciprocating driving route 812r, and the deformed area driving route 83r. According to this configuration, even when a route is generated by being divided into a plurality of areas, it is possible to generate an efficient driving route by minimizing the overlap of the routes.
  • the outer circumference route generation unit 41 generates the round driving route 811r that goes around the outer circumference area 811i (S41).
  • the inner route generation unit 42 generates a reciprocating operation route 812r that reciprocates in the inner area 812i (S42).
  • the deformed area route generation unit 43 generates a deformed area operation route 83r that flies to one side of the deformed area 83i or makes one round trip (S43). Steps S41 to S43 are not in any particular order, and may be performed simultaneously.
  • the route connecting unit 44 connects the orbital driving route 811r, the reciprocating driving route 812r, and the deformed area driving route 83r (S44).
  • the inner area can also be generated as a convex polygon similar to the outer periphery of the shaping area. Therefore, reciprocating operation can be performed while minimizing overlapping routes. Therefore, the target area can be exhaustively operated in a short time. That is, an efficient driving route can be generated in terms of working time, drone battery consumption, and drug consumption. Further, in the medicine spraying drone, the possibility of spraying the medicine repeatedly is reduced, and high safety can be maintained.
  • the route generation unit 40 shown in FIG. 9 may be able to generate a plurality of types of driving routes in the route generation target area.
  • the route selection unit 50 can select which driving route to determine. The user may determine the driving route by viewing the generated driving routes.
  • the route selection unit 50 may allow the user to input priority information. For example, the user inputs to the operating device 401 which of the working time, the battery consumption of the drone 100, and the medicine consumption is given the highest priority. Further, the operating device 401 may be capable of inputting an index to be given second priority.
  • the route selection unit 50 selects a driving route that best matches the input priority order from among the plurality of driving routes. According to this configuration, it is possible to efficiently generate a route in accordance with a user's policy.
  • the agricultural chemical spraying drone has been described as an example, but the technical idea of the present invention is not limited to this, but can be applied to all machines that operate autonomously. It can also be applied to drones that fly autonomously, other than for agriculture. The present invention is also applicable to a machine that operates autonomously and runs on the ground.
  • the driving route generation device generates a driving route that moves efficiently even during autonomous driving and can maintain high safety.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
PCT/JP2019/038484 2018-10-03 2019-09-30 運転経路生成装置、運転経路生成方法、運転経路生成プログラム、およびドローン WO2020071305A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020550415A JP7270265B2 (ja) 2018-10-03 2019-09-30 運転経路生成装置、運転経路生成方法、運転経路生成プログラム、およびドローン
CN201980073773.3A CN112997129B (zh) 2018-10-03 2019-09-30 行驶路径生成装置、行驶路径生成方法、计算机可读取存储介质以及无人机

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-187936 2018-10-03
JP2018187936 2018-10-03

Publications (1)

Publication Number Publication Date
WO2020071305A1 true WO2020071305A1 (ja) 2020-04-09

Family

ID=70055088

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/038484 WO2020071305A1 (ja) 2018-10-03 2019-09-30 運転経路生成装置、運転経路生成方法、運転経路生成プログラム、およびドローン

Country Status (3)

Country Link
JP (1) JP7270265B2 (zh)
CN (1) CN112997129B (zh)
WO (1) WO2020071305A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115683097A (zh) * 2022-11-16 2023-02-03 浙江大有实业有限公司杭州科技发展分公司 强磁场环境狭小空间全自动无人机飞控方法
JP7412037B2 (ja) 2020-02-20 2024-01-12 株式会社ナイルワークス ドローンシステム、操作器および作業エリアの定義方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115297303B (zh) * 2022-09-29 2022-12-27 国网浙江省电力有限公司 适用于电网输变电设备的图像数据采集处理方法及装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015113100A (ja) * 2013-12-16 2015-06-22 株式会社ニコン・トリンブル 情報取得システム、無人飛行体制御装置
CN106054917A (zh) * 2016-05-27 2016-10-26 广州极飞电子科技有限公司 一种无人飞行器的飞行控制方法、装置和遥控器
CN106289264A (zh) * 2016-08-26 2017-01-04 哈尔滨工业大学深圳研究生院 一种基于子区域划分的多无人机遍历搜索算法
JP2017144811A (ja) * 2016-02-16 2017-08-24 株式会社ナイルワークス 無人飛行体による薬剤散布方法、および、プログラム
JP2018510423A (ja) * 2014-04-17 2018-04-12 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人航空機（ｕａｖ）を制御する方法、装置、非一時的コンピュータ可読媒体及びｕａｖ
KR20180057021A (ko) * 2016-11-21 2018-05-30 한화에어로스페이스 주식회사 무인기 제어 방법 및 이를 이용한 무인기 제어 장치

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7188056B2 (en) * 2002-09-09 2007-03-06 Maia Institute Method and apparatus of simulating movement of an autonomous entity through an environment
CN103116360B (zh) * 2013-01-31 2015-06-17 南京航空航天大学 一种无人机避障控制方法
CN103950540B (zh) * 2014-04-01 2016-02-03 东北农业大学 一种基于无线传感器网络的植保无人机喷施作业方法
CN107409174B (zh) * 2015-03-31 2020-11-20 深圳市大疆创新科技有限公司 用于管制无人飞行器操作的系统和方法
WO2017026080A1 (ja) * 2015-08-13 2017-02-16 ヤンマー株式会社 自律走行車の経路設計方法
CN105159319B (zh) * 2015-09-29 2017-10-31 广州极飞科技有限公司 一种无人机的喷药方法及无人机
JP6842190B2 (ja) * 2016-04-08 2021-03-24 株式会社ナイルワークス 無人飛行体による薬剤散布方法、プログラム、および、装置
CN109328164B (zh) * 2016-06-17 2022-06-10 乐天集团股份有限公司 无人航空机控制系统、无人航空机控制方法及信息存储媒体
WO2018006216A1 (en) * 2016-07-04 2018-01-11 SZ DJI Technology Co., Ltd. Aerial operation support and real-time management
CN106406342B (zh) * 2016-09-14 2019-03-29 无锡微翼德米无人机系统科技有限公司 植保无人机阶段化飞行作业的打药方法
CN106403954B (zh) * 2016-09-28 2020-01-14 深圳高科新农技术有限公司 无人机自动航迹生成方法
CN106774329B (zh) * 2016-12-29 2019-08-13 大连理工大学 一种基于椭圆切线构造的机器人路径规划方法
CN107839883B (zh) * 2017-10-23 2020-10-30 广州极飞科技有限公司 飞行器及其巡航喷洒控制方法、装置和控制终端

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015113100A (ja) * 2013-12-16 2015-06-22 株式会社ニコン・トリンブル 情報取得システム、無人飛行体制御装置
JP2018510423A (ja) * 2014-04-17 2018-04-12 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人航空機（ｕａｖ）を制御する方法、装置、非一時的コンピュータ可読媒体及びｕａｖ
JP2017144811A (ja) * 2016-02-16 2017-08-24 株式会社ナイルワークス 無人飛行体による薬剤散布方法、および、プログラム
CN106054917A (zh) * 2016-05-27 2016-10-26 广州极飞电子科技有限公司 一种无人飞行器的飞行控制方法、装置和遥控器
CN106289264A (zh) * 2016-08-26 2017-01-04 哈尔滨工业大学深圳研究生院 一种基于子区域划分的多无人机遍历搜索算法
KR20180057021A (ko) * 2016-11-21 2018-05-30 한화에어로스페이스 주식회사 무인기 제어 방법 및 이를 이용한 무인기 제어 장치

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7412037B2 (ja) 2020-02-20 2024-01-12 株式会社ナイルワークス ドローンシステム、操作器および作業エリアの定義方法
CN115683097A (zh) * 2022-11-16 2023-02-03 浙江大有实业有限公司杭州科技发展分公司 强磁场环境狭小空间全自动无人机飞控方法

Also Published As

Publication number Publication date
JPWO2020071305A1 (ja) 2021-09-24
CN112997129B (zh) 2024-03-26
CN112997129A (zh) 2021-06-18
JP7270265B2 (ja) 2023-05-10

Similar Documents

Publication Publication Date Title
JPWO2019168042A1 (ja) ドローン、その制御方法、および、プログラム
WO2019168080A1 (ja) フールプルーフ性を向上した農業用ドローン
WO2020071305A1 (ja) 運転経路生成装置、運転経路生成方法、運転経路生成プログラム、およびドローン
JP6994798B2 (ja) ドローンシステム、ドローン、管制装置、ドローンシステムの制御方法、および、ドローンシステム制御プログラム
JP7008999B2 (ja) 運転経路生成システム、運転経路生成方法、および運転経路生成プログラム、ならびにドローン
JP6851106B2 (ja) 運転経路生成システム、運転経路生成方法、および運転経路生成プログラム、ならびにドローン
JP6913979B2 (ja) ドローン
JP6982908B2 (ja) 運転経路生成装置、運転経路生成方法、および運転経路生成プログラム、ならびにドローン
WO2021140657A1 (ja) ドローンシステム、飛行管理装置およびドローン
JP7285557B2 (ja) 運転経路生成システム、運転経路生成方法、運転経路生成プログラム、およびドローン
JP7062314B2 (ja) 運転経路生成システム、運転経路生成方法、運転経路生成プログラム、座標測量システム、およびドローン
JP7412039B2 (ja) 表示装置、コンピュータプログラム
JP7037235B2 (ja) 産業機械システム、産業機械、管制装置、産業機械システムの制御方法、および、産業機械システムの制御プログラム
JP7412037B2 (ja) ドローンシステム、操作器および作業エリアの定義方法
JP6806403B2 (ja) ドローン、ドローンの制御方法、および、ドローン制御プログラム
WO2020090671A1 (ja) ドローン、ドローンの制御方法、および、ドローン制御プログラム
JP7490208B2 (ja) ドローンシステム、ドローン、管制装置、ドローンシステムの制御方法、および、ドローンシステム制御プログラム
JP7412038B2 (ja) 再測量要否判定装置、測量システム、ドローンシステム、および再測量要否判定方法
JP7411280B2 (ja) ドローンシステム、ドローンおよび障害物検知方法
JP2021082134A (ja) ドローンシステム、ドローン、管制装置、ドローンシステムの制御方法、および、ドローンシステム制御プログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19868435

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020550415

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19868435

Country of ref document: EP

Kind code of ref document: A1