WO2021039097A1 - 制御装置、制御方法、およびプログラム - Google Patents

制御装置、制御方法、およびプログラム Download PDF

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Publication number
WO2021039097A1
WO2021039097A1 PCT/JP2020/025602 JP2020025602W WO2021039097A1 WO 2021039097 A1 WO2021039097 A1 WO 2021039097A1 JP 2020025602 W JP2020025602 W JP 2020025602W WO 2021039097 A1 WO2021039097 A1 WO 2021039097A1
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WIPO (PCT)
Prior art keywords
frequency band
base station
communication
radio base
switching
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Application number
PCT/JP2020/025602
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English (en)
French (fr)
Japanese (ja)
Inventor
晋一 奥西
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本田技研工業株式会社
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Priority to JP2021542579A priority Critical patent/JP7126029B2/ja
Publication of WO2021039097A1 publication Critical patent/WO2021039097A1/ja

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    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M11/00—Telephonic communication systems specially adapted for combination with other electrical systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/08—Reselecting an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation

Definitions

  • the present invention relates to control devices, control methods, and programs.
  • the present application claims priority based on Japanese Patent Application No. 2019-156833 filed in Japan on August 29, 2019, the contents of which are incorporated herein by reference.
  • a flight radio area in which wireless communication is connected from the departure point to the destination is selected from a plurality of radio sections existing in the flight range from the departure point to the destination, and the selected flight.
  • a technique for reserving a communication band for wireless communication with an air vehicle and performing flight control of the air vehicle for a radio base station located in a radio area is disclosed (see, for example, Patent Document 1).
  • the present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a control device, a control method, and a program capable of performing switching control for continuously maintaining redundancy. Make one.
  • the control device, control method, and program according to the present invention have adopted the following configurations.
  • the control device according to one aspect of the present invention is a control device mounted on an air vehicle including a communication device that communicates with a radio base station in two or more frequency bands, and is located between the control device and the radio base station.
  • the communication error detection unit that counts the number of occurrences of communication errors in each frequency band, and the frequency band in which the count value exceeds the predetermined value when the count value of the communication error for each frequency band exceeds the predetermined value.
  • the switching processing unit is provided with a switching processing unit for switching the wireless base station with which the communication device communicates, and the switching processing unit makes the timing of switching the wireless base station with which the communication device communicates different for each frequency band.
  • the switching processing unit uses the radio base station in the communication device from the start of switching of the radio base station until the first predetermined time elapses. This is intended to prevent the radio base station from being switched in a frequency band other than the switched frequency band.
  • the first predetermined time is longer than the time required for the communication device to switch the radio base station.
  • the switching processing unit switches to the communication device after completing the switching of the radio base station, and is another from the radio base station after switching. This is to temporarily suppress switching to a wireless base station.
  • a control device mounted on an air vehicle including a communication device that communicates with a radio base station in two or more frequency bands is connected to the radio base station.
  • the number of times of communication error occurrence is counted for each frequency band, and when the count value of the communication error for each frequency band becomes a predetermined value or more, the radio base station that communicates in the frequency band where the count value becomes the predetermined value or more.
  • the timing of switching the radio base station with which the communication device communicates is different for each frequency band.
  • the program according to another aspect of the present invention is a control device mounted on an air vehicle including a communication device that communicates with a radio base station in two or more frequency bands, and communicates with the radio base station.
  • a wireless base that counts the number of error occurrences for each frequency band and communicates in the frequency band where the count value is equal to or greater than the predetermined value when the count value of the communication error for each frequency band exceeds the predetermined value.
  • the control device is mounted on an air vehicle such as a drone (UAV: Unmanned Aerial Vehicle), for example.
  • UAV Unmanned Aerial Vehicle
  • the air vehicle is a drone, but the air vehicle may be an automatically controlled helicopter or an aircraft.
  • FIG. 1 is a diagram showing an example of a control system 1 using a control device.
  • the control system 1 one or more drones 100 fly while communicating with the radio base station 70. Rough control over the flight of the drone 100 is performed by the management device 10 on the ground.
  • the management device 10 generates a route from a predetermined departure point to an arrival point, and sequentially transmits route information (information for flight control) to the network NW and the radio base station 70 with the passage of time. It is transmitted to the drone 100 via.
  • the network NW includes WAN (Wide Area Network), LAN (Local Area Network), the Internet, and the like.
  • the drone 100 is equipped with a positioning means such as a GNSS (Global Navigation Satellite System) receiver inside, and performs autonomous flight so as to fly according to the route information received from the management device 10.
  • the control device controls this autonomous flight. Since the radio base station 70, which is the easiest to communicate with, changes with the flight of the drone 100, the drone 100 flies while switching the radio base station 70 of the communication partner at any time.
  • the mode of the management device 10 is not limited to the above, and the content of the operator manually operating the operator (remote controller) may be transmitted to the drone 100.
  • Communication between the radio base station 70 and the drone 100 is performed using radio waves in two or more frequency bands.
  • Communication between the radio base station 70 and the drone 100 includes, for example, a radio wave in the first frequency band f1 having a relatively low frequency, a radio wave in a second frequency band f2 having a frequency higher than that in the first frequency band f1, and a second frequency. It is performed in parallel with the radio wave of the third frequency band f3, which has a higher frequency than the band f2.
  • the drone 100 acquires route information by communication in the first frequency band f1, and transmits an image captured by a camera in communication in the second frequency band f2 or the third frequency band f3 to the management device 10.
  • the radio wave of the first frequency band f1 has a relatively small amount of data transfer, but has a relatively wide communicable range and is highly reliable, and is suitable for transmitting and receiving information for flight control.
  • radio waves in the second frequency band f2 or the third frequency band f3 are suitable for transmitting and receiving information such as images because the amount of data transferred is relatively large.
  • FIG. 2 is a configuration diagram of the management device 10.
  • the management device 10 includes, for example, a communication unit 20, an input device 22, and a display device 24.
  • the communication unit 20 is, for example, a communication interface such as a network card for connecting to the network NW.
  • the input device 22 is, for example, a keyboard, a mouse, a touch panel, or the like.
  • the display device 24 is an LCD (Liquid Crystal Display), an organic EL (Electroluminescence) display device, a plasma display, or the like.
  • the management device 10 includes a first communication control unit 32, a drone position management unit 34, a route determination unit 36, an input reception unit 38, a second communication control unit 40, an image management unit 42, and display control.
  • a unit 44, a third communication control unit 46, and a task management unit 48 are provided.
  • These components are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components are hardware (circuit section; It may be realized by (including circuits), or it may be realized by the cooperation of software and hardware.
  • a hardware processor such as a CPU (Central Processing Unit) executing a program (software).
  • Some or all of these components are hardware (circuit section; It may be realized by (including circuits), or it may be realized by the cooperation of software and hardware.
  • the program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or a removable storage device such as a DVD or a CD-ROM. It is stored in a medium (non-transient storage medium) and may be installed by mounting the storage medium in a drive device.
  • a storage device a storage device including a non-transient storage medium
  • a storage device including a non-transient storage medium
  • HDD Hard Disk Drive
  • flash memory or a removable storage device such as a DVD or a CD-ROM.
  • the management device 10 stores information and data such as a position management table 60, a task management table 62, and image data in a storage device (memory) such as an HDD, a flash memory, or a RAM (RandomAccessMemory).
  • a storage device such as an HDD, a flash memory, or a RAM (RandomAccessMemory).
  • the first communication control unit 32 controls communication on the premise that the radio base station 70 and the drone 100 communicate with each other by radio waves in the first frequency band f1. For example, the first communication control unit 32 causes the communication unit 20 to transmit a packet in which a flag instructing to communicate with the radio wave of the first frequency band f1 is set, or communicates with the radio wave of the first frequency band f1. Acquires a packet in which a flag indicating that it has been acquired in is set and passes it to the drone position management unit 34. As will be described later, since the drone 100 is set to upload the position of its own unit to the management device 10 by the radio wave of the first frequency band f1, the first communication control unit 32 can acquire the position of the drone 100. is there. In addition, the first communication control unit 32 transmits the route information determined by the route determination unit 36 to the drone 100 using the communication unit 20.
  • the drone position management unit 34 registers the position of the drone 100 uploaded by the drone 100 in the position management table 60.
  • the route determination unit 36 has a route for each drone 100 based on the information registered in the position management table 60 and the task management table 62 and the content of the input operation received from the user of the management device 10 by the input reception unit 38. Is determined and transmitted to the drone 100 via the first communication control unit 32 and the communication unit 20.
  • the second communication control unit 40 controls communication on the premise that the radio base station 70 and the drone 100 communicate with each other by radio waves in the second frequency band f2 or the third frequency band f3.
  • the second communication control unit 40 causes the communication unit 20 to transmit a packet set with a flag instructing to communicate with radio waves in the second frequency band f2 or the third frequency band f3, or the second frequency band f2.
  • a packet in which a flag indicating that the packet has been acquired by communicating with the radio wave of the third frequency band f3 is acquired and passed to the image management unit 42.
  • the second communication control unit 40 of the drone 100 Images captured by the camera can be acquired.
  • the image management unit 42 registers the acquired image in the image data 64 in association with, for example, the identification information of the drone 100.
  • the display control unit 44 causes the display device 24 to display a desired image included in the image data 64 based on the content of the input operation received from the user of the management device 10 by the input reception unit 38.
  • the third communication control unit 46 controls communication performed with an external device (various servers, terminal devices, etc.) via the network NW.
  • the third communication control unit 46 acquires the task designation information that specifies the content of the task to be performed by the drone 100 from the external device and passes it to the task management unit 48.
  • Tasks include, for example, flying over certain areas (such as along railroad lines, power lines, and around rivers), taking images with cameras, and transporting deliveries.
  • the task management unit 48 registers the acquired task designation information in the task management table 62.
  • FIG. 3 is a configuration diagram of the drone 100.
  • the drone 100 includes, for example, a first communication device 110, a second communication device 112, a third communication device 114, a GNSS receiver 120, a sensor group 122, a camera 130, a battery 140, and a control device 150. , Rotating blades 170-1 to 170-m (m is a natural number), motors 172-1 to 172-m, and ESC (Electric Speed Controller) 174-1 to 174-m.
  • the first communication device 110 communicates with the radio base station 70 by radio waves in the first frequency band f1.
  • the second communication device 112 communicates with the radio base station 70 by radio waves in the second frequency band f2.
  • the third communication device 114 communicates with the radio base station 70 by radio waves in the third frequency band f3.
  • the drone 100 may further include a communication device that communicates with another drone 100.
  • the GNSS receiver 120 identifies the position of the drone 100 based on the signal received from the GNSS satellite.
  • the GNSS satellite is a satellite that constitutes a system such as GPS (Global Positioning System), GLONASS, Galileo, BeiDou, QZSS, and Gagan.
  • the sensor group 122 includes, for example, an angular velocity sensor, an acceleration sensor, an altitude sensor (ground distance sensor), a gyro sensor, and the like. Each sensor of the sensor group 122 outputs the detection result to the control device 150.
  • the camera 130 is a camera that uses a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • the camera 130 is attached, for example, at a position where it can image downward or diagonally downward when the drone 100 flies.
  • the imaging direction of the camera 130 may be controllable by communication.
  • the battery 140 is a secondary battery that supplies electric power to each part of the drone 100.
  • the battery 140 is charged by connecting an adapter and a commercial power source to terminals (not shown).
  • the battery 140 supplies operating power to the first communication device 110, the control device 150, and the like, and supplies power for driving the rotor blades to the ESCs 174-1 to 174-m, respectively.
  • the control device 150 includes, for example, a communication control unit 152, a flight control unit 154, and an imaging control unit 156. These components are realized, for example, by a hardware processor such as a CPU executing a program (software). Some or all of these components may be realized by hardware such as LSI, ASIC, FPGA, GPU (including circuit part; circuitry), or realized by collaboration between software and hardware. May be good.
  • the program may be stored in advance in a storage device such as an HDD or a flash memory (a storage device including a non-transient storage medium), or a removable storage medium (non-transient) such as a DVD or a CD-ROM. It is stored in a sex storage medium) and may be installed by attaching the storage medium to a drive device.
  • the communication control unit 152 controls each of the first communication device 110, the second communication device 112, and the third communication device 114.
  • the communication control unit 152 passes the route information and the like obtained by the first communication device 110 to the flight control unit 154, or acquires the image captured by the camera 130 from the image pickup control unit 156 and obtains the second communication device 112 or Uploading to the management device 10 using the third communication device 114.
  • the flight control unit 154 refers to the position of the drone 100 obtained by the GNSS receiver 120 and the detection result of the sensor group 122 so that the drone 100 flies according to the route information acquired from the management device 10, and ESC174-1 It controls up to 174-m.
  • the image pickup control unit 156 operates the camera 130 according to the instruction obtained by the communication or the schedule of the image pickup time zone set in advance.
  • the image pickup control unit 156 passes the image captured by the camera 130 to the communication control unit 152.
  • Rotor blades 170-1 to 170-m are mounted on the drone 100 by a desired number of meters.
  • a rotor of a motor 172 is connected to each rotor 170.
  • the motor 172 is, for example, a brushless motor.
  • the ESC 174 adjusts the electric power supplied to the motor 172 in response to an instruction from the flight control unit 154. As a result, the number of rotations of each rotor 170 is individually adjusted, and the drone 100 can fly in a desired attitude and in a desired direction.
  • FIG. 4 is a more detailed configuration diagram of the control device 150.
  • the communication control unit 152 includes, for example, a system state determination unit 152A and a switching processing unit 152B.
  • the system status determination unit 152A determines whether or not a communication error has occurred with the radio base station 70.
  • the system state determination unit 152A determines that a communication error has occurred with the radio base station 70, for example, when the instruction from the management device 10 is interrupted for a predetermined time or longer.
  • the system status determination unit 152A is an example of a “communication error detection unit”.
  • the system status determination unit 152A determines that a communication error has occurred with the radio base station 70
  • the system status determination unit 152A counts the number of occurrences of the communication error for each frequency band. For example, when a communication error occurs with the radio base station 70, the system status determination unit 152A switches the communication error flag corresponding to the frequency band used for communication with the radio base station 70 from off to on. The error count (count value of communication error) is added every time the unit time elapses.
  • the switching processing unit 152B switches the radio base stations with which the communication devices 110, 112, and 114 communicate in the frequency band where the error count exceeds the predetermined value.
  • FIG. 5 is a diagram showing a scene in which the radio base station 70 communicating with the drone 100 is switched.
  • the size of the communication area of the radio base station 70 differs for each frequency band. In this case, the lower the frequency, the wider the communication area. Therefore, the communication area of the first frequency band f1 is wider than the communication area of the second frequency band f2, and the communication area of the second frequency band f2 is the third frequency band. It is wider than the communication area of f3.
  • the position of the drone 100 is the "first radio base station”.
  • the timing at which a communication error occurs in the communication between the drone 100 and the "first radio base station” is different for each frequency band.
  • the switching processing unit 152B sets the switching flag from “0" to "1” and makes the timing of switching the radio base station 70 communicating with the drone 100 different for each frequency band.
  • the switching flag is set for each frequency band n, and indicates whether or not to switch the radio base station 70 to be communicated.
  • the switching processing unit 152B first sets the switching flag corresponding to the relatively high frequency third frequency band f3 at time t1 from “0" to "1". Next, the switching processing unit 152B sets the switching flag corresponding to the second frequency band f2, which is lower in frequency than the third frequency band f3, from "0" to "1" at time t2. After that, the switching processing unit 152B sets the switching flag corresponding to the first frequency band f1, which is lower in frequency than the second frequency band f2, from "0" to "1" at time t3.
  • the switching processing unit 152B sets the parameter n to 1 (step S10).
  • the parameter n is an identifier of a frequency band, and one value from 1 to 3 is assigned to each of the frequency bands.
  • the frequency band whose identifier is n may be referred to as "frequency band n”.
  • the switching processing unit 152B sets "0" in the communication error flag of the frequency band n (step S12).
  • the communication error flag is set for each frequency band n, and indicates whether or not a communication error has occurred in communication with the radio base station 70 using the frequency band n.
  • the communication error flag is given a value of 0 or 1 for each of the frequency bands n.
  • a communication error occurs when the communication error flag is "1" and no communication error occurs when the communication error flag is "0".
  • the system state determination unit 152A determines whether or not a communication error has occurred in the communication with the radio base station 70 using the frequency band n (step S14).
  • the switching processing unit 152B increments the error count of the frequency band n by 1. Step S16) and set the communication error flag of the frequency band n to "1" (step S18).
  • the switching processing unit 152B sets "0" for the OK count of the frequency band n (step S20).
  • the OK count is set for each frequency band n, and indicates the elapsed time from the recovery of the communication error in the communication with the radio base station 70 using the frequency band n.
  • the OK count one integer value of 0 or more is assigned to each of the frequency bands n.
  • the switching processing unit 152B increments the OK count of the frequency band n by 1. (Step S22).
  • the switching processing unit 152B determines whether or not the radio base station 70 is switched in the communication with the radio base station 70 using the frequency band n (step S24). For example, when the error count of the frequency band n becomes equal to or higher than a predetermined value, the switching processing unit 152B uses the frequency band n on the condition that the frequency band in which the communication error flag is set to "1" is not included. In the communication with the existing radio base station 70, it is determined that the radio base station 70 is switched. That is, the switching processing unit 152B has a frequency when the error count of the frequency band n is equal to or higher than a predetermined value and all the communication error flags of the first to third frequencies are set to "0".
  • the communication processing unit 152B In the communication with the radio base station 70 using the band n, it is determined that the radio base station 70 is switched. On the other hand, in the switching processing unit 152B, even when the error count of the frequency band n is equal to or higher than a predetermined value, the communication error flag of any of the first to third frequencies is set to "1". Determines that there is no switching of the radio base station 70 in communication with the radio base station 70 using the frequency band n.
  • the switching processing unit 152B determines that the radio base station 70 is switched in the communication with the radio base station 70 using the frequency band n, the switching processing unit 152B sets "1" in the switching flag of the frequency band n (step S26). ).
  • the switching processing unit 152B sets the count after switching of the frequency band n to the initial count value (step S28).
  • the post-switching count is set for each frequency band n, and indicates the elapsed time since the frequency band used for communication with the radio base station 70 is switched to the frequency band n.
  • one integer value of 0 or more is assigned to each of the frequency bands n.
  • the initial count value is set for each frequency band n, and after the frequency band used for communication with the radio base station 70 is switched to the frequency band n, the radio base station 70 to be communicated using the other frequency bands is used.
  • the initial count value one or more integer values are assigned to each of the frequency bands n.
  • the switching processing unit 152B determines whether or not the post-switching count of the frequency band n is greater than 0 (step S30).
  • Step S30 when the switching processing unit 152B determines that the radio base station 70 is not switched in the communication with the radio base station 70 using the frequency band n, whether or not the post-switching count of the frequency band n is larger than 0.
  • the switching processing unit 152B determines that the post-switching count of the frequency band n is larger than 0, the switching processing unit 152B decrements the post-switching count of the frequency band n by 1 (step S32), and sets the communication error flag of the frequency band n to “1”. Is set to (step S34).
  • the switching processing unit 152B determines that the count after switching the frequency band n has become 0, the switching processing unit 152B shifts the processing to step S36 without going through the processing of step S32.
  • step S36 the switching processing unit 152B determines whether or not the OK count of the step frequency band n is larger than the first threshold value and the error count of the frequency band n is larger than the second threshold value.
  • the frequency band n is added to the error count of the frequency band n. (Step S38).
  • the coefficient of the frequency band n is set for each frequency band n, and is a coefficient for making a correction to reduce the error count when a predetermined time has elapsed after the switching of the radio base station 70 to be communicated is completed. Is.
  • the coefficient of the frequency band n is, for example, a value included in the numerical range from 0 to 1.
  • the switching processing unit 152B sets "0" to the switching flag of the frequency band n (step S40).
  • steps S38 to step S38 to step proceeds to step S42 without going through the process of S40.
  • step S42 the switching processing unit 152B determines whether or not the parameter n is 3 or more, which is the maximum value of the frequency band identifier.
  • the switching processing unit 152B determines that the parameter n is less than 3, the parameter n is incremented by 1 (step S44), and the processing is returned to step S12. Then, the switching processing unit 152B repeats the processing of steps S12 to S44 until the parameter n becomes 3 or more.
  • the switching processing unit 152B determines that the parameter n is 3 or more, the switching processing unit 152B completes the processing of one cycle of this flowchart.
  • the present embodiment describes the case where three frequency bands are provided, the number of frequency bands is not limited to three.
  • the process of step S42 is changed to the process of determining whether or not the parameter n is k or more.
  • FIG. 8 shows an example of the communication error flag for each frequency band and the time change of the error count for each frequency band.
  • the switching processing unit 152B switches the communication error flag of the frequency band (1) from "0" to "1". In this case, the switching processing unit 152B starts adding the error count of the frequency band (1).
  • the switching processing unit 152B switches the communication error flag of the frequency band (2) from “0” to "1", and starts adding the error count of the frequency band (2).
  • the switching processing unit 152B stops the addition of the error count of the frequency band (1). Further, the switching processing unit 152B maintains the error count value of the frequency band (1) from the time t3 until the time required for the switching processing unit 152B to switch the radio base station 70 elapses. To do.
  • the switching processing unit 152B sets the communication error flag of the frequency band (1) from "1" to "0". To switch to. Further, the switching processing unit 152B corrects the error count of the frequency band (1) to reduce it. As a result, the switching processing unit 152B temporarily causes the communication devices 110, 112, 114 to switch from the switched radio base station 70 to another radio base station after the switching of the radio base station 70 is completed. Suppress.
  • the switching processing unit 152B other than the frequency band in which the wireless base station 70 is switched to the communication devices 110, 112, 114 from the start of switching the wireless base station 70 until the first predetermined time elapses.
  • the first predetermined time which suppresses the switching of the radio base station 70 in the frequency band of, is longer than the time required for the communication devices 110, 112, 114 to switch the radio base station 70, in this example.
  • the switching processing unit 152B maintains the addition of the error count of the frequency band (2) and keeps the communication error flag of the frequency band (2) at "1".
  • the switching processing unit 152B stops adding the error count of the frequency band (2).
  • the switching processing unit 152B sets the communication error flag of the frequency band (2) from "1" to "0". Switch to. Further, the switching processing unit 152B corrects the error count of the frequency band (2) to reduce it.
  • FIG. 9 shows an example of processing when the switching processing unit 152B selects a frequency band to be used for communication with the radio base station 70.
  • the processing of the flowchart of FIG. 9 is repeated, for example, at a predetermined cycle.
  • the switching processing unit 152B generates a random number x (step S50).
  • the random number x is a value randomly selected from the range of 0 to life ⁇ 3.
  • the switching processing unit 152B calculates the parameter ⁇ 1, the parameter ⁇ 2, and the parameter ⁇ 3 (step S52).
  • the parameter ⁇ 1 is a relatively large value among the value of the error count of the frequency band (1) and the value obtained by integrating the life with the communication error flag of the frequency band (1).
  • the parameter ⁇ 2 is a relatively large value among the value of the error count of the frequency band (2) and the value obtained by integrating the life with the communication error flag of the frequency band (2).
  • the parameter ⁇ 3 is a relatively large value among the value of the error count of the frequency band (3) and the value obtained by integrating the life with the communication error flag of the frequency band (3).
  • the switching processing unit 152B calculates the error count value of the frequency band as parameter ⁇ 1, parameter ⁇ 2, and parameter ⁇ 3, and in each corresponding frequency band.
  • the life value is calculated as the parameter ⁇ 1, the parameter ⁇ 2, and the parameter ⁇ 3.
  • the switching processing unit 152B determines whether or not the random number x is in the range of "0" to "life- ⁇ 1" (step S54). When the switching processing unit 152B determines that the random number x is in the range of "0" to "life- ⁇ 1", the switching processing unit 152B selects the frequency band (1) as the frequency band used for communication with the radio base station 70. (Step S56). This completes the processing of this flowchart.
  • the switching processing unit 152B determines that the random number x is not in the range of "0" to "life- ⁇ 1", the random number x is in the range of "life” to "life x 2- ⁇ 2". Whether or not it is determined (step S58). When the switching processing unit 152B determines that the random number x is in the range of "life” to "life x 2- ⁇ 2", the switching processing unit 152B selects the frequency band (2) as the frequency band used for communication with the radio base station 70. (Step S60). This completes the processing of this flowchart.
  • step S62 determines whether or not it is in (step S62).
  • the switching processing unit 152B determines that the random number x is not in the range of "life x 2" to "life x 3- ⁇ 3"
  • the switching processing unit 152B returns the processing to step S50.
  • step S64 the switching processing unit 152B determines that the random number x is in the range of "life x 2" to "life x 3- ⁇ 3", it determines that the frequency band used for communication with the radio base station 70 is a frequency band ( 3) is selected (step S64). This completes the processing of this flowchart.
  • FIG. 10 is a diagram for explaining an operation when a communication error does not occur in communication with the radio base station 70 using the frequency band n.
  • FIG. 11 is a diagram for explaining an operation when a communication error occurs in communication with the radio base station 70 using the frequency band (1).
  • life is set for each of the frequency band (1), the frequency band (2), and the frequency band (3).
  • Life is a value indicating the breadth of the numerical range set for each frequency band n.
  • the life may have a value common to a plurality of frequency bands n, or may have a different value for each frequency band n.
  • the switching processing unit 152B matches the random number x with the numerical range set in any of the frequency bands n, excluding the numerical range having a width indicated by the error count for each frequency band n.
  • the frequency band n having the same numerical range is selected as the frequency band n used for communication with the radio base station 70. That is, the probability that the switching processing unit 152B selects a frequency band having a relatively small error count value as a frequency band used for communication with the radio base station 70 as compared with a frequency band having a relatively large error count value. Is increasing.
  • the switching processing unit 152B has a numerical value having a range indicated by an error count of the frequency band n from a numerical range set in the frequency band n other than the frequency band (1) in which the communication error has occurred.
  • the frequency band n in which the numerical range matches is selected as the frequency band n used for communication with the radio base station 70. That is, the switching processing unit 152B prohibits the selection of the frequency band (1) in which the communication error has occurred as the frequency band used for communication with the radio base station 70.
  • switching control for continuously maintaining redundancy can be performed. For example, when wireless communication is performed in a plurality of frequency bands, when the timing of switching the wireless base station 70 with which the communication devices 110, 112, 114 communicate is common in each frequency band, the communication between the drone 100 and the wireless base station 70 is performed. May be temporarily interrupted. Therefore, according to the control device 150 according to the embodiment, for example, the radio base station 70 is connected to the communication devices 110, 112, 114 from the start of switching the radio base station 70 until the first predetermined time elapses.
  • the timing of switching the radio base station 70 with which the communication devices 110, 112, and 114 communicate is different for each frequency band by suppressing switching of the radio base station 70 in a frequency band other than the frequency band in which the above is switched. As a result, switching control for continuously maintaining redundancy can be performed.
  • the communication devices 110, 112, 114 are made to switch from the radio base station 70 after the switching to another radio base station. In order to temporarily suppress this, the switching of the radio base station 70 can be performed stably.
  • Control system 10 ... Management device, 70 ... Radio base station, 100 ... Drone, 110 ... First communication device, 112 ... Second communication device, 114 ... Third communication device, 120 ... GNSS receiver, 122 ... Sensor Group, 130 ... Camera, 140 ... Battery, 150 ... Control device, 152 ... Communication control unit, 152A ... System status determination unit, 152B ... Switching processing unit, 154 ... Flight control unit, 156 ... Imaging control unit, 170 ... Rotating blade , 172 ... motor, 174 ... ESC.

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Telephonic Communication Services (AREA)
PCT/JP2020/025602 2019-08-29 2020-06-30 制御装置、制御方法、およびプログラム WO2021039097A1 (ja)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004072459A (ja) * 2002-08-07 2004-03-04 Kyocera Corp 無線通信システム
JP2017526246A (ja) * 2014-07-11 2017-09-07 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ 空対地無線通信におけるハンドオーバ管理
WO2017147818A1 (en) * 2016-03-02 2017-09-08 Honeywell International Inc. Enhanced vhf link communications method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004072459A (ja) * 2002-08-07 2004-03-04 Kyocera Corp 無線通信システム
JP2017526246A (ja) * 2014-07-11 2017-09-07 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ 空対地無線通信におけるハンドオーバ管理
WO2017147818A1 (en) * 2016-03-02 2017-09-08 Honeywell International Inc. Enhanced vhf link communications method

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