WO2022113309A1 - 飛行体、プロセッサ、飛行制御方法、プログラム、飛行補助設備 - Google Patents
飛行体、プロセッサ、飛行制御方法、プログラム、飛行補助設備 Download PDFInfo
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- WO2022113309A1 WO2022113309A1 PCT/JP2020/044382 JP2020044382W WO2022113309A1 WO 2022113309 A1 WO2022113309 A1 WO 2022113309A1 JP 2020044382 W JP2020044382 W JP 2020044382W WO 2022113309 A1 WO2022113309 A1 WO 2022113309A1
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- flight
- aircraft
- information
- landing point
- flying object
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 17
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Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
- G08G5/025—Navigation or guidance aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- 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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
-
- 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
- G05D1/60—Intended control result
- G05D1/654—Landing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- 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
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/10—Outdoor regulated spaces
- G05D2107/17—Spaces with priority for humans, e.g. populated areas, pedestrian ways, parks or beaches
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D2109/25—Rotorcrafts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/10—Optical signals
Definitions
- the present invention relates to an air vehicle, a processor, a flight control method, a program, and flight assist equipment.
- Patent Document 1 discloses a landing facility capable of autonomous landing of an air vehicle. ..
- Patent Document 1 discloses a landing facility provided with a marker capable of assisting the autonomous landing of an air vehicle.
- Patent Document 1 it is possible to provide landing equipment capable of realizing autonomous landing of an air vehicle at low cost and efficiently.
- GNSS etc. satellite positioning system
- the number of satellites supplemented is small, and accurate self-position estimation may be difficult, or errors may occur due to solar activity such as solar flares.
- the flying object that performs autonomous flight by GNSS or the like cannot accurately move to a distance where the marker can be recognized, and cannot perform autonomous landing satisfactorily. There is a fear.
- one object of the present invention is to provide an air vehicle that autonomously flies using GNSS or the like and that can improve flight reliability while suppressing an increase in cost.
- an air vehicle that autonomously flies on a designated route, and is based on information on a landing point acquired from the outside by an external information acquisition device when autonomous flight on the designated route is not continued. It is possible to provide an air vehicle including a processor that controls the flight of the air vehicle.
- the present invention it is possible to provide an air vehicle that autonomously flies using GNSS or the like and that can improve flight reliability while suppressing an increase in cost.
- FIG. 7 It is a schematic diagram which looked at the flight assist equipment of this invention from the upper surface. It is a figure which looked at the flight auxiliary equipment of FIG. 1 from the side view. It is a figure which showed the direction which the auxiliary sign of the flight auxiliary equipment of FIG. 1 shows. It is a top view of the flying object of FIG. It is a side view of the flying object of FIG. It is a functional block diagram of the flying object of FIG. It is the figure which looked at the auxiliary sign of the flight auxiliary equipment of this invention from the top view. It is an isometric view of the auxiliary sign of FIG. 7. It is a top view when the flying object in this invention is guided at the landing point. It is a side view of the state of FIG.
- the flight object, the processor, the flight control method, the program, and the flight auxiliary equipment according to the embodiment of the present invention have the following configurations.
- the external information acquisition device is a sensor.
- [Item 3] The aircraft described in item 2 and The sensor is an image sensor.
- the external information acquisition device is a beacon device.
- An air vehicle characterized by that.
- [Item 5] The flying object according to any one of items 1 to 4.
- the processor executes a safe landing mode in which flight control is performed based on a flight route for acquiring information about the landing point.
- [Item 6] The flying object according to any one of items 1 to 4. In normal times, the processor recognizes the information about the landing point as the information about the landing point on the designated route. In the safe landing mode, the information about the landing point is recognized as the information about the emergency landing point different from the landing point on the designated route. An air vehicle characterized by that.
- [Item 7] The flying object according to any one of items 1 to 6.
- the aircraft transmits information about the landing point to another aircraft or a management server that supports autonomous flight to the aircraft.
- An air vehicle characterized by that.
- a flight control method characterized by that.
- the flight control method is The step includes a step of controlling the flight of the air vehicle based on the information about the landing point acquired from the outside by the external information acquisition device when the autonomous flight on the designated route is not continued.
- the auxiliary system is provided on the flying object 100 and the auxiliary signs 12 such as figures and characters represented by plates, sheets, displays, structures and the like. It has an auxiliary sign acquisition sensor (hereinafter, collectively referred to as an external information acquisition device) 112 capable of capturing the auxiliary sign 12.
- a plurality of auxiliary signs 12 are arranged on the designated route 20 of the aircraft 100 or outside the designated route to assist the flight of the aircraft 100.
- the illustrated auxiliary sign 12 is unified as a black star in order to clarify the position and the like, and changes in figures and characters due to differences in the information indicated by the plurality of auxiliary signs 12 are shown in the figure. do not have.
- the flying object 100 is equipped with at least elements such as a propeller 110 and a motor 111 for flying, and is equipped with energy for operating them (for example, a secondary battery, a fuel cell, fossil fuel, etc.).
- the air vehicle does not require a large area such as a runway and is equipped with a plurality of propellers and motors called multicopters as shown in FIG. 4 or FIG. 5, or a single rotor helicopter as shown in FIG. It is preferable to use.
- the sensor 112 is provided by connecting to the flying object 100, and is installed at least at any place where the outside can be captured from the flying object during flight.
- the installation angle of the sensor 112 is determined by the installation location of the auxiliary sign 12 to be used, the altitude used by the flying object, the capture range of the sensor 112, and the like.
- the sensor can be displaced independently of the tilt of the aircraft because the sensor is oriented in the specified direction regardless of whether the aircraft is tilted forward or hovering in a windless environment where the aircraft is not tilted. You may connect to. For example, by using a gimbal for a camera or the like, it is possible to keep the direction of the sensor constant without being affected by the change in the angle of the flying object.
- the sensor 112 is a detector capable of capturing the auxiliary sign 12 while the flying object is flying over the sky.
- an optical sensor such as a digital camera or an infrared camera that can visually recognize the auxiliary sign 12 can be mentioned. Further, it may be used in combination with a distance measuring device such as a millimeter wave radar to efficiently capture the auxiliary sign.
- the illustrated flying object 100 is drawn in a simplified manner for facilitating the explanation of the structure of the present invention, and for example, the detailed configuration of the control unit and the like is not shown.
- the flying object 100 has the direction of arrow D (-YX direction) in the figure as the forward direction (details will be described later).
- Front-back direction + Y direction and -Y direction
- vertical direction or vertical direction
- left-right direction or horizontal direction
- traveling direction forward
- backward direction or + Y direction
- ascending direction upward
- descending direction downward
- the propeller 110 rotates by receiving the output from the motor 111.
- the rotation of the propeller 110 generates a propulsive force for taking off the flying object 100 from the starting point, moving it, and landing it at the destination.
- the propeller 110 can rotate to the right, stop, and rotate to the left.
- the propeller 110 included in the flying object of the present invention has one or more blades. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a curved shape, a twisted shape, a tapered shape, or a combination thereof. The shape of the blade can be changed (for example, expansion / contraction, folding, bending, etc.). The blades may be symmetrical (having the same upper and lower surfaces) or asymmetric (having different shaped upper and lower surfaces). The blades can be formed into an air wheel, wing, or geometry suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the blades move through the air. The geometry of the blades can be appropriately selected to optimize the dynamic air characteristics of the blades, such as increasing lift and thrust and reducing drag.
- rotors e. 1, 2, 3, 4, or more blades
- shape of the blade can be any shape such as a flat shape,
- the propeller included in the flying object of the present invention may have a fixed pitch, a variable pitch, or a mixture of a fixed pitch and a variable pitch, but the propeller is not limited to this.
- the motor 111 causes the rotation of the propeller 110, and for example, the drive unit can include an electric motor, an engine, or the like.
- the blades are driveable by the motor and rotate around the axis of rotation of the motor (eg, the long axis of the motor).
- All the blades can rotate in the same direction, and can also rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction.
- the blades can all rotate at the same rotation speed, or can rotate at different rotation speeds.
- the rotation speed can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.
- the flight body 100 determines the rotation speed and flight angle of each motor according to the wind speed and the wind direction by a flight controller, a radio, or the like. As a result, the flying object can move ascending / descending, accelerating / decelerating, and changing direction.
- the flight body 100 can perform autonomous flight according to routes and rules set in advance or during flight, and flight by maneuvering using a radio.
- the above-mentioned flying object has a functional block shown in FIG.
- the functional block in FIG. 2 has a minimum reference configuration.
- the flight controller is a so-called processing unit.
- the processing unit can have one or more processors such as a programmable processor (eg, a central processing unit (CPU)).
- the processing unit has a memory (not shown), and the memory can be accessed.
- the memory stores the logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.
- the memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
- the data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory.
- the processing unit includes a control module configured to control the state of the rotorcraft.
- the control module adjusts the spatial arrangement, velocity, and / or acceleration of a rotary wing machine with 6 degrees of freedom (translation x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z ). It controls the propulsion mechanism (motor, etc.) of the rotary wing machine.
- the control module can control one or more of the states of the mounting unit and the sensors.
- the processing unit is capable of communicating with a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, terminals, display devices, or other remote controls).
- the transmitter / receiver can use any suitable communication means such as wired communication or wireless communication.
- the transmitter / receiver uses one or more of a local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. be able to.
- the transmitter / receiver can transmit and / or receive one or more of data acquired by sensors, processing results generated by a processing unit, predetermined control data, user commands from a terminal or a remote controller, and the like. ..
- Sensors according to this embodiment may include an inertial sensor (acceleration sensor, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
- inertial sensor acceleration sensor, gyro sensor
- GPS sensor GPS sensor
- proximity sensor eg, rider
- vision / image sensor eg, camera
- the processing unit is equipped with a processing system for reflecting optical information and the like obtained from the auxiliary sign 12 captured by the sensor 112 in flight control.
- the figures and characters shown by the auxiliary sign 12 have a shape that is easy to be captured by distinguishing them from other objects (natural objects and objects generally existing outdoors) when viewed from the sky in order to improve the accuracy and speed of capture. ..
- a single circle or quadrangle is a common shape of a structure or a building seen from the sky, so the possibility of misidentification is higher than that of other complicated figures or two-dimensional codes.
- the auxiliary sign 12 is represented so that the contents of the sign can be captured from the flying object 100 flying in the air.
- the camera provided in the aircraft is looking directly underneath, it is preferable not only to be able to accurately capture from directly above (+ Z direction) the auxiliary sign 12, but also to capture even if it is not directly above, as shown in FIGS. 7 and 8B. Displayed as possible. Further, it may be provided in a structure having a step as shown in FIG. 7, may be provided in a flat structure as shown in FIG. 8B, or, for example, in a specified route of a designated route. It may be provided on a structure that is inclined toward the surface.
- the auxiliary sign 12 can be installed on the ground or drawn with paint on flat ground. Where there are structures or structures, it is desirable to install them in a high place where there are few shields in the sky so that they can be easily captured from the flying object.
- the roof or roof of a building, the upper part of a utility pole or a street lamp, or the like is suitable, but the installation location is not limited to this as long as it can be installed so as to be captured from an air vehicle.
- Each of the flying objects 100 using the auxiliary sign 12 flies at a free altitude, and the altitude to be used as a route is set in advance so as not to cause a collision accident or the like. Therefore, the size of the auxiliary sign 12 is determined so that it is not difficult to capture the auxiliary sign 12 by the sensor 112 included in the flying object at the utilization altitude of the flying object 100. For example, even if the altitude is set to 50 meters, the minimum size of the auxiliary sign that can be captured is the minimum size when the focal length of the camera mounted as the auxiliary sign capture sensor is 50 mm and 400 mm. Since they differ greatly, the appropriate size for the auxiliary sign 12 also differs.
- a plurality of auxiliary signs 12 are provided around the designated route 20 or the designated route 20 of the aircraft 100, which is outside the landing port provided with the landing marker 11, the emergency landing place, etc. (hereinafter collectively referred to as the landing point 10). Therefore, when the flight object 100 heading for the landing point 10 deviates from the landing point 10 or its designated route 20, the traveling direction can be determined by the information obtained from the auxiliary sign 12. For example, when the auxiliary sign 12 is provided on the circle centered on the landing point 10 and the distance between the adjacent auxiliary signs 12 is equal to or less than the sign capture range at the flight altitude of the flying object 100, the auxiliary sign 12 is provided. The aircraft 100, which is inside the circle in which the twelve are arranged, can smoothly head to the landing point 10.
- the auxiliary sign 12 can be captured before the equipment deviates from the circle, so that the vehicle will not inadvertently leave the landing point 10, and the vehicle will crash or land unavoidably.
- the range is also limited.
- the auxiliary sign 12 has information capable of acquiring the direction in which the flying object 100 should go, and the flying object 100 that has captured the auxiliary sign 12 has a landing point 10 even when it is difficult to estimate its own position by GNSS or the like. You can move in the direction.
- the method of self-position estimation is not limited to GNSS, but estimation by radio wave reception from ground reference stations (RTK, control, etc.), estimation by images and light (VisualSLAM, LidarSLAM, etc.), and pre-stored topography and environment. It may be estimated by data reference.
- the flying object 100 may reach the auxiliary sign 12 by further utilizing an existing structure other than the auxiliary sign 12.
- the total number of the auxiliary signs 12 is reduced to reduce the installation cost of the equipment, and the supplementation of the auxiliary sign 12 is made easier.
- the shape in which circles and lines are combined can be read. Since the size and spacing of utility poles and electric wires are standardized, auxiliary use can be expected, such as flying in the direction in which the wires continue, relying on the wire shape of the utility poles as a reference.
- the aircraft 100 that has taken off from the takeoff point autonomously flies toward the landing point 10 based on its own position acquired by GNSS or the like on the preset designated route 20, and lands at the landing point 10 such as a port or a helipad. do.
- the aircraft 100 can make an accurate autonomous landing at the landing point 10 by using a guidance signal from the ground, an auxiliary marker for autonomous landing, and the like.
- the receiving device included in the flying object 100 receives the guidance signal (instruction signal) from the ground. ) Is acquired and the landing operation is performed.
- the flying object 100 reads the marker 11 and performs the landing operation by approaching the distance that the optical sensor such as the camera included in the flying object 100 can recognize the marker 11. conduct.
- the aircraft 100 sets the designated route 20. It will be difficult to proceed.
- the flight object 100 may transmit the information indicated by the acquired auxiliary sign 12 to, for example, a management server that supports autonomous flight to the flight object 100 or a processor possessed by another flight object.
- a management server that supports autonomous flight to the flight object 100 or a processor possessed by another flight object.
- the flying object 100 can capture the auxiliary signs 12.
- the auxiliary sign 12 is arranged so that it can be easily captured in advance. This can improve the reliability of autonomous flight.
- the flight body 100 may switch to a flight method (auxiliary sign search mode) for capturing the auxiliary sign 12 earlier when it is determined that accurate autonomous flight has become difficult.
- a flight method auxiliary sign search mode
- the auxiliary sign 12 can handle any information that can be possessed by figures, character strings, barcodes, etc., it can play a role of flight assistance when the self-position estimation of the flying object 100 fails. It is possible. Therefore, the information indicated by the auxiliary sign 12 is, for example, an instruction of altitude, speed, direction, operation, information transmission of coordinates, and the like.
- a safe landing mode for landing using the auxiliary sign 12 may be provided.
- the autonomous flight assist device of the present invention is provided with a flight mode (hereinafter collectively referred to as a safe landing mode) that enables landing at a safe point.
- a safe landing mode a flight mode
- the aircraft 100 switches to the safe landing mode automatically or by an instruction from the outside. If the flight method in the safe landing mode is to keep the flight object 100 at a predetermined altitude and gradually increase the diameter of the turn as shown in FIG. 15, continue turning until the nearest auxiliary sign 12 is caught. As soon as the auxiliary sign 12 is recognized, it becomes possible to head to the landing point 10 (including the emergency landing place) according to the information provided from the auxiliary sign 12.
- the area around the installation point of the auxiliary sign 12 can be the landing point 10, the position that does not interfere with the acquisition of the auxiliary sign of other aircraft (for example, at a position 2 meters away from the auxiliary sign 12 and other than the own aircraft). You may land at a position where the aircraft etc. cannot be captured).
- the identification ID and the placement position information of the auxiliary sign 12 as the information indicated by the acquired auxiliary sign 12, it is possible to grasp at which position the aircraft 100 will land.
- the landing may be performed based on the other auxiliary sign 12 regardless of the case where the same auxiliary sign 12 is supplemented.
- the flight route for the aircraft 100 to capture the auxiliary sign 12 in the safe landing mode can be arbitrarily set. It can be expected that the auxiliary sign 12 will be efficiently supplemented by expanding the diameter of the circle in a spiral shape or reciprocating while shifting the position without flying unplanned.
- flight methods in safe landing mode include increasing flight altitude to increase the area that can be acquired, and objects that can be flight aids from images acquired in the past (such as seconds or minutes ago). , Auxiliary sign 12, electric wire, utility pole, etc.), and there is a way to fly in that direction.
- images acquired in the past for example, if the time when an image containing an object that can be a flight aid was acquired was 10 seconds ago, the direction of travel was changed by 180 degrees and the same speed was used for 10 seconds. By advancing, you can approach objects that can be flight aids.
- auxiliary signs 12 are arranged outside the designated route 20 or the designated route 20 of the aircraft 100, and autonomous flight by GNSS or the like becomes difficult, another point where the same flight route 20 is used. Other aircraft flying in can be informed of the nearest landing point, respectively.
- the aircraft 100 obtains different information when it captures the same auxiliary sign 12 in normal times and in safe landing mode, or the algorithm of the auxiliary sign processing system in safe landing mode so that it can be associated with different information.
- the reference database may be different from normal times. This makes it possible, for example, to indicate the direction in which the port is located when a black star is captured in normal times, and the direction of the nearest vacant lot when the same black star is captured in the safe landing mode.
- the auxiliary sign 12 may be used for transmission by radio waves, as long as it can inform the flying object of information on which direction it should go.
- the flying object 100 that transmits information using a beacon is equipped with a beacon device (external information acquisition device) used for receiving radio waves emitted by a beacon installed on the ground.
- a beacon device external information acquisition device
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
[項目1]
指定航路上を自律飛行する飛行体であって、
前記指定航路上での自律飛行を継続していない場合に、外部情報取得装置により外部から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行うプロセッサを備える、
ことを特徴とする飛行体。
[項目2]
項目1に記載の飛行体であって、
前記外部情報取得装置は、センサである、
ことを特徴とする飛行体。
[項目3]
項目2に記載の飛行体であって、
前記センサは、画像センサである、
ことを特徴とする飛行体。
[項目4]
項目1に記載の飛行体であって、
前記外部情報取得装置は、ビーコン機器である、
ことを特徴とする飛行体。
[項目5]
項目1ないし4のいずれかに記載の飛行体であって、
前記プロセッサは、前記着陸地点に関する情報を取得するための飛行ルートに基づき飛行制御を行う安全着陸モードを実行する、
ことを特徴とする飛行体。
[項目6]
項目1ないし4のいずれかに記載の飛行体であって、
前記プロセッサは、平時においては、前記着陸地点に関する情報を前記指定航路上の着陸地点に関する情報として認識し、
安全着陸モード時においては、前記着陸地点に関する情報を前記指定航路上の着陸地点とは異なる緊急着陸地点に関する情報として認識する、
ことを特徴とする飛行体。
[項目7]
項目1ないし6のいずれかに記載の飛行体であって、
前記飛行体は、前記着陸地点に関する情報を他の飛行体または前記飛行体に自律飛行を支持する管理サーバへ送信する、
ことを特徴とする飛行体。
[項目8]
指定航路上を自律飛行する飛行体に搭載されるプロセッサであって、
前記指定航路上での自律飛行を継続していない場合に、外部情報取得装置により外部から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行う、
ことを特徴とするプロセッサ。
[項目9]
指定航路上を自律飛行する飛行体の飛行制御方法であって、
前記指定航路上での自律飛行を継続していない場合に、外部情報取得装置により外部から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行うステップ、を含む、
ことを特徴とする飛行制御方法。
[項目10]
指定航路上を自律飛行する飛行体に飛行制御方法を実行させるプログラムであって、
前記飛行制御方法は、
前記指定航路上での自律飛行を継続していない場合に、外部情報取得装置により外部から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行うステップ、を含む、
ことを特徴とするプログラム。
[項目11]
指定航路上を自律飛行する飛行体用の飛行補助設備であって、
着陸地点に関する情報を提供する補助サインを備える、
ことを特徴とする飛行補助設備。
以下、本発明の実施の形態による飛行体について、図面を参照しながら説明する。
図1及び図2に示されるように、本発明の実施の形態による補助システムは、プレートやシート、ディスプレイ、構造物などによって表される図や文字等の補助サイン12と、飛行体100に設けられ、補助サイン12を捕捉可能である補助サイン捕捉センサ(以下、外部情報取得装置と総称する)112と、を有している。補助サイン12は、飛行体100の指定航路20または指定航路外に複数配置され、飛行体100の飛行を補助する。なお、図示される補助サイン12は、位置等を明瞭にするため、統一して黒星として描かれており、複数の補助サイン12が各々示す情報の差異による図形や文字の変化等は図示していない。
本発明による第2の実施の形態の詳細において、第1の実施の形態と重複する構成要素は同様の動作を行うので、再度の説明は省略する。
本発明による第3の実施の形態の詳細において、第1の実施の形態及び第2の実施の形態と重複する構成要素は同様の動作を行うので、再度の説明は省略する。
11 着陸マーカー
12 補助サイン
20 指定航路
100 飛行体
110a~110e プロペラ
111a~111e モータ
112 センサ
150 サイン捕捉可能範囲
Claims (11)
- 指定航路上を自律飛行する飛行体であって、
前記指定航路上での自律飛行を継続していない場合に、外部情報取得装置により外部から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行うプロセッサを備える、
ことを特徴とする飛行体。 - 請求項1に記載の飛行体であって、
前記外部情報取得装置は、センサである、
ことを特徴とする飛行体。 - 請求項2に記載の飛行体であって、
前記センサは、画像センサである、
ことを特徴とする飛行体。 - 請求項1に記載の飛行体であって、
前記外部情報取得装置は、ビーコン機器である、
ことを特徴とする飛行体。 - 請求項1ないし4のいずれかに記載の飛行体であって、
前記プロセッサは、前記着陸地点に関する情報を取得するための飛行ルートに基づき飛行制御を行う探索モードを実行する、
ことを特徴とする飛行体。 - 請求項1ないし4のいずれかに記載の飛行体であって、
前記プロセッサは、平時においては、前記着陸地点に関する情報を前記指定航路上の着陸地点に関する情報として認識し、
安全着陸モード時においては、前記着陸地点に関する情報を前記指定航路上の着陸地点とは異なる緊急着陸地点に関する情報として認識する、
ことを特徴とする飛行体。 - 請求項1ないし6のいずれかに記載の飛行体であって、
前記飛行体は、前記着陸地点に関する情報を他の飛行体または前記飛行体に自律飛行を支持する管理サーバへ送信する、
ことを特徴とする飛行体。 - 指定航路上を自律飛行する飛行体に搭載されるプロセッサであって、
前記指定航路上での自律飛行を継続していない場合に、情報取得装置により外部情報取得装置から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行う、
ことを特徴とするプロセッサ。 - 指定航路上を自律飛行する飛行体の飛行制御方法であって、
前記指定航路上での自律飛行を継続していない場合に、外部情報取得装置により外部から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行うステップ、を含む、
ことを特徴とする飛行制御方法。 - 指定航路上を自律飛行する飛行体に飛行制御方法を実行させるプログラムであって、
前記飛行制御方法は、
前記指定航路上での自律飛行を継続していない場合に、外部情報取得装置により外部から取得した着陸地点に関する情報に基づき前記飛行体の飛行制御を行うステップ、を含む、
ことを特徴とするプログラム。 - 指定航路上を自律飛行する飛行体用の飛行補助設備であって、
着陸地点に関する情報を提供する補助サインを備える、
ことを特徴とする飛行補助設備。
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JP5775354B2 (ja) * | 2011-04-28 | 2015-09-09 | 株式会社トプコン | 離着陸ターゲット装置及び自動離着陸システム |
WO2018155700A1 (ja) * | 2017-02-27 | 2018-08-30 | 国立大学法人 東京大学 | 飛行管理システム |
JP2018206089A (ja) * | 2017-06-05 | 2018-12-27 | 株式会社Nttファシリティーズ | 誘導システム、及び、誘導方法 |
JP2019016197A (ja) * | 2017-07-07 | 2019-01-31 | 株式会社日立製作所 | 移動体誘導システム |
KR20190034954A (ko) * | 2017-09-25 | 2019-04-03 | 주식회사 케이티 | 무인 자율 비행체의 비상 착륙 장치 및 방법 |
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JP5775354B2 (ja) * | 2011-04-28 | 2015-09-09 | 株式会社トプコン | 離着陸ターゲット装置及び自動離着陸システム |
WO2018155700A1 (ja) * | 2017-02-27 | 2018-08-30 | 国立大学法人 東京大学 | 飛行管理システム |
JP2018206089A (ja) * | 2017-06-05 | 2018-12-27 | 株式会社Nttファシリティーズ | 誘導システム、及び、誘導方法 |
JP2019016197A (ja) * | 2017-07-07 | 2019-01-31 | 株式会社日立製作所 | 移動体誘導システム |
KR20190034954A (ko) * | 2017-09-25 | 2019-04-03 | 주식회사 케이티 | 무인 자율 비행체의 비상 착륙 장치 및 방법 |
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