WO2022176446A1 - 飛行体、制御方法、及びプログラム - Google Patents
飛行体、制御方法、及びプログラム Download PDFInfo
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- WO2022176446A1 WO2022176446A1 PCT/JP2022/000826 JP2022000826W WO2022176446A1 WO 2022176446 A1 WO2022176446 A1 WO 2022176446A1 JP 2022000826 W JP2022000826 W JP 2022000826W WO 2022176446 A1 WO2022176446 A1 WO 2022176446A1
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- G05D1/86—
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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
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G05D1/611—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
Definitions
- This technology relates to flying objects, control methods, and programs that can be applied to autonomous flight.
- Patent Document 1 describes a flight control method for controlling a control mode during flight of an unmanned aerial vehicle.
- the flight control method of Patent Document 1 an abnormality in the flight state of the unmanned aerial vehicle is detected, and the control mode is changed to the safety control mode.
- damage to the object due to contact with the rotating blades is reduced (paragraphs [0082] to [0095] in FIG. 5 of the description of Patent Document 1, etc.).
- the purpose of this technology is to provide a flying object, control method, and program that can exhibit high safety.
- an aircraft includes a recording unit, a detection unit, and a reproduction unit.
- the recording unit records flight parameters during flight in a state in which no sensor abnormality is detected.
- the detection unit detects an abnormality of the sensor.
- the reproducing unit reproduces the flight parameters based on the abnormality of the sensor detected by the detecting unit.
- This aircraft records the flight parameters during flight when no sensor abnormality is detected. If a sensor anomaly is detected, the flight parameters are reconstructed based on the sensor anomaly. This makes it possible to exhibit high safety.
- the hovering may include a state in which the coordinates of the flying object do not change.
- the flight parameter is a current value of a rotor mounted on the aircraft, a voltage value of the rotor, a rotational speed value of an ESC (Electric Speed Controller) mounted on the aircraft, a current value of the ESC, or the ESC may include at least one of the voltage values of
- the sensor may include at least one of a GPS (Global Positioning System), an IMU (Inertial Measurement Unit), an atmospheric pressure sensor, or a geomagnetic sensor.
- GPS Global Positioning System
- IMU Inertial Measurement Unit
- atmospheric pressure sensor or a geomagnetic sensor.
- the detection unit detects that at least one of a change in the GPS value, a change in the IMU value, a change in the barometric pressure sensor value, or a change in the geomagnetic sensor value is equal to or greater than a threshold, and operation information related to the flying object. If there is no such sensor, an abnormality of the sensor may be detected.
- the flying object may further be equipped with an imaging device.
- the recording unit may record the flight parameters according to imaging conditions related to conditions of the imaging device.
- the imaging situation may include at least one of the position of the imaging device, the orientation of the imaging device, or the posture of the imaging device.
- the reproducing unit may reproduce the flight parameters based on the position of the imaging device, the orientation of the imaging device, or the attitude of the imaging device when the abnormality of the sensor is detected.
- the detection unit may detect an abnormality of the sensor based on the captured image captured by the imaging device and the operation information related to the flying object.
- the detection unit may detect an abnormality of the sensor when the amount of movement of the flying object estimated from the captured image is equal to or greater than a threshold and there is no operation information.
- the recording unit may record the flight parameters from when the flying object ascends to a certain altitude until when the flying object descends to a certain altitude.
- the reproducing unit may reproduce the flight parameters until the aircraft lands based on the abnormality of the sensor.
- a control method is a control method executed by a computer system, and includes recording flight parameters during flight in a state in which no sensor abnormality is detected. An abnormality of the sensor is detected. The flight parameter is reproduced based on the abnormality of the sensor detected by the detection unit.
- a program causes a computer system to execute the following steps.
- FIG. 1 is a schematic diagram for explaining an overview of an aircraft according to the present technology
- FIG. 3 is a block diagram showing a functional configuration example of an aircraft and a controller
- FIG. 4 is a block diagram showing a functional configuration example of a control unit
- FIG. FIG. 4 is a flow chart showing an example of recording flight parameters
- FIG. 3 is a diagram showing an example of recorded flight parameters
- 4 is a flow chart showing an example of reproduction of flight parameters
- It is an example of the flowchart which detects the abnormality of a sensor. It is another example of a flow chart for detecting an abnormality in a sensor.
- FIG. 4 is a flow chart showing an example of recording flight parameters when a gimbal camera is mounted;
- FIG. 4 is a flow chart showing an example of recording flight parameters when a gimbal camera is mounted;
- FIG. 4 is a flow chart showing an example of recording flight parameters when a gimbal camera is mounted;
- FIG. 4 is a flow chart showing an example
- FIG. 4 is a flow chart showing an example of reproduction of flight parameters when a gimbal camera is mounted;
- FIG. 4 is a flow chart showing an example of recording flight parameters during descent;
- FIG. 4 is a flow chart showing an example of flight parameter reproduction in descent and landing;
- FIG. It is a block diagram which shows the hardware structural example of a control part.
- FIG. 1 is a schematic diagram for explaining an outline of an aircraft according to the present technology.
- the flying object 1 is a drone capable of autonomous flight.
- an aircraft 1 has a GPS (Global Positioning System) 2, an IMU (Inertial Measurement Unit) 3, an air pressure sensor 4, and a geomagnetic sensor 5.
- the aircraft 1 is not limited to this, and may be equipped with any sensor.
- sensors such as laser ranging sensors, contact sensors, ultrasonic sensors, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) may be used.
- the aircraft 1 is capable of recording flight parameters during flight in a state in which no sensor abnormality is detected. Flight refers to various actions during flight of the aircraft 1 . In this embodiment, flying includes at least one of taking off, climbing, hovering, descending, or landing. In addition to this, various actions of the aircraft 1 during flight may be included.
- hovering is a state in which the coordinates of the flying object 1 do not change.
- hovering includes actions on the aircraft 1 side and actions on the controller 6 (user) side.
- the operation on the flying object 1 side includes maintaining a stationary state at arbitrary coordinates and maintaining predetermined (designated) coordinates. That is, hovering includes a state of being stationary without moving, and a state of maintaining arbitrary coordinates by moving in an environment where disturbance such as wind exists.
- an operation on the controller 6 side there is a state in which no operation information is transmitted to the aircraft 1 . Specifically, it is a state in which the user does not send an instruction via the controller 6 to move the aircraft 1 upward, downward, forward/backward, leftward/rightward, or the like.
- Flight parameters are parameters related to flight.
- the flight parameters are the current value of the rotor mounted on the aircraft 1, the voltage value of the rotor, the rotational speed value of an ESC (Electric Speed Controller), the current value of the ESC, or the voltage value of the ESC. including at least one of
- the above flight parameter is expressed as the rotation speed of the rotor.
- the rotation speed of the rotor when it is described that the rotation speed of the rotor is reproduced, it means that any of the rotor current value, rotor voltage value, ESC rotation speed value, ESC current value, or ESC voltage value is reproduced. is.
- the aircraft 1 also has detection units that detect abnormalities in the GPS 2 , IMU 3 , atmospheric pressure sensor 4 , and geomagnetic sensor 5 .
- FIG. 1 shows that the detection unit detects an abnormality in the IMU 3 .
- the flying object 1 has a reproduction unit that reproduces flight parameters based on sensor anomalies detected by the detection unit. For example, when the detection unit detects an abnormality in the IMU 3, the reproduction unit reproduces the rotation speed of the rotor when the aircraft 1 is hovering. As a result, even if the flying object 1 cannot fly in a stable attitude due to an abnormality in the sensor, the flight can be stabilized by reproducing the rotation speed of the rotor during stable hovering.
- notification information is sent to the controller 6 to inform the controller 6 of the abnormality in the sensor.
- the controller 6 By checking the display 7 mounted on the controller 6, the user can know the abnormality of the sensor.
- FIG. 2 is a block diagram showing a functional configuration example of the flying object 1 and the controller 6.
- the flying object 1 includes a GPS 2, an IMU 3, an atmospheric pressure sensor 4, a geomagnetic sensor 5, a gimbal camera 8, a propeller control section 9, a communication section 10, an autonomous flight section 11, a memory 12, and a control section 13. have.
- GPS2 detects information on the current position of flying object 1.
- the IMU 3 detects the acceleration, angular velocity, etc. of the flying object 1. That is, the IMU 3 can detect the tilt, movement (translation), speed, displacement, rotational movement, angle, and the like of the aircraft 1 .
- the atmospheric pressure sensor 4 detects the altitude of the flying object 1 according to the atmospheric pressure.
- the geomagnetic sensor 5 detects the orientation of the flying object 1 and the like.
- various types of information about the flying object 1 detected by the GPS 2, IMU 3, atmospheric pressure sensor 4, and geomagnetic sensor 5 are supplied to the control unit 13.
- the gimbal camera 8 is an imaging device mounted on the flying object 1, and is capable of capturing moving images and still images.
- the imaging device mounted on the flying object 1 is not limited.
- the gimbal camera 8 supplies captured image information to the control unit 13 .
- the imaging situation of the gimbal camera 8 is supplied to the control section 13 .
- the imaging situation includes at least one of the position, orientation, and orientation of the gimbal camera 8 .
- the propeller control unit 9 controls the propellers of the aircraft 1 .
- the flying object 1 has four propellers, rotors and ESCs capable of controlling the number of rotations of each propeller.
- the propeller control unit 9 can control the rotation speed of the rotor of each propeller during flight such as hovering.
- the propeller controller 9 controls the rotation speed of the rotor of each propeller according to the control signal supplied from the controller 13 .
- the communication unit 10 receives operation information of the aircraft 1 input via the controller 6 .
- the communication unit 10 receives operation information input by a user and supplies the operation information to the propeller control unit 9 .
- the communication unit 10 supplies operation information for operating the aircraft 1 and the presence or absence of the operation information to the control unit 13 .
- the autonomous flight unit 11 controls the autonomous movement of the flying object 1 . Specifically, for example, the autonomous flight unit 11 aims at realizing collision avoidance or shock mitigation of the flying object 1, follow-up movement based on the distance between the flying objects, speed maintenance movement, or collision warning of the flying object 1. coordinated control. Further, for example, the autonomous flight unit 11 performs cooperative control aimed at autonomous movement, etc., in which the robot moves autonomously without depending on user's operation.
- the specific configuration of the autonomous flight unit 11 is not limited, and devices such as PLDs (Programmable Logic Devices) such as FPGAs (Field Programmable Gate Arrays) and other ASICs (Application Specific Integrated Circuits) may be used.
- the memory 12 records various information regarding the aircraft 1 .
- memory 12 records flight parameters during flight.
- the memory 12 includes, for example, a magnetic storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, a magneto-optical storage device, and the like.
- the memory 12 may record the flight pattern of the aircraft 1 and the like. That is, trajectories, speeds, and the like defined as patterns, such as turns and figure eights, are also recorded. For example, for a flight pattern such as a turn or a figure-of-eight, the velocity, curvature, etc. of the flying object 1 when performing a turn or a figure-of-eight may be recorded.
- the memory 12 supplies the recorded flight parameters to the controller 13 .
- the control unit 13 records flight parameters during flight in a state in which no abnormality of the sensors (GPS 2, IMU 3, atmospheric pressure sensor 4, and geomagnetic sensor 5) is detected. Based on the anomalies, reconstruct flight parameters.
- GPS 2, IMU 3, atmospheric pressure sensor 4, and geomagnetic sensor 5 A specific functional configuration will be described with reference to FIG.
- the controller 6 has a sensor abnormality display section 14 .
- the sensor abnormality display unit 14 has a device capable of outputting visual information or auditory information to the user.
- the sensor abnormality display unit 14 has a display, an audio speaker, etc., and can display sensor abnormality.
- FIG. 3 is a block diagram showing a functional configuration example of the control unit 13. As shown in FIG.
- the control unit 13 includes hardware necessary for configuring a computer, such as processors such as CPU, GPU, and DSP, memories such as ROM and RAM, and storage devices such as HDD (see FIG. 13).
- processors such as CPU, GPU, and DSP
- memories such as ROM and RAM
- storage devices such as HDD (see FIG. 13).
- the control method according to the present technology is executed by the CPU loading a program according to the present technology pre-recorded in the ROM or the like into the RAM and executing the program.
- the control unit 13 can be realized by any computer such as a PC.
- hardware such as FPGA and ASIC may be used.
- the CPU executes a predetermined program to configure a detection unit, a recording unit, and a reproduction unit as functional blocks.
- dedicated hardware such as an IC (integrated circuit) may be used to implement the functional blocks.
- the program is installed in the control unit 13 via various recording media, for example. Alternatively, program installation may be performed via the Internet or the like.
- the type of recording medium on which the program is recorded is not limited, and any computer-readable recording medium may be used. For example, any computer-readable non-transitory storage medium may be used.
- control unit 13 has a sensor information acquisition unit 20, a captured image acquisition unit 21, an operation information acquisition unit 22, a detection unit 23, a recording unit 24, and a reproduction unit 25.
- the sensor information acquisition unit 20 acquires sensor information acquired by sensors.
- sensor information acquired by GPS 2, IMU 3, barometric pressure sensor 4, and geomagnetic sensor 5 is acquired.
- the sensor information acquired by the sensor information acquisition unit 20 is supplied to the detection unit 23 .
- the captured image acquisition unit 21 acquires the captured image captured by the gimbal camera 8 .
- the acquired image information is supplied to the detection unit 23 .
- the operation information acquisition unit 22 acquires operation information of the aircraft 1 acquired by the communication unit 10 .
- the operation information acquisition unit 22 supplies the presence or absence of operation information to the detection unit 23 and the recording unit 24 . Further, in this embodiment, when no operation information is input, the aircraft 1 is hovering.
- the detection unit 23 detects an abnormality of the sensor.
- the detection unit 23 detects abnormalities in the GPS 2 , the IMU 3 , the atmospheric pressure sensor 4 and the geomagnetic sensor 5 based on the sensor information acquired by the sensor information acquisition unit 20 .
- the detection unit 23 detects an abnormality of the sensor due to mismatch between the operation information and the sensor. Specifically, when there is no operation information and when the change in the value of GPS2 is equal to or greater than the threshold, an abnormality of GPS2 is detected. When there is no operation information and when the change in the value of the IMU 3 is equal to or greater than the threshold, an abnormality of the IMU 3 is detected.
- an abnormality of the atmospheric pressure sensor 4 is detected.
- Abnormalities in the geomagnetic sensor 5 are detected when there is no operation information and when the change in the value of the geomagnetic sensor 5 is equal to or greater than the threshold.
- the detection unit 23 detects an abnormality of the sensor due to a mismatch between the operation information and the image processing result. Specifically, when there is no operation information and when the amount of movement of the flying object 1 estimated from the image information is equal to or greater than a threshold value, the abnormality of the sensor is detected. Further, when the amount of movement detected by the optical flow is equal to or greater than the threshold, sensor abnormality is detected. Further, when the amount of movement by SLAM (Simultaneous Localization and Mapping) is equal to or greater than a threshold, sensor abnormality is detected. The sensor abnormality detected by the detection unit 23 is supplied to the reproduction unit 25 .
- SLAM Simultaneous Localization and Mapping
- the recording unit 24 records flight parameters during flight when no sensor abnormality is detected.
- the recording unit 24 records flight parameters when there is no operation information. That is, the recording unit 24 records the number of revolutions of each rotor while the aircraft 1 is hovering. Details will be described with reference to FIG. Also, in this embodiment, the recording unit 24 records flight parameters for each position, orientation, and attitude of the gimbal camera 8 . The recording unit 24 also records the number of rotations of the rotor during descent when no sensor abnormality is detected. A specific example will be described with reference to FIG. The flight parameters recorded by the recording unit 24 are supplied to the reproduction unit 25 .
- the reproduction unit 25 reproduces the flight parameters recorded by the recording unit 24 based on the sensor abnormality detected by the detection unit 23 .
- the reproduction unit 25 reproduces the rotation speed of the rotor during hovering recorded by the recording unit 24 when the sensor abnormality is supplied by the detection unit 23 . Further, the reproduction unit 25 reproduces the rotation speed of the rotor during descent until the aircraft 1 lands when an abnormality of the sensor is detected.
- the gimbal camera 8 corresponds to an imaging device mounted on an aircraft.
- the detection unit 23 corresponds to a detection unit that detects an abnormality of the sensor.
- the recording unit 24 corresponds to a recording unit that records flight parameters during flight in a state in which no sensor abnormality is detected.
- the reproduction unit 25 corresponds to a reproduction unit that reproduces flight parameters based on sensor anomalies detected by the detection unit.
- FIG. 4 is a flowchart showing an example of flight parameter recording.
- step 101 when the flying object 1 takes off (step 101), it is determined whether or not the operation information is acquired by the operation information acquisition unit 22 (step 102). If there is no operation information (YES in step 102), the recording unit 24 records the rotation speed of the rotor during hovering (step 103).
- FIG. 5 is a diagram showing an example of recorded flight parameters.
- the recording unit 24 records the number of revolutions of each rotor of the aircraft 1.
- the aircraft 1 has four propellers.
- the four propellers are illustrated as left front, left rear, right front, and right rear propellers.
- the recording unit 24 records the number of revolutions of each rotor for a predetermined number of seconds. For example, the rotation speeds (65 Hz to 75 Hz) of the left front, left rear, right front, and right rear propeller rotors for 2 seconds during hovering are recorded.
- the types of flight parameters recorded are not limited. For example, a value obtained by averaging the number of rotations of each rotor over a predetermined period of time may be recorded, or the number of rotations of the rotors at an instantaneous time may be recorded. Also, for example, the number of revolutions of each rotor and the transition of the number of revolutions for two seconds may be recorded.
- flight parameters when flight parameters are recorded, they may be recorded according to various conditions. For example, the rotation speed of the rotor during hovering in the surrounding environment of the aircraft 1 such as wind and rain may be recorded. Further, at that time, the reproducing unit 25 may reproduce suitable flight parameters according to the surrounding environment of the aircraft 1 when an abnormality occurs in the sensor.
- FIG. 6 is a flowchart showing an example of reproduction of flight parameters.
- step 201 it is determined whether or not the operation information has been acquired by the operation information acquisition unit 22 (step 201).
- step 202 it is determined whether or not the flying object 1 is equipped with an imaging device (gimbal camera 8) (step 202). If the camera does not have an imaging device (YES in step 202), sensor information is acquired by the sensor information acquiring unit 20 (step 203).
- an imaging device gimbal camera 8
- the detection unit 23 determines whether or not there is an abnormality in the sensor according to the flowchart shown in FIG. 7 (step 204). A detailed description will be given later.
- step 204 When an abnormality of the sensor is detected (YES in step 204), the rotation speed of the rotor is reproduced by the reproduction unit 25 (step 205).
- image information is acquired by the captured image acquisition unit 21 (step 206).
- the detection unit 23 determines whether or not there is an abnormality in the sensor according to the flowchart shown in FIG. 8 (step 207). A detailed description will be given later.
- step 207 If an abnormality of the sensor is detected (YES in step 207), the rotation speed of the rotor is reproduced by the reproduction unit 25 (step 205).
- both steps 204 and 207 may be executed when the flying object 1 has an imaging device, that is, when sensor information and image information can be obtained. This improves the accuracy of detecting an abnormality in the sensor.
- FIG. 7 is an example of a flow chart for detecting an abnormality in a sensor.
- the sensor information acquisition unit 20 acquires sensor information from a certain period of time ago (step 301).
- the time interval of sensor information to be acquired is not limited.
- the user may specify an arbitrary time, or an arbitrary time may be set according to the environment around the flying object 1 and the state of the flying object 1 .
- the current sensor information is acquired by the sensor information acquisition unit 20 (step 302).
- the detection unit 23 acquires the difference between the sensor information acquired a certain time ago and the current sensor information (step 303). In this embodiment, the differences in the values of the GPS 2, IMU 3, atmospheric pressure sensor 4, and geomagnetic sensor 5 are obtained.
- step 304 It is determined whether or not the difference in the sensor information acquired by the detection unit 23 is equal to or greater than the threshold (step 304). If the difference in sensor information is equal to or greater than the threshold (YES in step 304), it is determined whether or not the state in which the difference in sensor information is equal to or greater than the threshold has passed for a certain period of time or longer (step 305).
- the communication unit 10 notifies the sensor abnormality display unit 14 of the controller 6 that the sensor is abnormal. (Step 306).
- FIG. 8 is another example of a flowchart for detecting an abnormality in a sensor.
- the captured image acquisition unit 21 acquires image information from a certain time ago (step 401).
- the current image information is acquired by the captured image acquisition unit 21 (step 402).
- the detection unit 23 acquires the difference between the image information acquired a certain time ago and the current image information (step 403).
- the difference between the amount of movement of the flying object 1 estimated from image information a certain time ago and the amount of movement of the flying object 1 estimated from current image information is acquired.
- the method for estimating the amount of movement of the flying object 1 is not limited.
- the movement amount may be estimated from methods other than optical flow detection and SLAM.
- step 404 It is determined whether or not the difference in movement amount acquired by the detection unit 23 is equal to or greater than a threshold (step 404). If the difference in movement amount is equal to or greater than the threshold (YES in step 404), it is determined whether or not the state in which the difference in movement amount is equal to or greater than the threshold has passed for a certain period of time or longer (step 405).
- the communication unit 10 notifies the sensor abnormality display unit 14 of the controller 6 that an abnormality has occurred in the sensor. (Step 406).
- FIG. 9 is a flowchart showing an example of flight parameter recording when the gimbal camera 8 is mounted.
- step 501 when the flying object 1 takes off (step 501), it is determined whether or not the operation information is acquired by the operation information acquisition unit 22 (step 502).
- step 503 information on the gimbal camera 8 is acquired. In this embodiment, information on the position, orientation, and orientation of the gimbal camera 8 is acquired.
- the recording unit 24 records the number of rotations of the rotor during hovering according to the information on the position, orientation, and attitude of the gimbal camera 8 (step 504). For example, the number of rotations of the rotor during hovering is recorded for each position of the gimbal camera 8 when mounted on the flying object 1 (the center of gravity of the flying object on which the gimbal camera is mounted). Also, for example, the number of rotations of the rotor during hovering is recorded for each orientation (imaging direction) of the gimbal camera 8 .
- step 505 It is determined whether or not the gimbal camera 8 has been moved through its entire movable range and the flight parameters for each position, orientation, and orientation information of the gimbal camera 8 have been recorded (step 505). For example, if the gimbal camera 8 is rotatable 360 degrees every 5 degrees, flight parameters are recorded every 5 degrees. If the movable range of the gimbal camera 8 has not been fully moved (NO in step 505), the operation of the gimbal camera 8 is executed (step 506). At this time, the gimbal camera 8 may be operated automatically or manually.
- FIG. 10 is a flowchart showing an example of reproduction of flight parameters when the gimbal camera 8 is mounted.
- step 601 it is determined whether or not the operation information has been acquired by the operation information acquisition unit 22 (step 601).
- the sensor information is acquired by the sensor information acquisition unit 20 (step 602). Also, image information is acquired by the captured image acquisition unit 21 (step 603).
- the detection unit 23 determines whether or not there is an abnormality in the sensor (step 604).
- a sensor abnormality is determined according to the flow charts in FIGS. 7 and 8. FIG.
- step 604 If a sensor abnormality is detected (YES in step 604), information on the position, orientation, and orientation of the gimbal camera 8 is acquired (step 605).
- the reproduction unit 25 reproduces the number of rotations of the rotor according to the information on the current position, orientation, and attitude of the gimbal camera 8 (step 606).
- the flight object 1 records the flight parameters during flight when no abnormalities are detected in the GPS 2, IMU 3, atmospheric pressure sensor 4, and geomagnetic sensor 5.
- flight parameters are reproduced based on the abnormality of the sensor. This makes it possible to exhibit high safety.
- a flying object such as a drone is equipped with sensors such as a GPS, an IMU, an atmospheric pressure sensor, and a geomagnetic sensor. These sensors enable flight in a stable attitude.
- sensors such as a GPS, an IMU, an atmospheric pressure sensor, and a geomagnetic sensor.
- sensors enable flight in a stable attitude.
- the attitude of the aircraft cannot be estimated correctly, and the aircraft malfunctions, flies in the wrong direction, or crashes.
- flight control prepared in advance is executed when a sensor abnormality occurs.
- the state of the aircraft such as the payload may differ for each flying object, and the center of gravity may differ depending on the camera and cargo mounted on the drone, and there is a risk that it will not be possible to respond to sensor abnormalities.
- the flight parameters are recorded during flight when no sensor abnormality is detected, and the recorded flight parameters are reproduced when the sensor abnormality is detected.
- This enables minimum hovering even when the sensor malfunctions. That is, by recording the number of rotations of the rotor during hovering in flight, it is possible to reproduce flight parameters during stable hovering in that flight.
- by recording flight parameters during flight it is possible to respond to a wide variety of airframe conditions.
- by recording the flight parameters for descent it is possible to land on the spot from hovering. That is, it is possible to prevent the drone from being damaged due to a crash or the like, and from colliding with a person or an object.
- the flight parameters were reproduced so that the flying object 1 hovered when a sensor abnormality was detected. It is not limited to this, and flight parameters may be reproduced to perform various safe actions when an abnormality of the sensor is detected. For example, in FIGS. 11 and 12 flight parameters are recorded during descent. In addition to hovering and descending (landing), various flight parameters such as obstacle avoidance, movement to the user's position, and return to the starting point may be recorded and reproduced.
- FIG. 11 is a flowchart showing an example of flight parameter recording during descent.
- step 701 when the flying object 1 takes off (step 701), it is determined whether or not the flying object 1 has risen to a certain altitude (step 702).
- the sensor information acquisition unit 20 acquires the sensor information of the atmospheric pressure sensor 4 and acquires the current altitude of the aircraft 1 .
- the recording unit 24 records the number of rotations of the rotor of the aircraft 1 that has ascended to a certain altitude (step 703).
- the recording unit 24 records the flight parameters during the descent of the aircraft 1, so the number of revolutions during the descent of the aircraft 1 is recorded (step 704).
- step 705 It is determined whether or not the flying object 1 has descended to a certain altitude (step 705).
- the recording unit 24 records the rotation speed of the rotor during hovering when reaching the certain altitude (step 706).
- FIG. 12 is a flow chart showing an example of reproduction of flight parameters during descent and landing.
- step 801 it is determined whether or not the operation information has been acquired by the operation information acquisition unit 22 (step 801).
- the sensor information is acquired by the sensor information acquisition unit 20 (step 802).
- Image information is also acquired by the captured image acquisition unit 21 (step 803).
- the detection unit 23 determines whether or not there is an abnormality in the sensor (step 804).
- a sensor abnormality is determined according to the flow charts in FIGS. 7 and 8. FIG.
- step 804 If an abnormality of the sensor is detected (YES in step 804), the rotation speed of the rotor for descent is reproduced by the reproduction unit 25 (step 805).
- the number of rotations of the rotor for descent is reproduced, and it is determined whether or not the aircraft 1 has landed (step 806). For example, it is determined that the aircraft 1 has landed when the altitude of the aircraft 1 does not decrease while the number of rotations of the rotor is being reproduced. In addition to this, the landing may be determined by a contact sensor or the like.
- step 806 When the flying object 1 has landed (YES in step 806), the propellers of the flying object 1 are stopped (step 807).
- steps 802 and 803 are not limited. Similarly, the order in which the flowcharts of FIGS. 7 and 8 are executed is not limited.
- FIG. 13 is a block diagram showing a hardware configuration example of the control unit 13. As shown in FIG.
- the control unit 13 includes a CPU 50, a ROM 51, a RAM 52, an input/output interface 54, and a bus 53 that connects these to each other.
- a display unit 55, an input unit 56, a storage unit 57, a communication unit 58, a drive unit 59, and the like are connected to the input/output interface 54.
- the display unit 55 is a display device using liquid crystal, EL, or the like, for example.
- the input unit 56 is, for example, a keyboard, pointing device, touch panel, or other operating device. When input unit 56 includes a touch panel, the touch panel can be integrated with display unit 55 .
- the storage unit 57 is a non-volatile storage device, such as an HDD, flash memory, or other solid-state memory.
- the drive unit 59 is a device capable of driving a removable recording medium 60 such as an optical recording medium or a magnetic recording tape.
- the communication unit 58 is a modem, router, or other communication equipment for communicating with other devices that can be connected to a LAN, WAN, or the like.
- the communication unit 58 may use either wired or wireless communication.
- the communication unit 58 is often used separately from the control unit 13 . In this embodiment, the communication unit 58 enables communication with other devices via the network.
- Information processing by the control unit 13 having the hardware configuration as described above is realized by cooperation between software stored in the storage unit 57 or the ROM 51 or the like and the hardware resources of the control unit 13 .
- the control method according to the present technology is realized by loading a program constituting software stored in the ROM 51 or the like into the RAM 52 and executing the program.
- the program is installed in the control unit 13 via the recording medium 60, for example.
- the program may be installed in the control unit 13 via a global network or the like.
- any computer-readable non-transitory storage medium may be used.
- a control method and a program according to the present technology may be executed by linking a computer installed in a communication terminal with another computer capable of communicating via a network or the like, and a control unit according to the present technology may be constructed. .
- the flying object, control method, and program according to the present technology can be executed not only in a computer system configured by a single computer, but also in a computer system in which multiple computers work together.
- a system means a set of multiple components (devices, modules (parts), etc.), and it does not matter whether all the components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and a single device housing a plurality of modules within a single housing, are both systems.
- Execution of the flying object, control method, and program according to the present technology by a computer system for example, when detection of sensor abnormality, recording of flight parameters, reproduction of flight parameters, etc. are executed by a single computer, and It includes both cases where each process is executed by a different computer. Execution of each process by a predetermined computer includes causing another computer to execute part or all of the process and obtaining the result.
- the flying object, control method, and program according to the present technology can also be applied to a cloud computing configuration in which a single function is shared by multiple devices via a network and processed jointly.
- the present technology can also adopt the following configuration.
- a recording unit that records flight parameters during flight in a state in which no sensor abnormality is detected; a detection unit that detects an abnormality of the sensor; a reproducing unit that reproduces the flight parameters based on the abnormality of the sensor detected by the detecting unit.
- the flight includes at least one of taking off, climbing, hovering, descending, or landing.
- the hovering includes a state in which the coordinates of the flying object do not change.
- the flight parameter is a current value of a rotor mounted on the aircraft, a voltage value of the rotor, a rotational speed value of an ESC (Electric Speed Controller) mounted on the aircraft, a current value of the ESC, or the ESC at least one of the voltage values of an air vehicle.
- the sensor includes at least one of a GPS (Global Positioning System), an IMU (Inertial Measurement Unit), an air pressure sensor, or a geomagnetic sensor.
- a flying body that detects an abnormality of the sensor when there is no (7)
- the imaging situation includes at least one of a position of the imaging device, an orientation of the imaging device, and an attitude of the imaging device.
- the aircraft according to (8) The reproducing unit reproduces the flight parameters based on the position of the imaging device, the orientation of the imaging device, or the attitude of the imaging device when the abnormality of the sensor is detected.
- the flying object according to (7) The detection unit detects an abnormality of the sensor based on a captured image captured by the imaging device and operation information related to the flying object.
- the detection unit detects an abnormality of the sensor when the amount of movement of the flying object estimated from the captured image is equal to or greater than a threshold and there is no operation information.
- the aircraft according to (1), The recording unit records the flight parameters from when the flying object ascends to a certain altitude until when the flying object descends to a certain altitude; The flight object, wherein the reproduction unit reproduces the flight parameters until the flight object lands based on the abnormality of the sensor. (13) Record the flight parameters during flight in a state where no sensor abnormality is detected, detecting an abnormality in the sensor; A control method in which a computer system reproduces the flight parameters based on the abnormality of the sensor detected by the detection unit.
- (14) a step of recording flight parameters during flight in a state in which no sensor abnormality is detected; a step of detecting an abnormality in the sensor; A program that causes a computer system to execute: a step of reproducing the flight parameter based on the abnormality of the sensor detected by the detection unit.
Abstract
Description
前記記録部は、センサの異常が検知されていない状態における飛行時の飛行パラメータを記録する。
前記検知部は、前記センサの異常を検知する。
前記再現部は、前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現する。
前記センサの異常を検知する。
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現する。
センサの異常が検知されていない状態における飛行時の飛行パラメータを記録するステップ。
前記センサの異常を検知するステップ。
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現するステップ。
図1は、本技術に係る飛行体の概要を説明するための模式図である。
図1に示すように飛行体1は、GPS(Global Positioning System)2、IMU(Inertial Measurement Unit)3、気圧センサ4、及び地磁気センサ5を有する。
これに限定されず、飛行体1は、任意のセンサが搭載されてもよい。例えば、レーザ測距センサ、接触センサ、超音波センサ、LiDAR(Light Detection and Ranging、Laser Imaging Detection and Ranging)等のセンサが用いられてもよい。
飛行とは、飛行体1の飛行時における種々の行動である。本実施形態では、飛行は、離陸、上昇、ホバリング、下降、又は着陸の少なくとも1つを含む。これ以外にも、飛行体1の様々な飛行時の行動が含まれてもよい。
例えば、飛行体1側の動作としては、任意の座標で静止状態を保つこと、及び所定(指定された)座標を維持することが挙げられる。すなわち、ホバリングは、移動を行わず静止している状態と、風等の外乱が存在する環境下において移動を行うことで任意の座標を維持する状態とを含む。
また例えば、コントローラ6側の動作としては、飛行体1に操作情報を送信しない状態が挙げられる。具体的には、ユーザがコントローラ6を介して、上昇、下降、前後、及び左右等の飛行体1を移動させる旨の指示を送信しない状態である。
なお、以下の記載では、上記の飛行パラメータをローターの回転数と表現する。すなわち、ローターの回転数を再現すると記載された場合、ローターの電流値、ローターの電圧値、ESCの回転速度値、ESCの電流値、又はESCの電圧値のいずれかが再現されることと同義である。
撮像状況とは、ジンバルカメラ8の位置、向き、又は姿勢の少なくとも1つを含む。
本実施形態では、プロペラ制御部9は、制御部13から供給される制御信号に従い、各プロペラのローターの回転数を制御する。
本実施形態では、通信部10は、飛行体1を操作する操作情報、及び操作情報の有無を制御部13に供給する。
自律飛行部11の具体的な構成は限定されず、例えばFPGA(Field Programmable Gate Array)等のPLD(Programmable Logic Device)、その他ASIC(Application Specific Integrated Circuit)等のデバイスが用いられてもよい。
これ以外にも、メモリ12は、飛行体1の飛行パターン等を記録してもよい。すなわち、旋回や8の字といった、パターンとして規定された軌跡や速度等も記録される。例えば、旋回や8の字といった飛行パターンに対して、旋回や8の字を行う際の飛行体1の速度や曲率等が記録されてもよい。
本実施形態では、メモリ12は、記録された飛行パラメータを制御部13に供給する。
具体的な機能的な構成は、図3を用いて説明する。
センサ異常表示部14は、ユーザに対して、視覚情報又は聴覚情報を出力することが可能な装置を有する。例えば、センサ異常表示部14は、ディスプレイやオーディオスピーカ等を有し、センサの異常を表示することが可能である。
例えばPC等の任意のコンピュータにより、制御部13を実現することが可能である。もちろんFPGA、ASIC等のハードウェアが用いられてもよい。
本実施形態では、CPUが所定のプログラムを実行することで、機能ブロックとしての検知部、記録部、及び再現部が構成される。もちろん機能ブロックを実現するために、IC(集積回路)等の専用のハードウェアが用いられてもよい。
プログラムは、例えば種々の記録媒体を介して制御部13にインストールされる。あるいは、インターネット等を介してプログラムのインストールが実行されてもよい。
プログラムが記録される記録媒体の種類等は限定されず、コンピュータが読み取り可能な任意の記録媒体が用いられてよい。例えば、コンピュータが読み取り可能な非一過性の任意の記憶媒体が用いられてよい。
本実施形態では、検知部23は、操作情報とセンサとの不整合により、センサの異常を検知する。具体的には、操作情報が無いとき、かつ、GPS2の値の変化が閾値以上の場合に、GPS2の異常が検知される。操作情報が無いとき、かつ、IMU3の値の変化が閾値以上の場合に、IMU3の異常が検知される。操作情報が無いとき、かつ、気圧センサ4の値の変化が閾値以上の場合に、気圧センサ4の異常が検知される。操作情報が無いとき、かつ、地磁気センサ5の値の変化が閾値以上の場合に、地磁気センサ5の異常が検知される。
また本実施形態では、検知部23は、操作情報と画像処理結果の不整合により、センサの異常を検知する。具体的には、操作情報が無いとき、かつ、画像情報から推定した飛行体1の移動量が閾値以上の場合に、センサの異常が検知される。また、Optical flow検出による移動量が閾値以上の場合に、センサの異常が検知される。またSLAM(Simultaneous Localization and Mapping)による移動量が閾値以上の場合に、センサの異常が検知される。
検知部23により検出されたセンサの異常は、再現部25に供給される。
また本実施形態では、記録部24は、ジンバルカメラ8の位置、向き、及び姿勢ごとの飛行パラメータを記録する。
また記録部24は、センサの異常が検知されていない状態における下降時のローターの回転数を記録する。具体例は、図9を用いて説明する。
記録部24により記録された飛行パラメータは、再現部25に供給される。
また再現部25は、センサの異常が検知された場合、飛行体1が着陸するまで下降時のローターの回転数を再現する。
なお、本実施形態において、検知部23は、センサの異常を検知する検知部に相当する。
なお、本実施形態において、記録部24は、センサの異常が検知されていない状態における飛行時の飛行パラメータを記録する記録部に相当する。
なお、本実施形態において、再現部25は、検知部により検知されたセンサの異常に基づいて、飛行パラメータを再現する再現部に相当する。
操作情報が無い場合(ステップ102のYES)、記録部24によりホバリング時のローターの回転数が記録される(ステップ103)。
なお、飛行体1の移動量の推定方法は限定されない。例えば、Optical flow検出やSLAM以外からも移動量が推定されてもよい。
ジンバルカメラ8の可動範囲を全て動かしていない場合(ステップ505のNO)、ジンバルカメラ8の操作が実行される(ステップ506)。この際、ジンバルカメラ8の操作は自動又は手動で行われてもよい。
またセンサ異常が発生した場合に、予め用意された飛行制御が実行されたとする。この場合、ペイロード等の機体の状態が飛行体ごとに異なる可能性や、ドローンに搭載されるカメラや積み荷によって重心が異なることがあり、センサの異常事態に対応しきれない恐れがある。
これにより、センサに異常が出た場合でも、最低限のホバリングが可能となる。すなわち、飛行している状態のホバリング時のローターの回転数が記録されることで、その飛行における安定したホバリング時の飛行パラメータを再現することができる。また飛行時の飛行パラメータが記録されることで、多種多様な機体の状態に対応することが可能である。
またドローンに搭載されるジンバルカメラの位置、向き、姿勢に対して、それぞれホバリング時の飛行パラメータが記録されることで、多様な状況に対応することも可能である。
また本技術では、下降用の飛行パラメータが記録されることで、ホバリングからその場への着陸を行うことが可能である。すなわち、墜落等によるドローンの破損、及び人や物体との衝突を防止することが可能である。
本技術は、以上説明した実施形態に限定されず、他の種々の実施形態を実現することができる。
本実施形態では、通信部58により、ネットワークを介した他の装置との通信が可能となる。
(1)
センサの異常が検知されていない状態における飛行時の飛行パラメータを記録する記録部と、
前記センサの異常を検知する検知部と、
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現する再現部と
を具備する飛行体。
(2)(1)に記載の飛行体であって、
前記飛行は、離陸、上昇、ホバリング、下降、又は着陸の少なくとも1つを含む
飛行体。
(3)(2)に記載の飛行体であって、
前記ホバリングは、前記飛行体の座標が変化しない状態を含む
飛行体。
(4)(1)に記載の飛行体であって、
前記飛行パラメータは、前記飛行体に搭載されるローターの電流値、前記ローターの電圧値、前記飛行体に搭載されるESC(Electric Speed Controller)の回転速度値、前記ESCの電流値、又は前記ESCの電圧値の少なくとも1つを含む
飛行体。
(5)(1)に記載の飛行体であって、
前記センサは、GPS(Global Positioning System)、IMU(Inertial Measurement Unit)、気圧センサ、又は地磁気センサの少なくとも1つを含む
飛行体。
(6)(5)に記載の飛行体であって、
前記検知部は、前記GPSの値の変化、前記IMUの値の変化、前記気圧センサの値の変化、又は前記地磁気センサの値の変化の少なくとも1つが閾値以上、かつ、前記飛行体に関する操作情報が無い場合、前記センサの異常を検知する
飛行体。
(7)(1)に記載の飛行体であって、さらに、
前記飛行体は、撮像装置が搭載され、
前記記録部は、前記撮像装置の状況に関する撮像状況に応じて、前記飛行パラメータを記録する
飛行体。
(8)(7)に記載の飛行体であって、
前記撮像状況は、前記撮像装置の位置、前記撮像装置の向き、又は前記撮像装置の姿勢の少なくとも1つを含む
飛行体。
(9)(8)に記載の飛行体であって、
前記再現部は、前記センサの異常が検知された際の前記撮像装置の位置、前記撮像装置の向き、又は前記撮像装置の姿勢に基づいて、前記飛行パラメータを再現する
飛行体。
(10)(7)に記載の飛行体であって、
前記検知部は、前記撮像装置により撮像された撮像画像と、前記飛行体に関する操作情報とに基づいて、前記センサの異常を検知する
飛行体。
(11)(10)に記載の飛行体であって、
前記検知部は、前記撮像画像から推定される前記飛行体の移動量が閾値以上、かつ、前記操作情報が無い場合、前記センサの異常を検知する
飛行体。
(12)(1)に記載の飛行体であって、
前記記録部は、前記飛行体が一定の高度まで上昇し、前記飛行体が一定高度まで下降するまでの前記飛行パラメータを記録し、
前記再現部は、前記センサの異常に基づいて、前記飛行体が着陸するまで前記飛行パラメータを再現する
飛行体。
(13)
センサの異常が検知されていない状態における飛行時の飛行パラメータを記録し、
前記センサの異常を検知し、
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現する
ことをコンピュータシステムが実行する制御方法。
(14)
センサの異常が検知されていない状態における飛行時の飛行パラメータを記録するステップと、
前記センサの異常を検知するステップと、
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現するステップと
をコンピュータシステムに実行させるプログラム。
2…GPS
3…IMU
4…気圧センサ
5…地磁気センサ
8…ジンバルカメラ
23…検知部
24…記録部
25…再現部
Claims (14)
- センサの異常が検知されていない状態における飛行時の飛行パラメータを記録する記録部と、
前記センサの異常を検知する検知部と、
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現する再現部と
を具備する飛行体。 - 請求項1に記載の飛行体であって、
前記飛行は、離陸、上昇、ホバリング、下降、又は着陸の少なくとも1つを含む
飛行体。 - 請求項2に記載の飛行体であって、
前記ホバリングは、前記飛行体の座標が変化しない状態を含む
飛行体。 - 請求項1に記載の飛行体であって、
前記飛行パラメータは、前記飛行体に搭載されるローターの電流値、前記ローターの電圧値、前記飛行体に搭載されるESC(Electric Speed Controller)の回転速度値、前記ESCの電流値、又は前記ESCの電圧値の少なくとも1つを含む
飛行体。 - 請求項1に記載の飛行体であって、
前記センサは、GPS(Global Positioning System)、IMU(Inertial Measurement Unit)、気圧センサ、又は地磁気センサの少なくとも1つを含む
飛行体。 - 請求項5に記載の飛行体であって、
前記検知部は、前記GPSの値の変化、前記IMUの値の変化、前記気圧センサの値の変化、又は前記地磁気センサの値の変化の少なくとも1つが閾値以上、かつ、前記飛行体に関する操作情報が無い場合、前記センサの異常を検知する
飛行体。 - 請求項1に記載の飛行体であって、さらに、
前記飛行体は、撮像装置が搭載され、
前記記録部は、前記撮像装置の状況に関する撮像状況に応じて、前記飛行パラメータを記録する
飛行体。 - 請求項7に記載の飛行体であって、
前記撮像状況は、前記撮像装置の位置、前記撮像装置の向き、又は前記撮像装置の姿勢の少なくとも1つを含む
飛行体。 - 請求項8に記載の飛行体であって、
前記再現部は、前記センサの異常が検知された際の前記撮像装置の位置、前記撮像装置の向き、又は前記撮像装置の姿勢に基づいて、前記飛行パラメータを再現する
飛行体。 - 請求項7に記載の飛行体であって、
前記検知部は、前記撮像装置により撮像された撮像画像と、前記飛行体に関する操作情報とに基づいて、前記センサの異常を検知する
飛行体。 - 請求項10に記載の飛行体であって、
前記検知部は、前記撮像画像から推定される前記飛行体の移動量が閾値以上、かつ、前記操作情報が無い場合、前記センサの異常を検知する
飛行体。 - 請求項1に記載の飛行体であって、
前記記録部は、前記飛行体が一定の高度まで上昇し、前記飛行体が一定高度まで下降するまでの前記飛行パラメータを記録し、
前記再現部は、前記センサの異常に基づいて、前記飛行体が着陸するまで前記飛行パラメータを再現する
飛行体。 - センサの異常が検知されていない状態における飛行時の飛行パラメータを記録し、
前記センサの異常を検知し、
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現する
ことをコンピュータシステムが実行する制御方法。 - センサの異常が検知されていない状態における飛行時の飛行パラメータを記録するステップと、
前記センサの異常を検知するステップと、
前記検知部により検知された前記センサの異常に基づいて、前記飛行パラメータを再現するステップと
をコンピュータシステムに実行させるプログラム。
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US20180002012A1 (en) * | 2016-07-01 | 2018-01-04 | Bell Helicopter Textron Inc. | Aircraft with Independently Controllable Propulsion Assemblies |
WO2018109903A1 (ja) * | 2016-12-15 | 2018-06-21 | 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 | 飛行制御方法、無人航空機、飛行システム、プログラム、及び記録媒体 |
US20190004512A1 (en) * | 2016-02-29 | 2019-01-03 | SZ DJI Technology Co., Ltd. | Uav hardware architecture |
WO2020022263A1 (ja) * | 2018-07-23 | 2020-01-30 | 株式会社ナイルワークス | 飛行体 |
KR102112290B1 (ko) * | 2018-11-12 | 2020-05-18 | 한국항공우주연구원 | 틸트로터형 항공기의 자동 회전 제어 시스템 및 방법 |
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US20190004512A1 (en) * | 2016-02-29 | 2019-01-03 | SZ DJI Technology Co., Ltd. | Uav hardware architecture |
US20180002012A1 (en) * | 2016-07-01 | 2018-01-04 | Bell Helicopter Textron Inc. | Aircraft with Independently Controllable Propulsion Assemblies |
WO2018109903A1 (ja) * | 2016-12-15 | 2018-06-21 | 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 | 飛行制御方法、無人航空機、飛行システム、プログラム、及び記録媒体 |
WO2020022263A1 (ja) * | 2018-07-23 | 2020-01-30 | 株式会社ナイルワークス | 飛行体 |
KR102112290B1 (ko) * | 2018-11-12 | 2020-05-18 | 한국항공우주연구원 | 틸트로터형 항공기의 자동 회전 제어 시스템 및 방법 |
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