WO2022196515A1 - 飛行制御システム - Google Patents

飛行制御システム Download PDF

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Publication number
WO2022196515A1
WO2022196515A1 PCT/JP2022/010554 JP2022010554W WO2022196515A1 WO 2022196515 A1 WO2022196515 A1 WO 2022196515A1 JP 2022010554 W JP2022010554 W JP 2022010554W WO 2022196515 A1 WO2022196515 A1 WO 2022196515A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
flight
unit
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/010554
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English (en)
French (fr)
Japanese (ja)
Inventor
望 三浦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Reddotdronejapan
Reddotdronejapan Co ltd
Original Assignee
Reddotdronejapan
Reddotdronejapan Co ltd
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Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=83320580&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2022196515(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Reddotdronejapan, Reddotdronejapan Co ltd filed Critical Reddotdronejapan
Priority to EP22771266.8A priority Critical patent/EP4309999A1/en
Publication of WO2022196515A1 publication Critical patent/WO2022196515A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/20—Transmission of mechanical power to rotors or propellers
    • B64U50/23—Transmission of mechanical power to rotors or propellers with each propulsion means having an individual motor
    • 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
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2245—Optic providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality
    • G05D1/2246—Optic providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality displaying a map of the environment
    • 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
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/60—Specific applications of the controlled vehicles for sport or gaming activities
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/24—Sports fields, e.g. golf courses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • G05D2109/254—Flying platforms, e.g. multicopters

Definitions

  • the present invention relates to a flight control system for an aircraft.
  • UAVs unmanned aerial vehicles
  • Known methods for controlling the flight of an aircraft include, for example, a method of manually operating a control device such as a so-called "propo” and a method of autonomous flight according to a preset flight plan ( See Patent Document 1).
  • An object of the present invention is to provide a flight control system that allows safe manual control of an aircraft without requiring advanced control techniques.
  • a control device having an operation input unit, and an unmanned aerial vehicle capable of flight control based on a control signal from the control device
  • the unmanned aerial vehicle is a propulsion mechanism including a plurality of rotor blades; a position estimation unit that estimates the position of the unmanned aerial vehicle; an attitude estimation unit that estimates the attitude of the unmanned aerial vehicle; a speed estimating unit that estimates the moving speed of the unmanned aerial vehicle; a flight control unit that controls the propulsion mechanism based on information including the current position, attitude, and speed of the unmanned aerial vehicle;
  • the flight control unit flies along a virtual flight line set in advance on map data based on a control signal transmitted from the control device in response to an operation of the operation input unit in one axial direction by the operator.
  • a flight control system is provided, characterized in that it controls the propulsion mechanism so as to:
  • FIG. 1 is a diagram showing the configuration of a flight control system according to the present invention
  • FIG. 2 is a functional block diagram showing the configuration of the aircraft of FIG. 1
  • FIG. FIG. 2 is a functional block diagram showing the configuration of the control device of FIG. 1
  • It is a top view which shows an example of a flight line.
  • FIG. 10 is a plan view showing another example of a flight line;
  • FIG. 11 is a plan view showing still another example of a flight line;
  • a flight control system has the following configuration.
  • a control device having an operation input unit, and an unmanned aerial vehicle capable of flight control based on a control signal from the control device,
  • the unmanned aerial vehicle is a propulsion mechanism including a plurality of rotor blades; a position estimation unit that estimates the position of the unmanned aerial vehicle; an attitude estimation unit that estimates the attitude of the unmanned aerial vehicle; a speed estimating unit that estimates the moving speed of the unmanned aerial vehicle; a flight controller that controls the propulsion mechanism based on the current position, attitude, and speed of the unmanned aerial vehicle;
  • the flight control unit flies along a virtual flight line set in advance on map data based on a control signal transmitted from the control device in response to an operation of the operation input unit in one axial direction by the operator.
  • the control device or the unmanned aerial vehicle has a flight line setting unit that sets the flight line based on position information of two points on the map data corresponding to both ends of the flight line.
  • flight control system [Item 3]
  • the unmanned aerial vehicle is a direction estimating unit that estimates a heading direction of the unmanned aerial vehicle; 3.
  • the unmanned aerial vehicle is an imaging unit capable of capturing an image; a shooting direction estimation unit that estimates the shooting direction of the imaging unit; 4.
  • the flight control system further comprising: an imaging direction control unit that changes the imaging direction by controlling a heading direction of the unmanned aerial vehicle or a direction of a gimbal that supports the imaging unit.
  • an imaging direction control unit that changes the imaging direction by controlling a heading direction of the unmanned aerial vehicle or a direction of a gimbal that supports the imaging unit.
  • a system 1 includes a control device 10 operated by an operator and an unmanned aerial vehicle 20 capable of flying based on control signals transmitted from the control device 10 .
  • the operator can manually control flight of the unmanned aerial vehicle 20, and by operating the operation input unit 13 of the control device 10 in one axial direction, a preset virtual flight line FL can be achieved.
  • An unmanned aerial vehicle 20 can be flown along.
  • a management terminal, a repeater, or the like connected to the control device 10 and the unmanned aerial vehicle 20 via a network may be provided.
  • the control device 10 has functional blocks shown in FIG.
  • the control device 10 includes a control unit 11 , a storage unit 12 , an operation input unit 13 , a transmission/reception unit 14 , a display unit 15 and a flight line setting unit 16 .
  • the functional blocks in FIG. 2 are reference configurations, and the control device 10 may include other configuration units (for example, operation units such as buttons) other than those described above.
  • the control unit 11 has, for example, a processor.
  • the control unit 11 performs signal processing (generation, output, transmission/reception) for overall control of the operation of each unit of the control device 10, data input/output processing with other units, data arithmetic processing, and data processing. Apply amnestics.
  • the control unit 11 can generate an operation signal for controlling the flight of the unmanned aerial vehicle 20 based on the operation of the operation input unit 13 by the operator, while referring to the information stored in the storage unit 12 as appropriate. .
  • the control unit 11 can transmit this steering signal to the unmanned aerial vehicle 20 (via the transmission/reception unit 14) to remotely control the unmanned aerial vehicle 20.
  • the control device 10 can remotely control the movement of the unmanned aerial vehicle 20 .
  • Flight controls 10 may transmit signals to unmanned aerial vehicle 20 that change flight direction, flight speed, flight acceleration, and the like.
  • the storage unit 12 has, for example, a ROM that stores a program that defines the operation of the control device 10 and set value data, and a RAM that temporarily stores various information and data used during processing by the control unit 11 . You can
  • the storage unit 12 may include memory other than ROM and RAM.
  • the storage unit 12 may be provided inside the control device 10 or may be provided detachably from the control device 10 .
  • the storage unit 12 can store information about the flight line FL.
  • the transmitting/receiving unit 14 has a configuration in which a transmitting unit that transmits a control signal or the like based on an operation input to the unmanned aerial vehicle 20 and a receiving unit that receives signals from the unmanned aerial vehicle or the like are integrated. may be provided separately.
  • Transceiver 14 may use any suitable means of communication, such as wired or wireless communication.
  • the transceiver 25 utilizes one or more of local area networks (LAN), wide area networks (WAN), infrared, wireless, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications, and the like. can do.
  • the transmission/reception unit 25 may include a short-range communication interface such as Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
  • the display unit 15 displays various information acquired by the control device 10 (for example, images received from the unmanned aerial vehicle 20, flight data, etc.).
  • the display unit 15 may be provided inside or outside the control device 10 , or may be provided detachably from the control device 10 .
  • the display unit 15 may be composed of a touch panel capable of receiving various inputs.
  • the operation input unit 13 receives operation input by the operator.
  • the operation input unit 13 is configured to allow operation input in at least one axial direction.
  • the uniaxial operation input includes an operation input to one side from a neutral state and an operation input to the other side.
  • One side and the other side of the operation input unit 13 in the uniaxial direction respectively correspond to the flight directions of the one side and the other side along the flight line FL of the unmanned aerial vehicle 20 .
  • the operation input unit 13 is composed of a control stick that can be tilted left and right, a pair of left and right push buttons (including left and right buttons of a cross key, etc.), or a rotary dial, etc., but is not particularly limited. do not have.
  • the operation input unit 13 is a control stick
  • the control signal based on the operation input to one side and the other side in the uniaxial direction is transmitted from the transmitter (transceiver 14) of the control device 10 to the unmanned aerial vehicle 20 .
  • One axial direction of the operation input unit 13 can be, for example, the left-right direction, the front-rear direction, or the up-down direction (push-pull direction), but is not particularly limited.
  • the operable direction of the operation input unit 13 is limited to the one-axis direction described above, but it is not limited to this. Since the operation input unit 13 of this example is limited to the operation input in the horizontal direction, the operation is not complicated, and the unmanned aerial vehicle 20 can be easily manually operated.
  • the control device 10 may also include a flight start button or the like for issuing a request to start flight.
  • a flight start button for example, the control unit 11 of the control device 10 refers to the storage unit 12, outputs a control signal instructing flight to a predetermined position, and transmits the control signal to the unmanned aerial vehicle 20.
  • the unmanned aerial vehicle 20 installed on the ground and stationary receives the control signal, it autonomously flies to a predetermined aerial position (predetermined latitude, longitude, and altitude) and hovers at the position.
  • All or part of the control device 10 may be configured by an information processing device such as a smartphone or tablet terminal having a touch panel screen, for example.
  • an image icon such as a control stick displayed on the screen of the touch panel constitutes the operation input section.
  • Tap put your finger in contact with the screen
  • slide moving your finger in any direction while keeping your finger in contact with the screen
  • various operation inputs can be performed.
  • the control unit 11 of the piloting device 10 When the operator executes a maneuvering operation such as tilting the operation input unit 13 to one side or the other side in one axial direction, the control unit 11 of the piloting device 10 outputs a maneuvering signal corresponding to the operation input, and the unmanned aerial vehicle 20 is operated.
  • the steering signal includes information about the direction (one side or the other side) and information about the degree of operation (tilt angle of the steering stick, movement distance of the operation icon on the touch panel, etc.).
  • the flight direction of the unmanned aerial vehicle 20 is controlled based on the direction information in the steering signal.
  • the flight speed of the unmanned aerial vehicle 20 is controlled based on the information about the degree of operation in the steering signal.
  • the control device 10 can output a signal indicating the flight direction (horizontal movement direction) of the unmanned aerial vehicle 20 along the flight line FL, and transmit the signal to the unmanned aerial vehicle 20 .
  • the control device 10 of the present example can transmit a signal indicating the flight speed of the unmanned aerial vehicle 20 .
  • the control device 10 provides an instruction regarding the flight altitude of the unmanned aerial vehicle 20, a takeoff instruction, a landing instruction, a hovering (stop in the air) instruction, an instruction to change the direction of the camera 26 (shooting direction), and an instruction to change the direction of the aircraft (heading direction). It is also possible to output a control signal indicating an instruction to change or the like and transmit it to the unmanned aerial vehicle 20 .
  • the shooting direction may be changed by controlling the gimbal 27 of the camera 26, or the shooting direction may be changed by changing the orientation of the aircraft.
  • the transmitting/receiving unit 14 can receive a signal from the unmanned aerial vehicle 20.
  • a signal from the unmanned aerial vehicle 20 For example, an image captured by the camera 26 of the unmanned aerial vehicle 20 and a sound acquired by the microphone can be displayed on the display unit 15 (monitor, etc.) of the control device 10 or output from a speaker.
  • the control device 10 includes a flight line setting section 16 for setting the flight line FL.
  • the flight line setting unit 16 stores an arbitrary shape flight line FL in the storage unit, for example, based on position information of two points corresponding to both ends of the flight line FL and shape information of a line connecting the two points. It can be set on the map data that has been created.
  • the flight line setting unit 16 can set a straight line (line segment) connecting the two points as the flight line FL based only on the position information of the two points.
  • shape information of lines other than straight lines can be input by a user or the like by drawing through an input unit such as a touch panel.
  • the flight line setting unit 16 sets a flight line based on information on the shape and position of one line input (drawn or selected) by the operator or the like on a two-dimensional planar map displayed on a touch panel or the like. FL can be set.
  • the flight line setting unit 16 may be provided in the unmanned aerial vehicle 20, or may be provided in a management terminal or the like connected to the control device 10 or the unmanned aerial vehicle via a network.
  • the management terminal can, for example, simultaneously exchange information with one or more unmanned aerial vehicles and manage the flight of one or more unmanned aerial vehicles.
  • the management terminal is connected to, for example, a database.
  • the management terminal may be a general-purpose computer such as a workstation or personal computer, or may be logically implemented by cloud computing.
  • the management terminal includes, for example, a processor, memory, storage, transmission/reception section, input/output section, etc. These are electrically connected to each other through a bus.
  • the unmanned aerial vehicle 20 (UAV) in the present embodiment is called an aircraft, drone, multicopter, RPAS (remote piloted aircraft systems), or UAS (Unmanned Aircraft Systems). may be
  • the unmanned aerial vehicle 20 has functional blocks shown in FIG. Note that the functional blocks in FIG. 3 are reference configurations, and can be changed as appropriate.
  • the unmanned aerial vehicle 20 includes a flight controller 21 (flight control unit), a memory 22 (storage unit), sensors 23, a battery 24, a transmission/reception unit 25, a camera 26 (imaging unit), a gimbal 27, an ESC 29, a motor 30, and a propeller 31. (Rotary wings).
  • the camera 26 may be fixed to the body of the unmanned aerial vehicle 20 without providing the gimbal 27 . By providing the gimbal 27, the orientation of the camera 26 with respect to the body of the unmanned aerial vehicle 20 can be changed.
  • the flight controller 21 is a so-called processing unit.
  • a processing unit may comprise one or more processors, such as a programmable processor (eg, central processing unit (CPU), MPU, or DSP).
  • the processing unit has access to memory 22 .
  • Memory 22 stores logic, code, and/or program instructions that are executable by the processing unit to perform one or more steps.
  • Memory 22 may include, for example, separable media or external storage devices such as SD cards and random access memory (RAM). Data acquired from cameras and sensors 23 may be communicated directly to memory 22 and stored. For example, still image/moving image data captured by the camera 26 or the like is recorded in the built-in memory or the external memory.
  • the processing unit includes a control module configured to control the state of unmanned aerial vehicle 20 .
  • the control module may adjust the spatial orientation, velocity, and/or acceleration of unmanned aerial vehicle 20, which has six degrees of freedom (translational motions x , y , and z , and rotational motions ⁇ x, ⁇ y, and ⁇ z). It also controls the propulsion mechanism (ESC 29, motor 30, propeller 31, etc.) of the unmanned aerial vehicle 20.
  • the control module can control one or more of the states of the mount, sensors 23 .
  • the flight controller 21 can control the flight of the unmanned aerial vehicle 20 based on control signals from the control device 10 .
  • the flight controller 21 also controls the unmanned aerial vehicle 20 based on map information including two-dimensional or three-dimensional map data stored in the storage unit, current position information, attitude information, speed information, acceleration information, etc. of the unmanned aerial vehicle 20 .
  • 20 flights can be controlled.
  • the flight controller 21 can control the propulsion mechanism so that the unmanned aerial vehicle 20 flies to one side or the other side along the flight line FL based on the above various information and the received control signal.
  • the flight controller 21 controls the propulsion mechanism so that the unmanned aerial vehicle 20 moves along the flight line FL (so that the unmanned aerial vehicle 20 does not deviate from the flight line FL) regardless of the heading direction of the unmanned aerial vehicle 20. be able to.
  • the flight controller 21 acquires information on the current heading direction of the unmanned aerial vehicle 20 and controls the number of rotations of each propeller 31 based on the information on the heading direction.
  • the flight controller 21 can also perform flight control so that the heading direction is always constant and does not change when the unmanned aerial vehicle 20 moves on the flight line FL.
  • the processing unit can communicate with a transceiver 25 configured to send and/or receive data from one or more external devices (eg, terminals, displays, or other remote controls).
  • Transceiver 25 may use any suitable means of communication, such as wired or wireless communication.
  • the transceiver 25 utilizes one or more of local area networks (LAN), wide area networks (WAN), infrared, wireless, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications, and the like. can do.
  • the transmission/reception unit 25 may include a short-range communication interface such as Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
  • the transmission/reception unit 25 receives one of data acquired by the camera 26 and the sensors 23, processing results generated by the processing unit, predetermined control data, user commands (operation signals) from the control device 10 or management terminal, and the like. More can be sent and/or received.
  • the sensors 23 may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (eg lidar), or vision/image sensors (eg cameras).
  • inertial sensors acceleration sensors, gyro sensors, GPS sensors, proximity sensors (eg lidar), or vision/image sensors (eg cameras).
  • the unmanned aerial vehicle 20 has a position estimation unit for estimating the current position of the unmanned aerial vehicle 20.
  • the position estimation unit is based on latitude and longitude coordinate information obtained from a GNSS (global navigation satellite system) such as GPS, altitude information obtained from an atmospheric pressure sensor, etc., based on two-dimensional
  • the current position of the unmanned aerial vehicle 20 is estimated on map data such as a planar map or a three-dimensional spatial map.
  • Flight controller 21 may control the propulsion mechanism to keep unmanned aerial vehicle 20 on the flight line based on the current position of unmanned aerial vehicle 20 .
  • the unmanned aerial vehicle 20 has an attitude estimation unit that estimates the current attitude of the unmanned aerial vehicle 20 .
  • the attitude estimation unit estimates the current attitude (inclination) of the unmanned aerial vehicle 20 based on information obtained from the inertial sensor.
  • the unmanned aerial vehicle 20 also has a speed estimator that estimates the current moving speed of the unmanned aerial vehicle 20 .
  • the speed estimator estimates the speed, for example, based on data obtained from an inertial sensor.
  • the unmanned aerial vehicle 20 also has a direction estimation unit that estimates the current direction (heading direction) of the unmanned aerial vehicle 20 .
  • the direction estimator estimates the heading direction based on, for example, direction data obtained from a sensor such as a compass provided on the body (main body) of the unmanned aerial vehicle 20 .
  • the unmanned aerial vehicle 20 has a shooting direction estimation unit that estimates the shooting direction of the imaging unit.
  • the shooting direction estimator estimates the shooting direction based on direction data or the like obtained from a sensor such as the camera 26, the gimbal 27, or a compass provided on the aircraft.
  • the data obtained from the unmanned aerial vehicle 20 includes position information (including altitude information), attitude information, speed information, remaining battery level, signal strength, camera image information, camera direction (shooting direction), , zoom in/zoom out, etc., any data that can be obtained from the sensors provided by the unmanned aerial vehicle 20 .
  • the flight information of the unmanned aerial vehicle 20 and the obtained data may be transmitted to the control device 10, or may be transmitted to the management terminal via a repeater or the like as necessary.
  • the operation device 10 generates a signal for instructing start/stop of photographing by the camera, change of the direction of the camera (imaging direction), zoom-in/zoom-out, etc. based on the operator's operation input, and sends the command to the unmanned aerial vehicle 20. can be sent.
  • the method of setting the flight line FL is not limited to this example, and can be set by any method using the control device 10, the unmanned aerial vehicle 20, or a management terminal or the like connected via a network.
  • the set flight line FL is stored in the control device 10, the unmanned aerial vehicle 20, or the storage unit (12, 22, etc.) of the management terminal or the like connected via a network.
  • the flight line FL means a linear flightable range virtually set at a predetermined altitude in the air, and is composed of one continuous line as a whole.
  • the flight line FL is set in advance before the unmanned aerial vehicle 20 starts flying.
  • the flight line FL can be a single linear configuration continuous from one end to the other (see FIGS. 1, 4 and 5) or can be a circular configuration consisting of a single line. (See Figure 6).
  • FIG. 1 shows a flight line FL set above one side line SL on a court for sports such as soccer.
  • the soccer court shown in FIG. 1 is rectangular in plan view, and has a pair of side lines SL (touch lines) forming long sides and a pair of goal lines GL forming short sides.
  • the flight line setting unit 16 can, for example, acquire positional information of two points P1 and P2 located at both ends of the sideline SL, and set the flight line FL based on the positional information of the two points P1 and P2. .
  • the flight The line setting unit 16 acquires information on the latitude and longitude of the point P1.
  • the latitude and longitude information of the point P2 at the other end of the sideline SL is acquired.
  • the flight line setting unit 16 can set a straight line (line segment) connecting the two points as the flight line FL on the two-dimensional planar map.
  • the altitude (ground altitude or sea level altitude) of the flight line FL can be a predetermined altitude (for example, 10 m, etc.) set in advance and stored in the storage unit 12 or the like.
  • the operator or the like sets the flight line FL, it may be possible to set it to an arbitrary height.
  • the altitude of the flight line FL may be set to a constant height as a whole, or may be set to partially different heights.
  • an altitude numerical value may be input from an input unit such as a touch panel provided on the control device 10, or a preset You may make it select-input from altitude options (for example, 5m, 10m, 20m, etc.).
  • the flight line FL is not limited to a straight line as a whole as in this example, and may have a curved portion such as an arc, or a bent portion that bends at a predetermined angle (acute angle, right angle, or obtuse angle). Alternatively, all or part thereof may be in an arbitrary curved shape.
  • the flight line setting unit 16 is based on input information such as the starting point (one end), the terminal point (the other end), the center of curvature, the radius of curvature, the angle of curvature, and the position information of the corners (points of curvature) of the curved portion and the curved portion.
  • a flight line FL can be set.
  • the flight line setting unit 16 also stores information (coordinate information of latitude and longitude) on one point corresponding to one end of the flight line FL, and the distance (m ) and direction (azimuth) information, it is also possible to set the flight line FL.
  • FIGS. 4, 5, and 6 are plan views illustrating flight lines FL.
  • the flight line FL shown in FIG. 4 has a wavy configuration in which substantially arc-shaped curves are alternately connected from one end to the other end.
  • the unmanned aerial vehicle 20 moves to one side (direction toward one end) or the other side along the wavy flight line FL. (towards the other end), fly. Note that when the operator does not operate the operation input unit 13, the unmanned aerial vehicle 20 hovers on the flight line FL.
  • the flight line FL shown in FIG. 5 has four bends between one end and the other end.
  • the flight line setting unit 16 for example, provides positional information on six points corresponding to one end, the other end, and four bends, and information on the shape of lines (in this example, five straight lines) that connect them.
  • a flight line FL can be set based on. Also in the case of FIG. 5, the unmanned aerial vehicle 20 moves toward one side or the other side along the curved flight line FL as in the case of FIG.
  • the flight line FL shown in FIG. 6 has a square shape with four bends.
  • the flight line setting unit 16 determines the flight line FL based on the position information of four points corresponding to the four bends and the information on the shape of lines connecting them (four straight lines in this example). can be set.
  • the unmanned aerial vehicle 20 moves so as to circle to one side or the other side along the circular flight line FL.
  • the annular flight line FL is not limited to a rectangular configuration in plan view, and may be square or other polygonal, circular, elliptical, or the like. If the flight line FL is circular, for example, the flight line FL can be set based on information on the position of the center of the circle and information on the radius (diameter).
  • the flight line FL can be set based on the positional information of and the information on the major axis and the minor axis.
  • the flight line FL is transmitted to the storage unit 12 of the control device 10 and/or the unmanned aerial vehicle 20 and stored in the memory 22 of the unmanned aerial vehicle 20 .
  • the flight controller 21 of the unmanned aerial vehicle 20 operates on the flight line FL based on the information of the flight line FL on map data such as a two-dimensional map or a three-dimensional map, and information on the current position, attitude, speed, etc. of the unmanned aerial vehicle.
  • a propulsion mechanism, such as each propeller 31, can be controlled so that the unmanned aerial vehicle 20 stays on the ground.
  • the flight controller 21 may further control the propulsion mechanism based on information on the heading direction and acceleration of the unmanned aerial vehicle 20 .
  • Control example 1 An example of flight control according to this embodiment will be described below with reference to FIG. In this example, a case will be described in which the camera 26 of the unmanned aerial vehicle 20 is used to photograph a game such as soccer. Note that the flight line FL is set in advance before the start of flight by the above method or the like.
  • the operator selects and inputs an automatic levitation button or the like on the control device 10 while the unmanned aerial vehicle 20 is placed on the ground.
  • a signal instructing automatic levitation to the flight line FL is transmitted from the control device 10 to the unmanned aerial vehicle 20 .
  • the flight controller 21 controls the propulsion mechanism so that the unmanned aerial vehicle 20 automatically rises to a preset altitude and hovers on the flight line FL.
  • the unmanned aerial vehicle 20 it is preferable to place the unmanned aerial vehicle 20 on the ground line (the sideline SL in this example) corresponding to the flight line FL. By doing so, the unmanned aerial vehicle 20 can be moved onto the flight line FL simply by floating the unmanned aerial vehicle 20 directly upward.
  • the unmanned aerial vehicle 20 hovers at the center position of the flight line FL directly above.
  • the operator can operate the operation input unit 13 in one axial direction (horizontal direction, etc.) to control the movement direction, movement speed, etc. of the unmanned aerial vehicle 20 along the flight line FL.
  • the operator may operate the unmanned aerial vehicle 20 while looking at it, or operate it while looking at the image displayed on the monitor screen of the control device 10 (real-time image captured by the camera 26 of the unmanned aerial vehicle 20). operation may be performed.
  • the unmanned aerial vehicle 20 moves to one side along the flight line FL (for example, horizontally flies), When an operation input is made in the other side of the uniaxial direction, the unmanned aerial vehicle 20 moves to the other side along the flight line FL.
  • One side and the other side in the uniaxial direction of the operation input unit 13 respectively correspond to the one side and the other side along the flight line FL.
  • tilting the operation input unit 13 to the left causes the unmanned aerial vehicle 20 to move to one side along the flight line FL, and tilt the operation input unit 13 to the right.
  • the unmanned aerial vehicle 20 moves to the other side along the flight line FL.
  • the unmanned aerial vehicle 20 While the operator operates the operation input unit 13 of the control device 10 to one side, the unmanned aerial vehicle 20 moves toward one end along the flight line FL based on the control signal from the control device 10. continue. However, when the unmanned aerial vehicle 20 reaches one end of the flight line FL, the unmanned aerial vehicle 20 does not continue to move even if the operator inputs the operation input unit 13 of the control device 10 to one side. Hover at one end position. That is, the unmanned aerial vehicle 20 is flight-controlled so as to stay on the flight line FL. The same applies when the operator operates the operation input unit 13 of the control device 10 to the other side, and moves along the flight line FL toward the other end until reaching the other end of the flight line FL. When it reaches the edge, it will hover without moving any further. In this manner, the unmanned aerial vehicle 20 can be flight-controlled so as to automatically stay on the preset flight line FL while realizing simple manual operation by the control device 10 .
  • the operator can easily adjust the position of the unmanned aerial vehicle 20 on the flight line FL only by operating the operation input unit 13 in one axial direction.
  • an operator who has no experience of operating the unmanned aerial vehicle 20 can easily use the camera 26 of the unmanned aerial vehicle 20 to photograph a soccer match or the like.
  • the unmanned aerial vehicle 20 when photographing with the unmanned aerial vehicle 20, it is possible to appropriately photograph the photographing target by adjusting the position of the unmanned aerial vehicle 20 on the flight line FL according to the position of the person or object to be photographed. becomes.
  • the flight controller 21 of the unmanned aerial vehicle 20 automatically performs flight control so that the unmanned aerial vehicle 20 stays on the flight line FL, the unmanned aerial vehicle 20 may fly in an unintended direction due to operator error or the like. There is no risk of it being lost, and safety can be significantly improved. Therefore, according to the system 1, safe manual control of the flying object is possible without requiring advanced control skills.
  • the unmanned aerial vehicle 20 may include a shooting direction estimation unit that estimates the shooting direction of the imaging unit and a shooting direction control unit that controls the shooting direction.
  • the shooting direction estimator estimates the shooting direction based on at least one of information such as the heading direction of the unmanned aerial vehicle 20, the orientation of the gimbal 27, and the image captured by the camera 26, for example.
  • the shooting direction control unit can control the shooting direction by controlling the gimbal 27 that supports the camera 26 and/or controlling the heading direction of the unmanned aerial vehicle 20 . With such a configuration, it is possible to improve the accuracy of photographing the object to be photographed by the imaging unit.
  • a flight control method for an unmanned aerial vehicle 20 includes a flight line setting step of setting a virtual flight line on map data by a flight line setting unit 16, and a flight control step in which the flight control unit 21 controls the unmanned aerial vehicle to fly along the flight line based on a control signal transmitted from the control device 10 in response to the operation.
  • the unmanned aerial vehicle 20 may be responsible for part of the functions of the control device 10, or the control device 10 may be responsible for part of the functions of the unmanned aerial vehicle 20.
  • the control device 10 also has a changeover switch for switching between a specific control mode in which the unmanned aerial vehicle 20 is flight-controlled so that it only moves along the flight line FL, and a normal mode that is not limited to movement along the flight line FL.
  • a specific control mode in which the unmanned aerial vehicle 20 is flight-controlled so that it only moves along the flight line FL
  • a normal mode that is not limited to movement along the flight line FL.
  • the control unit 11 of the control device 10 and/or the flight controller 21 of the unmanned aerial vehicle 20 are provided with a mode switching unit for switching between the specific control mode and the normal mode.
  • the mode switching unit switches to the specific control mode, the range of movement of the unmanned aerial vehicle 20 is limited only on the flight line FL, as described above.
  • the operation input of the control device 10 is limited to only one axis direction, or the control signal transmitted from the control device 10 to the unmanned aerial vehicle 20 is limited to the control signal in one axis direction.
  • the above restrictions are lifted, and operation input in multiple axial directions by the operation input unit 13 of the control device 10 becomes possible, and control signals in multiple axial directions are transmitted from the control device 10 to the unmanned aerial vehicle 20. It becomes possible.
  • the unmanned aerial vehicle 20 can be freely manually operated regardless of the flight line FL.
  • by switching to the specific control mode when used by an operator with little piloting experience it is possible to easily and safely perform manual maneuvers that only move along the flight line FL.
  • Control Device 20 Unmanned Aircraft 21 Flight Control Unit

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2022/010554 2021-03-17 2022-03-10 飛行制御システム Ceased WO2022196515A1 (ja)

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JP7545758B2 (ja) 2024-09-05
JP2022143218A (ja) 2022-10-03
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JP2023113717A (ja) 2023-08-16
EP4309999A1 (en) 2024-01-24

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