WO2023188271A1

WO2023188271A1 - Aircraft

Info

Publication number: WO2023188271A1
Application number: PCT/JP2022/016520
Authority: WO
Inventors: 武彦塩川
Original assignee: 三共木工株式会社
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2023-10-05

Abstract

This aircraft comprises a communication unit for connecting to the internet, and a control unit that controls the communication unit such that data is transmitted to a monitoring device through the internet. The communication unit, when connected to the internet, receives a first IP address for identifying the control unit, and while the aircraft is flying, receives a second IP address instead of the first IP address. The control unit, when receiving the first IP address or the second IP address from the communication unit, controls the communication unit such that the first IP address or the second IP address is transmitted to a management device. The management device stores, in a storage unit, identification data shared by the monitoring device and the aircraft in correspondence with the first IP address or the second IP address received from the communication unit, and transmits the first IP address or the second IP address to the monitoring device. The monitoring device uses the first IP address or the second IP address received from the management device to communicate with the communication unit through the internet.

Description

aircraft

The technology of the present disclosure relates to aircraft.

JP 2021-192495A discloses a system that includes a ground communication device and a mobile communication device that is mounted on a drone and directly communicates wirelessly with the ground communication device.

As mentioned above, since the ground communication device and the mobile communication device mounted on the drone directly communicate wirelessly with each other, the communication distance is short.

The technology of the present disclosure aims to provide an aircraft that can make the communication distance between the aircraft and a monitoring device longer than that of conventional technology.

In order to achieve the above object, the aircraft according to the first aspect of the technology of the present disclosure includes a communication unit for connecting to the Internet and controlling the communication unit so that data is transmitted to a monitoring device via the Internet. and a control unit.

In the aircraft of a second aspect, in the first aspect, the communication unit receives the first IP address when connected to the Internet, and when the aircraft is in flight, the communication unit receives the first IP address. When the first IP address or the second IP address is received by the communication unit, the control unit receives a second IP address in place of the received first IP address or the second IP address. The communication unit is controlled such that a second IP address is transmitted to a management device, and the management device transmits identification data common to the monitoring device and the aircraft and the first IP address received from the communication unit. The IP address or the second IP address are stored in a storage unit in correspondence with each other, and the first IP address or the second IP address is transmitted to the monitoring device, and the monitoring device The communication unit communicates with the communication unit via the Internet using the first IP address or the second IP address received from the communication unit.

In the aircraft of a third aspect, in the first aspect or the second aspect, the control unit performs data communication processing to control the communication unit so that data is transmitted to the monitoring device via the Internet. , if data is not transmitted for a first period, the communication section is stopped, and the control section controls the communication section so that data is transmitted every time a second period shorter than the first period elapses.

The first aspect of the technology of the present disclosure can make the communication distance between the aircraft and the monitoring device longer than the conventional technology.

A second aspect of the disclosed technology allows the monitoring device to communicate with the aircraft over the Internet even if the aircraft receives a second IP address in place of the first IP address during flight. be able to.

The third aspect of the technology of the present disclosure can prevent data communication processing from stopping while the aircraft is in flight.

1 is a block diagram of a system including a drone 10, an ISP server 12, a DDNS server 14, a cloud server 15, and a monitoring device 16 according to an embodiment. FIG. 2 is a block diagram of a control system of the drone 10. FIG. 3 is a diagram showing a storage area of a storage device of a DDNS server 14. FIG. 3 is a functional block diagram of a CPU 32 of the drone 10. FIG. It is a flowchart of the transmission processing program 42P1. 6 is a flowchart of the data transmission preparation process in step 52 of FIG. 5. FIG. It is a flowchart of the transmission processing stop program 42P3. It is a flowchart of the dynamic IP address reception program 42P2. It is a flowchart of the transmission processing maintenance and IP address change check program 42P4.

Hereinafter, embodiments of the technology of the present disclosure will be described with reference to the drawings.

FIG. 1 shows a drone 10 according to an embodiment, an ISP server device (hereinafter referred to as "ISP server") 12, a DDNS server device (hereinafter referred to as "DDNS server") 14, and a cloud server device (hereinafter referred to as "cloud server"). ) 15 and a monitoring device 16 is shown. The drone 10, the ISP server 12, the DDNS server 14, the cloud server 15, and the monitoring device 16 are interconnected via the Internet 18.

The drone 10 includes a modem 22 for connecting to the Internet 18 and a communication control device 20 that controls the modem 22 so that data is transmitted to the monitoring device 16 via the Internet 18. After communicating with the ISP server 12, the modem 22 is connected to the Internet 18. The communication control device 20 is, for example, a single board computer, ie, a so-called Raspberry Pi.

The drone 10 includes a main body (not shown), a plurality of arms, a motor provided at the tip of each of the plurality of arms, and a propeller rotated by the motor.

The drone 10 includes a first camera 28A, a second camera 28B, a sensor 26, and a flight controller (FC) 24. The first camera 28A is provided on the front side of the main body and photographs an area in the direction of movement of the drone 10. The second camera 28B is provided at the rear upper part of the main body and photographs the entire upper part of the drone 10. The sensor 26 is a GPS (Global Positioning System) sensor, a gyro sensor, an altitude sensor, an acceleration sensor, an atmospheric pressure sensor, or the like. In addition, in FIG. 1, these are shown as the sensor 26.

For example, the first camera 28A and the second camera 28B are connected to the communication control device 20. Sensor 26 is connected to FC24.

The FC 24 includes a computer and a storage device that stores flight route data and flight programs for automatic piloting.

The FC 24 transmits various sensor data detected by the sensor 26 to the communication control device 20.

The computer of the FC 24 controls the communication control device 20 so that the transmission data is transmitted to the monitoring device 16 via the Internet 18 using the modem 22. The transmission data includes image data of a front image obtained by photographing the traveling direction of the drone 10 by the first camera 28A and a drone image obtained by photographing the entire upper part of the drone 10 by the second camera 28B, and various sensor data detected by the sensor 26.

The computer of the FC 24 controls the motor according to the flight program to rotate the propeller and fly along the above flight path (autopilot flight).

FIG. 2 shows a block diagram of the control system of the communication control device 20. As shown in FIG. 2, the communication control device 20 includes a computer 30 and a secondary storage device 42. The computer 30 includes a CPU (Central Processing Unit) 32, a ROM (Read Only Memory) 34, a RAM (Random Access Memory) 36, and an input/output (I/O) port 40. The CPU 32, ROM 34, RAM 36, and I/O port 40 are interconnected via a bus 38. A first camera 28A, a second camera 28B, an FC 24, a modem 22, and a storage device 42 are connected to the I/O port 40.

The storage device 42 has a program storage area 42P and an IP address storage area 42E. The program storage area 42P stores a transmission processing program 42P1, a dynamic IP address reception program 42P2, a transmission processing stop program 42P3, and a transmission processing maintenance and IP address change check program 42P4. The IP address storage area 42E includes an initial IP address storage area 42E1 and a dynamic IP address storage area 42E2. Note that each of the above programs may be stored in the ROM 34. The storage device 42 is a non-transitory tangible computer readable recording medium, such as an HDD (Hard disk drive) or an SSD (Solid storage medium). non-volatile memory such as tedrive) It is a device.

The monitoring device 16 (see FIG. 1) is a device that monitors the drone 10, and includes a computer, a communication device, a display device, a storage device, etc. (not shown). The monitoring device 16 displays the forward image data, drone image data, and sensor data that the communication device receives from the modem 22 of the drone 10 via the Internet 18 on a display device or stores in a storage device.

The cloud server 15 is a server that receives data (front image data, drone image data, and sensor data) from the drone 10 and stores the received data.

The ISP (Internet Service Provider) server 12 is a server that provides a service to connect the modem 22 of the drone 10 and the Internet 18.

When accessed from the modem 22 of the powered-on drone 10, the ISP server 12 transmits an IP address to the modem 22.

When the modem 22 of the drone 10 receives an IP address for the first time after being powered on, the IP address is stored as an initial IP address in the initial IP address storage area 42E1 of the storage device 42 (see FIG. 2) of the drone 10. Ru. Thereafter, the ISP server 12 may change the IP address of the modem 22 of the drone 10 and transmits the changed IP address to the modem 22. The changed IP address is stored as a dynamic IP address in the dynamic IP address storage area 42E2.

The DDNS server 14 is a server that provides a DDNS (Dynamic Domain Name System) service. The DDNS service is a service that associates dynamically changing IP addresses with fixed domains (identification data).

The DDNS server 14 includes a computer, a communication device, a storage device, etc. (not shown).

FIG. 3 shows the storage area of the storage device of the DDNS server 14. The storage device of the DDNS server 14 has a storage area 14E. The storage area 14E includes a domain storage area 14E1 that stores predetermined identification data common to the drone 10 and the monitoring device 16, for example, a domain, and an IP address storage area 14E2 that stores the IP address received from the drone 10. There is. The domain storage area 14E1 and the IP address storage area 14E2 are associated with each other.

Every time the IP address of the drone 10 is changed, the drone 10 transmits the changed IP address along with the domain to the DDNS server 14. The DDNS server 14 stores (overwrites) the received IP address in the IP address storage area 14E2 corresponding to the received domain. Therefore, the latest IP address of the drone 10 is stored in the IP address storage area 14E2.

By the way, in order to communicate with the drone 10 via the Internet 18, the monitoring device 16 needs to know the IP address of the drone 10. However, the IP address of the drone 10 may change during the flight of the drone 10. In this case, if the IP address of the drone 10 is changed, the monitoring device 16 cannot communicate with the drone 10 using the IP address before the change.

Therefore, when the monitoring device 16 communicates with the drone 10 via the Internet 18, the monitoring device 16 first uses a common IP address for the drone 10 and the monitoring device 16 in order to instruct the DDNS server 14 to send the latest IP address of the drone 10. The domain to be used is sent to the DDNS server 14.

The DDNS server 14 uses the received domain to search the IP address storage area 14E2 for the IP address corresponding to the domain. The DDNS server 14 transmits the IP address obtained through the search (that is, the latest IP address of the loan 10) to the monitoring device 16. The monitoring device 16 communicates with the drone 10 via the Internet 18 using the received IP address.

FIG. 4 shows a functional block diagram of the CPU 32 of the drone 10. The functions of the CPU 32 include a connection processing function, a reception processing function, a storage processing function, a transmission processing function, a judgment function, and a termination function. As shown in FIG. 4, the CPU 32 executes any of the programs described above to control the connection processing unit 31, the reception processing unit 33, the storage processing unit 35, the transmission processing unit 37, the determination unit 39, and the termination unit 41. functions as

Next, the operation of this embodiment will be explained.

FIG. 5 shows a flowchart of the transmission processing program 42P1. When the CPU 32 of the communication control device 20 of the drone 10 executes the transmission processing program 42P1, the transmission processing and the transmission processing method are executed. The transmission processing program 42P1 starts when the communication control device 20 is powered on.

In step 52, each unit (31, 35, 37) described later executes a data transmission preparation process.

In step 54, the reception processing unit 33 captures the front image from the first camera 28A, captures the drone image from the second camera 28B, and receives sensor data from the FC 24, and the transmission processing unit 37 captures the front image data, Transmission data including drone image data and sensor data is transmitted to the monitoring device 16 and the cloud server 15 by the modem 22 via the Internet 18 (data transmission processing).

As described above, when the communication device receives transmission data from the modem 22 of the drone 10 via the Internet 18, the monitoring device 16 stores the received transmission data in the storage device, or stores the transmission data based on the received transmission data. , the front image, the drone image, and the sensor data are displayed on a display device.

By the way, the transmission processing unit 37 transmits the transmission data to the cloud server 15 in addition to the monitoring device 16 in case the transmission data is not received by the monitoring device 16 due to a communication failure or the like. It's for a reason. If the transmitted data is not received by the monitoring device 16, the monitoring device 16 receives the transmitted data from the cloud server 14, stores the transmitted data received from the cloud server 14 in the storage device, or stores the transmitted data received from the cloud server 14. Based on the transmitted data, the front image, the drone image, and the sensor data are displayed on the display device.

In step 56, it is determined whether a predetermined time has elapsed since the transmission data was transmitted in step 54. If it is not determined that the predetermined time has elapsed since the transmission data was sent, in step 58, the determining unit 39 determines whether or not a flight end instruction signal instructing the end of the flight has been received from the FC 24. By doing so, it is determined whether the flight has ended or not. If it is determined that the flight has ended, the transmission process ends. If it is not determined that the flight has ended, the transmission process returns to step 56.

If it is determined in step 56 that a predetermined time has elapsed since the transmission data was transmitted in step 54, the transmission process returns to step 54. Therefore, transmission data is transmitted to the monitoring device 16 and the cloud server 15 at predetermined time intervals until the end of the flight.

FIG. 6 shows a flowchart of the data transmission preparation process in step 52 of FIG. As shown in FIG. 6, in the data transmission preparation process of step 52 in FIG. That is, the connection processing unit 31 controls the modem 22 to request the ISP server 12 to connect to the Internet 18. Upon receiving the request, the ISP server 12 transmits an IP address (initial IP address) to the modem 22. In step 64, the reception processing unit 33 receives the initial IP address from the ISP server 12.

In step 66, the storage processing unit 35 stores the initial IP address in the initial IP address storage area 42E1 of the address storage area 42E of the storage device 42 (see also FIG. 2).

In step 68, the connection processing unit 31 connects to the FC 24.

In step 70, the transmission processing unit 37 transmits the initial IP address to the monitoring device 16.

In step 72, the transmission processing unit 37 transmits the initial IP address to the DDNS server 14.

The DDNS server 14 stores the IP address in the IP address storage area 14E2 of the storage area 14E (see also FIG. 3) of the storage device (not shown) of the DDNS server 14.

As mentioned above, when the monitoring device 16 communicates with the drone 10 via the Internet 18 , the monitoring device 16 uses a common link between the drone 10 and the monitoring device 16 to instruct the DDNS server 14 to send the IP address of the drone 10 . Send the domain to the DDNS server 14.

The DDNS server 14 uses the received domain to search the IP address storage area 14E2 for the IP address corresponding to the domain. The DDNS server 14 sends the searched IP address to the monitoring device 16.

The monitoring device 16 communicates with the drone 10 via the Internet 18 using the received IP address.

By the way, when a drone and a monitoring device directly communicate wirelessly as in the prior art, the drone and the monitoring device need to be located within an area where direct wireless communication is possible. Therefore, the area in which the drone and the monitoring device can communicate is narrow. Since the location of the monitoring device is fixed, the range in which the drone communicating with the monitoring device can fly is narrow.

In contrast, in the present embodiment, the drone 10 transmits transmission data including forward image data, drone image data, and sensor data to the monitoring device 16 and the cloud server 15 via the Internet 18 using the modem 22. Send. Therefore, the drone 10, the monitoring device 16, and the cloud server 15 can communicate via the Internet 18 beyond the area where direct wireless communication is possible.

Therefore, in this embodiment, the communication distance between the drone 10 and the monitoring device 16 can be made longer than in the conventional technology.

FIG. 7 shows a flowchart of the transmission processing stop program 42P3. The transmission processing stop program 42P3 is repeatedly executed every first time from when the communication control device 20 is powered on.

In step 82, the determination unit 39 determines whether there was any transmission processing (data transmission processing in step 54 in FIG. 5) between the last execution of the stop processing of the transmission processing and the current execution. Note that in this embodiment, each time the data transmission process in step 54 of FIG. 5 is executed, data on the execution date and time of the data transmission process is stored in the storage device 42. Therefore, from this execution date and time data, it can be determined whether or not there was a transmission process between the time when the stop process of the main transmission process was executed last time and the time when it is executed this time. If it is determined that there is a transmission process, the transmission process stop process is ended. If it is not determined that there is a transmission process, the process of stopping the transmission process proceeds to step 84. In step 84, the termination unit 41 terminates the execution of the transmission processing program.

By the way, as described above, the transmission processing program 42P1 starts when the communication control device 20 is powered on and is executed until the end of the flight. However, for some reason, the transmission data may not be transmitted, and in this case, if the transmission processing program 42P1 is executed, power will be wasted. Therefore, if no transmission processing is performed during the first period, power consumption can be reduced by terminating the execution of the transmission processing program 42P1.

FIG. 8 shows a flowchart of the dynamic IP address reception processing program 42E2. The dynamic IP address reception processing program 42E2 starts when a dynamic IP address is received from the ISP server 12 after receiving the initial IP address. A dynamic IP address is an IP address that is different from the initial IP address.

In step 92, the storage processing unit 35 stores the dynamic IP address in the dynamic IP address storage area 42E2 of the address storage area 42E of the storage device 42 (see also FIG. 2).

In step 94, the transmission processing unit 37 transmits the dynamic IP address to the monitoring device 16.

In step 96, the transmission processing unit 37 transmits the dynamic IP address to the DDNS server 14.

The DDNS server 14 stores (overwrites) the dynamic IP address in the IP address storage area 14E2 of the storage area 14E (see also FIG. 3) of the storage device (not shown) of the DDNS server 14.

As described above, the monitoring device 16 transmits the domain common to the drone 10 and the monitoring device 16 to the DDNS server 14. Using the received domain, the DDNS server 14 searches the IP address storage area 14E2 for the IP address corresponding to the domain (the dynamic IP address overwritten in the IP address storage area 14E2, that is, the latest IP address). do. The DDNS server 14 transmits the latest IP address obtained through the search to the monitoring device 16. The monitoring device 16 communicates with the drone 10 via the Internet 18 using the latest received IP address.

In this way, even if the modem 22 receives a dynamic IP address, that is, the IP address changes from the initial IP address, the DDNS server 16 sends the latest dynamic IP address to the monitoring device 16. Therefore, the monitoring device 16 can communicate with the modem 22 via the Internet 18.

FIG. 9 shows a flowchart of the transmission processing maintenance and IP address change check program 42P4. The transmission processing maintenance and IP address change check program 42P4 is repeatedly executed every second time period, which is shorter than the first time period, from when the communication control device 20 is powered on.

In step 102, the transmission processing unit 37 transmits a signal, for example, a ping, to the ISP server 1212. As a result, step 82 in FIG. 7 becomes an affirmative determination. Therefore, it is possible to prevent the transmission processing program 42P1 from stopping during the flight of the drone 10.

In step 104, the determining unit 39 determines whether the IP address has been changed by determining whether a dynamic IP address is stored in the dynamic IP address storage area 42E2 in the IP address storage area 42E. do.

If it is determined that the IP address has not been changed, the transmission process maintenance and IP address change check process ends. If it is determined that the IP address has changed, the transmission process maintenance and IP address change check process proceeds to step 106.

In step 106, the transmission processing unit 37 transmits the dynamic IP address to the monitoring device 16.

In step 108, the transmission processing unit 37 transmits the dynamic IP address to the DDNS server 14.

Note that when executing step 104, if the dynamic IP address to be sent this time in step 106 is the same as the dynamic IP address sent in step 106 last time, it should not be determined that the IP address has changed. You can also do this.

As explained above, in the present embodiment, the drone 10 transmits data to the monitoring device 16 via the Internet, so the communication distance between the drone 10 and the monitoring device 16 is different from that of the conventional method of direct communication. Technology can make it longer.

Furthermore, in this embodiment, even if the IP address of the modem 22 is changed while the drone 10 is in flight, the monitoring device can receive the latest IP address of the drone 10 via the DDNS server 14. Therefore, communication with the drone 10 can be continued.

Furthermore, in this embodiment, the transmission processing maintenance and IP address change check program 42P4 is configured to transmit a signal (ping) for a period shorter than the first time period during which the transmission processing program is stopped on the assumption that the drone 10 is not communicating. Repeat every 2 hours. Therefore, this embodiment can prevent the transmission processing program from stopping and the monitoring device 16 being unable to monitor the drone 10 during the flight of the drone.

In the embodiment described above, the first camera 28A and the second camera 28B are connected to the communication control device 20, and the sensor 26 is connected to the FC 24, but the technology of the present disclosure is not limited to this. For example, the first camera 28A and the second camera 28B may be connected to the FC 24 and the sensor 26 may be connected to the communication control device 20, or the sensor 26, the first camera 28A, and the second camera 28B may all be connected to the FC 24. The sensor 26, the first camera 28A, and the second camera 28B may all be connected to the communication control device 20.

The embodiment described above includes the FC 24 and the communication control device 20, but the communication control device 20 is omitted, and the sensor 26, the first camera 28A, and the second camera 28B are all connected to the FC 24, The FC 24 may execute each of the above programs 42P1 to 42P.

Although the embodiments described above have been described using a drone, the technology of the present disclosure is not limited thereto. For example, instead of a drone, other unmanned aircraft, such as a radio-controlled airplane and a radio-controlled unmanned helicopter, or even a manned aircraft, such as a radio-controlled helicopter that can carry a person, may be used. good.

In the present disclosure, only one or two or more of each component (device, etc.) may exist as long as there is no contradiction.

In each of the examples described above, each process is realized by a software configuration using a computer, but the technology of the present disclosure is not limited to this. For example, instead of a software configuration using a computer, only the hardware configuration such as FPGA (FIELD -PROGRAMMABLE GATE ARRAY) or ASIC (Application Specific INTEGRATED CIRCUIT). , Passing each process may be executed. A portion of each process may be executed by a software configuration, and the remaining processes may be executed by a hardware configuration.

Note that each of the programs described above can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media includes various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, and CDs. - R/W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be provided to the computer on various types of temporary computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can provide the program to the computer via wired communication channels, such as electrical wires and fiber optics, or wireless communication channels.

Each of the processes described above is just an example. Therefore, it goes without saying that unnecessary steps may be deleted, new steps may be added, or the processing order may be changed within the scope of the main idea.

All documents, patent applications, and technical standards mentioned herein are incorporated by reference, as if each individual document, patent application, and technical standard was specifically and individually indicated to be incorporated by reference. Incorporated herein by reference.

Claims

A communication department for connecting to the Internet,
a control unit that controls the communication unit so that data is transmitted to a monitoring device via the Internet;
An aircraft equipped with
The communication unit receives a first IP address when connected to the Internet, and receives a second IP address in place of the first IP address while the aircraft is in flight;
When the communication unit receives the first IP address or the second IP address, the control unit transmits the received first IP address or the second IP address to a management device. controlling the communication unit so that
The management device stores identification data common to the monitoring device and the aircraft and the first IP address or the second IP address received from the communication unit in a corresponding manner, and transmitting the first IP address or the second IP address to a device;
The monitoring device communicates with the communication unit via the Internet using the first IP address or the second IP address received from the management device.
The aircraft according to claim 1, characterized in that:
The control unit stops a data communication process that controls the communication unit so that data is transmitted to the monitoring device via the Internet when no data is transmitted for a first period;
The control unit controls the communication unit so that data is transmitted every time a second period shorter than the first period elapses.
The aircraft according to claim 1 or claim 2, characterized in that: