WO2023203673A1

WO2023203673A1 - Flying object control system and flying object system

Info

Publication number: WO2023203673A1
Application number: PCT/JP2022/018270
Authority: WO
Inventors: 坂野倫祥; 丸山一人; 後野剛志; 別府俊之; 本多充; 新穂友志; 冨田裕貴; 山田浩平
Original assignee: 株式会社クボタ
Priority date: 2022-04-20
Filing date: 2022-04-20
Publication date: 2023-10-26

Abstract

A flying object control system (A) that causes a plurality of flying objects (B) to fly as a group comprises a flight command generation unit that generates flight commands for causing the plurality of flying objects (B) to fly as a group, and a transmission unit that transmits the flight commands to the flying objects (B).

Description

Aircraft control systems and airborne systems

The present invention relates to a collective flying vehicle system and a flying vehicle system.

Patent Document 1 describes a multicopter. This multicopter is equipped with a spraying device for spraying fertilizer, water, pesticides, etc.

Japanese Patent Application Publication No. 2020-104814

A multicopter cannot be flown with luggage or equipment that exceeds its maximum payload. Therefore, the amount of cargo or spray material that can be carried by one multicopter is limited to the maximum load capacity. Furthermore, the size of the area in which one multicopter can spray the spray material per unit time is determined depending on the spreading width and flight speed of the spray material. However, the spread width and flight speed of the spray material are limited by the specifications of the multicopter.

An object of the present invention is to provide a means that allows a flying vehicle to transport heavier supported objects, work over a wider range, and work more efficiently.

As a means for solving the above-mentioned problems, the flying object control system of the present invention is a flying object control system for flying a plurality of flying objects as a group, and for issuing flight commands for flying the plurality of flying objects as a group. The present invention is characterized by comprising a flight command generation unit that generates a flight command, and a transmission unit that transmits the flight command to the plurality of flying objects.

According to this configuration, a flight command for flying a plurality of flying objects as a group is generated and transmitted to the plurality of flying objects, so it is possible to fly a plurality of flying objects as a group with a simple configuration. For example, since it is possible to fly as a group with supported objects supported by a plurality of flying objects, it is possible to fly supported objects whose weight exceeds the maximum payload of one flying object. When the supported body is a spraying device, it is possible to carry a larger amount of material to be sprayed, so that the spraying work can be carried out over a wider range. For example, if a plurality of flying vehicles equipped with spraying devices fly as a group in a horizontal line, the spread width of the material to be sprayed becomes larger, and the spraying work can be carried out more efficiently.

The present invention includes a positioning position acquisition unit that acquires a positioning position of the flying body generated by a satellite positioning device included in the flying body, and the flight command generation unit generates the flight command based on the positioning position. suitable.

According to this configuration, the flight command is generated based on the measured position, so the flight command becomes appropriate. For example, the flight command generating section can be configured to generate a flight command so that the distance between the plurality of flying objects is appropriate based on the positions of the plurality of flying objects specified by the positioning position.

In the present invention, the positional deviation calculating unit calculates the positional deviation of the flying object based on the positioning position acquired by the positioning position acquisition unit, and the flight command generation unit is configured to generate the flight command based on the positional deviation. It is preferable to generate .

According to this configuration, the positional deviation is calculated based on the measured position, and the flight command is calculated based on the positional deviation, so the flight command becomes more appropriate. For example, when a positional shift occurs in the flying object due to a gust of wind, the flight command generation unit can be configured to generate a flight command so that the calculated positional shift becomes smaller.

In the present invention, it is preferable that the flight command generation unit generates the flight command so as to cancel the positional shift of the supported object supported by the flying object caused by the positional shift.

For example, if some or all of the flying objects are displaced due to a gust of wind, there is a possibility that the supported objects supported by the flying objects will also be displaced. According to this configuration, the flight command is calculated so as to cancel the positional shift of the supported object, so it is possible to maintain the supported object at an appropriate position. Therefore, it becomes possible to carry out the transportation of the supported object, work using the supported object, etc. appropriately.

In the present invention, it is preferable that a constraint storage section is provided that stores constraint conditions regarding the relative positions of the plurality of flying objects, and the flight command generation section generates the flight command based on the constraint conditions.

According to this configuration, the flight command is generated based on the constraint conditions, so the relative positions of the plurality of flying objects are maintained appropriately. Therefore, flight as a group of a plurality of flying objects can be appropriately executed.

The present invention includes a specification information storage section that stores specification information indicating the performance and size of the plurality of flying objects, and the flight command generation section generates the flight command based on the specification information. suitable.

According to this configuration, the flight command is generated based on the constraint conditions, so the flight command is appropriate according to the constraints based on the specification information. Therefore, flight as a group of a plurality of flying objects can be appropriately executed.

In the present invention, the flight command generating section generates a divided flight command for flying the plurality of flying objects in a plurality of groups, and the transmitting section transmits the divided flight command to the plurality of flying objects. It is preferable to send it.

According to this configuration, a division flight command for flying multiple aircraft by dividing them into multiple groups is generated and sent to the multiple aircraft, so flight by multiple groups is realized with a simple configuration. be able to. For example, flying in multiple groups has the following advantages: One group can perform a spraying operation on a certain field, and another group can perform a spraying operation on an adjacent field. Therefore, efficient work can be achieved.

In the present invention, it is preferable that the flight command generation section and the transmission section are provided in the flying object.

According to this configuration, the flight command generating section and the transmitting section fly together with the flying object, so the flight of the flying object as a group is appropriately controlled.

As a means for solving the above-mentioned problems, the flying object system of the present invention includes a plurality of flying objects, a flight command generation unit that generates a flight command for flying the plurality of flying objects as a group, and a flight command generating section that generates a flight command for flying the plurality of flying objects as a group. The present invention is characterized by comprising a transmitter that transmits data to a plurality of the aircraft.

In the present invention, it is preferable to include a connecting mechanism that connects the plurality of flying objects.

According to this configuration, since the flying objects are connected to each other by the coupling mechanism, various advantages arise when a plurality of flying objects fly as a group. For example, by supplying energy from another flying object to a flying object with low energy remaining, the flight duration can be extended. For example, a crash can be avoided by supporting an aircraft that cannot fly due to a malfunction or the like by another aircraft via a connecting mechanism.

In the present invention, it is preferable to include a ground device and a ground connection mechanism that connects the ground device and the flying object.

According to this configuration, since the flying object and the ground device are connected by the ground connection mechanism, various advantages arise when a plurality of flying objects fly as a group. For example, if it is possible to supply energy and spray materials from ground equipment to the aircraft, the flight duration and work duration of the aircraft can be extended.

In the present invention, it is preferable that the ground device includes an energy source capable of supplying energy to the flying object via the ground connection mechanism.

According to this configuration, since energy can be supplied from the ground device to the flying object, the flight duration of the flying object can be extended.

In the present invention, it is preferable that the flight command generation unit generates a movement command for moving the ground device, and that the transmission unit transmits the movement command to the ground device.

According to this configuration, a movement command for moving the ground device is generated and transmitted to the ground device, so it is possible to move the ground device in a form suitable for flight as a group of aircraft. For example, if the flight command generation unit generates a movement command so that the ground device follows the movement of the flying objects as a group, the movement range of the flying objects can be expanded.

In the present invention, it is preferable that the flight command generation section and the transmission section are provided in the ground device.

According to this configuration, the control load on the control device of the aircraft can be reduced, and the control system of the aircraft can be easily configured.

FIG. 1 is a diagram showing an overview of a swarm aircraft system. FIG. 1 is a side view showing an overview of a swarm aircraft system. FIG. 2 is a functional block diagram showing a control configuration of the swarm flying object system. FIG. 7 is a side view showing a modification of the swarm aircraft system. FIG. 7 is a side view showing a modification of the swarm aircraft system. FIG. 7 is a side view showing a modification of the swarm aircraft system.

Hereinafter, a group aircraft system A, which is an embodiment of an aircraft control system and an aircraft system according to the present invention, will be described based on the drawings. Note that the present invention is not limited to the following embodiments, and various modifications can be made without departing from the spirit thereof.

[Overview of the aircraft system]
A swarm aircraft system A is shown in FIGS. 1 and 2. The swarm flying object system A is configured so that a plurality of flying objects B can fly in a group. In the swarm flying object system A, the flying objects B may form one group, or the flying objects B may form two or more groups.

The swarm flying object system A is capable of flying while supporting the supported object C. The supported object C includes, for example, a work device that performs work, luggage, and the like. The work equipment includes, for example, agricultural work equipment that performs agricultural work, civil engineering work equipment that performs civil engineering work, construction work equipment that performs construction work, and the like.
The working devices include, for example, the illustrated spreading device 40, snow removal device, harvesting device, collection device, transportation device, mowing device, tilling device, planting device, sowing device, monitoring device, threat device, measuring device, etc. .

The swarm flying object system A is capable of carrying out agricultural work in a state in which the supported object C includes agricultural work equipment. In a state where the supported object C includes a civil engineering work device, the group aircraft system A is capable of performing civil engineering work. With the construction work device included as the supported object C, the swarm flying vehicle system A is capable of performing construction work.

The swarm flying object system A includes a plurality of flying objects B, a flight command generation section 17a (FIG. 3) that generates a flight command for flying the plurality of flying objects B as a group, and a flight command generating section 17a (FIG. 3) that generates a flight command for flying the plurality of flying objects B as a group. A transmitter 17b (FIG. 3) that transmits data to B. In this embodiment, the flight command generation section 17a and the transmission section 17b are provided in the control device 15 of the flying object B.

Flying as a group means that two or more flying objects B fly cooperatively while forming a group. In other words, when the plurality of flying objects B fly as a group, the plurality of flying objects B fly at the same speed and in the same direction. When the flying objects B fly as a group, all the flying objects B may fly the same route, mutually parallel paths, or may fly different flight paths.

The group flying object system A includes a connecting mechanism D that connects the flying objects B and the supported object C, and a connecting mechanism E that connects the flying objects B to each other. The connection mechanism D connects the flying object B and the supported object C via the connection mechanism E.

As shown in FIGS. 2 and 3, the flying object B includes a propulsion device 11, a communication device 12, an energy source 13, a satellite positioning device 14, and a control device 15. The flying object B can fly in a swarm by joining the swarm flying object system A and fly in a group with other flying objects B, or solo flight in which it leaves the swarm flying object system A and flies alone. , is configured so that it is possible. Aircraft B is, for example, a multicopter. The flying objects B belonging to the swarm flying object system A may all be of the same type or may be of different types. The maximum payloads of the flying vehicles B belonging to the swarm flying vehicle system A may be the same or different.

The propulsion device 11 is controlled by the control device 15 to generate thrust and cause the aircraft B to fly. Three propulsion devices 11 are arranged at the periphery of the flying object B. The number of propulsion devices 11 may be one, two, or four or more.

In this embodiment, the propulsion device 11 is a propeller driven by a motor. Energy source 13 is a battery.

The propulsion device 11 may be a propeller driven by an engine. The energy source 13 may be a tank of combustion agent used in the engine.

The satellite positioning device 14 receives a GNSS (Global Navigation Satellite System) signal from an artificial satellite, generates positioning data indicating the position of the flying object B based on the received signal, and transmits it to the control device 15. As GNSS, GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used.

The connection mechanism D includes a communication device 22, an energy source 23, and a control device 25, as shown in FIG.

As shown in FIGS. 2 and 3, the connection mechanism E includes a support 31, a communication device 32, an energy source 33, a control device 35, and a connection body 36.

The support body 31 is a structure that extends in a plane in the lateral direction (horizontal direction). The support body 31 has a rectangular shape when viewed in the vertical direction. The support body 31 may be square, rectangular, diamond-shaped, triangular, polygonal, circular, or elliptical in top view. The support body 31 may have a rod shape extending in the lateral direction (horizontal direction). A connection mechanism D is provided at the bottom of the support body 31. The connection mechanism D is configured to be movable with respect to the support body 31. A mechanism for moving the connection mechanism D may be provided on the connection mechanism D or may be provided on the support body 31.

The connecting body 36 connects the support body 31 and the flying object B. The connecting body 36 is a deformable wire or a rigid rod-shaped member.

The spraying device 40 as the supported body C includes a spray device 41, a communication device 42, an energy source 43, and a control device 45. The spray device 41 is controlled by a control device 45 and sprays substances (pesticides, fertilizers, water, etc.).

The swarm flying object system A shown in FIGS. 1 and 2 is in a state where it is hovering (stagnant) above a working area (for example, a farm field), and while moving the spraying device 40 relative to the support 31, Spreading device 40 can be activated. Therefore, it is possible to spread the material to various parts of the work area (field) without moving the swarm flying object system A. In the swarm flying object system A, a plurality of flying objects B can fly in a group and move to other work sites or bases.

〔Communication device〕
The communication device 12 of each flying object B, the communication device 22 of the connection mechanism D, the communication device 32 of the coupling mechanism E, and the communication device 42 of the dispersion device 40 (supported body C) communicate with each other by wired communication or wireless communication. configured so that it is possible. Note that these communication devices may be able to communicate with external systems (a farming system, a field management system, a flight control system, etc.) via an external communication network.

Wired communication includes a physical connection of a communication line (not shown) between the aircraft B and the connection mechanism D, a physical connection of a communication line (not shown) between the connection mechanism D and the coupling mechanism E, This is realized by a physical connection of a communication line (not shown) between the coupling mechanism E and the spraying device 40.

Wireless communication is realized by communication using electromagnetic waves (light, radio waves, infrared waves, etc.). Wireless communication may be achieved via an external communication network (eg, a mobile phone line).

In the swarm aircraft system A, wired communication and wireless communication may coexist. Wired communication and wireless communication may be used together.

The communication device 22 of the connection mechanism D may be configured to realize communication between the aircraft B. Specifically, the communication device 22 of the connection mechanism D may be configured to relay communications between the communication devices 12 of the aircraft B.

The communication device 32 of the coupling mechanism E may be configured to realize communication between the aircraft B. Specifically, the communication device 32 of the coupling mechanism E may be configured to relay communication between the communication devices 12 of the aircraft B.

〔Energy source〕
The energy source 13 of the flying object B not only supplies energy to each device of the flying object B, but also supplies energy to other flying objects B, the connection mechanism D, the coupling mechanism E, and the dispersion device 40 (supported object C). It is configured so that it can be supplied.

The energy source 23 of the connection mechanism D is capable of supplying energy to the aircraft B, the connection mechanism E, and the dispersion device 40 (supported body C) in addition to supplying energy to each device of the connection mechanism D. It is configured.

The energy source 33 of the coupling mechanism E is capable of supplying energy to the aircraft B, the connection mechanism D, and the dispersion device 40 (supported body C) in addition to supplying energy to each device of the coupling mechanism E. It is configured.

The energy source 43 of the dispersion device 40 (supported body C) is capable of supplying energy to the aircraft B, the connection mechanism D, and the connection mechanism E in addition to supplying energy to each device of the dispersion device 40. It is configured.

Energy supply is achieved through the physical connection of an energy supply body (not shown) between the aircraft B and the connection mechanism D, and the physical connection of the energy supply body (not shown) between the connection mechanism D and the connection mechanism E. This is realized by a physical connection of an energy supply body (not shown) between the connection mechanism E and the dispersion device 40. The energy supply body is, for example, a power line or a fuel pipe. Energy supply may be realized by wireless power transfer technology.

[Configuration related to control]
The control device 15 of the aircraft B is a so-called ECU, and includes a memory (HDD, nonvolatile RAM, etc., not shown) that stores programs corresponding to functional units described later, and a CPU (not shown) that executes the programs. It is equipped with. The functions of each functional unit are realized by executing the program by the CPU. That is, the control device 15 includes a non-transitory recording medium that stores a program.

The control device 15 of the aircraft B includes an individual management section 16 and a group management section 17. The individual management unit 16 mainly controls the operation of the aircraft B in which the individual flight control unit 16a is provided. The group management unit 17 mainly controls the overall operation of the group aircraft system A.

The individual management section 16 includes an individual flight control section 16a, a state management section 16b, and a reference storage section 16c.

The group management section 17 includes a flight command generation section 17a, a transmission section 17b, a flight plan storage section 17c, a positioning position acquisition section 17d, a positional deviation calculation section 17e, a constraint storage section 17f, and a specification information storage section 17g.

Here, the aircraft B operates in a master mode in which the group management section 17 (flight command generation section 17a) functions and issues a flight command, and in a master mode in which the group management section 17 (flight command generation section 17a) does not function and issues a flight command. It is configured to be able to switch between a slave mode and a slave mode in which it receives and flies based on flight commands. Hereinafter, the flying object B in the master mode will be referred to as the master flying object B1. The flying object B in slave mode is referred to as slave flying object B2. In the slave aircraft B2, the program corresponding to the group management section 17 is not executed (or its execution is stopped), and the functions of the group management section 17 are not realized. In other words, the group management section 17 (flight command generation section 17a) is provided in the master flying object B1, which is one of the flying objects B.

The group management unit 17 can transfer the group management unit 17 (flight command generation unit 17a) from one aircraft B to another aircraft B. For example, if an abnormality occurs in the master flying object B1 (such as insufficient remaining energy source 13 or failure of the propulsion device 11, etc.), the group management section 17 transfers the group management section 17 from the master flying object B1 to the slave flying object B2. Move to. In other words, the group management section 17 stops the function of the group management section 17 of the master flying object B1. Master air vehicle B1 thereafter functions as slave air vehicle B2. The group management section 17 causes the group management section 17 of one slave aircraft B2 to function. The slave air vehicle B2 thereafter functions as the master air vehicle B1.

The control device 25 of the connection mechanism D is an ECU, similar to the control device 15 of the aircraft B. The control device 25 controls the connection mechanism D. The control device 25 transmits information such as the remaining amount of the energy source 23 and the state of connection between the connection mechanism D, the connection mechanism E, and the spraying device 40 (supported body C) to other control devices via the communication device 22. Send to.

The control device 35 of the coupling mechanism E is an ECU, similar to the control device 15 of the aircraft B. The control device 35 controls the coupling mechanism E. The control device 35 transmits information such as the remaining amount of the energy source 33 and the state of connection between the coupling mechanism E, the flying object B, and the connection mechanism D to other control devices via the communication device 32.

The control device 45 of the dispersion device 40 (supported body C) is an ECU like the control device 15 of the flying object B. Control device 45 controls spraying device 40 . The control device 45 transmits information such as the state of the spray device 41, the remaining amount of the spray material, the remaining amount of the energy source 43, and the state of connection between the spray device 40 and the connection mechanism D to other devices via the communication device 42. Send to control device.

[Functions of individual management department]
The individual flight control unit 16a controls the propulsion device 11 to control the flight of the aircraft B in which the individual flight control unit 16a is provided. The individual flight control unit 16a is configured to be switchable between a group flight mode in which the aircraft B flies in a group with other flying objects B, and a solo flight mode in which it flies alone.

In the group flight mode, the individual flight control unit 16a controls the flight of the aircraft B based on the flight command transmitted from the group management unit 17.

The flight command is a flight instruction for causing the flying objects B belonging to the group flying object system A to fly in a group. The flight command may be different for each flying object B, or may be the same.

Furthermore, in the group flight mode, the individual flight control unit 16a controls the flight of the aircraft B based on the group reference position and group reference direction transmitted from the group management unit 17. The individual flight control unit 16a may control the flight of the aircraft B so that the positional relationship between the aircraft B on which the individual flight control unit 16a is provided and the group reference position is maintained. The group reference position and group reference direction will be described later.

In the solo flight mode, the individual flight control unit 16a controls the flight of the flying object B based on a preset reference position and reference direction. The reference position is, for example, the gravity center position or geometric center position of the flying object B. The reference direction is, for example, the forward direction of the flying object B. The reference position and reference direction are set in advance and stored in the reference storage section 16c of the flying object B. When in the solo flight mode, the individual flight control unit 16a causes the flying object B to fly autonomously based on the positioning data generated by the satellite positioning device 14.

The state management unit 16b manages the state of the aircraft B in which the state management unit 16b is installed.
The state management unit 16b stores, for example, the operating state and presence or absence of an abnormality of the propulsion device 11, the operating state and presence or absence of an abnormality of the communication device 12, the remaining amount of the energy source 13, the operating state and presence or absence of an abnormality, and the operation state of the satellite positioning device 14. The operating state and the presence or absence of abnormalities are detected and recorded, and this information is transmitted to the master flying object B1.

The reference storage unit 16c stores the reference position and reference direction used by the individual flight control unit 16a in the solo flight mode. The reference storage section 16c also stores the group reference position and group reference direction transmitted from the group management section 17.

[Functions of the collective management department]
The flight command generation unit 17a generates a flight command for causing the plurality of flying objects B to fly as a group. Flight commands will be discussed later.

The transmitter 17b controls the communication device 12 to transmit the flight command generated by the flight command generator 17a to the aircraft B.

The flight plan storage unit 17c stores the flight plan of the group aircraft system A. The flight plan is a flight plan for a group flight, and includes at least the flight path of the group aircraft system A.
The flight command generation unit 17a may generate a flight command so that the swarm flying object system A flies along the flight path. The flight command generation unit 17a may generate the flight command based on the positioning data and flight route generated by the satellite positioning device 14. In this case, the swarm aircraft system A flies autonomously.

The flight plan may include a work plan for the work device included in the supported body C. The work plan of the work equipment is determined based on the location where the work equipment will perform the work (for example, the position of the field to be worked on, the position in the field where the work will be performed, etc.), and/or the content of the work (for example, the operation intensity of the work equipment, the operation time, etc.). , operation interval, etc.).

The flight command generation unit 17a may generate a flight command so that the work plan included in the flight plan can be executed. The flight command generation unit 17a may generate a work instruction for a work device for the supported body C. The transmitter 17b may transmit the work instruction generated by the flight instruction generator 17a to the supported body C.

The flight command generation unit 17a generates a command based on at least one of the positional relationship between the plurality of flying objects B belonging to the swarm flying object system A, and the positional relationship between the flying object B and the supported object C (spreading device 40). , may generate a flight command. The flight command generation unit 17a may generate the flight command based on at least one of the group reference position and the group reference direction.

The group reference position and the group reference direction are positions and directions that serve as a reference when a plurality of flying objects B belonging to the group flying object system A fly in a group. The group reference position is, for example, the center of gravity or geometric center position of the plurality of flying objects B, the center of gravity or geometric center position of the plurality of flying objects B, the connection mechanism D, and the coupling mechanism E, or the entire group flying object system A. or the center of gravity or geometric center of the master flying object B1. The group reference direction is, for example, the forward direction of the master flying object B1, the forward direction of the supported body C, the forward direction of the connecting mechanism D, or the forward direction of the connecting mechanism E. The group reference position and the group reference direction are set in advance and stored in the flight plan storage section 17c of the master flying object B1.

The positioning position acquisition unit 17d acquires positioning data (positioning position of the flight vehicle B) generated by the satellite positioning device 14 included in the flight vehicle B. The positioning position acquisition unit 17d acquires positioning data of all the flying objects B belonging to the swarm flying object system A over time. The flight command generation unit 17a generates a flight command based on the positioning data acquired by the positioning position acquisition unit 17d.

The positional deviation calculation unit 17e calculates the positional deviation of the aircraft B based on the positioning data acquired by the positioning position acquisition unit 17d. The positional deviation is the difference between the ideal position of the aircraft B (for example, the position of the aircraft B indicated by the flight command) and the actual position of the aircraft B. The positional deviation calculation unit 17e calculates the positional deviation based on the difference between the target position of the aircraft B indicated by the flight command and the measured position of the aircraft B indicated by the positioning data. The positional deviation calculation unit 17e may calculate the positional deviation based on the amount of change over time in the positioning data acquired by the positioning position acquisition unit 17d.

The flight command generation unit 17a generates a flight command based on the positional deviation calculated by the positional deviation calculation unit 17e. For example, the flight command generating unit 17a generates a flight command so that the flying object B moves by the same amount in the opposite direction to the positional deviation that has occurred in the flying object B.

When the flying object B deviates from the ideal position, the supported object C may also deviate from the ideal position. The flight command generation unit 17a may generate the flight command so as to cancel the positional shift of the supported body C. In the center of FIG. 1, a state in which three aircraft B are blown by a strong wind X and the position of the aircraft B has shifted is shown. Being pulled by these flying objects B, there is a possibility that the coupling mechanism E, the connecting mechanism D, and the supported body C may be displaced. The flight command generation unit 17a generates a flight command (flight of vector Y) to eliminate the positional deviation as a flight command for the three aircraft B with positional deviation, and generates a flight command (flight of vector Y) for the three aircraft B in which the positional deviation has occurred. A flight command (flight of vector Z) to fly so as to cancel the positional deviation of the supported body C is generated as a flight command.

The constraint storage unit 17f stores constraints regarding the relative positions of the plurality of flying objects B. The constraint conditions include, for example, the upper limit or lower limit of the relative distance of the flying object B, the positional relationship of the flying object B in the group, the allowable movement range of the flying object B in the group, and the like. The flight command generation unit 17a generates a flight command based on the constraint conditions. For example, the flight command generation unit 17a generates a flight command so that the flying object B is arranged along the positional relationship indicated by the constraint conditions. The constraint conditions may be determined in advance or may be determined by the group management unit 17.

The specification information storage unit 17g stores specification information indicating the performance and size of the plurality of flying objects B. The specification information includes, for example, the width, depth, height, mass, maximum speed, cruising distance, operating time, etc. of the flying object B. The flight command generation unit 17a generates a flight command based on the specification information. For example, the flight command generating unit 17a generates a flight command based on the size of the flying object B indicated by the specification information so that the flying objects B do not come into contact with each other. The specification information may be stored in advance in the specification information storage section 17g. The specification information storage unit 17g may acquire specification information from the control device 15 of the aircraft B via the communication device 12.

The flight command generation unit 17a may generate a divided flight command for flying the plurality of flying objects B in a plurality of groups. The transmitter 17b may transmit the divided flight command to the plurality of flying objects B. For example, the flight command generation unit 17a may cause a first group to which a plurality of flying objects B belongs to fly supporting a first supported object C, and a second group to which a plurality of flying objects B belong to a second group to which a plurality of flying objects B belong to to fly while supporting a first supported object C. A divided flight command may be generated to fly while supporting the supported object C. In this case, one swarm aircraft system A can perform two actions. For example, one swarm flying object system A can perform agricultural work in two fields at the same time. The number of flying objects B belonging to the first group may be one. The number of flying objects B belonging to the second group may be one. Note that when the flying object B is divided into a plurality of groups and flies according to the divided flight command, the flight command generation unit 17a generates a flight command for each group, and the transmission unit 17b transmits the flight command.

Another example of working with multiple groups is shown below. The first group may perform the work of dispersing the medicine, and the second group may perform the work of suppressing unnecessary diffusion of the medicine. For example, the first group sprays chemicals near private houses, work vehicles, and operators (hereinafter referred to as "private houses, etc."), and the second group suppresses the scattering of chemicals toward private houses, etc. You may do some work. For example, the second group may be located between the first group and a private house, etc., and the wind from the propulsion device 11 may be used to suppress the medicine from flowing toward the private house.

[Modification 1 of embodiment]
A modification of the embodiment is shown in FIG. In the following description, structures similar to those in the above-described embodiments are denoted by the same reference numerals, and detailed description may be omitted.

The illustrated example group flying object system A includes a large flying object B4 and a small flying object B5 as flying objects B. A connecting body 36 (wire) and a winch 37 as a connecting mechanism E connects the large flying object B4 and the small flying object B5. The small flying object B5 is configured to be connectable to a fixing device 70 fixed on the ground. The fixing device 70 is, for example, a hook that engages with the small flying object B5.

A group management unit 17 is provided in the large flying object B4. According to the flight command generated by the flight command generation unit 17a, the large flying object B4 and the small flying object B5 fly in a group.

When the small flying object B5 is connected to the fixing device 70, the connecting body 36 (wire) suppresses displacement of the large flying object B4 due to disturbances such as wind, so the large flying object B4 can be kept at a predetermined work position. It becomes easier to stagnate. Further, by adjusting the length of the connecting body 36 (wire) using the winch 37, the large flying object B4 can be precisely controlled to a predetermined working position. In addition, since the small flying object B5 can be separated from the fixing device 70 and moved together with the large flying object B4, it is easy for the group flying object system A to move to another work place (field, etc.). .

[Modification 2 of embodiment]
A modification of the embodiment is shown in FIG. The illustrated example swarm flying object system A includes a buoyant body 81 . The buoyancy body 81 is connected to the support body 31 and provides buoyancy to the support body 31. The buoyant body 81 is, for example, a balloon or a balloon.

[Variation 3 of embodiment]
A modification of the embodiment is shown in FIG. The illustrated example swarm flying object system A includes a ground device J and a ground connection mechanism K that connects the ground device J and the flying object B. One large flying object B6 as the flying object B and five small flying objects B7 as the flying objects B are connected in one row by a connecting body 36 of the connecting mechanism E. Connector 36 is a deformable wire.
The terminal small flying object B7 and the ground equipment J are connected by a ground connection mechanism K. The ground connection mechanism K is a deformable wire. The large flying object B6 supports the spraying device 40, which is the supported body C, and executes the spraying work. A group management section 17 is provided in the large flying object B6.

The ground device J includes a communication device 92, an energy source 93, a satellite positioning device 94, and a control device 95. The ground device J is configured to be self-propelled under control from the control device 95.
In this embodiment, the flight command generation unit 17a is configured to generate a movement command for moving the ground device J. The transmitter 17b transmits a movement command to the ground device J. The ground device J travels based on the movement command received via the communication device 92. The ground device J may be configured to be capable of autonomous travel based on positioning data generated by the satellite positioning device 94.

The energy source 93 is configured to be able to supply energy to the flying object B and the dispersion device 40 (supported object C) via the ground connection mechanism K. The energy source 93 is, for example, a storage battery or a generator. Energy source 93 may be configured to be powered by a terrestrial power grid.

The group management section 17 (flight command generation section 17a and transmission section 17b) may be provided in the control device 95 of the ground device J.

The ground equipment J may be a device or equipment fixedly installed on the ground.

The ground device J may be configured to be able to supply spray materials, work materials, etc. to the supported body C (spreading device 40) via the ground connection mechanism K.

[Other variations]
(1) The swarm flying object system A may be configured to be usable for purposes such as driving away birds and animals, security, and crime prevention. For example, the supported body C may be a monitoring device that can recognize birds, animals, or suspicious persons from photographed images, an intimidation device that emits sound or light to intimidate birds, animals, or suspicious persons, or a notification device that notifies the presence of birds, animals, or suspicious persons, etc. May include.

(2) The swarm aircraft system A may be configured to be able to cope with weather conditions that adversely affect flight, such as strong winds, lightning strikes, and rainfall. For example, the swarm flying object system A may include a sensor that observes the weather, an acquisition unit that acquires information indicating the weather and a weather forecast via communication, and the like.
The group management unit 17 may be configured to change the flight plan, take an evacuation flight to a safe area, make an emergency landing, etc., depending on the weather or weather forecast.

(3) The flying object B and the coupling mechanism E may be configured such that the relative positions of the two can be changed while the two are coupled. For example, in the connection mechanism E, the connection body 36 may be movable with respect to the support body 31. This makes it possible to change the relative positions of the plurality of aircraft B while the swarm aircraft system A is flying.

(4) The swarm flying vehicle system A may be configured to cancel the operation noise of the propulsion device 11 of the flying vehicle B. For example, the operations of the plurality of propulsion devices 11 may be controlled so that their operating sounds cancel each other out. For example, the swarm aircraft system A may be provided with a muffling device that generates a sound (noise canceling sound) that cancels the operating sound of the propulsion device 11. The muffling device may be configured to generate noise canceling sound based on the control amount sent to the propulsion device 11.

(5) The devices constituting the swarm aircraft system A may be designed so that they can be used among various forms of the swarm aircraft system A. For example, the connection mechanism D may be configured to be connectable to various types of supported bodies C, various types of connection mechanisms E, and various types of aircraft B. The connecting mechanism E may be configured to be connectable to various types of flying objects B and various types of connecting mechanisms D.

(6) Part or all of the group management section 17 may be provided outside the aircraft B. For example, part or all of the group management unit 17 may be a control device 25 of the connection mechanism D, a control device 25 of the connection mechanism E, a control device 45 of the spraying device 40 (supported body C), or a server installed on the ground. , may be provided on a server on the cloud.

(7) A configuration in which the swarm flying object system A does not include the coupling mechanism E is also possible. For example, a plurality of flying objects B belonging to the swarm flying object system A may be separately and independently connected to the supported body C by the connecting mechanism D. For example, a plurality of flying objects B may form a group and fly without being connected to each other. That is, a configuration is also possible in which a plurality of flying objects B fly independently, and a plurality of flying objects B fly as a group. A plurality of supported objects C may be supported by the flying object B. A plurality of flying objects B supporting the supported object C may belong to the group flying object system A.

(8) The swarm flying object system A may be configured to be able to fly based on human operation. For example, the flight command generation unit 17a may generate a flight command based on a human operation and transmit it to the individual flight control unit 16a of each flying object B.

(9) The flying object B may include a buoyant body (balloon, balloon, etc.) that provides buoyancy to the flying object B. This makes it easy to hover (stagnate) the swarm flying object system A at a predetermined work position.

(10) The flight command generation unit 17a may be configured to generate a flight command that can cancel out a disturbance based on predictive information of a disturbance that the flying object B may receive in the future.

For example, assume that the group management unit 17 acquires prediction information indicating that the wind will blow eastward after a certain period of time. The flight command generation unit 17a may generate a flight command to change the course to the east based on the prediction information.

For example, assume that the group management unit 17 has acquired prediction information indicating that it will rain heavily at a certain time. The flight command generation unit 17a may generate a flight command to land before the time based on the prediction information.

The prediction information by the group management unit 17 may be acquired based on the weather forecast for the area where the flight is scheduled, for example, or may be acquired based on past weather information on the area where the flight is scheduled. The information may be obtained from the reconnaissance aircraft B, or may be obtained from ground facilities or work vehicles in the planned flight area.

(11) The flight command generation unit 17a may generate a flight command that specifies the direction of the flying object B. The flight command generation unit 17a may generate a flight command so that the plurality of flying objects B face the same direction. For example, when a plurality of flying objects B are each equipped with a camera, a flight command may be generated so that the cameras take the same direction of photography or so that the cameras face one subject.

(12) The flight command generation unit 17a may generate a flight command so that the plurality of flying objects B have a specific layout (positional relationship). For example, a flight command may be generated so that a plurality of flying objects B are lined up horizontally or vertically. The constraint information stored in the constraint storage unit 17f may include information that defines the layout (positional relationship) of the aircraft B.

The present invention is applicable to an aircraft control system that flies a plurality of aircraft as a group or an aircraft system that includes a plurality of aircraft.

14: Satellite positioning device 17a: Flight command generation section 17b: Transmission section 17d: Positioning position acquisition section 17e: Positional deviation calculation section 17f: Constraint condition storage section 17g: Specification information storage section 93: Energy source A: Group flying object System (Flight Control System, Aircraft System)
B: Flight object C: Supported body D: Connection mechanism E: Connection mechanism J: Ground equipment K: Ground connection mechanism

Claims

An aircraft control system for flying a plurality of aircraft as a group,
a flight command generation unit that generates a flight command for flying the plurality of flying objects as a group;
An aircraft control system comprising: a transmitter that transmits the flight command to a plurality of the aircraft.
comprising a positioning position acquisition unit that acquires a positioning position of the flying object generated by a satellite positioning device included in the flying object;
The flying object control system according to claim 1, wherein the flight command generation unit generates the flight command based on the measured position.
comprising a positional deviation calculation unit that calculates a positional deviation of the flying object based on the positioning position acquired by the positioning position acquisition unit,
The flying object control system according to claim 2, wherein the flight command generation unit generates the flight command based on the positional deviation.
The flying object control system according to claim 3, wherein the flight command generation unit generates the flight command so as to cancel a positional shift of a supported object supported by the flying object caused by the positional shift.
comprising a constraint storage unit that stores constraint conditions regarding the relative positions of the plurality of flying objects,
The flying object control system according to any one of claims 1 to 4, wherein the flight command generation unit generates the flight command based on the constraint conditions.
comprising a specification information storage unit that stores specification information indicating the performance and size of the plurality of flying objects,
The flying object control system according to any one of claims 1 to 5, wherein the flight command generation unit generates the flight command based on the specification information.
The flight command generation unit generates a divided flight command for flying the plurality of flying objects in a plurality of groups,
The flying object control system according to any one of claims 1 to 6, wherein the transmitter transmits the divided flight command to a plurality of the flying objects.
The flying object control system according to any one of claims 1 to 7, wherein the flight command generation section and the transmitting section are provided in the flying object.
multiple aircraft,
a flight command generation unit that generates a flight command for flying the plurality of flying objects as a group;
A flying object system comprising: a transmitting section that transmits the flight command to a plurality of the flying objects.
The flying object system according to claim 9, further comprising a connecting mechanism that connects the plurality of flying objects.
ground equipment;
The flying object system according to claim 9 or 10, comprising: a ground connection mechanism that connects the ground device and the flying object.
The aircraft system according to claim 11, wherein the ground device includes an energy source capable of supplying energy to the aircraft via the ground connection mechanism.
The flight command generation unit generates a movement command for moving the ground device,
The flying object system according to claim 11 or 12, wherein the transmitter transmits the movement command to the ground device.
The aircraft system according to any one of claims 11 to 13, wherein the flight command generation unit and the transmission unit are provided in the ground device.