JP2019220058A5 - Aircraft, its control methods, programs and storage media - Google Patents
Aircraft, its control methods, programs and storage media Download PDFInfo
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- JP2019220058A5 JP2019220058A5 JP2018118668A JP2018118668A JP2019220058A5 JP 2019220058 A5 JP2019220058 A5 JP 2019220058A5 JP 2018118668 A JP2018118668 A JP 2018118668A JP 2018118668 A JP2018118668 A JP 2018118668A JP 2019220058 A5 JP2019220058 A5 JP 2019220058A5
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Description
本発明は、人が搭乗していない航空機、その制御方法、プログラム及び記憶媒体に関する。 The present invention relates to an aircraft on which no person is on board , a control method thereof, a program and a storage medium .
本発明は、より直感的な操作で飛行を制御することができる航空機、その制御方法、プログラム及び記憶媒体を提供することを目的とする。 The present invention aims at providing a more intuitive aircraft Ru can control the flight operation, its control method, a program and a storage medium.
本発明の航空機は、
人が搭乗していない航空機であって、
回転翼と、
前記回転翼と外部物体との接触を抑制する保護手段と、
前記保護手段のうち、前記回転翼のある側を内側とした場合の外側に配置された近接検知手段と、
前記近接検知手段で対象物が近接したことを検知したことに応じて、前記対象物から離れる方向に前記航空機が移動する第1の飛行動作を行うように制御する制御手段と
を有することを特徴とする。
The aircraft of the present invention
An aircraft with no people on board
Rotor and
A protective means that suppresses contact between the rotor blades and an external object,
Among the protective means, the proximity detecting means arranged on the outside when the side with the rotor blade is on the inside, and the proximity detecting means.
A control means for controlling the aircraft to perform a first flight operation in which the aircraft moves in a direction away from the object in response to the detection of the proximity of the object by the proximity detecting means.
It is characterized by having .
本発明によれば、より直感的な操作で飛行を制御することができる。 According to the present invention , the flight can be controlled by a more intuitive operation.
Claims (28)
回転翼と、 Rotor and
前記回転翼と外部物体との接触を抑制する保護手段と、 A protective means that suppresses contact between the rotor blades and an external object,
前記保護手段のうち、前記回転翼のある側を内側とした場合の外側に配置された近接検知手段と、 Among the protective means, the proximity detecting means arranged on the outside when the side with the rotor blade is on the inside, and the proximity detecting means.
前記近接検知手段で対象物が近接したことを検知したことに応じて、前記対象物から離れる方向に前記航空機が移動する第1の飛行動作を行うように制御する制御手段と A control means for controlling the aircraft to perform a first flight operation in which the aircraft moves in a direction away from the object in response to the detection of the proximity of the object by the proximity detecting means.
を有することを特徴とする航空機。An aircraft characterized by having.
回転翼と、 Rotor and
前記回転翼と外部物体との接触を抑制する保護手段と、 A protective means that suppresses contact between the rotor blades and an external object,
前記回転翼のある側を前記保護手段より内側とした場合の、前記保護手段より外側に配置された近接検知手段と、 When the side with the rotor blades is inside the protection means, the proximity detection means arranged outside the protection means and the proximity detection means.
前記近接検知手段で対象物が近接したことを検知したことに応じて、前記対象物から離れる方向に前記航空機が移動する第1の飛行動作を行うように制御する制御手段と A control means for controlling the aircraft to perform a first flight operation in which the aircraft moves in a direction away from the object in response to the detection of the proximity of the object by the proximity detecting means.
を有することを特徴とする航空機。An aircraft characterized by having.
前記制御手段は、 The control means
前記近接検知手段で検出された対象物の近接態様に応じて異なる飛行動作を行うように制御し、 Controlled so as to perform different flight operations according to the proximity mode of the object detected by the proximity detection means.
前記第2の方向からの近接を検知することなく前記第1の方向から対象物が近接したことに応じて前記第1の方向と逆側に移動するように制御する Control is performed so that the object moves in the direction opposite to the first direction according to the proximity of the object from the first direction without detecting the proximity from the second direction.
ことを特徴とする請求項1または2に記載の航空機。The aircraft according to claim 1 or 2.
前記保護手段は、前記複数の回転翼を内包する部材である The protective means is a member including the plurality of rotary blades.
ことを特徴とする請求項1乃至4のいずれか1項に記載の航空機。The aircraft according to any one of claims 1 to 4, wherein the aircraft is characterized by the above.
前記保護手段は複数の保護部材を含み、 The protective means includes a plurality of protective members.
前記複数の保護部材は、前記複数の回転翼のそれぞれに対して設けられた部材である The plurality of protective members are members provided for each of the plurality of rotary blades.
ことを特徴とする請求項1乃至4のいずれか1項に記載の航空機。The aircraft according to any one of claims 1 to 4, wherein the aircraft is characterized by the above.
回転翼と、 Rotor and
第1の方向における近接と、前記第1の方向と異なる第2の方向における近接とを検知可能な近接検知手段と、 Proximity detecting means capable of detecting proximity in the first direction and proximity in a second direction different from the first direction.
前記近接検知手段で検出された対象物の近接態様に応じて異なる飛行状態となるように制御する制御手段であって、前記第1の方向において対象物が近接するとともに前記第2の方向において対象物が近接することを含む第1の近接態様が前記近接検知手段で検知されたことに応じて第1の飛行状態となるように制御する制御手段と It is a control means for controlling the flight state to be different depending on the proximity mode of the object detected by the proximity detection means, and the object approaches in the first direction and the object in the second direction. A control means for controlling the first proximity mode including the proximity of an object so as to be in the first flight state in response to being detected by the proximity detection means.
を有することを特徴とする航空機。An aircraft characterized by having.
前記第1の飛行状態においては、前記近接検知手段で対象物が近接したことを検知したことに応じて、前記対象物から離れる方向に前記航空機が移動する第1の飛行動作を行うように飛行を制御し、 In the first flight state, the aircraft flies so as to perform the first flight operation in which the aircraft moves in a direction away from the object in response to the detection by the proximity detecting means that the object is close to the object. Control and
前記第2の飛行状態においては、前記近接検知手段で対象物が近接したことを検知したことに応じた前記第1の飛行動作は行わないように制御する In the second flight state, it is controlled so that the first flight operation is not performed in response to the detection that the object is close by the proximity detection means.
ことを特徴とする請求項10に記載の航空機。The aircraft according to claim 10.
回転翼と、 Rotor and
近接検知手段と、 Proximity detection means and
前記近接検知手段で検出された対象物の近接態様に応じて異なる飛行状態となるように制御する制御手段であって、前記近接検知手段で前記対象物が近接したことを検知した回数に基づく飛行状態となるように制御する制御手段と It is a control means for controlling the flight state to be different depending on the proximity mode of the object detected by the proximity detection means, and the flight is based on the number of times the proximity detection means detects that the object is close. With control means to control the state
を有することを特徴とする航空機。An aircraft characterized by having.
前記第2の近接態様は、前記第1の方向において対象物が近接するとともに前記第2の方向において対象物が近接する回数が前記所定回数である In the second proximity mode, the number of times the object approaches in the first direction and the object approaches in the second direction is the predetermined number of times.
ことを含むことを特徴とする請求項13または14に記載の航空機。The aircraft according to claim 13 or 14, wherein the aircraft comprises.
ことを特徴とする請求項17に記載の航空機。The aircraft according to claim 17.
遠隔操作端末からの操作に応じて前記航空機の飛行を制御し、 Control the flight of the aircraft according to the operation from the remote control terminal,
前記近接検知手段で対象物の近接を検知したことに応じた飛行の制御を、前記遠隔操作端末からの操作に応じた制御よりも優先して行う The flight control according to the proximity detection of the object by the proximity detection means is prioritized over the control according to the operation from the remote control terminal.
ことを特徴とする請求項1乃至21のいずれか1項に記載の航空機。The aircraft according to any one of claims 1 to 21, characterized in that.
前記回転翼と外部物体との接触を抑制する保護手段と、 A protective means that suppresses contact between the rotor blades and an external object,
前記保護手段のうち、前記回転翼のある側を内側とした場合の外側に配置された近接検知手段と、 Among the protective means, the proximity detecting means arranged on the outside when the side with the rotor blade is on the inside, and the proximity detecting means.
を有する人が搭乗していない航空機の制御方法であって、It is a control method of an aircraft that is not boarded by a person who has
前記近接検知手段で対象物が近接したことを検知したことに応じて、前記対象物から離れる方向に前記航空機が移動する第1の飛行動作を行うように制御する制御ステップ A control step for controlling the aircraft to perform a first flight operation in which the aircraft moves in a direction away from the object in response to the detection of the proximity of the object by the proximity detecting means.
を有することを特徴とする航空機の制御方法。A method of controlling an aircraft, characterized in that it has.
前記回転翼と外部物体との接触を抑制する保護手段と、 A protective means that suppresses contact between the rotor blades and an external object,
前記回転翼のある側を前記保護手段より内側とした場合の、前記保護手段より外側に配置された近接検知手段と、 When the side with the rotor blades is inside the protection means, the proximity detection means arranged outside the protection means and the proximity detection means.
を有する人が搭乗していない航空機の制御方法であって、It is a control method of an aircraft that is not boarded by a person who has
前記近接検知手段で対象物が近接したことを検知したことに応じて、前記対象物から離れる方向に前記航空機が移動する第1の飛行動作を行うように制御する制御ステップ A control step for controlling the aircraft to perform a first flight operation in which the aircraft moves in a direction away from the object in response to the detection of the proximity of the object by the proximity detecting means.
を有することを特徴とする航空機の制御方法。A method of controlling an aircraft, characterized in that it has.
第1の方向における近接と、前記第1の方向と異なる第2の方向における近接とを検知可能な近接検知ステップと、 A proximity detection step capable of detecting proximity in the first direction and proximity in a second direction different from the first direction.
前記近接検知ステップで検出された対象物の近接態様に応じて異なる飛行状態となるように制御する制御ステップであって、前記第1の方向において対象物が近接するとともに前記第2の方向において対象物が近接することを含む第1の近接態様が前記近接検知ステップで検知されたことに応じて第1の飛行状態となるように制御する制御ステップと It is a control step that controls the flight state to be different depending on the proximity mode of the object detected in the proximity detection step, and the object approaches in the first direction and the object in the second direction. A control step that controls the first flight state, including the proximity of an object, to a first flight state in response to being detected in the proximity detection step.
を有することを特徴とする航空機の制御方法。A method of controlling an aircraft, characterized in that it has.
近接検知ステップと、 Proximity detection step and
前記近接検知ステップで検出された対象物の近接態様に応じて異なる飛行状態となるように制御する制御ステップであって、前記近接検知ステップで前記対象物が近接したことを検知した回数に基づく飛行状態となるように制御する制御ステップと It is a control step that controls the flight state to be different depending on the proximity mode of the object detected in the proximity detection step, and the flight is based on the number of times that the object is detected to be close in the proximity detection step. With control steps to control the state
を有することを特徴とする航空機の制御方法。A method of controlling an aircraft, characterized in that it has.
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