JP6618547B2 - 無人航空機を制御する方法、装置、非一時的コンピュータ可読媒体及び無人航空機 - Google Patents
無人航空機を制御する方法、装置、非一時的コンピュータ可読媒体及び無人航空機 Download PDFInfo
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Description
本願は、2015年3月9日に出願された国際出願第PCT/CN2015/073915号明細書の優先権を主張するものである。
1)データは、測地系からECEFに変換することができる。
X=(N(φ)+h)cosφcosλ
Y=(N(φ)+h)cosφsinλ
Z=(N(φ)(1−e2)+h)sinφ
式中、
a及びeはそれぞれ、楕円体の長半径及び第1数値離心率であり、
N(φ)は、法線と呼ばれ、表面から楕円体法線に沿ったZ軸までの距離である。
2)次に、ECEF系でのデータをENU座標系に変換し得る。データをECEF系からENU系に変換するために、局所基準は、UAVがミッションを受け取ったばかりUAVに送信されるときの場所であるように選ばれ得る。
Claims (34)
- 無人航空機を制御する方法であって、
飛行制限ゾーンを画定するとともに個別に飛行対応措置を設定可能な複数の飛行制限ストリップを評価するステップと、
前記複数の飛行制限ストリップに相対する前記無人航空機の(1)場所又は(2)移動特性のうちの少なくとも一方を評価するステップと、
1つ又は複数のプロセッサを用いて、前記複数の飛行制限ストリップに相対する前記無人航空機の前記場所又は移動特性のうちの少なくとも一方に基づいて、1つ又は複数の前記飛行対応措置をとるように前記無人航空機に指示するステップと、
を含み、
前記飛行制限ストリップは、長さ及び幅を含み、前記長さが前記幅よりも長い、
方法。 - 前記複数の飛行制限ストリップは一緒に接続されて、ループを形成する、
請求項1に記載の方法。 - 前記複数の飛行制限ストリップは、空間を複数のセクションに分割する、
請求項1に記載の方法。 - 前記複数の飛行制限ストリップは、区分線を形成する、
請求項3に記載の方法。 - 前記飛行制限ゾーンが、前記区分線の脇で前記複数のセクションのうちの少なくとも1つ内にある、
請求項4に記載の方法。 - 各飛行制限ストリップは、幾何学的形状を使用して定義される、
請求項1に記載の方法。 - 前記飛行制限ストリップの最小幅は、前記飛行制限ゾーンに直接、最高レベル飛行速度で飛行中の前記無人航空機が、最大ブレーキ、減速、又は逆加速が適用される場合、前記飛行制限ゾーンに侵入しないことを保証するように定義される、
請求項6に記載の方法。 - 前記飛行制限ストリップの前記幅は、前記最小幅よりも大きい、
請求項7に記載の方法。 - 前記幾何学的形状は、第1の円及び第2の円と、前記第1の円及び前記第2の円に接して延びる線とにより包含されるエリアである、
請求項6に記載の方法。 - 前記第1の円及び前記第2の円は、同じ半径を有する、
請求項9に記載の方法。 - 前記第1の円の半径及び前記第2の円の半径は、各飛行制限ストリップの幅に基づいて定義される、
請求項9に記載の方法。 - 前記複数の飛行制限ストリップに相対する前記無人航空機の前記移動特性を評価するステップは、前記複数の飛行制限ストリップのうちのいずれに、前記無人航空機が近づく可能性が最も高いかを検出するステップを含む、
請求項1に記載の方法。 - 前記複数の飛行制限ストリップに相対する前記無人航空機の前記移動特性を評価するステップは、前記無人航空機が前記飛行制限ストリップに近づく推定時間量を計算するステップを含む、
請求項12に記載の方法。 - 前記推定時間量に基づいて、前記飛行制限ストリップに到達する前に、前記無人航空機が飛行対応措置の影響を受け始める時間又は距離を特定するステップを更に含む、
請求項13に記載の方法。 - 前記飛行対応措置は、前記無人航空機を減速させるか、又は前記無人航空機の経路の方向を変更して、前記無人航空機が前記飛行制限ストリップに入らないようにするステップを含む、
請求項14に記載の方法。 - 前記複数の飛行制限ストリップに相対する前記無人航空機の前記移動特性を評価するステップは、前記無人航空機が最も近い前記飛行制限ストリップまでの推定方向を計算するステップを含む、
請求項12に記載の方法。 - 前記1つ又は複数の飛行対応措置は、前記無人航空機が前記複数の飛行制限ストリップに入らないようにするステップを含む、
請求項1に記載の方法。 - 前記1つ又は複数の飛行対応措置は、前記無人航空機が前記複数の飛行制限ストリップに近づきつつあることのアラートを前記無人航空機に提供するステップを含む、
請求項1に記載の方法。 - 前記1つ又は複数の飛行対応措置は、前記無人航空機を着陸させる又は減速させるステップを含む、
請求項1に記載の方法。 - 前記複数の飛行制限ストリップは、互いに重なり、飛行制限ゾーンを囲む、
請求項1に記載の方法。 - 前記複数の飛行制限ストリップは、前記複数の飛行制限ストリップの端部において互いに重なる、
請求項20に記載の方法。 - 個々の飛行制限ストリップの端部は、第1の円又は第2の円を含む、
請求項21に記載の方法。 - 前記飛行制限ゾーンは、多角形としての形状を有する、
請求項20に記載の方法。 - 前記多角形は不規則な多角形である、
請求項23に記載の方法。 - 前記複数の飛行制限ストリップは、前記多角形の境界線を形成する、
請求項23に記載の方法。 - 前記複数の飛行制限ストリップは、前記多角形を埋める、
請求項23に記載の方法。 - 前記複数の飛行制限ストリップは、互いに対して平行する向きを有して、前記多角形を埋めるように配置される、
請求項26に記載の方法。 - 前記1つ又は複数の飛行対応措置は、前記無人航空機が前記飛行制限ゾーンに入らないようにするステップを含む、
請求項20に記載の方法。 - 異なる飛行制限ストリップは、異なる飛行対応措置に対応する、
請求項20に記載の方法。 - 前記複数の飛行制限ストリップに相対する前記無人航空機の前記場所に基づいて、飛行制限ゾーンに相対する前記無人航空機の前記場所を評価するステップを更に含む、
請求項1に記載の方法。 - 前記飛行制限ゾーンに相対する前記無人航空機の前記場所を評価するステップは、前記無人航空機の前記場所が、区域の境界線を形成する前記複数の飛行制限ストリップにより囲まれた区域内にあるか否かを評価するステップを含む、
請求項30に記載の方法。 - 無人航空機を制御する装置であって、
前記装置は、1つ又は複数のプロセッサで実行される1つ又は複数のコントローラを備え、前記1つ又は複数のコントローラは、個々に又は集合的に、請求項1〜31のいずれか1項に記載の方法を実行するように構成される、
装置。 - 無人航空機を制御する非一時的コンピュータ可読媒体であって、
請求項1〜31のいずれか1項に記載の方法をコンピュータに実行させるためのコード、論理、又は命令を含む、
非一時的コンピュータ可読媒体。 - 無人航空機であって、
前記無人航空機の飛行を行うように構成される1つ又は複数の推進ユニットと、
請求項1〜31のいずれか1項に記載の方法を実行する、1つ又は複数のプロセッサと、
を備える、無人航空機。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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PCT/CN2014/073143 WO2015157883A1 (en) | 2014-04-17 | 2014-04-17 | Flight control for flight-restricted regions |
PCT/CN2015/073915 WO2015165303A1 (en) | 2014-04-17 | 2015-03-09 | Flight control for flight-restricted regions |
CNPCT/CN2015/073915 | 2015-03-09 | ||
PCT/CN2015/098149 WO2016141748A1 (en) | 2015-03-09 | 2015-12-21 | Polygon shaped flight-restriction zones |
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JP2016515988A Active JP6133499B2 (ja) | 2014-04-17 | 2015-03-09 | 飛行制限区域における航空制御 |
JP2017546938A Active JP6618547B2 (ja) | 2014-04-17 | 2015-12-21 | 無人航空機を制御する方法、装置、非一時的コンピュータ可読媒体及び無人航空機 |
JP2017082979A Active JP6618948B2 (ja) | 2014-04-17 | 2017-04-19 | 異なる高度の飛行制限ゾーンを提供する装置および方法 |
JP2019205539A Active JP6904608B2 (ja) | 2014-04-17 | 2019-11-13 | 境界に沿った飛行制限ゾーンを生成する、または飛行制限ゾーンに対する無人航空機(uav)の航空応答を評価するための装置および方法 |
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