WO2017150433A1 - 無人航空機、無人航空機制御システム、飛行制御方法およびプログラム記憶媒体 - Google Patents
無人航空機、無人航空機制御システム、飛行制御方法およびプログラム記憶媒体 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 46
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 43
- 238000003384 imaging method Methods 0.000 claims description 23
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- 239000003550 marker Substances 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
- G08G5/0034—Assembly of a flight plan
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Definitions
- the present invention relates to a technique for controlling the flight of an unmanned aerial vehicle.
- Small unmanned aerial vehicles are mainly used for aerial photography for entertainment, disaster situation assessment, facility inspections, and so on.
- unmanned aerial vehicles to inspection of facilities such as plants and buildings has been studied.
- the other is a method of operation based on a flight plan route created in advance.
- Patent Document 1 describes a method of performing flight control of an unmanned small aircraft.
- a plurality of camera devices that capture images from the ground acquire a captured image of a marker attached to an unmanned small flying object, and extract attribute information of the captured image of the marker.
- the position information and the posture information of the unmanned small flying object based on the camera device are calculated.
- the difference between the calculated position information and the predetermined flight path, and the difference between the calculated attitude information and the reference information are identified, and control data is generated to eliminate these differences.
- a main object of the present invention is to provide a technique capable of improving the operability and work efficiency of unmanned aircraft flight control.
- the unmanned aerial vehicle according to the present invention
- Photographing means for photographing a projection object for projecting light output by a directional projector that outputs light;
- a relative distance between the position of the aircraft and the instruction light point projected onto the projection object by the directional projector is calculated using the image captured by the imaging unit, and the position of the instruction light point is calculated based on the calculated relative distance.
- Position calculating means Flight control means for controlling the flight of the aircraft based on the flight path created according to the calculated position of the indicator light spot.
- An unmanned aerial vehicle control system includes: Unmanned aircraft, A directional projector that outputs light; With a control device, Unmanned aerial vehicles Including photographing means for photographing a projection object for projecting light output from the directional projector, The control device A relative distance between the position of the unmanned aircraft and the instruction light point projected onto the projection object by the directional projector is calculated using the image captured by the imaging unit, and the instruction light point position is calculated based on the calculated relative distance. Position calculating means; Flight control means for controlling the flight of the unmanned aerial vehicle based on the flight path created in accordance with the calculated position of the indicator light spot.
- the flight control method includes: Shoot the projection object that projects the light output by the directional projector that outputs the light, Using the captured image, calculate the relative distance between the unmanned aerial vehicle and the indicator light spot projected onto the projection object by the directional projector, Calculate the position of the indicator light spot based on the calculated relative distance, The flight of the unmanned aerial vehicle is controlled based on the flight path created according to the calculated position of the indicator light spot.
- the program storage medium comprises: On the computer, The relative distance between the unmanned aerial vehicle and the pointing light point projected onto the projection object by the directional projector is obtained using a captured image obtained by projecting the projection object that projects the light output by the directional projector that outputs light. A process of calculating and indicating the indicated light spot position based on the calculated relative distance; and A computer program for executing processing for controlling the flight of the unmanned aircraft based on the flight path created according to the calculated position of the indicator light spot is stored.
- the operability and work efficiency of unmanned aircraft flight control can be improved.
- FIG. 1 is a block diagram showing an embodiment of an unmanned aerial vehicle according to a first embodiment of the present invention. It is a figure which shows the example of the condition where an unmanned aerial vehicle is used. It is a figure which shows the relative distance of a self-machine body position and an instruction
- FIG. 1 is a block diagram showing the configuration of the unmanned aerial vehicle according to the first embodiment of the present invention.
- the unmanned aerial vehicle 2 of the first embodiment includes a camera 3, a distance sensor 4, a light spot position calculator 5, a flight area detector 6, a prohibited area detector 7, a trace path generator 8, and a shortest path.
- a generator 9 and a flight controller 10 are provided.
- a camera 3 and a distance sensor 4 are attached to the unmanned aircraft 2.
- a light spot position calculator 5, a flight area detector 6, a prohibited area detector 7, a trace path generator 8, a shortest path generator 9 and a flight controller 10 are provided inside the unmanned aerial vehicle 2.
- FIG. 2 is a diagram illustrating an example of a situation in which the unmanned aerial vehicle 2 according to the first embodiment is used.
- the unmanned aircraft 2 shown in FIG. 2 is, for example, a drone or a multi-rotor helicopter.
- the unmanned aerial vehicle 2 according to the first embodiment is operated by the operator 100 using the directional projector 1. Specifically, the pilot 100 indicates the target point P where the unmanned aircraft 2 is to be moved using the light of the directional projector 1.
- the directional projector 1 is used to indicate the flight direction of the unmanned aircraft 2.
- the directional projector 1 is realized by, for example, a directional LED (Light Emitting Diode) projector, a laser pointer, or the like.
- the directional projector 1 is handled by the operator 100 of the unmanned aerial vehicle 2, and is projected toward a projection target that can confirm the light of the directional projector 1.
- the light projected onto the projection object by the directional projector 1 is referred to as an instruction light point P (or simply an instruction light point).
- This instruction light spot becomes the movement target point of the unmanned aircraft 2.
- the flight control of the unmanned aircraft 2 represents an entry prohibition area from the projection target set based on the size of the unmanned aircraft 2 and the like. The separation distance is taken into account.
- the projection object is not limited as long as it can project the light from the directional projector 1.
- the projection object is a wall surface.
- the projection object is not limited to a wall surface, and may be a pipe or a forest, for example.
- the camera 3 is an imaging device that captures an image of a projection target and captures an indication light spot P projected onto the projection target by the directional projector 1. Specifically, the camera 3 detects an instruction light point having a predetermined light projection mode, and captures a still image or a moving image including the detected instruction light point.
- the distance sensor 4 acquires distance information to the projection target.
- the distance sensor 4 is realized by, for example, a laser range finder.
- the camera 3 may calculate the tilt of the camera 3 with respect to the projection target using the distance information obtained from the distance sensor 4 and correct the distortion of the projection target in the captured image caused by the tilt. .
- the distance information may be acquired by a device other than the distance sensor 4.
- an apparatus capable of acquiring distance information may be referred to as a distance acquisition apparatus.
- the distance acquisition device may acquire distance information using stereo vision by the camera 3.
- the distance acquisition device may acquire distance information using vision SLAM (SimultaneousaneLocalization and Mapping).
- the light spot position calculator 5 has a function of calculating the position of the indicator light spot P projected onto the projection object by the directional projector 1. For example, the light spot position calculator 5 calculates the relative distance between the position of the aircraft (the position of the unmanned aircraft 2) and the position of the indication light spot P using the captured image. Then, the light spot position calculator 5 calculates the position of the indicator light spot P based on the calculated relative distance.
- the light spot position calculator 5 detects the position of the unmanned aerial vehicle 2 (self-machine position) by, for example, GPS (Global Positioning System). In this case, the light spot position calculator 5 calculates the position of the indicator light spot P using the position of the own body detected using GPS and the relative distance.
- GPS Global Positioning System
- FIG. 3 is a diagram for explaining the relative distance between the position of the aircraft and the position of the indicator light spot P.
- the relative distance between the own body position and the position of the indicator light point P is the relative distance in the X-axis direction based on the own body position Q projected on the projection target (wall surface) as shown in FIG. It is expressed using the distance X component and the relative distance Y component in the Y-axis direction.
- the light spot position calculator 5 uses the information on the camera angle of view, the distance between the projection object (wall surface) and the subject body, and the pixel position of the indicated light spot P in the photographed image, and the relative distance X component and the relative distance Y. Calculate the components.
- GPS is used to detect the position of the aircraft (flight position).
- the present invention is not limited to GPS.
- a three-dimensional survey instrument, radio wave intensity, or the like may be used to detect the position of the aircraft. Good.
- the flight area detector 6 has a function of specifying an area where the unmanned aircraft 2 can fly (hereinafter referred to as a flight area). Specifically, the operator uses the directional projector 1 to represent a closed range representing the flight area according to a predetermined procedure by the movement of the instruction light spot, and the camera 3 captures the movement of the instruction light spot. . When the photographed indicator light spot is in a predetermined form, the flight area detector 6 determines that the movement of the indicator light spot indicates a flight area, and based on the photographed indicator light spot, the flight Identify the area.
- FIG. 4 is an explanatory diagram showing an example of a flight area.
- a range including the unmanned aircraft 2 surrounded by a broken line A is set as a flight area.
- the flight controller 10 described later controls the flight so that the unmanned aircraft 2 does not come off the flight area.
- the flight area detector 6 of the unmanned aerial vehicle 2 is provided with a configuration in which the operator uses voice to recognize that the indicator light spot represents a flight area rather than a movement target point, instead of the indicator light spot mode. May be.
- a method for causing the flight area detector 6 to recognize that the indication light spot represents a flight area may be determined in advance and is not limited.
- the prohibited area detector 7 identifies an area where the unmanned aircraft 2 is prohibited from flying (hereinafter referred to as a prohibited area).
- the method for specifying the region is the same as the method for specifying the flight area.
- the range in which the operator is closed using the movement of the indication light spot by the directional projector 1 is represented, and the camera 3 captures the movement of the indication light spot.
- the prohibited area detector 7 determines that the movement of the indication light spot indicates a prohibited area, and prohibits based on the photographed indication light spot. Identify the area.
- the operator when an obstacle such as lighting is clear in advance, the operator emits light from the directional projector 1 along the edge of a region designated as a prohibited area surrounding the obstacle based on a predetermined procedure. move.
- the prohibited area detector 7 determines that the movement of the instruction light spot indicates a prohibited area, the prohibited area detector 7 identifies the prohibited area based on the photographed instruction light spot.
- the mode of the indication light spot in the case of representing the prohibited area is a predetermined appropriate mode different from the mode of the indication light spot in the case of representing the flight area.
- FIG. 5 is an explanatory diagram showing an example of a prohibited area.
- a range surrounded by a broken line B surrounding the obstacle 30 is set as a prohibited area.
- the flight controller 10 described later controls the flight of the unmanned aircraft 2 so that the unmanned aircraft 2 does not enter the prohibited area.
- At least one of the flight area detector 6 and the prohibited area detector 7 detects at least one of the flight area and the prohibited area based on the indication light spot photographed by the camera 3.
- either the trace mode or the shortest mode is used as the flight mode of the unmanned aircraft 2.
- the operator selects one of the modes, and the selected mode is set to the unmanned aircraft 2.
- the flight mode may be changed at any time according to an instruction from the operator.
- a method for selecting and instructing the flight mode an appropriate method is adopted.
- a method for selecting and instructing the flight mode there is a method of using the color of the light beam of the directional projector 1, the movement of the indicator light spot of the directional projector 1, the shape of the indicator light spot, the sound, and the like.
- FIG. 6 is a diagram showing an example when flying in the trace mode.
- FIG. 7 is a figure which shows the example in the case of flying in the shortest mode.
- the trace mode is a mode in which the unmanned aircraft 2 moves while tracing the movement locus M of the indicator light spot by the operator.
- the shortest mode is a mode in which the unmanned aircraft 2 moves along the shortest path R toward the position of the instruction light spot P regardless of the movement path M of the instruction light spot by the operator.
- the trace route generator 8 creates the movement locus M of the indicator light spot as a flight route as it is.
- the shortest path creator 9 creates a flight path that connects the position of the indicator light spot P and the position of the aircraft itself as the shortest path R. In this way, the trace route creator 8 or the shortest route creator 9 creates the flight path of the aircraft toward the position of the indicator light point P in accordance with the designated flight mode.
- both the trace route generator 8 and the shortest route generator 9 both provide the shortest detour (avoidance) that avoids the prohibited area. Route) including the route).
- the trace path generator 8 and the shortest path generator 9 do not deviate from the flight area.
- the avoidance route is calculated in real time so as not to enter the prohibited area, and the flight route is corrected in consideration of the avoidance route.
- a flight state that is likely to deviate from the flight area or a flight state that is likely to enter the prohibited area is detected based on, for example, the positional relationship between the position of the aircraft and the flight area.
- the trace route generator 8 and the shortest route generator 9 calculate the avoidance route in real time, The flight path is corrected in consideration of the avoidance path.
- An appropriate method is adopted as a method of detecting the obstacle.
- a method for detecting an obstacle for example, there are a method based on an image photographed by the camera 3 and a method using a distance sensor 4 such as a laser range finder. Note that these methods for detecting an obstacle are widely known, and a detailed description thereof will be omitted.
- the flight controller 10 calculates the movement amount of the aircraft according to the created shortest path or trace path, and controls the motor and the like. Thereby, the unmanned aerial vehicle 2 moves to the target point in each flight path. Since each flight path is a path created according to the calculated position of the indicator light spot, the flight controller 10 creates a flight path generated according to the calculated position of the indicator light spot. So, it can be said that it controls the flight of the aircraft.
- the indicator light spot may not be found within the angle of view of the camera 3.
- the flight controller 10 may make the pointing light spot be within the angle of view of the camera 3 by raising, lowering, or turning the aircraft.
- the indicator light spot position calculator 5, the flight area detector 6, the prohibited area detector 7, the trace path generator 8, the shortest path generator 9, and the flight controller 10 are in accordance with a computer program (program). This is realized by a CPU (Central Processing Unit) of an operating computer. Also, the shooting control of the camera 3 is realized by a CPU of a computer that operates according to a computer program.
- a computer program program
- the program is stored in a storage unit (not shown) of the unmanned aircraft 2.
- the CPU reads the program from the storage unit and executes the program to thereby execute the light spot position calculator 5, the flight area detector 6, the prohibited area detector 7, the trace path generator 8, the shortest path generator 9, and the flight. It operates as the controller 10.
- the light spot position calculator 5, the flight area detector 6, the prohibited area detector 7, the trace path generator 8, the shortest path generator 9, and the flight controller 10 are each dedicated hardware. It may be realized by hardware.
- FIG. 8 is a flowchart showing an operation example of the unmanned aerial vehicle 2 according to the first embodiment.
- the operator uses the directional projector 1 to project an indicator light spot on a location representing the flight target position of the unmanned aircraft 2 on the projection target such as a wall surface.
- the light spot position calculator 5 calculates the position of the indication light spot (step S12).
- step S13 It is determined whether the flight area detector 6 detects the flight area or the prohibited area detector 7 detects the prohibited area. If neither the flight area nor the prohibited area is detected (No in step S13), a message requesting information on the flight area or the prohibited area is sent from the unmanned aircraft 2 to the operator. And if the information of a flight area is given using the light of the directional projector 1, the flight area detector 6 will detect a flight area. Or if the information on a prohibited area is given using the light of the directional projector 1, the prohibited area detector 7 detects the prohibited area (step S14). Then, the process after step S15 is performed.
- step S15 when the flight area or the prohibited area is detected (Yes in step S13), the flight mode is determined (step S15).
- the flight mode is the “shortest mode” (“shortest mode” in step S15)
- the shortest path creator 9 creates the shortest path (step S16).
- the trace route generator 8 creates a trace flight route (step S17).
- the trace path generator 8 or the shortest path generator 9 creates an obstacle avoidance path that corrects the flight path according to the flight mode. (Step S18).
- an avoidance route is created so that the trace route generator 8 or the shortest route generator 9 does not deviate from the flight area according to the flight mode.
- the trace route creator 8 or the shortest route creator 9 corrects the flight route (step S19).
- Flight controller 10 calculates the amount of movement of the aircraft according to the created shortest path or trace path (step S20). Then, the flight controller 10 controls the flight of the unmanned aerial vehicle 2 by controlling a motor or the like (step S21). Thereafter, the processing after step S11 is repeated.
- the camera 3 captures an image of a projection target. Further, the light spot position calculator 5 calculates the relative distance between the position of the own body and the instruction light spot projected onto the projection object by the directional projector 1 using the image taken by the camera 3, and the calculated relative distance. Based on the above, the position of the indicator light spot is calculated. Then, the flight controller 10 controls the flight of the aircraft based on the flight path created according to the calculated position of the indicator light spot. Therefore, the unmanned aerial vehicle 2 of the first embodiment can improve the operability and work efficiency of flight control.
- the driver can operate the unmanned aerial vehicle by pointing the moving destination using the light of the directional projector 1 to the projection target such as the wall surface. That is, the operability of the unmanned aerial vehicle 2 is improved.
- the driver can operate the unmanned aerial vehicle by pointing to the position to be moved using the light of the directional projector, instead of the manual operation using the proportional system. For this reason, anyone can easily operate an unmanned aerial vehicle without having to acquire advanced maneuvering skills.
- the unmanned aerial vehicle 2 according to the first embodiment also has an effect that the operation cost and the introduction barrier can be reduced.
- the unmanned aerial vehicle 2 of the first embodiment there is a method for creating a flight plan route in advance for operating an unmanned aerial vehicle instead of manual operation.
- this method it is necessary to create a flight plan path for each flight.
- the unmanned aircraft 2 of the first embodiment it is possible to fly the unmanned aircraft to the destination by a simple operation in which the operator points the destination by the light of the directional projector. For this reason, the unmanned aerial vehicle 2 of the first embodiment can improve the work efficiency of the mission using the unmanned aerial vehicle.
- unmanned aerial vehicle 2 of the first embodiment it is not necessary to create a flight plan route for each flight, and the operator can easily operate the flight with the directional projector. Therefore, unmanned aircraft can be operated efficiently.
- the flight controller 10 has a function of creating a flight path according to the flight mode.
- the flight controller 10 creates a flight path that also considers safety.
- a safety factor is assumed as a value indicating safety.
- the safety factor is a numerical value calculated using machine information such as a distance to an obstacle or a prohibited area, a moving speed of the machine and a tilt of the machine relative to a predetermined reference plane. Specifically, the flight controller 10 calculates the safety factor higher as the distance from the prohibited area increases, and calculates the safety factor higher as the moving speed and inclination are smaller.
- the flight controller 10 controls the flight of the aircraft so that the calculated safety factor exceeds a predetermined reference safety factor.
- This reference safety factor can be appropriately set according to the working environment, working time, and the like.
- FIG. 9 is a block diagram showing the configuration of the unmanned aerial vehicle control system according to the second embodiment of the present invention.
- the unmanned aircraft control system according to the second embodiment includes a directional projector 1, an unmanned aircraft 2 a, and a ground control device 11.
- FIG. 10 is explanatory drawing which shows the example of the condition where the unmanned aircraft control system of 2nd Embodiment is used.
- the unmanned aircraft 2 a includes a camera 3 and a distance sensor 4.
- the ground control device 11 includes a light spot position calculator 5, a flight area detector 6, a prohibited area detector 7, a trace route generator 8, a shortest route generator 9, and a flight controller 10. Including.
- the second embodiment is different from the first embodiment in that the unmanned aircraft 2a includes the camera 3 and the distance sensor 4 and the ground control device 11 includes the remaining configuration. That is, the ground control device 11 includes a light spot position calculator 5, a flight area detector 6, a prohibited area detector 7, a trace route generator 8, a shortest route generator 9, and a flight controller 10. It is out.
- the functions of the directional projector 1, the camera 3, and the distance sensor 4 are the same as the functions of the directional projector 1, the camera 3, and the distance sensor 4 described in the first embodiment.
- the functions of the light spot position calculator 5, the flight area detector 6, the prohibited area detector 7, the trace flight path generator 8, the shortest flight path generator 9 and the flight controller 10 are the same as those of the unmanned aircraft 2 a by wireless communication. Except for performing communication, the functions are the same as those described in the first embodiment.
- FIG. 11 is a diagram for explaining an operation example of the unmanned aerial vehicle control system according to the second embodiment.
- a wall surface is assumed as the projection object.
- the operator projects an indicator light spot on the wall surface using the directional projector 1.
- the camera 3 captures the indicated light spot
- the camera 3 transmits a captured image including the image of the indicated light spot to the ground control device 11 (more specifically, the light spot position calculator 5).
- the distance sensor 4 detects the distance from the aircraft (unmanned aircraft 2a) to the wall surface, and transmits the detected distance to the ground control device 11 (more specifically, the light spot position calculator 5).
- the control unit (not shown) of the unmanned aerial vehicle 2 a detects the position of the own aircraft using, for example, GPS, and transmits information on the detected position of the own aircraft to the ground control device 11.
- the light spot position calculator 5 calculates the relative distance between the indicator light spot and the unmanned aircraft 2a using the received image and distance information, and uses the relative distance information and the position information of the unmanned aircraft 2a. Thus, the position of the indicator light spot is calculated.
- the flying area detector 6 specifies a flying area
- the prohibited area detector 7 specifies a prohibited area.
- the trace route creator 8 or the shortest route creator 9 creates a flight route.
- the flight controller 10 creates control information based on the created flight path and transmits it to the unmanned aircraft 2a.
- the ground control device 11 since the ground control device 11 has the function of controlling the flight of the unmanned aircraft 2a, the function mounted on the unmanned aircraft 2a is reduced, and the control configuration of the unmanned aircraft 2a is simplified. Can be achieved.
- the ground control device 11 includes a light spot position calculator 5, a flight area detector 6, a prohibited area detector 7, a trace route generator 8, and a shortest route generator 9. Flight controller 10. Instead, the light spot position calculator 5, the flight area detector 6, the prohibited area detector 7, the trace path generator 8, the shortest path generator 9, and a part of the flight controller 10 are included in the unmanned aerial vehicle 2a. It may be.
- FIG. 12 is a block diagram showing an outline of the unmanned aerial vehicle according to the third embodiment.
- the unmanned aircraft 80 according to the third embodiment includes an imaging unit 81, a position calculation unit 82, and a flight control unit 83.
- the photographing unit 81 is a camera, for example, and has a function of photographing a projection target (for example, a wall surface).
- the position calculation unit 82 has a function of calculating the relative distance between the position of the own aircraft (unmanned aircraft 80) and the indication light point projected onto the projection target by the directional projector using the image captured by the imaging unit 81. ing. Further, the position calculation unit 82 has a function of calculating the position of the indication light spot by the directional projector based on the calculated relative distance.
- the flight control unit 83 has a function of controlling the flight of the aircraft (unmanned aircraft 80) based on the flight path created according to the calculated position of the indicator light spot.
- the unmanned aircraft 80 can improve the operability and work efficiency of flight control.
- photography part 81 may be provided with the function which image
- the unmanned aerial vehicle 80 flies in a state where it is restricted to flying in a flightable area designated by the operator using the directional projector.
- the flight control unit 83 may create a flight path according to the designated flight mode (for example, the trace mode and the shortest mode), and control the flight of the aircraft with the created flight path.
- the designated flight mode for example, the trace mode and the shortest mode
- the flight control unit 83 performs control to raise, lower, or turn the own aircraft so that the imaging unit 81 can capture the instruction light point when the instruction light point does not exist within the angle of view of the imaging unit 81. It may be.
- the position calculation unit 82 detects the position of the own aircraft using, for example, GPS, and based on the detected position of the own aircraft and the relative distance between the position of the own aircraft and the indication light spot. The position of the point may be calculated.
- the flight control unit 83 is a safety indicating flight safety based on the distance from the aircraft (unmanned aircraft 80) to the prohibited area, the moving speed of the aircraft, and the inclination of the aircraft relative to a preset reference plane. Calculate the rate. Then, the flight control unit 83 may control the flight of the aircraft so that the calculated safety factor exceeds a predetermined reference safety factor.
- the unmanned aerial vehicle 80 may include a distance acquisition device that acquires distance information to the projection target.
- photography part 81 may correct
- FIG. 13 is a block diagram showing an outline of the unmanned aerial vehicle control system of the fourth embodiment.
- the unmanned aerial vehicle control system according to the fourth embodiment includes an unmanned aerial vehicle 50, a directional projector 60 used by a pilot who controls the unmanned aircraft 50 from the outside, and a control device 70.
- the unmanned aerial vehicle 50 includes a photographing unit 51 (for example, a camera) that photographs a projection target.
- the control device 70 includes a position calculation unit 71 and a flight control unit 72.
- the position calculation unit 71 calculates a relative distance between the unmanned aircraft 50 and the instruction light point projected onto the projection object by the directional projector 60 using the image captured by the imaging unit 51, and uses the calculated relative distance.
- a function for calculating the indicated light spot position is provided.
- the flight control unit 72 has a function of controlling the flight of the unmanned aircraft 50 by a flight path created according to the calculated position of the indicator light spot.
- the unmanned aerial vehicle control system of the fourth embodiment can improve the operability and work efficiency of the flight control of the unmanned aerial vehicle 50 by providing the configuration as described above, as in the first to third embodiments. .
- An imaging unit for imaging the projection object An imaging unit for imaging the projection object; A position calculation unit that calculates a relative distance between the position of the own body and an instruction light point projected onto the projection object by a directional projector using a captured image, and calculates an instruction light point position based on the calculated relative distance
- An unmanned aerial vehicle including a flight control unit that controls the flight of the aircraft in a flight path that is created according to the calculated indicator light spot position.
- the photographing unit photographs a light projection mode by a predetermined directivity projector
- the position calculation unit calculates at least one of the flight area and the prohibited area according to the shot light projection mode
- the unmanned aerial vehicle according to appendix 1 wherein the flight control unit avoids the forbidden area and controls the flight of the aircraft based on a flight path flying in the flight area.
- the flight control unit automatically moves toward the flight path that controls the flight of the aircraft so as to move while tracing the movement locus of the indication light spot or the current indication light spot position according to the designated flight mode.
- the unmanned aerial vehicle according to appendix 1 or appendix 2, wherein any one of flight paths for controlling flight of the aircraft is selected and created, and flight of the aircraft is controlled by the created flight pathway.
- the flight control unit causes the imaging unit to detect the indication light spot by raising, lowering, or turning the aircraft when the indication light spot does not exist within the angle of view of the imaging unit.
- the unmanned aerial vehicle according to item 1.
- the position calculation unit detects the current own aircraft position, adds a relative distance to the detected own aircraft position, and calculates the indicated light spot position according to any one of appendix 1 to appendix 4.
- Unmanned aerial vehicle Unmanned aerial vehicle.
- the flight control unit calculates a safety factor indicating the safety of the flight based on the distance to the prohibited area, the current movement speed and inclination of the aircraft, so that the calculated safety factor exceeds a predetermined allowable safety factor.
- the unmanned aerial vehicle according to any one of appendix 1 to appendix 5, which controls the flight of the aircraft.
- Appendix 7 Provided with a distance acquisition device that acquires distance information to the projection object, The unmanned aerial vehicle according to any one of appendix 1 to appendix 6, wherein the photographing unit corrects a distortion of a photographed image that is generated due to a deviation in an aircraft orientation, using distance information obtained from the distance acquisition device.
- the photographing unit photographs a light projection mode by a predetermined directional projector, the position calculation unit calculates at least one of a flight area and a prohibited area according to the photographed light projection mode, and the flight control unit
- the unmanned aerial vehicle control system according to appendix 8, wherein the unmanned aircraft is controlled based on a flight path that avoids the prohibited area and flies in the flight area.
- a flight control method for controlling the flight of an unmanned aerial vehicle comprising: photographing a projection object; and using the photographed image, a relative distance between the unmanned aircraft and an instruction light spot projected onto the projection object by a directional projector And calculating the indicator light spot position based on the calculated relative distance, and controlling the flight of the unmanned aircraft in the flight path created according to the calculated indicator light spot position Method.
- a flight control program applied to a computer for controlling the flight of an unmanned aircraft wherein the computer uses a shooting process for photographing a projection object, and the unmanned aircraft and a directional projector are used to project the projection object.
- a position calculation process for calculating a relative distance from the projected indication light point, calculating an indication light point position based on the calculated relative distance, and a flight path created according to the calculated indication light point position A flight control program for executing a flight control process for controlling the flight of the unmanned aircraft.
- Appendix 13 Let the computer shoot a light projection mode by a predetermined directivity projector in a shooting process, and calculate at least one of a flight area and a prohibited area according to the shot light projection mode in a position calculation process, and fly 13.
- the present invention is preferably applied to an unmanned aircraft that is remotely controlled for flight.
- the present invention can be applied when inspecting facilities such as a plant, a power plant, and a building using an unmanned aerial vehicle.
- a pilot with advanced maneuvering skills is required, and complicated operations such as on-site flight path creation are required.
- the present invention in the field of entertainment. Since the unmanned aerial vehicle of the present invention can be operated intuitively rather than a pre-programmed flight path, flexible expression can be considered in entertainment using the unmanned aerial vehicle.
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Abstract
Description
光を出力する指向性投光器により出力される光を投影する投影対象物を撮影する撮影手段と、
撮影手段による撮影画像を用いて、自機***置と指向性投光器により投影対象物に投影された指示光点との相対距離を算出し、算出した相対距離に基づいて指示光点の位置を算出する位置算出手段と、
算出された指示光点の位置に応じて作成される飛行経路に基づいて自機体の飛行を制御する飛行制御手段と
を備える。
無人航空機と、
光を出力する指向性投光器と、
管制装置と
を備え、
無人航空機は、
指向性投光器が出力する光を投影する投影対象物を撮影する撮影手段を含み、
管制装置は、
撮影手段による撮影画像を用いて、無人航空機の位置と指向性投光器により投影対象物に投影された指示光点との相対距離を算出し、算出した相対距離に基づいて指示光点位置を算出する位置算出手段と、
算出された指示光点の位置に応じて作成される飛行経路に基づいて無人航空機の飛行を制御する飛行制御手段と
を含む。
光を出力する指向性投光器により出力される光を投影する投影対象物を撮影し、
撮影画像を用いて、無人航空機と指向性投光器により前記投影対象物に投影された指示光点との相対距離を算出し、
算出した相対距離に基づいて指示光点の位置を算出し、
算出された指示光点の位置に応じて作成される飛行経路に基づいて無人航空機の飛行を制御する。
コンピュータに、
光を出力する指向性投光器により出力される光を投影する投影対象物が撮影された撮影画像を用いて、無人航空機と指向性投光器により投影対象物に投影された指示光点との相対距離を算出し、算出した相対距離に基づいて指示光点位置を算出する処理、および、
算出された指示光点の位置に応じて作成される飛行経路に基づいて無人航空機の飛行を制御する処理
を実行させるコンピュータプログラムが記憶されている。
図1は、本発明に係る第1実施形態の無人航空機の構成を示すブロック図である。第1実施形態の無人航空機2は、カメラ3と、距離センサ4と、光点位置算出器5と、飛行エリア検知器6と、禁止エリア検知器7と、トレース経路作成器8と、最短経路作成器9と、飛行制御器10とを備えている。具体的には、無人航空機2には、カメラ3および距離センサ4が取り付けられる。無人航空機2の内部に、光点位置算出器5、飛行エリア検知器6、禁止エリア検知器7、トレース経路作成器8、最短経路作成器9および飛行制御器10を備える。
次に、本発明に係る第2実施形態を説明する。第2実施形態では、無人航空機制御システムの一実施形態を示す。図9は、本発明に係る第2実施形態の無人航空機制御システムの構成を示すブロック図である。第2実施形態の無人航空機制御システムは、指向性投光器1と、無人航空機2aと、地上管制装置11とを備えている。また、図10は、第2実施形態の無人航空機制御システムが使用される状況の例を示す説明図である。
以下に、本発明に係る第3実施形態を説明する。
以下に、本発明に係る第4実施形態を説明する。
投影対象物を撮影する撮影部と、
撮影画像を用いて自機***置と指向性投光器により前記投影対象物に投光された指示光点との相対距離を算出し、算出した相対距離に基づいて指示光点位置を算出する位置算出部と、
算出された指示光点位置に応じて作成される飛行経路で自機体の飛行を制御する飛行制御部と
を備える無人航空機。
撮影部は、予め定められた指向性投光器による投光態様を撮影し、
位置算出部は、撮影された投光態様に応じて、飛行エリアおよび禁止エリアの少なくとも一方を算出し、
飛行制御部は、前記禁止エリアを回避し、前記飛行エリアを飛行する飛行経路に基づいて自機体の飛行を制御する
付記1記載の無人航空機。
飛行制御部は、指定された飛行モードに応じて、指示光点の移動軌跡をトレースしながら移動するように自機体の飛行を制御する飛行経路、または、現在の指示光点位置に向かって自機体の飛行を制御する飛行経路のいずれかを選択して作成し、作成した飛行経路で自機体の飛行を制御する
付記1または付記2記載の無人航空機。
飛行制御部は、撮影部の画角内に指示光点が存在しない場合、自機体を上昇、降下または旋回させて、指示光点を撮影部に検出させる
付記1から付記3のうちのいずれか1項に記載の無人航空機。
位置算出部は、現在の自機***置を検出し、検出された自機***置に相対距離を加算して、指示光点位置を算出する
付記1から付記4のうちのいずれか1項に記載の無人航空機。
飛行制御部は、禁止エリアまでの距離、現在の自機体の移動速度および傾きに基づいて、飛行の安全性を示す安全率を算出し、算出した安全率が予め定めた許容安全率を超えるように自機体の飛行を制御する
付記1から付記5のうちのいずれか1項に記載の無人航空機。
投影対象物までの距離情報を取得する距離取得装置を備え、
撮影部は、前記距離取得装置から得られる距離情報を用いて、機体方位のずれにより発生する撮影画像の歪みを補正する
付記1から付記6のうちのいずれか1項に記載の無人航空機。
無人航空機と、前記無人航空機を外部から操縦する操縦者によって使用される指向性投光器と、管制装置とを備え、前記無人航空機は、投影対象物を撮影する撮影部を含み、前記管制装置は、撮影画像を用いて前記無人航空機と前記指向性投光器により前記投影対象物に投光された指示光点との相対距離を算出し、算出した相対距離に基づいて指示光点位置を算出する位置算出部と、算出された指示光点位置に応じて作成される飛行経路で前記無人航空機の飛行を制御する飛行制御部とを含むことを特徴とする無人航空機制御システム。
撮影部は、予め定められた指向性投光器による投光態様を撮影し、位置算出部は、撮影された投光態様に応じて、飛行エリアおよび禁止エリアの少なくとも一方を算出し、飛行制御部は、前記禁止エリアを回避し、前記飛行エリアを飛行する飛行経路に基づいて無人航空機の飛行を制御する付記8記載の無人航空機制御システム。
無人航空機の飛行を制御する飛行制御方法であって、投影対象物を撮影し、撮影画像を用いて前記無人航空機と指向性投光器により前記投影対象物に投光された指示光点との相対距離を算出し、算出した相対距離に基づいて指示光点位置を算出し、算出された指示光点位置に応じて作成される飛行経路で前記無人航空機の飛行を制御することを特徴とする飛行制御方法。
予め定められた指向性投光器による投光態様を撮影し、撮影された投光態様に応じて、飛行エリアおよび禁止エリアの少なくとも一方を算出し、前記禁止エリアを回避し、前記飛行エリアを飛行する飛行経路に基づいて無人航空機の飛行を制御する付記10記載の飛行制御方法。
無人航空機の飛行を制御するコンピュータに適用される飛行制御プログラムであって、前記コンピュータに、投影対象物を撮影する撮影処理、撮影画像を用いて前記無人航空機と指向性投光器により前記投影対象物に投光された指示光点との相対距離を算出し、算出した相対距離に基づいて指示光点位置を算出する位置算出処理、および、算出された指示光点位置に応じて作成される飛行経路で前記無人航空機の飛行を制御する飛行制御処理を実行させるための飛行制御プログラム。
コンピュータに、撮影処理で、予め定められた指向性投光器による投光態様を撮影させ、位置算出処理で、撮影された投光態様に応じて、飛行エリアおよび禁止エリアの少なくとも一方を算出させ、飛行制御処理で、前記禁止エリアを回避し、前記飛行エリアを飛行する飛行経路に基づいて無人航空機の飛行を制御させる付記12記載の飛行制御プログラム。
2 無人航空機
3 カメラ
4 距離センサ
5 光点位置算出器
6 飛行エリア検知器
7 禁止エリア検知器
8 トレース経路作成器
9 最短経路作成器
10 飛行制御器
11 地上管制装置
Claims (13)
- 光を出力する指向性投光器により出力される光を投影する投影対象物を撮影する撮影手段と、
前記撮影手段による撮影画像を用いて、自機***置と前記指向性投光器により前記投影対象物に投影された指示光点との相対距離を算出し、算出した相対距離に基づいて前記指示光点の位置を算出する位置算出手段と、
算出された前記指示光点の位置に応じて作成される飛行経路に基づいて自機体の飛行を制御する飛行制御手段と
を備える無人航空機。 - 前記撮影手段により撮影された前記指示光点に基づいて、飛行が許可される領域である飛行エリアと、飛行が禁止される領域である禁止エリアとのうちの少なくとも一方を検知するエリア検知手段をさらに備え、
前記飛行制御手段は、前記禁止エリアと前記飛行エリアとのうちの検知された一方又は両方を考慮して作成された飛行経路に基づいて自機体の飛行を制御する
請求項1記載の無人航空機。 - 前記飛行制御手段は、前記指示光点の移動軌跡をトレースしながら移動するように自機体の飛行を制御する飛行経路と、前記指示光点に向かって自機体の飛行を制御する飛行経路とのうち、指定された飛行モードに応じた飛行経路に基づいて自機体の飛行を制御する請求項1または請求項2記載の無人航空機。
- 前記飛行制御手段は、撮影手段の画角内に前記指示光点が存在しない場合、自機体を上昇、降下または旋回させることにより、前記指示光点を撮影手段により撮影させる請求項1から請求項3のうちのいずれか1項に記載の無人航空機。
- 前記位置算出手段は、自機体の位置を表す情報を取得し、当該情報に基づいて自機体の位置を検知し、検知した自機体の位置および前記相対距離を利用して、前記指示光点の位置を算出する請求項1から請求項4のうちのいずれか1項に記載の無人航空機。
- 前記飛行制御手段は、飛行が禁止される領域である禁止エリアまでの距離、自機体の移動速度、および、予め定められた基準面に対する自機体の進行方向の傾きに基づいて、飛行の安全性を示す安全率を算出し、算出した安全率が予め定めた基準安全率を超えるように自機体の飛行を制御する請求項1から請求項5のうちのいずれか1項に記載の無人航空機。
- 前記投影対象物までの距離情報を取得する距離取得装置をさらに備え、
前記撮影手段は、前記距離取得装置から得られる距離情報を用いて、前記投影対象物に対する当該撮影手段の光軸の傾きに起因する撮影画像の歪みを補正する
請求項1から請求項6のうちのいずれか1項に記載の無人航空機。 - 無人航空機と、
光を出力する指向性投光器と、
管制装置と
を備え、
前記無人航空機は、
前記指向性投光器が出力する光を投影する投影対象物を撮影する撮影手段を含み、
前記管制装置は、
前記撮影手段による撮影画像を用いて、前記無人航空機の位置と前記指向性投光器により前記投影対象物に投影された指示光点との相対距離を算出し、算出した相対距離に基づいて前記指示光点の位置を算出する位置算出手段と、
算出された指示光点の位置に応じて作成される飛行経路に基づいて前記無人航空機の飛行を制御する飛行制御手段と
を含む無人航空機制御システム。 - 前記無人航空機は、
前記撮影手段により撮影された前記指示光点に基づいて、飛行が許可される領域である飛行エリアと、飛行が禁止される領域である禁止エリアとのうちの少なくとも一方を検知するエリア検知手段をさらに備え、
前記管制装置の前記飛行制御部は、前記禁止エリアと前記飛行エリアとのうちの検知された一方又は両方を考慮して作成された飛行経路に基づいて無人航空機の飛行を制御する
請求項8記載の無人航空機制御システム。 - 光を出力する指向性投光器により出力される光を投影する投影対象物を撮影し、
撮影画像を用いて、無人航空機と前記指向性投光器により前記投影対象物に投影された指示光点との相対距離を算出し、
算出した相対距離に基づいて前記指示光点の位置を算出し、
算出された前記指示光点の位置に応じて作成される飛行経路に基づいて前記無人航空機の飛行を制御する
飛行制御方法。 - 前記撮影画像の前記指示光点に基づいて、飛行が許可される領域である飛行エリアと、飛行が禁止される領域である禁止エリアとのうちの少なくとも一方を検知し、
前記禁止エリアと前記飛行エリアとのうちの検知された一方又は両方を考慮して作成された飛行経路に基づいて自機体の飛行を制御する
請求項10に記載の飛行制御方法。 - 光を出力する指向性投光器により出力される光を投影する投影対象物が撮影された撮影画像を用いて、前記無人航空機と前記指向性投光器により前記投影対象物に投影された指示光点との相対距離を算出し、算出した相対距離に基づいて前記指示光点の位置を算出する処理、および、
算出された前記指示光点の位置に応じて作成される飛行経路に基づいて前記無人航空機の飛行を制御する処理
をコンピュータに実行させるコンピュータプログラムが記憶されているプログラム記憶媒体。 - 前記コンピュータに
前記撮影画像の前記指示光点に基づいて、飛行が許可される領域である飛行エリアと、飛行が禁止される領域である禁止エリアとのうちの少なくとも一方を検知する処理と、
前記禁止エリアと前記飛行エリアとのうちの検知された一方又は両方を考慮して作成された飛行経路に基づいて自機体の飛行を制御する処理と
を実行させるコンピュータプログラムがさらに記憶されている請求項12記載のプログラム記憶媒体。
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