WO2022107758A1 - 無人飛行機制御装置、及び記憶媒体 - Google Patents
無人飛行機制御装置、及び記憶媒体 Download PDFInfo
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- WO2022107758A1 WO2022107758A1 PCT/JP2021/042064 JP2021042064W WO2022107758A1 WO 2022107758 A1 WO2022107758 A1 WO 2022107758A1 JP 2021042064 W JP2021042064 W JP 2021042064W WO 2022107758 A1 WO2022107758 A1 WO 2022107758A1
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- aerial vehicle
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Definitions
- the present invention relates to an unmanned aerial vehicle operating in a factory and a storage medium readable by a computer.
- Patent Document 1 describes a robot, a robot control device that controls the robot, a teaching device that sends a teaching signal of the robot to the robot control device in response to an operator's teaching input, an unmanned airplane provided with an image pickup device, and a teaching signal.
- a robot system comprising a flight control unit that controls the flight of an unmanned airplane so that an image pickup apparatus continuously acquires an image of an object necessary for teaching based on a teaching signal while the robot operates according to the above. It has been disclosed.
- robots may be used inside fences for safety reasons.
- Patent Document 1 by controlling the flight of an unmanned aerial vehicle based on a teaching signal that controls the robot while the robot is operating, even in an environment where it is difficult for the operator to directly see the movement of the robot from outside the fence. Can teach robots.
- Unmanned aerial vehicles are used for warehouse inventory management and factory condition monitoring.
- Unmanned aerial vehicles are flying objects and have flexible moving areas, so they are expected to be used in new ways.
- the unmanned aerial vehicle control device which is one aspect of the present disclosure, is an unmanned aerial vehicle control device for unmanned aerial vehicles operating in a factory, and provides identification information of mechanical equipment and work contents that the unmanned aerial vehicle can perform on the mechanical equipment.
- the work content acquisition unit and the work content acquisition unit that acquire the available work storage unit to be stored, the identification information of the machine and equipment to be worked on by the unmanned aerial vehicle, and the work content to be executed by the unmanned aerial vehicle on the machine and equipment. It is equipped with a flight plan creation unit that creates a flight plan of the unmanned aerial vehicle based on the identification information of the mechanical equipment and the work content that the unmanned aerial vehicle performs on the mechanical equipment, and a flight plan output unit that outputs the flight plan to the unmanned aerial vehicle.
- the storage medium which is one aspect of the present disclosure, stores the identification information of the mechanical equipment and the work contents that the unmanned aerial vehicle can perform on the mechanical equipment by being executed by one or more processors, and the unmanned aerial vehicle Acquire the machine equipment to be worked and the work content that the unmanned aerial vehicle performs on the machine equipment, and make a flight plan for the unmanned aerial vehicle based on the acquired identification information of the machine equipment and the work content that the unmanned aerial vehicle performs on the machine equipment.
- an unmanned aerial vehicle can be utilized.
- FIG. 1 is a conceptual diagram of an unmanned aerial vehicle control system 100.
- the unmanned airplane control system 100 includes one or a plurality of unmanned airplanes 2, a personal computer (PC) 1 that creates control information of the unmanned airplane 2, and a wireless communication device 3 that mediates communication between the unmanned airplane 2 and the PC 1.
- the unmanned aerial vehicle control system 100 is provided in a space where a plurality of mechanical equipments 4 such as factories are arranged.
- the unmanned aerial vehicle 2 moves in the factory and performs work according to the control information from the PC 1.
- the device for creating control information for controlling an unmanned airplane may be an information processing device other than PC1, for example, a server, a mobile terminal, or a numerical control device.
- the unmanned aerial vehicle 2 has the hardware configuration shown in FIG.
- the CPU 211 included in the unmanned aerial vehicle 2 is a processor that controls the unmanned aerial vehicle 2 as a whole.
- the CPU 211 reads the system program stored in the ROM 212 via the bus, and controls the entire unmanned aerial vehicle 2 according to the system program.
- the RAM 213 temporarily stores temporary calculation data, various data input from the outside, and the like.
- the non-volatile memory 214 is composed of, for example, a memory backed up by a battery (not shown), and the storage state is maintained even when the power supply 221 of the unmanned aerial vehicle 2 is turned off.
- the non-volatile memory 214 stores data read from an external device (not shown), data acquired from a communication device via a network, and the like.
- the data stored in the non-volatile memory 214 may be expanded in the RAM 213 at the time of execution / use of the unmanned aerial vehicle 2. Further, various system programs such as known programs are written in advance in the ROM 212.
- the sensor 215 is an acceleration sensor, an angular velocity sensor, an electronic compass, a barometric pressure sensor, a distance sensor, or the like.
- the electronic compass obtains the direction of the unmanned aerial vehicle by magnetic force.
- the distance sensor is, for example, a LIDAR (Light Detection and Ringing) sensor, and measures scattered light with respect to laser irradiation that emits in a pulse shape.
- the CPU 211 mounted on the unmanned aerial vehicle 2 functions as, for example, a flight controller or a companion controller.
- the number of CPUs 211 is not necessarily one, and a plurality of CPUs 211 may be mounted according to the function.
- the CPU 211 as a flight controller controls the attitude of the aircraft to an appropriate position based on the information acquired from the sensor.
- the CPU 211 calculates the inclination and movement of the unmanned airplane 2 based on the amount of change in the speed of the unmanned airplane 2 acquired by the acceleration sensor, and the CPU 211 calculates the inclination and movement of the unmanned airplane 2 based on the amount of change in the rotational speed of the unmanned airplane 2 acquired from the angular velocity sensor.
- the altitude of the unmanned airplane 2 is calculated from the pressure of the air acquired from the barometric pressure sensor by calculating the change in the inclination and the direction of the airplane.
- the CPU 211 as a companion controller also calculates two-dimensional or three-dimensional point group data based on the value of the confusion light acquired by the lidar sensor.
- the point cloud data is an environmental map around the unmanned aerial vehicle 2.
- the CPU 211 can also sequentially estimate the amount of movement of the unmanned aerial vehicle 2 by matching the point clouds with each other.
- the self-position can be estimated by integrating the amount of movement.
- the LIDAR sensor for estimating the self-position of the unmanned aerial vehicle 2
- the values acquired from the acceleration sensor and the angular velocity sensor may be combined.
- an infrared sensor, an ultrasonic sensor, or a radio wave radar sensor may be used as the distance sensor.
- a camera or an image sensor can also be used as a distance sensor.
- an AR marker, AR tag, QR code (registered trademark), etc. can also be used together.
- a distance sensor there is also a method of estimating a self-position using a beacon.
- the self-position estimation method of the unmanned aerial vehicle 2 is not particularly limited.
- the image processing unit 216 converts the image captured by the camera 217 into appropriate data and outputs it to the CPU 211.
- the camera 217 of the unmanned aerial vehicle 2 mainly captures the mechanical equipment 4 selected by the user. As a result, the state of the factory can grasp the value of the instrument and the operating state of the mechanical equipment 4.
- the wireless communication unit 218 transmits / receives data to / from the PC 1 via the wireless communication device 3.
- the PC 1 transmits a command to the unmanned aerial vehicle 2.
- the directive includes a flight plan for unmanned aerial vehicle 2.
- the unmanned aerial vehicle 2 carries out the work according to the flight plan from the PC1.
- the ESC (Electric Speed Controller) 219 also known as an amplifier, is attached to each propeller.
- the ESC219 controls the rotation speed of the motor according to the instruction from the CPU 211.
- a pressure difference is generated above and below the propeller 220, and lift is generated by this pressure difference, and the unmanned airplane 2 flies.
- Lift is a force that works upward to push up the unmanned aerial vehicle 2.
- the unmanned aerial vehicle 2 can change the speed and the moving direction by changing the rotation speed of the propeller 220.
- the unmanned airplane 2 has hovering (lift and gravity become equal), ascending (the rotation speed of the four motors increases), and descending (the rotation speed of the four motors decreases).
- the PC1 has the hardware configuration shown in FIG.
- the CPU 111 included in the PC 1 is a processor that controls the PC 1 as a whole.
- the CPU 111 reads out the system program stored in the ROM 112 via the bus 122, and controls the entire PC 1 according to the system program.
- Temporary calculation data, display data, various data input from the outside, and the like are temporarily stored in the RAM 113.
- the non-volatile memory 114 is composed of, for example, a memory backed up by a battery (not shown), an SSD (Solid State Drive), or the like, and the storage state is maintained even when the power of the PC 1 is turned off.
- the non-volatile memory 114 stores data read from the external device 125 via the interface 115, data input via the input unit 124, data acquired from an unmanned airplane via a wireless communication device, and the like. ..
- the data stored in the non-volatile memory 114 may be expanded in the RAM 113 at the time of execution / use. Further, various system programs such as known programs are written in advance in the ROM 112.
- each data read on the memory, data obtained as a result of executing the program, etc. are output and displayed via the interface 117.
- the input unit 124 composed of a keyboard, a pointing device, or the like passes the programmer's input to the CPU 111 via the interface 118.
- FIG. 4 is a block diagram of a PC.
- the PC 1 has a self-position acquisition unit 11 that acquires the self-position of the unmanned airplane 2, an environment map acquisition unit 12 that acquires the environment map of the unmanned airplane 2, and an available work storage unit that stores the work contents that can be executed by the unmanned airplane 2. 13.
- Work content acquisition unit 14 to acquire the work content to be executed by the unmanned airplane 2, flight plan creation unit 15 to create a flight plan to carry out the work, flight plan output unit 16 to output the flight plan to the unmanned airplane 2.
- the self-position acquisition unit 11 acquires the self-position of the unmanned aerial vehicle 2 via the wireless communication device 3.
- the self-position of the unmanned airplane 2 is the position of the unmanned airplane 2 calculated by the unmanned airplane 2 based on the values of the acceleration, the angular velocity sensor, and the distance sensor. If a base 5 (see FIG. 8) that makes the unmanned aerial vehicle 2 stand by is prepared, the coordinates of the unmanned aerial vehicle 2 can be calculated from the position of the base 5.
- the environmental map acquisition unit 12 acquires the environmental map of the unmanned aerial vehicle 2 via the wireless communication device 3.
- the environmental map is point cloud data around the unmanned aerial vehicle 2.
- the environmental map is created based on the values of the distance sensor.
- the self-position of the unmanned aerial vehicle 2 can also be estimated by using radio waves such as a beacon and Wi-Fi. When the strength of the radio wave of the beacon or Wi-Fi is used, the coordinates of the unmanned aerial vehicle 2 can be grasped from the radio wave, so the environmental map is not always necessary.
- the environmental map is created, the situation around the unmanned aerial vehicle 2 can be acquired in real time, and unexpected obstacles and the like can be detected.
- the available work storage unit 13 stores the mechanical equipment 4 in which the unmanned aerial vehicle 2 performs work and the work contents that can be executed for the mechanical equipment 4.
- the mechanical equipment 4 has a different shape and function depending on the type and the manufacturer.
- the work position (position and direction in which the unmanned aerial vehicle 2 works) and the work content of the unmanned aerial vehicle 2 also differ depending on the mechanical equipment 4.
- the available work storage unit 13 stores the work contents of the unmanned aerial vehicle 2 for each mechanical device 4.
- the work content acquisition unit 14 acquires the work content to be executed by the mechanical equipment 4 to be worked and the unmanned aerial vehicle 2, and stores it in the work content storage unit 18.
- the work content performed by the unmanned aerial vehicle 2 is mainly selected by the user.
- FIG. 5 is an example of the work content input screen 30.
- the work content input screen 30 of FIG. 5 is provided with a work target selection area 31 for selecting the machine equipment 4 to be worked, and a work content selection area 32 for selecting the work content.
- the work target selection area 31 it is possible to select an "identification number" which is identification information for identifying the machine / equipment 4.
- the work content selection area 32 is displayed.
- "work content" can be selected.
- a "work name” is given to each "work content” in FIG. If the desired work content does not exist, the user may create a new work content.
- the user may create a new work content.
- create work content specify the work position using CAD (Computer Aided Design), etc., and select the work content (shooting, loading of transported objects, pressing buttons, etc.) that can be performed by the unmanned aerial vehicle 2. do.
- CAD Computer Aided Design
- the flight plan creation unit 15 determines the work position of the unmanned aerial vehicle 2 based on the identification information of the mechanical equipment 4 acquired by the work content acquisition unit 14 and the work content, and executes the work at the determined work position. create. It is assumed that the working position of each machine / equipment 4 is preset as three-dimensional coordinates.
- the three-dimensional map storage unit 19 stores a three-dimensional map of the factory including the working position.
- the flight plan creation unit 15 associates the environmental map of the unmanned airplane 2 with the three-dimensional map based on the feature points and the like, maps the self-position of the unmanned airplane 2 to the coordinate system of the three-dimensional map, and maps the three-dimensional map. Create a flight plan for the unmanned aircraft 2 based on the self-position and the working position of the unmanned aircraft 2 in.
- the flight plan creation unit 15 creates a flight route toward the work position of the selected mechanical equipment 4.
- the flight plan creation unit 15 creates a route for continuous work based on the remaining battery level of the unmanned aerial vehicle 2 and the plurality of work positions.
- the unmanned aerial vehicle 2 performs autonomous flight according to the flight plan created by the flight plan creation unit 15.
- the flight plan creation unit 15 monitors the self-position of the unmanned aerial vehicle 2 and the environmental map, tracks the position of the unmanned aerial vehicle 2, and updates the flight plan as necessary.
- the flight plan output unit 16 outputs a flight plan to the unmanned aerial vehicle 2 via the wireless communication device 3.
- the flight plan may be stored in the non-volatile memory 214 of the unmanned aerial vehicle 2.
- the flight plan may include the flight start time and the like.
- the flight plan including the flight start time includes a regular flight plan and an irregular flight plan.
- the regular flight plan is a regular inspection of the mechanical equipment 4.
- the periodic flight plan may be stored in advance in the non-volatile memory 214 or the like of the unmanned aerial vehicle 2, and the work may be automatically started at a predetermined time. If periodic inspections are performed automatically, inspection omissions will be eliminated and the burden on the user can be reduced. In addition, it is possible to increase the inspection frequency, and it is possible to detect defects at an early stage.
- the work result acquisition unit 17 acquires the work result of the unmanned aerial vehicle 2.
- the work results include images obtained as a result of the work, such as images taken by the camera 217 of the unmanned aerial vehicle 2, and the success or failure of physical work (transportation, button pressing, etc.) of the unmanned aerial vehicle.
- FIG. 6 is an unmanned aerial vehicle 2 having a button pressing function. When pressing the button provided on the mechanical equipment 4 on the unmanned aerial vehicle 2, the position of the unmanned aerial vehicle 2 is adjusted based on the camera image, and the selected button is pressed using the pointer 218. The button press is confirmed by the camera 217, and the unmanned aerial vehicle 2 outputs the success of the work to the PC1.
- the unmanned aerial vehicle control method of PC1 will be described with reference to the flowchart of FIG. 7.
- the PC 1 reads out a list of machine / equipment 4 that can be selected as a work target from the available work storage unit 13, presents it to the user, and acquires an identification number (identification information) of the machine / equipment 4 selected by the user (step S1).
- the PC 1 displays a list of work contents that can be executed by the unmanned aerial vehicle 2 for the selected mechanical equipment 4, and acquires the work contents of the unmanned aerial vehicle 2 (step S2).
- the flight plan creation unit 15 creates a flight plan based on the work position of the mechanical equipment 4 to be worked (step S3).
- the flight plan output unit 16 outputs the flight plan to the unmanned aerial vehicle 2 via the wireless communication device 3 (step S4).
- the unmanned aerial vehicle 2 performs autonomous flight according to the flight plan (step S5), and calculates its own position and environmental map.
- the self-position acquisition unit 11 of the PC 1 acquires the self-position of the unmanned aerial vehicle 2, and the environment map acquisition unit 12 acquires the environment map (step S6).
- the flight plan creation unit 15 maps the self-position of the unmanned airplane 2 and the environmental map to the three-dimensional map of the factory, and updates the flight plan (step S7).
- the flight plan output unit 16 outputs the updated flight plan to the unmanned aerial vehicle 2 (step S8).
- step S9 When the unmanned aerial vehicle 2 reaches the work position (step S9; Yes), the unmanned aerial vehicle 2 executes the work acquired in step S2 (step S10). Until the unmanned aerial vehicle 2 reaches the working position (step S9; No), the processes of steps S6 to S9 are repeated.
- the unmanned aerial vehicle control system 100 of the first disclosure allows the user to select the mechanical equipment 4 to be worked on and the work content for each mechanical equipment 4. Then, the unmanned aerial vehicle control system 100 causes the unmanned aerial vehicle 2 to perform the work selected by the user for the mechanical equipment 4 selected by the user. ..
- the mechanical equipment 4 has a different shape and function depending on the type and the manufacturer.
- the work content of the unmanned aerial vehicle 2 also differs depending on the mechanical equipment 4. For example, machine tools and robots, which are machines installed in factories, have different shapes, and work contents and work positions are different.
- FIG. 8 shows an example of the layout of a factory.
- various machines such as a press machine, a chiller, a compressor, a lathe, a chamfering machine, a milling machine, a cutting machine, a drilling machine, and a welding machine are installed.
- the factory has various equipment such as air conditioning equipment, ventilation equipment, flameproof smoke exhaust equipment, inspection equipment, piping equipment, and clean room equipment. These facilities also have different positions such as alarm lamps and operation screens.
- Many mechanical equipments 4 are arranged in the factory, and it is necessary to perform various different operations for each mechanical equipment 4.
- the available work storage unit 13 of the PC 1 of the unmanned aerial vehicle control system 100 of the present disclosure stores the work position and the work content of the unmanned aerial vehicle 2 for each mechanical device 4.
- the user of the unmanned aerial vehicle control system 100 can easily instruct the work of the unmanned aerial vehicle 2 by simply selecting the mechanical equipment 4 and the work contents without being aware of the structure of the mechanical equipment 4.
- the user can set the work position and work content independently. If a three-dimensional map is used, the working position of the unmanned aerial vehicle 2 can be easily set.
- the PC 1 of the second disclosure includes a reference position storage unit 20, and the flight plan creation unit 15 creates a flight plan so as to pass through the reference position.
- the reference position storage unit 20 stores the reference position.
- the reference position is a position that serves as a base point of a work position set in each machine / equipment 4. If the arrangement of the mechanical equipment 4 in the factory is known, the reference position of each mechanical equipment 4 is determined, and if the reference position is determined, the working position is also determined.
- the reference position storage unit 20 also records a flight path from the reference position to the work position and work contents at the work position (shooting, placing a transported object, pressing a button, etc.).
- Information such as the reference position of each machine / equipment 4, the work position based on the reference position, and the work content may be created in advance by the manufacturer of the machine / equipment 4 and provided as an option when the machine / equipment 4 is sold. good. If the desired work content does not exist, the user may create a new work content.
- creating work content specify the work position using a 3D map or CAD (Computer Aided Design), and work content that can be carried out by an unmanned aerial vehicle (shooting, loading of cargo, pressing buttons, etc.) ) Is selected.
- CAD Computer Aided Design
- the flight plan creation unit 15 creates a flight plan based on the work content acquired by the work content acquisition unit 14 and the reference position stored in the reference position storage unit 20.
- the reference position can be calculated from the arrangement of the mechanical equipment 4 on the three-dimensional map.
- the working position can be calculated from the reference position.
- the user can easily instruct the unmanned aerial vehicle 2 to work regardless of the structure of the mechanical equipment 4 simply by selecting the mechanical equipment 4 and the work contents.
- the unmanned airplane 2 is the reference of each machine / equipment 4 which is the machine A, the machine B, the machine C, the machine D, and the machine E, as shown by the broken line arrow in FIG. Fly to pass the position.
- the flight path from the reference position of each mechanical device 4 to the work target is predetermined as shown by the solid arrow.
- the reference position storage unit 20 stores the relative position of the work position with respect to the reference position and the work content for each machine / equipment 4.
- the unmanned aerial vehicle control method of PC1 will be described with reference to the flowchart of FIG.
- the PC 1 reads out a list of machine / equipment 4 that can be selected as a work target from the available work storage unit 13, presents it to the user, and acquires the identification information of the machine / equipment 4 selected by the user (step S11).
- the PC 1 displays a list of work contents that can be executed by the unmanned aerial vehicle 2 for the selected mechanical equipment 4, and acquires the work contents of the unmanned aerial vehicle 2 (step S12).
- the flight plan creation unit 15 creates a flight plan based on the work position of the mechanical equipment 4 to be worked (step S13).
- the flight plan output unit 16 outputs the flight plan to the unmanned aerial vehicle 2 via the wireless communication device 3 (step S14).
- the unmanned aerial vehicle 2 performs autonomous flight according to the flight plan (step S15), and calculates its own position and the environmental map.
- the self-position acquisition unit 11 of the PC 1 acquires the self-position of the unmanned aerial vehicle 2, and the environment map acquisition unit 12 acquires the environment map (step S16).
- the flight plan creation unit 15 maps the self-position of the unmanned airplane 2 and the environmental map to the three-dimensional map of the factory, and updates the flight plan (step S17).
- the flight plan output unit 16 outputs the updated flight plan to the unmanned aerial vehicle 2 (step S18).
- step S19; Yes When the unmanned aerial vehicle 2 reaches the reference position of the mechanical equipment 4 (step S19; Yes), the flight plan creation unit 15 changes the flight route from the reference position stored in the reference position storage unit 20 to the work position to the unmanned aerial vehicle 2. Output (step S20). Until the unmanned aerial vehicle 2 reaches the reference position (step S19; No), the processes of steps S15 to S19 are repeated.
- the unmanned aerial vehicle 2 continues autonomous flight (step S21) and moves from the reference position to the working position.
- step S22; Yes the unmanned aerial vehicle 2 executes the work acquired in step S12 (step S23). Until the unmanned aerial vehicle 2 reaches the working position (step S22; No), the autonomous flight of step S21 is continued.
- the unmanned aerial vehicle control system 100 of the second disclosure manages a reference position, a work position, and a work content for each mechanical device 4.
- the manufacturer of the machine equipment 4 can distribute the reference position, the work position, and the work content of the unmanned aerial vehicle 2 to the user as an option for the machine equipment 4 of the company.
- the user can add work contents as needed.
- By registering the work content of the unmanned aerial vehicle 2 in the cloud or the like other users can utilize the registered work content. Further, by using the work position based on the reference position for each machine / equipment 4, even if the layout of the factory is changed, the set work content can be inherited as it is.
- the image processing result is used for the identification of the mechanical equipment 4 instead of the coordinates as in the three-dimensional map.
- the image processing unit 216 of the unmanned airplane 2 of the second disclosure is an advanced image processing device such as an AI (artificial intelligence) image processing chip, and stores the feature points of the mechanical equipment 4 to be worked on, and a camera.
- the mechanical equipment 4 can be identified from the image captured by the 217, the point group data of the radar, and the like. Further, the image captured by the unmanned aerial vehicle 2 and the point cloud data of the radar may be transmitted to the PC 1, and the image processing unit (not shown) of the PC 1 may identify the mechanical equipment 4 existing around the unmanned aerial vehicle 2.
- the flight plan creation unit 15 reads out the work position and work content of the mechanical equipment 4 identified by the image processing unit 216 from the work content storage unit 18 and creates a flight plan.
- the unmanned aerial vehicle 2 identifies the mechanical equipment 4, and if the mechanical equipment 4 to be worked is around the unmanned aerial vehicle 2, the work is performed.
- the unmanned aerial vehicle control method of the third disclosure will be described with reference to the flowchart of FIG.
- the mechanical equipment 4 is identified using the image captured by the camera 217, but an identification method other than the camera 217 may be used.
- the PC 1 reads out a list of machine / equipment 4 that can be selected as a work target from the available work storage unit 13, presents it to the user, and acquires the identification information of the machine / equipment 4 selected by the user (step S31).
- the PC displays a list of work contents that can be executed by the unmanned aerial vehicle 2 for the selected mechanical equipment 4, and acquires the work contents of the unmanned aerial vehicle 2 (step S32).
- the unmanned aerial vehicle 2 performs autonomous flight (step S33).
- the unmanned aerial vehicle 2 acquires an image captured by the camera 217 (step S34).
- the image processing unit 216 identifies the mechanical equipment 4 by using a technique such as image recognition (step S35).
- step S36 When the machine / equipment 4 to be worked selected in step S31 identifies the unmanned aerial vehicle 2 (step S36; Yes), the work content is read from the work content storage unit 18, and the unmanned aerial vehicle 2 performs the work selected in step S32. It is carried out (step S37). If there is no mechanical equipment 4 to be worked on around the unmanned aerial vehicle 2 (step S36; No), the process returns to step S33.
- the mechanical equipment 4 is identified by using the sensor data such as an image, and the work corresponding to the mechanical equipment 4 is carried out.
- the work can be carried out without the position information of the mechanical equipment 4 such as the three-dimensional map.
- the unmanned aerial vehicle 2 of the fourth disclosure starts work triggered by an alarm.
- the numerical control device 6 is the unmanned aerial vehicle control device instead of the PC1.
- the numerical control device 6 is a control device that controls mechanical equipment 4 such as an industrial machine.
- the numerical control device 6 includes a processor like the PC 1, and controls the mechanical equipment 4 by executing a program.
- the numerical control device 6 of the fourth disclosure includes an alarm detection unit 21 and a work conversion unit 22.
- a PLC (Programmable Logic Controller) or the like that performs sequence control with a machine tool to be controlled or another machine is connected to the numerical control device 6.
- the alarm detection unit 21 detects an alarm from a numerical control device 6, a machine tool, a sensor connected to a PLC, another machine, or the like.
- the numerical control device 6 and the PLC are connected to a sensor or the like, and can detect an abnormality generated in a factory.
- the work conversion unit 22 converts the work performed by the unmanned aerial vehicle 2 when an alarm occurs into the work for each mechanical device 4.
- the work conversion unit 22 is set with information on what kind of work is to be performed on which machine / equipment 4 when each alarm is generated. In the example of FIG. 14, when the “alarm 1” occurs, the “work command 2” is executed.
- the work command is associated with the machine / equipment 4, and in order to execute the “work command 2”, it is possible to determine which work is to be performed on which machine / equipment 4. For example, when an alarm is generated due to heat generation of the mechanical equipment 4, the identification information of the mechanical equipment 4 to be worked when this alarm is generated and the work contents of the unmanned airplane 2 with respect to the mechanical equipment 4 (for example, photographing of the heat generation site). And the heat source check with an infrared sensor) can be determined. In addition, in factories, long-lasting equipment such as air conditioning equipment, electricity supply equipment, and water and sewage equipment are often not digitized. When alarms such as temperature, humidity, and voltage in the factory are detected, the positions of the analog meters of those mechanical equipments are read out and the analog meters are photographed.
- the unmanned aerial vehicle control system 100 of the fourth disclosure will be described with reference to the flowchart of FIG.
- the numerical control device 6 detects an alarm (step S41).
- the numerical control device 6 converts the work performed by the unmanned aerial vehicle 2 when an alarm occurs into work contents for each mechanical device 4 (step S42).
- the flight plan creation unit 15 creates a flight plan based on the mechanical equipment 4 to be worked and the work contents (step S43).
- the flight plan output unit 16 outputs the flight plan to the unmanned aerial vehicle 2 via the wireless communication device 3 (step S44).
- the unmanned aerial vehicle 2 performs autonomous flight according to the flight plan (step S45), and calculates its own position and the environmental map.
- the self-position acquisition unit 11 of the numerical control device 6 acquires the self-position of the unmanned aerial vehicle, and the environment map acquisition unit 12 acquires the environment map (step S46).
- the flight plan creation unit 15 maps the self-position of the unmanned airplane 2 and the environmental map to the three-dimensional map of the factory, and updates the flight plan (step S47).
- the flight plan output unit 16 outputs the updated flight plan to the unmanned aerial vehicle 2 (step S48).
- the unmanned aerial vehicle 2 reaches the work position of the mechanical equipment 4 to be worked (step 49; Yes)
- the unmanned aerial vehicle 2 executes the work to be executed when the alarm is generated (step S50).
- the processes of steps S46 to S49 are repeated until the unmanned aerial vehicle 2 reaches the working position.
- the unmanned aerial vehicle 2 automatically executes the work corresponding to the alarm by using the alarm detected by the numerical control device 6 or the PLC as a trigger. By confirming the site where the alarm is generated, the unmanned aerial vehicle 2 can quickly respond to the alarm. In addition, it is not necessary for humans to check many sites and instruments at once, which reduces the burden on the user.
- a plurality of information processing devices may perform distributed processing such as detection of an alarm, creation of a flight plan, and transmission of a flight plan to the unmanned airplane 2. For example, the processing can be distributed such that the work of the unmanned aerial vehicle 2 is registered and the flight plan is created by the PC 1, the alarm is detected by the numerical control device 6, and the flight plan is transmitted by the PLC.
- the unmanned aerial vehicle 2 is controlled by the control program of the numerical control device 6.
- the numerical control device 6 controls to store the M code storage unit 23, the M code description unit 24, and the control program including the M code. It includes a program storage unit 25 and an M code execution unit 26 that executes the M code described in the control program.
- the work content acquisition unit 14 of the numerical control device 6 acquires the work content to be executed by the mechanical equipment 4 to be worked and the unmanned aerial vehicle 2.
- the M code storage unit 23 stores the M code.
- the M code is associated with the work content that can be executed by the unmanned aerial vehicle 2 stored in the available work storage unit 13.
- the M code is also called an auxiliary function code and is a code that can be written in the control program of the numerical control device 6.
- the numerical control device 6 controls the unmanned aerial vehicle 2 by using the M code of the control program as a trigger.
- the M code includes "program stop (pause): M00", “optional stop: M01”, “program end: M02, M30", “tool change: M06", "workpiece change: M60” and the like.
- the M code can be created by the user as well as the existing one. Therefore, the required M code can be created independently.
- the created M code may be stored in the M code storage unit 24.
- the M code description unit 24 reads the M code associated with the work content acquired by the work content acquisition unit 14 from the M code storage unit 23, and describes the M code in the control program of the numerical control device 6.
- the control program storage unit 25 stores the control program. In this control program, there are those described by the M code for controlling the unmanned aerial vehicle 2 and those not described.
- the M code execution unit 26 outputs a command to the PLC or the unmanned aerial vehicle 2 and controls the unmanned aerial vehicle 2 when the M code for controlling the unmanned aerial vehicle 2 exists.
- the M code serves as a trigger to start the control of the unmanned aerial vehicle 2.
- the M code storage unit 23 and the M code description unit 24 of the fifth embodiment may be provided in another device such as the PC1 and the control program in which the M code is described may be acquired from the outside.
- One or more information processing devices may perform distributed processing.
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Abstract
Description
本開示の一態様である記憶媒体は、1つ又は複数のプロセッサが実行することにより、機械設備の識別情報と、機械設備に対し無人飛行機が実行可能な作業内容とを記憶し、無人飛行機の作業対象となる機械設備と、無人飛行機が機械設備に実行する作業内容とを取得し、取得した機械設備の識別情報と、無人飛行機が機械設備に実行する作業内容に基づき無人飛行機の飛行計画を作成する、コンピュータが読み取り可能な命令を記憶する。
図1は、無人飛行機制御システム100の概念図である。
無人飛行機制御システム100は、1台又は複数台の無人飛行機2と、無人飛行機2の制御情報を作成するパーソナルコンピュータ(PC)1、無人飛行機2とPC1との通信を仲介する無線通信装置3とを備える。
無人飛行機制御システム100は、工場などの複数の機械設備4が配置された空間に設けられる。無人飛行機2は、PC1からの制御情報に従い、工場内を移動し、作業を行う。
なお、無人飛行機を制御する制御情報を作成する装置は、PC1以外の情報処理装置、例えば、サーバや携帯端末、数値制御装置でもよい。
なお、LIDARセンサの代わりに赤外線センサ、超音波センサ、電波によるレーダセンサを距離センサとして用いてもよい。LIDARセンサの代わりにカメラやイメージセンサも距離センサとして用いることもできる。カメラを使用する場合は、ARマーカやARタグ、QRコード(登録商標)などを併用することもできる。距離センサを使用しない例として、ビーコンを利用して自己位置を推定する方法もある。本開示では、無人飛行機2の自己位置推定方法については特に限定しない。
無人飛行機2は、プロペラ220の回転数を制御することで、ホバリング(揚力と重力が等しくなる)、上昇(4つのモータの回転数が高くなる)、下降(4つのモータの回転数が低くなる)、前後左右移動(進行方向とは反対の2枚のプロペラの回転数が高くなり進行方向に移動する)、左旋回(右回転のプロペラの回転数が高くなる)、右旋回(左回転のプロペラの回転数が高くなる)などの動作を行う。
PC1が備えるCPU111は、PC1を全体的に制御するプロセッサである。CPU111は、バス122を介してROM112に格納されたシステム・プログラムを読み出し、該システム・プログラムに従ってPC1全体を制御する。RAM113には一時的な計算データや表示データ、及び外部から入力された各種データ等が一時的に格納される。
所望の作業内容が存在しない場合には、ユーザが新たに作業内容を作成してもよい。作業内容を作成する場合には、CAD(Computer Aided Design)などを用いて作業位置を指定し、無人飛行機2が実施可能な作業内容(撮影、運搬物の載置、ボタンの押下など)を選択する。
各機械設備4の作業位置は3次元座標として予め設定されているものとする。3次元地図記憶部19は、作業位置を含む工場の3次元地図を記憶する。飛行計画作成部15は、特徴点などを基に無人飛行機2の環境地図と3次元地図との対応付けを行い、3次元地図の座標系に無人飛行機2の自己位置をマッピングし、3次元地図における無人飛行機2の自己位置と作業位置を基に無人飛行機2の飛行計画を作成する。
無人飛行機2は、飛行開始時間を含む飛行計画には、定期的な飛行計画と、不定期な飛行計画とがある。定期的な飛行計画とは、機械設備4の定期点検などである。定期的な飛行計画は、無人飛行機2の不揮発性メモリ214などに予め記憶しておき、所定の時間になると自動的に作業を開始するようにしてもよい。定期点検などを自動で行うと点検漏れがなくなり、ユーザの負担を軽減することができる。また、点検頻度を上げることも可能であり、不具合を早期に発見することができる。
図6は、ボタン押下機能を備えた無人飛行機2である。無人飛行機2で、機械設備4に備わったボタンを押下する場合には、カメラ画像を基に無人飛行機2の位置を調整し、指示棒218を用いて選択されたボタンを押下する。ボタンの押下をカメラ217で確認し、無人飛行機2は作業の成功をPC1に出力する。
PC1は、利用可能作業記憶部13から作業対象として選択できる機械設備4の一覧を読み出し、ユーザに提示し、ユーザが選択した機械設備4の識別番号(識別情報)を取得する(ステップS1)。PC1は、選択された機械設備4に対して無人飛行機2が実行可能な作業内容の一覧を表示し、無人飛行機2の作業内容を取得する(ステップS2)。
機械設備4は、種類やメーカにより、それぞれ異なる形状や機能を有する。無人飛行機2の作業内容も機械設備4ごとに異なる。例えば、工場に配設される機械である工作機械やロボットは、形状が異なり、作業内容や作業位置が異なる。図8は工場のレイアウト例であるが、この工場には、プレス機械、チラー、コンプレッサ、旋盤、面取機、フライス盤、切断機、ボール盤、溶接機などの様々な機械が配設されている。また、工場には、空調設備や換気設備、防炎排煙設備、検査設備、配管設備、クリーンルーム設備など様々な設備がある。これらの設備もアラームランプや操作画面の位置などがそれぞれ異なる。
工場には、多くの機械設備4が配設され、各機械設備4に対し種々の異なる作業を行う必要がある。本開示の無人飛行機制御システム100のPC1の利用可能作業記憶部13は、無人飛行機2の作業位置と作業内容を、機械設備4ごとに記憶する。無人飛行機制御システム100のユーザは、機械設備4と作業内容を選択するだけで、機械設備4の構造を意識することなく、簡単に無人飛行機2の作業を指示できる。
また、必要な作業が登録されていない場合、ユーザが独自に作業位置や作業内容を設定できる。3次元地図を用いれば、無人飛行機2の作業位置を簡単に設定できる。
第2の開示のPC1は、図9に示すように、基準位置記憶部20を備え、飛行計画作成部15は基準位置を通過するように飛行計画を作成する。
基準位置記憶部20は、基準位置を記憶している。基準位置とは、各機械設備4に設定された作業位置の基点となる位置である。工場内の機械設備4の配置が分かれば、各機械設備4の基準位置が決まり、基準位置が決まれば作業位置も決まる。
基準位置記憶部20には、基準位置から作業位置への飛行経路や、作業位置での作業内容(撮影、運搬物の載置、ボタンの押下など)も記録されている。各機械設備4の基準位置、基準位置を基点とした作業位置、作業内容などの情報は、機械設備4を製造するメーカが予め作成しておき、機械設備4の販売時にオプションとして提供してもよい。所望の作業内容が存在しない場合には、ユーザが新たに作業内容を作成してもよい。作業内容を作成する場合には、3次元地図やCAD(Computer Aided Design)などを用いて作業位置を指定し、無人飛行機が実施可能な作業内容(撮影、運搬物の載置、ボタンの押下など)を選択する。
基準位置を用いて飛行経路を作成した場合、無人飛行機2は、図10の破線の矢印に示すように、機械A、機械B、機械C、機械D、機械Eである各機械設備4の基準位置を通過するように飛行する。各機械設備4の基準位置から作業対象までの飛行経路は、実線の矢印に示すように予め決められている。
通常の倉庫などとは異なり、工場に配置された機械設備4の構造は複雑かつ、作業も多種多用であるため、機械設備4ごとに、作業内容を作成する必要がある。基準位置記憶部20は、基準位置に対する作業位置の相対位置、機械設備4ごとの作業内容を記憶している。
PC1は、利用可能作業記憶部13から作業対象として選択できる機械設備4の一覧を読み出し、ユーザに提示し、ユーザが選択した機械設備4の識別情報を取得する(ステップS11)。PC1は、選択された機械設備4に対して無人飛行機2が実行可能な作業内容の一覧を表示し、無人飛行機2の作業内容を取得する(ステップS12)。
無人飛行機2は、自律飛行を継続し(ステップS21)、基準位置から作業位置に移動する。無人飛行機2は、基準位置から作業位置に到達すると(ステップS22;Yes)、ステップS12で取得した作業を実行する(ステップS23)。無人飛行機2が作業位置に到達するまでは(ステップS22;No)、ステップS21の自律飛行を継続する。
また、必要に応じてユーザが作業内容を追加することができる。無人飛行機2の作業内容をクラウドなどに登録することにより、登録された作業内容を他のユーザが活用することができる。
また、機械設備4ごとの基準位置を基点とした作業位置を使用することにより、工場のレイアウトを変更した場合でも、設定した作業内容をそのまま引き継ぐことができる。
第3の開示では、機械設備4の識別に、3次元地図のような座標ではなく、画像処理結果を用いる。第2の開示の無人飛行機2の画像処理部216は、例えば、AI(人工知能)画像処理チップなどの高度な画像処理装置であり、作業対象の機械設備4の特徴点などを記憶し、カメラ217が撮像した画像やレーダの点群データなどから機械設備4を識別することができる。また、無人飛行機2が撮像した画像やレーダの点群データをPC1に送信し、PC1の画像処理部(図示省略)で無人飛行機2の周囲に存在する機械設備4を識別してもよい。
飛行計画作成部15は、画像処理部216が識別した機械設備4の作業位置と作業内容を作業内容記憶部18から読み出し、飛行計画を作成する。
図12のフローチャートを参照して第3の開示の無人飛行機制御方法について説明する。この例ではカメラ217が撮像した画像を用いて機械設備4を識別するが、カメラ217以外の識別方法を用いてもよい。
PC1は、利用可能作業記憶部13から作業対象として選択できる機械設備4の一覧を読み出し、ユーザに提示し、ユーザが選択した機械設備4の識別情報を取得する(ステップS31)。PCは、選択された機械設備4に対して無人飛行機2が実行可能な作業内容の一覧を表示し、無人飛行機2の作業内容を取得する(ステップS32)。
無人飛行機2の周囲に作業対象となる機械設備4が存在しない場合(ステップS36;No)、ステップS33に戻る。
第4の開示の無人飛行機2は、アラームをトリガとして作業を開始する。第4の開示では、PC1ではなく数値制御装置6が無人飛行機制御装置となる。数値制御装置6は産業用機械などの機械設備4を制御する制御装置である。数値制御装置6はPC1と同様にプロセッサを備えており、プログラムを実行することにより機械設備4を制御する。図13に示すように、第4の開示の数値制御装置6は、アラーム検知部21と、作業変換部22とを備える。数値制御装置6には、制御対象である工作機械や他の機械とのシーケンス制御を行うPLC(Programmable Logic Controller)などが接続されている。
アラーム検知部21は、数値制御装置6や工作機械、PLCに接続されたセンサや他の機械などからアラームを検知する。数値制御装置6やPLCは、センサなどと接続されており、工場で発生した異常を検知することができる。
作業変換部22は、アラーム発生時に無人飛行機2が実行する作業を、機械設備4ごとの作業に変換する。作業変換部22には、各アラームが発生したときに、どの機械設備4に対してどのような作業を行うかという情報が設定されている。図14の例では、「アラーム1」が発生したときに、「作業指令2」を実行する。作業指令は、機械設備4と紐づけられており、「作業指令2」を実行するためには、どの機械設備4にどの作業を行うかを判定することができる。
例えば、機械設備4の発熱によるアラームが発生した場合、このアラームが発生したときに作業対象となる機械設備4の識別情報と、機械設備4に対する無人飛行機2の作業内容(例えば、発熱現場の撮影と赤外線センサでの熱源チェック)が判定できる。また、工場では、空調設備や電気供給設備、上下水道設備などの耐久年数の長い装置はデジタル化されていないことが多い。工場内の温度や湿度、電圧などのアラームが検知された場合には、それらの機械設備のアナログメータの位置などを読み出し、アナログメータの撮影などを行う。
図15のフローチャートを参照して第4の開示の無人飛行機制御システム100について説明する。数値制御装置6はアラームを検知する(ステップS41)。数値制御装置6は、無人飛行機2がアラーム発生時に実行する作業を機械設備4ごとの作業内容に変換する(ステップS42)。飛行計画作成部15は、作業対象となる機械設備4と作業内容とを基に飛行計画を作成する(ステップS43)。飛行計画出力部16は、無線通信装置3を介して、無人飛行機2に飛行計画を出力する(ステップS44)。無人飛行機2は、飛行計画に従い自律飛行を行い(ステップS45)、自己位置と環境地図を算出する。数値制御装置6の自己位置取得部11は無人飛行機の自己位置を取得し、環境地図取得部12は環境地図を取得する(ステップS46)。飛行計画作成部15は、無人飛行機2の自己位置と環境地図を工場の3次元地図にマッピングし、飛行計画の更新を行う(ステップS47)。飛行計画出力部16は、更新した飛行計画を無人飛行機2に出力する(ステップS48)。
無人飛行機2が作業対象の機械設備4の作業位置に到達すると(ステップ49;Yes)、無人飛行機2はアラーム発生時に実行する作業を実行する(ステップS50)。無人飛行機2が作業位置に到達するまでは、ステップS46~S49の処理を繰り返す。
なお、アラームの検知と飛行計画の作成、無人飛行機2への飛行計画の送信などを複数の情報処理装置(PC、数値制御装置、PLC、サーバ、携帯端末など)が分散処理してもよい。例えば、無人飛行機2の作業の登録と飛行計画の作成をPC1で行い、アラームの検知を数値制御装置6で行い、飛行計画の送信をPLCで行うというように処理を分散することができる。
第5の開示では、数値制御装置6の制御プログラムで無人飛行機2を制御する。図16に示すように、第5の開示の無人飛行機制御システム100では、数値制御装置6が、Mコード記憶部23と、Mコード記述部24と、Mコードが含まれる制御プログラムを記憶する制御プログラム記憶部25と、制御プログラムに記述されたMコードを実行するMコード実行部26とを備える。
数値制御装置6の作業内容取得部14は、作業対象となる機械設備4と、無人飛行機2が実行する作業内容を取得する。
Mコード記憶部23は、Mコードを記憶する。Mコードは、利用可能作業記憶部13に記憶された無人飛行機2が実行可能な作業内容と対応づけられている。
Mコードとは、補助機能コードとも呼ばれ、数値制御装置6の制御プログラムに書き込むことが可能なコードである。数値制御装置6は、制御プログラムのMコードをトリガとして無人飛行機2を制御する。Mコードには、「プログラムストップ(一時停止):M00」「オプショナルストップ:M01」「プログラム終了:M02,M30」「工具交換:M06」「工作物交換:M60」などがある。Mコードは既存のものだけでなく、ユーザが作成することもできる。そのため、必要なMコードを独自に作成することができる。作成したMコードをMコード記憶部24に記憶してもよい。
Mコード記述部24は、作業内容取得部14が取得した作業内容に対応付けられたMコードをMコード記憶部23から読み出し、数値制御装置6の制御プログラムにMコードを記述する。
制御プログラム記憶部25は、制御プログラムを記憶する。この制御プログラムには、無人飛行機2を制御するMコードが記述したものと、記述されていないものがある。
Mコード実行部26は、制御プログラムを解析した結果、無人飛行機2を制御するMコードが存在する場合には、PLCや無人飛行機2に指令を出力し、無人飛行機2を制御する。Mコードは、無人飛行機2の制御を開始するトリガとなる。
なお、第5の実施形態のMコード記憶部23、Mコード記述部24は、PC1などの他の装置に設け、Mコードの記述した制御プログラムを外部から取得してもよい。自己位置取得部11、環境地図取得部12、利用可能作業記憶部13、作業内容取得部14、飛行計画作成部15、飛行計画出力部16、作業結果取得部17、作業内容記憶部18を、1つ又は複数の情報処理装置(PC、数値制御装置、PLC、サーバ、携帯端末など)が分散処理をしてもよい。
2 無人飛行機
3 無線通信装置
4 機械設備
5 基地
6 数値制御装置
11 自己位置取得部
12 環境地図取得部
13 利用可能作業記憶部
14 作業内容取得部
15 飛行計画作成部
16 飛行計画出力部
17 作業結果取得部
19 3次元地図記憶部
20 基準位置記憶部
21 アラーム検知部
22 作業変換部
23 Mコード記憶部
24 Mコード記述部
26 Mコード実行部
111 CPU
112 ROM
113 RAM
114 不揮発性メモリ
211 CPU
214 不揮発性メモリ
215 センサ
216 画像処理部
217 カメラ
218 指示棒
Claims (12)
- 工場内で作動する無人飛行機の無人飛行機制御装置であって、
前記工場内に配置された機械設備の識別情報と、前記機械設備に対し前記無人飛行機が実行可能な作業内容とを記憶する利用可能作業記憶部と、
前記無人飛行機の作業対象となる機械設備の識別情報と、前記無人飛行機が前記機械設備に実行する作業内容とを取得する作業内容取得部と、
前記作業内容取得部が取得した機械設備の識別情報と、前記無人飛行機が前記機械設備に実行する作業内容に基づき前記無人飛行機の飛行計画を作成する飛行計画作成部と、
前記飛行計画を前記無人飛行機に出力する飛行計画出力部と、
を備える無人飛行機制御装置。 - 前記機械設備の基準位置と、前記基準位置を基点とする前記無人飛行機の作業位置と、前記無人飛行機が前記作業位置で行う作業内容とを記憶する基準位置記憶部、を備え、
前記飛行計画作成部は、前記基準位置を基に飛行計画を作成する、請求項1記載の無人飛行機制御装置。 - 前記作業内容取得部は、前記機械設備と、前記機械設備に対し前記無人飛行機が実行可能な作業内容とをユーザに提示し、前記無人飛行機の作業対象となる機械設備と、前記無人飛行機が行う作業内容との選択を受け付ける、請求項1記載の無人飛行機制御装置。
- アラームを検知するアラーム検知部と、
前記アラームに対応する作業を、前記無人飛行機の前記機械設備ごとの作業内容に変換する作業変換部と、を備え、
前記作業内容取得部は、前記無人飛行機の制御対象となる機械設備の識別情報と、前記無人飛行機が行う作業内容とを前記作業変換部から取得する、請求項1記載の無人飛行機制御装置。 - 前記作業内容取得部において複数の作業内容が設定された場合、
前記飛行計画作成部は、前記複数の作業内容の対象である複数の機械設備の位置を基に連続して作業を行う経路を作成する、請求項1記載の無人飛行機制御装置。 - 前記無人飛行機制御装置は、数値制御装置であって、
前記数値制御装置は、制御プログラムの補助コードを記憶する補助コード記憶部を備え、前記補助コードは、前記利用可能作業記憶部が記憶する作業内容と対応づけられており、
前記作業内容取得部が取得した作業内容に基づき、前記補助コード記憶部から補助コードを読み出し、前記補助コードを含む制御プログラムを作成する補助コード記述部を備える、請求項1記載の無人飛行機制御装置。 - 1つ又は複数のプロセッサが実行することにより、
機械設備の識別情報と、前記機械設備に対し無人飛行機が実行可能な作業内容とを記憶し、
前記無人飛行機の作業対象となる機械設備と、前記無人飛行機が前記機械設備に実行する作業内容とを取得し、
前記取得した機械設備の識別情報と、前記無人飛行機が前記機械設備に実行する作業内容に基づき前記無人飛行機の飛行計画を作成する、
コンピュータが読み取り可能な命令を記憶する記憶媒体。 - 前記機械設備の基準位置と、前記基準位置を基点とする前記無人飛行機の作業位置と、前記無人飛行機が前記作業位置で行う作業内容を記憶し、
前記取得した機械設備の識別情報と、前記無人飛行機が前記機械設備に実行する作業内容と、前記基準位置とを基に前記飛行計画を作成する、請求項7記載の記憶媒体。 - 前記機械設備と、前記機械設備に対し前記無人飛行機が実行可能な作業内容とをユーザに提示し、前記無人飛行機の作業対象となる機械設備と、前記無人飛行機が行う作業内容との選択を受け付ける、請求項7記載の記憶媒体。
- アラームを検知し、
前記アラームに対応する作業を、前記無人飛行機の前記機械設備ごとの作業内容に変換する、請求項7記載の記憶媒体。 - 前記作業内容を複数取得した場合、
前記複数の作業内容の対象である複数の機械設備の位置を基に連続して作業を行う経路を作成する、請求項7記載のコンピュータが読み取り可能な命令を記憶する記憶媒体。 - 数値制御装置の制御プログラムの補助コードを記憶し、前記補助コードは前記機械設備に対し前記無人飛行機が実行可能な作業内容と対応づけられており、
前記無人飛行機が前記機械設備に実行する作業内容を取得すると、前記作業内容に対応づけられた補助コードを読み出し、前記補助コードを含む制御プログラムを作成する、請求項7記載の記憶媒体。
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