JP2019182359A - Flying object control method and control program - Google Patents

Abstract

To control flying of an unmanned aircraft with simple operation.SOLUTION: The present invention is a flying control program for performing control of a flying object 2 using a user terminal 1 including a touch display. The program causes the user terminal to function: as a storage part that stores operation icons and control associated with the operation icons; a display part that displays the operation icons on the touch display; an input part that receives combination operation of the operation icons via the touch display; a generation part that generates a control signal on the basis of combination of control corresponding to the combination operation; and a transmission part that transmits the control signal to the flying object.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a flying object.

  In recent years, various services using a flying body such as a drone and an unmanned aerial vehicle (UAV) used for various purposes (hereinafter simply referred to as “aircraft”) have been provided. (For example, refer to Patent Document 1).

JP 2017-15697 A

  By the way, in order to operate such a flying object, four operations of ascending / descending, advancing / retreating, turning right / turning left, turning right / moving left must be performed simultaneously. Certain skills and experience are required for operation.

  On the other hand, a technique for autonomous control by a built-in program or the like without performing complicated operations has been proposed, but knowledge of the program is required.

  An object of the present invention is to control the flight of an unmanned aerial vehicle with a simple operation.

  One embodiment of the present invention is a method for controlling a flying object, wherein boundary information related to a boundary defined by at least two pieces of position information is acquired, and based on a current position of the flying object, A virtual determination standard is set at a position separated by a predetermined distance, and predetermined control is performed when the determination standard comes into contact with the boundary line.

  ADVANTAGE OF THE INVENTION According to this invention, the safety relevant to the flight of an unmanned aerial vehicle can be improved.

It is a functional block diagram of the user terminal by embodiment of this invention. It is a functional block diagram of the flying body by embodiment of this invention. 1 is a conceptual diagram of a flight control system according to an embodiment of the present invention. It is an example of a screen display of a user terminal according to the present invention. It is a figure which shows the movement of the flying body according to the operation icon of FIG. It is a figure which shows the exchange of the information of the user terminal and flying body by embodiment of this invention. It is another figure which shows the exchange of information with the user terminal and flying body by embodiment of this invention. It is an example of the control code by embodiment of this invention. It is a figure which shows the connection example of the operation icon by this invention.

The contents of the embodiment of the present invention will be listed and described. An aircraft according to an embodiment of the present invention has the following configuration.
[Item 1]
A flight control program for controlling a flying object using a user terminal equipped with a touch display,
A storage unit for storing an operation icon and a control associated with the operation icon in the user terminal;
A display unit for displaying the operation icon on the touch display;
An input unit that receives a combination operation of the operation icons via the touch display;
A generator that generates a control signal based on the combination of controls corresponding to the combination operation;
Function as a transmission unit for transmitting the control signal to the aircraft,
Flight control program.
[Item 2]
The flight control program according to claim 1,
The display unit displays a first area and a second area in the touch display, displays the operation icons in the first area, and displays the operation icons combined by the combination operation in the second area. To
Flight control program.
[Item 3]
The aircraft control program according to claim 2,
The combination operation is an operation of moving a plurality of the operation icons displayed in the first area to the second area, and connecting and extending the icons in a predetermined direction.
Flight control program.
[Item 4]
A flying object control program according to claim 2 or claim 3,
The said generation part is a flight control program which produces | generates the said control signal based on the combination order of the said operation icon.
[Item 5]
The aircraft control program according to claim 4,
In the combination operation, the operation icon is moved in a predetermined direction [Item 6]
A flight control program according to any one of claims 1 to 4,
The storage unit further stores a time parameter for executing control associated with the operation icon,
The input unit further accepts designation of the time parameter.
Flight control program.
[Item 7]
A flight control system for controlling a flying object using a user terminal equipped with a touch display and the flying object,
The user terminal is
Stores the operation icon and the control associated with the operation icon,
Displaying the operation icon on the touch display, accepting a combination operation of the operation icon via the touch display;
Generating a control signal based on the combination of controls corresponding to the combination operation;
Sending the control signal to the aircraft;
The aircraft flies based on the received control signal;
Aircraft control system.

(First embodiment)
Hereinafter, an aircraft control system (hereinafter, simply referred to as “system”) realized by an aircraft control program according to a first embodiment of the present invention will be described with reference to the drawings.

<Hardware configuration of user terminal>
FIG. 1 is a functional block diagram of a user terminal according to the first embodiment of the present invention. The user terminal is an information processing apparatus that controls the flying object, and for example, a tablet terminal, a personal computer terminal, a smartphone, or the like is preferable. Note that some functions may be logically realized by cloud computing.

  As illustrated, the user terminal includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, and an input / output unit 14, which are electrically connected to each other through a bus 15.

  The transmission / reception unit 13 connects the user terminal to the network and performs communication with the flying object. It is an input / output unit touch display. The bus 15 is connected in common to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

  The processor 10 is an arithmetic device that controls the operation of the user terminal, performs control of data transmission / reception between elements, processing necessary for application execution, and the like. For example, the processor 10 is a CPU and / or GPU (Graphical Processing Unit) or the like, and performs each necessary information process by executing a flight control program stored in the storage 12 and developed in the memory 11.

  The memory 11 includes a main memory composed of a volatile storage device such as a RAM and an auxiliary memory composed of a nonvolatile storage device such as a flash memory or an HDD. The memory 11 is used as a work area of the processor 10 and stores a BIOS executed when the apparatus 1 is started up and various setting information. The storage 12 stores programs used for the flight control system.

<Hardware hardware configuration>
Next, the hardware configuration of the flying object will be described with reference to the functional block diagram of the flying object shown in FIG.



The following functional block diagram is described as a concept stored in a single device (aircraft) for the sake of simplicity. For example, some functions may be exhibited by an external device. It may be logically configured by using cloud computing technology.

  The flight controller can have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)).

  The flight controller has a memory and can access the memory. The memory stores logic, code, and / or program instructions that can be executed by the flight controller to perform one or more steps.

  The memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. Data obtained from cameras and sensors may be transmitted directly to the memory and stored. For example, still image / moving image data shot by a camera or the like is recorded in a built-in memory or an external memory. The camera is installed on the flying object via a gimbal.

The flight controller includes a control module configured to control the state of the aircraft. For example, the control module may adjust the spatial arrangement, velocity, and / or acceleration of an aircraft that has six degrees of freedom (translational motion x, y, and z, and rotational motion θ _x , θ _y, and θ _z ). The propulsion mechanism (motor, etc.) of the flying object is controlled via the ESC. The propeller is rotated by the motor to generate lift of the flying object. The control module can control one or more of the states of the mounting unit and sensors.

  The flight controller includes a transceiver configured to transmit and / or receive data from one or more external devices (eg, a transceiver, a terminal, a display device, or other remote controller) Communication is possible. The transceiver can use any suitable communication means such as wired or wireless communication.

  For example, the transmission / reception unit uses one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication, and the like. be able to.

  The transmission / reception unit can transmit and / or receive one or more of data acquired by sensors, a processing result generated by the flight controller, predetermined control data, a user command from a terminal or a remote controller, and the like. .

  Sensors according to this embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (eg, riders), or vision / image sensors (eg, cameras).

<System overview>
Next, processing of the present system will be described with reference to FIGS. As shown in FIG. 3, the system according to the present embodiment is for controlling the flight of a drone (aircraft) 2 by a tablet terminal (user terminal) 1.

  As shown in FIG. 4, in this embodiment, the touch display 100 of the user terminal is divided into two regions 101 and 102. The area on the left side of the figure is the area 101, and the area on the right side is the area 102. In the area 101, usable operation icons 110 are arranged. The user arranges the operation icons 110 displayed in the area 101 in the area 2 by a drag-and-drop operation. At this time, the operation icons are arranged and displayed so as to be connected in a predetermined direction P. Note that another operation icon may be inserted between the connected operation icons 110.

  The operation icon relates to the operation (flight) of the flying object. For example, the “Start” command relates to activation control, and the “Fly” command relates to vertical ascent. “Up” is a vertically rising command, “Down” is a vertically descending command, “Forward” corresponds to forward movement, “Turn R” is a right turn, “Turn L” is a left turn, “End” is the power shutdown of the aircraft.

  Note that the “Up” command, the “Down” command, and the “Forward” command include information regarding the duration of the operation, and accept input from the user. Further, for TurnR or TurnL, it is also possible to specify the “angle” of turning.

  In the illustrated area 102, “Start”, “Fly”, “Forward”, “Turn R”, “Forward”, “Down”, and “End” are connected in this order. The command is processed from the top toward the predetermined direction P. That is, the flying object is activated by the “Start” command. The “Fly” command causes the flying object to rise vertically to a predetermined height. Thereafter, since the “Forward” command is specified for 3 seconds, the flying object moves forward for 3 seconds. Then, turn right by “Turn R”. Since the “Forward” command is specified for 2 seconds, the flying object moves forward for 2 seconds. When the “Down” command is designated for 4 seconds, the flying object descends vertically for 4 seconds. The “End” command turns off the power of the aircraft.

  FIG. 5 shows a moving path of the flying object based on the command combination described above. The flying object is waiting at a point P as an initial position. The flying object activated by the “Start” command is raised to the point A by the “Fly” command. The “Forward” command is designated for 3 seconds and moved to point B. Then, the direction is changed by the “Turn R” command, and the “Forward” command is designated for 2 seconds and moves to the point C. Finally, it descends vertically and descends to point D, and the power is turned off by the “End” command.

  As shown in FIG. 6, the user terminal generates a control signal based on a sequence of operation icons as shown in FIG. Specifically, a control signal is generated from each operation icon and transmitted to the flying object each time. The communication can adopt Bluetooth (registration commendation), but not limited to this, every time a flying object is received, a corresponding flight-generated control signal is transmitted to the flying object. When the flying object receives the control signal, the flying object performs the corresponding flight control.

  Note that, as shown in FIG. 7, control signals may be collectively generated for the entire operation icon column and may be collectively transmitted as a control signal. When the flying object receives the control signal, it performs a series of corresponding flight controls collectively.

  FIG. 8 shows an example of an operation command according to this embodiment. The control time can be specified up to “seconds” and “angle”.

  In the embodiment described above, the number of operation icon columns is one. However, as shown in FIG. In the illustrated example, “Forward” and “Turn” are arranged adjacent to each other. This represents a right turn while moving forward.

  The flying object of the present invention can be expected to be used as an industrial flying object in surveying, surveying, observation and the like. In addition, the flying object of the present invention can be used in an aircraft related industry such as a multicopter drone, and further contributes to the improvement of safety related to the flight of these flying objects and the flying object through the present invention. be able to.

  The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof.

1 User terminal (tablet terminal)
2 Aircraft (Drone)
100 touch display 101, 102 area 110 operation icon

Claims (7)

A flight control program for controlling a flying object using a user terminal equipped with a touch display,
A storage unit for storing an operation icon and a control associated with the operation icon in the user terminal;
A display unit for displaying the operation icon on the touch display;
An input unit that receives a combination operation of the operation icons via the touch display;
A generator that generates a control signal based on the combination of controls corresponding to the combination operation;
Function as a transmission unit for transmitting the control signal to the aircraft,
Flight control program. The flight control program according to claim 1,
The display unit displays a first area and a second area in the touch display, displays the operation icons in the first area, and displays the operation icons combined by the combination operation in the second area. To
Flight control program. The aircraft control program according to claim 2,
The combination operation is an operation of moving a plurality of the operation icons displayed in the first area to the second area, and connecting and extending the icons in a predetermined direction.
Flight control program. A flying object control program according to claim 2 or claim 3,
The said generation part is a flight control program which produces | generates the said control signal based on the combination order of the said operation icon. The aircraft control program according to claim 4,
In the combination operation, the operation icon is moved in a predetermined direction. A flight control program according to any one of claims 1 to 4,
The storage unit further stores a time parameter for executing control associated with the operation icon,
The input unit further accepts designation of the time parameter.
Flight control program. A flight control system for controlling a flying object using a user terminal equipped with a touch display and the flying object,
The user terminal is
Stores the operation icon and the control associated with the operation icon,
Displaying the operation icon on the touch display, accepting a combination operation of the operation icon via the touch display;
Generating a control signal based on the combination of controls corresponding to the combination operation;
Sending the control signal to the aircraft;
The aircraft flies based on the received control signal;
Aircraft control system.