JP2024041350A - Control equipment, flight system - Google Patents

Abstract

To efficiently perform flight control of a plurality of unmanned flying objects that transport loaded objects in coordination with each other.SOLUTION: A control device which is provided as a separate body from a plurality of unmanned flying objects that transport loaded objects in coordination with each other comprises: a communication unit which performs communication with the unmanned flying objects; and a control unit which performs flight control of the plurality of unmanned flying objects by issuing a flight instruction to each of the plurality of unmanned flying objects.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a control device and a flying vehicle system, and particularly to a technique for transporting payloads by a plurality of unmanned flying vehicles.

Patent Document 1 describes a system in which a load is suspended and transported using a plurality of helicopters. In this system, one aircraft is a master aircraft and the other aircraft are slave aircraft, and the master aircraft controls the flight of the slave aircraft.

JP 2018-30431 Publication

By the way, when multiple unmanned flying vehicles (e.g. drones) work together to transport payloads, it is possible to make the multiple unmanned flying vehicles perform the same actions by issuing the same flight instruction to the multiple unmanned flying vehicles. It is possible that
However, in reality, multiple unmanned flying vehicles have individual differences, so even if the same flight instruction is issued, they will not necessarily perform the same operation.

Therefore, it is necessary to control multiple unmanned flying vehicles separately, but if each unmanned flying vehicle performs flight control taking into account the situation of the payload and other unmanned flying vehicles, calculations for each unmanned flying vehicle will be required. There was a risk that the load would increase, resulting in inefficiency.

The present proposal was invented based on this background, and the purpose is to efficiently control the flight of multiple unmanned flying vehicles that cooperate to transport payloads.

A control device according to the present invention is a control device that is provided separately from a plurality of unmanned flying vehicles that cooperate and support payloads, and includes a communication unit that communicates with the plurality of unmanned flying vehicles, and a plurality of unmanned flying vehicles. A control unit that performs flight control of the unmanned flying vehicle by issuing a flight instruction to the unmanned flying vehicle.
Thereby, flight control of a plurality of unmanned flying vehicles that cooperate to transport payloads can be performed by an independent control device.

According to the present invention, it is possible to efficiently control the flight of a plurality of unmanned flying vehicles that cooperate to transport payloads.

FIG. 1 is a diagram illustrating an aircraft system according to the present embodiment. It is a perspective view of a drone. FIG. 1 is a diagram showing the internal configuration of a drone. FIG. 3 is a diagram showing the internal configuration of a control device. It is a figure explaining control at the time of forward movement. FIG. 2 is a first diagram illustrating control when turning left. FIG. 6 is a second diagram illustrating control when turning left. It is a figure explaining the structure of the flying object system of a modification.

<1. Aircraft system>
FIG. 1 is a diagram illustrating an aircraft system 1 of this embodiment. As shown in FIG. 1, the flying object system 1 includes a plurality of drones 2. The drone 2 is an example of an unmanned flying vehicle, and four drones are provided in this embodiment. Note that the number of drones 2 is not limited as long as a plurality (two or more) of drones 2 are provided.

A support mechanism 3 made of wire, metal rod, etc. is suspended from the bottom of the drone 2. A load container 4 is attached to the lower end of the support mechanism 3. In this embodiment, support mechanisms 3 are attached to each of the four corners of the load container 4.

The cargo container 4 is equipped with a cargo 5 to be transported and a control device 6 that controls the flight of the drone 2 . Therefore, the drone 2 supports the payload 5 and the control device 6 via the support mechanism 3 and the payload container 4.

In the flying object system 1, two drones 2 are arranged side by side in the forward direction (front), and two drones 2 are arranged side by side in the backward direction (rear). Further, each drone 2 is also controlled to face the direction of travel. Each drone 2 is configured to fly while maintaining its respective arrangement position (positional relationship).

In the aircraft system 1 , a flight instruction from a transmitter 7 operated by a pilot is transmitted to a control device 6 .
The flight instructions include four types: a throttle that instructs ascent and descent, a rudder that instructs turning, an elevator that instructs forward and backward movement, and an aileron that instructs left and right movement. When the operator operates the operator, the transmitter 7 transmits a flight instruction corresponding to the operated operator to the control device 6.

Upon receiving the operation instruction from the transmitter 7, the control device 6 issues flight instructions to the four drones 2 based on the received operation instruction and information acquired by various sensors (sensors and modules) described below. The flight control of the four drones 2 is performed by transmitting the data. Note that, like the flight instructions sent from the transmitter 7, the flight instructions sent from the control device 6 to the drone 2 include four types: throttle, rudder, elevator, and aileron.

In the aircraft system 1, since the payload 5 is supported by a plurality of (four) drones 2, it is possible to transport a heavier payload 5 compared to the case where the payload 5 is supported by a single drone 2. becomes.

FIG. 2 is a perspective view of the drone 2. As is well known, various shapes and structures are known as unmanned flying objects in the category called drones, and FIG. 2 is only one example.

As shown in FIG. 2, the main body part 11 of the drone 2 is arranged at the center. A support mechanism 3 (see FIG. 1) is suspended from the lower part of the main body part 11.
Four arms 12 projecting in all directions are attached to the main body 11, and a motor 13 and a propeller 14 rotated by the motor 13 are attached near the tip of each arm 12.
Furthermore, a skid 15 is attached below near the tip of each arm 12. The four skids 15 function as legs when landing.

In the drone 2, two propellers 14 are arranged side by side on the forward direction side (front), and two propellers 14 are arranged side by side on the backward direction side (backward).

FIG. 3 is a diagram showing the internal configuration of the drone 2. As shown in FIG. As shown in FIG. 3, the drone 2 has a control configuration including a flight controller 21, a battery 22, a power supply unit 23, an ESC (Electric Speed Controller) 24, a GPS (Global Positioning System) module 25, and a status display LED (Light Emitting Diode). ) 26, a front/rear display LED 27, a 6-axis gyro sensor 28, an atmospheric pressure sensor 29, a telemetry module 30, a magnetic sensor 31, a communication section 32, a buzzer 33, and the like.

The flight controller 21 is composed of a microcomputer equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), EEPROM (Electrically Erasable and Programmable Read Only Memory), etc., and controls each part regarding flight operation. control.
The flight controller 21 controls the ESC 24 in response to a flight instruction from the control device 6 received via the communication unit 32, for example, and controls the attitude and speed of the aircraft.

The power supply unit 23 uses the battery 22 as a power source to generate a power supply voltage necessary for each part, and supplies it to each part as an operating power supply voltage. Note that to avoid complication, illustrations of power supply voltage lines to various parts are omitted. Further, the power supply unit 23 performs a charging operation of the battery 22.
Further, the power supply unit 23 performs a power supply operation and a charging operation based on the control of the flight controller 21.

As shown in FIG. 2, the motor 13 is a collective representation of four motors 13 attached to the tip of each arm 12.
An ESC 24 is provided for each motor 13. In the figure, four ESCs 24 are also shown together as one. The motor 13 is driven while its rotational speed is controlled by the ESC 24.

The GPS module 25 includes a GPS antenna and a receiver, detects position information, and notifies the flight controller 21 of the position information.

The status display LED 26 displays various statuses of the drone 2 by lighting, blinking, emitting color, etc. under the control of the flight controller 21.
The front/back display LED 27 displays the front/back of the drone 2 by emitting light based on the control of the flight controller 21 .

The 6-axis gyro sensor 28 is a sensor that detects angular velocity in the X, Y, and Z directions and acceleration in the rotational direction of each axis, and notifies the flight controller 21 of the detected information.
The flight controller 21 performs attitude determination and attitude control of the aircraft based on information detected by the 6-axis gyro sensor 28.

The atmospheric pressure sensor 29 detects the atmospheric pressure and notifies the flight controller 21 of the detected atmospheric pressure. Thereby, the flight controller 21 can detect the altitude.

The telemetry module 30 performs a process of transmitting various states of the drone 2, sensing information, images, etc. to the control device 6 via the communication unit 32. This allows the control device 6 to check the flight status, altitude, battery status, etc. of the drone 2.
Note that the telemetry module 30 may perform a process of transmitting various states of the drone 2, sensing information, images, etc. to the transmitter 7 via the communication unit 32. This will allow the operator to check the flight status, altitude, battery status, video, etc. of Drone 2.
Moreover, the transmission from the telemetry module 30 may be performed to either or both of the control device 6 and the transmitter 7.

The magnetic sensor 31 detects the direction using magnetism and notifies the flight controller 21 of the direction.
The communication unit 32 communicates with the control device 6. For example, the communication unit 32 receives flight instructions from the control device 6 wirelessly or by wire.
The buzzer 33 generates a buzzer sound for alerts and notifications under the control of the flight controller 21.

FIG. 4 is a diagram showing the internal configuration of the control device 6. As shown in FIG. As shown in FIG. 4, the control device 6 includes a control unit 41, a battery 42, a power supply unit 43, a GPS module 44, a 6-axis gyro sensor 45, an atmospheric pressure sensor 46, a telemetry module 47, a magnetic sensor 48, and a communication 49, etc.

The control section 41 is constituted by a microcomputer including a CPU, ROM, RAM, EEPROM, etc., and controls each section of the control device 6. Further, the control unit 41 performs flight control of the plurality of drones 2 based on the movement target and attitude target of the control device 6. Note that flight control will be described in detail later.

The power supply unit 43 uses the battery 42 as a power source to generate a power supply voltage necessary for each of the above sections, and supplies it to each section as an operating power supply voltage. Note that to avoid complication, illustrations of power supply voltage lines to various parts are omitted. Further, the power supply unit 43 performs a charging operation of the battery 42.
Further, the power supply unit 43 performs a power supply operation and a charging operation based on the control of the control unit 41.

The GPS module 44 includes a GPS antenna and a receiver, detects position information, and notifies the control unit 41 of the position information.
The 6-axis gyro sensor 45 is a sensor that detects angular velocities in the X, Y, and Z directions and acceleration in the rotational direction of each axis, and notifies the control unit 41 of the detected information. The control unit 41 determines the attitude of the loaded object container 4 (loaded object 5, control device 6) based on the detection information of the 6-axis gyro sensor 45.

The atmospheric pressure sensor 46 detects the atmospheric pressure and notifies the control unit 41 of the detected atmospheric pressure. Thereby, the control unit 41 can detect the altitude.

The telemetry module 47 performs a process of transmitting various states of the control device 6, sensing information, etc. to the transmitter 7 via the communication unit 49. This allows the pilot to check the flight status, altitude, battery status, video, etc. of the aircraft system 1.

The magnetic sensor 48 detects the direction using magnetism and notifies the control unit 41 of the direction.
The communication unit 49 communicates with the transmitter 7 and the drone 2 . For example, the communication unit 49 receives flight instructions from the transmitter 7 wirelessly. Furthermore, the communication unit 50 transmits flight instructions to each drone 2 wirelessly or by wire.

<2. Flight control by control device 6>
Next, control of the plurality of drones 2 by the control device 6 will be explained. The control device 6 performs stabilization control to control the flight of each drone 2 so as to maintain the horizontal state as the target attitude of the control device 6. That is, in the stabilization control, the attitude of the load container 4 on which the load 5 and the control device 6 are mounted is stabilized in a horizontal state.

The control unit 41 of the control device 6 detects the attitude of the control device 6, that is, the attitude of the load container 4, based on the detection information notified from the 6-axis gyro sensor 45. Then, the control unit 41 adjusts the throttle of each drone 2 so that the load container 4 is in a horizontal state.

For example, when the load container 4 leans forward, the control unit 41 issues a flight instruction to the two front drones 2 to increase their throttles (rise). As a result, the two front drones 2 rise by increasing the rotation speed of the motor 13 in accordance with the flight instruction, reducing the forward inclination of the load container 4 and bringing the load container 4 closer to the horizontal state.
Note that when the load container 4 tilts forward, the control unit 41 may issue a flight instruction to the two rear drones 2 to lower the throttles (descend). Further, the control unit 41 may issue a flight instruction to the two front drones 2 to increase the throttle, and may issue a flight instruction to the two rear drones 2 to lower the throttle.

Further, when the right front of the load container 4 is tilted downward, the control unit 41 issues a flight instruction to the one drone 2 in the right front to raise the throttle. As a result, the one drone 2 in the right front increases the rotation speed of the motor 13 according to the flight instruction and ascends, thereby reducing the inclination of the load container 4 and bringing the load container 4 closer to the horizontal state.
Note that when the right front of the load container 4 is tilted downward, the control unit 41 may issue a flight instruction to the three drones 2 other than the right front to lower the throttles. Further, the control unit 41 may issue a flight instruction to the one drone 2 in the right front to increase the throttle, and may issue a flight instruction to the other three drones 2 to lower the throttle.

FIG. 5 is a diagram illustrating control during forward movement. In addition, in FIG. 5, the white arrow indicates the moving direction of the load container 4 (the load 5 and the control device 6), and the black arrow indicates the moving direction of the drone 2.

When the control device 6 receives a flight instruction from the transmitter 7, it controls the flight of the plurality of drones 2 so as to achieve a moving target based on the received flight instruction.

For example, when receiving a forward flight instruction from the transmitter 7, the control unit 41 sets forward as the moving target. Then, the control unit 41 issues a flight instruction to all the drones 2 to move them forward at the same speed. As a result, all the drones 2 increase the rotational speed of the rear motor 13 in accordance with the flight instructions and move forward at the same speed. That is, the plurality of drones 2 move the payload container 4 at a speed according to the flight instruction.

FIG. 6 is a first diagram illustrating control when turning left. In FIG. 6, the white arrow indicates the moving direction of the load container 4 (the load 5 and the control device 6), and the black arrow indicates the moving direction of the drone 2. Further, in FIG. 6, the length of the black arrow represents the speed of the drone 2.

When receiving a left turn (rudder) flight instruction from the transmitter 7, the control unit 41 determines the direction of the moving target based on the received flight instruction and the direction detected by the magnetic sensor 48.

Then, the control unit 41 issues a flight instruction to the two right drones 2 to advance at a predetermined speed and turn to the left until the load container 4 and the drones 2 face the direction of the movement target. Further, the control unit 41 causes the two drones 2 on the left to move forward at a slower speed than the two drones on the right until the payload container 4 and the drone 2 face the direction of the movement target, and also causes the two drones 2 on the right to turn left. issue flight instructions to As a result, in the flying object system 1, while the drones 2 advance, the payload container 4 faces in the direction of the moving target, and each drone 2 also faces in the direction of the moving target.

FIG. 7 is a second diagram illustrating control when turning left. In FIG. 7, the white arrow indicates the moving direction of the load container 4 (the load 5 and the control device 6), and the black arrow indicates the moving direction of the drone 2.

As another example when receiving a left turn (rudder) flight instruction from the transmitter 7, the control unit 41 instructs the two drones 2 on the right that the load container 4 and the drones 2 are the moving targets. Issue flight instructions to move the aircraft forward and turn left until it faces the heading. Further, the control unit 41 issues a flight instruction to the two left drones 2 to cause them to retreat and turn to the left until the load container 4 and the drones 2 face the direction of the movement target. As a result, in the aircraft system 1, the payload container 4 faces in the direction of the moving target, and each drone 2 also faces in the direction of the moving target.

In this way, the control device 6 controls the flight of the plurality of drones 2 so as to achieve the horizontal state which is the posture target of the control device 6, and also to achieve the movement target based on the flight instruction from the transmitter 7. Thereby, the aircraft system 1 can move to a position based on the flight instruction from the transmitter 7 while maintaining the payload container 4 in a stable attitude (horizontal state).

<3. Modified example>
Note that the embodiments are not limited to the specific examples described above, and may take various configurations as modified examples.

FIG. 8 is a diagram illustrating the configuration of a modified example of the aircraft system 100. As shown in FIG. 8, the flying object system 100 is different from the flying object system 1 of the embodiment in that a force gauge 101 is attached to each of the support mechanisms 3. Force gauge 101 is provided as a component of control device 6 .
The force gauge 101 detects the force applied to the support mechanism 3, that is, the load applied to the drone 2, and notifies the control unit 41 of the force.

Here, each of the drones 2 has a predetermined allowable payload.
The control unit 41 acquires the payload of each drone 2 in advance, and issues flight instructions for the drone 2 based on the load detected by the force gauge 101.

For example, if the payloads of all the drones 2 are the same, the control unit 41 issues a flight instruction to the drone 2 with a large load to lower the throttle so that the load applied to all the drones 2 is the same. Alternatively, the control unit 41 issues a flight instruction to increase the throttle to the drones 2 other than the drone 2 with a large load.
Thereby, the loads applied to all the drones 2 can be made uniform.

Further, when the payloads of the respective drones 2 are different, the control unit 41 issues an instruction to control the throttle of each drone 2 so that the load applied to each drone 2 does not exceed the payload. For example, the control unit 41 issues a flight instruction to lower the throttle to the drone 2 with a small payload so that the load does not exceed the payload, or issues a flight instruction to the drone 2 with a large payload to increase the throttle.

Further, the control unit 41 controls each drone 2 so that the control device 6 is horizontal based on the known center of gravity position of the load container 4 and the load applied to each drone 2 detected by the force gauge 101. Flight instructions may be issued to adjust the arrangement of the aircraft.

In the embodiment described above, the control device 6 is mounted on the load container 4. However, the control device 6 can also be formed in one piece with the load container 4 .

In the above embodiment, the flight control of the drone 2 is performed based on the flight instructions from the transmitter 7. However, for example, a target position may be set in advance, and the flight of the drone 2 may be controlled to move to the target position.

In the embodiment described above, the control unit 41 controls the flight of the plurality of drones 2 based on the movement target and attitude target of the control device 6. However, the control unit 41 may perform flight control of the plurality of drones 2 based on the movement target or posture target of the control device 6.

<4. Summary＞
According to the above embodiment, the following effects can be obtained.

The control device 6 is a control device 6 that is provided separately from the plurality of unmanned flying vehicles that cooperate to transport the payload 5, and includes a communication unit 50 that communicates with the plurality of unmanned flying vehicles (drones 2). , a control unit 41 that performs flight control of the plurality of unmanned flying vehicles by issuing flight instructions to each of the plurality of unmanned flying vehicles.
Thereby, the control device 6 can cause the plurality of drones 2 to transport even the load 5 that is too heavy to be transported by one drone 2.
At this time, for example, the operator simply issues a flight instruction to the control device 6, and the control device 6 issues a flight instruction to each drone 2 based on the flight instruction, so multiple drones 2 can control the payload 5. Operations during transportation can be simplified.
In addition, since each drone 2 does not have to perform flight control that takes into account the status of other drones 2 and the status of the payload 5, it is possible to efficiently control the flight of multiple drones 2 that cooperate to transport the payload 5. be able to.

The control device 6 and the payload 5 are supported by a plurality of unmanned flying vehicles, and the control unit 41 issues flight instructions to the unmanned flying vehicles so as to achieve the movement target or attitude target of the control device 6.
Thereby, the control device 6 can calculate the flight instructions to be issued to each drone 2 without considering the movement target or attitude target of each drone 2, so the calculation load on the control unit 41 can be reduced. , it is possible to efficiently control the flight of multiple drones 2.

The control device 6 does not have flight capabilities.
Thereby, since the control device 6 does not need to issue flight instructions to itself, the calculation load on the control unit 41 can be further reduced, and the plurality of drones 2 can be efficiently controlled in flight.

Equipped with a sensor (force gauge 101) that detects the load on the unmanned flying vehicle (drone 2), the control unit 41 controls the flight of multiple unmanned flying vehicles so that the load on the unmanned flying vehicle does not exceed the allowable load capacity. Take control.
Thereby, when a plurality of drones 2 cooperate to transport the payload 5, it is possible to reduce the possibility that the drone 2 will exceed the payload and become unable to fly.

The flying object system 1 is provided separately from a plurality of unmanned flying objects (drones 2) that coordinately transport payloads 5 and the plurality of unmanned flying objects, and issues flight instructions to each of the plurality of unmanned flying objects. Accordingly, it includes a control device 6 that performs flight control of a plurality of unmanned flying vehicles.
This aircraft system 1 can produce the same effects as the control device 6 described above.

1 Aircraft System 2 Drone 3 Support Mechanism 4 Load Container 5 Load 6 Control Device 41 Control Unit 50 Communication Unit

Claims (5)

A control device provided separately from a plurality of unmanned flying vehicles that cooperate to transport payloads,
a communication unit that communicates with the unmanned aerial vehicle;
a control unit that performs flight control of the plurality of unmanned flying objects by issuing flight instructions to each of the plurality of unmanned flying objects;
A control device comprising: The control device is supported by the plurality of unmanned flying vehicles together with the payload,
The control device according to claim 1, wherein the control unit issues a flight instruction to the unmanned flying vehicle based on a movement target or attitude target of the control device. The control device according to claim 1 or 2, wherein the control device does not have flight capability. comprising a sensor that detects a load on each of the plurality of unmanned flying vehicles,
The control device according to claim 1, wherein the control unit performs flight control of the unmanned flying vehicle so that a load on the unmanned flying vehicle does not exceed an allowable load capacity. Multiple unmanned flying vehicles that transport payloads in coordination,
a control device that is provided separately from the plurality of unmanned flying objects and performs flight control of the plurality of unmanned flying objects by issuing flight instructions to each of the plurality of unmanned flying objects;
An aircraft system equipped with.

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