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WO2019168052A1 - Drone, son procédé de commande, et programme - Google Patents

Drone, son procédé de commande, et programme Download PDF

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Publication number
WO2019168052A1
WO2019168052A1 PCT/JP2019/007635 JP2019007635W WO2019168052A1 WO 2019168052 A1 WO2019168052 A1 WO 2019168052A1 JP 2019007635 W JP2019007635 W JP 2019007635W WO 2019168052 A1 WO2019168052 A1 WO 2019168052A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
altitude
crash
airbag
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/007635
Other languages
English (en)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nileworks Inc
Original Assignee
Nileworks Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nileworks Inc filed Critical Nileworks Inc
Priority to JP2020503586A priority Critical patent/JPWO2019168052A1/ja
Publication of WO2019168052A1 publication Critical patent/WO2019168052A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/58—Arrangements or adaptations of shock-absorbers or springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D25/00—Emergency apparatus or devices, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/299—Rotor guards

Definitions

  • the present invention relates to a flying object (drone), in particular, a drone with improved safety, a control method therefor, and a program.
  • the drone can know the absolute position of its own aircraft in centimeters while flying. Even in farmland with a narrow and complex terrain typical in Japan, it is possible to fly autonomously with a minimum of manual maneuvering, and to disperse medicines efficiently and accurately.
  • a drone is deployed by enclosing a flying means, a flight control unit that operates the flying means, a crash determination unit that detects a crash, and a gas. And an airbag deployment unit that deploys the airbag based on detection of the crash by the crash determination unit.
  • An altitude measuring unit for measuring the altitude of the drone is further provided, and when the altitude of the drone measured when the crash determination unit detects a crash, the airbag deploying unit It may be developed.
  • An altitude measuring unit that measures the altitude of the drone is further provided, and when the altitude of the drone that is measured when the crash detecting unit detects a crash, is higher than a second altitude, the airbag deployment unit is configured so that the drone It is good also as what deploys the said airbag based on falling below after a crash and the said altitude becoming the said 2nd altitude or less.
  • the second altitude may be determined based on the drone falling speed.
  • the apparatus further includes a collision determination unit that detects that the drone is colliding with an obstacle, and the airbag deployment unit deploys the airbag based on the fact that the collision determination unit has detected a collision of the drone. It is good also as what makes it.
  • the drone may receive an emergency stop command transmitted from an operating device operated by a user, and the airbag deployment unit may deploy the airbag based on the emergency stop command. .
  • the airbag deployment unit may deploy the airbag based on an emergency stop signal transmitted from the flight control unit. Good.
  • the gravity center of the drone may be biased toward the bottom surface in a flight state, and the airbag may be deployed on the bottom surface side of the drone.
  • the medicine control unit further controls whether or not the medicine is ejected from the drone to the outside, and the medicine control unit stops the medicine ejection based on the fact that the crash determination unit has detected the crash. It may be a thing.
  • a drone control method is developed by enclosing a flying means, a flight control unit that operates the flying means, a crash determination unit that detects a crash, and gas.
  • a drone control method comprising: an airbag; and an airbag deployment unit that deploys the airbag based on the crash detection unit detecting the crash, and the step of operating the flying means; Detecting a crash of the drone, and deploying the airbag based on detecting the crash of the drone.
  • the method may further include the step of measuring the height of the drone and deploying the airbag when the height of the drone measured when the drone crash is detected is higher than a first height. .
  • the second altitude may be determined based on the drone falling speed.
  • It may further include a step of detecting that the drone is colliding with an obstacle and a step of deploying the airbag based on the detection of the collision of the drone.
  • It may further include a step of receiving an emergency stop command transmitted from an operating device operated by a user, and a step of deploying the airbag based on the emergency stop command.
  • It may further include a step of deploying the airbag based on an emergency stop signal transmitted from the flight control unit.
  • the apparatus may further include a medicine control unit that controls whether or not medicine is discharged from the drone to the outside, and further includes a step of stopping the medicine ejection based on the detection of the crash.
  • a drone control program includes a flight unit, a flight control unit that operates the flight unit, a crash determination unit that detects a crash, and an air that is deployed by enclosing gas.
  • a flight control command for operating the flying means comprising: a bag and an airbag deployment unit that deploys the airbag based on the crash detection unit detecting the crash;
  • a computer executes a crash detection command for detecting the crash of the drone and an airbag deployment command for deploying the airbag based on the detection of the crash of the drone.
  • the computer executes an altitude measurement command for measuring the altitude of the drone, and when the drone altitude measured when the drone crash is detected is higher than a first altitude, the computer is instructed to deploy the airbag. It may be executed.
  • the computer may be caused to execute a command to deploy the airbag based on the fact that the altitude is equal to or lower than the second altitude.
  • the second altitude may be determined based on the drone falling speed.
  • the computer may further execute a collision detection command for detecting that the drone is colliding with an obstacle and a command for deploying the airbag based on the detection of the collision of the drone.
  • the computer may further execute a command for receiving an emergency stop command transmitted from an operating device operated by a user and a command for deploying the airbag based on the emergency stop command.
  • the computer may further execute a command to deploy the airbag based on an emergency stop signal transmitted from the flight control unit.
  • the computer may further execute a command to stop the discharge of the medicine.
  • the computer program can be provided by downloading through a network such as the Internet, or can be provided by being recorded on various computer-readable recording media such as a CD-ROM.
  • the drone is a flowchart in which the drone is detected by a detection unit included in the drone and the airbag is deployed. It is a flowchart in which the drone detects that the drone has collided by a detection unit included in the drone and deploys an airbag. It is another embodiment of the drone which concerns on this invention, Comprising: It is a bottom view which shows a mode that the airbag of a drone is expand
  • FIG. 1 is a plan view of an embodiment of a drug spraying drone 100 according to the present invention
  • FIG. 2 is a front view thereof (viewed from the advancing direction side)
  • FIG. 3 is a right side view thereof.
  • drone refers to power means (electric power, prime mover, etc.) and control method (whether wireless or wired, autonomous flight type or manual control type).
  • power means electric power, prime mover, etc.
  • control method whether wireless or wired, autonomous flight type or manual control type.
  • Rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b) are means for flying the drone 100 Yes, considering the balance of flight stability, body size, and battery consumption, it is desirable to have 8 aircraft (4 sets of 2-stage rotor blades).
  • the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are connected to the rotor blades 101-1a, 101-1b, 101-2a, 101- 2b, 101-3a, 101-3b, 101-4a, 101-4b
  • Rotating means typically an electric motor, but it may be a motor
  • the upper and lower rotors for example, 101-1a and 101-1b
  • their corresponding motors for example, 102-1a and 102-1b
  • the axes are collinear and rotate in opposite directions.
  • the radial member for supporting the propeller guard provided so that the rotor does not interfere with the foreign object is desirably a horizontal structure rather than horizontal. This is to prevent the member from buckling to the outside of the rotor blade and to interfere with the rotor at the time of collision.
  • feet 107-1, 107-2, 107-3, and 107-4 are provided below the drone 100 to support the airframe when placed on land.
  • the legs 107-1, 107-2, 107-3, 107-4 are rod-shaped members extending from the lower surface of the drone 100 toward the ground on land.
  • the legs 107-1, 107-2, 107-3, 107-4 are respectively arranged at substantially the rotation centers of the paired rotating blades 101 sharing the rotation axis, and in the present embodiment, there are four legs. .
  • medical agent generally refers to the liquid or powder disperse
  • the medicine tank 104 is a tank for storing medicine to be sprayed, and is preferably provided at a position close to the center of gravity of the drone 100 and lower than the center of gravity from the viewpoint of weight balance.
  • the chemical hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the chemical tank 104 and the chemical nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. And may also serve as a support for the drug nozzle.
  • the pump 106 is a means for discharging the medicine from the nozzle.
  • FIG. 4 shows an overall conceptual diagram of a system using an embodiment of the drug spraying application of the drone 100 according to the present invention.
  • the controller 401 is a means for transmitting a command to the drone 100 by an operation of the user 402 and displaying information received from the drone 100 (for example, position, amount of medicine, remaining battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that operates a computer program.
  • the drone 100 according to the present invention is desirably controlled so as to perform autonomous flight, but it is desirable that a manual operation can be performed at the time of basic operations such as takeoff and return, and in an emergency.
  • an emergency operating device (not shown) that has a dedicated emergency stop function may be used (the emergency operating device has a large emergency stop button etc. so that it can respond quickly in an emergency) It is desirable to be a dedicated device with It is desirable that the controller 401 and the drone 100 perform wireless communication using Wi-Fi or the like.
  • the field 403 is a rice field, a field, or the like that is a target of drug spraying by the drone 100.
  • the topography of the field 403 is complicated, and a topographic map cannot be obtained in advance, or the topographic map and the situation at the site may be different.
  • the farm 403 is adjacent to houses, hospitals, schools, other crop farms, roads, railways, and the like. Further, there may be an obstacle such as a building or an electric wire in the field 403.
  • the base station 404 is a device that provides a base unit function of Wi-Fi communication, etc., and preferably functions as an RTK-GPS base station so that the exact position of the drone 100 can be provided (Wi-Fi
  • the communication master unit and the RTK-GPS base station may be independent devices).
  • the farming cloud 405 is typically a computer group operated on a cloud service and related software, and is desirably wirelessly connected to the controller 401 via a mobile phone line or the like.
  • the farming cloud 405 may analyze the image of the field 403 taken by the drone 100, grasp the growth status of the crop, and perform processing for determining the flight route.
  • the drone 100 may be provided with the topographic information and the like of the stored farm 403.
  • the history of the flight of the drone 100 and the captured video may be accumulated and various analysis processes may be performed.
  • the drone 100 takes off from the landing point 406 outside the field 403 and returns to the landing point 406 after spraying the medicine on the field 403 or when it is necessary to refill or charge the medicine.
  • the flight route (intrusion route) from the landing point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the user 402 before the takeoff starts.
  • the flight controller 501 is a component that controls the entire drone. Specifically, the flight controller 501 may be an embedded computer including a CPU, a memory, related software, and the like.
  • the flight controller 501 receives motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on input information received from the pilot 401 and input information obtained from various sensors described below.
  • 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b are controlled to control the flight of the drone 100.
  • the actual rotational speed of motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b is fed back to the flight controller 501, and normal rotation is performed. It is desirable to have a configuration that can monitor whether Alternatively, a configuration in which an optical sensor or the like is provided on the rotor blade 101 and the rotation of the rotor blade 101 is fed back to the flight controller 501 may be employed.
  • the software used by the flight controller 501 is desirably rewritable through a storage medium or the like for function expansion / change, problem correction, or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by illegal software is not performed. Further, a part of calculation processing used for control by the flight controller 501 may be executed by another computer that exists on the pilot 401, the farming cloud 405, or in another place. Since the flight controller 501 is highly important, some or all of the components may be duplicated.
  • the battery 502 is a means for supplying power to the flight controller 501 and other components of the drone, and is preferably rechargeable.
  • the battery 502 is preferably connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker.
  • the battery 502 is desirably a smart battery having a function of transmitting the internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to the power supply function.
  • the flight controller 501 communicates with the pilot 401 via the Wi-Fi slave function 503 and further via the base station 404, receives necessary commands from the pilot 401, and sends necessary information to the pilot. It is desirable to be able to send to 401. In this case, it is desirable to encrypt the communication so that it is possible to prevent illegal acts such as interception, spoofing, and takeover of the device.
  • the base station 404 preferably has an RTK-GPS base station function in addition to a Wi-Fi communication function. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is highly important, it is desirable to duplicate or multiplex, and each redundant GPS module 504 should use a different satellite in order to cope with the failure of a specific GPS satellite. It is desirable to control.
  • the 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body (further, means for calculating the speed by integrating the acceleration), and is preferably a 6-axis sensor.
  • the geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring geomagnetism.
  • the atmospheric pressure sensor 507 is a means for measuring atmospheric pressure, and can indirectly measure the altitude of the drone.
  • the laser sensor 508 is a means for measuring the distance between the drone body and the ground surface using the reflection of laser light, and it is preferable to use an IR (infrared) laser.
  • the sonar 509 is a means for measuring the distance between the drone body and the ground surface using reflection of sound waves such as ultrasonic waves.
  • sensors may be selected according to drone cost targets and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the inclination of the aircraft, a wind sensor for measuring wind force, and the like may be added. In addition, these sensors are preferably duplexed or multiplexed. When there are a plurality of sensors having the same purpose, the flight controller 501 may use only one of them, and when a failure occurs, it may be switched to an alternative sensor. Alternatively, a plurality of sensors may be used at the same time, and when each measurement result does not match, it may be considered that a failure has occurred.
  • the flow sensor 510 is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of locations in the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become a predetermined amount or less.
  • the multispectral camera 512 is a means for capturing the field 403 and acquiring data for image analysis.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the lens orientation are different from those of the multispectral camera 512, the obstacle detection camera 513 is preferably a device different from the multispectral camera 512.
  • the switch 514 is a means for the user 402 of the drone 100 to perform various settings.
  • Obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard part has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone.
  • the cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the internal maintenance cover are open.
  • the medicine inlet sensor 517 is a sensor that detects that the inlet of the medicine tank 104 is open. These sensors may be selected according to drone cost targets and performance requirements, and may be duplicated or multiplexed.
  • a sensor may be provided in the base station 404, the controller 401, or other place outside the drone 100, and the read information may be transmitted to the drone.
  • a wind sensor may be provided in the base station 404, and information regarding wind power and wind direction may be transmitted to the drone 100 via Wi-Fi communication.
  • the flight controller 501 transmits a control signal to the pump 106 to adjust the medicine discharge amount and stop the medicine discharge. It is desirable that the current situation (for example, the rotational speed) of the pump 106 is fed back to the flight controller 501.
  • the LED 107 is a display means for informing the drone operator of the drone status.
  • Display means such as a liquid crystal display may be used instead of or in addition to the LED.
  • the buzzer 518 is an output means for notifying a drone state (particularly an error state) by an audio signal.
  • the Wi-Fi handset function 519 is an optional component for communicating with an external computer or the like for software transfer or the like, separately from the controller 401. In place of or in addition to the Wi-Fi handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used.
  • the speaker 520 is an output means for notifying a drone state (particularly an error state) by a recorded human voice or synthesized voice. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 during the flight, and in such a case, the situation transmission by voice is effective.
  • the warning light 521 is a display unit such as a strobe light that notifies the drone state (particularly an error state).
  • the drone 100 according to the present invention includes an airbag 50.
  • the airbag 50 is retracted and stored inside the drone 100 during normal use.
  • the airbag 50 is fixed to the drone 100.
  • the fixing position of the airbag 50 is fixed below the center in the vertical direction of the drone 100. That is, as described above, the center of gravity of the drone 100 is biased toward the bottom surface in the flight state, and the airbag 50 is deployed on the bottom surface side of the drone 100. According to this configuration, the center of gravity of the drone 100 is closer to the bottom surface, and it is easy to reach the ground surface while maintaining the direction of the flight state during a crash. Since the drone 100 approaches the ground surface from the side of the deployed airbag 50, the airbag 50 can mitigate the impact at the time of a collision with a person or the like existing on the ground surface.
  • the airbag 50 is deployed so as to cover the bottom surface of the drone 100.
  • the airbag 50 has a vent at a portion fixed to the drone 100, and is deployed by sealing gas from the vent. Gas can be sealed in the airbag 50 by an appropriate method.
  • the airbag 50 may be configured to be instantly deployed to prevent a collision between the aircraft and a person or the like when the drone 100 crashes. For example, it is possible to instantaneously enclose the gas in the airbag 50 by disposing the explosive at a position communicating with the vent and firing the explosive.
  • the airbag 50 has a shape such that a part of a sphere is linearly cut when deployed, and is fixed to the drone 100 so that the spherical surface faces downward of the drone 100.
  • the airbag 50 is inflated further to the outside in the left-right direction of the drone 100 than the four legs 107-1, 107-2, 107-3, 107-4 of the drone 100. Further, the most projecting portion of the airbag 50 is inflated below the tips of the legs 107-1, 107-2, 107-3, 107-4. This is to prevent the tips of the feet 107-1, 107-2, 107-3, 107-4 from colliding with a person or the like when the drone 100 crashes.
  • the drone 100 includes rotating blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b, Motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b, flight control unit 23, information acquisition unit 24, and determination unit 25
  • the airbag deployment unit 26 and a drug control unit 30 that controls the amount of drug discharged from the drone 100 are provided.
  • reference numerals for the rotor blades and the motor may be omitted.
  • the flight control unit 23 is a functional unit that controls the motor to control the number of rotations and the direction of rotation of the rotor blades so that the drone 100 flies within a section intended by the user 402.
  • the flight control unit 23 is a CPU implemented by a microcomputer or the like, and is realized by the flight controller 501 together with the medicine control unit 30.
  • the flight control unit 23 transmits a command value for the rotational speed of each motor for each motor.
  • the command value for the number of rotations of each motor is calculated from the planned flight path based on the input section information.
  • the flight path plan and command value calculation are performed on the farming cloud 405 shown in FIG. 4 and transmitted to the flight control unit 23 via the controller 401.
  • the flight control unit 23 controls take-off and landing of the drone 100.
  • the flight control unit 23 controls the evacuation behavior.
  • the retreat action includes, for example, a normal landing operation, an air stop such as hovering, and “emergency return” that moves immediately to a predetermined return point by the shortest route.
  • the predetermined return point is a point that is previously stored in the flight control unit 23, for example, a point that has taken off.
  • the predetermined return point is a land point where the user 402 can approach the drone 100, for example, and the user 402 can check the drone 100 that has reached the return point or manually carry it to another location. can do.
  • the evacuation action may be “normal return” that moves to a predetermined return point through an optimized route.
  • the optimized route is, for example, a route that is calculated with reference to a route in which medicine is dispersed before receiving a normal feedback command.
  • the drone 100 moves to a predetermined return point while spraying the drug via a route where the drug is not yet sprayed.
  • the evacuation action also includes an “emergency stop” in which all the rotating blades are stopped and the drone 100 is dropped downward from the spot.
  • the information acquisition unit 24 is a functional unit that acquires necessary information to determine whether or not the drone 100 is in a situation where the airbag should be deployed.
  • the information acquisition unit 24 includes an altitude measurement unit 241, a crash information acquisition unit 242 and a collision information acquisition unit 243.
  • the altitude measurement unit 241 may measure the aircraft altitude using a plurality of sensors.
  • a combination of sonar, infrared laser, barometric pressure sensor, acceleration sensor (preferably using a 6-axis gyro sensor), and GPS (preferably using the RTK-GPS method) may be used.
  • the measuring instruments and sensors may be multiplexed in preparation for failure.
  • Sonar can measure accurately when the field is the ground, but it is difficult to measure accurately when the field is water (in this case, an infrared laser is appropriate). It is because there is a weak point.
  • Sonar can measure accurately when the field is the ground, but it is difficult to measure accurately when the field is water (in this case, an infrared laser is appropriate). It is because there is a weak point.
  • a disturbance of GPS radio waves, an abnormality of a base station, or the like occurs, even if multiplexing is performed, it causes an overall failure, and therefore other measurement means may be provided.
  • the crash information acquisition unit 242 is a functional unit that acquires information necessary for determining whether or not the drone 100 has crashed, that is, a free fall.
  • the crash information acquisition unit 242 measures the altitude of the drone 100 in the same manner as the altitude measurement unit 241, for example, and calculates the altitude change rate.
  • the crash information acquisition unit 242 may acquire the acceleration in the height direction from the measurement value of the acceleration sensor included in the drone 100.
  • the crash information acquisition unit 242 receives a signal related to the emergency stop from the flight control unit 23 when the drone 100 crashes in the case of a free fall due to an emergency stop intentionally performed by the flight control unit 23 of the drone 100. You may acquire the information to that effect.
  • An emergency stop that is intentionally performed for example, when an abnormality occurs in the control of a motor, or when it is determined that evacuation by normal landing is impossible by detecting strong winds, an obstacle is caught. This is the case when it is determined that evacuation by landing is impossible.
  • the crash information acquisition unit 242 The information that the drone 100 crashes may be acquired by receiving the information.
  • the collision information acquisition unit 243 is a functional unit that acquires information necessary for determining whether or not the drone 100 is colliding with an obstacle. When drone 100 collides with an obstacle, there is a high probability that drone 100 will crash, so it is possible to crash drone 100 more safely by detecting the collision and using it to determine whether airbag 50 needs to be deployed. it can.
  • the collision information acquisition unit 243 includes a pressure detection element such as a micro switch or a piezo element, for example.
  • the collision information acquisition unit 243 is preferably installed in the propeller guard unit that is positioned at the outermost peripheral part of the drone 100.
  • a collision information acquisition unit 243 may be provided in each of the upper and lower propeller guards of the counter-rotating rotor.
  • a plurality of sensors for each direction may be provided around the propeller guard, but by providing a sensor at the part where the propeller guard connects to the aircraft body, a single sensor detects contact in multiple directions. May be.
  • the collision information acquisition unit 243 may acquire information on the collision by an acceleration sensor provided in the drone 100.
  • the drone 100 comes into contact with the obstacle, the drone 100 is accelerated in a direction opposite to the direction in which the obstacle comes into contact in a short time.
  • the acceleration sensor measures acceleration with an accuracy capable of measuring this short-term rapid acceleration.
  • the determination unit 25 is a functional unit that determines whether or not to deploy the airbag 50 based on information from the altitude measurement unit 241, the crash information acquisition unit 242 and the collision information acquisition unit 243.
  • the determination unit 25 includes a crash determination unit 251, a collision determination unit 252, and an airbag deployment determination unit 253.
  • the crash determination unit 251 determines whether or not the airbag 50 of the drone 100 should be deployed based on the result acquired by the crash information acquisition unit 242.
  • the crash determination unit 251 determines whether or not the drone 100 crashes based on the information that the drone 100 is moving downward at a predetermined speed or acceleration that the crash information acquisition unit 242 acquires during normal flight or hovering. Is determined.
  • the fall acceleration of the drone 100 at the time of the crash is expected to be a value obtained by adding the influence of the air resistance of the drone 100 to the acceleration of gravity. Therefore, the range of acceleration determined by the crash determination unit 251 to be “falling” may be a value stored in the crash determination unit 251 in advance. Moreover, the range of acceleration determined to be “falling” may be corrected as appropriate based on wind speed information acquired by an appropriate method.
  • the collision determination unit 252 determines that “the drone 100 has collided with an obstacle based on the information acquired by the collision information acquisition unit 243 that an object has contacted the drone 100 and a predetermined acceleration has occurred in the drone 100 due to the collision. Is determined.
  • the airbag deployment determination unit 253 refers to the altitude of the drone 100 measured by the altitude measurement unit 241 when it is determined that the drone 100 has crashed or collided.
  • the airbag deployment determination unit 253 When the altitude of the drone 100 when the drone 100 crashes or collides is higher than a predetermined altitude (hereinafter also referred to as “first altitude”), the airbag deployment determination unit 253 generates an airbag deployment signal, This is transmitted to the airbag deployment section 26.
  • the airbag deployment determination unit 253 does not generate an airbag deployment signal and the airbag 50 is not deployed. This is because, when the altitude at which the drone 100 starts to fall is equal to or lower than the first altitude, it is not necessary to deploy the airbag 50 because the degree of impact generated by the falling drone 100 hit is small.
  • the airbag deployment determination unit 253 causes the airbag to fall until the drone 100 falls and reaches a predetermined second altitude.
  • the deployment signal may be configured not to be transmitted to the airbag deployment section 26. This is because if the airbag 50 is deployed at an altitude higher than the second altitude, a large air resistance is generated, the drone 100 rotates or reverses, and the possibility of colliding with a person or the like at a place other than the airbag 50 increases.
  • the airbag deployment determination unit 253 drops the drone 100 downward after the crash, and the altitude measured by the altitude measurement unit 241
  • the air bag deployment signal is transmitted to the air bag deployment unit 26 based on the fact that the air pressure is lower than the second altitude.
  • the second altitude may be a fixed value determined in advance, or may be a fluctuating value calculated based on the drop speed of the drone 100.
  • the value may vary depending on the mass of the drone 100.
  • the fall speed of the drone 100 may be measured, and the second altitude may be corrected based on the drop speed.
  • the drug control unit 30 is a control unit that controls the amount or timing of spraying the drug solution from the drug tank 104.
  • an opening / closing means for opening and closing the drug solution path is provided somewhere in the path from the drug tank 104 to each drug nozzle 103-1, 103-2, 103-3, 103-4.
  • Various emergency operations may be executed after the release of the chemical solution is blocked by the opening / closing means.
  • the medicine control unit 30 may stop the pump 106 before executing the retreat action. This is because spraying the medicine on a flight route different from the normal time causes an adverse effect such as an excessive spraying amount or spraying the medicine on a place where the medicine should not be sprayed.
  • the crash determination unit 251 or the collision determination unit 252 detects a crash or collision of the drone 100
  • the crash determination unit 251 or the collision determination unit 252 generates a drug stop signal and transmits the drug stop signal to the drug control unit 30. To do.
  • the medicine stop signal is transmitted, the medicine control unit 30 stops the medicine spraying.
  • the crash determination unit 251 or the collision determination unit 252 determines the threshold value of each value such as altitude change, acceleration, contact detection, etc. that determines whether the drone 100 crashes or collides, and the airbag deployment determination unit 253 determines that the airbag 50 should be deployed.
  • the altitude threshold value may be a fixed threshold value stored in advance in the drone 100, or a variable threshold value that is changed according to the situation. In the case of the fluctuating threshold value, it may be automatically changed by an appropriate configuration connected to the drone 100 wirelessly or by wire, or may be manually changed by the user 402.
  • the determination unit 25 may determine the crash or collision based on the measurement result at a certain time point measured, and the altitude at which the airbag 50 is deployed, or may determine based on the measurement results of a plurality of past times. Good.
  • the determination unit 25 displays the fact that a crash or collision has been detected on the controller 401 monitored by the user 402 by an appropriate communication means possessed by the drone 100. Further, the determination unit 25 may display on the pilot 401 that the airbag 50 is deployed or that the airbag 50 is scheduled to be deployed after a predetermined time. Further, the determination unit 25 may be configured to display that the drone 100 has crashed or collided with display means, for example, an LED, that the drone 100 has.
  • the user 402 acquires the information of the drone 100 with the eyewear-type wearable terminal, it may be displayed or projected on the eyewear screen. Further, when the user 402 acquires the information on the drone 100 with the earphone-type wearable terminal, notification may be made by sound.
  • the drone 100 starts normal flight or hovering as planned (step S1).
  • the crash information acquisition unit 242 of the drone 100 acquires information regarding the altitude change and acceleration of the drone 100, and the crash determination unit 251 determines whether or not the drone 100 has crashed (step S2).
  • step S3 If no crash is detected, return to the operation of step S1 and continue normal flight.
  • the crash determination unit 251 detects the crash of the drone 100
  • the medicine control unit 30 stops the medicine spraying when the medicine is being sprayed (step S3).
  • the steps S1 to S2 may be executed when the medicine is not sprayed, such as during hovering immediately after the start of flight.
  • step S3 is omitted.
  • the airbag deployment determination unit 253 refers to the measurement value of the altitude measurement unit 241 and determines whether the altitude is higher than the first altitude (step S4). When the altitude of the drone 100 is equal to or lower than the first altitude, the airbag deployment unit 26 does not deploy the airbag 50. The drone 100 falls freely and reaches the surface.
  • the altitude measuring unit 241 When the altitude is higher than the first altitude, the altitude measuring unit 241 repeatedly measures the altitude during the free fall of the drone 100 (step S5), and the airbag deployment determining unit 253 determines whether the altitude is equal to or lower than the second altitude. (Step S6). When the altitude falls below the second altitude, the airbag deployment determination unit 253 generates an airbag deployment signal and transmits the airbag deployment signal to the airbag deployment unit 26. The airbag deployment unit 26 that has received the airbag deployment signal deploys the airbag 50 (step S7).
  • step S11 the drone 100 starts normal flight or hovering as planned flight.
  • the collision information acquisition unit 243 of the drone 100 acquires information about the collision such as the altitude change and acceleration of the drone 100, the measurement value of the contact detection sensor, and the collision determination unit 252 determines whether or not the drone 100 is colliding with an obstacle. Is determined (step S12).
  • step S11 If no collision is detected, the process returns to the operation of step S11 and continues normal flight.
  • the collision determination unit 252 detects a collision of the drone 100
  • the drug control unit 30 stops the drug spraying when the drug spraying is being performed (step S13).
  • or S12 may be performed when spraying of the chemical
  • the airbag deployment determination unit 253 refers to the measurement value of the altitude measurement unit 241 and determines whether the altitude is higher than the first altitude (step S14). When the altitude of the drone 100 is equal to or lower than the first altitude, the airbag deployment unit 26 does not deploy the airbag 50. The drone 100 falls freely and reaches the surface.
  • the altitude measuring unit 241 When the altitude is higher than the first altitude, the altitude measuring unit 241 repeatedly measures the altitude during the free fall of the drone 100 (step S15), and the airbag deployment determining unit 253 determines whether the altitude is equal to or lower than the second altitude. (Step S16). When the altitude falls below the second altitude, the airbag deployment determination unit 253 generates an airbag deployment signal and transmits the airbag deployment signal to the airbag deployment unit 26. The airbag deployment section 26 that has received the airbag deployment signal deploys the airbag 50 (step S17).
  • the second embodiment of the drone according to the present invention will be described with a focus on differences from the first embodiment described above.
  • the drone of the second embodiment differs from the drone of the first embodiment in that it has fixed wings.
  • the drone 200 has a casing 201 extending in the traveling direction, and fixed wings 202 that are orthogonal to the casing 201 and arranged substantially symmetrically on the left and right.
  • the drone 200 is inside the casing 201, and a control unit and a function unit for causing the drone 200 to fly in the flying state are arranged on the bottom side. According to this configuration, the center of gravity of the drone 200 is closer to the bottom surface, and it is easy to reach the ground surface while maintaining the direction of the flight state in the event of a crash.
  • an airbag 150 is disposed at a lower part in front of the joint portion with the fixed wing 202.
  • the airbag 150 is disposed so as to be deployable so as to protect the front end of the casing 201 in the traveling direction and a part of the bottom surface continuous to the front end.
  • the drone 200 having the fixed wings 202 there is a high possibility that the drone 200 will reach the ground surface from the front and bottom in the traveling direction at the time of the crash. Therefore, in the drone 200 configured such that the airbag 150 is deployed at the above-described position, the airbag 150 can mitigate an impact at the time of a collision with a person or the like existing on the ground surface.
  • the drone 200 having the fixed wing 202 can fly for a long time with energy saving compared to the drone 100 having the rotating wing, it is useful for a drone for monitoring, for example.
  • the drone 200 is assumed to fly at a higher altitude than the drone 100.
  • the drone 200 is assumed to be lighter than the drone 100 in the embodiment. Therefore, the altitude threshold at which the airbag 150 is deployed may be higher than that of the drone 100.
  • the threshold may be set, for example, between 5 meters and 10 meters.
  • the drone according to the present invention can provide a drone that can maintain high safety even during autonomous flight.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Pest Control & Pesticides (AREA)
  • Remote Sensing (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Catching Or Destruction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention traite le problème de la réalisation d'un drone hautement sûr. La solution selon l'invention consiste en un drone comportant: des moyens de vol 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b; une unité 23 de commande de vol servant à faire fonctionner les moyens de vol; une unité 251 de détermination de collision servant à détecter une collision; un coussin gonflable 50 destiné à être déployé en étant rempli d'un gaz; et une partie 26 de déploiement de coussin gonflable servant à déployer le coussin gonflable d'après la détection d'une collision par l'unité de détermination de collision.
PCT/JP2019/007635 2018-02-28 2019-02-27 Drone, son procédé de commande, et programme Ceased WO2019168052A1 (fr)

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JP2018035042 2018-02-28
JP2018-035042 2018-02-28

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CN110949670A (zh) * 2019-12-11 2020-04-03 浙江辛巴达机器人科技有限公司 一种农药喷洒用无人机
CN114348264A (zh) * 2022-01-29 2022-04-15 国家海洋环境预报中心 一种基于海洋环境的无人机搜救方法及系统
CN118907468A (zh) * 2024-07-29 2024-11-08 中国船舶集团有限公司第七一九研究所 一种基于无人机的核污染区域核辐射监测系统
CN121028813A (zh) * 2025-10-22 2025-11-28 四川吉利学院 基于大数据的无人机轨迹控制方法及系统

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CN121028813A (zh) * 2025-10-22 2025-11-28 四川吉利学院 基于大数据的无人机轨迹控制方法及系统

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