Aircraft, control device, control program, and control method

Abstract

To provide a flying body capable of highly accurate detection, a controller, a control program, and a control method.SOLUTION: A flying body comprises a radar, a support portion, a plurality of rotors supported by the support portion, and a controller. The plurality of rotors includes a first rotor. The radar can perform detection operation and non-detection operation. The controller can perform the first control operation in the first transition from the non-detection operation to the detection operation. The controller performs a first change in the first control operation to change the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The detection operation is performed after the first control operation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an aircraft, a control device, a control program, and a control method.

Background Art

[0002] For example, in an aircraft such as a drone, detection is performed by a radar or the like. High-precision detection is desired in an aircraft.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Embodiments of the present invention provide an aircraft, a control device, a control program, and a control method capable of high-precision detection.

Means for Solving the Problems

[0005] According to an embodiment of the present invention, an aircraft includes a radar, a support portion, a plurality of rotors supported by the support portion, and a control portion. The plurality of rotors includes a first rotor. The radar is capable of performing a detection operation and a non-detection operation. The control portion is capable of performing a first control operation when shifting from the non-detection operation to the detection operation. In the first control operation, the control portion performs a first change to change the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The detection operation is performed after the first control operation.

Brief Description of the Drawings

[0006] [Figure 1] FIG. 1 is a schematic plan view illustrating an aircraft according to a first embodiment. [Figure 2]Figure 2 is a schematic side view illustrating an aircraft according to the first embodiment. [Figure 3] Figures 3(a) and 3(b) are schematic diagrams illustrating the operation of an aircraft according to the first embodiment. [Figure 4] Figure 4 is a flowchart illustrating the operation of an aircraft according to the first embodiment. [Figure 5] Figures 5(a) and 5(b) are schematic diagrams illustrating the operation of an aircraft according to the first embodiment. [Figure 6] Figures 6(a) and 6(b) are schematic diagrams illustrating the operation of an aircraft according to the first embodiment. [Figure 7] Figure 7 is a schematic diagram illustrating the operation of an aircraft according to the first embodiment. [Figure 8] Figure 8 is a schematic diagram illustrating the operation of an aircraft according to the first embodiment. [Figure 9] Figure 9 is a schematic diagram illustrating the operation of an aircraft according to the first embodiment. [Figure 10] Figure 10 is a block diagram illustrating an aircraft according to the first embodiment. [Modes for carrying out the invention]

[0007] Embodiments of the present invention will be described below with reference to the drawings. Drawings are schematic or conceptual, and the relationships between the thickness and width of each part, as well as the ratios of the sizes of different parts, are not necessarily identical to those of reality. Even when representing the same part, the dimensions and ratios may be depicted differently in different drawings. In this specification and in each figure, elements similar to those described above are denoted by the same reference numerals, and detailed explanations are omitted as appropriate.

[0008] (First Embodiment) Figure 1 is a schematic plan view illustrating an aircraft according to the first embodiment. Figure 2 is a schematic side view illustrating an aircraft according to the first embodiment. As shown in Figures 1 and 2, the aircraft body 110 according to this embodiment includes a radar 20, a support section 10S, a plurality of rotors 10R, and a control unit 70. The plurality of rotors 10R are supported by the support section 10S.

[0009] In this example, multiple arms 10A are provided. A portion of one of the multiple arms 10A (e.g., an end) is connected to a support 10S. Another portion of one of the multiple arms 10A (e.g., another end) is connected to one of the multiple rotors 10R. One of the multiple rotors 10R is supported by one of the multiple arms 10A.

[0010] The multiple rotors 10R are, for example, rotor blades. For example, multiple motors 10M are provided. The multiple motors 10M cause each of the multiple rotors 10R to rotate. The rotation of the multiple rotors 10R causes the aircraft 110 to fly. The aircraft 110 is, for example, an unmanned aerial vehicle. The aircraft 110 is, for example, a drone.

[0011] In this example, the number of rotors 10R is 6. The number of rotors 10R can be any number greater than or equal to 3. For example, the number of rotors 10R can be 4 or greater.

[0012] Multiple rotors 10R are arranged, for example, in the XY plane. The direction perpendicular to the XY plane is defined as the Z-axis direction.

[0013] In this example, the structure 10H is fixed to the support part 10S. The structure 10H may be, for example, a housing. The direction from the structure 10H to the support part 10S is, for example, along the Z-axis direction.

[0014] The radar 20 is fixed to a structure 10H, for example. The radar 20 may also be fixed to a support 10S. The radar 20 can, for example, emit electromagnetic waves and detect electromagnetic waves reflected from the object to be detected. The electromagnetic waves may be millimeter waves, for example. The radar 20 may detect vibrations of the object to be detected. For example, the radar 20 may detect the presence or absence of vibrations of the object to be detected at a target frequency. The object to be detected may include, for example, power lines.

[0015] As shown in FIG. 2, a radar control unit 61 may be provided in the structure 10H. The operation of the radar 20 is controlled by the radar control unit 61. The operation of the radar 20 includes a detection operation and a non-detection operation. The non-detection operation may be a non-detection state. These operations will be described later. As shown in FIG. 2, a communication circuit 62, a battery 63, etc. may be provided in the structure 10H.

[0016] As shown in FIG. 2, in this example, the control unit 70 is provided in the structure 10H. At least a part of the functions of the control unit 70 may be performed by a device provided separately from the aircraft 110. For example, an operation device 75 for remotely operating the aircraft 110 is provided. At least a part of the operation device 75 may be capable of performing at least a part of the operation of the control unit 70. For example, the control signal of the operation device 75 may be supplied to the communication circuit 62, and the plurality of rotors 10R may be controlled via the communication circuit 62. For example, the control signal of the operation device 75 may be supplied to the communication circuit 62, and the operation of the radar 20 may be controlled via the communication circuit 62.

[0017] Hereinafter, an example of controlling the aircraft 110 will be described. In the following example, the control is performed by the control unit 70. Even when a part of the control is performed by the operation device 75, it will be described as being performed by the control unit 70.

[0018] In an embodiment, in the radar 20, a detection operation and a non-detection operation are performed. In the detection operation, the radar 20 detects a detection target. In the non-detection operation, the detection operation is not performed.

[0019] In an embodiment, the rotational speed of at least one of the plurality of rotors 10R is changed between the detection operation and the non-detection operation. Thereby, the decrease in detection accuracy in the detection operation can be suppressed by the vibration based on the rotation of the plurality of rotors 10R. According to the embodiment, an aircraft capable of highly accurate detection can be provided.

[0020] For example, as shown in Figure 1, the multiple rotors 10R include a first rotor 11. The first rotor 11 is one of the multiple rotors 10R whose rotational speed is changed. The change in rotational speed of the first rotor 11 is either an increase or a decrease in rotational speed.

[0021] As shown in Figure 1, the multiple rotors 10R may include a second rotor 12. The second rotor 12 is one of the multiple rotors 10R whose rotational speed is changed. In the second rotor 12, the change in rotational speed is either an increase or a decrease in rotational speed.

[0022] For example, the rotational speed of the first rotor 11 during detection operation is higher than the rotational speed of the first rotor 11 during non-detection operation. For example, the rotational speed of the second rotor 12 during detection operation is lower than the rotational speed of the second rotor 12 during non-detection operation. Such control is performed by the control unit 70.

[0023] Figures 3(a) and 3(b) are schematic diagrams illustrating the operation of an aircraft according to the first embodiment. Figure 3(a) corresponds to the non-detection operation OPn. Figure 3(b) corresponds to the detection operation OPs. The horizontal axis of these figures is frequency fr1. The vertical axis of these figures is the intensity of the vibration spectrum (power P1). In the non-detection operation OPn, the rotational speeds of the first rotor 11 and the second rotor 12 are the same. In this example, the rotational speed of the first rotor 11 in the detection operation OPs is changed to be higher than the rotational speed of the first rotor 11 in the non-detection operation OPn. The rotational speed of the second rotor 12 in the detection operation OPs is changed to be lower than the rotational speed of the second rotor 12 in the non-detection operation OPn.

[0024] As shown in Figure 3(a), in the non-detection operation OPn, the vibration spectrum 11n caused by the rotation of the first rotor 11 overlaps with the vibration spectrum 12n caused by the rotation of the second rotor 12. These spectra may overlap with the vibration spectrum 80s of the object to be detected. If the radar 20 attempts to detect the object in this state, it becomes difficult to accurately detect the vibration state of the object due to the adverse effects of vibrations caused by the rotation of the rotor 10R.

[0025] As shown in Figure 3(b), the vibration spectrum 11s caused by the rotation of the first rotor 11 in detection operation OPs is changed to be higher than the vibration spectrum 11n caused by the rotation of the first rotor 11 in non-detection operation OPn. The vibration spectrum 12s caused by the rotation of the second rotor 12 in detection operation OPs is changed to be lower than the vibration spectrum 12n caused by the rotation of the second rotor 12 in non-detection operation OPn. Spectra 11s and spectrum 12s deviate from the vibration spectrum 80s of the detected object. Spectra 11s and spectrum 12s do not substantially overlap with the vibration spectrum 80s of the detected object.

[0026] In this embodiment, the adverse effects of vibrations caused by the rotation of multiple rotors 10R can be suppressed during the detection operation OPs.

[0027] For example, the control unit 70 can perform a first control operation during the first transition from a non-detection operation OPn to a detection operation OPs. In the first control operation, the control unit 70 performs a first modification, which changes the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in the non-detection operation OPn. The detection operation is performed after the above first control operation.

[0028] For example, in the first control operation described above, the control unit 70 performs a second modification to change the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in the non-detection operation OPn. For example, the first modification described above includes increasing or decreasing the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in the non-detection operation OPn (e.g., increasing it). The second modification includes increasing or decreasing the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in the non-detection operation OPn (e.g., decreasing it).

[0029] Figure 4 is a flowchart illustrating the operation of an aircraft according to the first embodiment. As shown in Figure 4, a non-detection operation (step S110) is being performed. During the non-detection operation, for example, the aircraft 110 is in flight.

[0030] As shown in Figure 4, it is determined whether transition information has been acquired to transition from non-detection operation to detection operation (step S120). The transition information is based on, for example, information input by the user, a predetermined time, the position of the aircraft 110, the relative position of the aircraft 110 to the detection target, and at least one of the detection results from sensors provided on the aircraft 110. If transition information has not been acquired, the process returns to step S110. The non-detection operation continues. The sensors provided on the aircraft 110 may include, for example, optical sensors (e.g., image sensors such as cameras) and electromagnetic wave sensors (e.g., lasers). The detection results from the sensors may include judgment results based on predetermined criteria.

[0031] If transition information is obtained in step S120, the process proceeds to step S130. In step S130, the first control operation described above is performed. In the first control operation, the rotational speed of at least one of the multiple rotors 10R is determined. changeThe following is performed. For example, the first and second modifications described above are performed. As already explained, in the first modification, the rotational speed of the first rotor 11 is increased or decreased from the rotational speed of the first rotor 11 in the non-detection operation OPn (for example, increased). In the second modification, the rotational speed of the second rotor 12 is increased or decreased from the rotational speed of the second rotor 12 in the non-detection operation OPn (for example, decreased).

[0032] As shown in Figure 4, a time interval may be provided after step S130 if necessary (step S135). After the time interval, the rotational speeds of the multiple rotors 10R are changed and then stabilized.

[0033] As shown in Figure 4, after the first control operation (step S130), the radar 20 performs detection operations OPs (step S140).

[0034] As shown in Figure 4, the control unit 70 may perform a second control operation (step S150) after the detection operation OPs. In the second control operation, the rotational speeds of the multiple rotors 10R are returned to the rotational speeds during the non-detection operation. After step S150, the process returns to step S110.

[0035] Thus, the control unit 70 may perform a second control operation during the second transition from the detection operation OPs to the non-detection operation OPn. The second control operation includes, for example, returning the rotational speed of the first rotor 11 to the rotational speed of the first rotor 11 in the non-detection operation OPn. The second control operation also includes returning the rotational speed of the second rotor 12 to the rotational speed of the second rotor 12 in the non-detection operation OPn.

[0036] As described above, in the embodiment, the first control operation is performed based on transition information that includes information input from the user, a predetermined time, the position of the aircraft 110, and the relative position of the detection target and the aircraft 110. This allows the detection operation OPs to be performed with the rotational speed of at least one of the multiple rotors 10R changed. High-precision detection is possible.

[0037] As described above, once the control unit 70 obtains the transition information, it performs a first control operation (change of rotation speed). After the first control operation, the radar 20 performs detection operations OPs. After the detection operations OPs, the control unit 70 performs a second control operation (return of rotation speed).

[0038] These steps (steps S110 to S150) may be repeated.

[0039] As shown in Figures 3(a) and 3(b), the frequency corresponding to the rotational speed of the first rotor 11 in non-detection operation OPn (third frequency f3) is changed to the frequency corresponding to the rotational speed of the first rotor 11 in detection operation OPs (first frequency f1). The frequency corresponding to the rotational speed of the second rotor 12 in non-detection operation OPn (fourth frequency f4) is changed to the frequency corresponding to the rotational speed of the second rotor 12 in detection operation OPs (second frequency f2).

[0040] For example, the first frequency f1 is higher than the second frequency f2. 。 The absolute value of the difference between the first frequency f1 and the second frequency f2 is greater than the absolute value of the difference between the third frequency f3 and the fourth frequency f4. For example, the third frequency f3 can be substantially the same as the fourth frequency f4.

[0041] As shown in Figure 3(b), the vibration state (spectrum 80s) at the detection frequency fd is detected for the object being detected. The vibration state includes the presence or absence of vibration and the intensity of the vibration (e.g., power). As shown in Figure 3(b), the detection frequency fd is between the first frequency f1 and the second frequency f2.

[0042] In one example, the third frequency f3 and the fourth frequency f4 overlap with the detected frequency fd. The first frequency f1 and the second frequency f2 do not overlap with the detected frequency fd. For example, the absolute value of the difference between the first frequency f1 and the detected frequency fd is greater than the absolute value of the difference between the third frequency f3 and the detected frequency fd. For example, the absolute value of the difference between the second frequency f2 and the detected frequency fd is greater than the absolute value of the difference between the fourth frequency f4 and the detected frequency fd.

[0043] Such changes in rotational speed occur during detection operations (OPs). For example, the difference between the first frequency f1 and the detected frequency fd, and the difference between the second frequency f2 and the detected frequency fd, are greater than or equal to the resolution of the frequency measurement during vibration detection. The resolution of the frequency measurement corresponds, for example, to the reciprocal of the measurement time. For example, if the measurement time is 0.1 seconds, the resolution of the measured frequency is approximately 10 Hz. In this case, the absolute value of the difference between the first frequency f1 and the detected frequency fd, and the absolute value of the difference between the second frequency f2 and the detected frequency fd, are 10 Hz or greater.

[0044] The rotational speed is changed as described above in at least one of the multiple rotors 10R, and the changed rotational speed is less than or equal to the maximum rotational speed set for the multiple rotors 10R and greater than or equal to the minimum rotational speed.

[0045] In the embodiment, the frequency component of the vibration to be detected (spectrum 80s) may include a natural number multiple of at least one of the frequencies of the rotational speed of the first rotor 11 in non-detection operation OPn (frequency of spectrum 11n) and the frequencies of the rotational speed of the second rotor 12 in non-detection operation OPn (frequency of spectrum 12n).

[0046] The following are some examples of how to change the rotation speed. Figures 5(a) and 5(b) are schematic diagrams illustrating the operation of an aircraft according to the first embodiment. As shown in Figure 5(a), in the non-detection operation OPn, the vibration of the aircraft 110 includes a third frequency f3 component (spectrum 11n) corresponding to the rotational speed of the first rotor 11 and a fourth frequency f4 component (spectrum 12n) corresponding to the rotational speed of the second rotor 12.

[0047] As shown in Figure 5(b), in the detection operation OPs, the vibration of the aircraft 110 includes a component of a first frequency f1 corresponding to the rotational speed of the first rotor 11 (spectrum 11s) and a component of a second frequency f2 corresponding to the rotational speed of the second rotor 12 (spectrum 12s).

[0048] The power P1 (first power) at the detection frequency fd of the component with the first frequency f1 (spectrum 11s) is equal to the power P1 (third power) at the detection frequency fd of the component with the third frequency f3 (spectrum 11n). twist It's also small. For example, the first power is less than 1 / 10 of the third power. The first power can practically be 0.

[0049] The power P1 (second power) at the detection frequency fd of the component at the second frequency f2 (spectrum 12s) is equal to the power P1 (fourth power) at the detection frequency fd of the component at the fourth frequency f4 (spectrum 12n). twist It's also small. For example, the second power is less than 1 / 10 of the fourth power. The second power can practically be 0.

[0050] Figures 6(a) and 6(b) are schematic diagrams illustrating the operation of an aircraft according to the first embodiment. As shown in Figure 6(a), in the spectrum of the detected vibration at 80s corresponding to the detection frequency fd, the component at the third frequency f3 (third component) and the component at the fourth frequency f4 (fourth component) are large. As shown in Figure 6(b), after changing the rotation speed, in the spectrum of the detected vibration at 80s, the component at the first frequency f1 (first component) and the component at the second frequency f2 (second component) become smaller.

[0051] For example, the first component is smaller than the third component. The first component can be 1 / 10 or less of the third component. The first component can be practically zero. For example, the second component is smaller than the fourth component. The second component can be 1 / 10 or less of the fourth component. The second component can be practically zero.

[0052] As shown in Figure 1, a plurality of first rotors 11 and a plurality of second rotors 12 may be provided. An example of control relating to the plurality of first rotors 11 and the plurality of second rotors 12 will be described.

[0053] Figure 7 is a schematic diagram illustrating the operation of an aircraft according to the first embodiment. As shown in Figure 7, in the first operation OP1, the positions of the multiple first rotors 11 are symmetric with respect to a first line L1 that passes through one of the multiple second rotors 12 and another of the multiple second rotors 12. The first line L1 lies along the XY plane.

[0054] The positions of the multiple first rotors 11 and the multiple second rotors 12 may be symmetrical with respect to a second line L2. The second line L2 intersects the first line L1. The second line L2 lies along the XY plane. In such a first operation OP1, the effect on the attitude of the aircraft 110 when the rotation speed is changed is suppressed.

[0055] Figure 8 is a schematic diagram illustrating the operation of an aircraft according to the first embodiment. As shown in Figure 8, in the second operation OP2, the positions of the multiple first rotors 11 are point-symmetric with respect to the central position C1 between one of the multiple second rotors 12 and another of the multiple second rotors 12. For example, the positions of the multiple second rotors 12 may be point-symmetric with respect to the central position C1. In such a second operation OP2, the effect on the attitude of the aircraft 110 when the rotation speed is changed is suppressed.

[0056] Figure 9 is a schematic diagram illustrating the operation of an aircraft according to the first embodiment. As shown in Figure 9, in the third operation OP3, at least one of the positions of the multiple first rotors 11 and the multiple second rotors 12 is symmetrical with respect to a first straight line L1 along the direction of travel D1 of the aircraft 110. In such a third operation OP3, when the rotation speed is changed while the aircraft 110 is moving, the effect on the attitude of the aircraft 110 is suppressed.

[0057] As shown in Figure 9, the multiple rotors 10R may include multiple third rotors 13. The direction from one of the multiple third rotors 13 to another of the multiple third rotors 13 is along the direction of travel D1. The rotational speed of the multiple third rotors 13 does not need to be changed in the first control operation.

[0058] In the first operation OP1 and the second operation OP2 described above, the aircraft 110 is actually in the air. quality It's fine to remain stationary.

[0059] In this embodiment, the number of multiple first rotors 11 and the number of multiple second rotors 12 are preferably even. This makes it easier to stabilize the attitude of the aircraft 110.

[0060] Figure 10 is a block diagram illustrating an aircraft according to the first embodiment. As shown in Figure 10, the aircraft 110 includes a radar 20, a plurality of rotors 10R, and a control unit 70. The aircraft 110 may also include a radar control unit 61. The radar control unit 61 controls the detection operations OPs and non-detection operations OPn of the radar 20.

[0061] The control unit 70 may include, for example, a rotor control unit 71 and an acquisition unit 72. The acquisition unit 72 may be, for example, an interface. The acquisition unit 72 can acquire, for example, transition information I1. The acquisition unit 72 can acquire, for example, detected frequency information I2. The detected frequency information I2 relates to the frequency of the vibration to be detected. The acquisition unit 72 can acquire, for example, flight information I3. The flight information I3 includes information such as the flight path of the aircraft 110.

[0062] At least one of the transition information I1, detected frequency information I2, and flight information I3 may be provided, for example, from the operating device 75. At least one of the transition information I1, detected frequency information I2, and flight information I3 may be stored in memory 70M. Memory 70M may be included in the control unit 70. Memory 70M may be provided separately from the control unit 70. The transition information I1 may be generated by the control unit 70.

[0063] For example, the control unit 70 may include a rotor control unit 71. The control unit 70 may also include a rotational speed calculation unit 73 and a determination unit 74. The rotor control unit 71, rotational speed calculation unit 73, and determination unit 74 correspond to the functions of the control unit 70.

[0064] For example, the rotational speed calculation unit 73 can calculate the rotational speed of each of the multiple rotors 10R based on the flight information I3. Based on the calculated rotational speeds of each of the multiple rotors 10R, the rotor control unit 71 controls the rotational speeds of the multiple rotors 10R. For example, the rotational speeds of the multiple rotors 10R are controlled by controlling the rotational speed of the motor 10M (see Figure 1, etc.). The aircraft 110 flies along a desired path.

[0065] On the other hand, when transition information I1 regarding the transition from non-detection operation OPn to detection operation OPs is acquired, the rotor control unit 71 is controlled based on the transition information I1. At this time, the determination unit 74 may determine whether or not the vibration frequency based on the rotation of the multiple rotors 10R has an influence on the frequency of the vibration to be detected, which is included in the detection frequency information I2. An example of the determination by the determination unit 74 will be described later. If it is determined that there is an influence, the rotor control unit 71 may change the rotation speed of at least some of the multiple rotors 10R. If it is determined that there is no influence, the rotation speed of the multiple rotors 10R may not be changed.

[0066] After the rotational speed of at least one of the multiple rotors 10R is changed, the radar control unit 61 performs detection operations OPs by the radar 20.

[0067] In the determination unit 74, for example, the relationship between the frequency based on the rotational speeds of the multiple rotors 10R calculated by the rotational speed calculation unit 73 and the frequency of the vibration to be detected is determined. The frequency based on the rotational speeds of the multiple rotors 10R includes the rotational speeds of the multiple rotors 10R. The frequency based on the rotational speeds of the multiple rotors 10R includes the product of the rotational speeds of the multiple rotors 10R and the number of blades of each of the multiple rotors 10R. The frequency based on the rotational speeds of the multiple rotors 10R may include natural number multiples of the rotational speeds of the multiple rotors 10R. The frequency based on the rotational speeds of the multiple rotors 10R may include natural number multiples of the above product.

[0068] If at least a portion of the frequencies based on the rotational speeds of the multiple rotors 10R overlap with the frequency of the vibration to be detected, it is determined that there is an influence. If a portion of the frequencies based on the rotational speeds of the multiple rotors 10R do not substantially overlap with the frequency of the vibration to be detected, it is determined that there is substantially no influence. The determination result of the determination unit 74 is provided to the rotor control unit 71. If it is determined that there is an influence, the rotor control unit 71 changes the rotational speed of at least one of the multiple rotors 10R.

[0069] (Second Embodiment) The second embodiment relates to a control device. As shown in Figure 10, the control device 210 may include at least a part of the control unit 70. The control device 210 may include at least a part of the operating device 75.

[0070] The control device 210 according to the embodiment may include a control unit 70. The control unit 70 can control an aircraft 110 including a radar 20 and a plurality of rotors 10R. The plurality of rotors 10R include a first rotor 11. The radar 20 can perform detection operations OPs and non-detection operations OPn. The control unit 70 can perform a first control operation (step S130 in Figure 6) when making a first transition from non-detection operation OPn to detection operations OPs. In the first control operation, the control unit 70 performs a first modification to change the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in non-detection operation OPn. Detection operations OPs are performed after the first control operation.

[0071] As already explained, multiple rotors 10 R is The rotor may include a second rotor 12. The control unit 70 may perform a second modification in the first control operation to change the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in the non-detection operation OPn. The first modification described above includes either increasing or decreasing the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in the non-detection operation OPn. The second modification described above includes the other of increasing or decreasing the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in the non-detection operation OPn.

[0072] The control unit 70 may perform a second control operation (step S150 in Figure 6) during the second transition from detection operation OPs to non-detection operation OPn. The second control operation includes, for example, returning the rotational speed of the first rotor 11 to the rotational speed of the first rotor 11 in non-detection operation OPn, and returning the rotational speed of the second rotor 12 to the rotational speed of the second rotor 12 in non-detection operation OPn.

[0073] For example, radar 20 can detect vibrations of the target object during detection operations OPs.

[0074] The control device 210 according to the embodiment may be capable of performing at least a portion of the control described with respect to the first embodiment. For example, the control device 210 may be capable of performing at least one of the first operation OP1, the second operation OP2, and the third operation OP3 described above. According to the embodiment, a control device for an aircraft capable of high-precision detection can be provided.

[0075] (Third embodiment) The third embodiment relates to a program. The program according to the embodiment can cause the control unit 70 or the control device 210 to perform the control operations described with respect to the first or second embodiment. The control unit 70 or the control device 210 may include, for example, a computer.

[0076] The program according to the embodiment causes the control unit 70 to control an aircraft 110 including a radar 20 and a plurality of rotors 10R. In a first control operation, the control unit 70 performs a first modification to change the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in a non-detection operation OPn. Detection operations OPs are performed after the first control operation. In a first control operation, the control unit 70 performs a second modification to change the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in a non-detection operation OPn. The first modification includes either increasing or decreasing the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in a non-detection operation OPn. The second modification includes the other of increasing or decreasing the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in a non-detection operation OPn. According to the embodiment, a control program for an aircraft capable of high-precision detection can be provided.

[0077] (Fourth Embodiment) The fourth embodiment relates to a control method. The control method according to the embodiment may include the operation of the control unit 70 or the control device 210 as described with respect to the first or second embodiment.

[0078] The control method according to the embodiment is a control method for controlling an aircraft 110 including a radar 20 and a plurality of rotors 10R. The control method performs a first control operation when transitioning from a non-detection operation OPn to a detection operation OPs. In the first control operation, a first modification is performed to change the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in the non-detection operation OPn. The detection operation OPs is performed after the first control operation. The control method may include performing a second modification in the first control operation to change the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in the non-detection operation OPn. The first modification includes either increasing or decreasing the rotational speed of the first rotor 11 from the rotational speed of the first rotor 11 in the non-detection operation OPn. The second modification includes the other of increasing or decreasing the rotational speed of the second rotor 12 from the rotational speed of the second rotor 12 in the non-detection operation OPn. According to the embodiment, a control method for an aircraft capable of high-precision detection can be provided.

[0079] According to this embodiment, high-precision detection is possible in the detection operations OPs by the radar 20 while maintaining the flight performance of the aircraft 110. For example, the rotational speed of the first rotor 11, which is included in the multiple rotors 10R, is increased, and the rotational speed of the second rotor 12, which is included in the multiple rotors 10R, is decreased. The flight state (flight attitude) of the aircraft 110 becomes more stable.

[0080] The embodiment may include the following configuration (e.g., proposed technical details). (Composition 1) Radar and, Support part and Multiple rotors supported by the aforementioned support portion, Control unit and Equipped with, The plurality of rotors include a first rotor, The radar is capable of performing detection and non-detection operations. The control unit is capable of performing a first control operation during the first transition from the non-detection operation to the detection operation. The control unit performs a first modification in the first control operation, which changes the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The detection operation is performed after the first control operation, and the aircraft.

[0081] (Configuration 2) The plurality of rotors include a second rotor, The control unit performs a second modification in the first control operation, which changes the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation. The first modification includes either increasing or decreasing the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The aircraft according to Configuration 1, wherein the second modification includes the other action of increasing and decreasing the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation.

[0082] (Composition 3) The control unit is capable of performing a second control operation during the second transition from the detection operation to the non-detection operation. The second control operation is, To return the rotational speed of the first rotor to the rotational speed of the first rotor in the non-detection operation, and The aircraft according to configuration 2, which includes restoring the rotational speed of the second rotor to the rotational speed of the second rotor in the non-detection operation.

[0083] (Composition 4) The radar is capable of detecting vibrations of the target object in the detection operation, as described in Configuration 3 of the aircraft.

[0084] (Composition 5) The aircraft according to configuration 4, wherein the frequency components of the vibration to be detected include a natural number multiple of at least one of the frequencies of the rotational speed of the first rotor during the non-detection operation and the frequencies of the rotational speed of the second rotor during the non-detection operation.

[0085] (Composition 6) The vibration of the aircraft includes a first frequency corresponding to the rotational speed of the first rotor during the detection operation, and a second frequency corresponding to the rotational speed of the second rotor during the detection operation. The detection frequency of the object to be detected is between the first frequency and the second frequency, as described in configuration 4.

[0086] (Composition 7) The aircraft according to any one of configurations 4 to 6, wherein the first control operation is performed based on transition information that is at least one of the following: acquisition of information input from a user, a predetermined time, the position of the aircraft, the relative position between the detected object and the aircraft, and the detection result from a sensor provided on the aircraft.

[0087] (Composition 8) When the control unit obtains the transition information, it performs the first control operation. After the first control operation, the radar performs the detection operation. The aircraft according to configuration 7, wherein, after the detection operation, the control unit performs the second control operation.

[0088] (Composition 9) Multiple first rotors and multiple second rotors are provided, The aircraft according to any one of configurations 2 to 8, wherein the positions of the plurality of first rotors are symmetrical with respect to a first straight line passing through one of the plurality of second rotors and another of the plurality of second rotors.

[0089] (Composition 10) Multiple first rotors and multiple second rotors are provided, The aircraft according to any one of configurations 2 to 8, wherein the positions of the plurality of first rotors are point-symmetric with respect to the central position between one of the plurality of second rotors and another of the plurality of second rotors.

[0090] (Composition 11) The aircraft according to configuration 10, wherein the positions of the plurality of second rotors are point-symmetric with respect to the central position.

[0091] (Composition 12) Multiple first rotors and multiple second rotors are provided, An aircraft according to any one of configurations 2 to 8, wherein at least one of the positions of the plurality of first rotors and the positions of the plurality of second rotors is symmetrical with respect to a first straight line along the direction of travel of the aircraft.

[0092] (Composition 13) An aircraft according to any one of configurations 9 to 12, wherein the number of the plurality of first rotors and the number of the plurality of second rotors are even.

[0093] (Composition 14) It includes a radar and a control unit capable of controlling an aircraft including multiple rotors, The radar is capable of performing detection and non-detection operations. The control unit is capable of performing a first control operation during the first transition from the non-detection operation to the detection operation. The plurality of rotors include a first rotor, The control unit performs a first modification in the first control operation, which changes the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The detection operation is performed after the first control operation, and is a control device.

[0094] (Composition 15) The plurality of rotors include a second rotor, The control unit performs a second modification in the first control operation, which changes the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation. The first modification includes either increasing or decreasing the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The control device according to configuration 14, wherein the second modification includes the other action of increasing and decreasing the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation.

[0095] (Composition 16) The control unit is capable of performing a second control operation during the second transition from the detection operation to the non-detection operation. The second control operation is, To return the rotational speed of the first rotor to the rotational speed of the first rotor in the non-detection operation, and The control device according to configuration 15, which includes restoring the rotational speed of the second rotor to the rotational speed of the second rotor in the non-detection operation.

[0096] (Composition 17) The control device according to configuration 15 or 16, wherein the radar is capable of detecting vibrations of the object to be detected in the detection operation.

[0097] (Composition 18) A program that causes a control unit to control an aircraft including radar and multiple rotors, The radar is capable of performing detection and non-detection operations. The control unit is capable of performing a first control operation during the first transition from the non-detection operation to the detection operation. The plurality of rotors include a first rotor, The control unit performs a first modification in the first control operation, which changes the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The detection operation is a program that is performed after the first control operation.

[0098] (Composition 19) The plurality of rotors include a second rotor, The control unit performs a second modification in the first control operation, which changes the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation. The first modification includes either increasing or decreasing the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The program according to configuration 18, wherein the second modification includes the other action of increasing and decreasing the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation.

[0099] (Composition 20) A control method for controlling an aircraft including radar and multiple rotors, The radar is capable of performing detection and non-detection operations. The plurality of rotors include a first rotor, A first control operation is performed during the first transition from the non-detection operation to the detection operation. In the first control operation, a first modification is performed to change the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The detection operation is performed after the first control operation, in a control method.

[0100] According to the embodiment, it is possible to provide an aircraft, control device, control program, and control method capable of high-precision detection.

[0101] Embodiments of the present invention have been described above with reference to examples. However, the present invention is not limited to these examples. For example, the specific configuration of each element such as radar, rotor, and control unit included in an aircraft is included within the scope of the present invention as long as it can be implemented in the same way and similar effects can be obtained by appropriately selecting from the range known to those skilled in the art.

[0102] Combinations of two or more elements from each example, to the extent technically feasible, are also included within the scope of the present invention, insofar as they encompass the gist of the invention.

[0103] All aircraft, control devices, control programs, and control methods that a person skilled in the art can implement by appropriately modifying the design based on the aircraft, control device, control program, and control method described above as embodiments of the present invention also fall within the scope of the present invention, insofar as they encompass the gist of the present invention.

[0104] Within the scope of the concept of this invention, a person skilled in the art would be able to conceive of various modifications and alterations, and it is understood that such modifications and alterations also fall within the scope of this invention.

[0105] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols]

[0106] 10A...Arm, 10H...Structure, 10M...Motor, 10R...Rotor, 10S...Support, 11~13...1st~3rd Rotor, 11n, 11s, 12n, 12s...Spectrum, 20...Radar, 61...Radar Control Unit, 62...Communication Circuit, 63...Battery, 70...Control Unit, 70M...Memory, 71...Rotor Control Unit, 72...Acquisition Unit, 73...Rotation Speed ​​Calculation Unit, 74...Determination Unit, 75...Operating Device, 80s...Spectrum, 110...Aircraft, 210...Control Device, C1...Center Position, D1...Direction of Travel, I1...Transition Information, I2...Detection Frequency Information, I3...Flight Information, L1, L2...1st, 2nd Straight Line, OP1~OP3...1st~3rd Operation, OPn...Non-Detection Operation, OPs...Detection Operation P1...Power, f1~f4...1st~4th frequencies, fd...Detection frequency, fr1...Frequency

Claims

1. Radar and, Support part and Multiple rotors supported by the aforementioned support portion, Control unit and Equipped with, The plurality of rotors include the first rotor, The radar is capable of performing detection and non-detection operations. The control unit is capable of performing a first control operation during the first transition from the non-detection operation to the detection operation. The control unit performs a first modification in the first control operation, which changes the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation, so that the spectrum of vibration caused by the rotation of the first rotor in the detection operation deviates from the spectrum of vibration to be detected. The detection operation is performed after the first control operation. The vibration to be detected is an aircraft, wherein the vibration is at the target frequency.

2. The plurality of rotors include a second rotor, In the first control operation, the control unit performs a second modification, which changes the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation, so that the spectrum of vibration caused by the rotation of the second rotor in the detection operation deviates from the spectrum of vibration of the object to be detected. The first modification includes either increasing or decreasing the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The aircraft according to claim 1, wherein the second modification includes the other action of increasing and decreasing the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation.

3. The control unit is capable of performing a second control operation during the second transition from the detection operation to the non-detection operation. The second control operation is, To return the rotational speed of the first rotor to the rotational speed of the first rotor in the non-detection operation, and The aircraft according to claim 2, further comprising restoring the rotational speed of the second rotor to the rotational speed of the second rotor in the non-detection operation.

4. The aircraft according to claim 3, wherein the radar is capable of detecting the vibration of the object to be detected in the detection operation.

5. The aircraft according to claim 4, wherein the control unit controls the first rotor and the second rotor such that the frequency components of the vibration to be detected include a natural number multiple of at least one of the frequencies of the rotational speed of the first rotor during the non-detection operation and the frequencies of the rotational speed of the second rotor during the non-detection operation.

6. The vibration of the aircraft includes a first frequency corresponding to the rotational speed of the first rotor during the detection operation, and a second frequency corresponding to the rotational speed of the second rotor during the detection operation. The aircraft according to claim 4, wherein the detection frequency of the object to be detected is between the first frequency and the second frequency.

7. The aircraft according to any one of claims 4 to 6, wherein the first control operation is performed based on transition information that is at least one of the following: acquisition of information input from a user, a predetermined time, the position of the aircraft, the relative position of the detection target and the aircraft, and the detection result from a sensor provided on the aircraft.

8. When the control unit obtains the transition information, it performs the first control operation. After the first control operation, the radar performs the detection operation. The aircraft according to claim 7, wherein the control unit performs the second control operation after the detection operation.

9. A plurality of first rotors and a plurality of second rotors are provided, The aircraft according to claim 2, wherein the positions of the plurality of first rotors are symmetrical with respect to a first straight line passing through one of the plurality of second rotors and another of the plurality of second rotors.

10. A plurality of first rotors and a plurality of second rotors are provided, The aircraft according to claim 2, wherein the positions of the plurality of first rotors are point-symmetric with respect to the central position between one of the plurality of second rotors and another of the plurality of second rotors.

11. The aircraft according to claim 10, wherein the positions of the plurality of second rotors are point-symmetric with respect to the central position.

12. A plurality of first rotors and a plurality of second rotors are provided, The aircraft according to claim 2, wherein at least one of the positions of the plurality of first rotors and the positions of the plurality of second rotors is symmetrical with respect to a first straight line along the direction of travel of the aircraft.

13. The aircraft according to any one of claims 9 to 12, wherein the number of the plurality of first rotors and the number of the plurality of second rotors are even.

14. It includes a radar and a control unit capable of controlling an aircraft including multiple rotors, The radar is capable of performing detection and non-detection operations. The control unit is capable of performing a first control operation during the first transition from the non-detection operation to the detection operation. The plurality of rotors include the first rotor, The control unit performs a first modification in the first control operation, which changes the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The detection operation is performed after the first control operation. The plurality of rotors include a second rotor, The control unit performs a second modification in the first control operation, which changes the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation. The first modification includes either increasing or decreasing the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The second modification includes the other action of increasing and decreasing the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation, The radar is capable of detecting vibrations of the target object during the detection operation. A control device in which the vibration to be detected is a vibration at a target frequency.

15. The control unit is capable of performing a second control operation during the second transition from the detection operation to the non-detection operation. The second control operation is, To return the rotational speed of the first rotor to the rotational speed of the first rotor in the non-detection operation, and The control device according to claim 14, further comprising restoring the rotational speed of the second rotor to the rotational speed of the second rotor in the non-detection operation.

16. A program that causes a control unit to control an aircraft including radar and multiple rotors, The radar is capable of performing detection and non-detection operations. The control unit is capable of performing a first control operation during the first transition from the non-detection operation to the detection operation. The plurality of rotors include the first rotor, The control unit performs a first modification in the first control operation, which changes the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation, so that the spectrum of vibration caused by the rotation of the first rotor in the detection operation deviates from the spectrum of vibration to be detected. The detection operation is performed after the first control operation. A program in which the vibration to be detected is a vibration at a target frequency.

17. The plurality of rotors include a second rotor, In the first control operation, the control unit performs a second modification, which changes the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation, so that the spectrum of vibration caused by the rotation of the second rotor in the detection operation deviates from the spectrum of vibration of the object to be detected. The first modification includes either increasing or decreasing the rotational speed of the first rotor from the rotational speed of the first rotor in the non-detection operation. The program according to claim 16, wherein the second modification includes performing the other action of increasing and decreasing the rotational speed of the second rotor from the rotational speed of the second rotor in the non-detection operation.

18. A control method for controlling an aircraft including radar and multiple rotors, The radar is capable of performing detection and non-detection operations. The plurality of rotors include the first rotor, A first control operation is performed during the first transition from the non-detection operation to the detection operation. In the first control operation, a first modification is performed to change the rotation speed of the first rotor from the rotation speed of the first rotor in the non-detection operation so that the spectrum of vibration caused by the rotation of the first rotor in the detection operation deviates from the spectrum of vibration to be detected. The detection operation is performed after the first control operation. A control method wherein the vibration to be detected is a vibration at a target frequency.

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