Control device, control method, and unmanned aerial vehicle search system

Abstract

The control section (16) of the UAV (1) of the present application detects a UAV (50) as a search target on the basis of sensing data obtained through sensing by the sensor section (14), moves the UAV (1) to a position above the detected UAV (50), specifies the current position of the UAV (1) when the UAV (1) is moved to the position above the UAV (50), and transmits search position information indicating the specified current position as the current position of the UAV (50).

Description

TECHNICAL FIELD

[0001] The present application relates to a system for searching for a missing unmanned aerial vehicle, and the like. BACKGROUND

[0002] In the past, in order to efficiently search for and recover a missing unmanned aerial vehicle, for example, as disclosed in Patent Literature 1, a technology is known in which a loss prevention device mounted on an unmanned aerial vehicle acquires in advance position information for specifying a current position of the unmanned aerial vehicle in flight, and transmits the position information to a management office when landing of the unmanned aerial vehicle is detected. Thus, even in a case where a GPS (Global Positioning System) receiver does not function effectively at a landing point of the unmanned aerial vehicle, it is possible to estimate a current position of the unmanned aerial vehicle based on the position information until the landing point is reached.

[0003] BACKGROUND ART

[0004] PATENT LITERATURE

[0005] Patent Literature 1: International Publication No. 2017 / 026354 SUMMARY

[0006] [Problems to be Solved by the Invention]

[0007] However, with the technology disclosed in Patent Literature 1, at the time of landing of the unmanned aerial vehicle, there is a possibility that the machine mounted on the unmanned aerial vehicle will malfunction due to an impact or the like, and even the position information of the missing unmanned aerial vehicle cannot be transmitted to the management office. In this case, there is a problem that it becomes difficult to recover the unmanned aerial vehicle because the current position of the missing unmanned aerial vehicle cannot be accurately estimated.

[0008] Therefore, the present application provides a control device, a control method, and an unmanned aerial vehicle search system that can efficiently recover a missing unmanned aerial vehicle.

[0009] [Technical Means for Solving the Problems]

[0010] To solve the problem, the invention described in Technical Solution 1 is characterized by a control device that controls a second unmanned aerial vehicle that searches for a first unmanned aerial vehicle that has gone missing, and includes: a detection mechanism that detects the first unmanned aerial vehicle that is a search target based on sensing data obtained by a sensor provided in the second unmanned aerial vehicle; a flight control mechanism that moves the second unmanned aerial vehicle to a position above the first unmanned aerial vehicle detected by the detection mechanism; a first specification mechanism that specifies a position in a horizontal direction of the second unmanned aerial vehicle when the second unmanned aerial vehicle is moved to the position above the first unmanned aerial vehicle; and a transmission mechanism that transmits first position information that indicates the position specified by the first specification mechanism as a first position in a horizontal direction of the first unmanned aerial vehicle to a prescribed device. As a result, a missing unmanned aerial vehicle can be efficiently recovered.

[0011] The invention described in Technical Solution 2 is the control device described in Technical Solution 1, characterized in that the flight control mechanism causes the second unmanned aerial vehicle to hover at the position above the first unmanned aerial vehicle. As a result, the second unmanned aerial vehicle becomes a marker of the current position of the first unmanned aerial vehicle, and a person who recovers the first unmanned aerial vehicle can easily grasp the position of the first unmanned aerial vehicle that has gone missing.

[0012] The invention described in Technical Solution 3 is the control device described in Technical Solution 1 or 2, characterized in that the flight control mechanism acquires second position information that indicates a position of the first unmanned aerial vehicle immediately before the first unmanned aerial vehicle went missing and is a second position in a horizontal direction of the first unmanned aerial vehicle, causes the second unmanned aerial vehicle to fly in a normal flight mode from a departure position of the second unmanned aerial vehicle toward the second position, and causes the second unmanned aerial vehicle to fly in a search flight mode after the second unmanned aerial vehicle enters a range of a prescribed distance from the second position. As a result, power consumption of the second unmanned aerial vehicle can be reduced, and search efficiency can be improved.

[0013] The invention described in Technical Solution 4 is the control device described in any one of Technical Solutions 1 to 3, characterized in that the flight control mechanism causes the flight speed of the second unmanned aerial vehicle to decrease in accordance with a switch from the normal flight mode to the search flight mode. As a result, the first unmanned aerial vehicle can be detected slowly, and thus the detection accuracy of the first unmanned aerial vehicle can be improved.

[0014] The invention described in Technical Solution 5 is the control device described in any one of Technical Solutions 1 to 4, characterized in that the second unmanned aerial vehicle is provided with an optical sensor for flight control of the second unmanned aerial vehicle, and a thermo sensor that non-contact senses the temperature of the search object radiation as the sensor, and the detection mechanism detects the first unmanned aerial vehicle based on the sensing data obtained by the thermo sensor instead of or together with the optical sensor in accordance with the switching from the normal flight mode to the search flight mode. Thus, the temperature of the battery of the first unmanned aerial vehicle can be detected, and the detection accuracy of the first unmanned aerial vehicle can be improved.

[0015] The invention described in Technical Solution 6 is the control device described in any one of Technical Solutions 1 to 5, characterized in that, in the case where it is difficult to move the second unmanned aerial vehicle to a position above the first unmanned aerial vehicle, the flight control mechanism moves the second unmanned aerial vehicle to a position apart from the position above the first unmanned aerial vehicle, and the control device is further provided with a second specifying mechanism that specifies the horizontal direction position of the second unmanned aerial vehicle, the azimuth angle of the second unmanned aerial vehicle, and the distance from the first unmanned aerial vehicle when the second unmanned aerial vehicle is moved to the position apart from the position above the first unmanned aerial vehicle, and specifies the first position in the horizontal direction of the first unmanned aerial vehicle based on the specified position, azimuth angle, and distance, and the transmission mechanism transmits first position information indicating the first position specified by the second specifying mechanism to the device. Thus, the safety of the second unmanned aerial vehicle can be improved.

[0016] The invention described in Technical Solution 7 is the control device described in any one of Technical Solutions 1 to 6, characterized in that it is further provided with a determination mechanism that specifies the scheduled time when a collector arrives at the first position for the purpose of collecting the first unmanned aerial vehicle, and the remaining amount of the battery of the second unmanned aerial vehicle after the first unmanned aerial vehicle is detected, and determines whether to make the second unmanned aerial vehicle temporarily land at a place where landing is possible in the vicinity of the first position based on the scheduled time and the remaining amount of the battery, and the flight control mechanism makes the second unmanned aerial vehicle temporarily land at the place where landing is possible in the case where the determination mechanism determines to make the second unmanned aerial vehicle temporarily land at the place where landing is possible, and then makes the second unmanned aerial vehicle take off after the second unmanned aerial vehicle temporarily lands at the place where landing is possible, and makes the second unmanned aerial vehicle move to the position above the first unmanned aerial vehicle. Thus, the power consumption of the second unmanned aerial vehicle can be suppressed.

[0017] The invention described in Technical Solution 8 is the control device described in any one of Technical Solutions 1 to 6, characterized in that it further comprises a determination mechanism that determines whether the first unmanned aerial vehicle is moving after the first unmanned aerial vehicle is detected, and the flight control mechanism causes the second unmanned aerial vehicle to wait at a specific place for a prescribed time and then move to a position above the first unmanned aerial vehicle if the determination mechanism determines that the first unmanned aerial vehicle is moving. Thus, the safety of the second unmanned aerial vehicle can be improved.

[0018] The invention described in Technical Solution 9 is characterized by a control method that is executed by one or more computers that control a second unmanned aerial vehicle that searches for a missing first unmanned aerial vehicle, and includes the steps of detecting the first unmanned aerial vehicle that is a search target based on sensing data obtained by sensing by a sensor provided in the second unmanned aerial vehicle, causing the second unmanned aerial vehicle to move to a position above the detected first unmanned aerial vehicle, specifying a position in a horizontal direction of the second unmanned aerial vehicle when the second unmanned aerial vehicle moves to the position above the first unmanned aerial vehicle, and transmitting first position information that indicates the specified position as a first position in a horizontal direction of the first unmanned aerial vehicle to a prescribed device.

[0019] The invention described in Technical Solution 10 is characterized by an unmanned aerial vehicle search system that includes a second unmanned aerial vehicle that searches for a missing first unmanned aerial vehicle, and comprises a detection mechanism that detects the first unmanned aerial vehicle that is a search target based on sensing data obtained by sensing by a sensor provided in the second unmanned aerial vehicle, a flight control mechanism that causes the second unmanned aerial vehicle to move to a position above the first unmanned aerial vehicle detected by the detection mechanism, a first specifying mechanism that specifies a position in a horizontal direction of the second unmanned aerial vehicle when the second unmanned aerial vehicle moves to the position above the first unmanned aerial vehicle, and a transmission mechanism that transmits first position information that indicates the position specified by the first specifying mechanism as a first position in a horizontal direction of the first unmanned aerial vehicle to a prescribed device.

[0020] [Effects of the Invention]

[0021] According to the present invention, a missing unmanned aerial vehicle can be efficiently recovered. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a diagram that shows an outline configuration example of an unmanned aerial vehicle search system S.

[0023] Figure 2is a diagram showing an outline configuration example of a UAV (Unmanned Aerial Vehicle) 1.

[0024] Figure 3 is a diagram showing a functional module example in the control section 16.

[0025] Figure 4 is a conceptual diagram showing a positional relationship between a final acquired position Pf of the UAV 50 and a current position Pc of the UAV 50.

[0026] Figure 5 is a conceptual diagram showing a case where the UAV 1 exists at a position above the UAV 50.

[0027] Figure 6 is a conceptual diagram showing a case (Example 1) where the UAV 1 exists at a position apart from a position above the UAV 50.

[0028] Figure 7 is a conceptual diagram showing a case (Example 2) where the UAV 1 exists at a position apart from a position above the UAV 50.

[0029] Figure 8 is a diagram showing an outline configuration example of a management server MS.

[0030] Figure 9 is a flowchart showing an example of processing executed by the control section 16 of the UAV 1.

[0031] Figure 10 is a flowchart showing an example of search start processing in step S5 of Figure 9

[0032] Figure 11 is a flowchart showing an example of home location specification and notification processing in step S9 of Figure 9 DETAILED DESCRIPTION

[0033] ​​An embodiment of the present application will be described below with reference to the drawings. In the unmanned aerial vehicle search system S of the present embodiment, a search (investigation) second unmanned aerial vehicle is used in order to search for a missing first unmanned aerial vehicle. In the following description, the missing first unmanned aerial vehicle will be referred to as UAV (Unmanned Aerial Vehicle) 50, and the second unmanned aerial vehicle used to search for the missing first unmanned aerial vehicle will be referred to as UAV1. Each of the UAV 50 and the UAV1 is also referred to as a drone or a multicopter, and is capable of flying in the atmosphere by remote control or autonomous flight. In the present embodiment, a case is assumed in which the UAV 50 is missing in the middle of flying for the purpose of carrying (delivery), measurement, photographing, inspection, or monitoring. As for the flight path of the UAV 50, for example, a case is assumed in which the UAV 50 flies through a valley or a mountainous area. Here, the so-called missing refers to a case in which the whereabouts of the UAV 50 cannot be known. For example, a case in which a flight management system (a flight management bureau) that manages the flight of the UAV 50 cannot normally receive a signal (for example, own position information) from the UAV 50 corresponds to the missing.

[0034] [1. Configuration and operation outline of unmanned aerial vehicle search system S]

[0035] First, the configuration and operation outline of the unmanned aerial vehicle search system S of the present embodiment will be described with reference to Figure 1 Figure 1 is a diagram showing an example of the outline configuration of the unmanned aerial vehicle search system S. As shown in Figure 1 , the unmanned aerial vehicle search system S is configured to include the UAV1 and a flight management system (hereinafter referred to as "UTMS (UAV Traffic Management System) ") 2. The UAV1 and the UTMS 2 are capable of communicating with each other via a communication network NW. The communication network NW is configured by, for example, the Internet, a mobile communication network, and a wireless base station thereof. The UTMS 2 is configured to include one or more servers such as a management server MS. The management server MS is an example of a prescribed device. The management server MS performs management and control of flight plans before flight of the UAV 50 and the UAV1, and management of flight situations of the UAV 50 and the UAV1 during flight. The management of the flight situations is performed, for example, on the basis of own position information successively transmitted from each of the UAV 50 and the UAV1 to the management server MS along with a body ID (Identifier). The body ID of the UAV1 is stored. The body ID is identification information for identifying each of the UAV 50 and the UAV1.

[0036] [1-1. Configuration and functions of UAV1]

[0037] Next, the configuration and functions of the UAV1 will be described with reference to Figure 2 ​The configuration and functions of the UAV 1 will be described. Figure 2 is a diagram showing a schematic configuration example of the UAV 1. As shown in Figure 2 , the UAV 1 is provided with a drive section 11, a position measurement section 12, a communication section 13, a sensor section 14, a storage section 15, and a control section 16, and the like. Further, the UAV 1 is provided with a battery (not shown) that supplies power to each section of the UAV 1, and a rotor (propeller) as a horizontal rotor, and the like. The remaining amount of the battery can be monitored by the control section 16. Also, as to the UAV 50, it can be configured as shown in Figure 2 . In addition, the UAV 1 is used for search purposes, and thus it is sufficient to be a small unmanned aerial vehicle that is smaller in size than the UAV 50.

[0038] The drive section 11 is provided with a motor and a rotating shaft, and the like. The drive section 11 rotates a plurality of rotors by the motor and the rotating shaft, and the like, which are driven in accordance with a control signal output from the control section 16. The position measurement section 12 is provided with a radio receiver and an altitude sensor, and the like. The position measurement section 12 receives a radio wave transmitted from a satellite of a GNSS (Global Navigation Satellite System) by the radio receiver, for example, and detects a current position of the UAV 1 in a horizontal direction based on the radio wave. Here, the current position in the horizontal direction is a two-dimensional position coordinate, and can be expressed by latitude and longitude. In addition, the current position of the UAV 1 in the horizontal direction can also be corrected based on an image captured by the camera of the sensor section 14. Self-position information showing the current position detected by the position measurement section 12 is output to the control section 16. Further, the position measurement section 12 can also detect a current position of the UAV 1 in a vertical direction by an altitude sensor such as an air pressure sensor. Here, the current position in the vertical direction can be expressed by altitude. In this case, the self-position information includes altitude information showing the altitude of the UAV 1. The communication section 13 is provided with a wireless communication function, and is responsible for control of communication via a communication network NW.

[0039] The sensor section 14 has various sensors for flight control of the UAV 1. The various sensors include, for example, an optical sensor, a distance sensor, a three-axis angular velocity sensor, a three-axis acceleration sensor, and a geomagnetic field sensor. Sensing data obtained by sensing by the sensor section 14 is output to the control section 16. Here, sensing refers to, for example, measurement, photographing, or perception of some quantity (e.g., a physical quantity). The optical sensor includes, for example, a camera. For example, the actual space in the range that is captured by the camera is continuously photographed. The sensing data obtained by sensing by the camera includes an RGB image of the sensing region. Further, the sensor section 14 can have a thermal sensor that non-contact perceives the temperature radiated by the search object (e.g., the UAV 50). As an example of the thermal sensor, there is an infrared thermal image analyzer that perceives infrared rays emitted by the search object and measures the temperature from the amount of radiation of the infrared rays. In this case, the sensing data obtained by sensing by the thermal sensor includes a temperature distribution image of the sensing region. The distance sensor measures the distance to the search object using laser or ultrasonic waves.

[0040] The storage section 15 is configured of a non-volatile memory or the like and stores various programs and data. In addition, the storage section 15 stores the body ID of the UAV 1. The control section 16 has a CPU (Central Processing Unit), a ROM (ReadOnly Memory), and a RAM (Random Access Memory), and the like. Figure 3 is a diagram showing an example of functional modules in the control section 16. The control section 16 functions as, for example, a flight control section 16a (an example of a flight control mechanism), a search object detection section 16b (an example of a detection mechanism), a self position specifying section 16c (an example of a first specifying mechanism), a search position information transmission section 16d (an example of a transmission mechanism), a search object position specifying section 16e (an example of a second specifying mechanism), and a landing necessity determination section 16f (an example of a determination mechanism), in accordance with a program (program code group) stored in the ROM (or the storage section 15). Figure 3

[0041] ​The flight control section 16a performs flight control to cause the UAV 1 to fly toward the destination. In this flight control, using the own position information indicating the current position detected by the position measurement section 12, and the sensing data obtained by the sensing of the sensor section 14, and the like, the number of revolutions of the rotor is controlled, and the current position, posture, and advancing direction of the UAV 1 are controlled. Thus, the UAV 1 can autonomously move toward the destination. Here, the destination is, for example, the position of the UAV 50 immediately before the disappearance, and is the position in the horizontal direction of the UAV 50 (an example of the second position). This position (hereinafter, referred to as "the final acquisition position") is, for example, the position indicated by the own position information last received (acquired) by the UTMS 2 from the UAV 50. Figure 4 is a conceptual diagram indicating the positional relationship between the final acquisition position Pf of the UAV 50 and the current position Pc of the UAV 50. Figure 4 In the example of, in the mountainous area, the UAV 50 flies at the final acquisition position Pf, and then, lands on the slope Sl of the mountain, and stops at the current position Pc. Further, the flight control section 16a can acquire the final position information (the second position information) indicating the final acquisition position of the UAV 50 from the management server MS.

[0042] The search target detection section 16b starts to detect the UAV 50 as a search target, for example, based on the sensing data obtained by the sensing of the sensor section 14, in a case where the range (hereinafter, referred to as "the search range") of a predetermined distance (for example, several meters to several hundred meters) from the final acquisition position of the UAV 50 is entered. For example, the UAV 50 is detected by image recognition, according to at least any one of the RGB image and the temperature distribution image included in the sensing data. In this image recognition, the characteristic information (previously set) of the appearance of the UAV 50 can be used. If a long time does not elapse after the disappearance of the UAV 50, it can be considered that the temperature of the battery is high, so the detection accuracy of the UAV 50 can be improved by using the temperature distribution image. Here, the flight control section 16a can cause the UAV 1 to fly from the departure place of the UAV 1 toward the final acquisition position of the UAV 50 in the normal flight mode, and after the UAV 1 enters the search range from this final acquisition position, the UAV 1 is caused to fly in the search flight mode from the normal flight mode. Thus, by causing the UAV 1 to preferentially fly before reaching the search range, and to preferentially search after reaching the search range, the power consumption of the UAV 1 can be reduced, and the search efficiency can be improved.

[0043] For example, the flight control section 16a can decrease the flight speed of the UAV 1 according to the switching from the normal flight mode to the search flight mode. Thereby, the UAV 50 can be detected slowly, and thus the detection accuracy of the UAV 50 can be improved. In addition, in a case where the UAV 1 is provided with a thermal sensor, the search object detection section 16b can detect the UAV 50 based on sensing data obtained by sensing with the thermal sensor instead of (or together with) the camera according to the switching from the normal flight mode to the search flight mode. That is, the thermal sensor is switched from the camera, or the thermal sensor is activated in addition to the camera, in order to detect the UAV 50. Thereby, the temperature of the battery of the UAV 50 can be detected, and thus the detection accuracy of the UAV 50 can be improved.

[0044] Then, the flight control section 16a moves the UAV 1 to a position above the detected UAV 50 (in the sky) in a case where the search object detection section 16b detects the UAV 50. Figure 5 is a conceptual view showing a case where there is the UAV 1 in the position above the UAV 50. As shown in Figure 5 , the position above the UAV 50 falling on the slope Sl of the mountain is ideally a position in the vertical direction of the UAV 50, and is a position higher than the height of the UAV 50. That is, the UAV 1 can be moved to directly above the UAV 50. However, the position above the UAV 50 can also be considered with an error, and can be a position shifted by several degrees Θ from the vertical direction axis Ve of the UAV 50 as shown in Figure 5 . In addition, when the UAV 1 is moved to the position above the UAV 50, the distance between the UAV 50 and the UAV 1 is not particularly limited, and can be several meters, for example. In addition, the flight control section 16a can make the UAV 1 hover in the position above the UAV 50. Thereby, the UAV 1 becomes a marker of the position of the UAV 50, and the position of the lost UAV 50 can be easily grasped by the recycler (searcher). However, the state of the hovering of the UAV 1 is not limited to a state where the UAV 1 is completely stationary in the air, and the position of the UAV 1 can slightly change.

[0045] The own position specifying unit 16c specifies the current position (own position) of the UAV 1 in the horizontal direction when the UAV 1 moves to the position above the UAV 50. For example, the own position specifying unit 16c specifies the current position of the UAV 1 in the horizontal direction by acquiring own position information indicating the current position detected by the position measurement unit 12 when the UAV 1 moves to the position above the UAV 50. The search position information transmitting unit 16d transmits search position information (first position information) indicating the current position specified by the own position specifying unit 16c as the current position of the UAV 50 in the horizontal direction (an example of the first position) to the management server MS via the communication unit 13 together with the body ID of the UAV 1. That is, the current position of the UAV 1 is regarded as the current position of the missing UAV 50. Further, the search position information includes a search result flag indicating that the search position information is a search result. The search position information transmitted to the management server MS as described above is transmitted to the mobile terminal device of the collector. Alternatively, the search position information can be directly transmitted to the mobile terminal device (an example of a prescribed device) of the collector via the communication unit 13.

[0046] On the other hand, in a case where it is difficult to move the UAV 1 to the position above the UAV 50, the flight control unit 16a moves the UAV 1 to a position apart from the position above the UAV 50. Thereby, it is possible to improve the safety of the UAV 1. As an example of the case where it is difficult to move the UAV 1 to the position above the UAV 50, there can be cited a case where the upper space of the UAV 50 is covered with smoke due to an impact at the time of landing. The distance between the position above the UAV 50 and the position apart from the position above the UAV 50 can be determined in advance or can be set in accordance with the situation of the upper space of the UAV 50 (for example, diffusion of smoke, and the like). Figure 6 and Figure 7 is a conceptual diagram indicating a case where the UAV 1 exists at a position apart from the position above the UAV 50. Figure 6 In the example of FIG. 17, the UAV 1 does not exist at a position falling in the vertical direction of the UAV 50 on the slope Sl of the mountain (an error is also taken into account), but exists at a position at the same height as the height of the UAV 50 (that is, a position after horizontal movement from the position of the UAV 50). On the other hand, in the example of FIG. 18, the UAV 1 does not exist at a position falling in the vertical direction of the UAV 50 on the slope Sl of the mountain (an error is also taken into account), but exists at a position higher than the height of the UAV 50. Figure 7 In the example of FIG. 17, the UAV 1 does not exist at a position falling in the vertical direction of the UAV 50 on the slope Sl of the mountain (an error is also taken into account), but exists at a position at the same height as the height of the UAV 50 (that is, a position after horizontal movement from the position of the UAV 50). On the other hand, in the example of FIG. 18, the UAV 1 does not exist at a position falling in the vertical direction of the UAV 50 on the slope Sl of the mountain (an error is also taken into account), but exists at a position higher than the height of the UAV 50.

[0047] The search target position specifying unit 16e specifies the current position of UAV1 in the horizontal direction, the azimuth of UAV1, and the distance from UAV1 to UAV50 when UAV1 moves to a position apart from the position above UAV50, and specifies the current position of UAV50 on the basis of the specified current position, azimuth, and distance. Here, the azimuth of UAV1 can be obtained from a geomagnetic field sensor included in the sensor unit 14. In addition, the distance from UAV1 to UAV50 can be obtained from a distance sensor included in the sensor unit 14. In Figure 6 In the example of FIG. 10, the current position (xl, yl) of UAV1 in the horizontal direction, the azimuth φ of UAV1, and the distance dl from UAV1 to UAV50 are specified. Further, by defining a right triangle formed by the hypotenuse LI connecting UAV1 and UAV50, the base L2 extending in the horizontal direction from UAV50, and the height L3 extending in the vertical direction from UAV1, the length (distance) d2 (= dl cos θ) of the base L2 is found. Then, the current position (xl, yl), the azimuth φ, and the distance d2 are substituted into a prescribed calculation formula, whereby the current position (x0, y0) of UAV50 is found. Furthermore, instead of defining the right triangle, the current position (xl, yl) of UAV1 in the horizontal direction, the azimuth φ of UAV1, and the distance dl from UAV1 to UAV50 can be used to find the current position (x0, y0) of UAV50 using the Direct Method of the well-known Vincenty method.

[0048] On the other hand, in the example of FIG. 11, the current position (xl, yl) of UAV1 in the horizontal direction, the azimuth φ of UAV1, and the distance d0 from UAV1 to UAV50 are specified. Then, the current position (xl, yl), the azimuth φ, and the distance d0 are substituted into a prescribed calculation formula, whereby the current position (x0, y0) of UAV50 is found. Figure 7

[0049] ​As described above, in a case where it is difficult to move the UAV 1 to a position above the UAV 50, the search position information transmission section 16d transmits search position information (first position information) indicating the current position (an example of the first position) of the UAV 50 specified by the search target position specifying section 16e to the management server MS via the communication section 13 together with the body ID of the UAV 1. That is, in this case, the search position information indicating the "current position of the UAV 50" specified by the search target position specifying section 16e is transmitted to the management server MS, rather than the search position information indicating the "current position of the UAV 1" specified by the own position specifying section 16c. Further, the search position information includes a search result flag indicating that the search position information is a search result. The search position information transmitted to the management server MS as such is transmitted to the mobile terminal device of the collector. Alternatively, the search position information can also be directly transmitted to the mobile terminal device of the collector via the communication section 13.

[0050] The landing necessity determination section 16f specifies a scheduled time (scheduled arrival time) at which the collector arrives at the current position indicated by the search position information in order to collect the UAV 50, and the remaining amount of the battery of the UAV 1 after detecting the UAV 50. Then, the landing necessity determination section 16f determines whether or not to cause the UAV 1 to temporarily land at a place (that is, wait after landing) where the UAV 1 can land around the current position based on the specified scheduled arrival time and the remaining amount of the battery (landing necessity determination). For example, in a case where the time during which the UAV 1 can continue to fly corresponding to the remaining amount of the battery is shorter than the time from the current time to the scheduled arrival time, the landing determination section 16f determines to cause the UAV 1 to temporarily land at a place where the UAV 1 can land. Here, the time during which the UAV 1 can continue to fly is longer as the remaining amount of the battery is larger. The scheduled arrival time can be acquired from the management server MS.

[0051] Further, the place where the UAV 1 can land can be specified based on sensing data obtained by sensing by the sensor section 14. For example, a place having an area of a threshold value (for example, several tens of m 2The above ground having a size equal to or greater than the threshold value of the area is specified as a place where the UAV 1 can land. The threshold value of the area can be set, for example, based on the planar size of the UAV 1. Alternatively, the ground having a size equal to or greater than the threshold value of the area and the ground having a gradient less than a threshold value (for example, several percent) can be specified as a place where the UAV 1 can land. The gradient is, for example, a value obtained by dividing the vertical distance by the horizontal distance (unit distance) using a percentage. The threshold value of the gradient can be set based on the viewpoint that the UAV 1 easily lands and the retriever easily retrieves the UAV 1. Then, the flight control section 16a temporarily lands the UAV 1 at the place where the UAV 1 can land when the landing determination section 16f determines that the UAV 1 is to be temporarily landed at the place where the UAV 1 can land, and then (for example, a predetermined time before a predetermined time), causes the UAV 1 to take off, for example, to a position above the UAV 50. Thereby, it is possible to suppress the power consumption of the UAV 1.

[0052] [1-2. Configuration and functions of management server MS]

[0053] Next, the configuration and functions of the management server MS will be described with reference to Figure 8 Figure 8 is a diagram showing an outline configuration example of the management server MS. As shown in Figure 8 , the management server MS is provided with a communication section 21, a storage section 22, and a control section 23, and the like. The communication section 21 is responsible for the control of communication via the communication network NW. The own position information and the body ID transmitted from the UAV 50 before disappearance, the own position information and the body ID transmitted from the UAV 1, and the search position information and the body ID transmitted from the UAV 1 are received by the communication section 21. The storage section 22 is configured by, for example, a hard disk or the like, and stores various programs and data. In addition, in the storage section 22, a UAV management database 221 or the like is constructed.

[0054] In the UAV management database 221, the body ID, the own position information, and the reception time of the UAV (including the UAV 1 and the UAV 50) are stored in correspondence with each body ID. Here, the own position information of the UAV 50 corresponding to the latest reception time becomes the final position information. In addition, the body ID of the UAV 1 used to search for the UAV 50, the search position information transmitted from the UAV 1, the retriever information (for example, the email address of the retriever or the like) of the retriever of the UAV 50, and the like are stored in the UAV management database 221 in correspondence with the body ID of the UAV 50. The retriever information can also be transmitted to the UAV 1 used to search for the UAV 50 by the communication section 21.

[0055] ​The control section 23 includes a CPU, a ROM, a RAM, and the like. The control section 23 detects that the UAV 50 is missing when the UAV 50 fails to receive the own position information and the body ID from the UAV 50 again after a lapse of a predetermined time or more after the last reception of the information, and specifies the last acquired position of the UAV 50. At this time, the control section 23 can also determine the UAV 1 to search for the UAV 50 detected as missing, and the collector of the UAV 50. Then, the control section 23 transmits a search request (investigation request) for the UAV 50 detected as missing to the UAV 1 through the communication section 21. The search request can include last position information indicating the specified last acquired position. In addition, the control section 23 calculates a scheduled time at which the collector of the UAV 50 reaches the current position indicated by the search position information, and transmits the scheduled time to the UAV 1 through the communication section 21.

[0056] [2. Action of the UAV search system S]

[0057] Next, the action of the UAV search system S of the present embodiment will be described with reference to Figure 9 and the like. Figure 9 is a flowchart indicating an example of the processing performed by the control section 16 of the UAV 1. Further, in the following action example, the missing of the UAV 50 is detected by the management server MS, and the UAV 1 to search for the UAV 50, and the collector of the UAV 50 are determined. Figure 9 The processing illustrated in

[0058] When Figure 9 The processing illustrated in

[0059] Next, the control section 16 of the UAV 1 acquires self-position information indicating the current position detected by the position measurement section 12 (step S3). Further, the control section 16 of the UAV 1 can transmit the self-position information acquired in step S3 to the management server MS. Next, the control section 16 of the UAV 1 determines whether or not the current position indicated by the self-position information acquired in step S3 is within the search range (that is, whether or not the UAV 1 has entered the search range of the prescribed distance from the finally acquired position) (step S4). In the case where it is determined that the current position of the UAV 1 is not within the search range (step S4: No), the process returns to step S3. On the other hand, in the case where it is determined that the current position of the UAV 1 is within the search range (step S4: Yes), the process proceeds to step S5. In step S5, the control section 16 of the UAV 1 switches from the normal flight mode to the search flight mode, and executes search start processing of the UAV 50.

[0060] Figure 10 is a flowchart of an example of the search start processing in step S5. Figure 9 Figure 10 In step S51 shown in FIG. 8, the control section 16 of the UAV 1 lowers the flight speed of the UAV 1. Next, the control section 16 of the UAV 1 determines whether or not the thermal sensor can be used (step S52). In the case where it is determined that the thermal sensor cannot be used (step S52: No), the process proceeds to step S53. For example, in the case where the thermal sensor is not mounted on the UAV 1, and in the case where the thermal sensor is mounted but has failed, it is determined that the thermal sensor cannot be used. In step S53, the control section 16 of the UAV 1 starts searching for the UAV 50 using the camera. On the other hand, in the case where it is determined that the thermal sensor can be used (step S52: Yes), the control section 16 of the UAV 1 activates the thermal sensor (that is, causes the thermal sensor to function), and starts searching for the UAV 50 using the camera and the thermal sensor (step S54).

[0061] Returning to Figure 9 ​In step S6, the control unit 16 of UAV1 acquires sensing data obtained by the sensor unit 14 (camera, or camera and thermal sensor). Next, the control unit 16 of UAV1 determines whether UAV50 has been detected (in other words, discovered) based on the sensing data acquired in step S6 (step S7). If it is determined that UAV50 has not been detected (step S7: No), the control unit 16 of UAV1 moves UAV1 within the search range around the final acquired location of UAV50 (step S8), returns to step S6, and repeats the process. Here, as an example of moving around the final acquired location, one could exemplify the case where the altitude of UAV1 is appropriately changed while flying around the final acquired location. On the other hand, if it is determined that the search target detection unit 16b has detected UAV50 (step S7: Yes), the control unit 16 of UAV1 performs location identification and notification processing to identify the location (current location) of UAV50 and notify it (step S9). In addition, the detected position of UAV50 is monitored by the control unit 16 of UAV1 (that is, it is continuously captured).

[0062] Figure 11 It means Figure 9 The flowchart illustrates an example of location-specific and notification processing in step S9. Figure 11 In step S91, the control unit 16 of UAV1 determines whether UAV1 can move to a position above the detected UAV50. If it is determined that UAV1 can move to a position above UAV50 (step S91: Yes), the control unit 16 of UAV1 moves UAV1 to a position above UAV50 (step S92). Here, the control unit 16 of UAV1 can hover UAV1 above UAV50. Next, when UAV1 moves to this position, the control unit 16 of UAV1 uses its own position specifying unit 16c to specify the current position (two-dimensional position coordinates) of UAV1 (step S93). Next, the control unit 16 of UAV1 uses the search position information transmission unit 16d to transmit the search position information, which represents the current position of UAV1 specified in step S93 as the current position of UAV50, and the UAV1's machine ID to the management server MS (step S94). Thus, the location of the missing UAV50 is notified to the management server MS.

[0063] On the other hand, if it is determined that it is impossible (in other words, difficult) to move UAV1 to a position above UAV50 (step S91: No), the control unit 16 of UAV1... Figure 6 or Figure 7UAV 1 moves to a position apart from the position above UAV 50 that was found (step S95). Here, the control section 16 of UAV 1 can cause UAV 1 to hover at a position apart from the position above UAV 50. Next, the control section 16 of UAV 1 specifies the current position of UAV 1 in the horizontal direction, the azimuth angle of UAV 1, and the distance from UAV 1 to UAV 50 when UAV 1 moves to this position (step S96). Next, the control section 16 of UAV 1 calculates and specifies the current position (two-dimensional position coordinates) of UAV 50 using the search target position specifying section 16e based on the current position, the azimuth angle, and the distance of UAV 1 specified in step S96, as described above (step S97). Next, the control section 16 of UAV 1 transmits search position information indicating the current position of UAV 50 specified in step S97 and the body ID of UAV 1 to the management server MS using the search position information transmitting section 16d (step S98). As a result, the whereabouts of the missing UAV 50 are notified to the management server MS.

[0064] When the control section 23 of the management server MS receives the search position information and the body ID from UAV 1, it identifies that UAV 50 was found based on the search result flag included in the search position information, and transmits the search position information to the mobile terminal device of the collector of UAV 50. Next, the control section 23 of the management server MS determines a collection route from the current position of the collector of UAV 50 to the current position indicated by the search position information based on the map data. Next, the control section 23 calculates (estimates) the time required to reach the current position indicated by the search position information if the collector moves along the determined collection route, and calculates the scheduled time when the collector of UAV 50 reaches the current position based on the calculated required time and the current time. The scheduled time calculated in this way is transmitted from the management server MS to UAV 1.

[0065] Returning to Figure 9In step S10, the control section 16 of the UAV 1 acquires the scheduled time transmitted from the management server MS via the communication section 13. Next, the control section 16 of the UAV 1 determines whether the monitored UAV 50 is moving (step Sll). As an example of the UAV 50 moving, for example, a case where the UAV 50 in contact with a slope of a mountain slides down along the slope can be cited. In a case where it is determined that the UAV 50 is moving (step Sll: YES), the control section 16 of the UAV 1 causes the UAV 1 to wait for a prescribed time (for example, 1 to 3 minutes) in a specific (for example, safe) place (in the air or on the ground) (step S12). Here, the waiting for the UAV 1 can be either hovering in the air or landing on the ground. Further, after the waiting for the prescribed time, the processing returns to step S9, and the home specifying and notification processing and the like are executed again. Further, the control section 16 of the UAV 1 causes the UAV 1 to move to a position above the UAV 50 or a position apart therefrom by the following processing after causing the UAV 1 to wait for the prescribed time in the specific place. Thereby, the safety of the UAV 1 can be improved.

[0066] On the other hand, in a case where it is determined that the UAV 50 is not moving (step Sll: NO), the control section 16 of the UAV 1 specifies the remaining amount of the battery of the UAV 1 (the current remaining amount). Then, the control section 16 of the UAV 1 determines whether to cause the UAV 1 to temporarily land in a place where landing is possible in the vicinity of the current position based on the acquired scheduled time (the latest scheduled time) and the specified remaining amount of the battery using the landing necessity determination section 16f (step S13). In a case where it is determined not to cause the UAV 50 to temporarily land in a place where landing is possible (step S13: NO), the control section 16 of the UAV 1 causes the UAV 1 to hover in a position above the UAV 50 or a position apart therefrom before the scheduled time arrives, for example (step S14). Then, Figure 9 The processing shown in the drawing ends, and the UAV 1 returns.

[0067] On the other hand, in a case where it is determined that the UAV 50 is temporarily landed at a place where it can land (step S13: YES), the control section 16 of the UAV 1 specifies a place where it can land, as described above, and causes the UAV 1 to land at the specified place (step S15). Next, the control section 16 of the UAV 1 determines whether or not a takeoff time (for example, 11:20) has come that is a predetermined time (for example, several minutes to several tens of minutes) earlier than the acquired predetermined time (for example, 11:30) (step S16). In a case where it is determined that the takeoff time has not come (step S16: NO), the process is repeated. On the other hand, in a case where it is determined that the takeoff time has come (step S16: YES), the control section 16 of the UAV 1 causes the UAV 1 to take off and move to a position above the UAV 50 or a position apart from the UAV 50, and then causes the UAV 1 to hover (step S14).

[0068] As described above, according to the embodiment, since the UAV 1 is configured to detect the UAV 50 that is a search target based on the sensing data obtained by the sensing of the sensor section 14, move to a position above the detected UAV 50, specify the current position of the UAV 1 when the UAV 1 moves to the position above the UAV 50, and transmit search position information that indicates the specified current position as the current position of the UAV 50, it is possible to efficiently recover the missing UAV 50. In particular, if the UAV 1 is configured to hover at a position above the UAV 50, the UAV 1 becomes a sign of the current position of the UAV 50, and the position of the missing UAV 50 can be easily grasped by the recovery person.

[0069] Furthermore, the embodiment is one embodiment of the present application, and the present application is not limited to the embodiment, and various configurations and the like can be changed based on the embodiment without departing from the gist of the present application, and the case is also included in the technical scope of the present application. In the embodiment, the control section 16 of the UAV 1 is configured to detect the UAV 50 that is a search target based on the sensing data obtained by the sensing of the sensor section 14. However, the detection of the UAV 50 can be performed by the control section 23 of the management server MS by being configured to transmit the sensing data from the UAV 1 to the management server MS. In this case, the control section 23 of the management server MS transmits a control instruction that causes the UAV 1 to move to a position above the detected UAV 50 to the UAV 1.

[0070] In the embodiment, the control section 16 of the UAV 1 specifies the current position of the UAV 50 based on the current position of the UAV 1, the azimuth of the UAV 1, and the distance from the UAV 1 to the UAV 50. However, the current position of the UAV 50 can be specified by the control section 23 of the management server MS by transmitting the current position of the UAV 1, the azimuth of the UAV 1, and the distance from the UAV 1 to the UAV 50 from the UAV 1 to the management server MS. In the embodiment, the control section 16 of the UAV 1 specifies the scheduled time of arrival of the collector and the remaining amount of the battery of the UAV 1, and makes the landing necessity determination based on the specified scheduled time and the remaining amount of the battery. However, the landing necessity determination can be made by the control section 23 of the management server MS by transmitting the remaining amount of the battery of the UAV 1 from the UAV 1 to the management server MS. In this case, if the control section 23 of the management server MS determines that the UAV 50 is temporarily landed in the landing necessity determination, the control section 23 specifies a place where the UAV 1 can land, and transmits a control instruction to land at the specified place to the UAV 1.

[0071] [Explanation of symbols]

[0072] 1 UAV

[0073] 2 UTMS

[0074] 11 Drive section

[0075] 12 Position measurement section

[0076] 13 Communication section

[0077] 14 Sensor section

[0078] 15 Storage section

[0079] 16 Control section

[0080] 16a Flight control section

[0081] 16b Search object detection section

[0082] 16c Own position specifying section

[0083] 16d Search position information transmission section

[0084] 16e Search object position specifying section

[0085] 16f Landing necessity determination section

[0086] 21 Communication section

[0087] 22 Storage section

[0088] 23 control unit

[0089] S unmanned aerial vehicle search system.

Claims

1. A control device characterized by comprising: A second unmanned aerial vehicle controls a first unmanned aerial vehicle that has gone missing, and includes: a detection mechanism that detects the first unmanned aerial vehicle as a search target based on sensing data obtained by sensing by a sensor provided in the second unmanned aerial vehicle; a flight control mechanism that moves the second unmanned aerial vehicle to a position above the first unmanned aerial vehicle detected by the detection mechanism; a first specifying mechanism that specifies a position in a horizontal direction of the second unmanned aerial vehicle when the second unmanned aerial vehicle is moved to the position above the first unmanned aerial vehicle; and a transmission mechanism that transmits first position information that indicates the position specified by the first specifying mechanism as a first position in a horizontal direction of the first unmanned aerial vehicle to a prescribed device. The control device further includes a determination mechanism that, after the first unmanned aerial vehicle is detected, specifies a scheduled time at which a retriever arrives at the first position in order to retrieve the first unmanned aerial vehicle, and a remaining amount of a battery of the second unmanned aerial vehicle, and determines whether or not to cause the second unmanned aerial vehicle to temporarily land at a place where landing is possible in the vicinity of the first position based on the scheduled time and the remaining amount of the battery; and The flight control mechanism specifies, based on sensing data obtained by sensing by a sensor provided in the second unmanned aerial vehicle, a ground having an area of a size of a first threshold value or more and a gradient of less than a second threshold value as a place where landing is possible, and in a case where the determination mechanism determines to cause the second unmanned aerial vehicle to temporarily land at the place where landing is possible, causes the second unmanned aerial vehicle to temporarily land at the place where landing is possible, causes the second unmanned aerial vehicle to take off a predetermined time earlier than the scheduled time, and causes the second unmanned aerial vehicle to move to the position above the first unmanned aerial vehicle.

2. The control device of claim 1, wherein: The flight control mechanism causes the second unmanned aerial vehicle to hover at the position above the first unmanned aerial vehicle.

3. The control device according to claim 1 or 2, characterized by: The flight control mechanism acquires second position information that indicates a position of the first unmanned aerial vehicle immediately before the first unmanned aerial vehicle went missing and is a second position in a horizontal direction of the first unmanned aerial vehicle, causes the second unmanned aerial vehicle to fly in a normal flight mode from a departure position of the second unmanned aerial vehicle toward the second position, and causes the second unmanned aerial vehicle to fly in a search flight mode after the second unmanned aerial vehicle enters a range of a predetermined distance from the second position.

4. The control device of claim 3, wherein: The flight control mechanism decreases a flight speed of the second unmanned aerial vehicle in accordance with a switch from the normal flight mode to the search flight mode.

5. The control device of claim 3, wherein: The second unmanned aerial vehicle includes, as the sensor, an optical sensor for flight control of the second unmanned aerial vehicle, and a thermal sensor that non-contact perceives a temperature of radiation of the search target, The detection mechanism detects the first unmanned aerial vehicle based on sensing data obtained by sensing by the thermal sensor instead of or together with the optical sensor in accordance with the switch from the normal flight mode to the search flight mode.

6. The control device according to claim 1 or 2, characterized by: in a case where it is difficult to move the second unmanned aerial vehicle to a position above the first unmanned aerial vehicle, the flight control mechanism moves the second unmanned aerial vehicle to a position apart from the position above the first unmanned aerial vehicle, the control device further includes a second specifying mechanism that specifies a position in a horizontal direction of the second unmanned aerial vehicle, an azimuth of the second unmanned aerial vehicle, and a distance from the first unmanned aerial vehicle, when the second unmanned aerial vehicle moves to the position apart from the position above the first unmanned aerial vehicle, and specifies a first position in the horizontal direction of the first unmanned aerial vehicle, based on the specified position, the azimuth, and the distance, the transmission mechanism transmits first position information indicating the first position specified by the second specifying mechanism to the prescribed device.

7. The control device according to claim 1 or 2, characterized by: the determination mechanism further determines whether the first unmanned aerial vehicle is moving, after detecting the first unmanned aerial vehicle, in a case where the determination mechanism determines that the first unmanned aerial vehicle is moving, the flight control mechanism causes the second unmanned aerial vehicle to wait at a specified place for a prescribed time, and then causes the second unmanned aerial vehicle to move to the position above the first unmanned aerial vehicle.

8. A control method characterized by: is executed by one or more computers that control a second unmanned aerial vehicle that searches for a missing first unmanned aerial vehicle, and includes the steps of: detecting the first unmanned aerial vehicle that is a search target, based on sensing data obtained by sensing by a sensor provided in the second unmanned aerial vehicle; causing the second unmanned aerial vehicle to move to a position above the detected first unmanned aerial vehicle; specifying a position in a horizontal direction of the second unmanned aerial vehicle, when the second unmanned aerial vehicle moves to the position above the first unmanned aerial vehicle; transmitting first position information that indicates the specified position as a first position in the horizontal direction of the first unmanned aerial vehicle, to a prescribed device; and after detecting the first unmanned aerial vehicle, specifying a scheduled time at which a retriever arrives at the first position in order to retrieve the first unmanned aerial vehicle, and a remaining amount of a battery of the second unmanned aerial vehicle, and determining whether to cause the second unmanned aerial vehicle to temporarily land at a place where landing is possible in the vicinity of the first position, based on the scheduled time and the remaining amount of the battery; and in a case where it is determined to cause the second unmanned aerial vehicle to temporarily land at the place where landing is possible, causing the second unmanned aerial vehicle to temporarily land at the place where landing is possible, causing the second unmanned aerial vehicle to take off, and causing the second unmanned aerial vehicle to move to the position above the first unmanned aerial vehicle, a prescribed time before the scheduled time.

9. An unmanned aerial vehicle search system, comprising: includes a second unmanned aerial vehicle that searches for a missing first unmanned aerial vehicle, and includes a detection unit configured to detect the first unmanned aerial vehicle as a search target based on sensing data obtained by sensing performed by a sensor provided to the second unmanned aerial vehicle; a flight control unit configured to move the second unmanned aerial vehicle to a position above the first unmanned aerial vehicle detected by the detection unit; a first specifying unit configured to specify a position of the second unmanned aerial vehicle in a horizontal direction when the second unmanned aerial vehicle is moved to the position above the first unmanned aerial vehicle; a transmission unit configured to transmit first position information indicating the position specified by the first specifying unit as a first position of the first unmanned aerial vehicle in the horizontal direction to a predetermined device; and a determination unit configured to specify a scheduled time at which a retriever arrives at the first position to retrieve the first unmanned aerial vehicle and a remaining amount of a battery of the second unmanned aerial vehicle after the first unmanned aerial vehicle is detected, and determine whether or not to cause the second unmanned aerial vehicle to temporarily land at a place where landing is possible in the vicinity of the first position based on the scheduled time and the remaining amount of the battery. The flight control unit specifies a ground having an area of a size of a first threshold value or more and a gradient of less than a second threshold value as a place where landing is possible based on sensing data obtained by sensing performed by a sensor provided to the second unmanned aerial vehicle, causes the second unmanned aerial vehicle to temporarily land at the place where landing is possible in a case where the determination unit determines to cause the second unmanned aerial vehicle to temporarily land at the place where landing is possible, causes the second unmanned aerial vehicle to take off a predetermined time earlier than the scheduled time, and moves the second unmanned aerial vehicle to the position above the first unmanned aerial vehicle.

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