Unmanned aerial vehicle control device and storage medium

Abstract

The work storage section (13) stores a mechanical device (4) that performs work by the unmanned aerial vehicle (2) and work content that can be performed by the mechanical device (4). The work content acquisition section (14) acquires work content performed by the mechanical device (4) and the unmanned aerial vehicle (2) as work targets. The flight plan creation section (15) determines a work position of the unmanned aerial vehicle (2) based on identification information of the mechanical device (4) and the work content acquired by the work content acquisition section (14), and creates a flight plan for performing work at the determined work position.

Description

Technical Field

[0001] This invention relates to unmanned aerial vehicles operating in factories and computer-readable storage media. Background Technology

[0002] Patent Document 1 discloses a robot system comprising: a robot; a robot control device that controls the robot; a teaching device that transmits teaching signals of the robot to the robot control device based on teaching input from an operator; an unmanned aerial vehicle (UAV) having a camera; and a flight control unit that controls the flight of the UAV based on the teaching signals while the robot is performing actions according to the teaching signals, so that the camera continuously acquires images of the objects required for teaching.

[0003] Generally, robots are sometimes used within fences in production sites for safety reasons. In Patent Document 1, the flight of the unmanned aerial vehicle is controlled according to the teaching signals of the robot during the robot's operation. Thus, robot teaching can be carried out even in environments where the operator has difficulty visually confirming the robot's activities from outside the fence.

[0004] In the past, there has been an increasing trend of using unmanned aerial vehicles (UAVs) flexibly for warehouse inventory management and factory status monitoring. Since UAVs are flying objects with flexible movement areas, new and flexible applications are expected.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2020-142326 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] On the manufacturing site, we hope to make flexible use of unmanned aerial vehicle technology.

[0010] Methods for solving problems

[0011] As one aspect of this disclosure, the unmanned aerial vehicle (UAV) control device is an UAV control device for UAVs operating in a factory, comprising: a job storage unit capable of storing identification information of machinery and job content that the UAV can perform on the machinery; a job content acquisition unit that acquires the identification information of the machinery that is the object of the UAV's work and the job content that the UAV can perform on the machinery; a flight plan creation unit that creates a flight plan for the UAV based on the identification information of the machinery and the job content that the UAV can perform on the machinery acquired by the job content acquisition unit; and a flight plan output unit that outputs the flight plan to the UAV.

[0012] As one aspect of this disclosure, the storage medium stores commands that a computer can read, which are executed by one or more processors to perform the following processes: storing identification information of mechanical equipment and the work content that the unmanned aerial vehicle (UAV) can perform on the mechanical equipment; obtaining identification information of the mechanical equipment that is the object of the UAV's work and the work content that the UAV can perform on the mechanical equipment; and creating a flight plan for the UAV based on the obtained identification information of the mechanical equipment and the work content that the UAV can perform on the mechanical equipment.

[0013] Invention Effects

[0014] According to one aspect of the present invention, unmanned aerial vehicles can be used flexibly. Attached Figure Description

[0015] Figure 1 This is a conceptual diagram of an unmanned aerial vehicle (UAV) control system.

[0016] Figure 2 This is a hardware structure diagram of an unmanned aerial vehicle.

[0017] Figure 3 This is a hardware structure diagram of a PC.

[0018] Figure 4 This is the first publicly released block diagram of a PC.

[0019] Figure 5 This is an example of a screen for inputting task information.

[0020] Figure 6 This is an example of an unmanned aerial vehicle with a button-pressing function.

[0021] Figure 7 This is a flowchart illustrating the first publicly disclosed unmanned aerial vehicle control method.

[0022] Figure 8 This is a diagram illustrating an example of a factory layout.

[0023] Figure 9This is the second publicly disclosed block diagram of the PC.

[0024] Figure 10 This is a diagram illustrating an example of the path taken by an unmanned aerial vehicle (UAV) operating from a reference position.

[0025] Figure 11 This is a flowchart illustrating the second disclosed unmanned aerial vehicle control method.

[0026] Figure 12 This is a flowchart illustrating the third publicly disclosed unmanned aerial vehicle control method.

[0027] Figure 13 This is a block diagram of the fourth disclosed numerical control device.

[0028] Figure 14 This diagram illustrates the processing of the work transition section.

[0029] Figure 15 This is a flowchart illustrating the fourth disclosed unmanned aerial vehicle control method.

[0030] Figure 16 This is a block diagram of the fifth disclosed numerical control device. Detailed Implementation

[0031] [First Public Announcement]

[0032] Figure 1 This is a concept diagram of an unmanned aerial vehicle control system 100.

[0033] The unmanned aerial vehicle control system 100 includes: one or more unmanned aerial vehicles 2, a personal computer (PC) 1 for generating control information of the unmanned aerial vehicles 2, and a wireless communication device 3 for mediating communication between the unmanned aerial vehicles 2 and the PC 1.

[0034] The unmanned aerial vehicle (UAV) control system 100 is installed in a space such as a factory where multiple pieces of mechanical equipment 4 are located. The UAV 2 moves within the factory and performs operations according to control information from the PC1.

[0035] In addition, the device that generates control information for controlling the unmanned aerial vehicle can also be an information processing device other than PC1, such as a server, a portable terminal, or a numerical control device.

[0036] Unmanned aerial vehicle 2 has Figure 2 The hardware structure is shown. The CPU 211 of the unmanned aerial vehicle 2 is the processor that controls the unmanned aerial vehicle 2 as a whole. The CPU 211 reads the system program stored in ROM 212 via the bus and controls the unmanned aerial vehicle 2 as a whole according to the system program. RAM 213 temporarily stores temporary calculation data, various data input from external sources, etc.

[0037] The non-volatile memory 214 is configured, for example, a memory that is backed up using a battery (not shown), and maintains its storage state even when the power supply 221 of the unmanned aerial vehicle 2 is disconnected. Data read from external devices (not shown) and data obtained from communication devices via a network are stored in the non-volatile memory 214. The data stored in the non-volatile memory 214 can also be loaded into RAM 213 during the execution / use of the unmanned aerial vehicle 2. Furthermore, various system programs, such as known programs, are pre-written into ROM 212.

[0038] Sensor 215 includes accelerometers, angular velocity sensors, electronic compasses, barometers, and distance sensors. Electronic compasses use magnetic force to determine the orientation of the unmanned aerial vehicle. Distance sensors, such as LIDAR (Light Detection and Ranging) sensors, measure scattered light relative to pulsed laser illumination.

[0039] The CPU 211 mounted on the unmanned aerial vehicle (UAV) 2 functions as a flight controller or auxiliary controller. There may be multiple CPUs 211, not just one, to complement each other's functions. As a flight controller, the CPU 211 uses information obtained from sensors to control the UAV's attitude at an appropriate position. Based on changes in the UAV 2's velocity obtained from the accelerometer, the CPU 211 calculates the UAV 2's tilt and movement; based on changes in the UAV 2's rotational speed obtained from the angular velocity sensor, it calculates changes in the UAV 2's tilt and orientation; and based on the air pressure obtained from the barometer, it calculates the UAV 2's altitude.

[0040] The CPU 211, as a supporting controller, also calculates 2D or 3D point group data based on the scattered light values ​​obtained from the LIDAR sensor. This point group data forms an environmental map of the UAV 2's surroundings. The CPU 211 can also successively estimate the movement of the UAV 2 by matching the point groups together. By accumulating the movement, its own position can be estimated. Furthermore, to use the LIDAR sensor for estimating the UAV 2's own position, values ​​obtained from the accelerometer and angular velocity sensor can also be combined.

[0041] In addition, infrared sensors, ultrasonic sensors, and radio wave-based radar sensors can be used as distance sensors instead of LIDAR sensors. Cameras and image sensors can also be used as distance sensors instead of LIDAR sensors. When using a camera, AR markers, AR tags, QR codes (registered trademarks), etc., can also be used. As an example of not using a distance sensor, there is also a method of estimating its own position using beacons. This disclosure does not specifically limit the method for estimating the self-position of the unmanned aerial vehicle 2.

[0042] The image processing unit 216 converts the images captured by the camera 217 into appropriate data and outputs it to the CPU 211. The camera 217 of the unmanned aerial vehicle 2 mainly captures images of the mechanical equipment 4 selected by the user. As a result, it is possible to monitor the status of the factory, such as the values ​​of measuring instruments and the operating status of the mechanical equipment 4.

[0043] The wireless communication unit 218 transmits and receives data with the PC1 via the wireless communication device 3. The PC1 sends commands to the unmanned aerial vehicle 2. The commands include the flight plan of the unmanned aerial vehicle 2. The unmanned aerial vehicle 2 performs operations according to the flight plan from the PC1.

[0044] The ESC (Electric Speed ​​Controller) 219, also known as an amplifier, is installed on each propeller. The ESC 219 controls the motor speed according to instructions from the CPU 211. By controlling the propeller speed, a pressure difference is generated above and below the propeller 220, which generates lift, enabling the unmanned aerial vehicle (UAV) 2 to fly. Lift refers to the upward force that pushes the UAV 2 upwards. The UAV 2 can change its speed and direction of movement by changing the rotation speed of the propeller 220.

[0045] The unmanned aerial vehicle 2 performs actions such as hovering (lift equals gravity), ascending (the speed of the four motors increases), descending (the speed of the four motors decreases), moving forward, backward, left, and right (the speed of the two propellers opposite to the direction of travel increases and moves in the direction of travel), turning left (the speed of the right-rotating propeller increases), and turning right (the speed of the left-rotating propeller increases).

[0046] PC1 has Figure 3 The hardware structure shown.

[0047] The CPU 111 of PC1 is the processor that controls PC1 as a whole. The CPU 111 reads the system program stored in ROM 112 via bus 122 and controls PC1 as a whole according to the system program. The RAM 113 temporarily stores temporary calculation data, display data, and various data input from external sources.

[0048] The non-volatile memory 114 is configured such as a memory backed up by a battery (not shown) or an SSD (SolidState Drive), and maintains its storage state even when the power to PC1 is disconnected. Data read from external device 125 via interface 115, data input via input unit 124, and data obtained from unmanned aerial vehicle via wireless communication device are stored in the non-volatile memory 114. The data stored in the non-volatile memory 114 can also be expanded in RAM 113 during execution / use. Furthermore, various system programs, including known programs, are pre-written into ROM 112.

[0049] Data read into memory, data obtained as a result of executing programs, etc., are output and displayed on display unit 123 via interface 117. In addition, input unit 124, which consists of keyboard, pointer devices, etc., transmits the programmer's input to CPU 111 via interface 118.

[0050] Figure 4 This is a block diagram of PC1. PC1 includes: a self-position acquisition unit 11, which acquires the self-position of the unmanned aerial vehicle 2; an environment map acquisition unit 12, which acquires the environment map of the unmanned aerial vehicle 2; a work storage unit 13, which stores the work content that the unmanned aerial vehicle 2 can perform; a work content acquisition unit 14, which acquires the work content to be performed by the unmanned aerial vehicle 2; a flight plan creation unit 15, which creates a flight plan for carrying out the work; a flight plan output unit 16, which outputs the flight plan to the unmanned aerial vehicle 2; and a work result acquisition unit 17, which acquires the work results of the unmanned aerial vehicle 2.

[0051] The self-positioning unit 11 acquires the self-position of the unmanned aerial vehicle (UAV) 2 via the wireless communication device 3. The self-position of the UAV 2 is calculated based on the values ​​from the acceleration, angular velocity, and distance sensors. If the base 5 (see reference 5) is intended to be used for standby of the UAV 2... Figure 8 Then, based on the location of base 5, the coordinates of unmanned aerial vehicle 2 can be calculated.

[0052] The environmental map acquisition unit 12 acquires the environmental map of the unmanned aerial vehicle (UAV) 2 via the wireless communication device 3. The environmental map is a set of point data surrounding the UAV 2. It is created based on values ​​from distance sensors, etc. Furthermore, the UAV 2's own position can also be estimated using radio waves such as beacons and Wi-Fi. When using the strength of beacon or Wi-Fi radio waves, the coordinates of the UAV 2 can be determined based on the radio waves, therefore, an environmental map is not necessarily required. With an environmental map created, the surrounding conditions of the UAV 2 can be obtained in real time, and unexpected obstacles can be detected.

[0053] The task storage unit 13 can store the identification information of the mechanical equipment 4 used by the unmanned aerial vehicle (UAV) 2 for operations, as well as the tasks that can be performed on the mechanical equipment 4. The mechanical equipment 4 varies in shape and function depending on its type and manufacturer. The operating position (position and direction of the UAV 2 during operations) and the tasks performed by the UAV 2 also vary according to the mechanical equipment 4. The task storage unit 13 can store the tasks performed by the UAV 2 according to the mechanical equipment 4.

[0054] The task content acquisition unit 14 acquires the identification information of the machinery 4 that is the target of the task and the task content to be performed by the unmanned aerial vehicle 2, and stores it in the task content storage unit 18. The task content performed by the unmanned aerial vehicle 2 is mainly selected by the user. Figure 5 This is an example of screen 30 where the task content is input. Figure 5 The job content input screen 30 includes a job object selection area 31 for selecting the machine equipment 4 as the job object and a job content selection area 32 for selecting the job content. In the job object selection area 31, an "identification number" can be selected as the identification information for identifying the machine equipment 4. When the "identification number" of the machine equipment 4 is selected, the job content selection area 32 is displayed. In the job content selection area 32, the "job content" can be selected. Figure 5 Each "assignment content" is assigned an "assignment name".

[0055] If the desired task content does not exist, the user can also create new task content. When creating task content, CAD (Computer Aided Design) or similar tools are used to specify the task location and select the tasks that the UAV2 can perform (photography, loading of transported objects, pressing of buttons, etc.).

[0056] The flight plan production department 15 determines the operation position of the unmanned aerial vehicle 2 based on the identification information of the mechanical equipment 4 and the operation content obtained by the operation content acquisition department 14, and produces a flight plan for performing operations at the determined operation position.

[0057] The operating positions of each piece of machinery 4 are preset as 3D coordinates. The 3D map storage unit 19 stores a 3D map of the factory containing the operating positions. The flight plan production unit 15 performs mapping between the environmental map and the 3D map of the unmanned aerial vehicle 2 based on feature points, etc., maps the position of the unmanned aerial vehicle 2 to the coordinate system of the 3D map, and produces a flight plan for the unmanned aerial vehicle 2 based on its own position and operating position in the 3D map.

[0058] When only one task is selected for the operation of the unmanned aerial vehicle 2, the flight planning unit 15 creates a flight path toward the selected work position of the mechanical equipment 4. When multiple tasks are set, the flight planning unit 15 creates a path for continuous operation based on the remaining battery power of the unmanned aerial vehicle 2, the multiple work positions, etc.

[0059] Unmanned aerial vehicle 2 (UAV 2) flies autonomously according to the flight plan produced by the flight plan production department 15. The flight plan production department 15 monitors the UAV 2's own position and the environmental map, tracks the UAV 2's position, and updates the flight plan as needed.

[0060] The flight plan output unit 16 outputs the flight plan to the unmanned aerial vehicle (UAV) 2 via the wireless communication device 3. Alternatively, the flight plan can be stored in the non-volatile memory 214 of the UAV 2. The flight plan may also include information such as the flight start time.

[0061] The unmanned aerial vehicle (UAV) 2 has both scheduled and unscheduled flight plans, which include flight start times. Scheduled flight plans refer to regular inspections of mechanical equipment 4, etc. These scheduled flight plans can also be pre-stored in the UAV 2's non-volatile memory 214, etc., and will automatically begin operation at the scheduled time. Automatic performance of scheduled inspections prevents omissions and reduces the user's workload. Furthermore, it increases the frequency of inspections, allowing for the early detection of malfunctions.

[0062] The operation result acquisition unit 17 acquires the operation results of the unmanned aerial vehicle 2. The operation results include images obtained from the operation results, such as images captured by the camera 217 of the unmanned aerial vehicle 2, and the success or failure of the physical operations of the unmanned aerial vehicle (movement, button pressing, etc.).

[0063] Figure 6 The unmanned aerial vehicle (UAV) 2 is equipped with a button-pressing function. In UAV 2, when a button on the mechanical device 4 is pressed, the position of UAV 2 is adjusted based on a camera image, and the selected button is pressed using the indicator stick 222. The button press is confirmed by the camera 217, and UAV 2 outputs a message of successful operation to PC1.

[0064] Reference Figure 7 The flowchart illustrates the control method of the PC1 unmanned aerial vehicle.

[0065] PC1 reads a list of machines 4 that can be selected as work targets from the work storage unit 13, prompts the user, and obtains the identification number (identification information) of the machine 4 selected by the user (step S1). PC1 displays a list of the work content that the UAV 2 can perform on the selected machine 4 and obtains the work content of the UAV 2 (step S2).

[0066] Flight plan creation unit 15 creates a flight plan based on the working position of the machine equipment 4, which is the target of the operation (step S3). Flight plan output unit 16 outputs the flight plan to unmanned aerial vehicle 2 via wireless communication device 3 (step S4). Unmanned aerial vehicle 2 performs autonomous flight according to the flight plan (step S5), calculating its own position and environmental map. PC1's own position acquisition unit 11 acquires the own position of unmanned aerial vehicle 2, and environmental map acquisition unit 12 acquires the environmental map (step S6). Flight plan creation unit 15 maps the own position and environmental map of unmanned aerial vehicle 2 onto the factory's 3D map, updating the flight plan (step S7). Flight plan output unit 16 outputs the updated flight plan to unmanned aerial vehicle 2 (step S8).

[0067] When UAV 2 reaches the work position (step S9; yes), UAV 2 performs the task obtained in step S2 (step S10). Before UAV 2 reaches the work position (step S9; no), the processing of steps S6 to S9 is repeated.

[0068] As explained above, the first disclosed unmanned aerial vehicle control system 100 allows a user to select the machinery 4 to be the target of the operation and the operation content for each machinery 4. Furthermore, the unmanned aerial vehicle control system 100 causes the unmanned aerial vehicle 2 to perform the operation selected by the user on the machinery 4 selected by the user.

[0069] Mechanical equipment 4 varies in shape and function depending on its type and manufacturer. The tasks of unmanned aerial vehicle 2 also differ according to mechanical equipment 4. For example, the shapes, tasks, and positions of machines and robots installed in a factory differ. Figure 8 This is an example of a factory layout. The factory is equipped with various machines such as stamping presses, coolers, compressors, lathes, chamfering machines, milling machines, cutting machines, drilling machines, and welding machines. In addition, the factory contains various equipment such as air conditioning systems, ventilation systems, fire prevention and smoke extraction systems, inspection equipment, piping systems, and cleanroom equipment. The locations of alarm lights and control panels on these devices also vary.

[0070] The factory is equipped with a large number of mechanical devices 4, each requiring various different operations. The PC1 of the unmanned aerial vehicle (UAV) control system 100 of this disclosure can use the operation storage unit 13 to store the operation position and operation content of the UAV 2 according to the mechanical devices 4. The user of the UAV control system 100 can easily instruct the UAV 2 to perform its operations simply by selecting the mechanical devices 4 and the operation content, regardless of the structure of the mechanical devices 4.

[0071] Furthermore, even without registering the necessary operations, users can independently set the operation location and content. Using a 3D map, the operation location of the UAV 2 can be easily set.

[0072] [Second Public Announcement]

[0073] like Figure 9 As shown, the PC1 disclosed in the second disclosure has a reference position storage unit 20 and a flight plan production unit 15 to produce flight plans by means of reference positions.

[0074] The reference position storage unit 20 stores reference positions. A reference position refers to the position that serves as the base point for setting the working position of each piece of machinery 4. If the configuration of the machinery 4 in the factory is known, the reference position of each piece of machinery 4 is determined, and if the reference position is determined, the working position is also determined.

[0075] The reference position storage unit 20 also records the flight path from the reference position to the work position, and the work content at the work position (photography, loading of transported objects, pressing of buttons, etc.). Information such as the reference position of each piece of machinery 4, the work position based on the reference position, and the work content can also be pre-created by the manufacturer of the machinery 4 and provided as an option when the machinery 4 is sold. If the desired work content does not exist, the user can also create new work content. When creating work content, 3D maps, CAD (Computer Aided Design), etc., are used to specify the work position, and the work content (photography, loading of transported objects, pressing of buttons, etc.) that the unmanned aerial vehicle can perform is selected.

[0076] The flight plan creation unit 15 creates a flight plan based on the work content acquired by the work content acquisition unit 14 and the reference position stored by the reference position storage unit 20. The reference position can be calculated based on the configuration of the mechanical equipment 4 in the 3D map. The work position can be calculated based on the reference position. The user can easily instruct the unmanned aerial vehicle 2 to perform the work simply by selecting the mechanical equipment 4 and the work content, regardless of the structure of the mechanical equipment 4.

[0077] With a flight path created using a reference position, the unmanned aerial vehicle 2, as Figure 10As shown by the dashed arrows, the flight path passes through the reference positions of each of the four machines (machines A, B, C, D, and E). The flight path from the reference position of each machine 4 to the work object is predetermined as shown by the solid arrows.

[0078] Unlike typical warehouses, the machinery 4 deployed in the factory has a complex structure and often involves multiple operations. Therefore, it is necessary to create work instructions for each piece of machinery 4. The reference position storage unit 20 stores the relative position of the work position with respect to the reference position and the work instructions for each piece of machinery 4.

[0079] Reference Figure 11 The flowchart illustrates the control method of the PC1 unmanned aerial vehicle.

[0080] PC1 reads a list of machines 4 that can be selected as work targets from the work storage unit 13, prompts the user, and obtains the identification information of the machine 4 selected by the user (step S11). PC1 displays a list of the work content that the UAV 2 can perform on the selected machine 4 and obtains the work content of the UAV 2 (step S12).

[0081] Flight plan creation unit 15 creates a flight plan based on the working position of the machine equipment 4, which is the target of the operation (step S13). Flight plan output unit 16 outputs the flight plan to unmanned aerial vehicle 2 via wireless communication device 3 (step S14). Unmanned aerial vehicle 2 performs autonomous flight according to the flight plan (step S15), calculating its own position and environmental map. PC1's own position acquisition unit 11 acquires the own position of unmanned aerial vehicle 2, and environmental map acquisition unit 12 acquires the environmental map (step S16). Flight plan creation unit 15 maps the unmanned aerial vehicle 2's own position and environmental map to the factory's 3D map, updating the flight plan (step S17). Flight plan output unit 16 outputs the updated flight plan to unmanned aerial vehicle 2 (step S18).

[0082] When the unmanned aerial vehicle 2 reaches the reference position of the mechanical equipment 4 (step S19; yes), the flight plan generation unit 15 outputs the flight path from the reference position to the working position stored in the reference position storage unit 20 to the unmanned aerial vehicle 2 (step S20). Before the unmanned aerial vehicle 2 reaches the reference position (step S19; no), the processing of steps S15 to S19 is repeated.

[0083] Unmanned aerial vehicle 2 continues autonomous flight (step S21), moving from the reference position to the work position. When unmanned aerial vehicle 2 reaches the work position from the reference position (step S22; yes), it performs the task obtained in step S12 (step S23). Before unmanned aerial vehicle 2 reaches the work position (step S22; no), it continues the autonomous flight of step S21.

[0084] The second disclosed unmanned aerial vehicle control system 100 manages the reference position, operating position, and operating content of the mechanical equipment 4. The manufacturer of the mechanical equipment 4 can provide users with the reference position, operating position, and operating content of the unmanned aerial vehicle 2 relative to its own mechanical equipment 4 as options.

[0085] In addition, users can add task content as needed. By registering the task content of the UAV2 in the cloud or other systems, other users can flexibly utilize the registered task content.

[0086] Furthermore, by using the work position based on the reference position of each machine 4, the set work content can be directly handed over even if the factory layout is changed.

[0087] [Third Public Announcement]

[0088] In the third disclosure, the identification of the mechanical device 4 does not use coordinates like a 3D map, but rather image processing results. The image processing unit 216 of the unmanned aerial vehicle 2 in the third disclosure is, for example, an advanced image processing device such as an AI (artificial intelligence) image processing chip, capable of storing feature points of the mechanical device 4 as the target of the operation, and identifying the mechanical device 4 based on images captured by the camera 217, radar point group data, etc. Alternatively, images captured by the unmanned aerial vehicle 2 and radar point group data can be sent to the PC1, where the image processing unit (not shown) identifies the mechanical device 4 present around the unmanned aerial vehicle 2.

[0089] The flight plan production unit 15 reads the operation position and operation content of the mechanical equipment 4 identified by the image processing unit 216 from the operation content storage unit 18, and produces a flight plan.

[0090] In the third disclosed unmanned aerial vehicle control system 100, the unmanned aerial vehicle 2 identifies the mechanical equipment 4, and if the mechanical equipment 4, which is the object of the operation, is located around the unmanned aerial vehicle 2, the operation is carried out.

[0091] Reference Figure 12 The flowchart illustrates the third disclosed unmanned aerial vehicle control method. In this example, images captured by camera 217 are used to identify mechanical device 4, but identification methods other than camera 217 can also be used.

[0092] PC1 reads a list of machines 4 that can be selected as work objects from the work storage unit 13, prompts the user, and obtains the identification information of the machine 4 selected by the user (step S31). PC displays a list of the work content that UAV 2 can perform on the selected machine 4 and obtains the work content of UAV 2 (step S32).

[0093] The unmanned aerial vehicle (UAV) 2 performs autonomous flight (step S33). The UAV 2 acquires images captured by the camera 217 (step S34). The image processing unit 216 uses image recognition and other technologies to identify the mechanical equipment 4 (step S35). If the mechanical equipment 4 selected as the work target in step S31 is identified by the UAV 2 (step S36; Yes), the work content is read from the work content storage unit 18, and the UAV 2 performs the work selected in step S32 (step S37).

[0094] If there is no mechanical equipment 4 around the unmanned aerial vehicle 2 that is the target of the operation (step S36; no), return to step S33.

[0095] As explained above, in the third disclosure, sensor data such as images are used to identify the machine 4 and to perform operations corresponding to the machine 4. In the third disclosure, operations can be performed even without location information of the machine 4, such as a 3D map.

[0096] [Fourth public announcement]

[0097] The fourth disclosed unmanned aerial vehicle (UAV) 2 begins operation upon triggering an alarm. In this fourth disclosure, the numerical control unit (NCU) 6, rather than the PC 1, serves as the UAV's control device. The NCU 6 is a control device for industrial machinery and other mechanical equipment 4. Like the PC 1, the NCU 6 has a processor and controls the mechanical equipment 4 by executing programs. Figure 13 As shown, the numerical control device 6 disclosed in the fourth disclosure includes an alarm detection unit 21 and a work conversion unit 22. A PLC (Programmable Logic Controller) or similar device is connected to the numerical control device 6 to perform sequential control of the machine tool or other machinery that is the object of control.

[0098] The alarm detection unit 21 detects alarms from the numerical control unit 6, machine tools, sensors connected to the PLC, and other machinery. The numerical control unit 6, PLC, and sensors are connected to detect anomalies occurring in the factory.

[0099] The task conversion unit 22 converts the tasks performed by the unmanned aerial vehicle 2 when an alarm is generated into tasks for each piece of machinery 4. The task conversion unit 22 is configured with information on which piece of machinery 4 should be operated on and what tasks should be performed when each alarm is generated. Figure 14 In the example, "Work Instruction 2" is executed when "Alarm 1" is generated. The work instruction is associated with machine 4, and in order to execute "Work Instruction 2", it can be determined which machine 4 to perform which operation.

[0100] For example, when an alarm is triggered due to overheating of mechanical equipment 4, it is possible to determine the identification information of mechanical equipment 4, which became the target of work at the time of the alarm, and the operational content of the unmanned aerial vehicle 2 targeting mechanical equipment 4 (e.g., photographing the overheating site and checking for heat sources using infrared sensors). Furthermore, in factories, many long-lasting devices such as air conditioning equipment, power supply equipment, and water supply and drainage systems are not digitized. When alarms are detected regarding temperature, humidity, voltage, etc., within the factory, the location of analog instruments on these mechanical devices can be read, and photographs of the analog instruments can be taken.

[0101] Reference Figure 15 The flowchart below describes the fourth disclosed unmanned aerial vehicle (UAV) control system 100. The numerical control device 6 detects an alarm (step S41). The numerical control device 6 converts the operation performed by the UAV 2 when the alarm occurs into the operation content of each machine 4 (step S42). The flight plan creation unit 15 creates a flight plan based on the machine 4 that is the target of the operation and the operation content (step S43). The flight plan output unit 16 outputs the flight plan to the UAV 2 via the wireless communication device 3 (step S44). The UAV 2 performs autonomous flight according to the flight plan (step S45), calculating its own position and environmental map. The self-position acquisition unit 11 of the numerical control device 6 acquires the UAV's own position, and the environmental map acquisition unit 12 acquires the environmental map (step S46). The flight plan creation unit 15 maps the UAV 2's own position and environmental map to a 3D map of the factory, updating the flight plan (step S47). The flight plan output unit 16 outputs the updated flight plan to the UAV 2 (step S48).

[0102] When the unmanned aerial vehicle 2 arrives at the work position of the mechanical equipment 4, which is the target of the operation (step S49; Yes), the unmanned aerial vehicle 2 performs the operation that was performed when the alarm was generated (step S50). Before the unmanned aerial vehicle 2 arrives at the work position, the processing of steps S46 to S49 is repeated.

[0103] In the fourth disclosed unmanned aerial vehicle (UAV) control system 100, the UAV 2 automatically executes the operation corresponding to the alarm, triggered by an alarm detected by the numerical control device 6 and the PLC. The UAV 2 can quickly respond to the alarm by confirming the location where it occurred. Furthermore, it eliminates the need for humans to verify numerous on-site and measuring instruments at once, reducing the user's burden.

[0104] Furthermore, multiple information processing devices (PC, numerical control unit, PLC, server, portable terminal, etc.) can also perform decentralized processing of alarm detection, flight plan creation, and transmission of flight plans to UAV 2. For example, the processing can be decentralized as follows: PC 1 registers the operation of UAV 2 and creates the flight plan, numerical control unit 6 detects alarms, and PLC transmits the flight plan.

[0105] [Fifth Public Announcement]

[0106] In the fifth disclosure, the unmanned aerial vehicle 2 is controlled by the control program of the numerical control device 6. For example... Figure 16 As shown, in the fifth disclosed unmanned aerial vehicle control system 100, the numerical control device 6 includes: an M-code storage unit 23, an M-code recording unit 24, a control program storage unit 25 storing a control program containing M-codes, and an M-code execution unit 26 executing the M-codes recorded in the control program.

[0107] The work content acquisition unit 14 of the numerical control device 6 acquires the work content to be performed by the mechanical equipment 4 and the unmanned aerial vehicle 2, which are the work objects.

[0108] M-code storage unit 23 stores M-codes. The M-codes correspond to the tasks that the unmanned aerial vehicle 2 can perform using the task storage unit 13.

[0109] M-codes, also known as auxiliary function codes, are codes that can be written into the control program of the numerical control device 6. The numerical control device 6 uses the M-codes of the control program as triggers to control the unmanned aerial vehicle 2. M-codes include "Program Stop (Temporary Stop): M00", "Option Stop: M01", "Program End: M02, M30", "Tool Change: M06", "Workpiece Change: M60", etc. In addition to existing M-codes, users can also create their own. Therefore, it is possible to create the required M-codes independently. The created M-codes can also be stored in the M-code storage unit 23.

[0110] The M-code recording unit 24 reads the M-code corresponding to the job content obtained by the job content acquisition unit 14 from the M-code storage unit 23 and records the M-code in the control program of the numerical control device 6.

[0111] The control program storage unit 25 stores the control program. This control program contains a program that describes the M-code for controlling the unmanned aerial vehicle 2 and a program that is not described.

[0112] If the M-code execution unit 26 analyzes the control program and finds that there is M-code for controlling the unmanned aerial vehicle (UAV) 2, it outputs instructions to the PLC and the UAV 2 to control the UAV 2. The M-code becomes the trigger for starting control of the UAV 2.

[0113] Furthermore, the M-code storage unit 23 and M-code recording unit 24 of the fifth embodiment can also be installed in other devices such as PC1 to obtain the control program recording the M-code from the outside. Alternatively, one or more information processing devices (PC, numerical control device, PLC, server, portable terminal, etc.) can perform decentralized processing on the self-position acquisition unit 11, environment map acquisition unit 12, usable job storage unit 13, job content acquisition unit 14, flight plan creation unit 15, flight plan output unit 16, job result acquisition unit 17, and job content storage unit 18.

[0114] Symbol Explanation

[0115] 1 personal computer (PC)

[0116] 2. Unmanned aerial vehicles

[0117] 3. Wireless communication devices

[0118] 4. Mechanical equipment

[0119] 5 bases

[0120] 6. Numerical control device

[0121] 11. Obtaining one's own position

[0122] 12 Environmental Map Acquisition Department

[0123] 13. Able to utilize the job storage unit,

[0124] 14. Obtaining the work content from the department

[0125] 15 Flight Planning Production Department

[0126] 16 Flight Plan Output Department

[0127] 17. Work results obtained by the department

[0128] 19. 3D map storage department

[0129] 20 reference location storage units,

[0130] 21 Alarm Detection Department

[0131] 22 Operations Conversion Department

[0132] 23M code storage unit

[0133] 24M code description section

[0134] 26M code execution unit

[0135] 111 CPU

[0136] 112ROM

[0137] 113 RAM

[0138] 114 non-volatile memory,

[0139] 211 CPU

[0140] 214 non-volatile memory,

[0141] 215 sensor,

[0142] 216 Image Processing Department

[0143] 217 camera,

[0144] 218 Wireless Communications Department

[0145] 219ESC

[0146] 220 propeller

[0147] 221 power supply

[0148] 222 indicator stick.

Claims

1. An unmanned aerial vehicle (UAV) control device for an unmanned aerial vehicle (UAV) operating within a factory, characterized in that, have: The system can utilize a work storage unit, which stores identification information of the machinery and equipment configured within the factory and the work content that the unmanned aerial vehicle can perform on the machinery and equipment; The task content acquisition unit acquires the identification information of the mechanical equipment that is the target of the unmanned aerial vehicle (UAV) and the task content that the UAV performs on the mechanical equipment; The flight plan production department produces the flight plan for the unmanned aerial vehicle (UAV) based on the identification information of the mechanical equipment obtained by the operation content acquisition department and the operation content to be performed by the UAV on the mechanical equipment. The flight plan output unit outputs the flight plan to the unmanned aerial vehicle. as well as The reference position storage unit stores the reference position of the mechanical equipment, the operating position of the unmanned aerial vehicle (UAV) based on the reference position, and the operations performed by the UAV at the operating position. The flight planning department creates flight plans based on the reference position and the operating position.

2. The unmanned aerial vehicle control device according to claim 1, characterized in that, The task content acquisition unit prompts the user with the task content that the mechanical equipment and the unmanned aerial vehicle can perform on the mechanical equipment, and accepts the selection of the mechanical equipment that is the target of the unmanned aerial vehicle and the task content to be performed by the unmanned aerial vehicle.

3. The unmanned aerial vehicle control device according to claim 1, characterized in that, The unmanned aerial vehicle control device has the following features: Alarm detection unit, which detects alarms; and The task conversion unit converts the task corresponding to the alarm into task content for each piece of machinery of the unmanned aerial vehicle. The task content acquisition unit obtains from the task conversion unit the identification information of the mechanical equipment that becomes the control object of the unmanned aerial vehicle and the task content performed by the unmanned aerial vehicle.

4. The unmanned aerial vehicle control device according to claim 1, characterized in that, When multiple tasks are set in the task acquisition unit, the flight plan production unit creates a path for performing tasks continuously based on the positions of multiple mechanical devices that are the objects of the multiple tasks.

5. The unmanned aerial vehicle control device according to claim 1, characterized in that, The unmanned aerial vehicle control device is a numerical control device. The numerical control device includes an auxiliary code storage unit that stores auxiliary codes for the control program, the auxiliary codes corresponding to the job content that can be stored in the job storage unit. The unmanned aerial vehicle control device includes an auxiliary code recording unit, which reads auxiliary code from the auxiliary code storage unit based on the operation content obtained by the operation content acquisition unit, and creates a control program containing the auxiliary code.

6. A storage medium for storing commands that a computer can read, characterized in that, This command is executed by one or more processors, thereby performing the following processing: The system stores the identification information of mechanical equipment and the tasks that the unmanned aerial vehicle (UAV) can perform on the mechanical equipment. It then obtains the mechanical equipment that the UAV is targeting and the tasks the UAV will perform on the mechanical equipment. Based on the obtained identification information of the mechanical equipment and the tasks the UAV will perform on the mechanical equipment, it creates a flight plan for the UAV. The system stores the reference position of the mechanical equipment, the operating position of the unmanned aerial vehicle (UAV) based on the reference position, and the operations performed by the UAV at the operating position. The flight plan is then created based on the obtained identification information of the mechanical equipment, the operations performed by the UAV on the mechanical equipment, and the reference position and operating position.

7. The storage medium according to claim 6, characterized in that, The system prompts the user with information about the tasks that the mechanical equipment and the unmanned aerial vehicle (UAV) can perform on the mechanical equipment, and accepts the user's selection of the mechanical equipment that is the target of the UAV and the tasks performed by the UAV.

8. The storage medium according to claim 6, characterized in that, Upon detecting an alarm, the corresponding task is converted into the task content for each piece of machinery by the unmanned aerial vehicle.

9. The storage medium for storing commands readable by a computer according to claim 6, characterized in that, When multiple work items are obtained, a path for continuously performing the work is created based on the positions of multiple mechanical devices that are the objects of the multiple work items.

10. The storage medium according to claim 6, characterized in that, The auxiliary code of the control program of the storage numerical control device corresponds to the operation content that the unmanned aerial vehicle can perform on the mechanical equipment. When the operation content that the unmanned aerial vehicle can perform on the mechanical equipment is obtained, the auxiliary code corresponding to the operation content is read out, and a control program containing the auxiliary code is created.

Images