Flight path determination device and computer-readable storage medium

Abstract

The flight path determination device includes a non-interference space information generation unit that generates non-interference space information indicating a non-interference space in which the industrial machine and the unmanned aerial vehicle do not interfere with each other, based on model data of a structure constituting the industrial machine and an operation state of the industrial machine; an instruction reception unit that receives a work instruction for the unmanned aerial vehicle; and a flight path information generation unit that generates flight path information for determining a flight path of the unmanned aerial vehicle, based on the non-interference space information and the work instruction.

Description

Technical Field

[0001] This invention relates to a flight path determination device and a computer-readable storage medium. Background Technology

[0002] Factory workers perform various tasks such as inspecting industrial machinery, setting up workpieces on industrial machinery, and operating industrial machinery. In order to improve the efficiency of the tasks performed by workers, unmanned aerial vehicles (UAVs) have been used in recent years (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-142326 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, when enabling unmanned aerial vehicles (UAVs) to fly within a factory, it is necessary to prevent interference between the UAVs and the industrial machinery within the factory.

[0008] The purpose of this invention is to provide a flight path determination device and a computer-readable storage medium that can reliably prevent interference between unmanned aerial vehicles and industrial machinery.

[0009] Methods for solving problems

[0010] The flight path determination device includes: a spatial information generation unit that generates non-interference spatial information representing a non-interference space where the industrial machinery and the unmanned aerial vehicle do not interfere with each other, based on model data of the structures constituting the industrial machinery and the operating status of the industrial machinery; a command receiving unit that receives operation commands for the unmanned aerial vehicle; and a path information generation unit that generates flight path information for determining the flight path of the unmanned aerial vehicle based on the non-interference spatial information and the operation commands.

[0011] The computer-readable storage medium stores commands that enable the computer to perform the following steps: generating non-interference space information representing a non-interference space where the industrial machinery and the unmanned aerial vehicle do not interfere, based on model data of the structures constituting the industrial machinery and the operating status of the industrial machinery; receiving operation instructions for the unmanned aerial vehicle; and generating flight path information for determining the flight path of the unmanned aerial vehicle based on the non-interference space information and the operation instructions.

[0012] Invention Effects

[0013] According to the present invention, interference between unmanned aerial vehicles and industrial machinery can be reliably prevented. Attached Figure Description

[0014] Figure 1 This is an example illustrating the overall control system of an unmanned aerial vehicle.

[0015] Figure 2 This is an example of the hardware structure of a flight path determination device.

[0016] Figure 3 An example illustrating the hardware structure of an unmanned aerial vehicle.

[0017] Figure 4 An example illustrating the hardware structure of industrial machinery.

[0018] Figure 5 An example illustrating the function of a flight path determination device.

[0019] Figure 6 An example illustrating a 3D model of industrial machinery.

[0020] Figure 7 This illustrates an example of a non-interference space.

[0021] Figure 8 This represents an example of information stored in the instruction information storage unit.

[0022] Figure 9 An example illustrating a flight path.

[0023] Figure 10 This illustrates an example of a non-interference space.

[0024] Figure 11 This illustrates an example of a non-interference space.

[0025] Figure 12 An example illustrating the functionality of an unmanned aerial vehicle.

[0026] Figure 13 An example of how a numerical control device functions.

[0027] Figure 14 This is a flowchart illustrating an example of the processing performed in the flight path determination device. Detailed Implementation

[0028] Hereinafter, one embodiment of the present invention will be described using the accompanying drawings. Furthermore, not all combinations of the features described in the following embodiments are necessarily necessary to solve the problem. Also, sometimes detailed descriptions that are not essential are omitted. Additionally, the following description of the embodiments and the accompanying drawings are provided to enable those skilled in the art to fully understand the present invention, and are not intended to limit the scope of protection.

[0029] First, the overall control system of the unmanned aerial vehicle with a flight path determination device will be explained.

[0030] Figure 1 This is an example illustrating the overall control system of an unmanned aerial vehicle.

[0031] The unmanned aerial vehicle control system 1 includes a flight path determination device 2, an unmanned aerial vehicle 3, and industrial machinery 4.

[0032] The flight path determination device 2 is a device for determining the flight path of the unmanned aerial vehicle (UAV) 3. The flight path determination device 2 is, for example, installed in a PC (Personal Computer) or server. The flight path is, for example, the path that enables the UAV 3 to fly near and inside the industrial machinery 4.

[0033] Unmanned aerial vehicle 3 is a small unmanned aerial vehicle of the multi-rotor type. Unmanned aerial vehicle 3 is referred to as a drone. Unmanned aerial vehicle 3 flies near and inside industrial machinery 4 according to the flight path determined by flight path determination device 2. As a result, unmanned aerial vehicle control system 1 is able to perform inspections or operations on industrial machinery 4.

[0034] Industrial machinery 4 is installed within the factory and is a device that performs various operations. Industrial machinery 4 is, for example, a machine tool.

[0035] Next, the hardware structure of each device constituting the unmanned aerial vehicle control system 1 will be described.

[0036] Figure 2 This is an example of the hardware structure of the flight path determination device 2. The flight path determination device 2 includes a CPU (Central Processing Unit) 20, a bus 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, and a non-volatile memory 24.

[0037] CPU 20 is the processor that controls the entire flight path determination device 2 according to the system program. CPU 20 reads the system program and other data stored in ROM 22 via bus 21.

[0038] Bus 21 is a communication path that connects the various hardware components within the flight path determination device 2. The various hardware components within the flight path determination device 2 exchange data via bus 21.

[0039] ROM22 is a storage device that stores system programs and other components used to control the entire flight path determination device 2. The system programs include a flight path determination program for determining the flight path of the unmanned aerial vehicle 3.

[0040] RAM 23 is a storage device for temporarily storing various types of data. For example, RAM 23 temporarily stores data such as operation instructions for the unmanned aerial vehicle 3 input from an external source. RAM 23 functions as a working area for the CPU 20 to process various types of data.

[0041] The non-volatile memory 24 is a storage device that retains data even when the power supply to the flight path determination device 2 is cut off and no power is supplied to the flight path determination device 2. The non-volatile memory 24 is, for example, an SSD (Solid State Drive).

[0042] The flight path determination device 2 also includes a first interface 25, a display device 26, a second interface 27, an input device 28, and a communication device 29.

[0043] The first interface 25 connects the bus 21 to the display device 26. For example, the first interface 25 sends various data processed by the CPU 20 to the display device 26.

[0044] Display device 26 receives and displays various data via first interface 25. Display device 26 is a display such as LCD (Liquid Crystal Display).

[0045] The second interface 27 connects the bus 21 to the input device 28. For example, the second interface 27 sends data input from the input device 28 to the CPU 20 via the bus 21.

[0046] Input device 28 is a device for inputting various types of data. For example, input device 28 accepts data input and sends the input data to non-volatile memory 24 via second interface 27. Input device 28 can be, for example, a keyboard and a mouse. Alternatively, input device 28 and display device 26 can be configured as a single device, such as a touch panel.

[0047] Communication device 29 is a device for wireless communication with unmanned aerial vehicle 3. Communication device 29 uses, for example, wireless LAN or Bluetooth for communication.

[0048] In addition, the communication device 29 is a device that communicates with the industrial machinery 4 via wired or wireless means. For example, the communication device 29 communicates with the industrial machinery 4 using an internet connection.

[0049] Next, the hardware structure of the unmanned aerial vehicle 3 will be explained.

[0050] Figure 3This illustrates an example of the hardware structure of the unmanned aerial vehicle (UAV) 3. The UAV 3 includes a battery 30, a processor 31, a bus 32, a memory 33, a motor control circuit 34, a motor 35, a sensor 36, and a communication device 37.

[0051] Battery 30 supplies power to various parts of unmanned aerial vehicle 3. Battery 30 is, for example, a lithium-ion battery.

[0052] The processor 31 controls the entire unmanned aerial vehicle 3 according to the control program. The processor 31 functions as, for example, a flight controller. The processor 31 is, for example, a CPU.

[0053] Bus 32 is the communication path that connects the various hardware components within the unmanned aerial vehicle (UAV) 3. The various hardware components within the UAV 3 exchange data via bus 32.

[0054] The memory 33 is a storage device for storing various programs, data, etc. For example, the memory 33 stores control programs used to control the entire unmanned aerial vehicle 3. The memory 33 is, for example, at least one of ROM, RAM, and SSD.

[0055] The motor control circuit 34 is used to control the motor 35. The motor control circuit 34 receives control commands from the processor 31 to drive and control the motor 35.

[0056] The electric motor 35 is controlled by the electric motor control circuit 34. The electric motor 35 rotates the propeller fixed to the rotating shaft. Additionally, in... Figure 3 The diagram shows one electric motor 35, but the unmanned aerial vehicle 3 may have four electric motors 35, and the electric motor control circuit 34 controls the rotation of each electric motor 35 to make the unmanned aerial vehicle 3 fly.

[0057] Sensor 36 is a device for detecting various states of industrial machinery 4. Sensor 36 is, for example, an image sensor. Sensor 36 captures images displayed on the display device 26 of industrial machinery 4 to detect the operating state of industrial machinery 4.

[0058] Additionally, sensor 36 may include, for example, a ranging sensor. Sensor 36 measures the distance up to a marker attached at a predetermined location on the industrial machinery 4. The ranging sensor may be, for example, an infrared, radio wave, or ultrasonic ranging sensor. Sensor 36 may also include, for example, an electronic compass. The electronic compass detects the Earth's magnetic field to determine the direction of the unmanned aerial vehicle 3. Furthermore, sensor 36 may also include an accelerometer, an angular velocity sensor, etc.

[0059] The communication device 37 communicates with the flight path determination device 2 wirelessly. As described above, the communication device 37 communicates, for example, using a wireless LAN or Bluetooth.

[0060] Next, the hardware structure of industrial machinery 4 will be explained.

[0061] Figure 4 This is an example of the hardware structure of industrial machinery 4. Industrial machinery 4 includes a numerical control device 5, a communication device 6, a servo amplifier 7, a servo motor 8, and auxiliary equipment 9.

[0062] The numerical control device 5 is a device that controls the entire industrial machine 4. The numerical control device 5 includes a CPU 50, a bus 51, a ROM 52, a RAM 53, and a non-volatile memory 54.

[0063] CPU 50 is the processor that controls the entire numerical control device 5 according to the system program. CPU 50 reads the system program and other data stored in ROM 52 via bus 51. In addition, CPU 50 controls servo motor 8 and spindle motor (not shown) to perform workpiece machining according to the machining program.

[0064] Bus 51 is a communication path that connects the various hardware components within the numerical control device 5. The various hardware components within the numerical control device 5 exchange data via bus 51.

[0065] ROM52 is a storage device that stores system programs and other data used to control the entire numerical control device 5.

[0066] RAM53 is a storage device for temporarily storing various types of data. RAM53 functions as the operating area for CPU50 to process various types of data.

[0067] Non-volatile memory 54 is a storage device that retains data even when the power supply to the industrial machinery 4 is cut off and no power is supplied to the numerical control device 5. Non-volatile memory 54 is, for example, composed of SSD (Solid State Drive).

[0068] The numerical control device 5 also includes an interface 55, an axis control circuit 56, a PLC (Programmable Logic Controller) 57, and an I / O unit 58.

[0069] Interface 55 is a communication path that connects bus 51 to communication device 6. Interface 55, for example, sends various data received by communication device 6 to CPU 50.

[0070] The communication device 6 communicates with the flight path determination device 2. As described above, the communication device 6 communicates with the flight path determination device 2, for example, using an internet connection.

[0071] The axis control circuit 56 is a circuit that controls the servo motor 8. The axis control circuit 56 receives control commands from the CPU 50 and outputs commands to the servo amplifier for driving the servo motor 8. For example, the axis control circuit 56 sends a torque command to the servo amplifier 7 to control the torque of the servo motor 8.

[0072] Servo amplifier 7 receives commands from axis control circuit 56 and supplies power to servo motor 8.

[0073] The servo motor 8 is driven by power supplied from the servo amplifier 7. In the case of the industrial machinery 4 being a machine tool, the servo motor 8 is connected, for example, to the tool post, spindle head, and ball screw that drives the worktable. Driven by the servo motor 8, the machine tool structures such as the tool post, spindle head, and worktable move, for example, in the X-axis, Y-axis, or Z-axis direction.

[0074] PLC57 is a device that executes ladder logic to control auxiliary equipment 9. PLC57 controls auxiliary equipment 9 via I / O unit 58.

[0075] I / O unit 58 is the interface connecting PLC 57 and auxiliary device 9. I / O unit 58 sends the instructions received from PLC 57 to auxiliary device 9.

[0076] Auxiliary equipment 9 is installed in industrial machinery 4 to perform auxiliary actions during workpiece processing. Auxiliary equipment 9 can also be a device installed around industrial machinery 4. Examples of auxiliary equipment 9 include tool changing devices, coolant spraying devices, or door opening / closing drive devices.

[0077] Next, the functions of each part of the flight path determination device 2 will be explained.

[0078] Figure 5 This is a block diagram illustrating an example of the functions of each part of the flight path determination device 2. The flight path determination device 2 includes a model acquisition unit 201, a model data storage unit 202, an operation status acquisition unit 203, a spatial information generation unit 204, a command receiving unit 205, a command information storage unit 206, a path information generation unit 207, a path information output unit 208, a control information generation unit 209, and a control information output unit 210.

[0079] The model acquisition unit 201, the operation status acquisition unit 203, the spatial information generation unit 204, the instruction receiving unit 205, the path information generation unit 207, the path information output unit 208, the control information generation unit 209, and the control information output unit 210 are implemented, for example, by the CPU 20 performing calculations using system programs and various data stored in the ROM 22. Furthermore, the model data storage unit 202 and the instruction information storage unit 206 are implemented, for example, by storing data input from input devices or the results of calculations performed by the CPU 20 in the RAM 23 or the non-volatile memory 24.

[0080] The model acquisition unit 201 acquires model data from the numerical control device 5, which represents a 3D model of the structures constituting the industrial machinery 4. The structures constituting the industrial machinery 4 include, for example, a spindle, spindle head, worktable, splash guard, opening and closing doors, and various covers. Additionally, the structures constituting the industrial machinery 4 include tools, workpieces, fixtures, etc. The model data is, for example, 3D CAD (Computer-Aided Design) data. The model acquisition unit 201 can also acquire model data representing 3D models from a management server or similar device that manages multiple industrial machinery 4s.

[0081] Figure 6 This is an example of a 3D model representing the structures that make up the industrial machine 4. The 3D model, for example, is used in the industrial machine 4 to simulate interference between various structures, tools, and workpieces.

[0082] exist Figure 6 The document displays 3D models of the following components: door 401, turret 402, spindle 403, tool 404, worktable 405, splash guard 406, telescopic cover 407, workpiece 408, and fixture 409.

[0083] Here, return to Figure 5 Explanation.

[0084] The model data storage unit 202 stores the model data of the industrial machinery 4 acquired by the model acquisition unit 201.

[0085] Additionally, the model data storage unit 202 stores model data representing a 3D model of the unmanned aerial vehicle (UAV) 3. This model data may be, for example, 3D CAD data. The model data representing the 3D model of the UAV 3 is obtained, for example, from an external server or the like via the communication device 29. Furthermore, the 3D model of the UAV 3 may also be a simplified 3D model. For example, a cylindrical model may be used as the model of the UAV 3.

[0086] The operation status acquisition unit 203 acquires information indicating the operation status of the industrial machinery 4 from the numerical control device 5. This information includes, for example, information indicating the open / closed state of doors, information indicating the on / off state of the cutting fluid, information related to the tool 404 mounted on the spindle 403, and the positions of various structures. The operation status acquisition unit 203 may also acquire the operation status of the industrial machinery 4 from the machining program executed by the numerical control device 5.

[0087] The spatial information generation unit 204 generates non-interference space information, representing a non-interference space where the industrial machinery 4 and the unmanned aerial vehicle 3 do not interfere, based on model data of the structures constituting the industrial machinery 4, model data of the unmanned aerial vehicle 3, and the operating status of the industrial machinery 4. The non-interference space is the space near or inside the industrial machinery 4 where the unmanned aerial vehicle 3 can fly without colliding with the industrial machinery 4.

[0088] Figure 7 An example of a non-interference space is illustrated. The non-interference space is defined, for example, by multiple surfaces located at predetermined distances from the outer surfaces of the various structures constituting the industrial machine 4, the tool 404, and the workpiece 408. Figure 7 In this context, the space between structures depicted by double-dotted lines and surfaces represented by solid lines is the interference space, while all other spaces are non-interference spaces. For example, factors such as the degree of precision with which the unmanned aerial vehicle 3 can be controlled are considered to determine the extent to which the non-interference space is defined after the unmanned aerial vehicle has moved away from structures.

[0089] Alternatively, it is possible to exclude the space from which cutting fluid splatters from the non-interference space. For example, in the case of cutting fluid being sprayed from a nozzle or the like, a predetermined space can be excluded from the non-interference space.

[0090] The command receiving unit 205 receives the operation commands from the unmanned aerial vehicle 3. These operation commands may include, for example, commands for inspecting industrial machinery 4 or for conveying workpiece 408.

[0091] Inspection tasks include, for example, taking pictures of monitors used to display the temperature of the cutting fluid, and taking pictures of the tip of tool 404.

[0092] The conveying operation of workpiece 408 is, for example, the operation of placing workpiece 408 on worktable 405 by using a workpiece holder that attracts workpiece 408 by electromagnetic force using an unmanned aerial vehicle 3.

[0093] The instruction information storage unit 206 stores, for example, information that associates the operation instruction for the unmanned aerial vehicle (UAV) 3 with the coordinates of the operation position of the operation performed by the UAV 3. The operation instruction is a command used to specify the operation to be performed by the UAV 3. The operation position is the flight position of the UAV 3 when performing the operation according to the operation instruction.

[0094] Figure 8 This represents an example of the information stored in the instruction information storage unit 206.

[0095] The instruction and the work location are associated in the instruction information storage unit 206. For example, the instruction "thermometer shooting" is associated with the coordinate values ​​(X1, Y1, Z1) representing the work location in the instruction information storage unit 206.

[0096] Furthermore, the instruction information storage unit 206 stores the "tool tip shooting" as a work instruction and the coordinate values ​​(X2, Y2, Z2) indicating the work position in association. Additionally, the instruction information storage unit 206 stores the "workpiece setting" as a work instruction and the coordinate values ​​(X3, Y3, Z3) indicating the work position in association.

[0097] Here, return to Figure 5 Explanation.

[0098] The path information generation unit 207 generates flight path information for determining the flight path of the unmanned aerial vehicle (UAV) 3. Based on the operation command received by the command receiving unit 205 and the information stored in the command information storage unit 206, the path information generation unit 207 determines the operation position where the UAV 3 will perform the operation. Furthermore, based on the non-interference space information generated by the space information generation unit 204 and the operation position, the path information generation unit 207 determines the flight path up to the operation position in the non-interference space. Thus, flight path information is generated.

[0099] For example, when the command receiving unit 205 receives a work command indicating "shooting the blade tip", the path information generation unit 207 generates flight path information based on non-interference spatial information and coordinate values ​​(X2, Y2, Z2) to determine the flight path from the current location of the unmanned aerial vehicle 3 to the work location.

[0100] The path information generation unit 207 uses a search algorithm to search for the shortest path up to the work position indicated by the coordinate values ​​(X2, Y2, Z2) in the non-interference space, thereby generating flight path information.

[0101] Figure 9 This indicates the flight path when the "tool tip photography" command is given as a work instruction. The flight path FP is the shortest path for the UAV 3 to reach the work position indicated by coordinates (X2, Y2, Z2).

[0102] If the path information generation unit 207 is unable to generate flight path information for determining the flight path FP, it will stop generating the flight path information. The inability to generate flight path information means that, in a non-interference space, it is impossible to determine a flight path FP for the unmanned aerial vehicle 3 to reach the work position without colliding with structures such as industrial machinery 4.

[0103] Here, return to Figure 5 Explanation.

[0104] The path information output unit 208 outputs the flight path information generated by the path information generation unit 207. The path information output unit 208 may, for example, use a communication device to send the flight path information to the unmanned aerial vehicle 3.

[0105] The control information generation unit 209 generates control information for the industrial machinery 4. As described above, when the path information generation unit 207 stops generating flight path information, the control information generation unit 209 generates control information to move the structure of the industrial machinery 4.

[0106] For example, such as Figure 10 As shown, when the unmanned aerial vehicle 3 cannot approach the tool 404 because a large workpiece 408 is set on the worktable 405, the control information generation unit 209 generates control information to move the worktable 405 of the industrial machine 4 along the Y-axis direction.

[0107] The control information output unit 210 outputs the control information generated by the control information generation unit 209. The control information output unit 210, for example, uses a communication device to send the control information to the numerical control device 5. When the numerical control device 5 receives a control command, for example... Figure 11 As shown, the workbench 405 is moved to ensure the flight path FP of the unmanned aerial vehicle 3. That is, the flight path determination device 2 indirectly controls the movement of the structures constituting the industrial machinery 4 through the control information generation unit 209 and the control information output unit 210.

[0108] Furthermore, when the control information output unit 210 outputs control information for the industrial machine 4, the operation status acquisition unit 203 can again acquire information indicating the operation status of the industrial machine 4. In this case, the spatial information generation unit 204 generates non-interference spatial information again, and the path information generation unit 207 can generate flight path information.

[0109] Furthermore, when the path information output unit 208 outputs flight path information, the control information generation unit 209 can generate control information to prevent the operation of the industrial machinery 4. Additionally, when the path information output unit 208 outputs flight path information, the control information generation unit 209 can generate control information to prevent the movement of structures.

[0110] Next, the functions of each part of the unmanned aerial vehicle 3 will be explained.

[0111] Figure 12 This is a block diagram illustrating the functions of the various parts of the unmanned aerial vehicle 3.

[0112] The unmanned aerial vehicle 3 is equipped with a communication unit 301, a flight position determination unit 302, and a flight control unit 303.

[0113] The communication unit 301 communicates with the flight path determination device 2. For example, the communication unit 301 obtains flight path information from the flight path determination device 2.

[0114] The flight position determination unit 302 determines the flight position of the unmanned aerial vehicle (UAV) 3. For example, the flight position determination unit 302 determines the flight position and orientation of the UAV 3 by detecting markers attached to the factory or industrial machinery 4 using sensor 36. Alternatively, if the UAV 3 is equipped with a GPS (Global Positioning System) receiver, the flight position determination unit 302 can also use GPS to determine the flight position of the UAV 3. Alternatively, the UAV 3 can be detected by sensors installed in the factory or industrial machinery 4, and the flight position determination unit 302 calculates the position and orientation of the UAV 3 based on the detection information received from the sensors. Alternatively, the position of the UAV 3 can be determined by combining these methods.

[0115] The flight control unit 303 executes flight control of the unmanned aerial vehicle (UAV) 3 based on the flight path information obtained by the communication unit 301 and the position information of the UAV 3 determined by the flight position determination unit 302. The flight control unit 303 performs flight control by controlling the rotational speed of each motor. The flight control unit 303 causes the UAV 3 to fly along the flight path FP shown in the flight path information. Alternatively, the flight control unit 303 can also use information indicating the flight position of the UAV 3 determined by the flight position determination unit 302 for feedback control.

[0116] Next, the functions of each part of the numerical control device 5 in the industrial machine 4 will be explained.

[0117] Figure 13 This is a block diagram illustrating an example of the functions of the various parts of the numerical control device 5.

[0118] The numerical control device 5 includes a communication unit 510, a storage unit 511, and a control unit 512.

[0119] The communication unit 510 communicates with the flight path determination device 2. For example, the communication unit 510 receives control information output from the control information output unit 210 of the flight path determination device 2. In addition, the communication unit 510 sends information indicating the operating status of the industrial machinery 4 to the flight path determination device 2.

[0120] The storage unit 511 stores, for example, system programs, machining programs, and information related to tool correction used to control the entire numerical control device 5. Additionally, the storage unit 511 stores model data representing a 3D model of the structure constituting the industrial machinery 4. The model data stored in the storage unit 511 is transmitted to the flight path determination device 2 via the communication unit 510.

[0121] The control unit 512 controls the entire industrial machine 4. For example, the control unit 512 executes the machining of workpiece 408 according to a machining program. Furthermore, based on control information received from the communication unit 510, the control unit 512 causes the structures constituting the industrial machine 4 to move. For example, the control unit 512 performs control to move the spindle head along the Z-axis. Additionally, the control unit 512 performs control to move the worktable 405 in the X-axis and Y-axis directions. Furthermore, the control unit 512 controls the injection and stopping of cutting fluid, and the opening and closing of the door 401.

[0122] Next, the process flow of the processing performed in the flight path determination device 2 will be explained.

[0123] Figure 14 This is a flowchart illustrating an example of the processing performed in the flight path determination device 2.

[0124] First, the model acquisition unit 201 acquires model data representing a 3D model of the industrial machinery 4 from the industrial machinery 4 (step S1).

[0125] Next, the model data storage unit 202 stores the model data acquired by the model acquisition unit 201 (step S2).

[0126] Next, the operation status acquisition unit 203 acquires information indicating the operation status of the industrial machine 4 from the numerical control device 5 (step S3).

[0127] Next, the spatial information generation unit 204 generates non-interference spatial information representing the non-interference space based on the model data of the structure constituting the industrial machinery 4, the model data of the unmanned aerial vehicle 3, and the operating status of the industrial machinery 4 (step S4).

[0128] Next, the command receiving unit 205 receives the operation command for the operation performed by the unmanned aerial vehicle 3 (step S5).

[0129] Next, the path information generation unit 207 generates flight path information for determining the flight path FP of the unmanned aerial vehicle 3 based on non-interference spatial information and operation instructions (step S6).

[0130] If the flight path information is generated by the path information generation unit 207 (if not in step S7), the path information output unit 208 outputs the flight path information (step S8) and ends the process.

[0131] If the generation of flight path information is stopped by the path information generation unit 207 (if yes in step S7), the control information generation unit 209 generates control information for the industrial machine 4 (step S9).

[0132] Next, the control information output unit 210 outputs the control information generated by the control information generation unit 209 (step S10) and ends the processing.

[0133] As described above, when the control information output unit 210 outputs control information, the operation status acquisition unit 203 can again obtain information indicating the latest operation status from the industrial machine 4. That is, the flight path determination device 2 can return to the processing of step S3 after performing the processing of step S10.

[0134] As explained above, the flight path determination device 2 includes: a spatial information generation unit 204, which generates non-interference spatial information representing a non-interference space between the industrial machinery 4 and the unmanned aerial vehicle 3, based on model data of the structures constituting the industrial machinery 4 and the operating state of the industrial machinery 4; an instruction receiving unit 205, which receives operation instructions for the unmanned aerial vehicle 3; and a path information generation unit 207, which generates flight path information for determining the flight path FP of the unmanned aerial vehicle 3 based on the non-interference spatial information and the operation instructions. Therefore, when the unmanned aerial vehicle 3 performs operations according to the operation instructions, interference between the unmanned aerial vehicle 3 and the industrial machinery 4 can be reliably prevented.

[0135] In addition, the flight path determination device 2 also includes a model acquisition unit 201 for acquiring model data from the industrial machinery 4. Therefore, the operator does not need to create model data representing a 3D model of the structure constituting the industrial machinery 4, which reduces the operator's workload.

[0136] Furthermore, the flight path determination device 2 also includes a path information output unit 208 that outputs flight path information to the unmanned aerial vehicle 3. Therefore, the operator does not need to input the flight path information generated by the flight path determination device 2 into the unmanned aerial vehicle 3 via a storage medium or the like. As a result, the operator's workload can be reduced.

[0137] Furthermore, the flight path determination device 2 includes a control information generation unit 209 for generating control information for the industrial machinery 4. Therefore, when a flight path FP in a non-interference space cannot be determined, the structures constituting the industrial machinery 4 can be moved, and flight path information can be generated again.

[0138] Furthermore, the control information generated by the control information generation unit 209 includes control information that prohibits the operation of the industrial machinery 4. Therefore, while the unmanned aerial vehicle 3 is flying according to the flight path information, the industrial machinery 4 will not operate, thus reliably preventing interference between the unmanned aerial vehicle 3 and the industrial machinery 4.

[0139] Furthermore, the control information generated by the control information generation unit 209 includes control information prohibiting the movement of structures. Therefore, while the unmanned aerial vehicle 3 is flying according to the flight path information, the structures constituting the industrial machinery 4 will not move, reliably preventing interference between the unmanned aerial vehicle 3 and the industrial machinery 4.

[0140] In addition, in the above embodiments, the flight path determination device 2 is installed in a PC, server, etc., but the flight path determination device 2 can also be installed in the numerical control device 5 of the industrial machinery 4.

[0141] In addition, in the above embodiment, a machine tool was shown as an example of industrial machinery 4, but industrial machinery 4 can also be an industrial robot such as a robotic arm.

[0142] Furthermore, in the above embodiment, the spatial information generation unit 204 generates non-interference space information representing the non-interference space based on the model data of the structures constituting the industrial machinery 4, the model data of the unmanned aerial vehicle 3, and the operating status of the industrial machinery 4. However, when the unmanned aerial vehicle 3 is relatively small and the interference space is set to be relatively large, the spatial information generation unit 204 may also generate non-interference space information representing the non-interference space based on the model data of the structures constituting the industrial machinery 4 and the operating status of the industrial machinery 4.

[0143] Furthermore, the operation status acquisition unit 203 can acquire the machining program from the numerical control device 5. In this case, the spatial information generation unit 204 can analyze the movement of the structures constituting the industrial machinery 4, the splashing of cutting fluid, etc., and generate non-interference spatial information during the operation of the industrial machinery 4. In this way, even during the operation of the industrial machinery 4, the unmanned aerial vehicle 3 can perform the predetermined operation without colliding with the industrial machinery 4.

[0144] Explanation of reference numerals in the attached figures

[0145] 1. Unmanned Aerial Vehicle Control System

[0146] 2 Flight path determination device

[0147] 20 CPU

[0148] 21 bus

[0149] 22 ROM

[0150] 23 RAM

[0151] 24 Non-volatile memory

[0152] 25 First Interface

[0153] 26 Display devices

[0154] 27 Second Interface

[0155] 28 Input devices

[0156] 29 Communication devices

[0157] 201 Model Acquisition Department

[0158] 202 Model Data Storage Department

[0159] 203 Operational Status Acquisition Department

[0160] 204 Spatial Information Generation Department

[0161] 205 Command Receiving Unit

[0162] 206 Instruction Information Storage Unit

[0163] 207 Path Information Generation Department

[0164] 208 Path Information Output Department

[0165] 209 Control Information Generation Department

[0166] 210 Control Information Output Unit

[0167] 3 Unmanned Aerial Vehicles

[0168] 30 batteries

[0169] 31 processors

[0170] 32-bus

[0171] 33 Memory

[0172] 34 Motor control circuit

[0173] 35 Electric Motor

[0174] 36 sensors

[0175] 37 Communication devices

[0176] 301 Ministry of Communications

[0177] 302 Flight Position Determination Unit

[0178] Flight Control Department 303

[0179] 4. Industrial Machinery

[0180] 401 Opening and Closing Door

[0181] 402 Turntable

[0182] 403 spindle

[0183] 404 tool

[0184] 405 workbench

[0185] 406 Splash Cover

[0186] 407 Telescopic Cover

[0187] 408 workpiece

[0188] 409 Fixture

[0189] 5. Numerical control device

[0190] 50 CPU

[0191] 51 bus

[0192] 52 ROM

[0193] 53 RAM

[0194] 54 Non-volatile memory

[0195] 55 interface

[0196] 56-axis control circuit

[0197] 57 PLC

[0198] 58 I / O units

[0199] 510 Ministry of Communications

[0200] 511 Storage Department

[0201] 512 Control Department

[0202] 6 communication devices

[0203] 7 Servo Amplifier

[0204] 8 servo motors

[0205] 9. Auxiliary equipment

[0206] FP Flight path.

Claims

1. A flight path determination device, characterized in that, have: The spatial information generation unit generates non-interference spatial information based on model data of the structures constituting the industrial machinery, the operating state of the industrial machinery, and model data of the unmanned aerial vehicle, which represents a non-interference space that changes according to the operating state, indicating that the industrial machinery and the unmanned aerial vehicle do not interfere with each other. The command receiving unit receives operational commands for the unmanned aerial vehicle. The path information generation unit generates flight path information for determining the flight path of the unmanned aerial vehicle based on the non-interference spatial information, the operation instructions, and the operation position of the unmanned aerial vehicle. The model acquisition unit acquires the model data from the industrial machinery; The path information output unit outputs the flight path information to the unmanned aerial vehicle.

2. The flight path determination device according to claim 1, characterized in that, The flight path determination device also includes a control information generation unit that generates control information for controlling the industrial machinery.

3. The flight path determination device according to claim 2, characterized in that, The control information includes control information that prohibits the operation of the industrial machinery.

4. The flight path determination device according to claim 2 or 3, characterized in that, The control information includes control information that prohibits movement of the structure.

5. The flight path determination device according to claim 2 or 3, characterized in that, The control information includes control information that causes the structure to move.

6. A computer-readable storage medium, characterized in that, The storage medium stores commands for causing the computer to perform the following processes: Based on the model data of the structures constituting the industrial machinery, the operating state of the industrial machinery, and the model data of the unmanned aerial vehicle, non-interference space information is generated, which represents the non-interference space that changes according to the operating state, indicating that the industrial machinery and the unmanned aerial vehicle do not interfere with each other. Receive operational instructions for the unmanned aerial vehicle; Based on the non-interference spatial information, the operation instructions, and the operation position of the unmanned aerial vehicle (UAV), flight path information is generated to determine the flight path of the UAV; the model data is obtained from the industrial machinery; and The flight path information is output to the unmanned aerial vehicle.

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