Unmanned aerial vehicle control device and storage medium

Abstract

A wireless LAN is built in the factory. The factory's machinery (4) is equipped with a short-range wireless communication unit (41). The unmanned aerial vehicle (2) stores a 3D or 2D map of the factory divided into areas, and the wireless station that the unmanned aerial vehicle (2) should connect to in each area. The unmanned aerial vehicle (2) switches the connected wireless station according to its own location area on the 3D or 2D map.

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 sends teaching signals of the robot to the robot control device based on teaching input from an operator; an unmanned aerial vehicle (UAV) equipped with 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 continues to acquire images of the objects required for the teaching.

[0003] Typically, robots are used within fences in production sites for safety reasons. The robot system in Patent Document 1 controls the flight of the unmanned aerial vehicle based on teaching signals to control the robot during robot movements, thus enabling robot teaching even in environments where operators have difficulty visually recognizing the robot's movements 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) is an UAV that flies within a factory. The UAV comprises: a first wireless communication unit that performs short-range wireless communication with mechanical equipment; a second wireless communication unit that performs wireless communication with a longer communication range than the short-range wireless communication; a mechanical equipment selection unit that determines whether the mechanical equipment is a pre-selected communication target; and a wireless station switching unit that detects that the UAV's own position within the factory is near the selected mechanical equipment and switches the connection to a wireless station for short-range wireless communication installed on the mechanical equipment.

[0012] As one aspect of this disclosure, a storage medium stores commands that a computer can read. The commands are executed by one or more processors of an unmanned aerial vehicle (UAV) equipped with a first wireless communication unit for short-range wireless communication with the mechanical equipment and a second wireless communication unit for wireless communication with a longer communication range than the short-range wireless communication. The UAV performs the following processing: determining whether the mechanical equipment is a pre-selected communication target; detecting that the UAV's own position, which is flying within the factory, is near the selected mechanical equipment; and switching the connection to a wireless station for short-range wireless communication installed 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 disclosed block diagram of an unmanned aerial vehicle control system.

[0019] Figure 5 This is a diagram illustrating an example of data stored in the wireless switching area storage unit.

[0020] Figure 6 This is a flowchart illustrating the operation of the first publicly disclosed unmanned aerial vehicle control system.

[0021] Figure 7 This is a block diagram of the second publicly disclosed unmanned aerial vehicle control system.

[0022] Figure 8 This is a flowchart illustrating the operation of the unmanned aerial vehicle control system disclosed in the second disclosure.

[0023] Figure 9 This is a diagram illustrating an example of the flight path of an unmanned aerial vehicle. Detailed Implementation

[0024] [First Public Announcement]

[0025] Figure 1 This is a concept diagram of an unmanned aerial vehicle control system 100.

[0026] The unmanned aerial vehicle control system 100 includes: one or more unmanned aerial vehicles 2; a personal computer (PC) 1 that generates flight plans for the unmanned aerial vehicles 2; a wireless communication device 3 that mediates communication between the unmanned aerial vehicles 2 and the PC 1; and mechanical equipment 4 that performs short-range wireless communication.

[0027] The unmanned aerial vehicle control system 100 is installed in a space such as a factory equipped with multiple pieces of mechanical equipment 4. The mechanical equipment 4 includes machine tools, robots, air conditioning equipment, ventilation equipment, fire prevention and smoke extraction equipment, inspection equipment, piping equipment, cleanroom equipment, etc., but is not particularly limited thereto.

[0028] The PC1 of the unmanned aerial vehicle control system 100 can be any information processing device such as a server or portable terminal, without any special restrictions.

[0029] Mechanical equipment 4 can also be connected to the factory's wireless LAN (Local Area Network). In this case, the flight plan generated by PC1 can be output to the unmanned aerial vehicle 2 via short-range wireless communication of mechanical equipment 4 to control the unmanned aerial vehicle 2.

[0030] Unmanned aerial vehicle 2 has Figure 2 That kind of hardware structure. 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 the outside, etc.

[0031] The non-volatile memory 214 is configured, for example, as 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 accessed in the RAM 213 during the execution / use of the unmanned aerial vehicle 2. Furthermore, various system programs, including known programs, are pre-written into the ROM 212.

[0032] 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 the scattered light relative to pulsed laser illumination.

[0033] 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 depending on the function. As a flight controller, the CPU 211 appropriately controls the attitude and position of the UAV based on information obtained from the sensors 215. The CPU 211 calculates the tilt and movement of the UAV 2 based on changes in the velocity obtained from the accelerometer, calculates changes in the tilt and orientation of the UAV 2 based on changes in the rotational speed obtained from the angular velocity sensor, and calculates the altitude of the UAV 2 based on the air pressure obtained from the barometer.

[0034] The CPU 211, as a supporting controller, also calculates 2D or 3D point cluster data based on the scattered light values ​​obtained from the LIDAR sensor. This point cluster 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 clusters together. By accumulating the movement, its own position can be estimated. Furthermore, in estimating the UAV 2's own position, the point cluster data from the LIDAR sensor and values ​​obtained from the accelerometer and angular velocity sensor can also be combined.

[0035] 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. In this disclosure, there are no particular limitations on the method for estimating the self-position of the unmanned aerial vehicle 2.

[0036] The image processing unit 216 converts the image captured by the camera 217 into appropriate data and outputs the data to the CPU 211. The camera 217 of the unmanned aerial vehicle 2 mainly captures images of the machine equipment 4 selected by the user. As a result, it is possible to monitor the operating status of the factory, such as the values ​​of the measuring instruments displayed on the machine equipment 4 and the operating status of the machine equipment 4.

[0037] The wireless communication unit 218 includes a wireless LAN communication unit 222 and a short-range wireless communication unit 223.

[0038] The wireless LAN communication unit 222 is, for example, a Wi-Fi (registered trademark) wireless station. The wireless LAN communication unit 222 communicates with the wireless communication device 3. The communicable area of ​​the wireless communication device 3 includes the entire factory (or the entire flight path of the unmanned aerial vehicle 2).

[0039] The short-range wireless communication unit 223 is, for example, a Bluetooth (registered trademark) wireless station. The short-range wireless communication unit 223 of the unmanned aerial vehicle 2 communicates with the short-range wireless communication unit 41 assembled in the mechanical device 4.

[0040] 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 rotational speed of the propeller 220.

[0041] 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).

[0042] PC1 has Figure 3 The hardware structure shown.

[0043] 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 the entire PC1 according to the system program. Temporary calculation data, display data, and various data input from external sources are temporarily stored in RAM 113.

[0044] The non-volatile memory 114 is composed of, for example, a memory backed up by a battery (not shown) or an SSD (Solid State 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 be expanded in RAM 113 during execution / use. Furthermore, various system programs, including known programs, are pre-written into ROM 112.

[0045] On the display unit 123, various data read into the memory, data obtained as a result of executing programs, etc., are output and displayed via the interface 117. In addition, the input unit 124, which consists of a keyboard, indicator devices, etc., transmits the programmer's input to the CPU 111 via the interface 118.

[0046] Figure 4 This is a block diagram of an unmanned aerial vehicle (UAV) control system 100. The UAV control system 100 includes one or more UAVs 2, a personal computer (PC) 1 for creating flight plans for the UAVs 2, a wireless communication device 3 as an access point for a wireless LAN, and a mechanical device 4 as a wireless station for short-range wireless communication.

[0047] 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 mapping unit 13, which maps the self-position of the unmanned aerial vehicle 2 onto a 3D map; a flight plan creation unit 14, which creates a flight plan for the unmanned aerial vehicle 2; and a flight plan output unit 15, which outputs the flight plan to the unmanned aerial vehicle 2.

[0048] The self-positioning unit 11 acquires the self-position of the unmanned aerial vehicle 2 via the wireless communication device 3. The self-position of the unmanned aerial vehicle 2 is the position of the unmanned aerial vehicle 2 calculated based on the values ​​of the acceleration, angular velocity sensors and the distance sensor.

[0049] 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 the strength of radio waves from beacons, Wi-Fi, etc. When using radio waves from beacons or Wi-Fi, the coordinates of the UAV 2 can be determined based on the radio waves, thus an environmental map is not necessarily required. When an environmental map is created, the situation around the UAV 2 can be obtained in real time, and unexpected obstacles can be detected.

[0050] The mapping unit 13 maps the environmental map of the unmanned aerial vehicle (UAV) 2 to the 3D map based on feature points, etc., and maps the UAV 2's own position to the coordinate system of the 3D map. The flight plan production unit 14 produces the flight plan for the UAV 2.

[0051] The flight plan output unit 15 outputs the flight plan to the unmanned aerial vehicle (UAV) 2 via the wireless LAN of the wireless communication device 3. The flight plan includes the UAV 2's own position on a 3D map. The flight plan can also be stored in the UAV 2's non-volatile memory 214. The flight plan may also include the flight start time, etc.

[0052] The unmanned aerial vehicle 2 includes: a self-position estimation unit 21, which estimates its own position; an environment map creation unit 22, which creates an environment map around the unmanned aerial vehicle 2; a flight plan acquisition unit 23, which acquires the flight plan of the unmanned aerial vehicle 2; an autonomous flight unit 24, which performs autonomous flight according to the flight plan and movement commands; a wireless LAN communication unit 222, which performs wireless LAN communication; a short-range wireless communication unit 223, which performs wireless communication with each mechanical device 4; a wireless handover area storage unit 25, which stores the area representing the boundary of wireless handover; a wireless station switching unit 26, which switches wireless stations; and a mechanical device selection unit 29, which selects a pre-selected base station.

[0053] The self-position estimation unit 21 calculates the tilt and movement of the UAV 2 based on the change in velocity obtained from the accelerometer, calculates the change in tilt and orientation of the UAV 2 based on the change in rotational speed obtained from the angular velocity sensor, and calculates the altitude of the UAV 2 based on the air pressure obtained from the barometer, thus calculating its own movement. Furthermore, the self-position estimation unit 21 estimates the movement of the UAV 2 successively by matching it with an environmental map. The self-position is estimated by accumulating the movement.

[0054] The environmental map production unit 22 also calculates 2D or 3D point cluster data based on the scattered light values ​​obtained from the LIDAR sensor. The point cluster data becomes the environmental map around the unmanned aerial vehicle 2.

[0055] The flight plan acquisition unit 23 acquires the flight plan from the wireless communication device 3 or the mechanical device 4. The flight plan includes the unmanned aerial vehicle 2's own position on a 3D map.

[0056] The wireless LAN communication unit 222 is, for example, a Wi-Fi (registered trademark) adapter. The wireless LAN communication unit 222 communicates with the wireless communication device 3. The communicable area of ​​the wireless communication device 3 includes the entire factory (or the entire flight path of the unmanned aerial vehicle 2).

[0057] The short-range wireless communication unit 223 is, for example, a Bluetooth (registered trademark) adapter. The short-range wireless communication unit 223 of the unmanned aerial vehicle 2 communicates with the short-range wireless communication unit 41 assembled in the mechanical device 4.

[0058] The wireless switching area storage unit 25 stores areas divided by a 3D or 2D map of the factory, and the wireless stations that the unmanned aerial vehicle 2 should connect to in each area. For example, Figure 5 As shown, the wireless switching area storage unit 25 stores "Wireless LAN" in "Area 1" and "Short-range wireless station (device ID)" in "Area 2".

[0059] The wireless station switching unit 26 refers to the wireless switching area storage unit 25 and detects wireless stations existing in the area where the unmanned aerial vehicle 2 is located on a 3D map or a 2D map.

[0060] The equipment selection unit 29 determines whether a wireless station located in the area where the unmanned aerial vehicle 2 is situated is installed on a pre-selected piece of equipment 4. If a wireless station is installed on a pre-selected piece of equipment, a wireless station switch is performed. If a wireless station is installed on a piece of equipment not pre-selected, no wireless station switch is performed.

[0061] Furthermore, the selection of mechanical equipment 4 can be made either before autonomous flight or during autonomous flight.

[0062] Furthermore, the selection of machine equipment 4 can be done manually or by an information processing device such as an external system. For example, when the drone performs regular operations based on an external program, machine equipment 4 specified in the program can be selected automatically. Alternatively, when the path to the machine equipment 4 is automatically calculated based on a path calculation algorithm, the machine equipment (wireless station) can be selected based on the area contained in the drone's current location.

[0063] In this disclosure, a wireless station refers to a transmitter, receiver, or a combination of transmitter and receiver that uses wireless communication. That is, in this disclosure, the wireless LAN communication unit 222 and short-range wireless communication unit 223 of the unmanned aerial vehicle 2, the wireless communication device 3, and the short-range wireless communication unit 223 of the mechanical equipment 4 are all wireless stations.

[0064] The mechanical device 4 is equipped with a short-range wireless communication unit 41. The short-range wireless communication unit 41 is, for example, a Bluetooth adapter. The short-range wireless communication unit 41 outputs data packets at constant time intervals. The data packets contain the device address and device name of the mechanical device 4. The short-range wireless communication unit 223 of the unmanned aerial vehicle 2, which receives the data packets, replies to the short-range wireless communication unit 41 of the mechanical device 4 to establish a connection.

[0065] Reference Figure 6 The flowchart illustrates the operation of the unmanned aerial vehicle control system 100.

[0066] First, UAV 2 estimates its own position (step S1) and creates an environmental map (step S2). PC1 maps the UAV 2's own position and the environmental map onto the factory's 3D map to obtain the UAV 2's position on the 3D map (step S3).

[0067] PC1 generates a flight plan for UAV 2 (step S4) and outputs it to UAV 2. The user selects the mechanical device 4 for wireless communication (step S5). The selected mechanical device 4 is registered in UAV 2. Here, the mechanical device 4 for wireless communication is selected before autonomous flight begins, but it can also be selected and registered in UAV 2 during autonomous flight.

[0068] The unmanned aerial vehicle 2 performs autonomous flight according to the flight plan received from PC1 (step S6).

[0069] The unmanned aerial vehicle (UAV) 2 refers to the wireless switching area storage unit 25 to determine the area containing its own position (step S7). If the area containing the UAV 2's own position has changed (step S8; yes), the UAV 2 determines that it has entered a new area (step S9). If the area containing the UAV 2's own position has not changed (step S8; no), the UAV 2 proceeds to step S6 and continues autonomous flight.

[0070] If it is determined that a new area has been entered, the UAV 2 confirms the surrounding radio wave status (step S10). If the UAV 2 is flying near the mechanical device 4, radio waves indicating the presence of the mechanical device 4 reach the UAV 2. When the UAV 2 receives the radio waves from the mechanical device 4, the short-range wireless communication unit 223 of the UAV 2 establishes a connection with the short-range wireless communication unit 41 of the mechanical device 4 (step S11), and switches the wireless station (step S12).

[0071] Here, the mechanical device 4 can relay data from the PC1, or it can directly control the unmanned aerial vehicle 2. When the mechanical device 4 directly controls the unmanned aerial vehicle 2, the mechanical device 4 equipped with a numerical control device or a computing device such as a PLC (Programmable Logic Controller) is preferred.

[0072] As explained above, the first disclosed unmanned aerial vehicle (UAV) control system 100 includes a wireless switching area storage unit 25 that divides a 3D map of the factory into areas and records wireless stations suitable for each area. These areas can be created by actually measuring the radio wave conditions within the factory. The UAV 2 switches wireless stations while confirming which area it is flying in.

[0073] Various wireless systems coexist within the factory, and wireless communication can sometimes become unstable due to electromagnetic noise from machinery. Furthermore, there are areas within the factory, such as inside or near machine tools, where electromagnetic waves are difficult to reach. When controlling the unmanned aerial vehicle (UAV) 2 from inside the casing of a machine tool (especially a large piece of equipment), communication obstacles caused by the casing may arise.

[0074] The unmanned aerial vehicle control system 100 switches to short-range communication near the mechanical equipment 4 in areas where the radio wave status of the wireless LAN is poor, so that the unmanned aerial vehicle 2 can be controlled even in places in the factory where radio waves are difficult to reach, such as inside or near the machine tool.

[0075] The distance between the wireless station and UAV 2 can also be measured, and the connection can be switched when UAV 2 approaches the vicinity of the wireless station. Regarding the distance to the wireless station, the Euclidean distance can be calculated based on the user's own position and the coordinates of the wireless station, or the distance to the mechanical device 4 can be calculated based on images captured by UAV 2. Alternatively, the wireless station's beacon can be used as a distance sensor. The reach of short-range wireless communication varies depending on the device, so a threshold for the switching distance can be set for each device.

[0076] The wireless connection protocol is not limited to the above-mentioned protocol, and wireless connections using protocols different from those disclosed herein are also included in the concept of this disclosure.

[0077] [Second Public Announcement]

[0078] like Figure 7 As shown, the unmanned aerial vehicle 2 of the second disclosed unmanned aerial vehicle control system 100 includes a signal strength detection unit 27 and a device ID storage unit 28.

[0079] The signal strength detection unit 27 detects the radio waves output by the wireless communication device 3 and the signal strength of the mechanical equipment 4.

[0080] The device ID storage unit 28 stores the identification information, i.e., the device ID, of the short-range wireless communication unit 41 assembled in the mechanical device 4. The device ID storage unit 28 also stores the mechanical device 4 selected as the communication target.

[0081] The wireless station switching unit 26 compares the signal strength detected by the signal strength detection unit 27. If there is a wireless station with a better signal status than the currently connected wireless station, and the device ID of the wireless station is recorded in the device ID storage unit 28, and the mechanical device 4 is selected as the communication target, the wireless station is switched.

[0082] Reference Figure 8 The flowchart illustrates the operation of the unmanned aerial vehicle control system 100.

[0083] First, the unmanned aerial vehicle 2 estimates its own position (step S21) and creates an environmental map (step S22). PC1 maps the unmanned aerial vehicle 2's own position and the environmental map onto the factory's 3D map to obtain the position of the unmanned aerial vehicle 2 on the 3D map (step S23).

[0084] PC1 generates a flight plan for UAV 2 (step S24) and outputs it to UAV 2. UAV 2 then performs autonomous flight according to the flight plan received from PC1 (step S25).

[0085] Unmanned aerial vehicle 2 detects the signal strength (step S26). Unmanned aerial vehicle 2 compares the signal strength of the currently connected wireless station with the signal strength of other wireless stations (step S27). If there is no wireless station with a better signal strength than the currently connected wireless station (step S28; no), proceed to step S25 and continue autonomous flight.

[0086] If there is a wireless station with a better signal condition than the currently connected wireless station (step S28; yes), and the device ID of that wireless station exists in the device ID storage unit 28 (step S29; yes), a connection is established with the short-range wireless communication unit 41 that has that device ID (step S30), and the wireless station is switched (step S31).

[0087] If the device ID of the wireless station detected in step S28 does not exist in the device ID storage unit 28 (step S29; no), proceed to step S25 and continue autonomous flight.

[0088] As explained above, in the second disclosed unmanned aerial vehicle control system 100, signal strength is used to detect situations where the target mechanical device 4 is approaching. By using signal strength as a selection criterion for the wireless station, it is possible to reliably switch to a wireless station with a good signal strength.

[0089] [Third Public Announcement]

[0090] The third disclosed unmanned aerial vehicle control system 100 has the same characteristics as... Figure 6 The second disclosed unmanned aerial vehicle control system 100 has a structure that is substantially the same. The third disclosed unmanned aerial vehicle control system 100 stores the device IDs of multiple mechanical devices 4 in the device ID storage unit 28 of the unmanned aerial vehicle 2.

[0091] In the third disclosed unmanned aerial vehicle control system 100, the unmanned aerial vehicle 2 flies while switching between short-range wireless communication units 41 of multiple mechanical devices 4. For example, when the unmanned aerial vehicle 2... Figure 9When the flight path is as shown, four mechanical devices 4 are located near the flight path of the unmanned aerial vehicle 2. It flies while switching to radio stations with good signal strength from the short-range wireless communication units 41 of mechanical devices A, B, C, and D. Therefore, stable communication can be achieved even in locations with unstable radio waves, such as factories.

[0092] The device ID storage unit 28 can also store the device IDs of all short-range wireless communication units 41 present in the factory. If the number of device IDs increases, the area where short-range wireless communication can be performed can be expanded. The options for communication units are expanded, allowing the unmanned aerial vehicle 2 to be controlled using only short-range wireless communication even without a wireless environment covering the entire factory, such as a wireless LAN.

[0093] Explanation of reference numerals in the attached figures

[0094] 100 Unmanned Aerial Vehicle Control System, 1 Personal Computer (PC)

[0095] 2 Unmanned Aerial Vehicles

[0096] 3 Wireless communication devices

[0097] 4. Mechanical equipment

[0098] 11. Obtaining one's own position

[0099] 12 Environmental Map Acquisition Department

[0100] 13 Mapping Department 14 Flight Planning Production Department

[0101] 15 Flight Plan Output Department

[0102] 21 Self-position estimation department

[0103] 22 Environmental Map Production Department

[0104] Flight 23 program obtained department

[0105] 24 Autonomous Flight Division

[0106] 25 Wireless Switching Area Storage Unit 26 Wireless Station Switching Unit

[0107] 222 Wireless LAN Communications Department

[0108] 223 Short-range wireless communication unit 41 Short-range wireless communication unit 211 CPU

[0109] 214 non-volatile memory

[0110] 215 sensor

[0111] 216 Image Processing Unit; 217 Camera.

Claims

1. An unmanned aerial vehicle that flies within a factory, characterized in that, The unmanned aerial vehicle has the following features: The first wireless communication unit communicates with a wireless station installed on the mechanical equipment over short distances. The second wireless communication unit performs wireless communication with a longer communication distance than the short-range wireless communication unit. The machine selection unit determines whether a wireless station, detected based on the position of the unmanned aerial vehicle flying within the factory, is installed on a machine selected as a communication target in advance; and The wireless station switching unit, when the machine equipment selection unit determines that the wireless station detected based on the position of the unmanned aerial vehicle flying within the factory is a wireless station installed on a pre-selected machine equipment, switches from the second wireless communication unit to the first wireless communication unit, switching the connection to the wireless station installed on the machine equipment. The second wireless communication unit communicates wirelessly with a wireless communication device whose communication area is the entire factory or the entire flight path of the unmanned aerial vehicle.

2. The unmanned aerial vehicle according to claim 1, characterized in that, The unmanned aerial vehicle has the following features: The signal strength detection unit detects the signal strength of each wireless station; and An identification information storage unit stores identification information of at least one wireless station. The wireless station switching unit compares the signal strength detected by the signal strength detection unit and switches the connection to a wireless station with a good signal status and whose identification information is stored in the identification information storage unit.

3. An unmanned aerial vehicle that flies within a factory, characterized in that, The unmanned aerial vehicle has the following features: The first wireless communication unit communicates with a wireless station installed on the mechanical equipment over short distances. The second wireless communication unit performs wireless communication with a longer communication distance than the short-range wireless communication unit. The autonomous flight unit conducts autonomous flights within the factory according to the flight plan; The wireless switching area storage unit stores areas obtained by dividing the map of the factory and the wireless stations that the unmanned aerial vehicles should connect to in each area; The machine selection unit, with reference to the wireless switching area storage unit, determines whether a wireless station detected based on the unmanned aerial vehicle's own position while flying within the factory is installed on a machine selected as a communication target before or during flight; and The wireless station switching unit, when the machine equipment selection unit determines, with reference to the wireless switching area storage unit, that the wireless station detected based on the location of the unmanned aerial vehicle (UAV) flying within the factory is a wireless station installed on the machine equipment selected before or during flight, switches from the second wireless communication unit to the first wireless communication unit, switching the connection to the wireless station of the selected machine equipment located in the area where the UAV is located. The second wireless communication unit communicates wirelessly with a wireless communication device whose communication area is the entire factory or the entire flight path of the unmanned aerial vehicle.

4. A storage medium storing commands that a computer can read, characterized in that, The command is executed by one or more processors of an unmanned aerial vehicle equipped with a first wireless communication unit that performs short-range wireless communication with a wireless station installed on a mechanical device and a second wireless communication unit that performs wireless communication with a longer communication range than the short-range wireless communication, to perform the following processing: Determine whether the wireless station detected based on the unmanned aerial vehicle's own position while flying within the factory is installed on machinery that the user has pre-selected as a communication target; and If it is determined that the wireless station detected based on the location of the unmanned aerial vehicle flying within the factory is a wireless station installed on the machine equipment pre-selected by the user, the connection is switched from the second wireless communication unit to the first wireless communication unit, thus switching the connection to the wireless station installed on the machine equipment. The second wireless communication unit communicates wirelessly with a wireless communication device whose communication area is the entire factory or the entire flight path of the unmanned aerial vehicle.

5. The storage medium according to claim 4, which stores commands that a computer can read, characterized in that, The command is as follows: Store identification information for at least one wireless station; Detect the signal strength of each wireless station; Compare the signal strengths; and Switch the connection to the wireless station with a good signal strength and stored identification information among the wireless stations that have detected the signal strength.

6. A storage medium storing commands that a computer can read, characterized in that, The command is executed by one or more processors of an unmanned aerial vehicle equipped with a first wireless communication unit that performs short-range wireless communication with a wireless station installed on a mechanical device and a second wireless communication unit that performs wireless communication with a longer communication range than the short-range wireless communication, to perform the following processing: The unmanned aerial vehicle is then able to fly autonomously within the factory according to the flight plan. The system stores the areas obtained by dividing the map within the factory and the wireless stations that the unmanned aerial vehicles should connect to in each area; Mechanical equipment selected as communication targets before or during flight; and If, based on the stored determination, the wireless station detected is a wireless station of the selected mechanical device installed before or during flight, the connection is switched from the second wireless communication unit to the first wireless communication unit, thereby switching the connection to the wireless station of the selected mechanical device located in the area where the unmanned aerial vehicle is located. The second wireless communication unit communicates wirelessly with a wireless communication device whose communication area is the entire factory or the entire flight path of the unmanned aerial vehicle.

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