Unmanned flying body controlling method, unmanned flying body, and program

Abstract

To make a drone fly more stably even in various circumstances.SOLUTION: The present invention is directed to a method of controlling an unmanned flying body. The unmanned flying body has a thrust generating unit, and a control apparatus for controlling an output of the thrust generating unit. The control apparatus carries out a step of acquiring information of atmosphere in an environment where the unmanned flying body flies, a step of determining a flight parameter for use in control of flight of the unmanned flying body in the environment by using the acquired information of atmosphere, and a step of adjusting the output of the thrust generating unit by using the determined flight parameter.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a method for controlling an unmanned aerial vehicle, an unmanned aerial vehicle, and a program.

Background Art

[0002] In the inspection of equipment in various environments such as iron-making equipment such as blast furnaces, converters, annealing furnaces, and coke ovens, boilers in various power plants, and refining equipment in petrochemistry, labor saving and time reduction are required to ensure safety and improve productivity. For example, in iron-making equipment or the like, the equipment immediately after stopping operation may be at a high temperature or filled with gas toxic to the human body. Therefore, when personnel perform work, they need to wait until the atmosphere becomes workable. Therefore, for example, it is considered that by using a drone for inspection, the inspection can be started earlier than when personnel perform work and without the personnel entering the equipment to be inspected.

[0003] For example, Patent Document 1 discloses a technique for inspecting a furnace wall in a boiler using a drone.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in the equipment as described above, for example, there is an environment where an atmosphere different from the atmospheric pressure prevails, such as a high-temperature atmosphere or an atmosphere filled with various gases. Depending on the atmosphere of various environments, the thrust obtained in the flight of the drone can vary greatly. In various atmospheres, it is desired to maintain a stable posture for imaging and inspection by the drone.

[0006] Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide a method for controlling an unmanned aerial vehicle, an unmanned aerial vehicle, and a program that can more stably fly a drone in the atmosphere of various environments.

Means for Solving the Problems

[0007] According to the present disclosure, there is provided a method for controlling an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a thrust generating unit and a control device for controlling the output of the thrust generating unit, and the control device obtains information on the atmosphere in the environment in which the unmanned aerial vehicle flies, determines flight parameters for use in flight control of the unmanned aerial vehicle in the environment using the obtained atmosphere information, and adjusts the output of the thrust generating unit using the determined flight parameters.

[0008] Further, according to the present disclosure, there is provided an unmanned aerial vehicle including a thrust generating unit and a control device for controlling the output of the thrust generating unit, wherein the control device includes an atmosphere information acquisition unit that acquires information on the atmosphere in the environment in which the unmanned aerial vehicle flies, a flight parameter determination unit that determines flight parameters for use in flight control of the unmanned aerial vehicle in the environment using the acquired atmosphere information, and an output control unit that controls the output of the thrust generating unit using the determined flight parameters.

[0009] Further, according to the present disclosure, there is provided a program for causing a control device for controlling the output of a thrust generating unit provided in an unmanned aerial vehicle to function, the program causing the control device to function as an atmosphere information acquisition unit that acquires information on the atmosphere in the environment in which the unmanned aerial vehicle flies, a flight parameter determination unit that determines flight parameters for use in flight control of the unmanned aerial vehicle in the environment using the acquired atmosphere information, and an output control unit that controls the output of the thrust generating unit using the determined flight parameters.

Effects of the Invention

[0010] According to the present disclosure, the drone can fly more stably in the atmosphere of various environments.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0012] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

[0013] <Overview> FIG. 1 is a schematic diagram showing an example of a use case to which a control method of an unmanned aerial vehicle (drone) according to an embodiment of the present disclosure is applied. The unmanned aerial vehicle 1 according to the present embodiment is a rotary wing aircraft that obtains lift and thrust by a so-called plurality of rotary wings 3.

[0014] As shown in FIG. 1, the unmanned aerial vehicle 1 is flying in the internal space of the iron-making facility S1, which is an example of the target facility. For example, the unmanned aerial vehicle 1 performs an operation such as photographing the wall surface W1 of the iron-making facility S1 with a camera or the like. Such an unmanned aerial vehicle 1 may be capable of autonomous flight, or the flight may be controlled by a user from inside or outside the iron-making facility S1.

[0015] The target facility can be, for example, manufacturing facilities for various raw materials and materials such as steel mills, glass factories, and oil refining facilities. Further, the target facility can be facilities related to power plants such as thermal power plants, hydroelectric power plants, and nuclear power plants, and facilities related to various infrastructures such as water supply and sewerage, gas, railways, roads, and communications. In addition, the target facility is not particularly limited as long as it can be inspected by the unmanned aerial vehicle 1. In the present embodiment, as an example of the target facility, the iron-making facility S1 provided in a steel mill will be described. The iron-making facility S1 can be various facilities provided in a steel mill. Specifically, the iron-making facility S1 is a facility provided in a steel mill that performs processes such as blast furnaces, converters, hot metal pretreatment facilities, degassing facilities, electric furnaces, casting, forging, rolling, annealing, plating, painting, skin passes, and heat treatment, and can include facilities such as coke ovens, denitration facilities, desulfurization facilities, dust collectors, chimneys, heat recovery devices, and boilers, which are facilities associated with iron-making in a steel mill. Further, the internal space (i.e., environment) of the iron-making facility S1 may be a completely closed space, or may be a space composed of a structure that is not completely closed but is separated from the external environment. Such a space may be a portion outside the opening provided in the iron-making facility S1, or may also include a space region where the internal atmosphere can pass through the opening due to convection and thus the influence of such an atmosphere can occur. In addition, various sensors 20 may be provided in the iron-making facility S1.

[0016] The control method of the unmanned aerial vehicle 1 according to this embodiment can be used, for example, when the iron-making facility S1 is in operation or being cooled after the operation has stopped. The wall surface W1 of the iron-making facility S1, etc., can be inspected by the unmanned aerial vehicle 1. At such a timing, the space of the iron-making facility S1 is at a high temperature compared to the atmosphere due to the treatment by the iron-making facility S1, or is at a low pressure / high pressure because a gas different from the atmosphere is used. Since it is difficult for workers to enter such a space, it is difficult to perform inspections manually from the viewpoints of safety and work efficiency.

[0017] Therefore, as a means, it is conceivable to fly an unmanned aerial vehicle such as a drone into the space of the environment of the iron-making facility S1 and perform inspections by the unmanned aerial vehicle. However, the atmosphere of the environment as described above is at a high temperature or at a low pressure / high pressure. When trying to fly an unmanned aerial vehicle into such a space, the density of the atmosphere of the space fluctuates with the fluctuations in temperature and pressure, making it difficult to generate stable thrust for the unmanned aerial vehicle. Then, it is also difficult to sufficiently ensure the accuracy in inspection operations such as photography and sensing.

[0018] Therefore, the method for controlling the unmanned aerial vehicle 1 for the ironmaking facility S1 according to the present embodiment senses the atmosphere of the environment of the ironmaking facility S1 to obtain atmosphere information, and controls the flight of the unmanned aerial vehicle 1 based on the atmosphere information. More specifically, this control method determines flight parameters for controlling the flight of the unmanned aerial vehicle 1 based on the atmosphere information, and controls the output of the thrust generation unit such as the motor and rotor of the unmanned aerial vehicle 1 based on the determined flight parameters. By such a control method, the output controlled by the flight controller of the unmanned aerial vehicle 1 is appropriately adjusted according to the atmosphere. As a result, regardless of the flight instruction to the flight controller, the output is adjusted to an appropriate value according to the atmosphere, so that more stable flight is possible regardless of the atmosphere of the space of the ironmaking facility S1. Further, according to this control method, it is not necessary to customize the flight controller according to the atmosphere, and it is only necessary to determine the flight parameters corresponding to the flight control. Therefore, even in such a harsh atmosphere as described above, the unmanned aerial vehicle 1 can be easily controlled. Hereinafter, an example of the present embodiment will be described.

[0019] First, the hardware configuration of the unmanned aerial vehicle 1 will be described. FIG. 2 is a diagram showing an example of the hardware configuration of the unmanned aerial vehicle 1 according to the present embodiment. As shown in FIG. 2, the unmanned aerial vehicle 1 according to the present embodiment includes a main body 2, a rotary wing 3, a motor 4, and a camera / sensor 5. Further, the unmanned aerial vehicle 1 includes a flight controller 11, a battery 14, an ESC (Electric Speed Controller) 15, and a transceiver 16 in the main body 2. Note that the configuration of the unmanned aerial vehicle 1 shown in FIG. 2 is an example, and a rotary wing aircraft having a configuration different from the main body 2 shown in FIG. 2 may also be included in the scope of the present invention.

[0020] The main body 2 is formed by a frame or the like that constitutes the unmanned aerial vehicle 1. The material constituting the main body 2 is not particularly limited, and can be, for example, carbon fiber resin, glass fiber resin, magnesium, magnesium alloy, aluminum, aluminum alloy, steel, titanium, or other materials. The rotary wing 3 is attached to the motor 4. The rotary wing 3 generates lift (thrust) for the unmanned aerial vehicle 1 by rotating itself due to the rotation of the motor 4. The rotary wing 3 and the motor 4 are an example of a thrust generation unit. In the present embodiment, the rotary wings 3 are provided at four locations, front, rear, left, and right, but the present invention is not limited to such an example. The number of rotary wings 3 provided can be appropriately changed according to the structure, shape, equipment, size, etc. of the unmanned aerial vehicle 1.

[0021] The flight controller 11 can have one or more processors, such as a central processing unit (CPU) or a programmable processor such as an FPGA (Field-Programmable Gate Array). The flight controller 11 has a memory 12 and can access the memory 12. The memory 12 stores logic, code, and / or program instructions that can be executed by the flight controller 11 to perform one or more steps. The flight controller 11 is an example of a control device.

[0022] The memory 12 may include a separable medium such as an SD card or a random access memory (RAM) or an external storage device. The data acquired from the camera / sensor 5 may be directly transmitted to and stored in the memory 12. For example, still image / moving image data captured by the camera 5 is recorded in the built-in memory or the external memory.

[0023] The flight controller 11 includes a control module configured to control the state of the unmanned aerial vehicle 1. For example, the control module controls the motor 4, which is a propulsion mechanism of the unmanned aerial vehicle 1, via the ESC 15 to adjust the spatial arrangement, speed, and / or acceleration of the unmanned aerial vehicle 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz). The rotation of the rotor 3 by the motor 4 generates lift for the unmanned aerial vehicle 1. The flight controller 11 can control the rotational speed of the motor 4 (the rotational speed also means the number of rotations per predetermined time) to adjust the thrust by the rotor 3.

[0024] The flight controller 11 is communicable with a transceiver 16 configured to transmit and / or receive data from one or more external devices (for example, the control terminal 17). The transceiver 16 can use any suitable communication means such as wired communication or wireless communication. The transceiver 16 can utilize one or more of any communication methods such as, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, etc.

[0025] The transceiver 16 can transmit and / or receive one or more of the data acquired by the sensor 5, the processing results generated by the flight controller 11, predetermined control data, user commands from a terminal or a remote controller, etc. The information obtained by the sensor 5 may be output to the control terminal 17 or the like via the transceiver 16.

[0026] The control terminal 17 is a device for controlling the flight of the unmanned aircraft 1. Note that the flight of the unmanned aircraft 1 may be controlled by an operator on the ground or the like, or may be controlled by automatic or manual control based on flight route information or an autonomous flight program based on sensing (for example, a GCS (Ground Control Station)). The control terminal 17 may be, for example, a terminal such as a transceiver (prop), a smartphone, or a tablet. The control terminal 17 can send flight control instruction information to the flight controller 11.

[0027] The sensor 5 according to the present embodiment may include, for example, an inertial sensor, an acceleration sensor, a gyro sensor, a GPS sensor, a wind sensor, a temperature sensor, a humidity sensor, a pressure sensor, an altitude sensor, a proximity sensor such as LiDAR (Laser Imaging Detection and Ranging), or a vision / image sensor other than a camera. Further, the sensor 5 may be mounted on the flight controller 11 or may be provided outside the flight controller 11. When the camera 5 is provided, such a camera may be any camera. For example, in addition to a general camera, the camera 5 may be an infrared camera, a stereo camera, or the like.

[0028] <Flight control method> Next, an example of a method for controlling an unmanned aircraft in the ironmaking facility according to the present embodiment will be described. FIG. 3 is a block diagram showing an example of the software configuration of the flight controller 11 according to the present embodiment. As shown in FIG. 3, the flight controller 11 includes an atmosphere information acquisition unit 101, a flight parameter determination unit 102, and an output control unit 103.

[0029] The atmosphere information acquisition unit 101 has a function of acquiring information on the atmosphere in the environment of the ironmaking facility S1 in which the unmanned aircraft 1 flies. The atmosphere information here may include, for example, at least any one of the atmosphere temperature, the atmosphere pressure, and the gas species in the atmosphere. Further, as other atmosphere information, the atmosphere humidity or the like may be included.

[0030] Such atmospheric information can be, for example, information acquired by a sensor 5 provided in the unmanned aircraft 1. Specifically, the information related to the temperature of the atmosphere can be temperature information obtained by a temperature sensor which is an example of the sensor 5. Also, the information related to the atmospheric pressure can be pressure information obtained by a pressure sensor which is an example of the sensor 5. Further, such atmospheric information may be, for example, information acquired by a sensor 20 provided in the iron-making facility S1. In this case, for example, the unmanned aircraft 1 is provided to be communicable with the sensor 20 via a transmission / reception unit 16 or the like, and can acquire atmospheric information (for example, measured values by the sensor) from the sensor 20. Note that the atmospheric information may be a measured value by the sensor or information obtained by processing the measured value.

[0031] The flight parameter determination unit 102 has a function of determining flight parameters for use in flight control of the unmanned aircraft 1 in the environment of the iron-making facility S1 by using the acquired atmospheric information. The flight parameters here can be, for example, parameters indicating the relationship between the rotational speed (i.e., output) of the motor 4 and the thrust generated on the unmanned aircraft 1 by the rotary wings 3. By using such flight parameters, the rotational speed of the motor 4 corresponding to the thrust necessary for performing desired flight control on the unmanned aircraft 1 can be adjusted. The flight parameters can be stored, for example, in the memory 12 of the unmanned aircraft 1. Also, the flight parameters can be acquired, for example, by measuring the rotational speed (i.e., output) of the motor 4 and the thrust generated on the unmanned aircraft 1 by the rotary wings 3 multiple times while changing conditions such as a predetermined temperature (for example, atmospheric temperature or room temperature) and atmospheric pressure (for example, atmospheric pressure), and analyzing the measurement data.

[0032] However, as described above, when the temperature and atmospheric pressure fluctuate, the density of the molecules that make up the air in the atmosphere changes, so the thrust obtained at the same rotational speed of the motor 4 also fluctuates. Therefore, in an environment that is significantly different from the normal atmospheric temperature and atmospheric pressure, it is difficult to adjust the thrust only by the above-described predetermined flight parameters, so it is desirable to adjust according to changes in temperature and atmospheric pressure.

[0033] Therefore, the flight parameter determination unit 102 determines flight parameters based on the atmosphere information. Specifically, a plurality of flight parameters related to atmosphere information such as temperature and / or atmospheric pressure may be provided in advance, or flight parameters determined by a function using the atmosphere information as a parameter may be provided. Then, the flight parameter determination unit 102 determines flight parameters using an evaluation value calculated based on the atmosphere information. Such an evaluation value may be, for example, a coefficient for correcting the reference flight parameter according to the atmosphere information. Also, a plurality of flight parameters are provided in advance continuously or stepwise, and the flight parameter determination unit 102 may change from the plurality of flight parameters to one flight parameter based on the atmosphere information.

[0034] The output control unit 103 has a function of adjusting the output of the thrust generation unit using the determined flight parameters. For example, when the unmanned aircraft 1 obtains flight control instruction information from a terminal (control terminal 17) for controlling the unmanned aircraft 1, the output control unit 103 controls the output of the thrust generation unit based on such flight control instruction information and the determined flight parameters. The flight control instruction information may include, for example, information for moving the unmanned aircraft 1 to a predetermined position or information for moving the unmanned aircraft 1 in a predetermined direction at a predetermined speed. The flight controller 11 calculates the thrust for flying the unmanned aircraft 1 in a predetermined direction from such flight control instruction information, and calculates the rotation speed of the motor 4 using such thrust and the flight parameters. At this time, the output control unit 103 can calculate the rotation speed of the motor 4 according to the atmosphere of the environment of the iron-making facility S1 by using the determined flight parameters. The output control unit 103 outputs a signal related to the rotation speed of the motor 4 to the ESC 15, and the ESC 15 can control the output of the motor 4 to reach such rotation speed.

[0035] FIG. 4 is a diagram showing an example of an overview of flight parameters according to the present embodiment. The graph shown in FIG. 4 shows the relationship between the rotation speed of the motor 4 and the output value of the thrust of the thrust generation unit (rotary wing 3). The parameters that define these relationships are the flight parameters. Here, T1, T2, and T3 shown in each graph indicate the temperature of the atmosphere of the environment in which the unmanned aircraft 1 flies, and are in the relationship of T1 < T2 < T3.

[0036] At this time, the higher the temperature of the atmosphere, the greater the rotation speed of the motor 4 required to obtain the same thrust. Here, the flight parameter determination unit 102 can determine the flight parameters for determining the rotation speed of the motor 4 required to obtain the desired thrust according to the temperature of the atmosphere. For example, when the temperature of the atmosphere is higher than the temperature in the atmosphere, flight parameters are selected such that the rotation speed of the motor 4 increases. Thereby, the output control unit 103 can control the rotation speed of the motor 4 for obtaining the required thrust to be higher than normal.

[0037] Note that, the higher the atmospheric pressure of the atmosphere, the lower the rotational speed of the motor 4 required to obtain the same thrust. This is because the higher the atmospheric pressure of the atmosphere, the greater the density of the gas in the atmosphere, and the greater the thrust obtained by a motor with the same rotational speed. The flight parameter determination unit 102 can determine flight parameters for determining the rotational speed of the motor 4 required to obtain a desired thrust according to the atmospheric pressure of the atmosphere. For example, when the atmospheric pressure of the atmosphere is higher than the atmospheric pressure in the air, flight parameters are selected such that the rotational speed of the motor 4 becomes lower. Thereby, the output control unit 103 can control the rotational speed of the motor 4 required to obtain the necessary thrust to be lower than normal.

[0038] In addition, the flight parameter determination unit 102 can determine flight parameters for determining the rotational speed of the motor 4 required to obtain a desired thrust according to the type (gas type) and ratio of the gas contained in the atmosphere. For example, when the ratio of coke gas (coke oven gas) in the atmosphere is higher than the ratio in the air, flight parameters are selected such that the rotational speed of the motor 4 becomes higher. This is because the specific gravity of coke gas is 0.47, which is a value smaller than 1. Thereby, the output control unit 103 can control the rotational speed of the motor 4 required to obtain the necessary thrust to be higher than normal. Also, for example, when the ratio of carbon dioxide in the atmosphere is higher than the ratio in the air, flight parameters are selected such that the rotational speed of the motor 4 becomes lower. This is because the specific gravity of carbon dioxide is 1.529, which is a value larger than 1. Thereby, the output control unit 103 can control the rotational speed of the motor 4 required to obtain the necessary thrust to be lower than normal.

[0039] Further, the flight parameter determination unit 102 can determine flight parameters for determining the rotational speed of the motor 4 necessary to obtain a desired thrust according to the humidity of the atmosphere. For example, when the humidity of the atmosphere is higher than the humidity in the air, flight parameters are selected such that the rotational speed of the motor 4 increases. This is because the higher the humidity of the atmosphere, the lighter the air becomes. As a result, the output control unit 103 can control the rotational speed of the motor 4 to obtain the necessary thrust to be larger than normal.

[0040] Next, a series of processes of the control method of the unmanned aerial vehicle 1 in the iron-making facility S1 according to the present embodiment will be described. FIG. 5 is a flowchart showing an example of the flow of the control method of the unmanned aerial vehicle 1 in the iron-making facility S1 according to the present embodiment.

[0041] First, when the unmanned aerial vehicle 1 exists in the environment inside the iron-making facility S1 or the like by flying or the like, the atmosphere information acquisition unit 101 of the unmanned aerial vehicle 1 acquires atmosphere information (step S101). Such atmosphere information may be obtained from the sensor 5 mounted on the unmanned aerial vehicle 1 or may be obtained from the sensor 20 provided in the iron-making facility S1.

[0042] Next, the unmanned aerial vehicle 1 determines flight parameters based on the acquired atmosphere information (step S103). At this time, for example, the flight parameter determination unit 102 may newly determine flight parameters based on the atmosphere information, or may determine new flight parameters by correcting the previously determined flight parameters.

[0043] Next, the unmanned aerial vehicle 1 acquires flight control instruction information from the control terminal 17 (step S105). Then, the output control unit 103 of the unmanned aerial vehicle 1 performs output control of the target thrust of the thrust generation unit based on the determined flight parameters (step S107). The details of the processing by each functional unit are as described above.

[0044] In the control method of such a drone 1, the processes described in steps S101 to S107 are performed continuously or intermittently. For example, the above-described processes may be repeatedly performed at a cycle of several milliseconds to several seconds, or may be intermittently performed at a cycle of several tens of seconds to several minutes. The repetition cycle of such processes can be appropriately determined according to the type and size of the iron-making facility S1 and the degree of variation in the environmental atmosphere.

[0045] Thus, in the control method of the drone 1 according to the present embodiment, flight parameters used to control the flight of the drone 1 are appropriately determined using information on the atmosphere of the environment of the iron-making facility S1. Thereby, regardless of the magnitude and change of temperature and atmospheric pressure, more stable flight control of the drone 1 becomes possible. Further, by using the atmosphere information acquired from the sensor 5 mounted on the drone 1, flight control considering the atmosphere in the vicinity of the drone 1 becomes possible, and the accuracy of flight control can be further improved.

[0046] The control method of the drone according to the present embodiment particularly exhibits a high effect in a special atmosphere environment (special atmosphere environment) where it is difficult to generate a stable thrust on the drone. The special atmosphere environment can be, for example, a case where the temperature is 50°C or higher or the ratio of a gas other than air is 30% or higher. According to the control method of the drone according to the present embodiment, a stable thrust can be generated on the drone even in such a special atmosphere environment, so that the accuracy in inspection work such as photography and sensing can be sufficiently ensured.

[0047] As described above, the preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. However, the technical scope of the present disclosure is not limited to such examples. It is obvious that those having ordinary knowledge in the technical field of the present disclosure can conceive of various modification examples or correction examples within the scope of the technical idea described in the claims, and these are also naturally understood to belong to the technical scope of the present disclosure.

[0048] Also, the effects described in this specification are illustrative or exemplary only and not limiting. That is, the technology according to the present disclosure may exhibit other effects apparent to those skilled in the art from the description herein, in addition to or instead of the above effects.

[0049] In addition, the following configurations also belong to the technical scope of the present disclosure. (Item 1) A method for controlling an unmanned aerial vehicle, comprising: the unmanned aerial vehicle includes a thrust generating unit and a control device for controlling the output of the thrust generating unit; the control device: acquires information on the atmosphere in the environment in which the unmanned aerial vehicle flies; uses the acquired atmosphere information to determine flight parameters for use in flight control of the unmanned aerial vehicle in the environment; uses the determined flight parameters to adjust the output of the thrust generating unit; A method for controlling an unmanned aerial vehicle, including the above steps. (Item 2) The method for controlling an unmanned aerial vehicle according to Item 1, wherein the atmosphere information is acquired by a sensor mounted on the unmanned aerial vehicle. (Item 3) The method for controlling an unmanned aerial vehicle according to Item 1 or 2, wherein the atmosphere information includes information related to at least any one of the temperature of the atmosphere, the atmospheric pressure of the atmosphere, and the gas species of the atmosphere. (Item 4) The thrust generating unit includes a rotor and a motor for rotating the rotor. The flight parameters are parameters determined by the relationship between the output of the motor and the thrust obtained by the rotor. The method for controlling an unmanned aerial vehicle according to any one of Items 1 to 3, wherein the determination of the flight parameters is a determination using an evaluation value obtained based on the atmosphere information. (Item 5) The control device adjusts the output of the thrust generation unit based on flight control instruction information obtained from a terminal for controlling the unmanned aerial vehicle and the determined flight parameters. The method for controlling an unmanned aerial vehicle according to any one of Items 1 to 4. (Item 6) An unmanned aerial vehicle comprising a thrust generation unit and a control device for controlling the output of the thrust generation unit, The control device is An atmosphere information acquisition unit that acquires information on the atmosphere in the environment in which the unmanned aerial vehicle flies, A flight parameter determination unit that determines flight parameters used for flight control of the unmanned aerial vehicle in the environment in which the unmanned aerial vehicle flies, using the acquired atmosphere information, An output control unit that controls the output of the thrust generation unit using the determined flight parameters, An unmanned aerial vehicle comprising (Item 7) A program for causing a control device for controlling the output of a thrust generation unit provided in an unmanned aerial vehicle to function, The control device is caused to An atmosphere information acquisition unit that acquires information on the atmosphere in the environment in which the unmanned aerial vehicle flies, A flight parameter determination unit that determines flight parameters used for flight control of the unmanned aerial vehicle in the environment in which the unmanned aerial vehicle flies, using the acquired atmosphere information, An output control unit that controls the output of the thrust generation unit using the determined flight parameters, Function as

Description of Signs

[0050] 1 Unmanned aerial vehicle 2 Body part 3 Rotor 4 Motor 5 Sensor 11 Flight controller 101 Atmosphere information acquisition unit 102 Flight parameter determination unit 103 Output control unit

Claims

1. A method for controlling a drone flying in an internal space of a steelmaking facility during cooling after the facility has stopped operating, comprising: The drone includes a thrust generating unit having a rotor and a motor for rotating the rotor, and a control device for controlling an output of the thrust generating unit; The control device, Acquiring atmospheric information in an environment in which the drone is flying; determining flight parameters to be used for flight control of the drone in the environment using the acquired atmospheric information; adjusting an output of the thrust generating unit using the determined flight parameters; (c) how to control the drone;

2. The drone control method according to claim 1, wherein the internal space of the steelmaking facility is a special atmospheric environment in which the temperature is 50°C or higher or the proportion of gas other than air is 30% or higher.

3. The drone control method according to claim 1 or 2, wherein the atmospheric information is acquired by a sensor mounted on the drone.

4. The drone control method according to any one of claims 1 to 3, wherein the information about the atmosphere includes information relating to at least one of a temperature of the atmosphere, an air pressure of the atmosphere, and a gas type of the atmosphere.

5. the flight parameters are parameters determined based on a relationship between an output of the motor and a thrust obtained by the rotor, The drone control method according to any one of claims 1 to 4, wherein the flight parameters are determined using evaluation values ​​obtained based on the atmospheric information.

6. The drone control method according to any one of claims 1 to 5, wherein the control device adjusts the output of the thrust generating unit based on flight control instruction information obtained from a terminal for controlling the drone and the determined flight parameters.

7. A drone comprising a thrust generating unit having a rotor and a motor for rotating the rotor, and a control device for controlling the output of the thrust generating unit, the drone flying in an internal space of a steelmaking facility during cooling after stopping operation, The control device includes: An atmosphere information acquisition unit that acquires information about an atmosphere in an environment in which the drone flies; A flight parameter determination unit that determines flight parameters to be used for flight control of the drone in the environment in which the drone flies, using the acquired atmosphere information; an output control unit that controls an output of the thrust generating unit using the determined flight parameters; A drone equipped with

8. A program for causing a control device to function that is provided in a drone for flying in the internal space of a steelmaking facility during cooling after the facility has stopped operating and that controls the output of a thrust generating unit that has a rotor and a motor for rotating the rotor, The control device, An atmosphere information acquisition unit that acquires information about an atmosphere in an environment in which the drone flies; A flight parameter determination unit that determines flight parameters to be used for flight control of the drone in the environment in which the drone flies, using the acquired atmosphere information; an output control unit that controls an output of the thrust generating unit using the determined flight parameters; A program that functions as a

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