Flight system, flight command device, and flight apparatus

Abstract

To provide a flight system enabling flexible flight at a target position.SOLUTION: A flight system includes a flight apparatus, and a flight command device that generates a flight plan of the flight apparatus and transmits the flight plan as a flight command to the flight apparatus. The flight apparatus includes a target value generation unit that generates a target value of the flight device on the basis of the flight command, and a flight control unit that controls flight of the flight device according to the target value generated by the target value generation unit. The flight command includes at least a target position and target speed of the flight apparatus, and an instruction command. The instruction command instructs a motion of the flight apparatus at the target position. The target value generation unit generates a target value so that the flight apparatus can pass a target range, which encompasses the target position as a center, according to the instruction command.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a flight system, and more particularly to a flight system of an autonomous flying aircraft.

Background Art

[0002] As an autonomous flying aircraft, for example, the aircraft disclosed in Patent Document 1 includes a flight propulsion unit and a sensor unit that detects at least the current position and the current speed. In its movement control, the control unit performs feedback control based on the current speed detected by the sensor unit and the target speed corresponding to the target position, for example, PID (Proportional-Integral-Differential) control.

[0003] Then, the control unit controls the operation amount of the flight propulsion unit so that the speed PID control is applied more strongly as the distance between the current position detected by the sensor unit and the target position is farther, and the position PID control is applied more strongly as the current distance becomes closer based on the current position and the target position.

[0004] Therefore, it is a system that can fly at a constant speed between target points by switching between position control and speed control and stop at the target position. Therefore, when the distance to the target position is far, the PID control for the target speed is prioritized, and when the target position gets closer, by prioritizing the PID control for the target position, excessive acceleration due to position control and vibration of the flight position due to speed control can be suppressed.

[0005] However, when such control is performed, there is a problem that deceleration is always performed at the target position, and flight such as passing through the target position at a constant speed cannot be achieved.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] The present disclosure has been made to solve the above problems, and an object thereof is to provide a flight system capable of flexible flight at a target position.

Means for Solving the Problems

[0008] The flight system according to the present disclosure includes a flight device and a flight command device that generates a flight plan of the flight device and transmits it to the flight device as a flight command. The flight device includes a target value generation unit that generates a target value of the flight device based on the flight command, and a flight control unit that controls the flight of the flight device according to the target value generated by the target value generation unit. The flight command includes at least a target position, a target speed, and an instruction command of the flight device. The instruction command is a command for instructing the operation of the flight device at the target position. The target value generation unit generates the target value so as to pass through a target range centered on the target position according to the instruction command.

Advantages of the Invention

[0009] According to the flight system according to the present disclosure, since the flight command includes the target position, the target speed, and the instruction command of the flight device, and the instruction command is a command for instructing the operation of the flight device at the target position, it is possible to specify the operation of the flight device at the target position, and it is possible to obtain a flight system capable of flexible flight such as passing through the target position at a constant speed instead of fixed flight such as always decelerating at the target position.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] <Embodiment 1> FIG. 1 is a block diagram showing the configuration of the flight system according to Embodiment 1 of the present disclosure. The flight system shown in FIG. 1 includes a flight device 100 including an unmanned aerial vehicle such as a drone, and a flight command device 200 that has a function of generating and instructing a flight plan and wirelessly transmits the generated instruction to the flight device 100 as a flight command.

[0012] The flight command device 200 generates a flight command by the operator inputting work contents such as inspection, movement, and desired flight speed, and a work space, for example, the name of a building with known position, latitude, longitude, and a predetermined coordinate position. The flight command is information such as a target position and speed at the target position, and the flight plan is an aggregate of flight commands. For example, it is information for a series of flights until the flight device 100 takes off, finishes work, and returns.

[0013] The flight device 100 includes a target value generation unit 10 that receives a flight command from the flight command device 200 provided in a ground control device or the like, and a flight control unit 20 that controls the flight of the flight device 100. In addition to these, the flight device 100 has a plurality of propellers for propulsion and various sensors, but illustration thereof is omitted.

[0014] The target value generation unit 10 has a function of converting the flight command received from the flight command device 200 into a target value that can be processed by the flight control unit 20. The target value is, for example, a velocity vector, and is a value such as [velocity in the X-axis direction, velocity in the Y-axis direction, velocity in the Z-axis direction] in a coordinate system with the X-axis as north, the Y-axis as east, and the Z-axis as height.

[0015] In addition, the target value generation unit 10 uses sensor values from various sensors to control the position and speed of the main body of the flying device 100. As sensors, a receiver of GPS (Global Positioning System), an IMU (Inertial Measurement Unit) which is an inertial sensor, a compass (geomagnetic sensor), a barometer, an altimeter, etc. are used. Note that since these sensors are also used by the flight control unit 20, the target value generation unit 10 can also use the results calculated by the flight control unit 20 using these sensors for the position and attitude of the main body of the flying device 100.

[0016] Based on sensor values and target values from various sensors (not shown), the flight control unit 20 calculates, for example, the attitude that the flying device 100 should take and outputs it to each propeller. The flight control unit 20 is also referred to as a flight controller or the like, and controls the main body of the flying device 100 using the various sensors described above.

[0017] Figure 2 is a diagram schematically showing a flight command. As shown in Figure 2, the flight command includes at least a target position, a target speed, and an instruction command. The target position is position information for the autonomous flight of the flying device 100, and includes position information such as latitude, longitude, altitude position information, and x, y, z positions in xyz coordinates. The target speed is information on the speed at the target position of the flying device 100. The instruction command is a command for instructing the operation of the flying device 100 at the target position, and includes commands such as "stop" and "pass".

[0018] Figure 3 is a flowchart for explaining the processing flow in the target value generation unit 10 of the flying device 100. The processing flow shown in Figure 3 is the processing flow when the instruction command is "pass" or "stop".

[0019] Based on the information of the target position included in the flight command received from the flight command device 200, the target value generation unit 10 inputs a target value to the flight control unit 20 so as to head towards the next target position at the target speed included in the flight command (step S1). At this time, the instruction command is also confirmed (step S2). When the instruction command is "stop", a target value is input to the flight control unit 20 such that deceleration and stopping occur before the next target position (step S3).

[0020] On the other hand, when the instruction command is "pass through", it is determined whether it is possible to pass through a target range centered on the target position at the target speed without decelerating (step S5). The determination of whether it is possible to pass through is made, for example, based on the calculation result using a motion model from the speed, weight, and achievable output of the flying device 100. Alternatively, the speed of the flying device 100, the turning angle, and the necessity of deceleration in the target range can be stored in a storage device in advance as a table, and it is also possible to determine whether it is possible or not.

[0021] FIG. 4 is a diagram schematically showing an example in which it is determined that passing through is possible. In FIG. 4, the target position of the flying device 100 is shown by a solid-line circle, and the target range is shown by a dashed-line circle. FIG. 4 shows an example in which a plurality of target positions exist linearly arranged. In such a case, the target value generation unit 10 determines that it is possible to pass through the target range centered on the target position at the target speed without decelerating.

[0022] When it is determined in step S5 that passing through is possible (Yes case), it passes through without decelerating. On the other hand, when it is determined in step S5 that passing through is not possible (No case), deceleration is performed until a speed at which passing through becomes possible (step S6).

[0023] FIG. 5 is a diagram schematically showing an example determined to be impossible to pass at the target speed. In FIG. 5, an example is shown in which a plurality of target positions are not linear but are bent. In such a case, when flying along the target position, the inertial force is large, and if the target speed is maintained, the flying device 100 may deviate from the target position. In FIG. 5, a decelerated path R1 and a non-decelerated path R2 are shown together. If deceleration is not performed, it will deviate from the target position, and the path R2 will bulge. On the other hand, when decelerating, it is possible to fly along the target position.

[0024] In any case of proceeding to steps S3, S5, and S6, the target range is reached (step S4). When the target range is reached, it is confirmed whether all flight commands have been executed (step S7). If there is a next flight command (No), the processes below step S1 are repeated. If there is no next flight command (Yes), the series of processes is terminated.

[0025] Note that, for example, when the target position is arranged on a straight line and a disturbance such as wind occurs in a direction opposite to the traveling direction during the flight of the flying device 100, the target value generation unit 10 can also control the flying device 100 to the flight control unit 20 to accelerate. For example, in an ideal flight as shown in FIG. 4, if deceleration occurs due to a disturbance between any target position and the next target position, in order to maintain the ideal flight, it accelerates until the next target position and returns to the ideal position. When it is impossible to fly according to the target position, target speed, and instruction command commanded by the flight command device 20 due to the influence of a disturbance or the like, the target value generation unit 10 corrects it to realize flight according to the flight command.

[0026] As described above, in the flight system of Embodiment 1, the flight command includes the target position, target speed, and instruction command of the flight device 100, and the instruction command is a command for instructing the operation of the flight device at the target position. Therefore, the operation of the flight device 100 at the target position can be specified, and a flight system can be obtained that enables flexible flight such as passing through the target position at a constant speed, rather than fixed flight such as always decelerating at the target position. For this reason, by realizing flight according to the flight command, uniform chemical spraying and data acquisition become possible.

[0027] Also, as described in step S5 of FIG. 5, the target value generation unit 10 determines whether it is possible to pass through the target range at the target speed. When decelerating, it determines the speed at which it can pass. Therefore, it can make a judgment according to the on-site situation such as the wind speed and payload at that time, and the possibility of realizing the flight command is improved.

[0028] Here, the payload is the weight of the object carried by the flight device 100, and it is possible to estimate how much weight of the object is carried from the output of the propeller of the flight device 100. When a heavy object is carried, the inertial force becomes large and sudden course changes cannot be made. Therefore, the achievable operations are judged based on the size of the payload.

[0029] In the above, as examples of the instruction command, "stop" and "pass" are exemplified. In addition to these, information such as "stop for Y seconds" and "deceleration Z m / s 2 " can be added.

[0030] <Embodiment 2> In the flight system of Embodiment 1 according to the present disclosure described above, the target value generation unit 10 of the flight device 100 corresponded to the case where the instruction command was pass or stop. In the flight system of Embodiment 2 according to the present disclosure, the case where the target value generation unit 10 of the flight device 100 corresponds to three types of instruction commands: pass, stop, and deceleration, will be described. Note that the configuration of the flight system of Embodiment 2 is the same as the block diagram shown in FIG. 1.

[0031] FIG. 6 is a flowchart for explaining the processing flow in the target value generation unit 10 of the flying device 100. The processing flow shown in FIG. 6 is the processing flow when the instruction commands are "pass", "stop", and "decelerate".

[0032] Based on the information of the target position included in the flight command received from the flight command device 200, the target value generation unit 10 inputs a target value to the flight control unit 20 so as to head toward the next target position at the target speed included in the flight command (step S1). At this time, the instruction command is also confirmed (step S2). When the instruction command is "stop", a target value for decelerating and stopping before the next target position is input to the flight control unit 20 (step S3). When the instruction command is "pass", the target value is input to the flight control unit 20 so as to aim at the target position at the target speed and pass through the target position. On the other hand, when the instruction command is "decelerate", deceleration is performed until the speed at which the target position can be passed is reached, and a target value for reaching the target range is input to the flight control unit 20 (step S10).

[0033] In any case where the instruction command is "stop", "pass", or "decelerate", the target range is reached (step S4). When the target range is reached, it is confirmed whether all flight commands have been executed (step S7). If there is a next flight command (in the case of No), the processing below step S1 is repeated. If there is no next flight command (in the case of Yes), the series of processing is terminated.

[0034] As described above, in the flight system according to the second embodiment, when the instruction command is "pass", the target value generation unit 10 does not determine whether it is possible to pass through the target range at the target speed. Instead, the flight command device 200 makes the determination, and the flight command device 200 also determines whether to decelerate or maintain the target speed. Therefore, the amount of calculation in the target value generation unit 10 is reduced, the calculation can be speeded up, and flight at a higher speed can be supported.

[0035] In order to command the flight device 200 to reach the deceleration position in consideration of the performance of the airframe of the flight device 100, for example, when the flight command device 200 generates a flight plan that circulates through a plurality of target positions in a determined order, from the overall information of the prepared circulation, a flight route with the shortest time or the shortest distance can be generated in consideration of feasibility. For example, in the case of a flight plan that passes through two adjacent target positions, even if the speed is reduced and the route increases, the flight command device 200 commands an appropriate deceleration position, so that the number of decelerations can be reduced and the required time can be shortened. In this way, by having the flight command device 200 perform processing that is difficult to judge in the target value generation unit 10, it is possible to shorten the flight time. Note that the overall information of the prepared circulation can be input by the operator to the flight command device 200.

[0036] <Embodiment 3> In the flight system according to Embodiment 1 of the present disclosure, the target value generation unit 10 of the flight device 100 corresponds to the case where the instruction command is pass or stop. In the flight system according to Embodiment 2, an example where the target value generation unit 10 of the flight device 100 corresponds to three types of instruction commands: pass, stop, and deceleration, has been described. However, in the flight system according to Embodiment 3 of the present disclosure, the case where the target value generation unit 10 of the flight device 100 corresponds to two types of instruction commands: speed priority and route priority, will be described. Note that the configuration of the flight system according to Embodiment 3 is the same as the block diagram shown in FIG. 1.

[0037] FIG. 7 is a flowchart for explaining the processing flow in the target value generation unit 10 of the flight device 100. The processing flow shown in FIG. 7 is the processing flow when the instruction command is of two types: speed priority and route priority.

[0038] Based on the information of the target position included in the flight command received from the flight command device 200, the target value generation unit 10 inputs the target value to the flight control unit 20 so as to fly toward the next target position at the target speed included in the flight command (step S1). At this time, the instruction command is also confirmed (step S2). When the instruction command is "route priority", it is determined whether it is possible to pass through the target range centered on the target position at the target speed without decelerating (step S11).

[0039] If it is determined in step S11 that it is possible to pass (Yes), it passes without decelerating. On the other hand, if it is determined in step S11 that it is not possible to pass (No), deceleration is performed until the speed at which passing is possible is reached (step S12).

[0040] When the instruction command is "speed priority" in step S2, it is determined whether it is possible to pass through the target range centered on the target position at the target speed without decelerating (step S13).

[0041] If it is determined in step S13 that it is possible to pass (Yes), it passes without decelerating. On the other hand, if it is determined in step S13 that it is not possible to pass (No), the target radius is expanded so that the target range can be passed while maintaining the speed.

[0042] Whether the instruction command is "route priority" or "speed priority", the target range is reached (step S4). When the target range is reached, it is confirmed whether all flight commands have been executed (step S7). If there is a next flight command (No), the processes below step S1 are repeated. If there is no next flight command (Yes), a series of processes are terminated.

[0043] FIG. 8 is a diagram schematically illustrating the process of expanding the target radius in step S14 when it is determined in step S13 that it is possible to pass.

[0044] In FIG. 8, a plurality of target positions when the flight path FR has a sharp curve are indicated by solid circles, and the target range is indicated by a dashed circle. Immediately after the sharp curve, the target range centered on the target position is expanded, and the target range is set large. As a result, even when the speed of the flight device 100 is high in response to the "speed priority" instruction command, it can pass through the target range without decelerating. On the other hand, subsequent target positions are under the "path priority" instruction command, and the target range centered on the target position is not expanded, and it passes through at the target speed without decelerating.

[0045] As described above, in the flight system of Embodiment 3, since the target range can be changed by the target value generation unit 10, the accuracy with which the flight device 100 follows the flight path set by the flight command device 200 can be changed depending on the location, and the time for patrolling can be shortened in a flight plan for patrolling a plurality of target positions in a determined order.

[0046] Note that when the target value generation unit 10 expands the target radius in step S14, it can feedback to the flight command device 200 that the target radius has been expanded. As a result, when the flight command device 200 is also monitoring the position of the flight device 100 and confirming whether the flight device 100 is flying along the desired path, the flight command device 200 can recognize whether it has intentionally deviated from the path or has deviated from the path due to an irregularity such as a sensor failure, and can reflect it in subsequent path instructions.

[0047] <Embodiment 4> FIG. 9 is a block diagram showing the configuration of a flight system according to Embodiment 4 of the present disclosure. The flight system shown in FIG. 9 is basically the same as the flight system of Embodiment 1 shown in FIG. 1, and includes a flight device 100 and a flight command device 200. The difference is that in the flight device 100, it is provided with an angle adjustment mechanism, such as a gimbal 41, that can three-dimensionally change the data acquisition angle of sensors such as a camera for data acquisition, and an adjustment unit 30 that adjusts the data acquisition angle of the gimbal 41.

[0048] The adjustment unit 30 is connected to the target value generation unit 10 and is controlled by the target value generation unit 10. That is, based on information such as the target speed from the target value generation unit 10, the adjustment unit 30 calculates an appropriate data acquisition angle of the gimbal 41 and outputs angle information to the gimbal 41.

[0049] FIG. 10 is a flowchart for explaining the processing flow in the target value generation unit 10 of the flying device 100. The processing flow shown in FIG. 10 is the processing flow when a data acquisition camera (not shown) and the target value generation unit 10 cooperate.

[0050] Based on the information of the target position included in the flight command received from the flight command device 200, the target value generation unit 10 inputs a target value to the flight control unit 20 so as to fly toward the next target position at the target speed included in the flight command (step S21).

[0051] At this time, the target value generation unit 10 determines the necessity of acceleration or deceleration to head toward the target position (step S22). If it is determined that acceleration or deceleration is necessary (Yes), it instructs the flight control unit 20 to accelerate or decelerate (step S23). On the other hand, if it is determined in step S22 that acceleration or deceleration is unnecessary (No), it reaches the target range at the target speed (step S25).

[0052] When the target value generation unit 10 instructs the flight control unit 20 to accelerate or decelerate, it controls the adjustment unit 30 to adjust the data acquisition angle of the gimbal 41 according to the acceleration or deceleration (step S24).

[0053] Here, examples of the adjustment direction of the angle of the gimbal 41 are shown in FIGS. 11 and 12. In the example shown in FIG. 11, when a data acquisition camera is equipped on the lateral side in the plane direction in the traveling direction of the flying device 100 and shooting data is collected at equal intervals in the traveling direction, due to the limitation of the camera's angle of view, the acquisition of shooting data may be missed due to the acceleration or deceleration of the flying device 100. Therefore, by tilting the camera in the traveling direction of the flying device 100 or the opposite direction by the gimbal 41, the omission of the acquisition of shooting data is prevented.

[0054] Also, in the example shown in FIG. 12, a camera for data acquisition is equipped on the lower side in a direction perpendicular to the traveling direction of the flying device 100. When collecting shooting data at equal intervals in the traveling direction, due to the limitation of the camera's angle of view, the acquisition of shooting data may be missed due to the acceleration or deceleration of the flying device 100. Therefore, the gimbal 41 is used to tilt the camera in the traveling direction of the flying device 100 or the reverse direction thereof, thereby preventing the omission of the acquisition of shooting data. Also, the angle of view of the camera is tilted due to the attitude change for acceleration or deceleration. Therefore, the gimbal 41 corrects the amount by which the angle of view is tilted.

[0055] Returning to the description of FIG. 10, whether acceleration or deceleration is required or not, the target range is reached (step S25). When the target range is reached, it is confirmed whether all the flight commands have been executed (step S26). If there is a next flight command (in the case of No), the processes below step S21 are repeated. If there is no next flight command (in the case of Yes), the series of processes is terminated.

[0056] Here, an example of camera angle adjustment for preventing omission of acquisition of shooting data due to acceleration or deceleration will be described with reference to FIGS. 13 and 14. FIG. 13 is a diagram schematically showing shooting by a camera for data acquisition when there is neither acceleration nor deceleration. FIG. 13 shows shooting by a camera for data acquisition equipped on the lateral side in the plane direction with respect to the traveling direction of the flying device 100 for an object OJ such as inspection, and shows the case when the flying device 100 is viewed from above.

[0057] In the case of FIG. 13, it shows the case of shooting while moving at intervals of 0 second to t seconds. Since the flying device 100 moves at a constant speed, it can move without changing the angle of the camera, and the moving distance is ideal.

[0058] On the one hand, FIG. 14 is a diagram schematically showing imaging by a camera for data acquisition when acceleration and deceleration are repeated. Also in the case of FIG. 14, it shows the case of imaging while moving at intervals of 0 seconds to t seconds. However, since the flying device 100 moves while repeating acceleration and deceleration, in order to prevent omission of acquisition of imaging data, when decelerating, the camera is tilted in the traveling direction of the flying device 100 for imaging, and when accelerating, the camera is tilted in the direction opposite to the traveling direction of the flying device 100 for imaging.

[0059] As described above, in the flight system according to the fourth embodiment, even when the flying device 100 accelerates or decelerates, by changing the data acquisition angle (imaging angle) of the camera by the gimbal 41, omission of acquisition of imaging data can be prevented.

[0060] <Modification> Also, when acquiring data on the lateral side in the plane direction in the traveling direction of the flying device 100 as in the example shown in FIG. 11, by changing the yaw angle around the vertical axis of the flying device 100 according to the speed of the flying device 100, even when the flying device 100 accelerates or decelerates, omission of acquisition of imaging data can be prevented. By changing the yaw angle, the same effect as when changing the imaging angle of the camera using a gimbal can be obtained. In this case, the target value generation unit 10 outputs a target yaw angle to the flight control unit 20 to change the change of the yaw angle, so the adjustment unit 30 and the gimbal 41 become unnecessary.

[0061] <Embodiment 5> FIG. 15 is a block diagram showing the configuration of a flight system according to Embodiment 5 of the present disclosure. The flight system shown in FIG. 15 is basically the same as the flight system of Embodiment 1 shown in FIG. 1, and includes a flying device 100 and a flight command device 200. The difference is that in the flying device 100, there are provided a data acquisition interval change unit 42 that can change the data acquisition interval by sensors such as a camera for data acquisition, in the case of a camera, the timing of taking a shutter, and an adjustment unit 30 that adjusts the data acquisition interval change unit 42.

[0062] The adjustment unit 30 is connected to the target value generation unit 10 and is controlled by the target value generation unit 10. That is, based on information such as the target speed from the target value generation unit 10, the adjustment unit 30 calculates an appropriate data acquisition interval and outputs the data acquisition interval to the data acquisition interval change unit 42. For example, when acquiring data on the lateral side in the plane direction in the traveling direction of the flying device 100 as in the example shown in FIG. 11, when the flying device 100 accelerates, the data acquisition interval is shortened, and when the flying device 100 decelerates, the data acquisition interval is lengthened.

[0063] As described above, in the flight system of Embodiment 5, the data acquisition interval change unit 42 changes the timing of turning on the shutter of the data acquisition camera according to the data acquisition interval input from the adjustment unit 30, so that even when the flying device 100 accelerates or decelerates, it is possible to prevent omission of acquisition of photographed data.

[0064] <Embodiment 6> FIG. 16 is a block diagram showing the configuration of the flight system of Embodiment 6 according to the present disclosure. The flight system shown in FIG. 16 is basically the same as the flight system of Embodiment 1 shown in FIG. 1, and includes a flying device 100 and a flight command device 200. The difference is that the flying device 100 is provided with a nozzle direction change unit 43 that can change the direction of the injection nozzle for chemical spraying, and an adjustment unit 30 that adjusts the nozzle direction change unit 43.

[0065] The adjustment unit 30 is connected to the target value generation unit 10 and is controlled by the target value generation unit 10. That is, based on information such as the target speed from the target value generation unit 10, the adjustment unit 30 calculates an appropriate nozzle direction and outputs the nozzle direction to the nozzle direction change unit 43. For example, when performing spraying on the lateral side in the plane direction in the traveling direction of the flying device 100 as in the example shown in FIG. 11, when the flying device 100 accelerates, the nozzle direction is directed in the direction opposite to the traveling direction of the flying device 100 to spray the chemical, and when the flying device 100 decelerates, the nozzle direction is directed in the traveling direction of the flying device 100 to spray the chemical.

[0066] As described above, in the flight system of the sixth embodiment, the nozzle direction changing unit 43 changes the direction of the nozzle in accordance with the nozzle direction input from the adjustment unit 30, so that even when the flying device 100 accelerates or decelerates, spraying leakage of chemicals such as agricultural chemicals can be prevented.

[0067] In the above description, an example of chemical spraying is shown, but the spraying is not limited to chemicals, and any liquid spraying such as paint and seasonings can be applied.

[0068] <Other application examples> In the first to sixth embodiments described above, the case where the present disclosure is applied to a drone or the like as the flying device 100 has been described. A drone is a device that flies by changing the output and angle of a plurality of propellers. However, the flying device 100 to which the present disclosure is applicable includes those that can tilt the angle of a propeller called a tilt machine. Further, it can include a vertical take-off and landing aircraft (VTOL) having wings and a fixed-wing aircraft.

[0069] It should be noted that within the scope of the present disclosure, the embodiments can be freely combined with each other, or each embodiment can be appropriately modified or omitted.

[0070] The present disclosure described above is summarized and described as an appended note.

[0071] (Appended Note 1) A flying device, A flight command device that generates a flight plan for the flying device and transmits it to the flying device as a flight command, The flying device, A target value generation unit that generates a target value of the flying device based on the flight command, A flight control unit that controls the flight of the flying device according to the target value generated by the target value generation unit, The flight command includes at least a target position, a target speed, and an instruction command of the flying device, The instruction command is a command for instructing the operation of the flying device at the target position. The target value generation unit A flight system that generates the target value so as to pass through a target range centered on the target position according to the instruction command.

[0072] (Appendix 2) The instruction command A passing command for the flying device to pass through the target position, and A stop command for stopping the flying device at the target position, and includes When the flight command has the passing command The target value generation unit Determines whether it is possible to pass through the target range at the target speed without deceleration, If it is determined that it is possible to pass, generates the target value so as to pass through the target range at the target speed without deceleration, If it is determined that it is impossible to pass, generates the target value so as to decelerate to a speed at which the target range can be passed, the flight system according to Appendix 1.

[0073] (Appendix 3) The instruction command A passing command for the flying device to pass through the target position, and A stop command for stopping the flying device at the target position, and A deceleration command for decelerating the flying device at the target position, and includes The target value generation unit When the flight command has the passing command Without determining whether it is possible to pass through the target range at the target speed without deceleration, generates the target value so as to pass through the target range at the target speed without deceleration, the flight system according to Appendix 1.

[0074] (Appendix 4) The instruction command A speed priority command that prioritizes the speed of the flying device, and including a route priority command that prioritizes the route of the flying device; The target value generation unit: When the flight command has the speed priority command, determines whether it is possible to pass through the target range at the target speed without decelerating, If it is determined that passage is not possible, the target range is expanded, and the target value is generated so as to pass through the expanded target range at the target speed, When the flight command has the route priority command, The flight system according to Supplementary Note 1, wherein the target value is generated so as to pass through the target range without changing the target range.

[0075] (Supplementary Note 5) The flying device: has an angle adjustment mechanism for changing the data acquisition angle of the sensor for data acquisition, The target value generation unit: determines the necessity of acceleration or deceleration to head toward the target position, and when the acceleration or the deceleration is necessary, instructs the angle adjustment mechanism to change the data acquisition angle according to the acceleration or the deceleration. The flight system according to Supplementary Note 1.

[0076] (Supplementary Note 6) The flying device: has a data acquisition interval change unit for changing the data acquisition interval of the sensor for data acquisition, The target value generation unit: determines the necessity of acceleration or deceleration to head toward the target position, and when the acceleration or the deceleration is necessary, instructs the data acquisition interval change unit to change the data acquisition interval according to the acceleration or the deceleration. The flight system according to Supplementary Note 1.

[0077] (Supplementary Note 7) The flying device: has a nozzle direction change unit for changing the direction of the injection nozzle for liquid spraying, The target value generation unit: The flight system according to Supplementary Note 1, which determines the necessity of acceleration or deceleration to head towards the target position, and when the acceleration or deceleration is necessary, instructs the nozzle direction changing unit to change the direction of the injection nozzle in accordance with the acceleration or deceleration.

[0078] (Supplementary Note 8) A flight command device that generates a flight plan for a flying device and transmits it to the flying device as a flight command, The flight command includes at least the target position, target speed, and instruction command of the flying device, The instruction command is a command that instructs the operation of the flying device at the target position. Flight command device.

[0079] (Supplementary Note 9) A flying device that receives a flight command transmitted from a flight command device, A target value generation unit that generates a target value of the flying device based on the flight command, A flight control unit that controls the flight of the flying device according to the target value generated by the target value generation unit. The flight command includes at least the target position, target speed, and instruction command of the flying device, The instruction command is a command that instructs the operation of the flying device at the target position, The target value generation unit, The flying device that generates the target value so as to pass through a target range centered on the target position in accordance with the instruction command.

Explanation of Signs

[0080] 10 Target value generation unit, 20 Flight control unit, 41 Gimbal, 42 Data acquisition interval change unit, 43 Nozzle direction change unit, 100 Flying device, 200 Flight command device.

Claims

1. An aircraft, a flight command device that generates a flight plan for the aircraft and transmits it to the aircraft as a flight command, and the aircraft includes a target value generation unit that generates a target value for the aircraft based on the flight command, and a flight control unit that controls the flight of the aircraft according to the target value generated by the target value generation unit, the flight command includes at least a target position, a target speed, and an instruction command of the aircraft, the instruction command is a command that instructs the operation of the aircraft at the target position, the target value generation unit generates the target value so as to pass through a target range centered on the target position according to the instruction command, a flight system.

2. The instruction command includes a passing command for the aircraft to pass through the target position, and a stop command for stopping the aircraft at the target position, when the flight command has the passing command, the target value generation unit judges whether it is possible to pass through the target range at the target speed without deceleration, if it is judged that it is possible to pass, generates the target value so as to pass through the target range at the target speed without deceleration, if it is judged that it is impossible to pass, generates the target value so as to decelerate to a speed at which the target range can be passed, the flight system according to claim 1.

3. The instruction command includes a passing command for the aircraft to pass through the target position, a stop command for stopping the aircraft at the target position, and a deceleration command for decelerating the aircraft at the target position, the target value generation unit when the flight command has the passing command, without judging whether it is possible to pass through the target range at the target speed without deceleration, generates the target value so as to pass through the target range at the target speed without deceleration, the flight system according to claim 1.

4. The instruction command includes a speed priority command that prioritizes the speed of the aircraft, and a route priority command that prioritizes the route of the aircraft, the target value generation unit when the flight command has the speed priority command, judges whether it is possible to pass through the target range at the target speed without deceleration, if it is judged that it is impossible to pass, expands the target range and generates the target value so as to pass through the expanded target range at the target speed, when the flight command has the route priority command, The flight system according to claim 1, wherein the target value is generated so as to pass through the target range without changing the target range.

5. The flight device has an angle adjustment mechanism for changing the data acquisition angle of a sensor for data acquisition, The target value generation unit judges the necessity of acceleration or deceleration to move toward the target position, and when the acceleration or deceleration is necessary, instructs the angle adjustment mechanism to change the data acquisition angle according to the acceleration or deceleration. The flight system according to claim 1.

6. The flight device has a data acquisition interval change unit for changing the data acquisition interval of a sensor for data acquisition, The target value generation unit judges the necessity of acceleration or deceleration to move toward the target position, and when the acceleration or deceleration is necessary, instructs the data acquisition interval change unit to change the data acquisition interval according to the acceleration or deceleration. The flight system according to claim 1.

7. The flight device has a nozzle direction change unit for changing the direction of an injection nozzle for liquid spraying, The target value generation unit judges the necessity of acceleration or deceleration to move toward the target position, and when the acceleration or deceleration is necessary, instructs the nozzle direction change unit to change the direction of the injection nozzle according to the acceleration or deceleration. The flight system according to claim 1.

8. A flight command device that generates a flight plan for a flight device and transmits it to the flight device as a flight command, The flight command includes at least a target position, a target speed, and an instruction command of the flight device, The instruction command is a command for instructing the operation of the flight device at the target position. The flight command device.

9. A flight device that receives a flight command transmitted from a flight command device, a target value generation unit that generates a target value of the flight device based on the flight command; and a flight control unit that controls the flight of the flight device according to the target value generated by the target value generation unit. The flight command includes at least a target position, a target speed, and an instruction command of the flight device, The instruction command is a command for instructing the operation of the flight device at the target position, The target value generation unit generates the target value so as to pass through a target range centered on the target position according to the instruction command. The flight device.

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