Communication system

Abstract

To protect a plurality of flying objects intended for long-distance flight during non-flying time.SOLUTION: A communication system includes: a control device; a ground base station which is connected to the control device via a network and is capable of performing wireless communication; a first flying object which is equipped with a wireless communication device for a relay and is capable of performing autonomous flight, the first flying object being stored in a first storage house on the ground; and a second flying object which is equipped with a wireless communication device and is capable of performing autonomous flight, the second flying object being stored in a second storage house on the ground. The control device transmits control data to the wireless communication device of the first flying object via the ground base station, the control data containing a command for the first flying object to take off from the first storage house, and a flight command to fly to a designated position; and the control device transmits control data to the wireless communication device of the second flying object via the ground base station and the wireless communication device of the first flying object, the control data containing a command for the second flying object to take off from the second storage house, and a flight command to fly to the designated position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The disclosed technology relates to a communication system. [Background technology]

[0002] Patent document 1 describes an observation system that autonomously flies a flying object along a pre-set observation route over an observation area to observe the conditions in the observation area, with a flying object (drone) waiting at each of multiple observation bases included in the observation route, and the drone flies the observation section from the observation base where it is waiting to the next observation base, making observations using a camera, and when it lands at the next observation base, it performs a data relay in which all observation data stored in the drone from the first observation base onwards is transferred to the next flying object waiting at that observation base (landing point).

[0003] Patent document 2 describes an embodiment in which disaster-related information is stored in a first aerial vehicle (drone) located at a first departure point, the first aerial vehicle flies from the first departure point to a predetermined information sharing point, and when a second aerial vehicle (drone) located at a second departure point reaches the information sharing point, the second aerial vehicle receives the disaster-related information from the first aerial vehicle via short-range wireless communication, and the second aerial vehicle is controlled to fly from the information sharing point to the second departure point or some other third point.

[0004] Patent Document 3 describes a configuration in which one drone and another drone are connected to each other so that they can communicate with each other, and one drone receives a configurable flight zone database from a drone flight management system via a network, and then transfers the configurable flight zone database to the other drone, thereby controlling the takeoff and landing and flight path of the drone. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-84122 [Patent Document 2] Japanese Patent Publication No. 2023-170836 [Patent Document 3] Special Publication No. 2018-509676 Summary of the Invention [Problem to be solved by the invention]

[0006] The above Patent Documents 1 to 3 do not explicitly state the use of terrestrial base stations and drone hangars.

[0007] The disclosed technology aims to provide a communication system that can protect multiple flying vehicles intended for flight over long distances when they are not flying. [Means for solving the problem]

[0008] A first aspect of the present disclosure is a communication system including a control device, a terrestrial base station connected to the control device via a network and capable of wireless communication, a first flying vehicle equipped with a wireless communication device for relaying and capable of autonomous flight, the first flying vehicle stored in a first hangar on the ground, and a second flying vehicle equipped with a wireless communication device and capable of autonomous flight, the second flying vehicle stored in a second hangar on the ground, wherein the control device transmits control data to the wireless communication device of the first flying vehicle via the terrestrial base station, the control data including a command to take off from the first hangar and a flight command to fly to a designated position, and transmits control data to the wireless communication device of the second flying vehicle via the terrestrial base station and the wireless communication device of the first flying vehicle. [Effects of the Invention]

[0009] The disclosed technology allows multiple flying vehicles intended for long-distance flight to be protected when not in flight. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram illustrating a configuration of a communication system according to an embodiment of the present invention. [Figure 2] 1 is a side view showing the configuration of a first aircraft and a second aircraft of a communication system according to an embodiment of the present invention. [Figure 3] FIG. 2 is a block diagram showing the configuration of a control device of the communication system according to the present embodiment. [Figure 4] FIG. 2 is a block diagram showing the configuration of a flight control device for a first flying vehicle. [Figure 5] FIG. 2 is a block diagram showing the configuration of a flight control device for a second flying vehicle. [Figure 6] 4 is a flowchart showing a flight control processing routine performed by the flight control device of the first flying object according to the present embodiment. [Figure 7] 5 is a flowchart showing a flight control processing routine performed by the flight control device for the second aircraft according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following describes in detail an embodiment of the disclosed technology with reference to the drawings, taking as an example a case where the disclosed technology is applied to a communication system that collects sensor information from distant ground sensors or sensors carried by people, and controls the flight of multiple flying objects to acquire photographic data.

[0012] <Configuration of communication system 10> As shown in Fig. 1, a communication system 10 according to an embodiment of the disclosed technology includes a control device 12, a terrestrial base station 14, a first hangar 16A, a second hangar 16B, a first aircraft 20A, a second aircraft 20B, and a sensor 26. The control device 12 and the terrestrial base station 14 are connected via a network N such as the Internet. The terrestrial base station 14 and the first aircraft 20A are also connected via wireless communication, and the first aircraft 20A and the second aircraft 20B are also connected via wireless communication. For example, they are connected via wireless communication using radio waves in the 920 MHz band, the 2.4 GHz band, or the 5.7 GHz band.

[0013] The first hangar 16A is a housing for storing the first flying object 20A, and has a housing 18A that can be opened and closed in response to wireless communication with the first flying object 20A. The second hangar 16B is a housing for storing the second flying object 20B, and has a housing 18B that can be opened and closed in response to wireless communication with the second flying object 20B. The first hangar 16A and the second hangar 16B are installed on the ground.

[0014] The first flying object 20A is an autonomous flying object equipped with a wireless communication device for relaying. When not flying, the first flying object 20A is stored in the first hangar 16A.

[0015] The second flying object 20B is an autonomous flying object that is stored in the second hangar 16B when not flying.

[0016] The sensor 26 is a sensor held by a person, but the sensor 26 may also be a sensor installed on the ground.

[0017] The control device 12 is configured as a computer equipped with a CPU, a ROM, a RAM, and a HDD.

[0018] The control device 12 is functionally configured as follows: As shown in Fig. 3, the control device 12 includes a communication unit 30, an input unit 32, a route determination unit 34, a flight control unit 36, a collection unit 38, a sensor information storage unit 40, and a display unit 42.

[0019] The communication unit 30 communicates with the terrestrial base station 14 via the network N.

[0020] The input unit 32 accepts a designated position input by the user, which indicates the destination of the second flying object 20B. For example, when the second flying object 20B is flown to search for a person holding the sensor 26, the position to be searched is accepted as the designated position.

[0021] The route determination unit 34 determines the movement route of the second flying object 20B from the current position of the second flying object 20B to the designated position based on the designated position indicating the flight destination of the second flying object 20B.

[0022] Furthermore, the route determination unit 34 determines a designated position representing the destination of the first flying body 20A based on a designated position representing the destination of the second flying body 20B, and determines a movement route of the first flying body 20A from the current position of the first flying body 20A to the determined designated position. For example, the route determination unit 34 determines a position on a line segment connecting the designated position representing the destination of the second flying body 20B and the current position of the first flying body 20A, which is a predetermined distance from the current position of the first flying body 20A (for example, a distance that allows the first flying body 20A to make a round trip), as the designated position representing the destination of the first flying body 20A.

[0023] The flight control unit 36 ​​transmits control data to the first flying object 20A via the communication unit 30, the control data including a command to open the housing 18A of the first hangar 16A, a command to take off from the first hangar 16A, and a flight command to fly to a designated position along the determined movement route. As a result, the control data is transmitted to the wireless communication device 50 of the first flying object 20A via the ground base station 14.

[0024] Furthermore, the flight control unit 36 ​​transmits control data to the second flying object 20B via the communication unit 30, the control data including a command to open the housing 18B of the second hangar 16B, a command to take off from the second hangar 16B, and a flight command to fly to a designated position along the determined movement route. As a result, the control data is transmitted to the wireless communication device 60 of the second flying object 20B via the ground base station 14 and the wireless communication device 50 of the first flying object 20A.

[0025] The collection unit 38 collects still images or moving images taken by the photographing unit 70 and sensor information from the sensor 26 received from the wireless communication device 60 of the second aircraft 20B via the terrestrial base station 14 and the wireless communication device 50 of the first aircraft 20A, and stores them in the sensor information storage unit 40.

[0026] The display unit 42 displays to the user the still images or moving images captured by the image capturing unit 70 and the sensor information from the sensor 26, which are stored in the sensor information storage unit 40.

[0027] When the ground base station 14 receives the control data for the first flying object 20A transmitted from the control device 12 via the network N, it transmits the control data to the first flying object 20A by wireless communication.

[0028] When the terrestrial base station 14 receives the control data for the second aircraft 20B transmitted from the control device 12 via the network N, it transmits the control data to the second aircraft 20B via wireless communication device 50 of the first aircraft 20A by wireless communication.

[0029] When the terrestrial base station 14 receives still images or moving images taken by the photographing unit 70 and sensor information from the sensor 26 transmitted from the second aircraft 20B via wireless communication via the wireless communication device 50 of the first aircraft 20A, it transmits the still images or moving images taken by the photographing unit 70 and sensor information from the sensor 26 to the control device 12 via the network N.

[0030] 2, the first flying body 20A and the second flying body 20B each include a flying main body 21, an arm 22, and four rotors 23. The flying main body 21 is provided in the center of the first flying body 20A and the second flying body 20B in a plan view, and is equipped with a communication antenna, a battery, a camera unit 70, and the like (not shown).

[0031] Four arms 22 are provided, and in a plan view, they protrude radially outward from the flying body 21. A rotor 23 is attached to the tip of each arm 22. The arm 22 is hollow, and houses inside it a motor that operates the rotor 23, as well as control and power wiring.

[0032] A photographing unit 70 is mounted on the underside of the flying main body 21. The photographing unit 70 is installed so as to be able to capture images of the ground.

[0033] The flight main body 21 is equipped with flight control devices 30A and 30B shown in Figures 4 and 5. The flight control devices 30A and 30B are configured to include a CPU, ROM, RAM, ports for inputting and outputting signals transmitted and received via a communication antenna, and store various processing programs and data for controlling the first flight body 20A and the second flight body 20B.

[0034] The flight control device 30A of the first flying vehicle 20A recognizes its own position and controls the rotors 23 so that it flies automatically along a specified route. The flight control device 30A is functionally configured as follows. As shown in FIG. 4, the flight control device 30A includes a wireless communication device 50, an opening control unit 52, a takeoff control unit 54, an autonomous attitude control unit 56, a position measurement unit 58, and a control unit 59.

[0035] The wireless communication device 50 transmits and receives signals to and from the wireless communication device 60 of the second aircraft 20B via wireless communication, and also transmits and receives signals to and from the terrestrial base station 14 via wireless communication.

[0036] Specifically, the wireless communication device 50 receives control data for the first aircraft 20A from the terrestrial base station 14 via wireless communication. Furthermore, when the wireless communication device 50 receives control data for the second aircraft 20B from the terrestrial base station 14 via wireless communication, it transmits the control data for the second aircraft 20B to the second aircraft 20B via wireless communication. Furthermore, when the wireless communication device 50 receives still images or video images captured by the photographing unit 70 and sensor information from the sensor 26 from the second aircraft 20B via wireless communication, it transmits the still images or video images captured by the photographing unit 70 and sensor information from the sensor 26 to the terrestrial base station 14 via wireless communication.

[0037] In response to a command to open the housing 18A of the first hangar 16A contained in the control data received from the control device 12, the opening control unit 52 transmits a command to the first hangar 16A to open the housing 18A via the wireless communication device 50.

[0038] The takeoff control unit 54 controls the four rotors 23 to take off from the first hangar 16A in response to a command to take off from the first hangar 16A, which is included in the control data received from the control device 12.

[0039] The autonomous attitude control unit 56 controls the four rotors 23 so that the aircraft 10 hoveres.

[0040] The position measurement unit 58 measures the current position of the first aircraft 20A using a GPS sensor (not shown) provided on the first aircraft 20A.

[0041] The control unit 59 controls the autonomous attitude control unit 56 so that the drone moves along the movement route and flies automatically based on the current position measured by the position measurement unit 58.

[0042] The flight control device 30B of the second aircraft 20B recognizes its own position and controls the rotors 23 so that it flies automatically along a specified route. The flight control device 30B is functionally configured as follows. As shown in FIG. 5, the flight control device 30B includes a wireless communication device 60, a takeoff control unit 62, a takeoff control unit 64, an autonomous attitude control unit 66, a position measurement unit 68, an image capture unit 70, a sensor communication unit 72, and a control unit 73.

[0043] The wireless communication device 60 transmits and receives signals to and from the wireless communication device 50 of the first aircraft 20B via wireless communication.

[0044] Specifically, the wireless communication device 60 receives control data for the second aircraft 20B from the wireless communication device 50 of the first aircraft 20A via wireless communication. The wireless communication device 60 also transmits still images or moving images captured by the image capture unit 70 and sensor information from the sensor 26 to the wireless communication device 50 of the first aircraft 20A via wireless communication.

[0045] Furthermore, when a sensor 26 held by a person or a sensor 26 on the ground is present within the communication range of the wireless communication device 60, the wireless communication device 60 receives sensor information from the sensor 26 via wireless communication.

[0046] In response to a command to open the housing 18B of the second hangar 16B contained in the control data received from the control device 12, the opening control unit 62 transmits a command to the second hangar 16B to open the housing 18B via the wireless communication device 60.

[0047] The takeoff control unit 64 controls the four rotors 23 to take off from the second hangar 16B in response to a command to take off from the second hangar 16B, which is included in the control data received from the control device 12.

[0048] The autonomous attitude control unit 66 controls the four rotors 23 so that the aircraft 10 hoveres.

[0049] The position measurement unit 68 measures the current position of the second aircraft 20B using a GPS sensor (not shown) provided on the second aircraft 20B.

[0050] The image capturing unit 70 captures still images or moving images showing the state of the ground.

[0051] The sensor communication unit 72 acquires the sensor information received by the wireless communication device 60 .

[0052] The control unit 73 controls the autonomous attitude control unit 66 so that the drone moves along the movement route and flies automatically based on the current position measured by the position measurement unit 68 .

[0053] <Operation of communication system 10> Next, the operation of the communication system 10 according to the embodiment of the present invention will be described.

[0054] First, when the user inputs a designated position representing the destination of the second aircraft 20B to the control device 12, the control device 12 determines a movement route for the second aircraft 20B to the designated position based on the designated position representing the destination of the second aircraft 20B, and also determines a designated position representing the destination of the first aircraft 20A, and determines a movement route for the first aircraft 20A to the determined designated position. Then, the control device 12 transmits control data to the first aircraft 20A via the communication unit 30, including a command to open the housing 18A of the first aircraft 16A, a command to take off from the first aircraft 16A, and a flight command to fly to the designated position along the determined movement route. As a result, the control data is transmitted to the wireless communication device 50 of the first aircraft 20A via the terrestrial base station 14. Additionally, the control device 12 transmits control data to the second aircraft 20B via the communication unit 30, the control data including a command to open the housing 18B of the second hangar 16B, a command to take off from the second hangar 16B, and a flight command to fly to a designated position along the determined movement route. As a result, the control data is transmitted to the wireless communication device 60 of the second aircraft 20B via the ground base station 14 and the wireless communication device 50 of the first aircraft 20A.

[0055] Then, when the flight control device 30A of the first aircraft 20A receives the control data for each of the first aircraft 20A and the second aircraft 20B, the flight control device 30A executes the flight control processing routine shown in FIG.

[0056] In step S100, the flight control device 30A acquires control data including a release command, a takeoff command, and a flight command received for each of the first flight body 20A and the second flight body 20B.

[0057] In step S102, the opening control unit 52 transmits a command to the first hangar 16A to open the housing 18A via the wireless communication device 50 in response to a command to open the housing 18A of the first hangar 16A contained in the control data received from the control device 12.

[0058] In step S104, the takeoff control unit 54 controls the four rotors 23 to take off from the first hangar 16A in response to a command to take off from the first hangar 16A included in the control data received from the control device 12. In addition, the control unit 59 controls the autonomous attitude control unit 56 to start moving along the movement route.

[0059] In step S106, the flight control device 30A determines whether or not the aircraft has flown to the designated position on the movement route. If the aircraft has not flown to the designated position on the movement route, the process returns to step S106. On the other hand, if the aircraft has flown to the designated position on the movement route and the designated time has elapsed, the process proceeds to step S108.

[0060] In step S108, the flight control device 30A transfers the control data of the second aircraft 20B via the wireless communication device 50 to the wireless communication device 60 of the second aircraft 20B.

[0061] In step S109, when the flight control device 30A receives, via the wireless communication device 50, still images or video images captured by the photographing unit 70 and sensor information from the sensor 26 from the second aircraft 20B, the flight control device 30A transfers the still images or video images captured by the photographing unit 70 and the sensor information from the sensor 26 to the terrestrial base station 14 via wireless communication. At this time, the terrestrial base station 14 transmits the still images or video images and sensor information received via wireless communication to the control device 12 via the network N, and the control device 12 displays the received still images or video images and sensor information on the display unit 42. This allows the user to check the still images or video images captured by the photographing unit 70 of the second aircraft 20B, which has been flown a long distance, and the sensor information from the sensor 26 received via the sensor communication unit 72.

[0062] In step S110, the flight control device 30A determines whether the second aircraft 20B has flown to the designated position on the movement route. If the second aircraft 20B has not flown to the designated position on the movement route, the process returns to step S109. On the other hand, if the second aircraft 20B has flown to the designated position on the movement route and the designated time has elapsed, the process proceeds to step S112.

[0063] In step S112, the control unit 59 controls the autonomous attitude control unit 56 to start moving toward the first hangar 16A.

[0064] In step S114, when the flight control device 30A receives still images or moving images taken by the photographing unit 70 and sensor information from the sensor 26 from the second flying vehicle 20B via the wireless communication device 50, it transfers the still images or moving images taken by the photographing unit 70 and sensor information from the sensor 26 to the terrestrial base station 14 via wireless communication.

[0065] In step S116, the flight control device 30A determines whether or not the aircraft has flown to the first hangar 16A. If the aircraft has not flown to the first hangar 16A, the process returns to step S114. On the other hand, if the aircraft has flown to the first hangar 16A, the process proceeds to step S118.

[0066] In step S118, the flight control device 30A controls the four rotors 23 to land in the first hangar 16A, and sends a command via the wireless communication device 50 to close the housing 18A to the first hangar 16A after landing, and then ends the flight control processing routine.

[0067] Then, when the flight control device 30B of the second aircraft 20B receives the control data for the second aircraft 20B, the flight control device 30B executes the flight control processing routine shown in FIG.

[0068] In step S120, the flight control device 30B acquires control data received for the second flying vehicle 20B, including a release command, a takeoff command, and a flight command.

[0069] In step S122, the opening control unit 62 transmits a command to the second hangar 16B to open the housing 18B via the wireless communication device 60 in response to the command to open the housing 18B of the second hangar 16B contained in the received control data.

[0070] In step S124, the takeoff control unit 64 controls the four rotors 23 to take off from the second hangar 16B in response to the command to take off from the second hangar 16B included in the received control data. In addition, the control unit 73 controls the autonomous attitude control unit 66 to start moving along the movement route.

[0071] In step S126, the flight control device 30B causes the image capturing unit 70 to start capturing still images or moving images.

[0072] In step S128, the flight control device 30B starts communication with the sensor 26 via the sensor communication unit 72.

[0073] In step S130, the flight control device 30B transmits still or moving images captured by the photographing unit 70 and sensor information from the sensor 26 via wireless communication to the terrestrial base station 14 via the wireless communication device 50 of the first flying body 20A.

[0074] In step S132, the flight control device 30B determines whether or not the aircraft has flown to the designated position on the movement route. If the aircraft has not flown to the designated position on the movement route, the process returns to step S130. On the other hand, if the aircraft has flown to the designated position on the movement route and the designated time has elapsed, the process proceeds to step S134.

[0075] In step S134, the control unit 73 controls the autonomous attitude control unit 66 to start moving toward the second hangar 16B.

[0076] In step S136, the flight control device 30B transmits still or moving images captured by the photographing unit 70 and sensor information from the sensor 26 via wireless communication to the terrestrial base station 14 via the wireless communication device 50 of the first flying body 20A.

[0077] In step S138, the flight control device 30B determines whether or not the aircraft has flown to the second hangar 16B. If the aircraft has not flown to the second hangar 16B, the process returns to step S136. On the other hand, if the aircraft has flown to the second hangar 16B, the process proceeds to step S140.

[0078] In step S140, the flight control device 30B controls the four rotors 23 to land in the second hangar 16B, and sends a command via the wireless communication device 60 to the second hangar 16B to close the housing 18B after landing, and then ends the flight control processing routine.

[0079] As described above, according to the communication system of an embodiment of the present invention, multiple flying vehicles for long distance flight can be protected when not in flight by being stored in a hangar on the ground.

[0080] In addition, a relay wireless communication device is provided on the first aircraft, and control data including a command to take off from the second hangar and a flight command to fly to a specified location is transmitted to the wireless communication device of the second aircraft via a ground base station and the wireless communication device of the first aircraft, thereby allowing the second aircraft to fly over long distances.

[0081] In the above embodiment, the flying object is described as flying to search for a person holding a sensor, but the purpose is not limited to this, and may be to search for an animal or a vehicle. The flying object may also be flown for the purpose of delivering a package. In this case, a second flying object may carry the package and fly to the specified delivery destination.

[0082] The number of flying vehicles may be three or more. In this case, a plurality of first flying vehicles and first hangars may be provided. The flying vehicle may have five or more rotor blades. [Explanation of symbols]

[0083] 10. Communication Systems 12 Control device 14 Terrestrial base stations 16A Hangar No. 1 16B Hangar No. 2 18A, 18B housing 20A First Flight Vehicle 20B 2nd flight vehicle 26 sensors 30 Communications Department 30A, 30B Flight control unit 32 Input section 34 Route determination unit 36 Flight control unit 38 Collection Department 40 Sensor information storage unit 42 Display section 50, 60 Wireless communication device 52, 62 Open control section 54, 64 Takeoff control section 56, 66 Autonomous attitude control unit 58, 68 Position measurement unit 59, 73 Control section 70 Photography Department 72 Sensor communication unit

Claims

1. a control device; a terrestrial base station connected to the control device via a network and capable of wireless communication; a first flying vehicle equipped with a wireless communication device for relay and capable of autonomous flight, the first flying vehicle being stored in a first hangar on the ground; a second flying vehicle equipped with a wireless communication device and capable of autonomous flight, the second flying vehicle being stored in a second hangar on the ground; Including, The control device transmits control data including a command to take off from the first hangar and a flight command to fly to a designated position to the wireless communication device of the first flying object via the ground base station; Control data including a command to take off from the second hangar and a flight command to fly to a designated position is transmitted to the wireless communication device of the second aircraft via the ground base station and the wireless communication device of the first aircraft. Communication system.

2. The second flying object is equipped with a camera that captures still images and moving images, The communication system of claim 1, wherein the wireless communication device of the second aircraft transmits still images or moving images captured by the camera to the control device via the wireless communication devices of the first aircraft and the terrestrial base station.

3. the wireless communication device of the second aircraft receives sensor information from a sensor installed on the ground, a sensor carried by a person, or a sensor attached to the second aircraft; The communication system according to claim 1 , wherein the wireless communication device of the second aircraft transmits the received sensor information to the control device via the wireless communication devices of the first aircraft and the ground base station.

4. 2. The communication system according to claim 1, wherein the wireless communication device performs wireless communication using radio waves in the 920 MHz band, the 2.4 GHz band, or the 5.7 GHz band.

5. the first hangar is a housing for storing the first flying object, and has a housing that can be opened and closed in response to wireless communication with the first flying object; the second hangar is a housing for storing the second aircraft, and has a housing that can be opened and closed in response to wireless communication with the second aircraft; the control data includes a command to open the housing; the first aircraft transmits a command to the first hangar to open the housing in response to a command to open the housing included in the control data; The second aircraft transmits a command to the second hangar to open the housing in response to the command to open the housing included in the control data. The communication system of claim 1.

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