Unmanned aircraft system, search system, and search method

Abstract

To provide an unmanned aircraft system capable of continuing a search even when a failure occurs in a part of devices or a communication failure occurs.SOLUTION: The unmanned aerial vehicle system includes an aerial vehicle body, a drive unit, a communication unit, a memory, a search control unit, and a drive control unit. The memory stores search information that is information used for a search. The search controller is individually provided for each unmanned vehicle, acquires, using the communicator, search information from a consort vehicle present in a communicable range of the communicator, compares the search information stored in the memory with the search information acquired from the consort vehicle to update the search information stored in the memory, and creates, based on the updated search information, first route information that is a route searched for by the unmanned vehicle. The drive control unit is individually provided for each unmanned vehicle and controls the drive unit on the basis of the first route information created by the search control unit to cause the vehicle body to autonomously move.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present application primarily relates to a technique for searching for a search target using multiple unmanned aerial vehicles. [Background technology]

[0002] Patent Document 1 discloses a monitoring system that uses drones to monitor a monitoring area. The monitoring system includes multiple drones and a monitoring plan creation device. The monitoring plan creation device creates an action plan that determines the movement routes of each of the multiple drones. The monitoring plan creation device transmits the movement routes included in the created action plan to the target drone. The drone monitors its surroundings using a monitoring sensor while moving according to the movement routes received from the monitoring plan creation device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2022 / 208491 Summary of the Invention [Problem to be solved by the invention]

[0004] In the monitoring system of Patent Document 1, a monitoring plan creation device creates movement routes for all drones. Therefore, if a malfunction occurs in the monitoring plan creation device or if communication between the monitoring plan creation device and the drones becomes difficult, the monitoring system will be unable to continue monitoring. Note that this issue can arise not only in monitoring, but also when, for example, finding a specific object or person.

[0005] This application has been made in consideration of the above circumstances, and its main purpose is to provide an unmanned aircraft system that can continue searching even if a malfunction occurs in some of the equipment or communication is poor. [Means for solving the problem]

[0006] The problem to be solved by the present application is as described above. Next, the means for solving this problem and the effects thereof will be explained.

[0007] According to an aspect of the present application, an unmanned aircraft system having the following configuration is provided. That is, the unmanned aircraft system searches the surroundings together with a consort aircraft. The unmanned aircraft system includes an aircraft body, a drive unit, a communication unit, a memory, a search control unit, and a drive control unit. The drive unit is disposed on the aircraft body and generates power to move the aircraft. The communication unit is disposed on the aircraft and communicates with the consort aircraft. The memory stores search information, which is information used for searching. The search control unit is provided individually for each unmanned aircraft. The search control unit acquires the search information from the consort aircraft within the communication range of the communication unit using the communication unit, compares the search information stored in the memory with the search information acquired from the consort aircraft, updates the search information stored in the memory, and creates first route information, which is a route to be searched by the unmanned aircraft, based on the updated search information. The drive control unit is provided individually for each unmanned aircraft and controls the drive unit based on the first route information created by the search control unit to autonomously move the aircraft. [Effects of the Invention]

[0008] According to the present application, even if some of the equipment malfunctions or communication is poor, each drone can continue searching. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram of a search system according to an embodiment of the present application; [Figure 2] A diagram showing drone A acquiring a route from drones B and C, and then creating a route that avoids the acquired route. [Figure 3] 10 is a flowchart showing the processing performed by the unmanned aircraft system. [Figure 4] A diagram showing changes in information stored in the memory of unmanned aerial vehicle A. [Figure 5] FIG. 2 is a diagram showing the grid division of a search area and elements constituting search map information. [Figure 6] 10 is a flowchart showing a process for updating search map information. [Figure 7] A heat map showing the distribution of evaluation values ​​of the evaluation metrics. [Figure 8] FIG. 10 is a block diagram of a search system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] Next, an embodiment of the present application will be described with reference to the drawings.

[0011] The exploration system 1 shown in Fig. 1 explores a search area using multiple unmanned aerial vehicles 30. The search targets of the exploration system 1 are various, such as people, objects, or events. An event may be, for example, a disaster, an accident, or weather conditions, or the growth status of agricultural crops or the operating status of a factory.

[0012] As shown in FIG. 1, the search system 1 includes a management device 10, a cloud system 20, and multiple unmanned vehicle systems 2. The unmanned vehicle system 2 is a system including an unmanned vehicle 30 and a device that causes the unmanned vehicle 30 to move autonomously. The unmanned vehicle 30 creates a route independently and moves autonomously. Therefore, the management device 10 and the cloud system 20 are not essential components and can be omitted.

[0013] The management device 10 and the cloud system 20 manage the search system 1. The management device 10 is a computer such as a PC or a server. The management device 10 performs various processes by executing programs. The cloud system 20 is connected to the management device 10 via the Internet and is composed of one or more computers. The management device 10 and the cloud system 20 specify the search area, select the drone 30 to be used for the search, manage the information obtained by the search, etc.

[0014] In this embodiment, the management device 10 accepts input from an operator and transmits it to the cloud system 20. Based on the content received from the management device 10, the cloud system 20 transmits commands to the unmanned aircraft system 2 and receives information obtained by searching from the unmanned aircraft system 2. Either the management device 10 or the cloud system 20 may aggregate the information. Note that the cloud system 20 can be omitted by having the management device 10 perform the processing that would be performed by the cloud system 20. Furthermore, the management device 10 is not limited to a dedicated terminal and may be a general-purpose terminal. In other words, the cloud system 20 may be accessible using, for example, a browser without installing dedicated software.

[0015] Various communication means and communication paths may be used in the search system 1. For example, if the unmanned aircraft system 2 is equipped with a mobile communication device or a satellite communication device, the cloud system 20 and the unmanned aircraft system 2 can communicate via the Internet. Alternatively, a radio station may be provided in each of the unmanned aircraft system 2 and the ground base. In this case, the cloud system 20 and the ground base can communicate via the Internet, and the ground base and the unmanned aircraft system 2 can communicate via aviation radio or the like.

[0016] The unmanned aerial vehicle 30 of this embodiment is a multi-rotor aerial vehicle capable of vertical takeoff and landing. Specifically, the unmanned aerial vehicle 30 includes an airframe 31. The airframe 31 is provided with a drive unit 32 and multiple rotors. The drive unit 32 generates power to rotate the rotors. In this embodiment, the drive unit 32 is an electric motor, but it may also be an engine. The rotors are driven to rotate by the power generated by the drive unit 32, generating lift and thrust. The rotors correspond to propulsion devices for moving the unmanned aerial vehicle 30. Furthermore, the unmanned aerial vehicle 30 may be an aircraft, a vehicle, or a submarine.

[0017] The unmanned aerial vehicle 30 is further provided with a communication unit 33, a memory 34, a processor 35, a position measurement unit 36, and a camera 37. However, the memory 34 and the processor 35 may be provided at a ground base instead of the unmanned aerial vehicle 30.

[0018] The communication unit 33 is a device for communicating with other devices. The other devices may be the management device 10, the cloud system 20, or other unmanned aerial vehicles 30. In the following description, a different unmanned aerial vehicle 30 from the unmanned aerial vehicle 10 and that cooperates with the unmanned aerial vehicle 10 to perform a search may be referred to as a "consort." While the communication unit 33 must be able to communicate with consort aircraft, it is not required that the communication unit 33 communicate with the management device 10 or the cloud system 20. The communication unit 33 may be, for example, a wireless device capable of transmitting and receiving radio waves conforming to standards such as aviation radio, or a wireless communication module for connecting to the Internet. Furthermore, when the search system 1 is installed in a relatively small area, such as indoors, the communication unit 33 may be a wireless communication module for communicating using a local area network or a short-range wireless standard.

[0019] The memory 34 is a storage medium that stores electronic data. In this specification, the term "memory" is a conceptual term that includes a primary storage device and a secondary storage device in a computer. The primary storage device is also referred to as a main memory, and the secondary storage device is also referred to as storage. The memory 34 stores information acquired by the aircraft itself and its wingman through searches. Furthermore, the memory 34 may store route information that indicates the routes along which the aircraft itself and its wingman will perform searches.

[0020] The processor 35 is a device that performs arithmetic processing, such as a CPU. When the processor 35 executes a program, it realizes the functions of the drive control unit 35a and the search control unit 35b. The drive control unit 35a controls the drive unit 32 based on route information, thereby autonomously moving the unmanned aerial vehicle 30 along the route. The drive control unit 35a allows the unmanned aerial vehicle 30 to move without human operation. The search control unit 35b creates a route for the unmanned aerial vehicle based on information obtained by searches by the unmanned aerial vehicle or its wingman, and the routes of the wingman.

[0021] Here, the drive control unit 35a and the search control unit 35b in this embodiment are individually provided for each unmanned aerial vehicle 30. In other words, one drive control unit 35a and one search control unit 35b are provided corresponding to one unmanned aerial vehicle 30. In other words, the drive control unit 35a and the search control unit 35b control only the corresponding one unmanned aerial vehicle 30, and do not control other unmanned aerial vehicles 30. As described above, the unmanned aerial vehicle system 2 in this embodiment is configured independently from other unmanned aerial vehicle systems 2. Therefore, even if an abnormality occurs in one unmanned aerial vehicle system 2, the other unmanned aerial vehicle systems 2 can continue the search. Similarly, even if an abnormality occurs in the management device 10 or the cloud system 20, each unmanned aerial vehicle system 2 can continue the search.

[0022] The position measurement unit 36 ​​is a device that measures the position of the aircraft itself. The position measurement unit 36 ​​is, for example, a GNSS module or a LiDAR. The GNSS module calculates latitude and longitude information of the aircraft itself by receiving and analyzing radio waves transmitted from GNSS satellites. The LiDAR estimates its own position using SLAM (Simultaneous Localization and Mapping). Specifically, the LiDAR transmits electromagnetic waves into the surrounding area and receives reflected waves to detect point cloud data of surrounding objects. By analyzing the point cloud data, an environmental map showing the surrounding situation is created and the aircraft's own position on the environmental map is estimated. Note that the position measurement unit 36 ​​may be an IMU (Inertial Measurement Unit). In this case, the position of the aircraft itself is estimated by integrating acceleration detected by the IMU to estimate a change from a reference position. Alternatively, a marker may be placed in the search area in advance, and the aircraft's own position may be estimated based on an image obtained by capturing the marker with a camera 37.

[0023] The camera 37 is a sensor for searching the search area. The camera 37 may be a camera that captures visible light, or may be a camera that captures infrared light or ultraviolet light. The search control unit 35b identifies a person, object, event, or the like based on the image captured by the camera 37. In other words, the search control unit 35b searches the capture range based on the image captured by the camera 37. In this way, the search control unit 35b obtains search result information indicating whether or not a target exists in the capture range. Furthermore, the search result information is not limited to whether or not a target exists. The search result information may also include information indicating the possibility of the target's existence, information indicating the risk of search, or the like. In other words, the search result information may include not only the results of searching for the target but also information that assists the search.

[0024] First, information indicating the possibility of a target's presence will be described using the example of a lost person. For example, it is generally believed that a lost person in the mountains has a higher chance of being rescued if they ascend the mountain rather than descend it, and so it is recommended that they move to a higher altitude. Furthermore, if it is known in advance that the lost person is not carrying drinking water, it can be hypothesized that the lost person will likely move to a location near a river. Based on this information, if a high altitude and / or proximity to a river are identified from an image or other sensor, the search control unit 35b determines that there is a high possibility of a target's presence at that location. Next, information indicating the risk of search will be described. For example, the presence of trees reaching flight height or heavy rain indicates a high risk of flight for the unmanned aerial vehicle 30. Therefore, if these are detected in the image, the search control unit 35b determines that the risk of search at that location is high.

[0025] Next, a brief overview of the search by the unmanned aircraft system 2 will be described with reference to Figure 2. Below, the process when the unmanned aircraft 30A starts searching in the search range that the wingmen 30B and 30C are currently searching will be described.

[0026] First, the unmanned aircraft 30A acquires information from the wingman aircraft 30B, 30C that are within its communication range. For example, the unmanned aircraft 30A receives the search results for the wingman aircraft 30B and route information for the wingman aircraft 30B from the wingman aircraft 30B. Furthermore, the wingman aircraft 30B has detected an area with high flight risk during a previous search, and the unmanned aircraft 30A also receives information about that area from the wingman aircraft 30B. Furthermore, the unmanned aircraft 30A receives the search results for the wingman aircraft 30C and route information for the wingman aircraft 30C from the wingman aircraft 30C.

[0027] Next, the search control unit 35b of the unmanned aerial vehicle 30A creates an appropriate route based on the received information. Specifically, the search control unit 35b creates a route that does not pass through the routes already searched for by the consort aircraft 30B and 30C and that avoids areas with high risk. Note that the above-described route creation method is an example. For example, if there are circumstances in which the travel efficiency of a route that meets the above conditions becomes extremely poor, the search control unit 35b may create a route that passes through parts of the routes already searched for by the consort aircraft 30B and 30C or areas with high risk. In the lower diagram of Figure 2, an example of a route created by the unmanned aerial vehicle 30A is shown in bold. Then, the drive control unit 35a of the unmanned aerial vehicle 30A controls the drive unit 32 to move the unmanned aerial vehicle 30 along the created route.

[0028] This allows the unmanned aerial vehicle 30A to create a route for the unmanned aerial vehicle 30A based on the search results and route information received from the wingmen 30B and 30C. Therefore, the unmanned aerial vehicle 30A can create a route for the unmanned aerial vehicle 30A that passes through areas that have not yet been searched while avoiding areas with high risk, for example. Furthermore, in this embodiment, the management device 10 or the cloud system 20 does not create a route for each unmanned aerial vehicle 30, but the unmanned aerial vehicle 30 autonomously creates its own route. Therefore, even if an abnormality or communication abnormality occurs in the management device 10, the cloud system 20, or some of the unmanned aerial vehicles 30, the remaining unmanned aerial vehicles 30 can continue searching.

[0029] Next, detailed processing of the search by the unmanned aircraft system 2 will be described with reference to Figures 3 to 7. The flowchart shown in Figure 3 is processing that is individually executed by each unmanned aircraft system 2. In addition, to show the information acquired by the unmanned aircraft 30, a specific example will be described with reference to Figure 4. In this specific example, unmanned aircraft A acquires information from unmanned aircraft B and C and generates a route.

[0030] First, the processor 35 sets a search area (S101). The processor 35 may determine the search area in advance and store it in the memory 34, or may receive it from the cloud system 20 or the like.

[0031] Next, processor 35 creates lattice information (S102). Lattice information is information for dividing the search area into a lattice pattern, as shown in FIG. 5. Specifically, processor 35 divides the search area into Nx columns and Ny rows. Each of the multiple areas obtained by dividing the search area is called a lattice area. Processor 35 handles the position of the search area in units of lattice areas. Each lattice area can be identified using a row number and a column number.

[0032] Dividing the search area into a grid is just one example, and processor 35 may divide the search area into, for example, a triangular, hexagonal, or other shape. In other words, the technical content disclosed in this description is to divide the search area into multiple unit areas and register the search results for each unit area.

[0033] Next, processor 35 updates the search map information using camera 37 (S103). The search map information is information that associates the above-mentioned search result information, search time information indicating the time when the search was performed, and a position. The search time information can also be called a timestamp. The position is specified by the row number and column number of the lattice area.

[0034] FIG. 5 shows search map information M(t). Search map information is information that is updated and whose values ​​change over time. In other words, search map information is a function of time. The search map information is a determinant with the same number of rows and columns as when the grid information was created. Each element m(t) of this determinant contains values ​​for the corresponding grid area, such as search time information Ts(t), a search result D(t) indicating whether a target is present, the probability of target presence P(t), the risk level R(t), and coordinate values ​​r(t). Note that these values ​​are merely examples, and some of these values ​​may be omitted from element m(t), or values ​​not described above may be added to element m(t). As such, in this embodiment, search map information M(t) is a determinant, and search result information and search time information for each position are described in this determinant. However, using a determinant as search map information M(t) is merely an example, and similar information may be described using a database, table, or the like.

[0035] The upper part of Figure 4 shows the information stored in the memory 34 of the drone A when the drone A updates the search map information using the camera 37. Specifically, the search map information storage area of ​​the memory 34 of the drone A stores the search map information obtained by the drone A through its search.

[0036] Next, the processor 35 uses the communication unit 33 to attempt to communicate with a wingman aircraft that is within the communication range of the communication unit 33 (S104). The processor 35 determines whether or not information has been received from the wingman aircraft (S105). If the processor 35 determines that information has been received from the wingman aircraft, the search control unit 35b updates the search map information and the second route information based on the information from the wingman aircraft (S106). The second route information is the route searched by the wingman aircraft. In contrast, the route searched by the aircraft itself is referred to as the first route information. Note that if no information has been received from the wingman aircraft, the processor 35 skips the processing of step S106.

[0037] The central part of Figure 4 shows the information stored in the memory 34 of unmanned aerial vehicle A when unmanned aerial vehicle A receives search map information and second route information from unmanned aerial vehicles B and C. Specifically, the search map information storage area of ​​the memory 34 of unmanned aerial vehicle A stores the latest information extracted from the search map information created by unmanned aerial vehicles A, B, and C. The processor 35 uses the search time information described above to extract the latest information. Because the search time information is information associated with a location, the processor 35 determines for each location whether the information is the latest. The search map information updated by the processor 35 in this manner is stored in the memory 34 of unmanned aerial vehicle A. In addition, the memory 34 of unmanned aerial vehicle A also stores the route information of unmanned aerial vehicles B and C as second route information.

[0038] The process of updating the search map information to the latest information will be described in more detail below with reference to Figure 6. As shown in the lower part of Figure 6, in Figure 6, the search map information stored in the unmanned aerial vehicle 30 itself and the search map information received from the wingman aircraft are assigned different subscripts. First, the processor 35 selects one grid area from the search area (S201). The order of selection is arbitrary. Next, for the information of the selected grid area, the processor 35 compares the search time information of the search map information stored in the memory 34 with the search time information of the search map information received from the wingman aircraft, and determines whether the search time information of the search map information received from the wingman aircraft is newer (S202).

[0039] If the determination in step S202 is Yes, processor 35 updates the value of the search map information of the selected lattice area to the value of the information received from the wingman (S203). On the other hand, if the determination in step S202 is No, processor 35 maintains the value of the search map information of the selected lattice area (S204).

[0040] Next, processor 35 determines whether all lattice areas have been selected (S205), and if it is determined that not all lattice areas have been selected, it performs the processes of steps S201 to S204 again. If processor 35 determines that all lattice areas have been selected, it ends the process. Note that if processor 35 receives search map information from multiple consort aircraft, it executes the flowchart of Fig. 6 for each consort aircraft. Alternatively, processor 35 may select the most recent search time information in step S202 and update the search map information to the search map information of the most recent search time information.

[0041] Next, the processor 35 attempts to communicate with the management device 10 using the communication unit 33 (S107). Here, it is assumed that the management device 10 periodically communicates with multiple unmanned aerial vehicles 30 and stores search map information and route information. In other words, the management device 10 corresponds to an "information providing device." The processor 35 determines whether information has been received from the management device 10 (S108). If the processor 35 determines that information has been received from the management device 10, the search control unit 35b updates the search map information and second route information based on the information from the management device 10 (S109). The update process is the same as when information is received from a wingman, and therefore a description thereof will be omitted. If information has not been received from the management device 10, the processor 35 skips the process of step S109. Note that the process of receiving information from the management device 10 is not essential and can be omitted.

[0042] Next, the search control unit 35b creates first route information, i.e., route information for the aircraft itself, based on the search information (S110). There are many factors to consider when creating the first route information, as follows: (1) The search control unit 35b references the search results in the search map information and creates first route information that searches as many areas as possible where it has not been determined whether a target is present, in other words, areas that have not yet been searched. (2) The search control unit 35b references the target presence probability in the search map information and creates first route information that passes through as many areas as possible where the target is likely to be present. (3) The search control unit 35b references the risk level in the search map information and creates first route information that passes through as few areas with high risk as possible. (4) The search control unit 35b references the second route information and creates first route information that avoids areas that the wingman aircraft plans to search. (5) The search control unit 35b references the second route information and creates first route information that avoids getting too close to the wingman aircraft.

[0043] As described above, there are a wide variety of factors to be considered. Therefore, the search control unit 35b of this embodiment performs evaluation by combining multiple evaluation indices to create first route information. That is, the search control unit 35b quantifies each of the above-mentioned factors to be considered. The quantified value is referred to as an evaluation value. When quantifying, it is preferable to set a value that allows comparison between different evaluation indices. In this way, the search control unit 35b creates data that specifies an evaluation value according to location. The heat map shown in FIG. 7 represents the visualized distribution of evaluation values ​​for one evaluation index. The search control unit 35b of this embodiment creates a number of heat maps corresponding to the evaluation indices and creates first route information that maximizes the total evaluation value. Note that data visualization is not required when the search control unit 35b creates the first route information.

[0044] The above-mentioned evaluation index may further take into account changes over time. For example, even if a location has already been searched for the presence or absence of a target, as time passes, the need to search for that location again increases. This is because the target may move to a location that has already been searched. Similarly, the reliability of the possibility of the target's existence decreases as time passes. Taking the above into consideration, the evaluation value may be multiplied by a weight according to the passage of time.

[0045] There are various methods for drawing a conclusion by comprehensively considering a plurality of evaluation indexes, and a method different from that of this embodiment can be adopted.

[0046] Next, processor 35 transmits the search information and first route information of the unmanned aerial vehicle to management device 10 (S111). This updates the information managed by management device 10. Next, drive control unit 35a controls drive unit 32 based on the created first route information to move unmanned aerial vehicle 30 along the route (S112).

[0047] Thereafter, the processor 35 performs the process of step S103 again. As a result, the processor 35 acquires more recent information from the wingman or the management device 10. Furthermore, the search control unit 35b may update the first route information based on the latest information if a more appropriate route exists.

[0048] 3 is a process that is independently performed by each of the unmanned aerial vehicles 30. Therefore, the unmanned aerial vehicle 30 described in this embodiment may transmit search map information and first route information, i.e., second route information for the wingman aircraft, to the wingman aircraft in response to a request from the wingman aircraft.

[0049] As described above, the unmanned aircraft system 2 receives search map information and second route information from the wingman and the management device 10, and creates first route information based on this information. This allows the unmanned aircraft system 2 to search the search area using an appropriate route. In particular, because the unmanned aircraft system 2 can autonomously perform the above processing alone, it can perform the same processing based on the received information even if an abnormality occurs in another device or communication abnormality.

[0050] Next, a modified example of the above embodiment will be described with reference to Fig. 8. In the description of this modified example, the same or similar components as those in the above embodiment will be denoted by the same reference numerals in the drawings, and their description will be omitted. This modified example differs from the above embodiment in the following three points.

[0051] The first is the absence of the management device 10 and the cloud system 20. As described above, the unmanned aircraft system 2 can autonomously create routes and search the search area, so the management device 10 and the cloud system 20 are not essential.

[0052] The second difference is that not all of the components of the unmanned aircraft system 2 are provided on the unmanned aircraft 30. Specifically, the unmanned aircraft system 2 includes a PC 50 that is separate and located away from the unmanned aircraft 30. The PC 50 is a computer and includes a processor 51 configured with a CPU or the like, and a memory 52 as a storage medium for storing electronic data. The processor 51 executes a program to function as a search control unit 51a. The search control unit 51a performs processing similar to that of the search control unit 35b described above. The memory 52 stores the same content as that of the memory 34 described above. A PC 50 is provided individually for each unmanned aircraft 30. In other words, in this modified example, there is a one-to-one correspondence between the unmanned aircraft 30 and the PC 50. The unmanned aircraft system 2 is configured by a pair of the unmanned aircraft 30 and the PC 50. In this modified example, as long as communication between the unmanned aircraft 30 and the PC 50 is normal, the same effects as those of the above embodiment can be achieved.

[0053] The third feature is that an anemometer 38 is provided as a sensor. The anemometer 38 measures wind direction and wind speed. The measurement results of the anemometer 38 are used, for example, as information for creating a risk level. Furthermore, if the search objective of the unmanned aircraft system 2 is the wind direction and wind speed in the search area, the measurement results of the anemometer 38 are also used as the search results.

[0054] (Feature 1) As described above, the unmanned aircraft system 2 of this embodiment searches the surroundings together with its consort aircraft. The unmanned aircraft system 2 includes an airframe 31, a drive unit 32, a communication unit 33, a memory 34, a search control unit 35b, and a drive control unit 35a. The drive unit 32 is disposed in the airframe 31 and generates power to move the airframe 31. The communication unit 33 is disposed in the airframe 31 and communicates with the consort aircraft. The memory 34 stores search information, which is information used for searching. A search control unit 35b is provided individually for each unmanned aircraft 30. The search control unit 35b acquires search information from a consort aircraft within the communication range of the communication unit 33 using the communication unit 33 and compares the search information stored in the memory 34 with the search information acquired from the consort aircraft. The search control unit 35b updates the search information stored in the memory 34 based on the comparison result and creates first route information, which is a route to be searched by the unmanned aircraft 30, based on the updated search information. The drive control unit 35a is provided individually for each unmanned vehicle 30, and controls the drive unit 32 based on the first route information created by the search control unit 35b to move the vehicle 31 autonomously.

[0055] It can search its surroundings while sharing search information with other aircraft within its communication range. In particular, because the unmanned aircraft system 2 is an independent system from other aircraft, it can continue searching independently even if communication with other aircraft or a management device becomes difficult.

[0056] (Feature 2) In the unmanned aircraft system 2 of this embodiment, the memory 34, the search control unit 35b, and the drive control unit 35a are arranged in the aircraft body 31.

[0057] Since the necessary functions are concentrated in the drone 30, even if the drone 30's communication itself becomes unavailable, the drone 30 can continue searching independently.

[0058] (Feature 3) In the unmanned aircraft system 2 of this embodiment, the search information includes search map information that indicates the search results for each location. The search map information is information in which search result information and search time information are associated with each location. The search control unit 35b compares the search map information stored in the memory 34 with the search map information acquired from the consort aircraft for each location, and if the search time information of the search map information acquired from the consort aircraft is newer than the search time information of the search map information stored in the memory 34, updates the search result information of the search map information stored in the memory 34 to the search result information of the search map information acquired from the consort aircraft.

[0059] This allows the unmanned aerial vehicle system 2 to share search map information among multiple unmanned aerial vehicles 30 and update search result information with new information.

[0060] (Feature 4) The unmanned aircraft system 2 of this embodiment is equipped with a sensor disposed on the aircraft 31 that detects search map information of the surrounding area. The search information includes search map information that indicates search results for each location. The search map information is information that associates search result information with search time information for each location. At least a portion of the search result information is information detected by the sensor. The search control unit 35b updates the search result information of the search map information stored in memory 34 based on the detection results by the sensor, and updates the search result information of the search map information stored in memory 34 based on the search time information.

[0061] This allows the unmanned aircraft system 2 to update the search result information with new information obtained by the sensors.

[0062] (Feature 5) In the unmanned aircraft system 2 of this embodiment, the sensor is a camera 37.

[0063] This allows the unmanned aircraft system 2 to obtain the search result information contained in the search map information from the captured and generated images.

[0064] (Feature 6) In the unmanned aircraft system 2 of this embodiment, the search information includes second route information, which is a route searched by the wingman aircraft. The communication unit 33 receives the second route information from the wingman aircraft. The search control unit 35b creates first route information based on the second route information of the wingman aircraft.

[0065] This allows the unmanned aircraft system 2 to create its own route based on the route of its wingman, allowing the unmanned aircraft system 2 to efficiently search together with its wingman.

[0066] (Feature 7) In the unmanned aircraft system 2 of this embodiment, the search information includes, in addition to the search map information, second route information, which is a route searched by the wingman aircraft. The communication unit 33 transmits the first route information to the wingman aircraft with which it can communicate, and receives the second route information from the wingman aircraft. The search control unit 35b updates the first route information based on the search map information stored in the memory 34 and the second route information received from the wingman aircraft.

[0067] This allows the unmanned aircraft system 2 to update its own route to be an appropriate route, taking into account the search results and the routes of its comrades.

[0068] (Feature 8) The search system 1 of this embodiment includes a plurality of unmanned vehicle systems 2.

[0069] (Feature 9) The search system 1 of this embodiment includes a management device 10. The management device 10 is provided separately from the unmanned aerial vehicle 30 and the search control unit 35b, and transmits search information to one or more search control units 35b, causing the search information stored in the memory 34 to be updated.

[0070] This allows the search system 1 to update the search information of each unmanned vehicle 30 based on the information sent by the management device 10, making it possible to perform searches with external assistance.

[0071] The above-described features 1 to 7 can be combined, for example, as follows to realize the unmanned aircraft system 2. The same applies to the search system 1, the search method, or the search program. [Configuration 1] Unmanned aircraft system 2 having feature 1 [Configuration 2] Unmanned aircraft system 2 having feature 2 in addition to configuration 1 [Configuration 3] Unmanned aircraft system 2 having feature 3 in addition to configuration 1 or 2 [Configuration 4] Unmanned aircraft system 2 having any one of configurations 1 to 3, and further having feature 4 [Configuration 5] Unmanned aircraft system 2 having any one of configurations 1 to 4 and further having feature 5 [Configuration 6] Unmanned aircraft system 2 having any one of configurations 1 to 5, and further having feature 6 [Configuration 7] Unmanned aircraft system 2 having any one of configurations 1 to 6, and further having feature 7

[0072] The preferred embodiment and modifications of the present application have been described above, but the above configurations can be modified, for example, as follows. Each modification may be made alone, or multiple modifications may be made in any combination.

[0073] In the above embodiment, an example has been described in which the unmanned aerial vehicle 30 creates first route information after its consort aircraft starts searching. Alternatively, multiple unmanned aerial vehicles 30 may simultaneously create route information. In this case, a priority may be set for each unmanned aerial vehicle 30, and route information may be created in order from the unmanned aerial vehicle 30 with the highest priority. Alternatively, multiple unmanned aerial vehicles 30 may communicate with each other and negotiate to create their respective route information. Specifically, multiple unmanned aerial vehicles 30 each create tentative route information, and after the other unmanned aerial vehicles 30 approve it or a predetermined time has passed, the tentative route information is treated as official route information.

[0074] In the above embodiment, the unmanned aerial vehicle 30 acquires information from its wingman aircraft and also acquires information from the management device 10. Here, a mode in which the unmanned aerial vehicle 30 acquires information only from its wingman aircraft to create the first route information is referred to as an autonomous distributed mode, and a mode in which information is aggregated in the management device 10 and the unmanned aerial vehicle 30 acquires information only from the management device 10 to create the first route information is referred to as an aggregation mode. The unmanned aerial vehicle 30 has the function of executing both the autonomous distributed mode and the aggregation mode and may be able to switch between the two modes. For example, the unmanned aerial vehicle 30 may execute the aggregation mode when it can communicate with the management device 10, and switch to the autonomous distributed mode when it cannot communicate with the management device 10.

[0075] In the above embodiment, the search control unit 35b creates the first route information based on both the search map information and the second route information. Alternatively, the search control unit 35b may create the first route information based on only either the search map information or the second route information.

[0076] The flowcharts shown in the above embodiment are merely examples, and some processes may be omitted, the contents of some processes may be changed, or new processes may be added. For example, updating of the first route information may be omitted. In other words, the first route information initially created in step S110 may continue to be used without being updated.

[0077] Although the management device 10 has been described as an example of an information providing device, the cloud system 20 may also operate as an information providing device.

[0078] The functions of the elements disclosed herein can be performed using circuits or processing circuitry, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuitry because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor. [Explanation of symbols]

[0079] 1. Exploration System 2. Unmanned Aerial Systems 30 Drone 34 memory 35 processors 35a Drive control unit 35b Search control section

Claims

1. In an unmanned aircraft system that explores the surrounding area together with its wingman, The aircraft and a drive unit disposed on the airframe and generating power to move the airframe; a communication unit disposed in the aircraft and configured to communicate with other aircraft; a memory that stores search information that is information used in a search; a search control unit that is provided individually for each drone, acquires the search information from the consort drone that is within the communication range of the communication unit using the communication unit, compares the search information stored in the memory with the search information acquired from the consort drone, updates the search information stored in the memory, and creates first route information that is a route to be searched by the drone based on the updated search information; a drive control unit that is provided individually for each of the unmanned aerial vehicles and controls the drive unit based on the first route information created by the search control unit to autonomously move the airframe; An unmanned aircraft system comprising:

2. 10. The unmanned aircraft system of claim 1, An unmanned aircraft system, wherein the memory, the search control unit, and the drive control unit are arranged on the aircraft body.

3. 10. The unmanned aircraft system of claim 1, The search information includes search map information showing search results for each location, The search map information is information in which search result information and search time information are associated with each other for each position, The search control unit compares the search map information stored in the memory with the search map information acquired from the wingman aircraft for each position, and if the search time information of the search map information acquired from the wingman aircraft is newer than the search time information of the search map information stored in the memory, updates the search result information of the search map information stored in the memory to the search result information of the search map information acquired from the wingman aircraft.

4. 10. The unmanned aircraft system of claim 1, a sensor disposed on the airframe for detecting surrounding information; The search information includes search map information showing search results for each location, The search map information is information in which search result information and search time information are associated with each other for each position, at least a portion of the search result information is information detected by the sensor, The search control unit updates the search result information of the search map information stored in the memory based on the detection results by the sensor, and updates the search result information of the search map information stored in the memory based on the search time information, an unmanned aircraft system.

5. 5. The unmanned aircraft system of claim 4, The unmanned aircraft system, wherein the sensor is a camera.

6. 10. The unmanned aircraft system of claim 1, the search information includes second route information which is a route searched by the wingman; the communication unit receives the second route information from the wingman; The search control unit creates the first route information based on the second route information of the consort aircraft.

7. 4. The unmanned aircraft system of claim 3, The search information includes, in addition to the search map information, second route information which is a route searched by the wingman; the communication unit transmits the first route information to the consort aircraft with which communication is possible, and receives the second route information from the consort aircraft; The search control unit updates the first route information based on the search map information stored in the memory and the second route information received from the consort aircraft.

8. A search system comprising a plurality of unmanned aircraft systems according to any one of claims 1 to 7.

9. 9. The search system of claim 8, A search system comprising an information providing device that is provided separately from the unmanned aircraft and the search control unit and transmits the search information to one or more of the search control units, thereby updating the search information stored in the memory.

10. In a search method in which multiple unmanned aerial vehicles jointly search the surroundings, Each of the unmanned aerial vehicles receives search information, which is information used for searching, from a wingman that is another unmanned aerial vehicle present within a communication range, and updates the search information of the unmanned aerial vehicle itself; Each of the unmanned aerial vehicles creates first route information, which is a route that the unmanned aerial vehicle will search, based on the updated search information; A search method in which each of the unmanned aerial vehicles moves based on the first route information.

11. 11. The search method of claim 10, The search information includes search map information showing search results for each location, The search map information is information in which search result information and search time information are associated with each other for each position, The unmanned aerial vehicle compares the search map information stored in the unmanned aerial vehicle with the search map information acquired from the wingman aerial vehicle for each position; A search method in which, if the search time information of the search map information obtained from the wingman aircraft is newer than the search time information of the search map information stored in the unmanned aircraft, the search result information of the search map information stored in the unmanned aircraft at that position is updated to the search result information of the search map information obtained from the wingman aircraft at that position.

12. 11. The search method of claim 10, the search information includes second route information which is a route searched by the wingman; causing the unmanned aerial vehicle to receive the second route information from the wingman; A search method that causes the unmanned aerial vehicle to create the first route information based on the second route information acquired from the wingman aircraft.

13. 11. The search method of claim 10, A search method in which the unmanned aerial vehicle receives the search information from a device different from the unmanned aerial vehicle, and updates the search information stored in the unmanned aerial vehicle using the received search information.

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