Aircraft, state estimation device, and program

Abstract

To improve the reliability of estimating the state of an aircraft. [Solution] An aircraft 2 according to one aspect of the present disclosure comprises a flight device 5, a control device 6 for controlling the flight device 5, and a state estimation device 7 for estimating the state of the control device 6, wherein the control device 6 is configured to output a signal that changes at predetermined time intervals during the period in which it controls the flight device 5, and the state estimation device 7 is configured to estimate the state of the control device 6 based on the change in the signal obtained from the control device 6.

Description

Technical Field

[0001] The present disclosure relates to an aircraft, a state estimation device, and a program.

Background Art

[0002] Conventionally, techniques for improving the safety of aircraft are known. For example, Patent Document 1 describes a technique for determining whether an aircraft is abnormal based on data obtained from sensors such as an acceleration sensor, a gyro sensor, an atmospheric pressure sensor, a laser sensor, and an ultrasonic sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0004] However, the technique described in Patent Document 1 cannot be said to have sufficiently high reliability, in that it may not be able to estimate the state of a control device that controls a flight device such as a propeller, for example.

[0005] An object of the present disclosure is to provide a technique capable of improving reliability related to estimating the state of an aircraft.

Means for Solving the Problems

[0006] According to the present disclosure, a technique capable of improving reliability related to estimating the state of an aircraft is provided.

[0007] That is, the present disclosure includes the following embodiments.

[0008] [1] a flight device, and a control device that controls the flight device, A state estimation device for estimating the state of the control device and Equipped with, The control device is configured to output a signal that changes at predetermined time intervals during the period in which it controls the flight device. The state estimation device is configured to estimate the state of the control device based on the change in the signal obtained from the control device. A flying object. [2] The control device is During the period in which the aforementioned flight device is being controlled, one or more flight control processes for controlling the aforementioned flight device are repeatedly executed. The aircraft described in [1] above, which outputs the signal during one or more repetitions of the aforementioned flight control process. [3] The control device is the aircraft described in [2] above, which sequentially performs one or more of the flight control processes. [4] The one or more flight control processes described above are: To obtain information about the flight attitude, Controlling the flight device to maintain and / or change the attitude of the flight, To increase and / or decrease the output of the aforementioned flight device, Obtaining location information and, The aircraft described in [2] or [3] above, comprising at least one of the following: [5] The aforementioned signal is a wave having high and low levels. The control device, at each predetermined time interval, The aforementioned signal is changed from a high level to a low level, The aforementioned signal is changed from a low level to a high level, It is configured to perform, The aircraft according to any one of [1] to [4] above, wherein the state detection device estimates the state of the control device based on the presence or absence and / or time interval of at least one of the following: the signal changing from a high level to a low level and the signal changing from a low level to a high level. [6] The aforementioned signal is a wave having high and low levels. The control device, at each predetermined time interval, If the aforementioned signal is at a high level, the signal is changed to a low level, and then the signal is changed to a high level. If the aforementioned signal is at a low level, the signal is changed to a high level, and then the signal is changed to a low level. Configured to perform at least one of the following: The state detection device estimates the state of the control device based on the presence or absence and / or time interval of at least one of the following: the signal changing from a high level to a low level and then changing to a high level, and the signal changing from a low level to a high level and then changing to a low level. The flying object described in any one of the above [1] to [5]. [7] The aircraft according to any one of [1] to [6] above, wherein the state estimation device includes estimating the state of the control device based on whether or not the signal is changing in accordance with the predetermined time interval. [8] The state estimation device outputs a notification to the user when it estimates that the state of the control device is not normal, according to any one of the above [1] to [7]. [9] The notification includes information relating to the change in the signal, as described in [8] above.

[10] The aircraft described in [9] above, wherein the information relating to the change in the signal includes information relating to the change in the signal and the predetermined time interval.

[11] The aircraft according to any one of the above [1] to

[10] , wherein the state estimation device limits the operation of the flight device and / or the control device when it is estimated that the state of the control device is not normal.

[12] The flight device and / or the control device are supplied with electric power from a first power source, The aircraft according to any one of the above [1] to

[11] , wherein the state estimation device limits the power supply from the first power source when it is estimated that the state of the control device is not normal.

[13] The aircraft according to the above

[12] , wherein the state estimation device is supplied with power from the first power source before limiting the power supply from the first power source, and when limiting the power supply from the first power source, the state estimation device switches from a state of receiving power supply from the first power source to a state of receiving power supply from a second power source different from the first power source.

[14] The aircraft according to any one of the above [1] to

[13] , wherein the state estimation device estimates the state of the control device based on information obtained by performing frequency conversion on the signal.

[15] The aircraft according to any one of the above [1] to

[14] , wherein the state estimation device is configured to be attachable and detachable in a state where the control device is mounted.

[16] The aircraft according to any one of the above [1] to

[15] , wherein the state estimation device is further configured to be communicable with an audio output device, and outputs audio from the audio output device when it is estimated that the state of the control device is not normal.

[17] A state estimation device for estimating a state of a control device that controls a flight device of an aircraft, The state estimation device is configured to acquire a signal that changes at predetermined time intervals during a period in which the control device is controlling the flight device, and to estimate the state of the control device based on the change in the signal.

[18] To a state estimation device configured to be communicable with a control device that controls a flight device of an aircraft, The control device acquires signals that have changed at predetermined time intervals during the period in which it controls the aircraft, Estimating the state of the control device based on the change in the signal, A program that executes something. [Effects of the Invention]

[0009] This disclosure provides a technology that can improve the reliability of estimating the state of an aircraft. [Brief explanation of the drawing]

[0010] [Figure 1] This diagram illustrates an example configuration of System 1 according to this embodiment. [Figure 2] This diagram illustrates an example configuration of the aircraft 2 according to this embodiment. [Figure 3] This diagram illustrates an example of the operation of the aircraft 2 according to this embodiment. [Figure 4] This diagram illustrates an example of the operation of the aircraft 2 according to this embodiment. [Figure 5] This diagram illustrates an example of the operation of the aircraft 2 according to this embodiment. [Figure 6] This diagram illustrates an example of the operation of the aircraft 2 according to this embodiment. [Figure 7] This diagram illustrates an example of the operation of the aircraft 2 according to this embodiment. [Figure 8] This diagram illustrates an example configuration of the aircraft 2 according to this embodiment. [Figure 9] This figure illustrates another example of the operation of the aircraft 2 according to this embodiment. [Figure 10] This figure illustrates another example of the operation of the aircraft 2 according to this embodiment. [Modes for carrying out the invention]

[0011] 1. Overview Conventionally, safety features have been developed for aircraft such as drones in the event of malfunctions. For example, in general technology, a control device mounted on the aircraft controls its flight (e.g., maintaining attitude, acquiring sensor measurements, ascending and / or descending), determines whether there is a malfunction in the aircraft, and executes processes to ensure safety if a malfunction is found. However, in such technology, it is assumed that if the control device itself malfunctions, the processes to ensure safety may not be executed properly. For example, in the technology described in Patent Document 1, if the data obtained from the sensor is normal, it is possible that an abnormality in the control device may not be detected.

[0012] In contrast, the aircraft 2 according to this embodiment comprises a flight device 5, a control device 6 that controls the flight device 5, and a state estimation device 7 that estimates the state of the control device 6. The control device 6 is configured to output a signal that changes at predetermined time intervals during the period in which it controls the flight device 5, and the state estimation device 7 is configured to estimate the state of the control device 6 based on the changes in the signal obtained from the control device 6.

[0013] According to the aircraft 2, the problems described in the example above can be solved. Specifically, the control device 6 controls the aircraft 5 and changes the signal to the state estimation device 7 at predetermined time intervals during the period in which the aircraft 5 is being controlled. The state estimation device 7 then acquires the signal and estimates the state of the control device 6 based on the change in the signal. In one example, if the control device 6 stops, the signal to the state estimation device 7 can no longer be changed. As a result, the state estimation device 7 can detect that the control device 6 has stopped. In another example, if some abnormality occurs in the control device 6, the frequency of changes in the signal to the state estimation device 7 may decrease. As a result, the state estimation device 7 can estimate that the control device 6 is not in a normal state.

[0014] In this embodiment, a normal state of the control device 6 may mean that the control device 6 performs operations within the range intended by the designer and / or developer of the aircraft 2 and / or the control device 6. Conversely, in this embodiment, an abnormal state of the control device 6 may mean that the control device 6 performs operations not intended by the designer and / or developer of the aircraft 2 and / or the control device 6. An abnormal state of the control device 6 can also mean that the control device 6 is in an abnormal state, which may include a state where the control device 6 has stopped operating, a state where the control device 6 is malfunctioning, etc. The control device 6 may become abnormal due to problems caused by hardware, for example, or due to problems caused by software.

[0015] The following describes in detail an aircraft 2 according to one embodiment, with reference to Figures 1 to 10.

[0016] 2. System Configuration Figure 1 is a diagram illustrating an example configuration of System 1 (hereinafter simply referred to as "System 1") according to this embodiment. System 1 includes an aircraft 2, a control device 3, and a communication network 4. The aircraft 2 and the control device 3 are configured to communicate with each other via the communication network 4.

[0017] The aircraft 2 is a mobile, flyable object. In one embodiment, the aircraft 2 receives control instructions from the control device 3 and flies in accordance with those instructions. In one embodiment, the aircraft 2 can autonomously perform at least a portion of the flight-related processes (e.g., maintaining attitude during flight). The aircraft 2 may be either an unmanned aerial vehicle (UAV) or a manned aircraft. The aircraft 2 may be, for example, a drone, a multirotor, or a fixed-wing aircraft. In this embodiment, the aircraft 2 is described as a drone that flies based on control instructions from the control device 3.

[0018] The control device 3 receives piloting commands from the user and transmits piloting instructions to the aircraft 2 in accordance with those commands. The control device 3 may be a device solely for controlling the aircraft 2, and may be a general-purpose terminal device (for example, a smartphone or tablet device) that can be used for controlling the aircraft 2 by installing a predetermined application software.

[0019] The control device 3 includes an input interface, an output interface, and a communication interface. The input interface is an interface for the control device 3 to receive input from the user. The input interface may be a button, a touch panel, a microphone, a camera, etc. The output interface is an interface for transmitting information to the user via images, sound, etc. The output interface may be a display (which may also function as a touch panel) and a speaker, etc. The communication interface is an interface for enabling communication with other devices via the communication network 4. The communication interface may be a wireless communication interface or a wired communication interface.

[0020] Communication network 4 enables communication between each device included in system 1. Communication network 4 enables communication between devices based on, for example, the TCP / IP protocol.

[0021] 3. Example configuration of flying object 2 Figure 2 is a diagram illustrating an example configuration of the aircraft 2. In one embodiment, the aircraft 2 comprises a main body B. The main body B is equipped with a flight device 5, a control device 6, a state estimation device 7, an audio output device 8, a sensor group 9, a first power supply 10a, and a second power supply 10b. In Figure 2, power lines supplying power are shown with double lines, and signal lines for transmitting and receiving various signals are shown with single lines.

[0022] 3.1 Flight equipment 5 The flight device 5 rotates, for example, a propeller, based on a control signal from the control device 6, generating lift and / or thrust for the flight of the aircraft 2. The flight device 5 may receive power from a first power source 10a via a power line not shown in Figure 2, or it may receive power from other power sources not shown in Figure 2.

[0023] 3.2 Control device 6 The control device 6 acquires sensor measurements from the sensor group 9 and receives control instructions from the control device 3, and controls the flight device 5 based on these. In one embodiment, the control device 6 receives power from the first power supply 10a. The control device 6 may include a memory unit (not shown). The control device 6 can function as a flight control unit 60 and an output unit 62 by executing various programs stored in the memory unit.

[0024] 3.2.1 Flight Control Unit 60 The flight control unit 60 controls the flight device 5. In one embodiment, the flight control unit 60 repeatedly performs one or more flight control processes for controlling the flight device 5 during the period in which it controls the flight device 5. In one embodiment, one or more flight control processes include at least one of the following: obtaining information about the flight attitude from, for example, a group of sensors 9; controlling the flight device 5 to maintain and / or change the flight attitude; increasing and / or decreasing the output of the flight device 5; and obtaining position information.

[0025] In one embodiment, the flight control unit 60 sequentially executes one or more flight control processes.

[0026] In one embodiment, sequentially executing one or more flight control processes includes executing one or more flight control processes in the order in which they are associated. In one example, if the one or more flight control processes include a first flight control process, a second flight control process, and a third flight control process, the flight control unit 60 may first start the first flight control process, then start the second flight control process, and then start the third flight control process.

[0027] In one embodiment, sequentially executing one or more flight control processes may include starting a second flight control process after a first flight control process included in one or more flight control processes has finished. In one example, sequentially executing one or more flight control processes may include, when one or more flight control processes include flight control process a, flight control process b, and flight control process c, the flight control unit 60 first executes flight control process a, then executes flight control process b after flight control process a is completed, and then executes flight control process c after flight control process b is completed.

[0028] 3.2.2 Output section 62 The output unit 62 outputs a signal (hereinafter referred to as the "state estimation signal") for the state estimation device 7 to estimate the state of the control device 6. The state estimation signal may be an analog signal that can take continuous values, or a digital signal that can take discrete values. In one embodiment, the state estimation signal is a wave having high levels and low levels. Waves having high levels and low levels may be, for example, a square wave and a trapezoidal wave.

[0029] In one embodiment, the output unit 62 changes the state estimation signal at predetermined time intervals (hereinafter referred to as the "change interval") during the period when the flight control unit 60 is controlling the flight device 5. Changing the state estimation signal may be done by changing the value of the state estimation signal, changing the waveform of the state estimation signal, or changing the frequency of the state estimation signal. For example, if the change interval is 500 milliseconds, the output unit 62 may change the waveform of the state estimation signal, etc., every 500 milliseconds.

[0030] In one embodiment, the output unit 62 changing the state estimation signal includes changing the state estimation signal to a low level when it is at a high level, and changing the state estimation signal to a high level when it is at a low level. An example of the state estimation signal being at a high level is when the value of the state estimation signal is "1". An example of the state estimation signal being at a low level is when the value of the state estimation signal is "0". An example will be explained with reference to Figure 3, etc.

[0031] In one embodiment, the output unit 62 changing the state estimation signal includes at least one of the following: changing the state estimation signal to a low level when it is at a high level, and then changing it to a high level; and changing the state estimation signal to a high level when it is at a low level, and then changing it to a low level. An example will be described with reference to Figure 9.

[0032] In one embodiment, the output unit 62 changing the state estimation signal includes changing the state estimation signal to a second frequency when the state estimation signal is at a first frequency, and changing the state estimation signal to a first frequency when the state estimation signal is at a second frequency. An example will be explained with reference to Figure 10.

[0033] In one embodiment, the output unit 62 changing the state estimation signal at each change interval includes changing the state estimation signal between one or more repetitions of flight control processing performed by the flight control unit 60. An example will be described with reference to Figure 3, etc.

[0034] 3.3 State Estimation Device 7 The state estimation device 7 estimates the state of the control device 6. In one embodiment, the state estimation device 7 receives power from at least one of a first power supply 10a and a second power supply 10b different from the first power supply 10a. The state estimation device 7 may include a storage unit (not shown). By executing various programs stored in the storage unit, the state estimation device 7 can function as an acquisition unit 70, an estimation unit 72, a notification unit 74, and a limiting unit 76.

[0035] In one embodiment, with the control device 6 mounted on the main body B, the state estimation device 7 is configured to be detachable from the main body B. The state estimation device 7 is configured to be detachable from the main body B by means of, for example, adhesive, magnets, connecting parts and screws. The state estimation device 7 may also be detachable by being fitted into and detached from a part of the main body B.

[0036] Furthermore, if the state estimation device 7 communicates with the control device 6 and / or the audio output device 8 via a wired communication line when the state estimation device 7 is installed, the user may disconnect the wired communication line when removing the state estimation device 7 from the main unit B, and reconnect the wired communication line when installing the state estimation device 7 back into the main unit B. Similarly, if the state estimation device 7 receives power from the second power supply 10b when the state estimation device 7 is installed, the user may disconnect the power supply line when removing the state estimation device 7 from the main unit B, and reconnect the power supply line when installing the state estimation device 7 back into the main unit B.

[0037] In another embodiment, the state estimation device 7 is configured integrally with the main body B (so that it cannot be attached or detached). In one example, the state estimation device 7 may be built into the main body B.

[0038] 3.3.1 Acquisition part 70 The acquisition unit 70 acquires the state estimation signal output by the control device 6. Acquiring the state estimation signal includes receiving the state estimation signal, which is an analog signal and / or a digital signal.

[0039] 3.3.2 Estimation part 72 The estimation unit 72 estimates the state of the control device 6 based on the changes in the state estimation signal acquired by the acquisition unit 70.

[0040] In one embodiment, the estimation unit 72 may estimate that the state of the control device 6 is not normal if the change interval of the state estimation signal acquired by the acquisition unit 70 exceeds a predetermined threshold. For example, the estimation unit 72 may estimate that the state of the control device 6 is normal if the change interval of the state estimation signal acquired by the acquisition unit 70 is, for example, 1000 milliseconds or less, and estimate that the state of the control device 6 is not normal if it is 1000 milliseconds or more.

[0041] In one embodiment, the estimation unit 72 estimating the state of the control device 6 based on changes in the state estimation signal includes estimating the state of the control device 6 based on whether or not the state estimation signal acquired by the acquisition unit 70 has changed in accordance with the change interval of the state estimation signal during the period when the flight control unit 60 is normally controlling the flight device 5. That is, the estimation unit 72 can estimate the state of the control device 6 based on whether or not the estimation signal is changing at a "normal" change interval.

[0042] In one embodiment, the estimation unit 72 may estimate that the state of the control device 6 is not normal if the difference between the change interval of the state estimation signal acquired by the acquisition unit 70 and a reference for the change interval of the state estimation signal exceeds a predetermined threshold.

[0043] In one embodiment, the reference interval for the change interval of the state estimation signal can be determined based on the average time interval (i.e., the "normal" change interval) at which the output unit 62 changes the state estimation signal when the flight control unit 60 is normally controlling the flight device 5. For example, if the output unit 62 changes the state estimation signal every 700 milliseconds on average when the flight control unit 60 is normally controlling the flight device 5, the reference interval for the change interval of the state estimation signal may be 700 milliseconds. In this case, the estimation unit 72 may estimate that the state of the control device 6 is normal if the change interval of the state estimation signal acquired by the acquisition unit 70 is, for example, 1000 milliseconds (reference + 300 milliseconds) or less, and estimate that the state of the control device 6 is not normal if it is 1000 milliseconds or more. In this example, the "predetermined threshold" is 300 milliseconds.

[0044] In one embodiment, when the flight control unit 60 repeatedly executes one or more flight control processes, and the output unit 62 changes the state estimation signal between the repetitions of the one or more flight control processes, the reference interval for the change of the state estimation signal can be determined based on the average time interval required for each repetition of the one or more flight control processes. For example, when the flight control unit 60 is normally controlling the flight device 5, if one or more flight control processes take an average of 700 milliseconds, the reference interval for the change of the state estimation signal may be 1000 milliseconds. In this case, the estimation unit 72 may estimate that the state of the control device 6 is normal if the change interval of the state estimation signal acquired by the acquisition unit 70 is, for example, 1000 milliseconds or less, and estimate that the state of the control device 6 is not normal if it is 1000 milliseconds or more. In this example, the "predetermined threshold" is 300 milliseconds.

[0045] In one embodiment, if the state estimation signal is a wave having high and low levels, the estimation unit 72 estimates the state of the control device 6 based on the presence or absence and / or time interval of at least one of the following: the state estimation signal changing from a high level to a low level, and the state estimation signal changing from a low level to a high level.

[0046] In one embodiment, if the state estimation signal is a wave having high and low levels, the estimation unit 72 estimates the state of the control device 6 based on the presence or absence and / or time interval of at least one of the following: the state estimation signal changes from a high level to a low level and then changes to a high level, and the state estimation signal changes from a low level to a high level and then changes to a low level.

[0047] In one embodiment, the estimation unit 72 estimating the state of the control device 6 based on changes in the state estimation signal includes estimating the state of the control device 6 based on information obtained by frequency-converting the state estimation signal. When the flight control unit 60 is normally controlling the flight device 5, if the time interval in which the output unit 62 changes the state estimation signal is within a certain range, that trend will also appear in the frequency spectrum of the state estimation signal. The estimation unit 72 can estimate that the state of the control device 6 is normal if that trend is present in the frequency spectrum of the state estimation signal acquired by the acquisition unit 70, and can estimate that the state of the control device 6 is not normal if that trend is not present. Note that Fourier transform is an example of frequency conversion.

[0048] In one embodiment, the estimation unit 72 can estimate the state of the control device 6 by inputting a state estimation signal (or its features) to a machine learning model. This machine learning model may be configured based on unsupervised learning, using the state estimation signal (or its features) output by the output unit 62 when the flight control unit 60 is normally controlling the flight device 5 as training data. In one example, the estimation unit 72 can estimate that the state of the control device 6 is normal if the state estimation signal acquired by the acquisition unit 70 is not far from the distribution of the training data, and estimate that the state of the control device 6 is not normal if it is far from the distribution.

[0049] In one embodiment, the estimation unit 72 may output the state of the control device 6 using a continuous index (rather than a binary value of normal or normal). This index may, for example, indicate that a lower value indicates a higher probability that the control device 6 is in a normal state, and a higher value indicates a lower probability that the control device 6 is in a normal state. The index may be determined based, for example, on the difference between the change interval of the state estimation signal acquired by the acquisition unit 70 and a reference for the change interval of the state estimation signal, and the degree to which the state estimation signal acquired by the acquisition unit 70 deviates from the distribution of the training data of the machine learning model.

[0050] 3.3.3 Notification section 74 The notification unit 74 outputs a notification to the user when the estimation unit 72 estimates that the state of the control device 6 is not normal. The output of a notification to the user by the notification unit 74 includes sending an instruction to the control device 3 to output the notification as an image and / or sound.

[0051] In one embodiment, the notification includes information regarding changes in the state estimation signal acquired by the acquisition unit 70. This information may include information regarding the interval between changes in the state estimation signal acquired by the acquisition unit 70. For example, if the interval between changes in the state estimation signal acquired by the acquisition unit 70 is 500 milliseconds, the notification unit 74 may control the control device 3 to display "500 milliseconds".

[0052] In one embodiment, the information regarding the change in the state estimation signal acquired by the acquisition unit 70 includes information regarding the relationship between the change in the state estimation signal acquired by the acquisition unit 70 and the reference interval for the change in the state estimation signal. For example, if the change interval for the state estimation signal acquired by the acquisition unit 70 is 1000 milliseconds and the reference interval for the change in the state estimation signal is 500 milliseconds, the notification unit 74 can control the control device 3 to display "1000 milliseconds / 500 milliseconds (+100%)". The "(+100%)" indicates the ratio between the change interval for the state estimation signal acquired by the acquisition unit 70 and the reference interval for the change in the state estimation signal.

[0053] In one embodiment, the state estimation device 7 is configured to communicate further with the voice output device 8, and the notification unit 74 outputs sound from the voice output device 8 when the estimation unit 72 estimates that the state of the control device 6 is not normal. The notification unit 74 outputting sound from the voice output device 8 includes transmitting an instruction to the voice output device 8 to output sound. With this configuration, for example, a person (not limited to the user) near the aircraft 2 can be notified that the state of the control device 6 is estimated to be abnormal.

[0054] 3.3.4 Restriction section 76 The limiting unit 76 restricts the operation of the flight device 5 and / or the control device 6 when the estimation unit 72 estimates that the state of the control device 6 is not normal. The limiting unit 76 restricting the operation of the flight device 5 and / or the control device 6 includes stopping the operation of the flight device 5 and / or the control device 6. Stopping the operation of the flight device 5 may involve stopping the rotation of, for example, the propeller of the flight device 5. Stopping the operation of the control device 6 may involve sending a stop command to the control device 6.

[0055] In one embodiment, the limiting unit 76 restricting the operation of the flight device 5 and / or control device 6 includes limiting the power supply from the first power source 10a to the flight device 5 and / or control device 6. In one embodiment, the state estimation device 7 is configured to receive power from the first power source 10a before limiting the power supply from the first power source 10a, and to switch from a state of receiving power from the first power source 10a to a state of receiving power from the second power source 10b when limiting the power supply from the first power source 10a. The limiting unit 76 restricting the power supply from the first power source 10a may reduce the amount of power that the first power source 10a can supply, or it may be the power supply from the first power source 10a that is cut off.

[0056] 3.4 Audio Output Device 8 The audio output device 8 outputs sound. In one embodiment, the audio output device 8 is provided on the main body B. The audio output device 8 may be, for example, a speaker and a buzzer.

[0057] 3.5 Sensor Group 9 The sensor group 9 includes various sensors. For example, the sensor group 9 may include a 6-axis accelerometer, a GPS (Global Positioning System) sensor, a compass sensor, an angle sensor, a wind speed sensor, a current sensor, and a voltage sensor. The sensor group 9 may receive power from the first power supply 10a, or from other power supplies not shown in Figure 2. The sensor group 9 provides the control device 6 with at least a portion of the information necessary for the flight control unit 60 to perform one or more flight control processes.

[0058] 3.6. First power supply 10a and second power supply 10b In one embodiment, the first power supply 10a supplies power to the control device 6, the state estimation device 7, and the sensor group 9. In one embodiment, the second power supply 10b supplies power to the audio output device 8. The second power supply 10b is also configured to supply power to the state estimation device 7. The second power supply 10b can supply power to the state estimation device 7 if the first power supply 10a does not supply power to the state estimation device 7 properly (for example, if the voltage waveform is distorted, or if a predetermined voltage is not maintained). Such a configuration can be realized by an electrical circuit including, for example, a MOSFET.

[0059] 4 operation An example of the operation of the flying object 2 will be explained with reference to Figures 3-7.

[0060] 4.1 Example of operation when the control device 6 is in a normal state Figure 3 shows an example of the waveform of the state estimation signal when the control device 6 is in a normal state (upper panel) and the relationship between this waveform and the various processes performed by the control device 6 (lower panel), all on a common time axis.

[0061] In the initial state, the state estimation signal is at a low level. At this time, the control device 6 sequentially executes flight control processes such as receiving pilot instructions (FCS1), acquiring measured values ​​from the sensor group 9 (FCS2), determining the output of the flight device 5 necessary for attitude change (FCS3), and controlling the flight device 5 (FCS4). Hereinafter, these will be collectively referred to as the "flight control processing group," and FCS1 to FCS4 will be collectively referred to as "FCS." Note that the flight control processing group may further include flight control processes other than those shown in Figure 3.

[0062] Next, at time t1, immediately after the completion of the flight control processing group (FCS), the control device 6 changes the state estimation signal currently being output (SCS). As a result, the state estimation signal changes from a low level to a high level.

[0063] After time t1, the control device 6 executes the flight control processing group again (FCS). This is an example of repeatedly executing one or more flight control processes. The order of the processes within the flight control processing group (i.e., the order of FCS1 to FCS4) may be the same or different each time it is repeated.

[0064] Next, at time t2, immediately after the completion of the second flight control processing group (FCS), the control device 6 changes the output state estimation signal (SCS). As a result, the state estimation signal changes from a high level to a low level.

[0065] Here, the state estimation device 7, upon receiving the state estimation signal (upper part of Figure 3), can estimate the state of the control device 6 based on whether the interval T1 between the time t1 when the state estimation signal changes from a low level to a high level and the time t2 when the state estimation signal changes from a high level to a low level is greater than or equal to the time interval T_min and less than or equal to the time interval T_max. In this example, the interval T1 is greater than or equal to the time interval T_min and less than or equal to the time interval T_max, so the control device 6 is estimated to be normal. Note that the time interval T_min may be 0 seconds.

[0066] 4.2 Another example of operation when the control device 6 is in a normal state Figure 4 shows an example of the waveform of the state estimation signal (upper panel) and the relationship between it and the various processes performed by the control device 6 (lower panel) over a longer time axis than in Figure 3. Time points t1 and t2 in Figure 4 are the same as time points t1 and t2 in Figure 3, respectively.

[0067] In the initial state, the state estimation signal is at a low level. At this time, the control device 6 executes the flight control processing group (FCS). Subsequently, at time t1, the control device 6 changes the state estimation signal from a low level to a high level (SCS). After time t1, the control device 6 executes the flight control processing group again (FCS). Subsequently, at time t2, the control device 6 changes the state estimation signal from a high level to a low level (SCS). The state estimation device 7 can estimate the state of the control device 6 based on whether the change interval T1 is greater than or equal to the time interval T_min and less than or equal to the time interval T_max.

[0068] The control device 6 and the state estimation device 7 can repeatedly perform the above operations. That is, the control device 6 executes the flight control processing group after time t2 (FCS), then at time t3, changes the state estimation signal from a low level to a high level (SCS), executes the flight control processing group again (FCS), and then at time t4, the control device 6 changes the state estimation signal from a high level to a low level (SCS). The state estimation device 7 can estimate the state of the control device 6 based on whether the change interval T2 between time t3 and time t4 is greater than or equal to the time interval T_min and less than or equal to the time interval T_max.

[0069] 4.3 Example of operation when the control device 6 is not in a normal state Figure 5 shows an example of the waveform of the state estimation signal when the control device 6 is not in a normal state (upper panel) and the relationship between this waveform and the various processes performed by the control device 6 (lower panel), all on a common time axis. Note that in the following, explanations of matters described in the above embodiment may be omitted.

[0070] In the example in Figure 5, multiple errors (E) interrupt the flight control system (FCS). Such errors can occur when the state of the control device 6 is not normal (for example, when there is a hardware failure in the aircraft 2 and / or the control device 6, or when an exception occurs that is not properly handled by the control device 6 during software execution). When errors interrupt the flight control system in this way, the time it takes for the flight control system to complete may be extended. As a result, the change interval T3 between changing the state of the state estimation signal once (see time t5) and changing it again (see time t6) becomes longer. In this example, the change interval T3 is assumed to be longer than the time interval T_max. In that case, the state estimation device 7 may estimate that the state of the control device 6 is not normal.

[0071] 4.4 Another example of operation when the control device 6 is not in a normal state Figure 6 shows, on a common time axis, the relationship between other waveform examples of the state estimation signal when the control device 6 is not in a normal state (upper panel) and the various processes performed by the control device 6 (lower panel). As in the example in Figure 6, if the execution of the flight control processing group is stopped midway (F), the state estimation signal that has changed once (see time t7) will not change again. In this example, when the time interval T4 becomes longer than the time interval T_max, the state estimation device 7 can estimate that the state of the control device 6 is not normal.

[0072] 4.5 An example of the operation of the state estimation device 7 Figure 7 is a flowchart illustrating an example of the operation of the state estimation device 7. First, the state estimation device 7 receives a state estimation signal from the control device 6 (S100). Next, the state estimation device 7 determines whether or not the estimation period has been reached (S102). If the estimation period has not been reached (S102 NO), the state estimation device 7 continues to receive the state estimation signal (S100). If the estimation period has been reached (S102 YES), the state estimation device 7 estimates the state of the control device 6 based on the changes in the state estimation signal within the previous estimation period (S104).

[0073] Next, the state estimation device 7 determines whether the state of the control device 6 is estimated to be normal based on the estimation result in step S104 (S106). If the state of the control device 6 is estimated to be normal (S106 YES), the state estimation device 7 continues to receive state estimation signals (S100). If the state of the control device 6 is not estimated to be normal (S106 NO), the state estimation device 7 sends a notification to the control device 3 (S108), outputs sound from the voice output device 8 (S110), and cuts off the power supply from the first power supply 10a to the control device 6 (S112).

[0074] In this case, if the state estimation device 7 was receiving power from the first power supply 10a, the state estimation device 7 may switch from a state where it receives power from the first power supply 10a to a state where it receives power from the second power supply 10b.

[0075] 5 Hardware Configuration Referring to Figure 8, an example of a hardware configuration when the control device 6 and / or state estimation device 7 described above are implemented using computer C will be explained. Note that the functions of each device can also be implemented by dividing them among multiple devices.

[0076] As shown in Figure 8, computer C includes a processor 700, a storage device 702, an input interface 704, a data interface 706, a communication interface 708, and a display device 710.

[0077] The processor 700 controls various processes in computer C by executing programs stored in the memory device 702. For example, each functional unit of the control device 6 and / or state estimation device 7 can be realized by the processor 700 executing programs stored in the memory device 702.

[0078] The storage device 702 is a storage medium such as RAM (Random Access Memory). RAM temporarily stores the program code of the program executed by the processor 700, as well as data required during program execution.

[0079] The storage device 702 can also be a non-volatile storage medium such as a hard disk drive (HDD) or flash memory. The storage device 702 stores the operating system and various programs for realizing the above configurations. The storage medium storing these various programs may be a non-transitory computer-readable medium. In addition, the storage device 702 can also store tables for registering various information and a database for managing those tables. Such programs and data are loaded into the storage device 702 as needed and accessed by the processor 700.

[0080] The Input I / F 704 is a device for receiving input from the user. Specific examples of the Input I / F 704 include cameras, buttons, microphones, keyboards, mice, touch panels, various sensors, and wearable devices. The Input I / F 704 may be connected to computer C via an interface such as USB (Universal Serial Bus).

[0081] The Data I / F 706 is a device for inputting data from outside computer C. Specific examples of the Data I / F 706 include drive devices for reading data stored on various storage media. The Data I / F 706 may also be located outside computer C. In that case, the Data I / F 706 would be connected to computer C via an interface such as USB.

[0082] The communication interface 708 is a device for communicating data with external devices of computer C via the communication network 4, either wired or wirelessly. The communication interface 708 may also be located outside of computer C. In that case, the communication interface 708 would be connected to computer C via an interface such as USB.

[0083] The display device 710 is a device for displaying various types of information. Specific examples of the display device 710 include liquid crystal displays, organic EL (Electro-Luminescence) displays, and displays for wearable devices. The display device 710 may be located outside of computer C. In that case, the display device 710 is connected to computer C via, for example, a display cable. Furthermore, if a touch panel is used as the input I / F 704, the display device 710 can be configured as an integrated unit with the input I / F 704.

[0084] Furthermore, the components of the device included in the System 1 described above are such that a program stored in the storage device 702 is executed by the processor 700, thereby realizing a defined process in cooperation with other hardware. In other words, these components are conceived as both software or firmware, and as corresponding hardware, and in both concepts, they are also described and interpreted as "function," "means," "part," "processing circuit," "unit," or "module," etc.

[0085] 6. Variations The embodiments described above are provided to facilitate understanding of this disclosure and are not intended to limit it. The configurations that the embodiments may have are not limited to those exemplified and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined.

[0086] In the above embodiment (particularly the part described with reference to Figures 3 to 6), the example mainly described was one in which the output unit 62 changes the state estimation signal to a low level when the state estimation signal is at a high level, and changes the state estimation signal to a high level when the state estimation signal is at a low level. Figure 9-10 shows other examples.

[0087] Figure 9 shows an example of the waveform of the state estimation signal when the output unit 62 changes the state estimation signal, and if the state estimation signal is at a low level, it is changed to a high level and then changed to a low level. In this case, the state estimation device 7 can estimate the state of the control device 6 based on each of the time intervals T5 to T7, which are the intervals between pulses.

[0088] Figure 10 shows an example in which the output unit 62 changes the state estimation signal, changing it to a relatively high second frequency if the state estimation signal is at a relatively low first frequency, and changing it back to the first frequency if it is at the second frequency. In this case, the state estimation device 7 can estimate the state of the control device 6 based on whether or not there is a change in frequency at the change interval.

[0089] In the above embodiment, an example was described in which the state estimation device 7 restricts the operation of the flight device 5 and / or the control device 6 when the state estimation device 7 estimates that the state of the control device 6 is not normal, but the embodiment is not limited to this. If the state estimation device 7 estimates that the state of the control device 6 is not normal, the state estimation device 7 may, for example, perform a process to deploy the parachute provided on the flight body 2, and a process to deploy the airbag provided on the flight body 2, etc.

[0090] In the above embodiment, an example was described in which the state estimation device 7 receives power from the first power supply 10a until the power supply from the first power supply 10a is restricted, and when the power supply from the first power supply 10a is restricted, it switches from a state where it receives power from the first power supply 10a to a state where it receives power from the second power supply 10b. However, the embodiment is not limited to this. The state estimation device 7 may be configured to receive power from the second power supply 10b even before the power supply from the first power supply 10a is restricted.

[0091] The technology relating to the control device 6 and state estimation device 7 described in the above embodiment can also be applied to moving objects other than the flying object 2 (for example, vehicles, etc.). [Explanation of Symbols]

[0092] 1...System, 2...Aircraft, 3...Control device, 4...Communication network, 5...Flight equipment, 6...Control device, 7...State estimation device, 8...Audio output device, 9...Sensor group, 10a...First power supply, 10b...Second power supply, 60...Flight control unit, 62...Output unit, 70...Acquisition unit, 72...Estimation unit, 74...Notification unit, 76...Restriction unit, B...Main unit

Claims

1. Flying device and, A control device for controlling the aforementioned flight device, A state estimation device for estimating the state of the control device and Equipped with, The control device is configured to output a signal that changes at predetermined time intervals during the period in which it controls the flight device. The state estimation device is configured to estimate the state of the control device based on the change in the signal obtained from the control device. A flying object.

2. The control device is During the period in which the aforementioned flight device is being controlled, one or more flight control processes for controlling the aforementioned flight device are repeatedly executed. The aircraft according to claim 1, which outputs the signal during one or more repetitions of the aforementioned flight control process.

3. The aircraft according to claim 2, wherein the control device sequentially performs the one or more flight control processes.

4. The one or more flight control processes described above are: To obtain information about the flight attitude, Controlling the flight device to maintain and / or change the attitude of the flight, To increase and / or decrease the output of the aforementioned flight device, Obtaining location information and, The flying body according to claim 2 or 3, comprising at least one of the following.

5. The aforementioned signal is a wave having high and low levels. The control device, at each predetermined time interval, The aforementioned signal is changed from a high level to a low level, The aforementioned signal is changed from a low level to a high level, It is configured to perform, The aircraft according to any one of claims 1 to 4, wherein the state detection device estimates the state of the control device based on the presence or absence and / or time interval of at least one of the following: the signal changing from a high level to a low level and the signal changing from a low level to a high level.

6. The aforementioned signal is a wave having high and low levels. The control device, at each predetermined time interval, If the aforementioned signal is at a high level, the signal is changed to a low level, and then the signal is changed to a high level. If the aforementioned signal is at a low level, the signal is changed to a high level, and then the signal is changed to a low level. Configured to perform at least one of the following: The state detection device estimates the state of the control device based on the presence or absence and / or time interval of at least one of the following: the signal changing from a high level to a low level and then changing to a high level, and the signal changing from a low level to a high level and then changing to a low level. The flying body according to any one of claims 1 to 5.

7. The aircraft according to any one of claims 1 to 6, wherein the state estimation device includes estimating the state of the control device based on whether or not the signal is changing in accordance with the predetermined time interval.

8. The aircraft according to any one of claims 1 to 7, wherein the state estimation device outputs a notification to the user when it estimates that the state of the control device is not normal.

9. The aircraft according to claim 8, wherein the notification includes information relating to the change in the signal.

10. The aircraft according to claim 9, wherein the information relating to the change in the signal includes information relating to the relationship between the change in the signal and the predetermined time interval.

11. The aircraft according to any one of claims 1 to 10, wherein the state estimation device restricts the operation of the flight device and / or the control device when it estimates that the state of the control device is not normal.

12. The aforementioned flight device and / or control device receive power from the first power source, The aircraft according to any one of claims 1 to 11, wherein the state estimation device restricts the power supply from the first power source when it estimates that the state of the control device is not normal.

13. The state estimation device receives power from the first power source before restricting the power supply from the first power source, and when restricting the power supply from the first power source, switches from a state in which it receives power from the first power source to a state in which it receives power from a second power source different from the first power source, as described in claim 12.

14. The aircraft according to any one of claims 1 to 12, wherein the state estimation device estimates the state of the control device based on information obtained by frequency conversion of the signal.

15. The aircraft according to any one of claims 1 to 14, wherein the state estimation device is configured to be detachable when the control device is attached.

16. The aircraft according to any one of claims 1 to 15, wherein the state estimation device is configured to communicate further with an audio output device, and outputs audio from the audio output device when it is estimated that the state of the control device is not normal.

17. A state estimation device for estimating the state of a control device that controls the flight equipment of an aircraft, A state estimation device configured to acquire a signal that has changed at predetermined time intervals during the period in which the control device is controlling the flight device, and to estimate the state of the control device based on the change in the signal.

18. A state estimation device configured to communicate with a control device that controls the flight equipment of an aircraft, The control device acquires signals that have changed at predetermined time intervals during the period in which it controls the aircraft, Estimating the state of the control device based on the change in the signal, A program that executes something.

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