Unmanned moving body, unmanned moving method, and unmanned moving program

Abstract

To avoid a deviation problem while using a plurality of types of positioning.SOLUTION: An unmanned moving body 1 comprises: a plurality of positioning means for positioning a current position of the unmanned moving body 1 and performing each of a plurality of types of positioning to output a coordinate of the current position; coordinate unifying means for unifying reference dates of coordinates output by the plurality of types of positioning; quality determining means for determining quality of the plurality of types of positioning; and selecting means for selecting a prescribed positioning from the plurality of types of positioning on the basis of the quality determined by the quality determining means. The unmanned moving body is configured so as to move while positioning the current position by the positioning selected by the selecting means.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to an unmanned moving body, an unmanned moving method, and an unmanned moving program.

Background Art

[0002] Conventionally, the use of small unmanned moving bodies (also called "drones") has been proposed. Such drones fly while measuring their current positions (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a drone measures its current position, for example, when the arrangement of positioning satellites is not suitable for positioning or when the number of positioning satellites capable of receiving positioning radio waves is small, the positioning accuracy deteriorates. In this specification, the positioning accuracy is synonymous with the quality of positioning. To address this problem, it is conceivable to use multiple positionings using different positioning methods. For example, as shown in FIG. 1, assume that the drone 500 is equipped with two positioning systems (SA, SB), and the positioning SA by one positioning system outputs the current coordinates, and the positioning SB by the other positioning system outputs the original coordinates. Then, for example, when switching to the positioning SB near the position P3 while flying along the path Rb based on the current coordinates by the positioning SA, the output coordinates change from the current coordinates to the original coordinates, so the drone 500 has a problem of suddenly changing the flight path and deviating from the path Rb. Hereinafter, the problem that the actual flight path suddenly deviates from the extension line of the previous flight path is referred to as the "deviation problem". Note that the terms "original period" and "current period" follow the definition of the Geospatial Information Authority of Japan. The Geospatial Information Authority of Japan calls the reference date of Geodetic Results 2011 the "original period (genki)" of the survey results, and for the original period, the time point when observations are made thereafter is called the "current period (konki)" (the current period is in "year units"). And the Geospatial Information Authority of Japan provides correction parameters representing the crustal movement that occurred from the original period to the current period (see the website of the Geospatial Information Authority of Japan, Ministry of Land, Infrastructure, Transport and Tourism). It is well known that the mutual conversion between the original coordinates and the current coordinates can be performed for any position using a plurality of correction parameters.

[0005] The present invention attempts to solve the above problems, and an object thereof is to provide an unmanned moving body, an unmanned moving method, and an unmanned moving program that can avoid the deviation problem while using multiple types of positionings.

Means for Solving the Problem

[0006] A first invention is an autonomous flying unmanned mobile body, comprising: a plurality of positioning means for respectively performing a plurality of types of positioning for measuring the current position of the unmanned mobile body and outputting the coordinates of the current position; a coordinate unifying means for unifying the reference dates of the coordinates output by the plurality of types of positioning; a quality judging means for judging the quality of the plurality of types of positioning; and a selection means for selecting a predetermined one of the plurality of types of positioning based on the quality obtained by the quality judgment. The unmanned mobile body is configured to move while measuring the current position of the unmanned mobile body by the positioning selected by the selection means.

[0007] According to the configuration of the first invention, since the unmanned mobile body has a coordinate unifying means, the reference dates of the coordinates output by the plurality of types of positioning can be unified. Further, since the unmanned mobile body has a selection means, it is possible to select positioning with excellent positioning quality. Thereby, it is possible to avoid the deviation problem while using positioning with excellent positioning quality.

[0008] A second invention is an unmanned mobile body according to the configuration of the first invention, wherein the quality judging means is configured to continuously judge the quality, and the selection means is configured to continue using the currently used type of positioning even when the quality of the currently used type of positioning is inferior to that of other types of positioning, provided that the degree of inferiority of the quality is within a predetermined allowable range.

[0009] According to the configuration of the second invention, even when the quality of the currently used type of positioning is inferior to that of other types of positioning, if the degree of inferiority of the quality is within a predetermined allowable range, the currently used positioning is continued. Therefore, stable control is possible without frequently changing the type of positioning.

[0010] The third invention is an unmanned moving body configured such that, in the configuration of the second invention, when the selection means determines that the quality of the current positioning in use tends to deteriorate, it changes to the use of another type of the positioning, and further, as a condition for changing to the use of the other type of the positioning, it is defined that the quality is superior to that of the current positioning in use and tends to be stable or improve.

[0011] According to the configuration of the third invention, if the quality of the current positioning system in use tends to be inferior, it can be changed to another type of positioning that has superior quality and tends to be stable or improve.

[0012] The fourth invention is an unmanned moving body configured such that, in the configuration of any one of the first to third inventions, among a plurality of types of the positioning, some of the positioning are configured to output original coordinates and some of the positioning are configured to output current coordinates, and the coordinate unifying means unifies the coordinates output by the plurality of types of the positioning by correcting the original coordinates to the current coordinates or correcting the current coordinates to the original coordinates with a correction parameter indicating the amount of crustal movement.

[0013] According to the configuration of the fourth invention, when the unmanned moving body is flying based on the current coordinates, the coordinates output by the positioning can be unified to the current coordinates, and when the unmanned moving body is flying based on the original coordinates, the coordinates output by the positioning can be unified to the original coordinates.

[0014] The fifth invention is an autonomous mobile unmanned vehicle, which performs a plurality of types of positioning steps for measuring the current position of the unmanned vehicle and outputting the coordinates of the current position, a quality judgment step for judging the quality of the plurality of types of positioning, and a selection step for selecting a predetermined positioning from the plurality of types of positioning based on the quality in the quality judgment step, and a coordinate unification step for unifying the reference dates of the coordinates output by the plurality of types of positioning, and moves while measuring the current position of the unmanned vehicle by the positioning selected in the selection step. This is an unmanned movement method.

[0015] The sixth invention is a computer for controlling an autonomous mobile unmanned vehicle, which includes a plurality of positioning means for respectively performing a plurality of types of positioning for measuring the current position of the unmanned vehicle and outputting the coordinates of the current position, a coordinate unification means for unifying the reference dates of the coordinates output by the plurality of types of positioning, a quality judgment means for judging the quality of the plurality of types of positioning, and a selection means for selecting a predetermined positioning from the plurality of types of positioning based on the quality obtained by the quality judgment. This is an unmanned movement program for functioning as such.

Effect of the Invention

[0016] According to the present invention, while using a plurality of types of positioning, the deviation problem can be avoided.

Brief Description of the Drawings

[0017]

Figure 1

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Figure 11

Mode for Carrying Out the Invention

[0018] Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail. In the following description, the same reference numerals are given to the same configurations, and the description thereof is omitted or simplified. Note that the description of configurations that can be appropriately implemented by those skilled in the art is omitted, and only the basic configuration of the present invention will be described.

[0019] <First Embodiment> In this specification, terms such as "current period", "original period", and "correction parameter" are used in the meanings described on the website of the Geospatial Information Authority of Japan, Ministry of Land, Infrastructure, Transport and Tourism. The Geospatial Information Authority of Japan is an example of an external organization. Note that an external organization is an organization that provides correction parameters, which may be a public organization such as the Geospatial Information Authority of Japan or a private organization. The meanings of the main terms are as follows. "Position information shown on the map (latitude, longitude, altitude, etc.)" is represented by numerical values at a certain point in time (reference date). Specifically, for the regions centered on Tohoku and Kanto, which were greatly affected by the 2011 Great East Japan Earthquake, May 24, 2011, when the positions were re-determined after the earthquake, is the reference date, and for other regions, January 1, 1997, is the reference date. The reference date of Geodetic Results 2011 is called the "original period" of the survey results. After the original period, the time point when observations were made is called the "current period" (the current period is in "year units"). The "correction parameter" is data provided by the Geospatial Information Authority of Japan and represents the crustal movement that occurred from the original period to the current period. The correction parameter is created based on the amount of crustal movement detected by continuous GPS observations at electronic reference points and altitude area reference point surveys. Also, based on the amount of crustal movement detected at electronic reference points etc., the amount of crustal movement at grid points at approximately 5 km intervals is obtained using an interpolation method called the kriging method. The correction parameter is expressed in terms of the amount of change in latitude (seconds), the amount of change in longitude (seconds), and the amount of change in height (m) from the original period to the current period for each 3rd order mesh code at approximately 5 km intervals. In principle, the application period is in year units from April 1 to March 31 of the following year, and it is updated every year. In this specification, "reference point" shall mean the above-mentioned electronic reference points etc. and the grid points defined at approximately 5 km intervals based on the amount of crustal movement detected at the electronic reference points etc.

[0020] First, as a premise of the present invention, the original period coordinates and the current period coordinates will be described. The position shown on the map in the original period is called "original period coordinates". Using any original period coordinates and correction parameters, the current period coordinates can be calculated. The relationship between the original period coordinates (result values) and the current period coordinates is "current period coordinates = original period coordinates + correction amount indicated by the correction parameters". Note that the "correction amount indicated by the correction parameters" is simply called the correction parameters.

[0021] A method of calculating the current period coordinates using any original period coordinates and correction parameters is well-known, and a method of calculating the original period coordinates using any current period coordinates and correction parameters is also well-known. For example, as shown in FIG. 3, for any position P0x in the original period coordinates, at least three reference points arranged so as to surround the position P0x are specified. For example, reference points P01, P02, and P03 are specified so as to surround the position P0x with a triangle having the smallest area. The reference points P01, P02, and P03 are called "peripheral reference points". Then, the respective crustal movement amounts indicated by the correction parameters of the reference points P01, P02, and P03 are taken as vectors V11, V12, and V13. Then, the reference points P01, P02, and P03 move to the coordinates indicated by the reference points P11, P12, and P13 that have moved by the vectors V11, V12, and V13 from the reference points P01, P02, and P03 in the current period.

[0022] The correction parameter V1X of any position P0x in the original period is an unknown number. If the position P0x coincides with the coordinates of any reference point, the correction parameter V1X of the position P0x is the correction parameter of the reference point. However, when the position P0x does not coincide with the coordinates of the reference point, the farther the distance between the position P0x and the reference point, the more the correction parameter of the reference point should deviate from the correction parameter V1X of the position P0x. Therefore, for example, the correction parameter V1X is calculated based on the distance between the position P0x in the original period and the peripheral reference points.

[0023] Let the distances between the position P0x and each of the reference points P01, P02, and P03 be d1, d2, and d3, respectively. As shown in Equation 1 of Figure 4, let the sum of the distances d1, d2, and d3 be db. As shown in Equation 2, the correction parameter V1X of the position P0x can be calculated based on the correction parameters of the surrounding reference points by weighting so as to increase the weight of the correction parameter of the reference point relatively close to the distance from the position P0x.

[0024] In this period, the position P0x has moved to P1x due to the amount of crustal movement indicated by the correction parameter V1X. The position P1x in this period can be calculated as "position P1x = position P0x + correction parameter V1X" as shown in Equation 3.

[0025] Note that by performing the reverse calculation of the above method, the current coordinates can be converted into the original coordinates.

[0026] In this embodiment, the unmanned moving body 1 flies based on the current coordinates, and when the original coordinates are output by the positioning used, it corrects the current coordinates using the correction parameter. Hereinafter, with reference to FIG. 2, the operation of the unmanned moving body 1 (hereinafter referred to as "drone 1") will be described.

[0027] The drone 1 and the control device 50 constitute an unmanned movement system. The drone 1 is an unmanned flying body, obtains thrust by the rotation of the propeller, and can autonomously fly along a predetermined path. The drone 1 is an example of an unmanned moving body. The control device 50 is an example of a control device that controls the drone 1. The drone 1 receives information indicating the flight path from the control device 50, obtains thrust by the rotation of the propeller, and autonomously flies along a predetermined path. In addition, the drone 1 is adapted to be charged in the control device 50. The control device 50 is composed of a computer capable of wireless communication. Note that the unmanned moving body is not limited to an unmanned flying body, and may be, for example, an unmanned vehicle traveling on the ground or an unmanned ship moving on the water.

[0028] The drone 1 autonomously flies along a predetermined path given by the control device 50 in a predetermined area 300. In this embodiment, the predetermined path is given in current coordinates. When flying, the drone 1 receives positioning radio waves from navigation satellites that make up a satellite positioning system such as GPS, GLONASS, Galileo, and Quasi-Zenith Satellite System (QZSS), continuously measures the current position of the drone 1, and controls the flight position so as not to deviate from the path while flying.

[0029] The drone 1 is equipped with multiple types of positioning means that each perform different types of positioning. Specifically, the drone 1 can perform positioning SA and positioning SB. Positioning SA outputs current coordinates. Positioning SB outputs original coordinates.

[0030] For example, assume that the drone 1 uses positioning SA to fly along path Rb, passes through positions P1 and P2, and switches to positioning SB at position P3. In this case, the drone 1 corrects the original coordinates output by positioning SB to current coordinates. Thereby, even when switching from positioning SA to positioning SB, the drone 1 does not deviate from path Rb.

[0031] Hereinafter, with reference to FIG. 5, an example of the configuration of the drone 1 will be described. As shown in FIG. 5, the drone 1 has a housing 2. In the housing 2, a computer that controls each part of the drone 1, an autonomous flight device, a wireless communication device, a positioning device that uses positioning radio waves from a navigation satellite system such as GPS, an inertial sensor, an air pressure sensor, a battery, etc. are arranged. The drone 1 has multiple types of positioning devices. Also, in the housing 2, a camera 14 is arranged via a fixing device 12.

[0032] The drone 1 acquires a downward image with the camera 14. The camera 14 is a visible light camera, but alternatively, it may be a multispectral camera. The fixing device 12 is a three-axis fixing device (so-called gimbal) that minimizes the blur of the captured image by the camera 14 and can control the optical axis of the camera 14 in an arbitrary direction.

[0033] A round bar-shaped arm 4 is connected to the housing 2. A motor 6 is connected to each arm 4, and a propeller 8 is connected to each motor 6. Each motor 6 is a DC motor (brushless DC motor). Each motor 6 is independently controlled by an autonomous flight device within the housing 2, enabling the drone 1 to freely perform vertical and horizontal movement, hovering in the air, and attitude control.

[0034] A protective frame 10 is connected to the arm 4 to prevent the propeller 8 from directly contacting external objects. The arm 4 and the protective frame 10 are formed of, for example, carbon fiber reinforced plastic, and are configured to be lightweight while maintaining strength.

[0035] FIG. 6 is a diagram showing the functional configuration of the drone 1. As shown in FIG. 6, the drone 1 includes a CPU (Central Processing Unit) 100, a storage unit 102, a wireless communication unit 104, a satellite positioning unit 106, a satellite positioning unit 108, an inertial sensor unit 110, a drive control unit 112, an image processing unit 114, and a power supply unit 116.

[0036] The drone 1 is communicable with the control device 50 via the wireless communication unit 104. The drone 1 receives information on the flight path and instructions such as takeoff from the control device 50 via the wireless communication unit 104. The control device 50 is configured by a computer. Also, various information inputs are received via the control device 50.

[0037] The drone 1 can measure its own position by means of the satellite positioning unit 106 and the satellite positioning unit 108. The satellite positioning unit 106 and the satellite positioning unit 108 each basically receive positioning radio waves from four or more navigation satellites to measure the position of the drone 1. During flight, the drone 1 flies using the output coordinates from either the satellite positioning unit 106 or the satellite positioning unit 108. The position information of the drone 1 itself is used not only for determining the movement path of the drone 1 and for autonomous flight, but also for associating the image data captured by the image processing unit 114 with coordinates (positions). The satellite positioning unit 106 or the satellite positioning unit 108 is an example of a plurality of positioning means that each perform a plurality of types of positioning for measuring the current position of the drone 1 and outputting the coordinates of the current position.

[0038] The positioning performed by the satellite positioning unit 106 is positioning SA, and the positioning performed by the satellite positioning unit 108 is positioning SB. As shown in FIG. 7, positioning SA directly outputs the positioning position obtained by satellite positioning. In the present embodiment, the positioning position obtained by satellite positioning is regarded as the same as the positioning position in the current period. Strictly speaking, the amount of crustal movement from the original period is different between the current period and the current time. However, compared with the amount of crustal movement from the original period to the current time, the difference in the amount of crustal movement between the current period and the current time is small, so in the present embodiment, the current period and the current time are not distinguished. Note that, unlike the present embodiment, the current period and the current time may be distinguished. For example, since the correction parameter is updated once a year, assuming that the crustal movement indicated by the difference between the previous correction parameter and the latest correction parameter continues, the correction parameter at the current time can be calculated by applying the difference according to the number of days elapsed from the current period. For example, if the difference is DIF, one year has 365 days, and 100 days have elapsed from the current period to the current time, the correction parameter at the current time can be calculated as "the correction parameter in the current period + DIF × 100 / 365".

[0039] As shown in FIG. 7, the positioning SB corrects the positioning position obtained by satellite positioning using correction parameters and outputs the result. Specifically, the positioning SB subtracts the correction amount indicated by the correction parameters from the current positioning position obtained by satellite positioning, calculates the coordinates at the reference time, and outputs the reference coordinates.

[0040] The positioning SA and the positioning SB differ not only in the reference date of the coordinates to be output but also in the positioning method. For example, the positioning SA is PPP (Precise Point Positioning) using quasi-zenith satellites. And the positioning SB is RTK (Real Time Kinematic) positioning using GPS satellites. By selectively using a plurality of different types of positioning systems, it is always possible to use a positioning system with relatively high reliability. Note that the positioning method is not limited to the above.

[0041] The inertial sensor unit 110 measures changes in the attitude of the drone 1 by, for example, an acceleration sensor and a gyro sensor.

[0042] The drive control unit 112 controls the rotation of the propellers 8 (see FIG. 5) connected to each motor 6 of the drone 1 to control the attitude such as vertical and horizontal movement, hovering in the air, and tilting.

[0043] The image processing unit 114 can operate the camera 14 (see FIG. 5) of the drone 1 to acquire external images.

[0044] The power supply unit 116 is, for example, a replaceable rechargeable battery and supplies power to each part of the drone 1.

[0045] In the memory unit 102, in addition to various data and programs necessary for autonomous flight such as data indicating a movement plan for autonomous flight from a starting point to a target position, an autonomous flight program, a coordinate unification program, a quality determination program, and a selection program are stored. The CPU 100 and the autonomous flight program are an example of autonomous flight means. The CPU 100 and the coordinate unification program are an example of coordinate unification means. The CPU 100 and the quality determination program are an example of quality determination means. The CPU 100 and the selection program are an example of selection means. The drone 1 selects a predetermined positioning system from a plurality of types of positioning systems based on the superiority or inferiority of quality by the quality determination program.

[0046] The drone 1 is configured to receive information indicating a flight path from the control device 50 by the autonomous flight program and perform autonomous flight. The drone 1 is configured to fly a predetermined flight path by inputting the current position acquired by positioning into the autonomous flight program. Since the autonomous flight program refers to a flight path based on the coordinates of a predetermined reference date, for example, the current position input into the autonomous flight program needs to be the coordinates of that predetermined reference date. In the present embodiment, the predetermined reference date is the current period. Therefore, the current position needs to be the coordinates in the current period. Further, the drone 1 controls the attitude of the drone 1 by referring to the output from the inertial sensor unit 110 by the autonomous flight program.

[0047] The drone 1 matches the coordinates output by multiple types of positioning SA and SB through a coordinate unification program. Here, unifying the coordinates means making the reference dates of the coordinates match. The reference date of the coordinates is, for example, the base period, the current period, or the present. In this embodiment, the date and time serving as the reference for the coordinates is the current period. The drone 1 corrects the coordinates output in the base period by the positioning SB to the current period through the coordinate unification program. The drone 1 stores the correction parameters of each reference point within the area 300 in the storage unit 102. Alternatively, when the drone 1 passes near each reference point within the area 300, it directly receives from the outside, or receives from the outside via the control device 50, the correction parameters of each reference point around the vicinity. The drone 1 is configured to correct the base period coordinates of an arbitrary position to the current period coordinates using the correction parameters.

[0048] The drone 1 determines the quality superiority or inferiority of the positioning by multiple types of positioning SA and SB through a quality judgment program. The quality is determined by referring to elements such as information indicating the number of satellites, DOP (Dilution Of Precision) indicating the arrangement of positioning satellites, health flags, alert flags, etc. For each of the multiple types of positioning systems, while receiving the positioning radio waves, the drone 1 counts the number of satellites, calculates the DOP, and acquires the health flag and alert flag from the positioning radio waves. The drone 1 quantifies each element and determines the quality. For example, assuming the quality is evaluated from 10 points (good) to 0 points (bad), for the number of satellites, if the number of satellites capable of receiving the positioning radio waves is less than 4, it is 0 points, and if it is 10 or more, it is 10 points. For the DOP, the minimum area is set as 1 point and the maximum area is set as 10 points. For the health flag or alert flag, for satellites with negative content, the number of satellites is decreased by 1. The drone 1 determines the quality based on the total score obtained by summing up the scores of each element.

[0049] The drone 1 selects a predetermined positioning from multiple types of positionings based on the quality by the quality judgment program through the selection program. For example, the drone 1 selects the positioning with the higher score indicating quality between positioning SA and positioning SB. When the scores indicating quality are the same, the drone 1 selects the positioning SA that outputs the current position.

[0050] The drone 1 is configured to perform autonomous flight while measuring the current position of the drone 1 using the selected positioning SA or positioning SB by the selection program. When the drone 1 performs autonomous flight using the positioning SB, it corrects the original coordinates output from the positioning SB to the current coordinates by the above-mentioned coordinate unification program.

[0051] The drone 1 uses only one type of positioning for autonomous flight, but continuously performs multiple types of positionings. For example, even when the drone 1 uses the positioning SA for autonomous flight, it concurrently performs the positioning SB. And it continuously performs the processing by the above-mentioned quality judgment program and selection program.

[0052] FIG. 8 is a diagram showing the functional configuration of the control device 50. As shown in FIG. 8, the control device 50 includes a CPU 200, a storage unit 202, a wireless communication unit 204, a display unit 206, and a power supply unit 208.

[0053] Hereinafter, the operation of the drone 1 will be described with reference to the flowchart of FIG. 9. When the drone 1 starts flying, it performs the positioning SA and the positioning SB respectively, and judges the quality of the positioning SA and the positioning SB (step ST1 in FIG. 9). Subsequently, the drone 1 selects the one with higher quality (positioning SA or positioning SB) (step ST2), and corrects the output result to the current coordinates when using the positioning SB for flight (step ST3). Subsequently, the drone 1 judges whether the mission is completed (step ST4). If the mission is completed, it returns (step ST5). If the mission is not completed, it repeats steps ST1 to ST4. Step ST1 is an example of a positioning step and a quality judgment step. Step ST2 is an example of a selection step. Step ST3 is an example of a coordinate unification step.

[0054] <Second Embodiment> Hereinafter, with reference to FIG. 10 and the like, the second embodiment will be described. Descriptions of matters common to the first embodiment will be omitted, and the description will focus on the different parts.

[0055] In the second embodiment, the drone 1 is configured by a selection program to continue using the currently used type of positioning even when the quality of the currently used type of positioning is inferior to that of other types of positioning, as long as the degree of inferiority is within a predetermined allowable range.

[0056] For example, when the drone 1 is flying using positioning SA, even if the quality of positioning SA is inferior to that of positioning SB, as long as the degree of inferiority is within the allowable range, it will continue to fly using positioning SA. The allowable range is, for example, a difference of within 5% in terms of quality. For example, when the total score of the quality of positioning SA is 29 points and the total score of the quality of positioning SB is 30 points, even if the quality of positioning SA is lower than that of positioning SB, the difference is about 3% (1 / 30), which is within the allowable range, so the use of positioning SA is continued. On the other hand, when the total score of the quality of positioning SA is 25 points and the total score of the quality of positioning SB is 30 points, the quality of positioning SA is lower than that of positioning SB, and the difference is about 17% (5 / 30), which is outside the allowable range, so the use of positioning SA is stopped and the positioning for flying is changed to positioning SB.

[0057] Hereinafter, with reference to FIG. 10, the operation of the drone 1 will be described. When the drone 1 determines that the superiority or inferiority of the quality has reversed (step ST21), it further determines whether the difference in the superiority or inferiority of the quality is within the allowable range (step ST22). If it is within the allowable range, it maintains the currently used positioning. If it is not within the allowable range, it changes to the positioning with higher quality and uses it (step ST23).

[0058] <Third Embodiment> Hereinafter, with reference to FIG. 11 and the like, the third embodiment will be described. Descriptions of matters common to the first embodiment or the second embodiment will be omitted, and the description will focus on the different parts.

[0059] In the third embodiment, when the drone 1 determines, based on a selection program, that the quality of the currently used positioning tends to deteriorate, the drone 1 is configured to change to the use of another type of positioning. Further, as a condition for changing to another type of positioning, it is defined that the quality is better than that of the currently used positioning and the quality tends to be stable or improve.

[0060] For example, if the quality of the positioning SA tends to deteriorate while the drone 1 is in flight using the positioning SA, even if the difference in quality from the positioning SB is within the allowable range, the positioning used for flight is switched to the positioning SB.

[0061] Hereinafter, with reference to FIG. 11, the operation of the drone 1 will be described. When the drone 1 determines that the superiority or inferiority of the quality has reversed (step ST21), it further determines whether the difference in the superiority or inferiority of the quality is within the allowable range (step ST22). If it is within the allowable range, it further determines whether the quality of the positioning used for flight tends to deteriorate (step ST31). If the quality of the positioning used for flight does not tend to deteriorate, the currently used positioning is maintained. If it tends to deteriorate, it is changed to the positioning with higher quality and used (step ST23).

[0062] Note that the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. within the range that can achieve the object of the present invention are included in the present invention.

Explanation of Reference Numerals

[0063] 1 Drone 2 Housing 6 Motor 14 Camera 50 Control Device 102, 202 Storage Unit 106, 108 Satellite Positioning Unit

Claims

1. An autonomous mobile unmanned vehicle, comprising: a plurality of positioning means for respectively performing a plurality of types of positioning for measuring the current position of the unmanned vehicle and outputting the coordinates of the current position; coordinate unifying means for unifying the reference dates of the coordinates output by the plurality of types of positioning; quality judging means for judging the quality of the plurality of types of positioning; selecting means for selecting a predetermined one of the plurality of types of positioning based on the quality by the quality judgment; having configured to move while measuring the current position of the unmanned vehicle by the positioning selected by the selecting means; the reference date is either the original period or the current period; the original period is May ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ A positioning step of positioning the current position of the unmanned mobile body and respectively performing a plurality of types of positioning for outputting the coordinates of the current position; A quality determination step of determining the quality of a plurality of types of the positioning; A selection step of selecting a predetermined one of the plurality of types of positioning based on the quality in the quality determination step; A coordinate unification step of unifying the reference dates of the coordinates output by the plurality of types of positioning; are performed, A method for an unmanned mobile body, which moves while positioning the current position of the unmanned mobile body by the positioning selected in the selection step, The reference date is either the original period or the current period; In Japan, the original period is May 24, 2011 for the regions centered on Tohoku and Kanto that were greatly affected by the Great East Japan Earthquake in 2011, and January 1, 1997 for the regions other than the regions centered on Tohoku and Kanto; The current period is the time point at which observations were made after the original period; Among the plurality of types of positioning, some of the positioning are configured to output original period coordinates and some of the positioning are configured to output current period coordinates; In the coordinate unification step, the coordinates output by the plurality of types of positioning are unified by correcting the original period coordinates to the current period coordinates or correcting the current period coordinates to the original period coordinates by a correction parameter indicating the amount of crustal movement; An unmanned mobile method.

5. A computer for controlling an unmanned mobile body capable of autonomous flight movement, A plurality of positioning means for respectively performing a plurality of types of positioning for positioning the current position of the unmanned mobile body and outputting the coordinates of the current position; Coordinate unification means for unifying the reference dates of the coordinates output by the plurality of types of positioning; Quality determination means for determining the quality of the plurality of types of positioning, and Selection means for selecting a predetermined one of the plurality of types of positioning based on the quality by the quality determination, An unmanned mobile program for functioning as, The reference date is either the original period or the current period; In Japan, the original period is May 24, 2011 for the regions centered on Tohoku and Kanto that were greatly affected by the Great East Japan Earthquake in 2011, and January 1, 1997 for the regions other than the regions centered on Tohoku and Kanto; The current period is the time point at which observations were made after the original period; Among the plurality of types of the positioning, some of the positioning are configured to output original coordinates, and some of the positioning are configured to output current coordinates. The coordinate unifying means unifies the coordinates output by the plurality of types of the positioning by correcting the original coordinates to the current coordinates or correcting the current coordinates to the original coordinates with a correction parameter indicating an amount of crustal movement. Unmanned movement program.

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