Drones, drone systems, drone control methods, and drone control programs

Abstract

A drone, a drone system, a control method, and a control program for controlling the attitude of the drone are provided. [Solution] The drone comprises a drone body, one or more first propellers arranged on the drone body and generating a vertically upward thrust, multiple second propellers arranged on the drone body and generating a vertically downward thrust, a three-axis gyro arranged on the drone body, a determination unit that determines whether the attitude balance of the drone body has tilted from a reference value greater than or equal to a threshold based on the detection value detected by the three-axis gyro, an identification unit that, if the determination unit determines that the attitude balance of the drone body has tilted from a reference value greater than or equal to the threshold, identifies a tilt in the direction that returns the attitude balance of the drone body to less than the tilt threshold based on the detection value and identifies a second propeller corresponding to the direction of the tilt, and a drive control unit that controls the drive motor of the second propeller to rotate the second propeller identified by the identification unit.

Description

[Technical Field]

[0001] The present disclosure relates to a drone, a drone system, a drone control method, and a drone control program. [Background technology]

[0002] Conventionally, drones control their attitude by controlling the rotation speed of multiple rotors arranged on the drone (see Patent Document 1). Note that each of the multiple rotors rotates in only one direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2024-028683 Summary of the Invention [Means for solving the problem]

[0004] One embodiment of a drone includes a drone body, one or more first propellers arranged on the drone body and generating a vertically upward thrust, multiple second propellers arranged on the drone body and generating a vertically downward thrust, a three-axis gyro arranged on the drone body, a determination unit that determines whether the attitude balance of the drone body has tilted from a reference value greater than or equal to a threshold based on a detection value detected by the three-axis gyro, an identification unit that, if the determination unit determines that the attitude balance of the drone body has tilted from a reference value greater than or equal to the threshold, identifies a tilt in the direction of returning the attitude balance of the drone body to less than the tilt threshold based on the detection value and identifies a second propeller corresponding to the direction of the tilt, and a drive control unit that controls the drive motor of the second propeller to rotate the second propeller identified by the identification unit. [Brief explanation of the drawings]

[0005] [Figure 1]FIG. 1 is a diagram (schematic diagram) for explaining a drone and a drone system according to an embodiment. [Figure 2] FIG. 1 is a plan view illustrating an overview of a drone according to an embodiment. [Figure 3] 10A and 10B are diagrams for explaining an example of a shutter disposed on a second propeller, where (A) shows an example of the shutter in a closed state, and (B) shows an example of the shutter in an open state. [Figure 4] FIG. 1 is a block diagram illustrating an information processing device according to an embodiment. [Figure 5] This is a diagram (schematic diagram) to explain an example of drone flight. (A) shows normal flight in which the drone flies at a fixed point, (B) shows abnormal flight in which the drone's attitude balance is lost (tilted), and (C) shows normal flight in which the drone's attitude balance has been restored (restored). [Figure 6] 1 is a flowchart illustrating an information processing method according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0006] An embodiment will be described below.

[0007] [Overview of Drone 10 and Drone System 1] First, an overview of a drone 10 and a drone system 1 according to an embodiment will be described. FIG. 1 is a diagram (schematic diagram) for explaining a drone 10 and a drone system 1 according to an embodiment. FIG. 2 is a plan view for explaining an overview of the drone 10 according to one embodiment. 3A and 3B are diagrams for explaining an example of the shutter 23 disposed on the second propeller 22. Fig. 3A shows an example of the shutter 23 in a closed state, and Fig. 3B shows an example of the shutter 23 in an open state. Note that Figure 1 and Figure 5 described below are merely schematic diagrams for explaining the configuration of the drone, and the positions of the first propeller 21 and the second propeller 22 may be different in the vertical direction as shown, or the positions of the first propeller 21 and the second propeller 22 may be the same (approximately the same) in the vertical direction.

[0008] Conventionally, drones control their attitude by controlling the rotation speed of multiple rotors, each of which rotates in only one direction. Drones are prone to losing their attitude when hit by strong winds during flight. In such cases, drones control their attitude by controlling the rotational speed of multiple rotors, as in the past. Conventional drones fly relatively freely based on pilot control, and when their attitude is lost, they maintain that attitude by controlling the rotational speed of rotors that rotate in only one direction. This does not pose any particular problem even if the drone deviates from the flight direction desired by the pilot.

[0009] However, some drones are required to fly at a fixed point (flying while maintaining a fixed position (hovering at a fixed position)). As an example, there are fixed-point flight drones (e.g., fixed-point flight drones equipped with base station functions) that fly at a fixed point when a disaster occurs, ensuring communications in disaster-stricken areas by having aircraft equipped with communication base station functions fly at a fixed point. Because such fixed-point flight drones are required to fly at a fixed position to ensure communications, it is not desirable for them to deviate from their fixed position like conventional drones. In other words, even if a fixed-point flight drone loses its attitude due to a sudden gust of wind or the like, it is not desirable for it to deviate from its fixed position through attitude control like conventional drones.

[0010] Furthermore, because drones are kept afloat by the thrust of their propellers, they are prone to losing balance and crashing in turbulent winds. In other words, because the propellers on conventional drones propel in a vertical direction (a direction of vertical upward thrust), if the drone tilts, the direction of thrust becomes disrupted (the thrust acts in a strange direction (different direction) than vertical upward thrust), and there is a risk of the drone losing its ability to rise.

[0011] Therefore, the drone 10 of this embodiment controls its own attitude. As an example, the drone 10 of this embodiment controls its own attitude so that it can fly while maintaining a constant position. The drone 10 of this embodiment may be, for example, a "drone that performs fixed-point flight (flying while maintaining a constant position)", a "drone equipped with base station functionality for communications (e.g., mobile communications, etc.)", a "drone for disaster response", or a "drone for disaster response that performs fixed-point flight and is equipped with base station functionality".

[0012] Specifically, as illustrated in Figure 2, the drone 10 of this embodiment is equipped with a propeller (first propeller 21) that generates a thrust (upward force) in the vertical upward direction (the +Z direction illustrated in Figures 5(A) and 5(B)), as well as a reverse thrust propeller (second propeller 22) that generates a thrust in the opposite direction (opposite direction) (the -Z direction illustrated in Figure 5(B)) to the direction in which the thrust of the first propeller 21 is generated (the upward direction). In this embodiment, when the drone 10 tilts its own attitude (attitude balance), it returns its own attitude (attitude balance) to its original state by the thrust in the opposite direction from the second propeller 22. Because the drone 10 cannot rotate the second propeller 22 instantaneously (because it cannot start rotating the second propeller 22 at high speed in a relatively short time), the second propeller 22 is rotated relatively slowly in advance. Then, when the drone 10's attitude (attitude balance) is not tilted (not lost), the shutter 23 (slit) arranged on the second propeller 22 is closed so as not to generate a thrust force in the opposite direction (see FIG. 3(A)). That is, the second propeller 22 is provided with a shutter 23 with a shield opening / closing mechanism (a shutter that can open and close a slit). The shutter 23 has a mechanism (opening / closing mechanism) using, for example, a spring or the like, and does not open the slit if the rotation speed of the second propeller 22 is equal to or lower than a certain rotation speed (first rotation speed or lower) (see FIG. 3(A)). On the other hand, when the rotation speed (rotational speed) of the second propeller 22 increases, for example, the force of the rotation is transmitted to the rotation shaft 25 of the shutter 23, and the shutter 23 adjusts the force of the spring so that the slit in contact with the rotation shaft 25 opens. When the slit opens as shown in Fig. 3(B), the shutter 23 slides its rotating shaft 25 to prevent a load from being applied to the slit. The mechanism for sliding the rotating shaft 25 may utilize, for example, a technology used in a known torque wrench or the like, or various other technologies. Such a shutter 23 with a shield opening / closing mechanism (a shutter that can open and close a slit) may utilize, for example, various known technologies.

[0013] More specifically, as illustrated in Fig. 2, the drone 10 of this embodiment includes a drone body 11, one or more first propellers 21, multiple second propellers 22, and an information processing device 100. The "propellers" of the first propeller 21 and the second propeller 22 may also be referred to as "rotors," for example. Note that the number of each of the first propellers 21 and the second propellers 22 is not limited to four as illustrated in Fig. 2, and may be three or less, or five or more.

[0014] The drone body 11 includes, for example, a three-axis gyro (not shown). The three-axis gyro is sometimes referred to as a "three-axis gyro sensor," a "three-axis angle sensor," a "three-axis acceleration sensor," or the like, and may be a known sensor. Based on the detection value detected by the three-axis gyro, the drone 10 can determine whether the attitude (attitude balance) of the drone body 11 is stable (whether the drone is flying at a fixed point during normal flight with its attitude intact) or whether the attitude (attitude balance) of the drone body 11 is unstable (whether the drone is flying during an abnormal flight with its attitude intact). The drone 10 may, for example, determine the attitude (attitude balance) of the drone body 11 (its own aircraft) using an information processing device 100 disposed in the drone body 11.

[0015] The first propeller 21 is disposed on the drone body 11 and generates a propulsive force directed vertically upward. That is, the first propeller 21 generates lift for the drone body 11. One or more first propellers 21 are rotated in a first direction by, for example, a drive motor (first drive motor 210 (see FIG. 4)) disposed on each of the first propellers 21. That is, the first drive motor 210 rotates the first propeller 21 disposed on the rotation shaft in the first direction, for example, by controlling the rotation speed of the rotation shaft. When multiple first propellers 21 are arranged, the multiple first propellers 21 may be arranged at equal positions when the drone body 11 is viewed in a plane, as a specific example, at angles of approximately 60 degrees or approximately 90 degrees relative to the center position of the drone body 11.

[0016] The second propeller 22 is disposed on the drone body 11 and generates a vertically downward propulsive force. The multiple second propellers 22 are rotated in a second direction opposite to the first direction, for example, by a drive motor (second drive motor 220 (see FIG. 4)) disposed in each of the second propellers 22. That is, the second drive motor 220 rotates the second propeller 22 disposed on the rotation shaft in the second direction, for example, by controlling the rotation speed of the rotation shaft. Each of the multiple second drive motors 220 may rotate the second propeller 22 at all times. In this case, each second drive motor 220 may rotate each second propeller 22 at a speed (rotation speed (first rotation number (first rotation speed))) slower than the rotation speed of the first propeller 21 under normal circumstances (when the drone body 11's attitude (attitude balance) is not disrupted (when the drone body 11 is flying stably at a fixed point)). The multiple second propellers 22 may be arranged at equal positions in a plan view of the drone body 11, specifically at angles of approximately 60 degrees or approximately 90 degrees relative to the center position of the drone body 11. The multiple second propellers 22 are arranged in positions that do not interfere with one or more first propellers 21, i.e., positions that do not interfere with the rotation of the first propellers 21, in other words, positions that do not overlap with the first propellers 21 in a plan view. Furthermore, unlike the case illustrated in the drawings, the multiple second propellers 22 may be arranged in positions that do not interfere with each of the multiple first propellers 21, but in the same plane as the multiple first propellers 21. Using the X-axis, Y-axis, and Z-axis illustrated in FIGS. 5(A) and 5(B), the multiple second propellers 22 and the multiple first propellers 21 may be arranged in an XY plane.

[0017] All second propellers 22 are provided with shutters 23 that close at a first rotation speed and open in conjunction with rotation of second propellers 22 at the second rotation speed or higher. That is, as shown in FIG. 3A, shutters 23 are provided with a plurality of blades 24 (plate-shaped members), and base ends 241 of the blades 24 (plate-shaped members) are connected to the rotation shaft 25 of second propeller 22 (the rotation shaft of second drive motor 220). The length from base end 241 to tip end 242 of each blade 24 (plate-shaped member) is the same as (substantially the same as) the radius of second propeller 22 or longer than the radius of second propeller 22. When the shutter 23 is closed, it covers the entire surface of the second propeller 22, and even when the second propeller 22 rotates at a first rotation number (first rotation speed), it does not generate (or substantially does not generate) a downward thrust force for the drone body 11. On the other hand, when the second propeller 22 rotates at a second rotation number (second rotation speed), the shutter 23 opens in an arc shape around the rotation axis 25 of the second propeller 22 (second drive motor 220) in accordance with the rotation (closes so that the multiple blades 24 (plate-like members) overlap each other) (see FIG. 3(B)), and the second propeller 22 generates a downward thrust force for the drone body 11. The shutter 23 and the second propeller 22 (second drive motor 220) may be engaged (coupled) by a known member or the like that can open and close the shutter 23 by utilizing the torque generated when the rotary shaft 25 rotates, for example.

[0018] The drone main body 11 includes an information processing device 100 (see FIG. 1). The information processing device 100 may be, for example, a computer that controls the drone 10. That is, the information processing device 100 may perform various drone controls, including flight control of the drone 10.

[0019] The drone 10 (information processing device 100) may fly using a known flight control method based on the detection values ​​of a three-axis gyro, for example, during normal flight (fixed-point flight) while maintaining its attitude (attitude balance). On the other hand, when the drone 10 (information processing device 100) is in an abnormal state where its attitude (attitude balance) is disrupted, it controls its flight as follows to maintain fixed-point flight.

[0020] That is, first, the drone 10 (information processing device 100) determines whether the attitude balance of the drone body 11 has tilted from a reference value by a threshold value or more, based on the detection value detected by the three-axis gyro. Next, when the drone 10 (information processing device 100) determines, for example, that the attitude (attitude balance) of the drone body 11 has tilted from the reference value by more than the threshold value due to a gust of wind or the like, it may identify, based on the detection value, the tilt in the direction to return the attitude balance of the drone body 11 to less than the tilt threshold (the position of the drone 10 in a plane (e.g., the XY plane) where the attitude balance has tilted). Furthermore, the drone 10 (information processing device 100) identifies the second propeller 22 (second propeller 22a (see FIG. 5(B))) corresponding to the direction of the tilt (that position). Next, the drone 10 (information processing device 100) transmits a control signal to the second drive motor 220 that rotates the specified second propeller 22 (22a) (each of one or more second propellers 22 (22a)) as described above, to increase the rotation speed compared to the normal rotation speed (first rotation number (first rotation speed)), and drives the second drive motor 220. In other words, the drone 10 (information processing device 100) rotates the second propeller (22a) at the second rotation number (second rotation speed) (first rotation number < second rotation number (first rotation speed < second rotation speed)). This allows the drone 10 to restore its posture and maintain fixed-point flight even if it loses its posture due to, for example, a sudden gust of wind.

[0021] The drone body 11 may also be provided with a base station function (a device (base station) that performs the base station function) (not shown) for communications (for example, mobile communications, etc.).

[0022] A drone system 1 equipped with a drone 10 (e.g., a fixed-point flying drone) as described above may also be equipped with a power supply 20 (ground power supply) that is separate from the drone 10 (e.g., a fixed-point flying drone) and is located on the ground 30 for supplying power to the drone 10 (see Figure 1). For example, a drone 10 equipped with base station functionality consumes a relatively large amount of power, but by supplying power to the drone 10 from a power source 20 on the ground 30, it can maintain fixed-point flight for a relatively long period of time and perform base station functionality for a relatively long period of time. That is, the drone system 1 can function as a base station, which is advantageous in the event of a disaster, etc. Furthermore, by supplying power to the drone 10 via a wire from the ground 30 (by maintaining power supply from the ground 30), the drone system 1 can avoid problems such as an increase in weight due to the installation of a counter-propulsion propeller (second propeller 22) and a drive motor (second drive motor 220), and an increase in power consumption due to an increase in the number of counter-propulsion propellers (second propeller 22).

[0023] In other words, the drone 10 and drone system 1 of this embodiment may be a wireless relay system using a wired powered drone, and by remaining (hovering) at a fixed location and a fixed altitude for a relatively long period of time in order to respond to disasters, it becomes possible to form a communication cell directly below it, and to take measures against strong winds, which is an important issue when operating drones during disasters.

[0024] [Details of the information processing device 100] Next, the information processing device 100 according to an embodiment will be described in detail. FIG. 4 is a block diagram illustrating an information processing device 100 according to an embodiment.

[0025] The information processing device 100 includes, for example, a storage unit 121 and a control unit 110. The control unit 110 includes, for example, a determination unit 111, an identification unit 112, and a drive control unit 113. The control unit 110 may be configured, for example, by an arithmetic processing unit of the information processing device 100. The control unit 110 (for example, an arithmetic processing unit) may realize the functions of each unit (for example, the determination unit 111, the identification unit 112, and the drive control unit 113) by, for example, appropriately reading and executing various programs stored in the storage unit 121. In other words, the functions of each unit may be realized by computer implementation.

[0026] The storage unit 121 may store, for example, various types of information and programs. Examples of the storage unit 121 may include a memory, a solid state drive, and a hard disk drive.

[0027] Figure 5 is a diagram (schematic diagram) for explaining an example of flight of the drone 10. Figure 5(A) shows normal flight in which the drone 10 flies at a fixed point, Figure 5(B) shows abnormal flight in which the drone 10 loses its balance (tilts), and Figure 5(C) shows normal flight in which the drone 10 has regained its balance. In addition, in FIG. 5, the shutter 23 disposed on the second propeller 22 is not shown.

[0028] Normally, the drone 10 may fly at a fixed point, for example. In this case, when the drone 10 is viewed from above, for example, the drone body 11 is on an XY plane consisting of the X axis and the Y axis, and when the drone body 11 is viewed from the +Z direction of the Z axis, the drone body 11 flies horizontally (the horizontal plane and the XY plane of the drone body 11 are parallel) with respect to the ground 30 (horizontal plane) (reference value) (see FIG. 5(A)). In this case, the drive control unit 113, for example, drives the first drive motor 210 (see FIG. 4) to rotate the first propeller 21, and flies the drone 10 at a fixed position. The drive control unit 113 also, for example, drives the second drive motor 220 (see FIG. 4) to rotate the second propeller 22 at a first rotation number (first rotation speed). In this case, the shutter 23 disposed on the second propeller 22 is closed (see FIG. 3(A)). The first rotation number (first rotation speed) of the second propeller 22 may be, for example, a rotation number (rotation speed) slower than the rotation number (rotation speed) of the first propeller.

[0029] The determination unit 111 determines whether the attitude balance of the drone body 11 has tilted from a reference value by a threshold or more, based on the detection value detected by the three-axis gyro. As an example, the determination unit 111 determines whether the angle θ between the plane of the drone body 11 (the plane (XY plane) in the planar direction of the drone body 11) and the ground 30 (horizontal plane) (reference value) has tilted by a threshold or more, based on the detection value detected by the three-axis gyro (see FIG. 5(B)). In this case, the determination unit 111 may estimate how much tilt of the drone body 11 relative to the tilt (tolerance range) allowed when the drone 10 (drone body 11) is flying normally (flying at a fixed position (fixed-point flight)) will pose a risk of crashing and whether there is a possibility of deviation from the fixed-point position, and set the threshold depending on the result of the estimation. As a more specific example, the judgment unit 111 may judge, based on the detection value of the three-axis gyro, whether the attitude balance of the drone body 11 relative to the horizontal plane (reference value) has risen from the horizontal reference value to an angle greater than or equal to a threshold value (whether any position on the drone body 11 (any side of the periphery of the drone 10) has tilted from the horizontal reference value (horizontal plane) by more than the threshold value).

[0030] When the determination unit 111 determines that the attitude balance of the drone body 11 has tilted from a reference value by more than a threshold value, the identification unit 112 identifies, based on the detection value, the tilt in the direction of returning the attitude balance of the drone body 11 to less than the tilt threshold (the position within the plane (e.g., the XY plane) of the drone 10 where the attitude balance has tilted (the tilted position (the position where the tilt is returned to normal))), and identifies the second propeller 22 corresponding to the direction of the tilt. As an example, when the drone body 11 is viewed in a plane (when the drone body 11 is viewed on an XY plane consisting of the X axis and Y axis (in this case, the Z axis (+Z direction) is the height direction of the drone 10)), and the identification unit 112 determines that the +X direction of the drone body 11 has risen and tilted by more than a threshold value as illustrated in FIG. 5(B), the identification unit 112 identifies the +X direction (the position in the +X direction) where the tilt of more than the threshold value has occurred, and identifies one or more second propellers 22a located in the +X direction of the drone body 11. In other words, the identification unit 112 identifies the second propellers 22a that generate a thrust that lowers the +X direction of the drone body 11.

[0031] The drive control unit 113 controls the drive motor (second drive motor 220) of the second propeller 22a to rotate the second propeller 22a identified by the identification unit 112. The drive control unit 113 may control the drive motors to constantly rotate all second propellers 22 at a first rotation speed during normal times, and when the determination unit 111 determines that the attitude balance of the drone body 11 has tilted from a reference value equal to or greater than a threshold (in the case of abnormal times), and the identification unit 112 identifies a second propeller 22a for returning the tilt of the drone body 11 to less than the threshold, the drive control unit 113 may control the drive motor (second drive motor 220) of the second propeller 22a to rotate the second propeller 22a at a second rotation speed that is higher than the first rotation speed. That is, when the attitude (attitude balance) of the drone body 11 is unstable (when the flight attitude is out of whack), the drive control unit 113 increases the rotational speed of the identified second propeller 22a above the normal rotational speed (first rotation number (first rotation speed)), and rotates the second propeller 22a at the second rotational speed (second rotational speed) (first rotational speed<second rotational speed (first rotational speed<second rotational speed)). The second rotational speed (second rotational speed) of the second propeller 22 may be, for example, a rotational speed (rotational speed) faster than the rotational speed (rotational speed) of the first propeller.

[0032] In this case, the shutter 23 disposed on the second propeller 22a identified by the identification unit 112 changes from the closed state to the open state in response to drive control of the drive motor (second drive motor 220) by the drive control unit 113 (in response to the identified second propeller 22a rotating at the second rotation speed). As a result, the identified second propeller 22a generates a downward thrust force (in the −Z direction illustrated in FIG. 5(B)).

[0033] Furthermore, after controlling the drive motor (second drive motor 220) of the second propeller 22a to be driven as described above, if the judgment unit 111 determines, based on the detection value detected by the three-axis gyro, that the attitude balance of the drone body 11 has returned to an inclination from a reference value less than a threshold value (when returned to normal) (see Figure 5 (C)), the drive control unit 113 may control the drive motor (second drive motor 220) so that the rotation of the second propeller 22a (second rotation number (second rotation speed)) becomes the normal rotation (first rotation number (first rotation speed)). In this case, the shutter 23 disposed on the second propeller 22a changes from an open state to a closed state in response to a decrease in the rotation speed of the second propeller 22a.

[0034] Note that, in the case of abnormal circumstances, the drive control unit 113 may rotate the second propellers 22b not specified as described above (the other second propellers 22b other than the second propeller 22a specified as described above) while maintaining the normal rotation speed. Alternatively, in the case of abnormal circumstances, the drive control unit 113 may adjust the rotation speed of the second propellers 22b not specified as described above (the other second propellers 22b) in conjunction with an increase in the rotation speed of the second propeller 22a specified as described above so as to more quickly return the attitude of the drone body 11 to the normal state. In this case, the shutter 23 disposed on the other second propeller 22b may also change from the closed state to the open state in response to an increase in the rotation speed of the other second propeller 22b.

[0035] In addition, the drive control unit 113 may control the first propeller 21 (the drive motor (first drive motor 210) that rotates the first propeller 21) to rotate (drive) at all times so that fixed-point flight is performed using the lift generated by the first propeller 21.

[0036] [Information processing method (drone 10 control method)] Next, an information processing method according to an embodiment will be described. FIG. 6 is a flowchart illustrating an information processing method according to an embodiment.

[0037] In step ST101, the determination unit 111 determines whether the attitude balance of the drone body 11 has tilted from the reference value by more than a threshold value, based on the detection value detected by the three-axis gyro.

[0038] In step ST102, if the identification unit 112 determines in step ST101 that the attitude balance of the drone body 11 has tilted from a reference value greater than or equal to the threshold, it identifies the tilt (the position (direction) where the tilt occurred) in the direction that returns the attitude balance of the drone body 11 to less than the tilt threshold based on the detection value, and identifies the second propeller 22 (22a) corresponding to the direction of the tilt.

[0039] In addition, if the identification unit 112 does not determine in step ST101 that the attitude balance of the drone body 11 has tilted from the reference value by more than the threshold value (is not tilted), it does not need to perform the process of identifying the second propeller 22 described above.

[0040] In step ST103, the drive control section 113 controls the drive motor (second drive motor 220) of the second propeller 22 (22a) so as to rotate the second propeller 22 (22a) identified in step ST102.

[0041] In this case, the drive control unit 113 may normally control the drive motor (second drive motor 220) so that all second propellers 22 are constantly rotated at the first rotation speed. On the other hand, when the drive control unit 113 determines in step ST101 that the attitude balance of the drone body 11 has tilted from the reference value by more than the threshold value, and identifies the second propeller 22 (22a) in step ST102 to return the tilt of the drone body 11 to less than the threshold value (in the case of an abnormal situation), it may control the drive motor (second drive motor 220) of the second propeller 22 (22a) to rotate the second propeller 22 (22a) at a second rotation speed that is higher than the first rotation speed.

[0042] [Functions and circuits] Next, the functions and circuits of the information processing device 100 will be described. Each unit of the information processing device 100 may be realized as a function of a processing unit of a computer or the like. The information processing device 100 may, for example, realize the functions of the judgment unit 111, the identification unit 112, and the drive control unit 113 using a single control unit 110 (e.g., an arithmetic processing device, etc.), or may realize the functions of the judgment unit 111, the identification unit 112, and the drive control unit 113 in a distributed manner using multiple different control units 110 (e.g., an arithmetic processing device, etc.). The determination unit 111, identification unit 112, and drive control unit 113 (control unit 110) of the information processing device 100 described above may be realized as a determination function, identification function, and drive control function (control function) by a computer's arithmetic processing unit or the like. The information processing program (drone control program) can cause a computer to realize each of the above-mentioned functions. The information processing program may be recorded on a non-transitory tangible recording medium readable by a computer, such as a memory, a solid-state drive, a hard disk drive, or an optical disk. The storage medium may also be rephrased as a non-transitory tangible computer-readable medium that stores the information processing program. The information processing program may also be transmitted online. The information processing program can be used by the control unit 110 (e.g., a processing unit) to realize a product (computer program product) that includes the information processing program. Furthermore, as described above, each unit of the information processing device 100 may be realized by an arithmetic processing unit of a computer or the like. The arithmetic processing unit or the like is configured by, for example, an integrated circuit or the like. Therefore, each unit of the information processing device 100 may be realized as a circuit that constitutes the arithmetic processing unit or the like. That is, the determination unit 111, the specification unit 112, and the drive control unit 113 (control unit 110) of the information processing device 100 may be realized as a determination circuit, specification circuit, and drive control circuit (control circuit) that constitute the arithmetic processing unit of a computer or the like. The storage unit 121 of the information processing device 100 may be realized as a storage function including the functions of an arithmetic processing device, for example. The storage unit 121 of the information processing device 100 may be realized as a storage circuit by being configured with an integrated circuit, for example. The storage unit 121 of the information processing device 100 may be configured as a storage device by being configured with a plurality of devices, for example.

[0043] The information processing device 100 can combine one or any combination of the above-mentioned multiple units. In this disclosure, the term "information" can be replaced with "data" and the term "data" can be replaced with "information."

[0044] [Aspects and Effects of the Present Embodiment] Next, one aspect of this embodiment and the effects of each aspect will be described. Note that each aspect described below is an example at the time of filing, and this embodiment is not limited to the aspects described below. In other words, this embodiment is not limited to the aspects described below, and may be realized by appropriately combining the above-mentioned parts. Furthermore, a lower-level aspect may be able to cite any of the higher-level aspects. The effects of the present embodiment described below are merely examples, and the effects of each aspect are not limited to those described below. Each aspect may, for example, achieve at least one of the effects described below.

[0045] (Aspect 1) One embodiment of a drone includes a drone body, one or more first propellers arranged on the drone body and generating a vertically upward thrust, multiple second propellers arranged on the drone body and generating a vertically downward thrust, a three-axis gyro arranged on the drone body, a determination unit that determines whether the attitude balance of the drone body has tilted from a reference value greater than or equal to a threshold based on a detection value detected by the three-axis gyro, an identification unit that, if the determination unit determines that the attitude balance of the drone body has tilted from a reference value greater than or equal to the threshold, identifies a tilt in the direction of returning the attitude balance of the drone body to less than the tilt threshold based on the detection value and identifies a second propeller corresponding to the direction of the tilt, and a drive control unit that controls the drive motor of the second propeller to rotate the second propeller identified by the identification unit. This allows the drone to control the rotation of the second propeller (drive of the second drive motor) to maintain its own attitude (to maintain postural balance), allowing it to fly while maintaining a constant position.

[0046] (Aspect 2) In one embodiment of the drone, the drive control unit controls the drive motors to rotate all second propellers at a first rotation speed at all times, and when the determination unit determines that the attitude balance of the drone body has tilted from a reference value by more than a threshold value, the identification unit identifies a second propeller to return the tilt of the drone body to less than the threshold value, and controls the drive motor of the second propeller to rotate that second propeller at a second rotation speed that is higher than the first rotation speed. This allows the drone to maintain its own balance.

[0047] (Aspect 3) In one aspect of the drone, all second propellers may be equipped with shutters that close at a first rotation speed and open in conjunction with the rotation of the second propellers at the second rotation speed or higher. This allows the drone to keep the shutter attached to the second propeller closed so that the second propeller does not generate thrust under normal circumstances. In addition, if the drone's attitude balance is disrupted, it can open the shutter in accordance with the rotation of the second propeller (rotational drive of the second motor), thereby generating propulsion force from the second propeller. In other words, the drone can maintain its own attitude balance.

[0048] (Aspect 4) A drone system of one embodiment includes the drone of the above-described embodiment and a power source separate from the drone and located on the ground for powering the drone. This allows the drone system to fly for a relatively long time. In particular, the drone system is equipped with base station functionality, and can continue to provide base station functionality by using power supplied from the ground, even when flying at a fixed location. For example, in the event of a disaster, the drone system can provide base station functionality and provide communications for rescue support, as well as for local residents.

[0049] (Aspect 5) In one aspect of the drone control method, a drone comprising a drone body, one or more first propellers arranged on the drone body and generating a vertically upward thrust, multiple second propellers arranged on the drone body and generating a vertically downward thrust, and a three-axis gyro arranged on the drone body, executes the following steps: a determination step of determining whether the attitude balance of the drone body has tilted from a reference value equal to or greater than a threshold based on a detection value detected by the three-axis gyro; an identification step of, if the determination step determines that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, identifying a tilt in the direction of returning the attitude balance of the drone body to less than the tilt threshold based on the detection value, and identifying a second propeller corresponding to the direction of the tilt; and a drive control step of controlling the drive motor of the second propeller to rotate the second propeller identified in the identification step. As a result, the drone control method can achieve the same effects as the drone of the above-mentioned aspect.

[0050] (Aspect 6) A drone control program of one embodiment provides a drone having a drone body, one or more first propellers arranged on the drone body and generating a vertically upward propulsive force, multiple second propellers arranged on the drone body and generating a vertically downward propulsive force, and a three-axis gyro arranged on the drone body, with the following functions: a determination function that determines whether the attitude balance of the drone body has tilted from a reference value greater than or equal to a threshold based on a detection value detected by the three-axis gyro; an identification function that, if the determination function determines that the attitude balance of the drone body has tilted from a reference value greater than or equal to the threshold, identifies a tilt in the direction of returning the attitude balance of the drone body to less than the tilt threshold based on the detection value, and identifies a second propeller corresponding to the direction of the tilt; and a drive control function that controls the drive motor of the second propeller to rotate the second propeller identified by the identification function. As a result, the drone control program can achieve the same effect as the drone of the above-mentioned aspect. [Explanation of symbols]

[0051] 1. Drone System 10. Drone 11 Drone body 20 Power supply (ground power) 21 No. 1 Propeller 210 First drive motor 22 No. 2 propeller 220 Second drive motor 23 Shutter 24 Blades (plate-shaped members) that make up the shutter 241 Base end of wing (plate-like member) 242 Tip of wing (plate-like member) 30 Ground (Ground) 100 Information processing device 110 control section 111 Judgment section 112 Specific section 113 Drive control unit 121 Storage section

Claims

1. The drone body and One or more first propellers disposed on the drone body and generating a vertically upward propulsive force; a plurality of second propellers disposed on the drone body and generating a vertically downward thrust; A three-axis gyro disposed in the drone body; A determination unit that determines whether the attitude balance of the drone body has tilted from a reference value by a threshold or more based on the detection value detected by the three-axis gyroscope; an identification unit that, when the determination unit determines that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, identifies a tilt in a direction that returns the attitude balance of the drone body to less than the threshold based on the detection value, and identifies a second propeller corresponding to the direction of the tilt; a drive control unit that controls a drive motor of the second propeller so as to rotate the second propeller identified by the identification unit, the drive control unit controls the drive motors to constantly rotate all second propellers at a first rotation speed; when the determination unit determines that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, the identification unit identifies a second propeller to return the tilt of the drone body to less than the threshold, and controls the drive motors of the second propellers to rotate the second propellers at a second rotation speed that is higher than the first rotation speed; All of the second propellers are provided with shutters that close at the first rotation speed and open in conjunction with the rotation of the second propellers at the second rotation speed or higher. Drone.

2. The drone body and One or more first propellers disposed on the drone body and rotating in a first direction to generate a propulsive force directed vertically upward; a plurality of second propellers different from the first propellers, the second propellers being disposed on the drone body and rotating in a second direction opposite to the first direction to generate a vertically downward thrust; A three-axis gyro disposed in the drone body; A determination unit that determines whether the attitude balance of the drone body has tilted from a reference value by a threshold or more based on the detection value detected by the three-axis gyroscope; an identification unit that, when the determination unit determines that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, identifies a tilt in a direction that returns the tilt of the attitude balance of the drone body to less than the threshold based on the detection value, and identifies a second propeller corresponding to the direction of the tilt; a drive control unit that controls a drive motor of the second propeller so as to rotate the second propeller identified by the identification unit, The drive control unit When flying the drone at a fixed point, controlling the drive motor of the first propeller to rotate the first propeller, and controlling the drive motor of the second propeller to constantly rotate all of the second propellers at a first rotation speed; When the determination unit determines that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, the identification unit identifies the second propeller for returning the tilt of the drone body to less than the threshold, and controls a drive motor of the second propeller to rotate the second propeller at a second rotation speed that is higher than the first rotation speed. Drone.

3. All of the second propellers are provided with shutters that close at the first rotation speed and open in conjunction with the rotation of the second propellers at the second rotation speed or higher. The drone of claim 2.

4. The drone according to any one of claims 1 to 3; a power source for supplying power to the drone, the power source being separate from the drone and located on the ground; A drone system comprising:

5. The drone body and One or more first propellers disposed on the drone body and generating a vertically upward propulsive force; a plurality of second propellers disposed on the drone body and generating a vertically downward thrust; a shutter provided in each of the second propellers, the shutter closing at a first rotation speed and opening in conjunction with the rotation of the second propeller at a second rotation speed or higher that is higher than the first rotation speed; a three-axis gyro disposed in the drone body; a determination step of determining whether the attitude balance of the drone body has tilted from a reference value by a threshold or more based on the detection value detected by the three-axis gyro; an identifying step of identifying a tilt in a direction that returns the tilt of the attitude balance of the drone body to less than the threshold based on the detection value, when the determining step determines that the attitude balance of the drone body has tilted from a reference value that is equal to or greater than the threshold, and identifying a second propeller that corresponds to the direction of the tilt; a drive control step of controlling the drive motors of the second propellers to rotate the second propellers identified in the identifying step, controlling the drive motors to constantly rotate all of the second propellers at the first rotation speed, and when it is determined in the determining step that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, identifying a second propeller in the identifying step to return the tilt of the drone body to less than the threshold, and controlling the drive motors of the second propellers to rotate the second propellers at the second rotation speed which is higher than the first rotation speed; How to control a drone to perform the following.

6. The drone body and One or more first propellers disposed on the drone body and generating a vertically upward propulsive force; a plurality of second propellers disposed on the drone body and generating a vertically downward thrust; a shutter provided in each of the second propellers, the shutter closing at a first rotation speed and opening in conjunction with the rotation of the second propeller at a second rotation speed or higher that is higher than the first rotation speed; A drone equipped with a three-axis gyro disposed in the drone body, A determination function that determines whether the attitude balance of the drone body has tilted from a reference value by more than a threshold value based on the detection value detected by the three-axis gyroscope; a determination function that, when the determination function determines that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, identifies a tilt in a direction that returns the attitude balance of the drone body to less than the threshold based on the detection value, and identifies a second propeller corresponding to the direction of the tilt; a drive control function that controls the drive motors of the second propellers to rotate the second propellers identified by the identification function, controlling the drive motors to constantly rotate all of the second propellers at the first rotation speed, and when the determination function determines that the attitude balance of the drone body has tilted from a reference value equal to or greater than the threshold, and the identification function identifies a second propeller to return the tilt of the drone body to less than the threshold, controls the drive motors of the second propellers to rotate the second propellers at the second rotation speed which is higher than the first rotation speed; A drone control program that makes this possible.

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