Unmanned aircraft control device, unmanned aircraft control method, unmanned aircraft control program, and unmanned aircraft

Abstract

To provide an unmanned aircraft control device capable of efficiently controlling a flight of an unmanned aircraft to a destination.SOLUTION: An unmanned aircraft control device comprises: a flight route recognition unit that recognizes information on a flight route of an unmanned aircraft; a flightable space recognition unit that recognizes a first flightable space and a second flightable space; an aircraft state recognition unit that recognizes a state of the unmanned aircraft; and a flight route changing unit that determines a content of a flight route change according to the state of the unmanned aircraft and outputs the determined content of the change. The flight route changing unit acquires information on a direction and a strength of a wind blowing toward the unmanned aircraft when a current position of the unmanned aircraft in vertical and horizontal directions deviates from the first flightable space, or when there is a risk that a current position of the unmanned aircraft in the vertical and horizontal directions will deviate from the first flightable space. The flight route changing unit determines a content of changing the flight route so as to pass through the second flightable space when the direction and the strength of the wind are in a predetermined state while the flight route changing unit outputs information for instructing the unmanned aircraft to continue flying in the first flightable space when the direction and the strength of the wind are not in the predetermined state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a device, a method, and a program for controlling the flight of an unmanned aerial vehicle to a destination, and to an unmanned aerial vehicle equipped with such a device. [Background technology]

[0002] BACKGROUND ART A flying robot control system is known in the art (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2018-052341 Summary of the Invention [Problem to be solved by the invention]

[0004] Drones and other unmanned aerial vehicles that fly autonomously are controlled to continue flying to their destination along a predetermined flight route, but depending on weather conditions such as wind conditions, it may not be appropriate to continue flying along the flight route.

[0005] For example, if a crosswind of a certain strength continues to blow against an unmanned aerial vehicle, and the unmanned aerial vehicle attempts to continue flying strictly along the flight route, the unmanned aerial vehicle will continue flying against the crosswind.

[0006] This will consume more power and fuel than if the aircraft continued flying when there was no wind, and will also place a greater burden on the motor and other driving components, resulting in problems such as a lack of power and fuel necessary to reach the destination, or excessive strain on the motor and other driving components, causing breakdowns and malfunctions.

[0007] According to the technology described in Patent Document 1, when a flying robot encounters wind while flying, it can change its flight route to one that consumes less battery power depending on the strength of the wind or the stability of the air current and the remaining battery power.

[0008] However, the technology described in Patent Document 1 changes the flight route when the remaining battery charge falls below a threshold, so the drone continues to fly against the wind until the remaining battery charge falls below the threshold, which consumes a lot of electricity and fuel and puts a continuous strain on the driving parts such as the motor, making it inefficient.

[0009] Therefore, an object of the present invention is to provide a device, method, and program for efficiently controlling the flight of an unmanned aerial vehicle to a destination, and an unmanned aerial vehicle equipped with such a device. [Means for solving the problem]

[0010] The unmanned aerial vehicle control device of the present invention comprises: A device for controlling the flight of an unmanned aerial vehicle to a destination, a flight route recognition unit that recognizes flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; A flight space recognition unit that recognizes a first flight space, which is a space that starts from a line segment that the flight route draws in the air and extends in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second flight space, which is a space that extends in a circumferential direction of the line segment at a second predetermined distance outside the first flight space that is longer than the first predetermined distance; an aircraft state recognition unit that recognizes the state of the unmanned aircraft, which is composed of current three-dimensional position information of the unmanned aircraft while flying to the destination and information on the direction and strength of wind blowing toward the unmanned aircraft; a flight route change unit that determines changes to the flight route of the unmanned aircraft according to the state of the unmanned aircraft recognized by the aircraft state recognition unit, and outputs information on the determined changed flight route to the unmanned aircraft; Equipped with The flight route change unit When the current position of the unmanned aerial vehicle in the up, down, left, and right directions recognized by the aircraft state recognition unit deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the unmanned aerial vehicle recognized by the aircraft state recognition unit is acquired, When the direction and strength of the wind are in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space, and when the direction and strength of the wind are not in a predetermined state, the change of the flight route is output to the unmanned aerial vehicle to instruct the unmanned aerial vehicle to continue flying in the first aviation space. It is characterized by:

[0011] According to the present invention, the flight space recognition unit recognizes a first flight space, which is a space that starts from a line segment drawn in the air by the flight route of the unmanned aircraft and extends circumferentially from the line segment at a first predetermined distance, and a second flight space, which is a space that extends circumferentially outside the first flight space at a second predetermined distance longer than the first predetermined distance.

[0012] If the current position of the unmanned aircraft in the up, down, left, or right directions deviates or is likely to deviate from the first aviation space, and the wind direction and strength are in a specified state, a change in flight route is determined so that the aircraft passes through the second aviation space, and if the wind direction and strength are not in a specified state, the aircraft is instructed to continue flying in the first aviation space.

[0013] As a result, even if the unmanned aircraft is blown by the wind and its flight route deviates from the line in the air, it will continue to fly without resisting the wind as long as it is within the first flight space, thereby reducing the possibility of consuming a lot of electricity and fuel and placing a heavy burden on driving parts such as motors by continuing to fly against the wind.

[0014] Furthermore, if the unmanned aircraft has deviated or is at risk of deviating from the first flight space, and the wind direction and strength are in a specified state, it will move to a second flight space outside the first flight space, thereby escaping the effects of the wind and likely reducing increased power and fuel consumption and strain on the drive unit.

[0015] On the other hand, if the unmanned aircraft has deviated or is at risk of deviating from the first flight space, and the wind direction and strength are not in a specified state, controlling the aircraft to continue flying in the first flight space will not result in increased power and fuel consumption or strain on the drive unit, or the consumption can be kept sufficiently low.

[0016] In this way, the unmanned aircraft control device of the present invention can efficiently control the flight of an unmanned aircraft to its destination. In addition, in the present invention, The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, The aircraft state recognition unit Acquire, as information indicating the load, information on one or both of a voltage level and a current level of the power supplied to each of the plurality of rotors from a power source that supplies power to the unmanned aerial vehicle; It is preferable that the device is configured to recognize the direction and strength of the wind blowing toward the unmanned aircraft corresponding to the combination of either or both of the voltage level and current magnitude of the power supplied to each of the multiple rotors, using information indicating the correspondence between the combination of either or both of the voltage level and current magnitude of the power supplied to each of the multiple rotors and the direction and strength of the wind blowing toward the unmanned aircraft. According to the present invention, the direction and strength of the wind blowing towards the unmanned aircraft are recognized based on specific information, such as the combination of the voltage level or current magnitude of the power supplied to each of the multiple rotors from the power source that supplies power to the unmanned aircraft, so that the direction and strength of the wind blowing towards the unmanned aircraft can be recognized with high accuracy. In the present invention, It is preferable that the flight route change unit is configured to determine the direction and distance of movement of the unmanned aircraft in the up, down, left, and right directions depending on the direction and strength of the wind blowing toward the unmanned aircraft, and to determine the change content of the flight route so that the unmanned aircraft flies in the determined direction to a position moved the determined distance. It is expected that the stronger the wind, the wider the area affected by the wind and the longer the distance that must be traveled to escape the wind's effects. Therefore, it is effective to determine the distance to travel to escape the wind's effects based on the wind's strength. Furthermore, the direction of travel to escape the wind's effects should be determined based on the wind direction. According to the present invention, the flight route change unit determines the direction and distance of movement of the unmanned aircraft in the up, down, left and right directions depending on the direction and strength of the wind blowing toward the unmanned aircraft, thereby effectively avoiding the effects of the wind. In addition, if the unmanned aerial vehicle is electrically powered, the voltage and current of the fuel cell or battery that supplies power to the unmanned aerial vehicle may change depending on the ambient temperature and humidity. For example, if the temperature or air pressure is low, the voltage and current of the power supplied from the fuel cell or battery may decrease. Furthermore, since the higher the altitude, the lower the temperature and humidity tend to be, by lowering the flight altitude of the unmanned aircraft, the temperature and humidity will increase, and it may be possible to return the voltage and current of the electricity supplied from fuel cells, batteries, etc. to their original levels. Therefore, in the present invention, The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, the aircraft state recognition unit is configured to recognize one or both of a voltage level and a current level of power supplied from a power source that supplies power to the unmanned aerial vehicle, and one or both of an air temperature and a humidity level around the unmanned aerial vehicle; When one or both of the voltage level and current magnitude are equal to or less than a predetermined first threshold and one or both of the temperature and humidity are equal to or less than a predetermined second threshold, the flight route change unit uses information indicating a correspondence relationship between the height of one or both of the temperature and humidity and the length of a movement distance by which the flight position of the unmanned aerial vehicle is moved downward to recognize the length of a movement distance by which the flight position of the unmanned aerial vehicle is moved downward that corresponds to the height of one or both of the temperature and humidity, and controls the unmanned aerial vehicle to fly forward to a position moved downward by the recognized movement distance. and configured to determine a change in the flight route. It is preferable. According to the present invention, the flight route change unit lowers the flight altitude of the unmanned aircraft when one or both of the voltage level and current magnitude are below a predetermined first threshold and one or both of the temperature and humidity around the unmanned aircraft are below a predetermined second threshold, i.e., when the temperature or humidity around the unmanned aircraft is thought to be the cause of the drop in voltage and current. This may increase the temperature and humidity around the unmanned aircraft, potentially returning the voltage and current of the electricity supplied from fuel cells, batteries, etc. to their original levels. Furthermore, since the distance of downward movement is changed depending on the temperature and / or humidity, the downward movement is prevented more than necessary, which is efficient. In the present invention, The flight space recognition unit Recognizing whether the point through which the unmanned aerial vehicle passes is above a predetermined restricted area; the first predetermined distance when the point over which the unmanned aerial vehicle passes is not above the restricted area is longer than the first predetermined distance when the point over which the unmanned aerial vehicle passes is above the restricted area; or The second predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the second predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area. It is preferable. When flying in areas other than urban areas, densely populated residential areas, around airports, etc., it is expected that the degree of freedom of movement of an unmanned aircraft in flight in all directions (up, down, left, and right) is greater than when flying in the airspace above these areas. It is desirable to be able to control the flight of an unmanned aircraft depending on whether or not there are restrictions on this degree of freedom. According to the present invention, the flight space recognition unit determines that the first predetermined distance (or the second predetermined distance) when the point at which the unmanned aircraft passes is not above a predetermined restricted area is longer than the first predetermined distance (or the second predetermined distance) when the point at which the unmanned aircraft passes is above a restricted area. In other words, the first aviation space (or second aviation space) when flying above a non-restricted area is wider than when flying above a restricted area, and there is more freedom of movement in all directions. Thus, according to the present invention, the size of the flying space of an unmanned aircraft can be controlled and flown, taking into account the degree of freedom of movement of the unmanned aircraft in all directions, which is expected depending on whether it is flying over a restricted area. In the present invention, the aircraft state recognition unit is configured to recognize forecast information of one or both of wind direction and strength and rainfall amount at points included in the flight route, The flight route change unit By referring to the forecast information, if one or both of the wind direction and strength and the rainfall amount at the time when the unmanned aerial vehicle is scheduled to pass a point included in the flight route are in a predetermined adverse flight impact state that will have an adverse effect on the flight of the unmanned aerial vehicle, The system is configured to recognize the estimated time when the unmanned aerial vehicle will pass the point when the flight speed of the unmanned aerial vehicle is changed, recognize forecast information for one or both of the wind direction and strength and the amount of rainfall at the estimated time, and, if the point is not in a state that will adversely affect flight at the estimated time, output information to the unmanned aerial vehicle instructing it to change to the flight speed and fly. It is preferable. If the wind conditions or rainfall at a location where an unmanned aircraft is scheduled to pass are becoming conditions that will adversely affect the flight of the unmanned aircraft at the time of the scheduled pass, it is desirable to fly away from such conditions. However, if the flight route is changed significantly, such as by making a large detour, the flight distance to the destination will increase, which will increase power consumption and may be inconvenient. According to the present invention, if the wind direction and strength or rainfall amount at the scheduled time when the unmanned aircraft is to pass a point included in the flight route is in a predetermined adverse flight condition that will have an adverse effect on the flight of the unmanned aircraft, and the flight route change unit determines that the adverse flight condition can be avoided by changing the flight speed of the unmanned aircraft, the speed will be changed to a speed that will avoid the adverse flight condition, and the flight will continue. Therefore, the aircraft can continue flying toward the destination without changing the flight route, which reduces the possibility of the inconvenience of the flight distance to the destination increasing due to a change in flight route, resulting in increased power consumption.

[0017] In the present invention, The aircraft state recognition unit is configured to acquire information indicating a load acting on each of a plurality of rotors provided in the unmanned aircraft, and recognize a direction and strength of a wind blowing toward the unmanned aircraft based on the information indicating the load acting on the plurality of rotors. It is preferable.

[0018] When an unmanned aerial vehicle has multiple rotors, the rotors are attached to different positions on the body of the unmanned aerial vehicle, and therefore when exposed to wind, each rotor experiences different loads due to the influence of the wind.

[0019] For example, if four rotors are provided on the left front, right front, left rear, and right rear, and the unmanned aircraft is exposed to wind from the right front, the load on the right front rotor will be greater than that on the other rotors. If the wind is strong, the load on the rotor exposed to the wind will be relatively large.

[0020] In this way, there is a certain relationship between the load state on each of the multiple rotors equipped on the unmanned aircraft and the direction and strength of the wind blowing toward the unmanned aircraft.

[0021] According to the present invention, the aircraft state recognition unit recognizes the direction and strength of the wind blowing toward the unmanned aircraft based on information on the load on each of the multiple rotors equipped on the unmanned aircraft.

[0022] Therefore, it is possible to recognize the direction and strength of the wind blowing toward the unmanned aircraft without having to equip it with a dedicated device for measuring the direction and strength of the wind, and this is efficient as it does not place any unnecessary load on the unmanned aircraft.

[0043] The unmanned aerial vehicle of the present invention is characterized by including any one of the unmanned aerial vehicle control devices described above.

[0044] This allows the unmanned aerial vehicle of the present invention to be efficiently controlled to fly to its destination.

[0045] The unmanned aerial vehicle control method of the present invention includes: 1. A computer-implemented method for controlling flight of an unmanned aerial vehicle to a destination, comprising: A step of recognizing flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; A step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle while flying to the destination, and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Including, The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; and determining, when the direction and strength of the wind are in a predetermined state, a change in the flight route so that the flight route passes through the second flight space. the law of nature, The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, the step of recognizing the state of the unmanned aerial vehicle is a step of recognizing one or both of a voltage level and a current level of power supplied from a power source that supplies power to the unmanned aerial vehicle, and one or both of an air temperature and a humidity level around the unmanned aerial vehicle; The step of determining the change in the flight route is a step of, when one or both of the voltage level and current magnitude are equal to or less than a predetermined first threshold and one or both of the temperature and humidity are equal to or less than a predetermined second threshold, using information indicating a correspondence between the height of one or both of the temperature and humidity and the length of a movement distance by which the flight position of the unmanned aerial vehicle is moved downward, recognizing the length of a movement distance by which the flight position of the unmanned aerial vehicle is moved downward that corresponds to the height of one or both of the temperature and humidity, and determining the change in the flight route so that the unmanned aerial vehicle flies to a position moved downward the recognized movement distance. It is characterized by: The unmanned aerial vehicle control method of the present invention includes: 1. A computer-implemented method for controlling flight of an unmanned aerial vehicle to a destination, comprising: A step of recognizing flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; A step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle while flying to the destination, and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Including, The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the first flight space and the second flight space includes: Recognizing whether the point through which the unmanned aerial vehicle passes is above a predetermined restricted area; the first predetermined distance when the point over which the unmanned aerial vehicle passes is not above the restricted area is longer than the first predetermined distance when the point over which the unmanned aerial vehicle passes is above the restricted area; or The second predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the second predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area. It is characterized by: The unmanned aerial vehicle control method of the present invention includes: 1. A computer-implemented method for controlling flight of an unmanned aerial vehicle to a destination, comprising: A step of recognizing flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; A step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle while flying to the destination, and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Including, The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the state of the unmanned aerial vehicle is a step of recognizing forecast information of one or both of wind direction and strength and rainfall amount at points included in the flight route, The step of determining the change content of the flight route includes: By referring to the forecast information, if one or both of the wind direction and strength and the rainfall amount at the time when the unmanned aerial vehicle is scheduled to pass a point included in the flight route are in a predetermined adverse flight impact state that will have an adverse effect on the flight of the unmanned aerial vehicle, The system is configured to recognize the estimated time when the unmanned aerial vehicle will pass the point when the flight speed of the unmanned aerial vehicle is changed, recognize forecast information for one or both of the wind direction and strength and the amount of rainfall at the estimated time, and, if the point is not in a state that will adversely affect flight at the estimated time, output information to the unmanned aerial vehicle instructing it to change to the flight speed and fly. It is characterized by:

[0046] According to the unmanned aerial vehicle control method of the present invention, it is possible to efficiently control the flight of an unmanned aerial vehicle to a destination.

[0047] The unmanned aerial vehicle control program of the present invention includes: A program that causes a computer to control the flight of an unmanned aerial vehicle to a destination, A step of recognizing flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; a step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle while flying to the destination, and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Execute The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; and determining, when the direction and strength of the wind are in a predetermined state, a change in the flight route so that the flight route passes through the second flight space. the law of nature, The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, the step of recognizing the state of the unmanned aerial vehicle is a step of recognizing one or both of a voltage level and a current level of power supplied from a power source that supplies power to the unmanned aerial vehicle, and one or both of an air temperature and a humidity level around the unmanned aerial vehicle; The step of determining the change in the flight route is a step of, when one or both of the voltage level and current magnitude are equal to or less than a predetermined first threshold and one or both of the temperature and humidity are equal to or less than a predetermined second threshold, using information indicating a correspondence between the height of one or both of the temperature and humidity and the length of a movement distance by which the flight position of the unmanned aerial vehicle is moved downward, recognizing the length of a movement distance by which the flight position of the unmanned aerial vehicle is moved downward that corresponds to the height of one or both of the temperature and humidity, and determining the change in the flight route so that the unmanned aerial vehicle flies to a position moved downward the recognized movement distance. It is characterized by: The unmanned aerial vehicle control program of the present invention includes: A program that causes a computer to control the flight of an unmanned aerial vehicle to a destination, A step of recognizing flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; a step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle while flying to the destination, and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Execute The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the first flight space and the second flight space includes: Recognizing whether the point through which the unmanned aerial vehicle passes is above a predetermined restricted area; the first predetermined distance when the point over which the unmanned aerial vehicle passes is not above the restricted area is longer than the first predetermined distance when the point over which the unmanned aerial vehicle passes is above the restricted area; or The second predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the second predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area. It is characterized by: The unmanned aerial vehicle control program of the present invention includes: A program that causes a computer to control the flight of an unmanned aerial vehicle to a destination, A step of recognizing flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; a step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle while flying to the destination, and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Execute The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the state of the unmanned aerial vehicle is a step of recognizing forecast information of one or both of wind direction and strength and rainfall amount at points included in the flight route, The step of determining the change content of the flight route includes: By referring to the forecast information, if one or both of the wind direction and strength and the rainfall amount at the time when the unmanned aerial vehicle is scheduled to pass a point included in the flight route are in a predetermined adverse flight impact state that will have an adverse effect on the flight of the unmanned aerial vehicle, The system is configured to recognize the estimated time when the unmanned aerial vehicle will pass the point when the flight speed of the unmanned aerial vehicle is changed, recognize forecast information for one or both of the wind direction and strength and the amount of rainfall at the estimated time, and, if the point is not in a state that will adversely affect flight at the estimated time, output information to the unmanned aerial vehicle instructing it to change to the flight speed and fly. It is characterized by:

[0048] According to the unmanned aircraft control program of the present invention, the flight of an unmanned aircraft to a destination can be efficiently controlled. [Brief explanation of the drawings]

[0049] [Figure 1] 1 is a block diagram showing an example of the configuration of an unmanned aircraft equipped with an unmanned aircraft control device according to the present invention. [Figure 2] 3 is a table showing an example of the contents of data used in processing by the unmanned aerial vehicle control device of the present invention. [Figure 3] 4 is a flowchart showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 4] FIG. 2 is an image diagram showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 5] FIG. 2 is an image diagram showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 6] FIG. 2 is an image diagram showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 7] 4 is a flowchart showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 8A] 4 is a flowchart showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 8B] 4 is a flowchart showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 9] FIG. 2 is an image diagram showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 10] FIG. 2 is an image diagram showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 11] 4 is a flowchart showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 12]4 is a flowchart showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. [Figure 13] FIG. 2 is an image diagram showing an example of the processing contents of the unmanned aerial vehicle control device of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0050] <Configuration of unmanned aerial vehicle control device> First, the configuration of the unmanned aerial vehicle control device of this embodiment will be described with reference to Figures 1 and 2. Note that the same components will be given the same reference numerals and the description thereof may be omitted.

[0051] The unmanned aerial vehicle control device of this embodiment is a device that controls the flight of an unmanned aerial vehicle D to a destination. The unmanned aerial vehicle D may be, for example, a so-called drone such as a multicopter or quadcopter that flies using electricity as a power source, but may also be other aircraft that fly autonomously or are directed by appropriate remote control.

[0052] In this embodiment, the unmanned aerial vehicle D receives power from a power source PS and flies by rotating a motor (not shown; hereinafter, the motor for rotating the rotor R and the rotor R will be collectively referred to as the "rotor") for rotating each of the multiple rotors R (R1 to R4). In addition, a flight controller 30 mounted on the unmanned aerial vehicle D controls the flight route of the unmanned aerial vehicle D in accordance with flight route information.

[0053] The unmanned aircraft control device 10 of this embodiment is provided in an unmanned aircraft configured as described above. The unmanned aircraft control device 10 may be configured, for example, as an integral part of the unmanned aircraft D, or may be provided so as to be detachable from the unmanned aircraft D.

[0054] The unmanned aerial vehicle control device 10 is, for example, a computer that includes a control unit 110 and a storage unit 130.

[0055] The control unit 110 is configured with an arithmetic processing unit (processor) such as a CPU (Central Processing Unit), a memory, an I / O (Input / Output) device, and the like.

[0056] The processing unit (processor) of the control unit 110 reads and executes a predetermined program, thereby functioning as, for example, a flight route recognition unit 111, a flight space recognition unit 113, an aircraft state recognition unit 115, and a flight route change unit 117.

[0057] The flight route recognition unit 111 recognizes flight route information, which consists of information indicating the three-dimensional positions that the unmanned aerial vehicle D will pass through while flying from its current position (e.g., the departure point) to its destination, by obtaining it, for example, from the memory unit 130.

[0058] The flight route information, as shown in Figure 2, for example, stores information on the time, the latitude and longitude of the position to be passed at each time, the altitude to be flown at that position, and the flight speed at that time, as well as information on the flight route required to control the flight of the unmanned aircraft D from its current position (e.g., departure point) to its destination point.

[0059] The flight route information may be created manually by an operator or the like based on information about the departure point and destination point (or further intermediate points), or it may be created automatically by a separately provided computer such as a server using software that determines the optimal route (e.g., the shortest route) from the departure point to the destination point based on information indicating the locations of the departure point and destination point, and map information, features, buildings, and other information between the two points that affects the determination of the flight route.

[0060] The flight space recognition unit 113 recognizes a first flight space, which is a space that starts from a line segment drawn in the air by the flight route and extends circumferentially from the line segment at a first predetermined distance, and a second flight space, which is a space that extends circumferentially from the first flight space at a second predetermined distance longer than the first predetermined distance.

[0061] The concept of how the flight-available space recognition unit 113 recognizes the first flight-available space and the second flight-available space will be described later.

[0062] The aircraft state recognition unit 115 recognizes the state of the unmanned aircraft D, which consists of the current three-dimensional position information of the unmanned aircraft D while flying to the destination and information on the direction and strength of the wind blowing toward the unmanned aircraft D, by calculating it based on information obtained, for example, from the sensor 50 described below.

[0063] The aircraft status recognition unit 115 also recognizes, for example, information indicating the load on each of the multiple rotors R equipped on the unmanned aerial vehicle D, information on one or both of the voltage and current of the power supplied to each of the multiple rotors R from the power source PS that supplies power to the unmanned aerial vehicle D, and information on one or both of the temperature and humidity around the unmanned aerial vehicle by calculating them based on information obtained from the sensor 50 described below, and recognizes forecast information on one or both of the wind direction and strength and rainfall amount for points included in the flight route by obtaining it from, for example, a computer installed on the ground, etc., via a wireless communication network by a receiving means not shown.

[0064] When it is necessary to change the flight route of the unmanned aircraft D depending on the state of the unmanned aircraft D recognized by the aircraft state recognition unit 115, the flight route change unit 117 determines the content of the change and outputs information about the determined changed flight route to the unmanned aircraft D.

[0065] The flight controller 30 of the unmanned aerial vehicle D, for example, obtains the changed flight route output in this manner directly from the flight route change unit 117, or, for example, obtains it via the memory unit 130, and controls the flight route of the unmanned aerial vehicle D in accordance with the information on the changed flight route.

[0066] The storage unit 130 is configured by a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), or an HDD (Hard Disk Drive).

[0067] The memory unit 130 may be dedicated to the unmanned aircraft control device 10, or may be configured to share a memory device (not shown) provided in the unmanned aircraft D with the flight controller 30, etc.

[0068] The memory unit 130 appropriately stores, for example, information on the flight route (information before and after the change as necessary), the position, altitude, ambient temperature and humidity obtained by the sensor 50, information on the voltage level and current magnitude of the power supplied from the power source PS to each of the multiple rotors R, information indicating the position and range (latitude, longitude, etc.) of the restricted area, as well as information necessary for processing by the unmanned aircraft control device 10, the processing results of the unmanned aircraft control device 10, etc.

[0069] The flight controller 30 controls the flight route of the unmanned aerial vehicle D in accordance with the flight route information.

[0070] The sensor 50 includes, for example, a GPS 510, an altitude sensor 530, a temperature sensor 550, a humidity sensor 570, and a current / voltage sensor 590.

[0071] Each sensor 50 may be configured to be a sensor provided on the unmanned aircraft D as shown in Figure 1, and shared by the unmanned aircraft control device 10, or some or all of the sensors may be provided integrally with the unmanned aircraft control device 10 as a sensor dedicated to the unmanned aircraft control device 10.

[0072] The GPS (Global Positioning System) 510 receives signals from satellites in the sky and acquires, for example, latitude and longitude indicating the current position of the unmanned aerial vehicle D, thereby recognizing the current two-dimensional position information of the unmanned aerial vehicle D.

[0073] The altitude sensor 530, for example, emits millimeter waves or ultrasonic waves toward the ground and recognizes the altitude, i.e., vertical position information, of the unmanned aerial vehicle D based on the length of time it takes for the millimeter waves or ultrasonic waves to be reflected by the ground and return. Alternatively, the altitude sensor 530 may obtain the altitude from the air pressure around the unmanned aerial vehicle D.

[0074] The current two-dimensional position information and height position information of the unmanned aerial vehicle D recognized in this manner become the current three-dimensional position information of the unmanned aerial vehicle D.

[0075] For example, if the GPS 510 has a function for acquiring the current altitude, the altitude sensor 530 may be omitted.

[0076] Temperature sensor 550 recognizes the air temperature around unmanned aerial vehicle D by measuring the temperature of the outside air around unmanned aerial vehicle D.

[0077] Humidity sensor 570 recognizes the humidity around unmanned aerial vehicle D by measuring the humidity of the outside air around unmanned aerial vehicle D.

[0078] The current / voltage sensor 590 is composed of a voltmeter 590v that measures the voltage of the power supplied to each of the multiple rotors R from the power source PS that supplies power to the unmanned aerial vehicle D, and an ammeter 590a that measures the magnitude of the current.

[0079] <Control method overview> Next, a description will be given of each process (step) included in the method for controlling the unmanned aerial vehicle D, which is executed by the unmanned aerial vehicle control device of this embodiment. First, a series of processes by the unmanned aerial vehicle control device will be described with reference to FIG.

[0080] When processing starts, the flight route recognition unit 111 recognizes flight route information (FIG. 3 / S11). For example, the flight route recognition unit 111 refers to flight route information (see FIG. 2) pre-stored in the storage unit 130, and recognizes the flight route information by acquiring information on the time, latitude, longitude, and altitude for a predetermined period of time after the current time, that is, three-dimensional position information, which is included in the flight route information.

[0081] -Recognition of the first and second flight spaces Then, the flight space recognition unit 113 recognizes a first flight space and a second flight space based on the information of the flight route recognized in this way (FIG. 3 / S13).

[0082] The first fliestable space is a space that starts from a line segment that the flight route traces in the air and extends in the circumferential direction of the line segment at a first predetermined distance from the line segment.

[0083] The second flight-enabled space is a space that extends outward from the first flight-enabled space in the circumferential direction of the line segment, at a second predetermined distance that is longer than the first predetermined distance.

[0084] 4 to 6 are conceptual diagrams showing the first flight-enabled space FS1 and the second flight-enabled space FS2. Fig. 4 shows a case where the cross section of the first flight-enabled space FS1 is circular and the cross section of the second flight-enabled space FS2 is round and doughnut-shaped.

[0085] In this case, the flight space recognition unit 113 first refers to the time, latitude, longitude, and altitude information for a predetermined period of time after the current time, which is included in the flight route information, and recognizes the three-dimensional positions through which the unmanned aerial vehicle D will pass at each time. The line segment connecting the points corresponding to these three-dimensional positions in chronological order becomes the line segment FR drawn in the air by the flight route.

[0086] The flight space recognition unit 113 then recognizes the range indicated by a circle whose center is a point corresponding to the three-dimensional position through which the unmanned aerial vehicle D passes at each time, is perpendicular to the line segment FR drawn in the air by the flight route, and has a radius of the first predetermined distance PL1. The flight space recognition unit 113 recognizes the continuous space created by connecting the circles recognized in this way along the line segment FR as the first flight space FS1.

[0087] Next, the flight space recognition unit 113 recognizes the range indicated by a circle whose center is each point corresponding to the three-dimensional position through which the unmanned aerial vehicle D passes at each time, which is perpendicular to the line segment FR drawn in the air by the flight route, and whose radius is the second predetermined distance PL2. The flight space recognition unit 113 recognizes the space excluding the space recognized as the first flight space FS1 from the continuous space formed by connecting the circles recognized in this way along the line segment FR as the second flight space FS2.

[0088] In Figure 4, the first flightable space FS1 and the second flightable space FS2 are visualized as described above, but a set of data indicating the latitude, longitude, and altitude ranges of the first flightable space FS1 at each time and a set of data indicating the latitude, longitude, and altitude ranges of the second flightable space FS2 are recognized by the flightable space recognition unit 113 as information indicating the first flightable space FS1 and the second flightable space FS2, and are stored in the memory unit 130 as necessary (same below).

[0089] FIG. 5 shows a case where the cross section of the first flight space FS1 is rectangular, and the cross section of the second flight space FS2 is a square doughnut shape.

[0090] In this case, the flight space recognition unit 113 acquires, for example, first predetermined distances PL1 defined for the upper, left, right, and lower sides from the memory unit 130. The flight space recognition unit 113 then recognizes the line segment FR in the same manner as described above, and recognizes the range indicated by a rectangle whose origin is each point corresponding to the three-dimensional position through which the unmanned aerial vehicle D passes at each time, whose distance to the upper side is the first predetermined distance PL1 defined on the upper side, whose distance to the left and right sides is the first predetermined distance PL1 defined on the left and right sides, and whose distance to the lower side is the first predetermined distance PL1 defined on the lower side. The flight space recognition unit 113 recognizes the continuous space created by connecting the rectangles recognized in this way along the line segment FR as the first flight space FS1.

[0091] Next, the flight space recognition unit 113 acquires, for example, second predetermined distances PL2 defined for the upper, left, right, and lower sides from the memory unit 130. The flight space recognition unit 113 then recognizes the range indicated by a rectangle whose origin is a point corresponding to the three-dimensional position through which the unmanned aerial vehicle D passes at each time, whose distance to the upper side is the second predetermined distance PL2 defined on the upper side, whose distance to the left and right sides is the second predetermined distance PL2 defined on the left and right sides, and whose distance to the lower side is the second predetermined distance PL2 defined on the lower side. The flight space recognition unit 113 recognizes the space obtained by connecting the rectangles recognized in this way along the line segment FR, excluding the space recognized as the first flight space FS1, as the second flight space FS2.

[0092] In this way, the first predetermined distance PL1 and the second predetermined distance PL2 may be set to different lengths for the upper side, left and right sides, and lower side.

[0093] FIG. 6 is a side view of the state in which the first flight space FS1 and the second flight space FS2 recognized in this manner are connected from the departure point SP to the destination point DP.

[0094] Figure 6 shows an image of the first aviation space FS1 and the second aviation space FS2 that may be possible if unmanned aerial vehicle D follows a flight route that starts from departure point SP, continues to climb while moving forward toward destination DP, and after reaching a predetermined altitude, continues flying toward destination DP while maintaining that altitude, and when it gets close to destination DP, continues to descend while moving forward toward destination DP, and finally lands at destination DP.

[0095] After recognizing the first and second flight spaces, the aircraft state recognition unit 115 executes a state recognition process to recognize the state of the unmanned aerial vehicle D (Figure 3 / S30), and the flight route change unit 117 executes a flight route change process to determine whether the flight route needs to be changed and the content of the change depending on the state of the unmanned aerial vehicle D (Figure 3 / S50), and outputs information on the determined changed flight route to the unmanned aerial vehicle D (Figure 3 / S110), thereby completing the series of processes.

[0096] The unmanned aerial vehicle control device 10 controls the flight of the unmanned aerial vehicle D to its destination by repeatedly executing this series of processes at a predetermined frequency until the unmanned aerial vehicle D arrives at its destination.

[0097] Below, specific examples of the state recognition processing and flight route change processing will be described.

[0098] <State recognition processing> A series of steps in the state recognition process will be described with reference to FIG.

[0099] When processing starts, the aircraft state recognition unit 115 first recognizes the current three-dimensional position information of the unmanned aerial vehicle D (Fig. 7 / S31). The aircraft state recognition unit 115 recognizes the current two-dimensional position information of the unmanned aerial vehicle D by acquiring latitude and longitude information indicating the current position of the unmanned aerial vehicle D from the GPS 510.

[0100] Then, the aircraft state recognition unit 115 recognizes the current altitude of the unmanned aerial vehicle D, i.e., the height position information, from the altitude sensor 530, and recognizes the set of information thus recognized, consisting of the current two-dimensional position information and height position information of the unmanned aerial vehicle D, as the current three-dimensional position information of the unmanned aerial vehicle D.

[0101] Next, the aircraft state recognition unit 115 acquires information indicating the load on each of the multiple rotors R equipped on the unmanned aerial vehicle D (Fig. 7 / S33). The aircraft state recognition unit 115 acquires, for example, information on the voltage level and current magnitude of the power supplied to each of the multiple rotors R from a power source that supplies power to the unmanned aerial vehicle D as information indicating the load on each of the multiple rotors R, and recognizes information on the direction and strength of the wind blowing toward the unmanned aerial vehicle D from the information (Fig. 7 / S35).

[0102] The aircraft state recognition unit 115 acquires information on the voltage and current magnitude of the power supplied to each of the multiple rotors R as information indicating the load on each of the multiple rotors R, and recognizes information on the direction and strength of the wind blowing toward the unmanned aircraft D based on this information for the following reasons.

[0103] That is, for example, when the rotor R provided on the unmanned aerial vehicle D is exposed to wind, wind resistance causes a load, making it difficult to rotate. In this embodiment, if four rotors R are provided on the left front, right front, left rear, and right rear, and the unmanned aerial vehicle D is exposed to wind from the right front, the load on the rotor R3 provided on the right front first increases, followed by the loads on each rotor R in the order of rotors R1, R4, and rotor R2. In this way, there is a time lag in the generation of loads on the rotors R depending on the wind direction. If the wind is strong, the load on the rotor R exposed to the wind will be relatively large.

[0104] In this way, there is a certain relationship between the load state on each of the multiple rotors R equipped on the unmanned aerial vehicle D due to wind and the direction and strength of the wind blowing toward the unmanned aerial vehicle D.

[0105] When a load is applied to the rotor R, the flight controller 30 changes the amount of power (either the voltage level or the amount of current, or both) supplied to the rotor R via an ESC (Electric Speed ​​Controller) (not shown) or the like to increase the rotational speed of the rotor R or increase the torque of the rotor in order to accommodate the load.

[0106] Therefore, when a change occurs in the magnitude of the power (either the voltage level or the amount of current, or both) supplied to the rotors R equipped in the unmanned aerial vehicle D, which would not occur when flying in windless conditions, the horizontal direction of the wind blowing toward the unmanned aerial vehicle D can be recognized based on the time difference at which the change occurs. Furthermore, the strength of the wind blowing toward the unmanned aerial vehicle D can also be recognized based on the magnitude of the change.

[0107] Therefore, the aircraft state recognition unit 115 acquires information on the magnitude of the power supplied to each rotor R (either the voltage level or the amount of current, or both) as information indicating the load on each of the multiple rotors R, and recognizes information on the direction and strength of the wind blowing toward the unmanned aircraft D based on this information.

[0108] Specifically, the aircraft state recognition unit 115 recognizes one or both of the values ​​of the voltage level or the amount of current of the power supplied to each rotor when the unmanned aircraft D is flying in windless conditions, which are stored, for example, in the memory unit 130.

[0109] Note that the voltage level or current amount of the power supplied to each rotor R when flying in windless conditions varies depending on the flight speed of the unmanned aerial vehicle D, and therefore values ​​for each flight speed are stored in the memory unit 130. Alternatively, for example, a relational expression or correspondence table that represents the correspondence between the value and the flight speed may be stored in the memory unit 130, and the aircraft state recognition unit 115 may be configured to obtain a value corresponding to the current flight speed from the value and the flight speed using the relational expression or correspondence table, and use the calculated value as the value of the voltage level or current amount of the power supplied to each rotor R when flying in windless conditions that corresponds to the current flight speed.

[0110] The aircraft state recognition unit 115 then calculates the distance traveled from a point in time a predetermined period of time ago to the present using, for example, the three-dimensional position information of the unmanned aircraft D from a point in time a predetermined period of time ago and the current three-dimensional position information of the unmanned aircraft D obtained above, and obtains information on the speed of the unmanned aircraft D by dividing the distance traveled by the elapsed time from a point in time a predetermined period of time ago to the present.

[0111] Alternatively, for example, the aircraft state recognition unit 115 may acquire information about the speed of the unmanned aerial vehicle D via a speedometer (not shown) provided on the unmanned aerial vehicle D.

[0112] For example, if the unmanned aerial vehicle D is controlled by the flight controller 30 to always fly at a constant speed (for example, to continue flying at 20 km / s as shown in Figure 2), the process of acquiring information on the speed of the unmanned aerial vehicle D is omitted, and one or both of the values ​​of the voltage level or the amount of current of the power supplied to each rotor R when the unmanned aerial vehicle D is flying in windless conditions, corresponding to the constant speed, are uniquely used in the process of recognizing information on the direction and strength of the wind blowing toward the unmanned aerial vehicle D (Figure 7 / S35).

[0113] Then, the aircraft state recognition unit 115 calculates the difference between one or both of the values ​​of the voltage level or the amount of current of the power supplied to each rotor R recognized in S33 and the corresponding values ​​in a windless state.

[0114] The aircraft state recognition unit 115 then compares the difference values ​​calculated for each rotor R, and if the difference first occurs in rotor R3 located on the front right, and then in rotors R1, R4, and then rotor R2, it recognizes that the unmanned aircraft D is experiencing wind from the front right.

[0115] In addition, the aircraft state recognition unit 115 recognizes a relational expression or a correspondence table that represents the correspondence between the difference value calculated for each rotor R and the wind speed, which is stored in the memory unit 130, for example, and recognizes the wind speed (m / s) from the difference value calculated for each rotor R using the relational expression or the correspondence table.

[0116] Alternatively, for example, the aircraft state recognition unit 115 may recognize the wind strength as a level, such as "strong wind level" if the difference value calculated for each rotor R is greater than a predetermined first reference value, "medium wind level" if it is less than the first reference value and greater than or equal to a second reference value, or "weak wind level" if it is less than the second reference value.

[0117] Thereafter, the aircraft state recognition unit 115 recognizes, as necessary, information on the voltage level of the electricity supplied from the power source that supplies power to the unmanned aircraft D via a voltmeter 590v, or recognizes information on the magnitude of the current via an ammeter 590a (Figure 7 / S37).

[0118] Furthermore, if necessary, the aircraft state recognition unit 115 recognizes information on the temperature around the unmanned aircraft D via the temperature sensor 550, or information on the humidity around the unmanned aircraft D via the humidity sensor 570 (Figure 7 / S39), and also recognizes forecast information on one or both of the wind direction and strength and the amount of rainfall for points included in the flight route (Figure 7 / S41), thereby completing the series of state recognition processing steps.

[0119] Forecast information on one or both of wind direction and strength and rainfall amount for points included in the flight route is weather forecast information, and the aircraft condition recognition unit 115 is configured, for example, to acquire weather forecast information at predetermined intervals (for example, every 5 minutes) from a computer installed on the ground, etc., via a receiving means (not shown) on a wireless communication network.

[0120] <Flight route change processing> A series of steps in the flight route change process will be described with reference to FIGS.

[0121] When the flight route change process starts, the flight route change unit 117 first determines whether the unmanned aerial vehicle D has deviated or is at risk of deviating from the first aviation space FS11 (see Figure 10) (Figure 9 / S51).

[0122] The flight route change unit 117, for example, recognizes the three-dimensional position information of the line segment FR1 drawn by the current flight route from the flight route information, compares it with the current three-dimensional position information of the unmanned aerial vehicle D obtained by the state recognition processing, and determines that the unmanned aerial vehicle D has deviated from the first aviation space FS11 if the unmanned aerial vehicle D is more than a first predetermined distance PL1 away from the three-dimensional position of the line segment FR1 drawn by the current flight route (Figure 9 / S51: YES).

[0123] In addition, the flight route change unit 117 determines that there is a risk that the unmanned aerial vehicle D will deviate from the first flight space FS11 when, for example, the current three-dimensional position information of the unmanned aerial vehicle D obtained by the state recognition processing is approaching a predetermined degree from the three-dimensional position of the line segment FR1 drawn by the current flight route to a position that is a first predetermined distance PL1 away (Figure 9 / S51: YES).

[0124] On the other hand, if the above determination is negative (FIG. 9 / S51: NO), the flight route change unit 117 determines to output an instruction to the unmanned aerial vehicle D to continue flying in the first aviation space FS11 (FIG. 9 / S59), and terminates the processing. In other words, even if the flight route deviates from the line segment FR in the air due to wind, for example, the unmanned aerial vehicle D continues flying without resisting the wind as long as it is within the range of the first aviation space FS1.

[0125] Fig. 10 is an image diagram showing a state in which unmanned aerial vehicle D has deviated from the first aviation space FS11 and its flight route has been changed. The flight route change unit 117 determines that the unmanned aerial vehicle D depicted at the bottom of Fig. 10 has deviated from the first aviation space FS11 (Fig. 9 / S51: YES), acquires information on the direction and strength of the wind blowing toward the unmanned aerial vehicle D, which was recognized in the state recognition process (Fig. 9 / S53), and determines whether the direction and strength of the wind are in a predetermined state (Fig. 9 / S55).

[0126] The specified state of wind direction and strength includes, for example, whether the wind is blowing in a direction further away from the line segment FR1 described by the current flight route, whether the wind is blowing from ahead, or whether the wind direction is changing rapidly.

[0127] If the wind is blowing in a direction further away from the line segment FR1 described by the current flight route, there is a high possibility of deviation from the first flight space FS1, and therefore measures such as avoiding the wind are necessary. However, if the wind is blowing in a direction closer to the line segment FR1 described by the current flight route, there is little need to avoid the wind for the time being.

[0128] Similarly, if the wind is blowing from the front, i.e., a headwind, it will prevent the aircraft from continuing to fly, but if the wind is blowing from behind, i.e., a tailwind, there is little need to avoid the wind.

[0129] Alternatively, if the wind direction is changing rapidly, there is a high probability that flight will become unstable, and it is necessary to immediately avoid the wind.

[0130] Furthermore, the wind strength is determined based on whether the wind speed is equal to or greater than a predetermined reference value for wind speed. The reference value for wind speed may be set appropriately depending on the performance of the unmanned aerial vehicle D, etc.

[0131] Regardless of the wind direction, if the wind speed is higher than a predetermined value, there is a high possibility that the aircraft will eventually deviate from the first flight space FS1, so it is necessary to avoid the wind.

[0132] That is, the flight route alteration unit 117 determines whether or not there is a need to avoid the wind based on whether or not the direction and strength of the wind correspond to a predetermined condition.

[0133] If the judgment is positive (Figure 9 / S55: YES), the flight route change unit 117 determines the direction and distance of movement of the unmanned aircraft D in the up, down, left, and right directions based on information on the direction and strength of the wind blowing toward the unmanned aircraft.

[0134] For example, the flight route changing unit 117 determines the direction of movement of the unmanned aerial vehicle D in the up, down, left, or right directions so that the unmanned aerial vehicle D faces a direction perpendicular to the wind direction. That is, for example, if the wind is blowing from the left, the flight route changing unit 117 determines to move in an upward or downward direction. Alternatively, for example, if the wind is blowing directly ahead, the flight route changing unit 117 determines to move in either the up, down, left, or right direction. Note that there are 360° directions perpendicular to the wind direction, so which of these directions the unmanned aerial vehicle D will move in may be determined appropriately using any algorithm.

[0135] Furthermore, the flight route changing unit 117 determines the travel distance so that the flight will travel a longer distance if the wind strength is strong. The flight route changing unit 117, for example, acquires a relational expression, a correspondence table, or the like that indicates the correspondence between wind strength and travel distance, which is stored in advance in the storage unit 130, and determines the travel distance that corresponds to the acquired wind strength.

[0136] If the flight route change unit 117 moves the determined distance in the direction of movement of the unmanned aircraft D determined in this manner and the flight deviates from the current first aviation space FS11, it determines that the wind direction and strength correspond to a predetermined state in which the aircraft should pass through the second aviation space FS21, and determines changes to the flight content so that the aircraft passes through the second aviation space FS21 (Figure 9 / S61).

[0137] Furthermore, if the flight route change unit 117 determines that moving the determined distance in the direction of movement of the unmanned aerial vehicle D determined in this manner would result in deviation from the current second flight space FS21 (Figure 8 / 63: Yes), it will treat the above determination as a "provisional determination" and output information to the operator of the unmanned aerial vehicle prompting them to input information on whether or not the flight route can be changed (Figure 8 / 65), and if information indicating that the flight route can be changed is input (Figure 8 / 67: Yes), it will determine the changes to the flight route (i.e., "real determination") (Figure 8 / 69) and terminate the series of processes.

[0138] On the other hand, if no information indicating that the flight route can be changed is input (Figure 8 / 67: No), the flight route change unit 117 decides to continue flight, for example, in the first flight space FS1 (Figure 9 / S59), and terminates the processing.

[0139] Furthermore, if the flight route change unit 117 determines that moving the determined distance in the direction of movement of the unmanned aerial vehicle D determined in this manner would not result in deviation from the current second flight space FS21 (Figure 8 / 63: No), it determines the changes to the flight route (i.e., "final determination") (Figure 8 / 69) and terminates the series of processes.

[0140] Figure 9 shows the result of determining the flight route change so that it passes through the second flight space FS21. Accordingly, the line segment FR2 drawn in the air by the changed flight route has been changed so that it passes through the second flight space FS21 before the change.

[0141] In addition, the first flight space and the second flight space become the changed first flight space FS12 and the second flight space FS22, which are re-recognized based on the first predetermined distance PL1 and the second predetermined distance PL2, starting from the line segment FR2 drawn in the air by the changed flight route.

[0142] FIG. 10 shows a case where the wind direction and strength are not in a predetermined state (FIG. 8 / S55: No) and it is decided to continue flight in the first flight space FS11 (FIG. 9 / S59).

[0143] In this case, the flight route is not changed, so the line segment FR drawn in the air by the flight route is not changed, and the first aviation space FS1 and the second aviation space FS2 remain unchanged as the spaces recognized based on the first predetermined distance PL1 and the second predetermined distance PL2. Then, the unmanned aerial vehicle D is controlled, for example, to approach the line segment FR drawn in the air by the flight route.

[0144] The unmanned aircraft control device, unmanned aircraft control program, unmanned aircraft control method, and unmanned aircraft equipped with the unmanned aircraft control device according to this embodiment have been described above, but the present invention is not limited to this embodiment. Various modifications are possible within the scope of the present invention.

[0145] A modified embodiment of the present invention will now be described.

[0146] <Modified embodiment 1> First, a first modified embodiment of the flight route change processing will be described.

[0147] When processing begins, the flight route change unit 117 determines whether or not one or both of the voltage level and current magnitude of the power supplied from the power source, recognized in the state recognition processing (Figure 7 / S37), are below a predetermined first threshold value (Figure 11 / S71).

[0148] The flight route change unit 117 makes this determination, for example, by acquiring a first threshold value for one or both of the voltage level and current magnitude of the power supplied from the power source stored in the memory unit 130 and comparing the threshold value with the voltage level and current magnitude of the power supplied from the power source. The first threshold value is a lower limit value for one or both of the voltage level and current magnitude that indicates that the battery, fuel cell, etc., which is the power source PS of the unmanned aerial vehicle D, is supplying power normally, and the value may be set appropriately depending on the performance of the battery, fuel cell, etc., which is the power source PS of the unmanned aerial vehicle D.

[0149] If the determination is negative (FIG. 11 / S71: No), the flight route change unit 117 ends the processing.

[0150] On the other hand, if the judgment is negative (Figure 11 / S71: Yes), the flight route change unit 117 determines whether one or both of the temperature and humidity around the unmanned aerial vehicle D, which were recognized in the status recognition processing (Figure 7 / S39), are below a predetermined second threshold (Figure 11 / S73).

[0151] The flight route change unit 117 makes this determination, for example, by acquiring second thresholds for one or both of the temperature and humidity around the unmanned aerial vehicle D stored in the memory unit 130 and comparing these thresholds with the temperature and humidity around the unmanned aerial vehicle D. The second thresholds are the lower limit values ​​of appropriate temperature and humidity at which the power source PS of the unmanned aerial vehicle D, such as a battery or fuel cell, can stably supply electricity, and these values ​​may be set appropriately depending on the specifications of the power source PS of the unmanned aerial vehicle D, such as a battery or fuel cell.

[0152] If the determination is negative (FIG. 11 / S73: No), the flight route change unit 117 ends the processing.

[0153] On the other hand, if the judgment is negative (Figure 11 / S73: Yes), the flight route change unit 117 recognizes the length of the distance to move the flight position of the unmanned aerial vehicle D downward, corresponding to the height of one or both of the temperature and humidity (Figure 11 / S75), and determines the change content of the flight route so that the unmanned aerial vehicle D flies to the position moved downward the recognized distance (Figure 11 / S77), thereby completing the series of processes.

[0154] For example, the flight route change unit 117 calculates the difference between the second threshold value of one or both of the temperature and humidity around the unmanned aerial vehicle D and the current temperature and humidity, and obtains a relational equation, correspondence table, etc. stored in the memory unit 130 that represents the correspondence relationship between how much the surrounding temperature and humidity will increase depending on how much the unmanned aerial vehicle D is lowered.

[0155] The flight route change unit 117 then uses the relational equation, correspondence table, etc. to calculate the distance that the unmanned aerial vehicle D should descend in order to raise either or both of the surrounding air temperature and humidity by the amount of the difference calculated above, and thereby recognizes the distance that the flight position of the unmanned aerial vehicle D should move downward to correspond to the height of either or both of the air temperature and humidity.

[0156] In addition, if the flight route change unit 117 does not perform the processing of modified embodiment 1, the processing of recognizing one or both of the voltage level and current magnitude of the power supplied from the power source (Figure 7 / S37) and the processing of recognizing one or both of the ambient temperature and humidity (Figure 7 / S39) may be omitted in the status recognition processing.

[0157] <Modified embodiment 2> Next, a second modified embodiment of the flight route change processing will be described.

[0158] When processing begins, the flight route change unit 117 refers to forecast information for one or both of the wind direction and strength and rainfall amount for points included in the flight route recognized in the state recognition processing (Figure 7 / S41), and determines whether one or both of the wind direction and strength and rainfall amount are in a specified adverse flight impact state that will have an adverse effect on the flight of the unmanned aircraft at the scheduled time when the unmanned aircraft D is to pass the point included in the flight route (Figure 12 / S81).

[0159] For example, the flight route change unit 117 acquires information on the judgment conditions stored in the memory unit 130 for determining whether or not a state adversely affecting flight exists, and makes the above judgment based on whether or not the judgment conditions are met.

[0160] The scheduled times at which unmanned aerial vehicle D will pass over points included in the flight route are times corresponding to each point (latitude, longitude) stored in the flight route information (see FIG. 2).

[0161] The conditions for determining the wind direction include, for example, whether the wind is blowing from the front, or whether the wind direction is changing rapidly.

[0162] The conditions for determining wind strength and rainfall amount are, for example, whether the wind speed and rainfall amount are equal to or greater than a predetermined threshold value for wind speed and rainfall amount, etc. The threshold value may be set appropriately depending on the performance of the unmanned aerial vehicle D.

[0163] If the determination is negative (FIG. 12 / S81: No), the flight route change unit 117 ends the process.

[0164] On the other hand, if the determination is affirmative (FIG. 12 / S81: Yes), the flight route change unit 117 recognizes the estimated time at which the unmanned aerial vehicle D will pass the point if the flight speed of the unmanned aerial vehicle D is changed.

[0165] For example, if the current flight speed is 20 km / h, the distance to the point determined to be in a state of adverse effect on flight is 2 km, and the time obtained from the flight route information, i.e., the current estimated time of passage, is 13:00, the flight route change unit 117 will recognize that if the flight speed is changed to 10 km / h, the estimated time at which unmanned aerial vehicle D will pass the point is 13:06.

[0166] Then, the flight route changing unit 117 recognizes forecast information of one or both of the wind direction and strength and the amount of rainfall at the expected time (FIG. 13 / S85).

[0167] That is, for example, the flight route change unit 117 acquires forecast information corresponding to 13:06 from the forecast information of one or both of the wind direction and strength and the rainfall amount for the points included in the flight route recognized in the state recognition process (Figure 7 / S41).

[0168] Then, the flight route change unit 117 determines whether the point is in a state that adversely affects flight at the expected time, for example, using a method similar to that of S81 (FIG. 13 / S87).

[0169] If the location is not in a state that adversely affects flight at the expected time (Figure 13 / S87: Yes), the flight route change unit 117 decides to change the flight speed to 10 km / h and fly (Figure 13 / S89) and terminates the processing.

[0170] On the other hand, if the point is not in a state that adversely affects flight at the expected time (FIG. 13 / S87: No), the flight route change unit 117 ends the process without deciding to change the flight speed.

[0171] The flight route change unit 117 may be configured to repeat the above process until a flight speed that can avoid the state that adversely affects flight is found, or if a flight speed that can avoid the state that adversely affects flight cannot be found, to hover at the current location or land as necessary, and repeat the above process until a situation that can avoid the state that adversely affects flight is reached.

[0172] Although the embodiment in which the flight speed is reduced has been described above, it may be determined whether or not the adverse flight effect state can be avoided by increasing the flight speed.

[0173] In addition, if the flight route change unit 117 does not perform the processing of modified embodiment 2, the process of recognizing forecast information for one or both of wind direction and strength and rainfall amount for points included in the flight route in the state recognition process (Figure 7 / S41) may be omitted.

[0174] <Modified embodiment 3> Next, a modified example of the process (FIG. 4 / S13) for recognizing the first flight space FS1 and the second flight space FS2 will be described.

[0175] For example, the flight space recognition unit 113 acquires information on the latitude and longitude range of the restricted area that is pre-stored in the memory unit 130, and determines whether the latitude and longitude of the unmanned aircraft D at a specified time after the current time, which is included in the flight route information, falls within the latitude and longitude range of the restricted area.

[0176] A restricted area is an area such as an urban area, a densely populated residential area, or an area around an airport, where unmanned aerial vehicle D flying above it has little freedom of movement in any direction, including up, down, left, or right.

[0177] If the determination is negative, the flight space recognition unit 113 recognizes the first flight space FS1 and the second flight space FS2 in the normal manner as described above.

[0178] On the other hand, if the determination is positive, the flight space recognition unit 113 recognizes that the point through which the unmanned aerial vehicle D will pass is above a predetermined restricted area.

[0179] The flight space recognition unit 113 then sets the first predetermined distance PL1 to a distance shorter than the first predetermined distance PL1 when the point through which the unmanned aerial vehicle D passes is not above a restricted area, and recognizes the first flight space FS1.

[0180] Alternatively, the flight space recognition unit 113 sets the second predetermined distance PL2 to a distance shorter than the second predetermined distance PL2 when the point through which the unmanned aerial vehicle D passes is not above a restricted area, and recognizes the second flight space FS2.

[0181] FIG. 13 is an image diagram showing a state in which the flight space recognition unit 113 has recognized the first flight space FS1 and the second flight space FS2 in this manner.

[0182] In other words, in this embodiment, the flight space recognition unit 113 recognizes the normal size of the space from the departure point SP to the airspace above the restricted area LA as the first flight space FS1 and the second flight space FS2, respectively, but while flying over the restricted area LA, the first flight space FS1 and the second flight space FS2 become narrower.

[0183] After that, the flight space recognition unit 113 recognizes the normal size of the space from the time the aircraft leaves the airspace above the restricted area LA until it reaches the destination DP as the first flight space FS1 and the second flight space FS2, respectively.

[0184] Although some examples of modified embodiments of the present invention have been shown above, the present invention is not limited to these and various further modifications may be made.

[0185] That is, for example, in the above, the flight controller 30 provided in the unmanned aerial vehicle D controls the flight route in accordance with information about the flight route of the unmanned aerial vehicle D, but this control may also be performed by the control unit 110 of the unmanned aerial vehicle control device 10. In other words, the control unit 110 of the unmanned aerial vehicle control device 10 may be responsible for some or all of the functions of the flight controller 30.

[0186] Alternatively, the power source PS of the unmanned aerial vehicle D may be an internal combustion engine such as a gasoline engine. In this case, the rotational force generated by the internal combustion engine may be transmitted as the rotational force of the rotor R, or the internal combustion engine may receive a supply of electric power generated by operating a generator (not shown) to rotate the multiple rotors R (R1 to R4).

[0187] The flight route recognition unit 111 may be configured such that a receiving means (not shown) acquires flight route information from a computer installed on the ground, for example, via a wireless communication network.

[0188] Alternatively, for example, the aircraft state recognition unit 115 may recognize the direction of the wind blowing towards the unmanned aircraft D from the magnitude of change in the unmanned aircraft D's movement speed, the magnitude of the unmanned aircraft D's movement in three dimensions, and the inclination of the unmanned aircraft D's attitude.

[0189] That is, for example, if the movement speed of the unmanned aerial vehicle D unintentionally increases, the aircraft state recognition unit 115 recognizes that the wind is blowing from behind, and if the movement speed unintentionally decreases, the aircraft state recognition unit 115 recognizes that the wind is blowing from the front, and recognizes the strength of the wind from the magnitude of the change in speed using a relational equation that shows the correspondence between the magnitude of the change in speed and the wind speed.

[0190] Alternatively, for example, if the unmanned aerial vehicle D moves unintentionally downward, the aircraft state recognition unit 115 recognizes that the wind is blowing from above. Alternatively, for example, if the right side of the unmanned aerial vehicle D tilts downward, the aircraft state recognition unit 115 recognizes that the wind is blowing from the upper right direction. [Explanation of symbols]

[0191] 10...Unmanned aircraft control device, 30...Flight controller, 50...Sensor, 110...Control unit, 111...Flight route recognition unit, 113...Flyable space recognition unit, 115...Aircraft state recognition unit, 117...Flight route change unit, 130...Memory unit, 510...GPS, 530...Altitude sensor, 550...Temperature sensor, 570...Humidity sensor, 590...Current / voltage sensor.

Claims

1. A device for controlling the flight of an unmanned aerial vehicle to a destination, a flight route recognition unit that recognizes flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; a flight space recognition unit that recognizes a first flight space, which is a space that starts from a line segment that the flight route traces in the air and extends in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second flight space, which is a space that extends in a circumferential direction of the line segment at a second predetermined distance outside the first flight space that is longer than the first predetermined distance; an aircraft state recognition unit that recognizes the state of the unmanned aircraft, which is composed of current three-dimensional position information of the unmanned aircraft during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aircraft; a flight route change unit that determines changes to the flight route of the unmanned aircraft according to the state of the unmanned aircraft recognized by the aircraft state recognition unit, and outputs information on the determined changed flight route to the unmanned aircraft; Equipped with The flight route change unit When the current position of the unmanned aerial vehicle in the up, down, left, and right directions recognized by the aircraft state recognition unit deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the unmanned aerial vehicle recognized by the aircraft state recognition unit is acquired, When the direction and strength of the wind are in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space, and when the direction and strength of the wind are not in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space, and when the direction and strength of the wind are not in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space. The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, the aircraft state recognition unit is configured to recognize one or both of a voltage level and a current level of power supplied from a power source that supplies power to the unmanned aerial vehicle, and one or both of an air temperature and a humidity level around the unmanned aerial vehicle; The flight route change unit is configured to, when one or both of the voltage level and current magnitude are equal to or less than a predetermined first threshold and one or both of the temperature and humidity are equal to or less than a predetermined second threshold, use information indicating the correspondence between the height of one or both of the temperature and humidity and the length of the distance traveled by moving the flight position of the unmanned aerial vehicle downward, recognize the length of the distance traveled by moving the flight position of the unmanned aerial vehicle downward that corresponds to the height of one or both of the temperature and humidity, and determine the change content of the flight route so that the unmanned aerial vehicle flies to a position traveled the recognized distance in a downward direction. An unmanned aerial vehicle control device characterized by:

2. A device for controlling the flight of an unmanned aerial vehicle to a destination, a flight route recognition unit that recognizes flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; a flight space recognition unit that recognizes a first flight space, which is a space that starts from a line segment that the flight route traces in the air and extends in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second flight space, which is a space that extends in a circumferential direction of the line segment at a second predetermined distance outside the first flight space that is longer than the first predetermined distance; an aircraft state recognition unit that recognizes the state of the unmanned aircraft, which is composed of current three-dimensional position information of the unmanned aircraft during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aircraft; a flight route change unit that determines changes to the flight route of the unmanned aircraft according to the state of the unmanned aircraft recognized by the aircraft state recognition unit, and outputs information on the determined changed flight route to the unmanned aircraft; Equipped with The flight route change unit When the current position of the unmanned aerial vehicle in the up, down, left, and right directions recognized by the aircraft state recognition unit deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the unmanned aerial vehicle recognized by the aircraft state recognition unit is acquired, When the direction and strength of the wind are in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space, and when the direction and strength of the wind are not in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space, and when the direction and strength of the wind are not in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space. The flight space recognition unit Recognizing whether the point through which the unmanned aerial vehicle passes is above a predetermined restricted area; the first predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the first predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area; or The second predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the second predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area. An unmanned aerial vehicle control device characterized by:

3. A device for controlling the flight of an unmanned aerial vehicle to a destination, a flight route recognition unit that recognizes flight route information consisting of information indicating three-dimensional positions that the unmanned aerial vehicle will pass through while flying from its current position to the destination; a flight space recognition unit that recognizes a first flight space, which is a space that starts from a line segment that the flight route traces in the air and extends in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second flight space, which is a space that extends in a circumferential direction of the line segment at a second predetermined distance outside the first flight space that is longer than the first predetermined distance; an aircraft state recognition unit that recognizes the state of the unmanned aircraft, which is composed of current three-dimensional position information of the unmanned aircraft during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aircraft; a flight route change unit that determines changes to the flight route of the unmanned aircraft according to the state of the unmanned aircraft recognized by the aircraft state recognition unit, and outputs information on the determined changed flight route to the unmanned aircraft; Equipped with The flight route change unit When the current position of the unmanned aerial vehicle in the up, down, left, and right directions recognized by the aircraft state recognition unit deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the unmanned aerial vehicle recognized by the aircraft state recognition unit is acquired, When the direction and strength of the wind are in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space, and when the direction and strength of the wind are not in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space, and when the direction and strength of the wind are not in a predetermined state, the change of the flight route is determined so that the flight route passes through the second aviation space. the aircraft state recognition unit is configured to recognize forecast information of one or both of wind direction and strength and rainfall amount at points included in the flight route, The flight route change unit By referring to the forecast information, if one or both of the wind direction and strength and the rainfall amount at the time when the unmanned aerial vehicle is scheduled to pass a point included in the flight route are in a predetermined adverse flight impact state that will have an adverse effect on the flight of the unmanned aerial vehicle, The system is configured to recognize the estimated time when the unmanned aerial vehicle will pass the point when the flight speed of the unmanned aerial vehicle is changed, recognize forecast information for one or both of the wind direction and strength and the amount of rainfall at the estimated time, and, if the point is not in a state that will adversely affect flight at the estimated time, output information to the unmanned aerial vehicle instructing it to change to the flight speed and fly. An unmanned aerial vehicle control device characterized by:

4. The unmanned aerial vehicle control device according to any one of claims 1 to 3, The aircraft state recognition unit is configured to acquire information indicating a load acting on each of a plurality of rotors provided in the unmanned aircraft, and recognize a direction and strength of a wind blowing toward the unmanned aircraft based on the information indicating the load acting on the plurality of rotors. An unmanned aerial vehicle control device characterized by:

5. In the unmanned aircraft control device described in claim 4, The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, The aircraft state recognition unit is configured to acquire, as the information indicating the load, information on one or both of a voltage level and a current level of power supplied to each of the plurality of rotors from a power source that supplies power to the unmanned aerial vehicle. An unmanned aerial vehicle control device characterized by:

6. The unmanned aerial vehicle control device according to any one of claims 1 to 5, The flight route change unit is configured to determine the direction and distance of movement of the unmanned aerial vehicle in the up, down, left, and right directions according to the direction and strength of wind blowing toward the unmanned aerial vehicle, and to determine the change content of the flight route so that the unmanned aerial vehicle flies in the determined direction and to a position moved the determined distance. An unmanned aerial vehicle control device characterized by:

7. An unmanned aircraft characterized by being equipped with an unmanned aircraft control device described in any one of claims 1 to 6.

8. 1. A computer-implemented method for controlling flight of an unmanned aerial vehicle to a destination, comprising: A step of recognizing flight route information consisting of information indicating three-dimensional positions of the unmanned aerial vehicle passing through while flying from the current position to the destination; A step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Including, The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, the step of recognizing the state of the unmanned aerial vehicle is a step of recognizing one or both of a voltage level and a current level of power supplied from a power source that supplies power to the unmanned aerial vehicle, and one or both of an air temperature and a humidity level around the unmanned aerial vehicle; The step of determining the change in the flight route is a step of, when one or both of the voltage level and current magnitude are equal to or less than a predetermined first threshold and one or both of the temperature and humidity are equal to or less than a predetermined second threshold, using information indicating the correspondence between the height of one or both of the temperature and humidity and the length of the distance traveled by moving the flight position of the unmanned aerial vehicle downward, recognizing the length of the distance traveled by moving the flight position of the unmanned aerial vehicle downward that corresponds to the height of one or both of the temperature and humidity, and determining the change in the flight route so that the unmanned aerial vehicle flies to a position traveled the recognized distance downward.

1. A method for controlling an unmanned aerial vehicle.

9. A computer-implemented method for controlling the flight of an unmanned aerial vehicle to a destination, comprising: A step of recognizing flight route information consisting of information indicating three-dimensional positions of the unmanned aerial vehicle passing through while flying from the current position to the destination; A step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Including, The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the first flight space and the second flight space includes: Recognizing whether the point through which the unmanned aerial vehicle passes is above a predetermined restricted area; the first predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the first predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area; or The second predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the second predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area.

1. A method for controlling an unmanned aerial vehicle.

10. A computer-implemented method for controlling the flight of an unmanned aerial vehicle to a destination, comprising: A step of recognizing flight route information consisting of information indicating three-dimensional positions of the unmanned aerial vehicle passing through while flying from the current position to the destination; A step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from a second predetermined distance longer than the first predetermined distance in a circumferential direction of the line segment; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Including, The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the state of the unmanned aerial vehicle is a step of recognizing forecast information of one or both of wind direction and strength and rainfall amount at points included in the flight route, The step of determining the change content of the flight route includes: By referring to the forecast information, if one or both of the wind direction and strength and the rainfall amount at the time when the unmanned aerial vehicle is scheduled to pass a point included in the flight route are in a predetermined adverse flight impact state that will have an adverse effect on the flight of the unmanned aerial vehicle, The system is configured to recognize the estimated time when the unmanned aerial vehicle will pass the point when the flight speed of the unmanned aerial vehicle is changed, recognize forecast information for one or both of the wind direction and strength and the amount of rainfall at the estimated time, and, if the point is not in a state that will adversely affect flight at the estimated time, output information to the unmanned aerial vehicle instructing it to change to the flight speed and fly.

1. A method for controlling an unmanned aerial vehicle.

11. A program that causes a computer to control the flight of an unmanned aerial vehicle to a destination, A step of recognizing flight route information consisting of information indicating three-dimensional positions of the unmanned aerial vehicle passing through while flying from the current position to the destination; a step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from the line segment in a circumferential direction of the line segment at a second predetermined distance longer than the first predetermined distance; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Execute The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The unmanned aerial vehicle is an unmanned aerial vehicle that flies using electricity as a power source, the step of recognizing the state of the unmanned aerial vehicle is a step of recognizing one or both of a voltage level and a current level of power supplied from a power source that supplies power to the unmanned aerial vehicle, and one or both of an air temperature and a humidity level around the unmanned aerial vehicle; The step of determining the change in the flight route is a step of, when one or both of the voltage level and current magnitude are equal to or less than a predetermined first threshold and one or both of the temperature and humidity are equal to or less than a predetermined second threshold, using information indicating the correspondence between the height of one or both of the temperature and humidity and the length of the distance traveled by moving the flight position of the unmanned aerial vehicle downward, recognizing the length of the distance traveled by moving the flight position of the unmanned aerial vehicle downward that corresponds to the height of one or both of the temperature and humidity, and determining the change in the flight route so that the unmanned aerial vehicle flies to a position traveled the recognized distance downward. An unmanned aerial vehicle control program.

12. A program that causes a computer to control the flight of an unmanned aerial vehicle to a destination, comprising: A step of recognizing flight route information consisting of information indicating three-dimensional positions of the unmanned aerial vehicle passing through while flying from the current position to the destination; a step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from the line segment in a circumferential direction of the line segment at a second predetermined distance longer than the first predetermined distance; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Execute The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the first flight space and the second flight space includes: Recognizing whether the point through which the unmanned aerial vehicle passes is above a predetermined restricted area; the first predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the first predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area; or The second predetermined distance when the point through which the unmanned aerial vehicle passes is not above the restricted area is longer than the second predetermined distance when the point through which the unmanned aerial vehicle passes is above the restricted area. An unmanned aerial vehicle control program.

13. A program that causes a computer to control the flight of an unmanned aerial vehicle to a destination, A step of recognizing flight route information consisting of information indicating three-dimensional positions of the unmanned aerial vehicle passing through while flying from the current position to the destination; a step of recognizing a first aviation space, which is a space extending from a line segment drawn in the air by the flight route as a starting point in a circumferential direction of the line segment at a first predetermined distance from the line segment, and a second aviation space, which is a space extending from the line segment in a circumferential direction of the line segment at a second predetermined distance longer than the first predetermined distance; a step of recognizing the state of the unmanned aerial vehicle, which comprises current three-dimensional position information of the unmanned aerial vehicle during flight to the destination and information on the direction and strength of wind blowing toward the unmanned aerial vehicle; determining a change to the flight route of the unmanned aircraft according to the recognized state of the unmanned aircraft; outputting information about the determined changed flight route to the unmanned aerial vehicle; Execute The step of determining the change content of the flight route includes: When the current position of the recognized unmanned aerial vehicle in the up, down, left, and right directions deviates or is likely to deviate from the first flight space, information on the direction and strength of the wind blowing toward the recognized unmanned aerial vehicle is acquired; determining a change in the flight route so that the flight route passes through the second flight space when the wind direction and strength are in a predetermined state; The step of recognizing the state of the unmanned aerial vehicle is a step of recognizing forecast information of one or both of wind direction and strength and rainfall amount at points included in the flight route, The step of determining the change content of the flight route includes: By referring to the forecast information, if one or both of the wind direction and strength and the rainfall amount at the time when the unmanned aerial vehicle is scheduled to pass a point included in the flight route are in a predetermined adverse flight impact state that will have an adverse effect on the flight of the unmanned aerial vehicle, The system is configured to recognize the estimated time when the unmanned aerial vehicle will pass the point when the flight speed of the unmanned aerial vehicle is changed, recognize forecast information for one or both of the wind direction and strength and the amount of rainfall at the estimated time, and, if the point is not in a state that will adversely affect flight at the estimated time, output information to the unmanned aerial vehicle instructing it to change to the flight speed and fly. An unmanned aerial vehicle control program.

Images