Aircraft control system and aircraft system

Abstract

A flying object control system (A) that causes a plurality of flying objects (B) to fly as a group comprises a flight command generation unit that generates flight commands for causing the plurality of flying objects (B) to fly as a group, and a transmission unit that transmits the flight commands to the flying objects (B).

Description

[Technical Field]

[0001] The present invention relates to collective air vehicle systems and air vehicle systems. [Background technology]

[0002] Patent Document 1 describes a multicopter. This multicopter is equipped with a spraying device that sprays fertilizer, water, pesticides, and the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-104814 Summary of the Invention [Problem to be solved by the invention]

[0004] Multicopters cannot fly with cargo or equipment exceeding their maximum payload. Therefore, the amount of cargo or material that a single multicopter can carry is limited by its maximum payload. Furthermore, the area that a single multicopter can scatter material over per unit of time is determined by the width of the material and the flight speed. However, the width of the material and the flight speed are limited by the specifications of the multicopter.

[0005] An object of the present invention is to provide a means by which a flying object can transport heavier supported objects, work over a wider range, and perform work more efficiently. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the aircraft control system of the present invention is an aircraft control system for flying a plurality of aircraft as a group, and includes a flight command generation unit that generates flight commands for flying the plurality of aircraft as a group, and a transmission unit that transmits the flight commands to the plurality of aircraft. The aircraft includes a master aircraft in which the flight command generation unit functions to transmit the flight commands, and a slave aircraft in which the flight command generation unit does not function, receives the flight commands, and flies based on the flight commands. Under a predetermined condition, the flight command generation unit of the master aircraft is stopped, and the flight command generation unit of the slave aircraft is made to function.It is characterized by the following.

[0007] According to this configuration, flight commands for flying multiple aircraft as a group are generated and transmitted to the multiple aircraft, allowing multiple aircraft to fly as a group with a simple configuration. For example, multiple aircraft can be flown as a group while supporting supported objects, making it possible to fly supported objects weighing more than the maximum payload of a single aircraft. If the supported object is a spraying device, a larger amount of spray material can be carried, allowing spraying operations to be performed over a wider area. For example, if multiple aircraft equipped with spraying devices fly as a group lined up horizontally, the spray width of the sprayed material can be increased, allowing spraying operations to be performed efficiently.

[0008] In the present invention, it is preferable that the aircraft is provided with a positioning position acquisition unit that acquires the positioning position of the aircraft generated by a satellite positioning device equipped therein, and that the flight command generation unit generates the flight command based on the positioning position.

[0009] According to this configuration, the flight command is generated based on the positioning position, so that the flight command is appropriate. For example, the flight command generation unit can be configured to generate flight commands based on the positions of the multiple aircraft identified by the positioning position so that the spacing between the multiple aircraft is appropriate.

[0010] In the present invention, it is preferable that a position deviation calculation unit is provided that calculates the position deviation of the aircraft based on the positioning position acquired by the positioning position acquisition unit, and the flight command generation unit generates the flight command based on the position deviation.

[0011] According to this configuration, the positional deviation is calculated based on the positioning position, and the flight command is calculated based on the positional deviation, so that the flight command is more appropriate. For example, when a positional deviation occurs in the flying object due to a gust of wind, the flight command generation unit can be configured to generate a flight command that reduces the calculated positional deviation.

[0012] In the present invention, it is preferable that the flight command generation unit generates the flight command so as to cancel out the positional deviation of the supported object supported by the aircraft caused by the positional deviation.

[0013] For example, if a gust of wind causes a positional shift in part or all of the flying object, the supported object supported by the flying object may also shift in position. With this configuration, flight commands are calculated to counteract the positional shift in the supported object, making it possible to keep the supported object in an appropriate position. This makes it possible to transport the supported object and perform tasks using the supported object appropriately.

[0014] In the present invention, it is preferable that a constraint condition storage unit is provided that stores constraint conditions regarding the relative positions of the plurality of flying objects, and the flight command generation unit generates the flight commands based on the constraint conditions.

[0015] According to this configuration, flight commands are generated based on constraints, so the relative positions of the multiple aircraft are appropriately maintained, allowing the multiple aircraft to fly appropriately as a flock.

[0016] In the present invention, it is preferable that a specification information storage unit is provided that stores specification information indicating the performance and size of the plurality of aircraft, and the flight command generation unit generates the flight commands based on the specification information.

[0017] According to this configuration, flight commands are generated based on constraint conditions, so that the flight commands are appropriate in accordance with the constraints imposed by the specification information, thereby enabling the multiple flying objects to fly appropriately as a group.

[0018] In the present invention, it is preferable that the flight command generation unit generates divided flight commands for dividing the multiple aircraft into multiple groups and flying them, and that the transmission unit transmits the divided flight commands to the multiple aircraft.

[0019] According to this configuration, a division flight command for dividing a plurality of aircraft into multiple groups and flying them is generated and transmitted to the plurality of aircraft, thereby enabling flights by multiple groups to be realized with a simple configuration. Flying by multiple groups has the following advantages, for example: One group can perform spraying work in one field, while another group can perform spraying work in an adjacent field. Therefore, efficient work can be realized.

[0020] In the present invention, it is preferable that the flight command generation unit and the transmission unit are provided in the flying object.

[0021] According to this configuration, the flight command generation unit and the transmission unit fly together with the aircraft, so that the flight of the aircraft as a group can be appropriately controlled.

[0022] As a means for solving the above-mentioned problems, the aircraft system of the present invention includes a plurality of aircraft, a flight command generation unit that generates flight commands for flying the plurality of aircraft as a group, and a transmission unit that transmits the flight commands to the plurality of aircraft. The aircraft includes a master aircraft in which the flight command generation unit functions to transmit the flight commands, and a slave aircraft in which the flight command generation unit does not function, receives the flight commands, and flies based on the flight commands. Under a predetermined condition, the flight command generation unit of the master aircraft is stopped, and the flight command generation unit of the slave aircraft is made to function. It is characterized by the following.

[0023] According to this configuration, flight commands for flying multiple aircraft as a group are generated and transmitted to the multiple aircraft, allowing multiple aircraft to fly as a group with a simple configuration. For example, multiple aircraft can be flown as a group while supporting supported objects, making it possible to fly supported objects weighing more than the maximum payload of a single aircraft. If the supported object is a spraying device, a larger amount of spray material can be carried, allowing spraying operations to be performed over a wider area. For example, if multiple aircraft equipped with spraying devices fly as a group lined up horizontally, the spray width of the sprayed material can be increased, allowing spraying operations to be performed efficiently.

[0024] In the present invention, it is preferable to provide a connecting mechanism for connecting the plurality of flying bodies together.

[0025] This configuration provides various advantages when multiple aircraft fly as a group, since the aircraft are connected to each other by a connecting mechanism. For example, the flight duration can be extended by supplying energy from other aircraft to an aircraft with low remaining energy. For example, if an aircraft is unable to fly due to a malfunction or other reason, it can be supported by other aircraft via the connecting mechanism, preventing it from crashing.

[0026] In the present invention, it is preferable to include a ground device and a ground connection mechanism that connects the ground device and the flying vehicle.

[0027] This configuration provides various advantages when multiple aircraft fly as a group, since the aircraft and ground equipment are connected by a ground connection mechanism. For example, if the ground equipment can supply energy or materials to the aircraft, the aircraft's flight duration and operation duration can be extended.

[0028] In the present invention, it is preferable that the ground device includes an energy source capable of supplying energy to the flying object via the ground connection mechanism.

[0029] According to this configuration, energy can be supplied from the ground device to the flying object, thereby extending the flying time of the flying object.

[0030] In the present invention, it is preferable that the flight command generation unit generates a movement command for moving the ground device, and the transmission unit transmits the movement command to the ground device.

[0031] According to this configuration, a movement command for moving the ground device is generated and transmitted to the ground device, so that the ground device can be moved in a manner suitable for the flight of the group of flying objects. For example, if the flight command generation unit generates a movement command so that the ground device follows the movement of the group of flying objects, the movement range of the flying objects can be expanded.

[0032] In the present invention, it is preferable that the flight command generating unit and the transmitting unit are provided in the ground device.

[0033] According to this configuration, the control load on the control device of the aircraft can be reduced, and the control system of the aircraft can be configured simply. [Brief explanation of the drawings]

[0034] [Figure 1] FIG. 1 is a diagram illustrating an overview of a swarm air vehicle system. [Figure 2] FIG. 1 is a side view showing an overview of a swarm air vehicle system. [Figure 3] FIG. 2 is a functional block diagram showing the control configuration of the swarm flying vehicle system. [Figure 4] FIG. 10 is a side view showing a modified example of the swarm flying vehicle system. [Figure 5] FIG. 10 is a side view showing a modified example of the swarm flying vehicle system. [Figure 6] FIG. 10 is a side view showing a modified example of the swarm flying vehicle system. DETAILED DESCRIPTION OF THE INVENTION

[0035] The following describes an embodiment of an aircraft control system and an aircraft system according to the present invention, namely, a swarm aircraft system A. Note that the present invention is not limited to the following embodiment, and various modifications are possible without departing from the spirit of the present invention.

[0036] [Overview of the aircraft system] Figures 1 and 2 show a swarm aircraft system A. The swarm aircraft system A is configured to allow multiple aircraft B to fly in a swarm. In the swarm aircraft system A, the aircraft B may form one swarm, or two or more swarms.

[0037] The swarm aircraft system A can fly while supporting a supported object C. The supported object C includes, for example, a work device for carrying out work, a cargo, etc. The work device includes, for example, an agricultural work device for carrying out agricultural work, a civil engineering work device for carrying out civil engineering work, a construction work device for carrying out construction work, etc. The work equipment includes, for example, the illustrated spraying equipment 40, snow removal equipment, harvesting equipment, collection equipment, transporting equipment, mowing equipment, tilling equipment, planting equipment, sowing equipment, monitoring equipment, intimidation equipment, measuring equipment, and the like.

[0038] When the swarm aircraft system A includes agricultural work equipment as the supported object C, it can perform agricultural work. When the swarm aircraft system A includes civil engineering work equipment as the supported object C, it can perform civil engineering work. When the swarm aircraft system A includes construction work equipment as the supported object C, it can perform construction work.

[0039] The swarm aircraft system A includes a plurality of aircraft B, a flight command generation unit 17a (FIG. 3) that generates flight commands for flying the plurality of aircraft B as a group, and a transmission unit 17b (FIG. 3) that transmits the flight commands to the plurality of aircraft B. In this embodiment, the flight command generation unit 17a and the transmission unit 17b are provided in the control device 15 of the aircraft B.

[0040] Flying as a group means that two or more air vehicles B fly in coordination while forming a group. In other words, when multiple air vehicles B fly as a group, the multiple air vehicles B fly at the same speed and in the same direction. When air vehicles B fly as a group, all air vehicles B may fly along the same path, or paths parallel to each other, or may fly along different flight paths.

[0041] The group flying object system A includes a connection mechanism D that connects the flying objects B and the supported objects C, and a linking mechanism E that links the flying objects B together. The linking mechanism D connects the flying objects B and the supported objects C via the linking mechanism E.

[0042] As shown in Figures 2 and 3, aircraft B is equipped with a propulsion device 11, a communication device 12, an energy source 13, a satellite positioning device 14, and a control device 15. Aircraft B is configured to be capable of swarm flight, in which it joins swarm aircraft system A and flies in a swarm with other aircraft B, and solo flight, in which it leaves swarm aircraft system A and flies independently. Aircraft B is, for example, a multicopter. Aircraft B belonging to swarm aircraft system A may all be of the same type, or may be of different types. The maximum payloads of aircraft B belonging to swarm aircraft system A may be the same or different.

[0043] The propulsion devices 11 are controlled by the control device 15 to generate thrust and fly the air vehicle B. Three propulsion devices 11 are arranged on the periphery of the air vehicle B. The number of propulsion devices 11 may be one, two, four or more.

[0044] In this embodiment, the propulsion device 11 is a motor-driven propeller, and the energy source 13 is a battery.

[0045] The propulsion device 11 may be an engine-driven propeller, and the energy source 13 may be a tank of fuel used by the engine.

[0046] The satellite positioning device 14 receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data indicating the position of the aircraft B based on the received signals, and transmits the data to the control device 15. The GNSS may be GPS, QZSS, Galileo, GLONASS, BeiDou, or the like.

[0047] The connection mechanism D comprises a communication device 22, an energy source 23, and a control device 25, as shown in FIG.

[0048] As shown in FIGS. 2 and 3, the coupling mechanism E includes a support 31, a communication device 32, an energy source 33, a control device 35, and a coupling body 36.

[0049] The support 31 is a structure that extends in a planar manner in the lateral direction (horizontal direction). The support 31 is quadrangular when viewed from above. The support 31 may be square, rectangular, rhombic, triangular, polygonal, circular, or elliptical when viewed from above. The support 31 may be rod-shaped and extend in the lateral direction (horizontal direction). A connection mechanism D is provided below the support 31. The connection mechanism D is configured to be movable relative to the support 31. A mechanism for moving the connection mechanism D may be provided in the connection mechanism D or in the support 31.

[0050] The connector 36 connects the support 31 and the flying vehicle B. The connector 36 is a deformable wire or a rod-shaped member having rigidity.

[0051] The spraying device 40 serving as the support C includes a spray device 41, a communication device 42, an energy source 43, and a control device 45. The spray device 41 is controlled by the control device 45 and sprays a substance (pesticides, fertilizer, water, etc.).

[0052] The swarm aircraft system A shown in Figures 1 and 2 can operate the spraying device 40 while moving it relative to the support 31 while hovering (stationary) above a work area (e.g., a farm field). This makes it possible to spray materials in various locations on the work area (farm field) without moving the swarm aircraft system A. The swarm aircraft system A can then fly in a swarm of multiple aircraft B, and move to other work areas or bases.

[0053] [Communication Device] The communication device 12 of each of the flying bodies B, the communication device 22 of the connection mechanism D, the communication device 32 of the linkage mechanism E, and the communication device 42 of the spraying device 40 (supported body C) are configured to be able to communicate with each other via wired or wireless communication. Note that these communication devices may be able to communicate with external systems (agricultural management systems, farm field management systems, flight control systems, etc.) via an external communication network.

[0054] Wired communication is achieved by a physical connection of a communication line (not shown) between the aircraft B and the connection mechanism D, a physical connection of a communication line (not shown) between the connection mechanism D and the connecting mechanism E, and a physical connection of a communication line (not shown) between the connecting mechanism E and the spraying device 40.

[0055] The wireless communication is realized by communication using electromagnetic waves (light, radio waves, infrared rays, etc.) The wireless communication may be realized via an external communication network (for example, a mobile phone line).

[0056] In the swarm aircraft system A, wired communication and wireless communication may be mixed, or wired communication and wireless communication may be used in combination.

[0057] The communication device 22 of the connection mechanism D may be configured to realize communication between the air vehicles B. Specifically, the communication device 22 of the connection mechanism D may be configured to relay communication between the communication devices 12 of the air vehicles B.

[0058] The communication device 32 of the linkage mechanism E may be configured to realize communication between the air vehicles B. Specifically, the communication device 32 of the linkage mechanism E may be configured to relay communication between the communication devices 12 of the air vehicles B.

[0059] [Energy Source] The energy source 13 of the aircraft B is configured to be able to supply energy to each device of the aircraft B, as well as to other aircraft B, the connection mechanism D, the linking mechanism E, and the spraying device 40 (supported body C).

[0060] The energy source 23 of the connection mechanism D is configured to be able to supply energy to each device of the connection mechanism D, as well as to the flying vehicle B, the linkage mechanism E, and the spraying device 40 (supported object C).

[0061] The energy source 33 of the linking mechanism E is configured to be able to supply energy to each device of the linking mechanism E, as well as to the flying vehicle B, the connection mechanism D, and the spraying device 40 (supported object C).

[0062] The energy source 43 of the spraying device 40 (supported body C) is configured to be able to supply energy to the flying object B, the connecting mechanism D, and the linking mechanism E in addition to supplying energy to each device of the spraying device 40.

[0063] The energy supply is realized by a physical connection of an energy supplier (not shown) between the flying vehicle B and the connection mechanism D, a physical connection of an energy supplier (not shown) between the connection mechanism D and the linking mechanism E, and a physical connection of an energy supplier (not shown) between the linking mechanism E and the spraying device 40. The energy supplier is, for example, a power line or a fuel pipe. The energy supply may also be realized by wireless power supply technology.

[0064] [Configuration related to control] The control device 15 of the aircraft B is a so-called ECU, and includes a memory (such as a HDD or non-volatile RAM, not shown) that stores programs corresponding to the functional units described below, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. In other words, the control device 15 includes a non-transitory recording medium that stores the programs.

[0065] The control device 15 of the aircraft B includes an individual management unit 16 and a group management unit 17. The individual management unit 16 mainly controls the operation of the aircraft B, which is provided with an individual flight control unit 16a. The group management unit 17 mainly controls the overall operation of the swarm aircraft system A.

[0066] The individual management unit 16 includes an individual flight control unit 16a, a status management unit 16b, and a reference storage unit 16c.

[0067] The group management unit 17 includes a flight command generation unit 17a, a transmission unit 17b, a flight plan storage unit 17c, a position measurement position acquisition unit 17d, a position deviation calculation unit 17e, a constraint condition storage unit 17f, and a specification information storage unit 17g.

[0068] Here, aircraft B is configured to be switchable between a master mode in which the group management unit 17 (flight command generation unit 17a) functions to transmit flight commands, and a slave mode in which the group management unit 17 (flight command generation unit 17a) does not function and receives flight commands and flies based on the flight commands. Hereinafter, aircraft B in master mode will be referred to as master aircraft B1. Aircraft B in slave mode will be referred to as slave aircraft B2. In slave aircraft B2, the program corresponding to the group management unit 17 is not executed (or execution is stopped), and the function of the group management unit 17 is not realized. In other words, the group management unit 17 (flight command generation unit 17a) is provided in master aircraft B1, which is one of the aircraft B.

[0069] The group management unit 17 can transfer the group management unit 17 (flight command generation unit 17a) from one air vehicle B to another air vehicle B. For example, if an abnormality occurs in the master air vehicle B1 (such as a lack of remaining energy source 13 or a malfunction of the propulsion device 11), the group management unit 17 transfers the group management unit 17 from the master air vehicle B1 to the slave air vehicle B2. In other words, the group management unit 17 stops the function of the group management unit 17 of the master air vehicle B1. The master air vehicle B1 will then function as the slave air vehicle B2. The group management unit 17 puts the group management unit 17 of one slave air vehicle B2 into operation. That slave air vehicle B2 will then function as the master air vehicle B1.

[0070] The control device 25 of the connection mechanism D is an ECU, similar to the control device 15 of the flying object B. The control device 25 controls the connection mechanism D. The control device 25 transmits information such as the remaining amount of the energy source 23 and the state of connection between the connection mechanism D and the linking mechanism E and the spraying device 40 (supported object C) to other control devices via the communication device 22.

[0071] The control device 35 of the coupling mechanism E is an ECU, similar to the control device 15 of the flying vehicle B. The control device 35 controls the coupling mechanism E. The control device 35 transmits information such as the remaining amount of the energy source 33 and the state of connection between the coupling mechanism E and the flying vehicle B and the connection mechanism D to other control devices via the communication device 32.

[0072] The control device 45 of the spraying device 40 (supported body C) is an ECU, similar to the control device 15 of the flying body B. The control device 45 controls the spraying device 40. The control device 45 transmits information such as the status of the spray device 41, the remaining amount of material to be sprayed, the remaining amount of energy source 43, and the status of the connection between the spraying device 40 and the connection mechanism D to other control devices via the communication device 42.

[0073] [Functions of the Individual Management Department] The individual flight control unit 16a controls the propulsion device 11 to control the flight of the aircraft B on which the individual flight control unit 16a is installed. The individual flight control unit 16a is configured to be switchable between a swarm flight mode in which the aircraft flies in a swarm with other aircraft B, and a solo flight mode in which the aircraft flies alone.

[0074] In the group flight mode, the individual flight control unit 16a controls the flight of the flying object B based on flight commands transmitted from the group management unit 17.

[0075] The flight command is a flight instruction for flying the aircraft B belonging to the swarm aircraft system A in a swarm. The flight command may be different for each aircraft B, or may be the same for each aircraft B.

[0076] Furthermore, in group flight mode, the individual flight control unit 16a controls the flight of the aircraft B based on the group reference position and group reference direction transmitted from the group management unit 17. The individual flight control unit 16a may control the flight of the aircraft B so that the positional relationship between the aircraft B on which the individual flight control unit 16a is installed and the group reference position is maintained. The group reference position and group reference direction will be described later.

[0077] In solo flight mode, the individual flight control unit 16a controls the flight of the aircraft B based on a preset reference position and reference direction. The reference position is, for example, the center of gravity or geometric center of the aircraft B. The reference direction is, for example, the forward direction of the aircraft B. The reference position and reference direction are set in advance and stored in the reference memory unit 16c of the aircraft B. When in solo flight mode, the individual flight control unit 16a causes the aircraft B to fly autonomously based on the positioning data generated by the satellite positioning device 14.

[0078] The status management unit 16b manages the status of the flying vehicle B in which the status management unit 16b is installed. The status management unit 16b detects and records, for example, the operating status and presence or absence of abnormalities of the propulsion device 11, the operating status and presence or absence of abnormalities of the communication device 12, the remaining amount, operating status and presence or absence of abnormalities of the energy source 13, and the operating status and presence or absence of abnormalities of the satellite positioning device 14, and transmits this information to the master aircraft B1.

[0079] The reference storage unit 16c stores the reference position and reference direction used by the individual flight control unit 16a in solo flight mode. The reference storage unit 16c also stores the group reference position and group reference direction transmitted from the group management unit 17.

[0080] [Functions of the Collective Management Department] The flight command generation unit 17a generates flight commands for flying a group of multiple flying objects B. The flight commands will be described later.

[0081] The transmitter 17b controls the communication device 12 to transmit to the flying object B the flight command generated by the flight command generator 17a.

[0082] The flight plan memory unit 17c stores the flight plan of the swarm flight system A. The flight plan is a plan for flight by swarm flight, and includes at least the flight path of the swarm flight system A. Flight command generator 17a may generate flight commands to cause swarm aircraft system A to fly along a flight path. Flight command generator 17a may generate flight commands based on the flight path and positioning data generated by satellite positioning device 14. In this case, swarm aircraft system A flies autonomously.

[0083] The flight plan may include a work plan for the work device included in the supported body C. The work plan for the work device may include the location where the work device will perform the work (e.g., the location of the field to be worked on, the location where the work will be performed in the field, etc.) and / or the work content (e.g., the operating intensity, operating time, operating interval, etc. of the work device).

[0084] The flight command generating unit 17a may generate flight commands so that the work plan included in the flight plan can be executed. The flight command generating unit 17a may generate work instructions for a work device on the supported object C. The transmitting unit 17b may transmit the work instructions generated by the flight command generating unit 17a to the supported object C.

[0085] The flight command generator 17a may generate flight commands based on at least one of the positional relationship between the multiple aircraft B belonging to the swarm aircraft system A and the positional relationship between the aircraft B and the supported object C (spraying device 40). The flight command generator 17a may generate flight commands based on at least one of the swarm reference position and the swarm reference direction.

[0086] The group reference position and group reference direction are the position and direction that serve as references when multiple air vehicles B belonging to the group air vehicle system A fly in a group. The group reference position is, for example, the center of gravity or geometric center of multiple air vehicles B, the center of gravity or geometric center of multiple air vehicles B, the connection mechanism D, and the linking mechanism E, the center of gravity or geometric center of the entire group air vehicle system A, or the center of gravity or geometric center of the master air vehicle B1. The group reference direction is, for example, the forward direction of the master air vehicle B1, the forward direction of the supported object C, the forward direction of the connection mechanism D, or the forward direction of the linking mechanism E. The group reference position and group reference direction are set in advance and stored in the flight plan memory unit 17c of the master air vehicle B1.

[0087] The positioning position acquisition unit 17d acquires positioning data (the positioning position of the aircraft B) generated by the satellite positioning device 14 equipped in the aircraft B. The positioning position acquisition unit 17d acquires the positioning data of all aircraft B belonging to the group aircraft system A over time. The flight command generation unit 17a generates flight commands based on the positioning data acquired by the positioning position acquisition unit 17d.

[0088] The position deviation calculation unit 17e calculates the position deviation of the flying object B based on the positioning data acquired by the positioning position acquisition unit 17d. The position deviation is the difference between the ideal position of the flying object B (for example, the position of the flying object B indicated by the flight command) and the actual position of the flying object B. The position deviation calculation unit 17e calculates the position deviation based on the difference between the target position of the flying object B indicated by the flight command and the positioning position of the flying object B indicated by the positioning data. The position deviation calculation unit 17e may calculate the position deviation based on the amount of change over time in the positioning data acquired by the positioning position acquisition unit 17d.

[0089] The flight command generation unit 17a generates a flight command based on the positional deviation calculated by the positional deviation calculation unit 17e. For example, the flight command generation unit 17a generates a flight command so that the flight object B moves in the opposite direction to the positional deviation that has occurred in the flight object B by the same amount.

[0090] When the flying body B deviates from its ideal position, the supported body C may also deviate from its ideal position. The flight command generation unit 17a may generate flight commands to cancel out the positional deviation of the supported body C. The center of FIG. 1 shows a state in which three flying bodies B are blown by a strong wind X, causing a positional deviation of the flying bodies B. The linking mechanism E, the connecting mechanism D, and the supported body C may be pulled by these flying bodies B and cause a positional deviation. The flight command generation unit 17a generates flight commands (flight of vector Y) for the three flying bodies B that are experiencing positional deviations to fly so as to eliminate the positional deviation, and generates flight commands (flight of vector Z) for the other flying bodies B to fly so as to cancel out the positional deviation of the supported body C.

[0091] The constraint condition storage unit 17f stores constraint conditions regarding the relative positions of multiple flying objects B. The constraint conditions include, for example, an upper or lower limit of the relative distance between flying objects B, the positional relationship of flying objects B in the group, and the allowable movement area of ​​flying object B in the group. The flight command generation unit 17a generates flight commands based on the constraint conditions. For example, the flight command generation unit 17a generates flight commands so that flying object B is positioned in accordance with the positional relationship indicated by the constraint conditions. The constraint conditions may be determined in advance or by the group management unit 17.

[0092] The specification information storage unit 17g stores specification information indicating the performance and size of multiple flying objects B. The specification information includes, for example, the width, depth, height, mass, maximum speed, range, and operating time of the flying objects B. The flight command generation unit 17a generates flight commands based on the specification information. For example, the flight command generation unit 17a generates flight commands based on the size of the flying objects B indicated by the specification information so that the flying objects B do not come into contact with each other. The specification information may be stored in advance in the specification information storage unit 17g. The specification information storage unit 17g may acquire the specification information from the control device 15 of the flying object B via the communication device 12.

[0093] The flight command generation unit 17a may generate a division flight command for dividing a plurality of aircraft B into multiple groups and flying them. The transmission unit 17b may transmit the division flight command to the plurality of aircraft B. For example, the flight command generation unit 17a may generate a division flight command such that a first group including a plurality of aircraft B flies while supporting a first support C, and a second group including a plurality of aircraft B flies while supporting a second support C. In this case, two actions can be performed by one swarm aircraft system A. For example, one swarm aircraft system A can perform agricultural work in two fields simultaneously. The number of aircraft B belonging to the first group may be one. The number of aircraft B belonging to the second group may be one. Note that when the aircraft B are divided into multiple groups and fly according to the division flight command, the flight command generation unit 17a generates a flight command for each group, and the transmission unit 17b transmits the flight command.

[0094] Another example of work performed by multiple groups is shown below. A first group may spray a pesticide, while a second group may suppress the unwanted spread of the pesticide. For example, a first group may spray a pesticide near private homes, work vehicles, and operators (hereinafter referred to as "private homes, etc."), while a second group may suppress the pesticide from scattering toward the private homes, etc. For example, the second group may be positioned between the first group and the private homes, etc., and use wind from the propulsion device 11 to suppress the pesticide from flowing toward the private homes, etc.

[0095] [First Modification of the Embodiment] A modified example of the embodiment is shown in Figure 4. In the following description, the same components as those in the above-described embodiment are denoted by the same reference numerals, and detailed description thereof may be omitted.

[0096] The illustrated swarm air vehicle system A includes a large air vehicle B4 and a small air vehicle B5 as air vehicles B. A connecting member 36 (wire) and a winch 37 as a connecting mechanism E connect the large air vehicle B4 and the small air vehicle B5. The small air vehicle B5 is configured to be connectable to a fixing device 70 fixed to the ground. The fixing device 70 is, for example, a hook that engages with the small air vehicle B5.

[0097] A group control unit 17 is provided on the large aircraft B4. The large aircraft B4 and the small aircraft B5 fly in a group according to flight commands generated by a flight command generation unit 17a.

[0098] When the small aircraft B5 is connected to the securing device 70, the connector 36 (wire) prevents the large aircraft B4 from shifting its position due to external disturbances such as wind, making it easy to keep the large aircraft B4 at a predetermined work position. Furthermore, by adjusting the length of the connector 36 (wire) with the winch 37, the large aircraft B4 can be precisely controlled to a predetermined work position. Additionally, the small aircraft B5 can be separated from the securing device 70 and moved together with the large aircraft B4, making it easy to move the swarm aircraft system A to another work location (such as a farm field).

[0099] [Modification 2 of the embodiment] A modified example of the embodiment is shown in Figure 5. The swarm flying vehicle system A in the illustrated example includes a buoyant body 81. The buoyant body 81 is connected to the support body 31 and provides buoyancy to the support body 31. The buoyant body 81 is, for example, a balloon or a weather balloon.

[0100] [Modification 3 of the embodiment] A modified example of the embodiment is shown in Figure 6. The illustrated cluster air vehicle system A includes a ground device J and a ground connection mechanism K that connects the ground device J to the air vehicles B. One large air vehicle B6 and five small air vehicles B7, also serving as air vehicles B, are connected in a row by connectors 36 of a connection mechanism E. The connectors 36 are deformable wires. The small flying vehicle B7 at the end and the ground device J are connected by a ground connection mechanism K. The ground connection mechanism K is a deformable wire. The large flying vehicle B6 supports the spraying device 40, which is the supported body C, and performs spraying operations. A group management unit 17 is provided on the large flying vehicle B6.

[0101] The ground equipment J includes a communication device 92, an energy source 93, a satellite positioning device 94, and a control device 95. The ground equipment J is configured to be self-propelled under the control of the control device 95. In this embodiment, the flight command generation unit 17a is configured to generate a movement command for moving the ground device J. The transmission unit 17b transmits the movement command to the ground device J. The ground device J travels based on the movement command received via the communication device 92. The ground device J may be configured to be capable of autonomous travel based on positioning data generated by the satellite positioning device 94.

[0102] The energy source 93 is configured to be able to supply energy to the flying vehicle B and the spraying device 40 (supported object C) via the ground connection mechanism K. The energy source 93 is, for example, a storage battery or a generator. The energy source 93 may also be configured to be able to receive power from a ground power grid.

[0103] The group management unit 17 (flight command generation unit 17a and transmission unit 17b) may be provided in the control device 95 of the ground device J.

[0104] The ground device J may be a device or facility that is fixedly installed on the ground.

[0105] The ground device J may be configured to be able to supply scattering materials, work materials, etc. to the supported body C (spraying device 40) via the ground connection mechanism K.

[0106] [Other Modifications] (1) The swarm flying object system A may be configured so that it can be used for purposes such as repelling birds and animals, security, and crime prevention. For example, the support C may include a monitoring device capable of recognizing birds, animals, and suspicious individuals through captured images, a deterrent device that emits sound or light to intimidate birds, animals, and suspicious individuals, and an alarm device that alerts users to the presence of birds, animals, and suspicious individuals.

[0107] (2) The swarm aircraft system A may be configured to be able to deal with weather that adversely affects flight, such as strong winds, lightning strikes, rainfall, etc. For example, the swarm aircraft system A may be equipped with a sensor that observes the weather and an acquisition unit that acquires information indicating the weather and weather forecast via communications. The group manager 17 may be configured to change the flight plan, perform an evacuation flight to a safe area, or make an emergency landing, depending on the weather or weather forecast.

[0108] (3) The flying object B and the connecting mechanism E may be configured so that the relative positions of the flying object B and the connecting mechanism E can be changed while they are connected. For example, in the connecting mechanism E, the connecting body 36 may be movable relative to the support body 31. This makes it possible to change the relative positions of the multiple flying objects B while the swarm flying object system A is flying.

[0109] (4) The swarm aircraft system A may be configured to cancel out the operating noise of the propulsion units 11 of the aircraft B. For example, the operation of multiple propulsion units 11 may be controlled to cancel out each other's operating noise. For example, the swarm aircraft system A may be provided with a noise suppression device that generates a sound (noise-canceling sound) that cancels out the operating noise of the propulsion units 11. The noise suppression device may be configured to generate the noise-canceling sound based on a control amount sent to the propulsion units 11.

[0110] (5) The devices constituting the swarm air vehicle system A may be designed to be interchangeable among various types of swarm air vehicle systems A. For example, the connection mechanism D may be configured to be connectable to various types of supported bodies C, various types of coupling mechanisms E, and various types of air vehicles B. The coupling mechanism E may be configured to be connectable to various types of air vehicles B and various types of coupling mechanisms D.

[0111] (6) A part or all of the group management unit 17 may be provided outside the aircraft B. For example, a part or all of the group management unit 17 may be provided in the control device 25 of the connection mechanism D, the control device 25 of the linkage mechanism E, the control device 45 of the spraying device 40 (supported object C), a server installed on the ground, or a server on the cloud.

[0112] (7) A configuration in which the swarm aircraft system A does not have a connecting mechanism E is also possible. For example, multiple aircraft B belonging to the swarm aircraft system A may be connected separately and independently to supported bodies C by a connecting mechanism D. For example, multiple aircraft B may fly in a group without being connected to each other. In other words, a configuration in which multiple aircraft B fly independently and multiple aircraft B fly in a group is also possible. Multiple supported bodies C may be supported by aircraft B. Multiple aircraft B supporting supported bodies C may belong to the swarm aircraft system A.

[0113] (8) The swarm aircraft system A may be configured to fly based on human control. For example, the flight command generator 17a may generate flight commands based on human control and transmit them to the individual flight controllers 16a of each aircraft B.

[0114] (9) Air vehicle B may be equipped with a buoyant body (such as a balloon) that provides buoyancy to air vehicle B. This makes it easier to hover (station) the swarm air vehicle system A at a predetermined work position.

[0115] (10) The flight command generating unit 17a may be configured to generate flight commands that can cancel out external disturbances based on predicted information about the external disturbances that the flying object B may be subjected to in the future.

[0116] For example, if the group management unit 17 acquires forecast information indicating that an easterly wind will be received after a certain time has elapsed, the flight command generation unit 17a may generate a flight command to change course to an eastward direction based on the forecast information.

[0117] For example, suppose that the group management unit 17 acquires forecast information indicating that heavy rain will fall at a certain time. The flight command generation unit 17a may generate a flight command to land before that time based on the forecast information.

[0118] The forecast information provided by the group management unit 17 may be obtained, for example, based on a weather forecast for the planned flight area, based on past weather information for the planned flight area, from a reconnaissance aircraft B flying ahead, or from ground facilities or work vehicles in the planned flight area.

[0119] (11) The flight command generation unit 17a may generate a flight command that specifies the orientation of the air vehicle B. The flight command generation unit 17a may generate a flight command so that multiple air vehicles B face the same direction. For example, if multiple air vehicles B are each equipped with a camera, the flight command may be generated so that the cameras have the same shooting direction or so that the cameras face a single subject.

[0120] (12) The flight command generation unit 17a may generate flight commands so that multiple aircraft B are arranged in a specific layout (positional relationship). For example, flight commands may be generated so that multiple aircraft B are arranged in a horizontal or vertical direction. The constraint information stored in the constraint condition storage unit 17f may include information that defines the layout (positional relationship) of the aircraft B. [Industrial Applicability]

[0121] The present invention is applicable to an air vehicle control system that flies a plurality of air vehicles as a group, or an air vehicle system that includes a plurality of air vehicles. [Explanation of symbols]

[0122] 14: Satellite positioning device 17a:Flight command generation section 17b: Transmitter 17d: Positioning location acquisition unit 17e: Position deviation calculation unit 17f: Constraint condition storage section 17g: Specifications information storage section 93: Energy Source A: Swarm aircraft system (aircraft control system, aircraft system) B: Flying object B1: Master aircraft B2: Slave aircraft C: Supported object D: Connection mechanism E: Connection mechanism J: Ground equipment K: Ground connection mechanism

Claims

1. An aircraft control system for flying a plurality of aircraft as a group, a flight command generation unit that generates flight commands for flying the plurality of aircraft as a group; a transmitter that transmits the flight command to the plurality of flying bodies; The aircraft includes a master aircraft in which the flight command generation unit functions to transmit the flight commands, and a slave aircraft in which the flight command generation unit does not function, receives the flight commands, and flies based on the flight commands; An aircraft control system that, under specified conditions, stops the flight command generation unit of the master aircraft and enables the flight command generation unit of the slave aircraft to function.

2. a positioning position acquisition unit that acquires the positioning position of the aircraft generated by a satellite positioning device included in the aircraft, The aircraft control system according to claim 1 , wherein the flight command generation unit generates the flight command based on the determined position.

3. a positional deviation calculation unit that calculates a positional deviation of the aircraft based on the positioning position acquired by the positioning position acquisition unit; The aircraft control system according to claim 2 , wherein the flight command generation unit generates the flight command based on the positional deviation.

4. The aircraft control system according to claim 3 , wherein the flight command generation unit generates the flight command so as to cancel out a positional shift of the supported object supported by the aircraft caused by the positional shift.

5. a constraint condition storage unit that stores constraint conditions regarding the relative positions of the plurality of flying objects; The aircraft control system according to claim 1 , wherein the flight command generation unit generates the flight command based on the constraint condition.

6. a specification information storage unit that stores specification information indicating the performance and size of a plurality of the aircraft; The aircraft control system according to claim 1 , wherein the flight command generation unit generates the flight command based on the specification information.

7. the flight command generation unit generates divided flight commands for dividing the plurality of flying objects into a plurality of groups and flying them; The aircraft control system according to claim 1 , wherein the transmitter transmits the divided flight command to a plurality of the aircraft.

8. The aircraft control system according to claim 1 , wherein the flight command generation unit and the transmission unit are provided in the aircraft.

9. A plurality of aircraft; a flight command generation unit that generates flight commands for flying the plurality of aircraft as a group; a transmitter that transmits the flight command to the plurality of flying bodies; The aircraft includes a master aircraft in which the flight command generation unit functions to transmit the flight commands, and a slave aircraft in which the flight command generation unit does not function, receives the flight commands, and flies based on the flight commands; An aircraft system that, under specified conditions, stops the flight command generation unit of the master aircraft and activates the flight command generation unit of the slave aircraft.

10. The flying vehicle system according to claim 9 , further comprising a connecting mechanism that connects the plurality of flying vehicles together.

11. Ground equipment; The flying body system according to claim 9 or 10, further comprising a ground connection mechanism that connects the ground device and the flying body.

12. The air vehicle system according to claim 11 , wherein the ground device includes an energy source capable of supplying energy to the air vehicle via the ground connection mechanism.

13. the flight command generation unit generates a movement command for moving the ground device; The flying object system according to claim 11 , wherein the transmitter transmits the movement command to the ground device.

14. The flying vehicle system according to claim 11 , wherein the flight command generating unit and the transmitting unit are provided in the ground device.

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