Flying robot control system and flying robot control method

Abstract

To appropriately restrict switching of an operation mode of a flying robot near a region where entry of the flying robot is inhibited, and thereby improve safety of the flying robot.SOLUTION: A flying robot control system 100 comprises: a position acquisition unit 31b that acquires a current position of a flying robot 1; and a mode switching unit 31c that, on the basis of a request for switching an operation mode of the flying robot 1, switches the operation mode between an autonomous flying mode in which the flying robot automatically flies according to a predetermined flying condition and a manual flying mode in which the flying robot manually flies with the use of an operating terminal. When the switching request occurs while the flying robot 1 flies in a second region that is set as a region within a predetermined distance from a first region where entry of the flying robot 1 is inhibited, the mode switching unit 31c executes safety control which permits the switching of the operation mode after the flying robot 1 performs a predetermined security ensuring operation.SELECTED DRAWING: Figure 5

Description

Technical Field

[0005] ,

[0001] The present invention relates to a flight robot control system and a flight robot control method.

Background Art

[0002] The following Patent Document 1 describes that when switching between the autonomous flight mode and the manual flight mode of an unmanned aircraft, if the moving direction, flight speed, etc. before and after the switch are not similar, the switch is prohibited. The following Patent Document 2 describes that when it is determined that a dangerous avoidance state is required in the manual operation mode of an aircraft, after switching to the automatic control mode and performing danger avoidance control, it is put into a standby state and manual operation is permitted.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Immediately after switching the operation mode of a flight robot between the autonomous flight mode and the manual flight mode, the behavior of the flight robot may become unstable. Therefore, if the operation mode is switched near a building or a restricted access area (e.g., outside the site), there is a risk of contacting the building or entering the restricted area. An object of the present invention is to improve the safety of a flight robot by appropriately restricting the switching of the operation mode of the flight robot in the vicinity of an area where entry of the flight robot is prohibited.

Means for Solving the Problems

[0005] According to one embodiment of the present invention, a flying robot control system is provided for controlling a flying robot. The flying robot control system includes a position acquisition unit that acquires the current position of the flying robot, and a mode switching unit that switches the operating mode between an autonomous flight mode in which the flying robot flies automatically according to predetermined flight conditions and a manual flight mode in which the flying robot flies manually via an operating terminal, based on a request to switch the operating mode of the flying robot. When a switching request occurs while the flying robot is flying within a second area, which is set as an area within a predetermined distance from a first area, which is an area in which the flying robot is prohibited from entering, the mode switching unit performs safety control that allows the flying robot to switch the operating mode after it has performed predetermined safety assurance actions.

[0006] According to another embodiment of the present invention, a method for controlling a flying robot is provided. In this method, at least one computer is made to perform the following: a process of acquiring the current position of the flying robot; a process of switching the operating mode between an autonomous flight mode in which the flying robot flies automatically according to predetermined flight conditions and a manual flight mode in which the flying robot flies manually via an operating terminal, based on a request to switch the operating mode of the flying robot; and a process of performing a predetermined safety action and then allowing the switching of the operating mode when a switching request occurs while the flying robot is flying within a second area which is set to be within a predetermined distance range from a first area which is an area in which the flying robot is prohibited from entering. [Effects of the Invention]

[0007] According to the present invention, the safety of a flying robot can be improved by appropriately restricting the switching of the operating mode of the flying robot in the vicinity of an area where entry of the flying robot is prohibited. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing an example of the configuration of a flying robot control system according to an embodiment of the present invention. [Figure 2] This is a block diagram showing an example of the functional configuration of an autonomous flying robot. [Figure 3] This is a block diagram showing an example of the functional configuration of an operating terminal. [Figure 4] This is a schematic diagram of an example of a graphical user interface displayed on the control terminal's display. [Figure 5] This is a block diagram showing an example of the functional configuration of a control device. [Figure 6] This is a schematic diagram showing examples of the display in the first and second areas of the display unit of the operating terminal. [Figure 7] This is a flowchart of an example of a flight robot control method according to an embodiment of the present invention. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. The embodiments of the present invention described below are illustrative examples of devices and methods for realizing the technical concept of the present invention, and the technical concept of the present invention is not limited to the structure, arrangement, etc., of the components described below. Various modifications can be made to the technical concept of the present invention within the technical scope defined by the claims described in the patent claims.

[0010] <System Configuration> The configuration of an embodiment of the present invention will be described below with reference to Figure 1, which shows a schematic configuration of a flying robot control system 100 to which the present invention is applied. (Flying robot control system 100) The flying robot control system 100 comprises one or more autonomous flying robots 1, an operating terminal 2, and a management device 3. For example, the flying robot control system 100 may be used for patrolling a pre-set monitoring area. When the autonomous flying robot 1 performs a patrol flight, it autonomously flies along a flight path set by the management device 3, for example, while detecting the surrounding situation with sensors (e.g., cameras) installed on the autonomous flying robot 1, and a remote monitor checks the situation within the monitoring area. Furthermore, if it becomes necessary to check the situation at a specific location in more detail, the monitor can manually control the autonomous flying robot 1 via the control terminal 2 to check the situation at that specific location in more detail. Furthermore, the use of the flying robot control system 100 is not limited to patrol flights; it can also be used to address anomalies in monitored objects or to perform inspections, and in these applications, it is possible to switch between autonomous and manual flight.

[0011] (Autonomous flying robot 1) The autonomous flying robot 1 is, for example, a quad-rotor type small unmanned helicopter, also known as a multicopter, drone, or UAV (Unmanned Aerial Vehicle). It should be noted that this is not limited to quad-rotor type small unmanned helicopters; the same principles can be applied to single-rotor type small unmanned helicopters as well. The autonomous flying robot 1 receives information related to its flight path (route information, described later) from the management device 3.

[0012] The autonomous flight robot 1 can switch between an autonomous flight mode, in which it flies automatically according to predetermined flight conditions, and a manual flight mode, in which it flies manually via the control terminal 2. The predetermined flight conditions may be, for example, a flight path specified by route information received from the management device 3. In autonomous flight mode, the autonomous flying robot 1 flies along the flight path specified by the management device 3. Alternatively, a target position may be set as a predetermined flight condition. In this case, the autonomous flying robot 1 searches for a flight path that will lead to the target position while avoiding obstacles, and flies along the searched flight path.

[0013] Refer to Figure 2. The autonomous flying robot 1 includes a position / attitude sensor 10, an external sensor 11, a communication unit 12, a control unit 13, a memory unit 14, a motor 15, and a rotor 16. The position and orientation sensor 10 acquires the current position and orientation of the autonomous flying robot 1. The position and orientation sensor 10 includes, for example, a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as GNSS (Global Navigation Satellite System), an acceleration sensor that measures acceleration, an electronic compass that measures orientation, and a gyro sensor that measures angular velocity. For example, the receiver of the position and orientation sensor 10 receives navigation signals transmitted from a plurality of navigation satellites and outputs them to the control unit 13, and the electronic compass and gyro sensor output measurement signals to the control unit 13. Information for obtaining the current position and orientation by known conventional techniques using other known sensors may be used, such as using a laser scanner and an air pressure sensor instead of the receiver to obtain the current position.

[0014] The external sensor 11 is a sensor for detecting the situation around the autonomous flying robot 1. For example, the external sensor 11 may be a camera, a laser sensor, or an infrared sensor. The communication unit 12 is a communication module for communicating between the operation terminal 2 and the autonomous flying robot 1, and between the management device 3 and the autonomous flying robot 1. The storage unit 14 is an information storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), or a HDD (Hard Disk Drive). The storage unit 14 stores various programs and various data, and inputs and outputs this information to and from the control unit 13. The various data includes information used for the processing of the control unit 13 such as position and orientation information 14a and path information 14b.

[0015] The position and orientation information 14a is a history of the position and orientation of the autonomous flying robot 1 acquired by the position and orientation sensor 10 and circularly stored a predetermined number of times. Here, the latest position and orientation in the history may be particularly referred to as the current position and current orientation, and the other positions and orientations may be referred to as past positions and past orientations. Route information 14b is information about the flight path that the autonomous flying robot 1 is scheduled to take. Specifically, it is a sequence of coordinates along the flight path. Route information 14b is received from the management device 3.

[0016] The control unit 13 is a computer equipped with a processor such as a CPU (Central Processing Unit), peripheral devices such as ROM and RAM. The processor of the control unit 13 executes computer programs stored in the memory unit 14 to realize the functions of the control unit 13 described below. The control unit 13 functions as a position / attitude calculation unit 13a, a flight control unit 13b, a path search unit 13c, a sensor information transmission unit 13d, a mode control unit 13e, and the like.

[0017] The position and attitude calculation unit 13a calculates the current position and attitude of the autonomous flying robot 1 in a three-dimensional movement area (e.g., flight space) from the output of the position and attitude sensor 10, and stores the position and attitude information 14a in the storage unit 14. For example, the position and attitude calculation unit 13a obtains latitude, longitude, and altitude from the navigation signal output by the position and attitude sensor 10, and converts them into a position in the coordinate system of the moving area using a pre-stored conversion rule.

[0018] Furthermore, the position / attitude calculation unit 13a determines the current attitude in the coordinate system of the moving area from the measurement signals of the acceleration sensor and gyro sensor output by the position / attitude sensor 10. Alternatively, the orientation in the coordinate system of the moving area may be determined from the measurement signal of the electronic compass output by the position / attitude sensor 10, and the current attitude may be calculated using the measurement signals from other sensors. As described above, the position / attitude sensor 10 and the position / attitude calculation unit 13a (control unit 13) work together to detect the current position and attitude of the autonomous flying robot 1.

[0019] Furthermore, each time the position / attitude calculation unit 13a calculates the current position, it transmits information about the current position and attitude of the autonomous flying robot 1 to the operation terminal 2 and the management device 3 via the communication unit 12. The flight control unit 13b controls the flight operation of the autonomous flying robot 1 by controlling the rotational speed of the motors 15. The autonomous flying robot 1 is equipped with four rotors 16 and motors 15, each having a rotating shaft connected to one of these rotors 16. Each motor 15 is connected to the control unit 13 and its rotational speed is instructed by the flight control unit 13b. The four rotors 16 rotate independently, generating acceleration in any direction for the autonomous flying robot 1.

[0020] When the autonomous flying robot 1 is in autonomous flight mode, the flight control unit 13b makes the autonomous flying robot 1 fly automatically according to predetermined flight conditions. For example, if a flight path is given as a predetermined flight condition, the flight control unit 13b refers to the path information 14b and the position / attitude information 14a and controls the rotation speed of the motor 15 so that the autonomous flying robot 1 moves along the flight path described in the path information 14b. Specifically, the flight control unit 13b controls the rotation speed of the motor 15 so that the error between the current position (coordinates) described in the path information 14b and the current position described in the position / attitude information 14a is minimized.

[0021] For example, if a target position is given as a predetermined flight condition, the rotation speed of the motor 15 is controlled so that the aircraft moves along a flight path toward the target position while avoiding obstacles. The path search unit 13c searches for a flight path toward the target position while avoiding obstacles. The target location may be set, for example, by an operator operating the control terminal 2 specifying a location on the map displayed on the control terminal 2. Alternatively, the control unit 13 may set the location where the external sensor 11 detects a monitored object (e.g., a person) as the target location. Furthermore, the management device 3 may set the target location.

[0022] When the autonomous flying robot 1 is in manual flight mode, the flight control unit 13b controls the rotational speed of the motor 15 based on the control information received from the operation terminal 2. The operation terminal 2 may, for example, transmit information on the target acceleration in three axes (forward / backward, left / right, and up / down) to be generated by the autonomous flying robot 1 as control information. The sensor information transmission unit 13d transmits sensor information about the surrounding environment of the autonomous flying robot 1, obtained by the external sensor 11, to the operation terminal 2 or management device 3 via the communication unit 12. The sensor information may be, for example, an image captured by a camera, a distance image from a laser sensor, or an infrared image from an infrared sensor. The mode control unit 13e switches the operating mode of the autonomous flight robot 1 between autonomous flight mode and manual flight mode in response to a mode switching instruction signal from the management device 3.

[0023] (Operating terminal 2) The control terminal 2 is a terminal device used by the operator to control the autonomous flying robot 1 and to monitor sensor information sent from the autonomous flying robot 1. For example, the control terminal 2 may be a portable remote control device (a so-called "transmitter") or a tablet terminal, or it may be a personal computer fixed to a monitoring console or the like. Figure 3 is a block diagram of an example of the functional configuration of the operating terminal 2. The operating terminal 2 comprises a communication unit 20, a display unit 21, an operation unit 22, an audio signal output unit 23, a control unit 24, and a storage unit 25.

[0024] The communication unit 20 is a communication module for communication between the autonomous flying robot 1 and the operating terminal 2, and between the management device 3 and the operating terminal 2. The display unit 21 is a user interface device that displays visual information provided to the operator from the operation terminal 2. Figure 4 is a schematic diagram of an example of a graphical user interface (GUI) displayed on the display unit 21. GUI26 includes a sensor information display area 26a, a map information display area 26b, a control operation interface unit 26c, and a switching request operation interface unit 26d.

[0025] The sensor information display area 26a is an area that displays sensor information from the external sensor 11 transmitted from the autonomous flying robot 1, and the map information display area 26b is an area that displays map information indicating the current position of the autonomous flying robot 1. In the example shown in Figure 4, the sensor information display area 26a and the map information display area 26b show the monitoring area, which is the site S, the building B within the site S, the roads RD surrounding the site S, etc. In addition, the map information display area 26b shows the current position PL of the autonomous flying robot 1, a direction mark D indicating the direction of flight, the flight trajectory Ph (solid line) of the autonomous flying robot 1 from the past to the present time, and the future target flight path Rp (dashed line) in autonomous flight mode.

[0026] The control interface unit 26c is an operation area that accepts manual control of the flight movements of the autonomous flying robot 1 when the operating mode of the autonomous flying robot 1 is manual flight mode. For example, an operator can manually control the flight movements (horizontal movement, vertical movement, turning) of the autonomous flying robot 1 by pressing the arrow buttons displayed on the control interface unit 26c. The switching request operation interface unit 26d is an operation area that receives mode switching request operations to switch the operating mode of the autonomous flight robot 1 between autonomous flight mode and manual flight mode. In the example shown in Figure 4, the switching operation between autonomous flight mode and manual flight mode can be performed by pressing the mode switching button 26d displayed on the touch panel.

[0027] Refer to Figure 3. The operation unit 22 is a user interface that receives operator input for the operation terminal 2. The operation unit 22 may be, for example, a touch panel provided on the display screen of the display unit 21 on which the GUI 26 is displayed, or it may have physical operating elements such as buttons, dials, and sliders. The audio signal output unit 23 is a user interface that outputs auditory information to the operator. For example, the audio signal output unit 23 may be a speaker or a buzzer.

[0028] The memory unit 25 is an information storage device such as ROM, RAM, or HDD. The memory unit 25 stores various programs and data, and inputs and outputs this information to and from the control unit 24. The various data includes, for example, map information 25a of the monitoring area and its surrounding area, and position and orientation information 25b, which are used for processing by the control unit 24. The position and orientation information 25b is the same as the position and orientation information 14a in Figure 2.

[0029] The control unit 24 is a computer equipped with a processor such as a CPU, and peripheral devices such as ROM and RAM. The processor of the control unit 24 realizes the functions of the control unit 24 described below by executing computer programs stored in the memory unit 25. The control unit 24 functions as a control information generation unit 24a, a position acquisition unit 24b, a sensor information receiving unit 24c, a display control unit 24d, a switching request generation unit 24e, and an alarm output unit 24f.

[0030] The control information generation unit 24a generates control information to control the flight operation of the autonomous flying robot 1 based on the operator's input to the operation unit 22 and the control operation interface unit 26c when the operating mode of the autonomous flying robot 1 is manual flight mode. The control information generation unit 24a transmits the control information to the autonomous flying robot 1 via the communication unit 20. The position acquisition unit 24b acquires the current position and attitude information of the autonomous flying robot 1 transmitted from the autonomous flying robot 1. The position acquisition unit 24b stores the acquired information as position and attitude information 25b in the storage unit 25. The sensor information receiving unit 24c receives sensor information from the external sensor 11 transmitted from the autonomous flying robot 1.

[0031] The display control unit 24d controls the display of the GUI 26 on the display unit 21. Based on sensor information transmitted from the autonomous flying robot 1, the display control unit 24d generates an image to be displayed in the sensor information display area 26a. The display control unit 24d also generates an image to be displayed in the map information display area 26b based on the map information 25a and position / attitude information 25b stored in the storage unit 25.

[0032] When the switching request generation unit 24e receives a mode switching request operation from an operator via the operation unit 22 or the mode switching button 26d, it generates a mode switching request signal to switch the operating mode of the autonomous flight robot 1 between autonomous flight mode and manual flight mode. The switching request generation unit 24e transmits the mode switching request signal to the management device 3 via the communication unit 20.

[0033] In the following explanation, when an operator performs a mode switching request operation on the control unit 22 or the mode switching button 26d, it may be referred to as "a mode switching request occurs" or "a mode switching request is generated." The alarm output unit 24f outputs a predetermined alarm signal when it receives an alarm request signal from the management device 3. For example, the alarm output unit 24f may output an alarm message or alarm display to the display unit 21, or it may output an alarm message or alarm sound from the audio signal output unit 23.

[0034] (Management device 3) The management device 3 is installed in a predetermined location (for example, within the monitoring area or the movement area of ​​the autonomous flying robot 1), determines the target location to which the autonomous flying robot 1 will fly, calculates the flight path from the current location to the target location based on the current location received from the autonomous flying robot 1, and transmits it to the autonomous flying robot 1. Figure 5 is a block diagram of an example of the functional configuration of the management device 3. The management device 3 comprises a communication unit 30, a control unit 31, and a storage unit 32.

[0035] The communication unit 30 is a communication module for communication between the autonomous flying robot 1 and the management device 3, and between the operation terminal 2 and the management device 3. The memory unit 32 is an information storage device such as ROM, RAM, or HDD. The memory unit 32 stores various programs and data, and inputs and outputs this information to and from the control unit 31. The various data includes, for example, map information 32a of the monitoring area and its surrounding area, area information 32b, route information 32c, and position / orientation information 32d, which are used for processing by the control unit 31.

[0036] The area information 32b includes information specifying the area designated as the first area and information specifying the area designated as the second area, from among the monitoring area and its surrounding areas. The first region is an area where the autonomous flying robot 1 is prohibited from flying and entering, regardless of whether its operating mode is autonomous flight mode or manual flight mode. For example, the first region may be set as the vicinity of building B or the area outside the monitoring area site S (or the area near the boundary of site S). Note that whether or not an area is set as the first region may differ depending on the flight altitude of the autonomous flying robot 1. For example, if the autonomous flying robot 1 is flying at an altitude above a predetermined altitude (for example, higher than building B), the vicinity of building B does not need to be set as the first region.

[0037] For example, if the autonomous flight robot 1 is in autonomous flight mode, setting a flight path that passes through the first area or setting a target point for the autonomous flight robot 1 within the first area is prohibited. If the autonomous flight robot 1 is in manual flight mode, manual operations that cause the autonomous flight robot 1 to enter the first area are prohibited (disabled), or an alarm is issued if the autonomous flight robot 1 enters the first area.

[0038] The second region is defined as an area within a predetermined distance from the first region. In other words, the second region is an area adjacent to the first region, and is an area in which the autonomous flying robot 1 may mistakenly enter the first region. Entering the second region is permitted regardless of whether the autonomous flying robot 1 is in autonomous flight mode or manual flight mode. For example, the predetermined distance may be a fixed value (e.g., 5m), or it may be a variable value depending on the operating environment conditions related to the safety of the operating environment when the autonomous flying robot 1 is manually operated. The operating environment conditions may be, for example, wind speed, operator level, and conditions related to the stability of the autonomous flying robot 1.

[0039] For example, if the wind speed is above a threshold, the operator's skill level is low, or the aircraft's stability is low, the operating environment is presumed to be unsafe, and therefore the predetermined distance may be set to be longer. Conversely, if the wind speed is below a threshold, the operator's skill level is high, or the aircraft's stability is high, the operating environment is presumed to be safe, and therefore the predetermined distance may be set to be shorter. Information on the operator's skill level and aircraft stability may be set in advance. Furthermore, the predetermined distance may be set by combining multiple of these conditions. The route information 32c and position / orientation information 32d are the same as the route information 14b and position / orientation information 14a in Figure 2.

[0040] The control unit 31 is a computer equipped with a processor such as a CPU, and peripheral devices such as ROM and RAM. The processor of the control unit 31 executes computer programs stored in the memory unit 32 to realize the functions of the control unit 31 described below. The control unit 31 functions as a flight path setting unit 31a, a position acquisition unit 31b, a mode switching unit 31c, a guide information generation unit 31d, and a warning generation unit 31e.

[0041] The flight path setting unit 31a searches for a flight path to move the autonomous flying robot 1 from its starting position (for example, the current position of the autonomous flying robot 1) to a designated target position, and stores the information of the searched flight path as path information 32c in the storage unit 32. The flight path setting unit 31a also transmits the information of the searched flight path to the autonomous flying robot 1 via the communication unit 30. The autonomous flying robot 1 stores the received flight path information as path information 14b.

[0042] The position acquisition unit 31b acquires the current position and attitude information of the autonomous flying robot 1 transmitted from the autonomous flying robot 1. The position acquisition unit 31b stores the acquired information in the storage unit 32 as position and attitude information 32d. When the mode switching unit 31c receives a mode switching request signal from the operation terminal 2, it generates a mode switching instruction signal that instructs the autonomous flight robot 1 to switch the operating mode between manual flight mode and autonomous flight mode. The mode switching unit 31c transmits the mode switching instruction signal to the autonomous flight robot 1 via the communication unit 30. The mode control unit 13e of the autonomous flying robot 1 switches the operating mode of the autonomous flying robot 1 between autonomous flight mode and manual flight mode in response to a mode switching instruction signal from the management device 3.

[0043] The guide information generation unit 31d generates guide information that prompts the operator to perform specific maneuvers on the autonomous flying robot 1 when the autonomous flying robot 1 is in manual flight mode. The guide information generation unit 31d transmits the guide information to the operation terminal 2 via the communication unit 30. The alarm generation unit 31e determines whether the autonomous flying robot 1 has entered the second area when the operating mode of the autonomous flying robot 1 is manual flight mode. If the autonomous flying robot 1 has entered the second area, the alarm generation unit 31e generates an alarm request signal to output an alarm to alert the operator. The alarm generation unit 31e transmits the alarm request signal to the operation terminal 2 via the communication unit 30.

[0044] As described above, the behavior of a flying robot may become unstable immediately after switching its operating mode between autonomous flight mode and manual flight mode. For example, when switching from autonomous flight mode to manual flight mode, the flying robot may change direction immediately after the switch, or it may fly in an unintended direction if the operator misinterpreted the robot's direction of travel immediately before the switch.

[0045] For example, if the flying robot is performing high-speed flight or turning maneuvers in manual flight mode and then switched to autonomous flight mode, there is a risk that the robot may temporarily lose balance and fly in an unintended direction. Therefore, switching the operating mode near a building or a restricted area (for example, outside the premises) could result in the device coming into contact with the building or entering a restricted area.

[0046] Therefore, when a mode switching request occurs and the mode switching request signal is received from the operation terminal 2, the mode switching unit 31c determines whether or not the autonomous flying robot 1 is flying within a second area, which is an area within a predetermined distance from the first area where flight is prohibited. If it is determined that the autonomous flying robot 1 is flying within the second area when the mode switching request occurs, the unit executes safety control that allows the autonomous flying robot 1 to switch operating modes after performing predetermined safety assurance operations.

[0047] For example, when instructing the autonomous flying robot 1 to perform safety checks, the mode switching unit 31c may set the target position to a location outside the first region that is closest to the current position of the autonomous flying robot 1 and is outside the second region. As a safety check, the autonomous flying robot 1 may be instructed to fly toward the target position. Alternatively, for example, the flight speed of the autonomous flying robot 1 may be limited so that its flight speed meets predetermined conditions. As a safety measure, the autonomous flying robot 1 may be flown at a flight speed that meets predetermined conditions. For example, the flight speed may be limited to a predetermined value or less. For example, the autonomous flying robot 1 may be put into a hovering state.

[0048] Alternatively, for example, the flight direction of the autonomous flying robot 1 may be restricted so that its flight direction satisfies predetermined conditions. As a safety measure, the autonomous flying robot 1 may be made to fly in a flight direction that satisfies predetermined conditions. For example, the flight direction may be restricted so that the angle between the flight direction of the autonomous flying robot 1 and the direction in which the autonomous flying robot 1 approaches the first region is greater than or equal to a predetermined angle. For example, if the autonomous flying robot 1 is flying in the direction of the first region, the autonomous flying robot 1 may be made to turn so that the angle between the flight direction of the autonomous flying robot 1 and the direction in which it approaches the first region is greater than or equal to a predetermined angle.

[0049] For example, if a mode switching request occurs while the autonomous flying robot 1 is flying within the second area in autonomous flight mode, the mode switching unit 31c may generate a safety operation request signal requesting the execution of a safety operation and transmit the safety operation request signal to the autonomous flying robot 1 via the communication unit 30. For example, the mode switching unit 31c may set the target position to the position outside the second region closest to the current position of the autonomous flying robot 1, and transmit a safety assurance action request signal that includes the target position information. Alternatively, the mode switching unit 31c may generate approach direction information, which is information about the direction in which the autonomous flying robot 1 approaches the first region, and transmit a safety assurance action request signal that includes the approach direction information.

[0050] Upon receiving a safety action request signal, the flight control unit 13b of the autonomous flying robot 1 controls the rotation speed of the motor 15 to perform the safety action. For example, the flight control unit 13b may control the rotational speed of the motor 15 to move along the flight path toward the target position included in the safety action request signal.

[0051] For example, when the flight control unit 13b receives a safety action request signal, it may control the rotation speed of the motor 15 so that the flight speed and flight direction of the autonomous flying robot 1 meet predetermined conditions. For example, it may control the rotation speed of the motor 15 so that the flight speed is below a predetermined value, or it may control the rotation speed of the motor 15 so that the angle between the direction indicated by the approach direction information included in the safety action request signal and the flight direction of the autonomous flying robot 1 is greater than or equal to a predetermined angle. When a safety assurance operation is performed, the flight control unit 13b generates a safety confirmation operation signal indicating that a safety assurance operation has been performed, and transmits the safety confirmation operation signal to the management device 3 via the communication unit 12.

[0052] Upon receiving a safety confirmation operation signal, the mode switching unit 31c of the management device 3 transmits a mode switching instruction signal to the autonomous flight robot 1. As a result, the mode control unit 13e of the autonomous flight robot 1 switches the operating mode of the autonomous flight robot 1 from autonomous flight mode to manual flight mode. Furthermore, the mode switching unit 31c may restrict manual operation by the operator regarding the horizontal movement of the autonomous flight robot 1 for a predetermined period immediately after the operation mode of the autonomous flight robot 1 has been switched to manual flight mode after safety procedures have been performed.

[0053] For example, the mode switching unit 31c may transmit a horizontal movement restriction signal to the operation terminal 2. Upon receiving the horizontal movement restriction signal, for example, the display control unit 24d of the operation terminal 2 may stop displaying the GUI that instructs horizontal movement in the control operation interface unit 26c for a predetermined period of time. Alternatively, for example, the control information generation unit 24a may stop generating control signals that include the target acceleration in the horizontal direction for a predetermined period of time. Alternatively, for example, the mode switching unit 31c may transmit a horizontal movement limit signal to the autonomous flying robot 1. Upon receiving the horizontal movement limit signal, for example, the flight control unit 13b of the autonomous flying robot 1 may suspend control of the motor 15 based on the target horizontal acceleration included in the control signal from the operation terminal 2 for a predetermined period of time.

[0054] If the system does not determine that the autonomous flying robot 1 is flying within the second area when a mode switching request occurs, and the operating mode of the autonomous flying robot 1 is autonomous flight mode, the mode switching unit 31c sends a mode switching instruction signal to the autonomous flying robot 1 without sending a safety assurance operation request signal. As a result, the operating mode of the autonomous flying robot 1 switches to manual flight mode without performing any safety assurance operations.

[0055] On the other hand, if the autonomous flying robot 1 is flying within the second area in manual flight mode, the guide information generation unit 31d generates guide information prompting the operator to perform safety assurance actions and transmits it to the operation terminal 2. For example, the guide information generation unit 31d may set the target position as the position outside the second region closest to the current position of the autonomous flying robot 1, and transmit guide information including the target position information to the operation terminal 2. Alternatively, it may transmit guide information including flight direction information that satisfies predetermined conditions to the operation terminal 2.

[0056] The display control unit 24d of the operating terminal 2, upon receiving the guide information, displays the guide information on the display unit 21. For example, the target position and flight direction included in the guide information may be displayed on the map in the map information display area 26b, or superimposed on the captured image in the sensor information display area 26a. Information prompting the pilot to limit the flight speed may also be displayed on the display unit 21. After the guide information generation unit 31d transmits guide information to the operation terminal 2, the mode switching unit 31c determines whether the autonomous flying robot 1 has performed safety operations based on the position information of the autonomous flying robot 1 received by the position acquisition unit 31b. If it is determined that the autonomous flying robot 1 has performed safety operations, the mode switching unit 31c transmits a mode switching instruction signal to the autonomous flying robot 1.

[0057] If a mode switching request occurs and it is not determined that the autonomous flying robot 1 is flying within the second area, and the operating mode of the autonomous flying robot 1 is manual flight mode, the guide information generation unit 31d does not transmit guide information, and the mode switching unit 31c transmits a mode switching instruction signal to the autonomous flying robot 1. As a result, the operating mode of the autonomous flying robot 1 switches to autonomous flight mode without performing safety assurance operations. In other embodiments, if the autonomous flight robot 1 is in manual flight mode, even if the autonomous flight robot 1 is flying within the second area when a mode switching request occurs, the operating mode of the autonomous flight robot 1 may be switched from manual flight mode to autonomous flight mode without performing safety assurance operations. In other words, the guide information prompting the operator to perform safety assurance operations may be omitted.

[0058] In another embodiment, when the operation terminal 2 receives a mode switching request operation from an operator, the switching request generation unit 24e of the operation terminal 2 may generate a mode switching instruction signal that instructs the autonomous flying robot 1 to switch the operating mode, and transmit it directly from the operation terminal 2 to the autonomous flying robot 1 via the communication unit 20. In this embodiment, if a mode switching request occurs while the autonomous flying robot 1 is flying within the second area, and the operating mode of the autonomous flying robot 1 is autonomous flight mode, the operation terminal 2 and the management device 3 may transmit a mode switching instruction signal and a safety assurance operation request signal to the autonomous flying robot 1, respectively. In this case, the mode control unit 13e of the autonomous flying robot 1 may stop switching the operating mode from autonomous flight mode to manual flight mode until the safety assurance operation is performed by the flight control unit 13b, and then switch the operating mode back to manual flight mode after the safety assurance operation is performed.

[0059] Furthermore, if a mode switching request occurs while the autonomous flying robot 1 is flying within the second area, and the operating mode of the autonomous flying robot 1 is manual flight mode, the switching request generation unit 24e of the operation terminal 2 may stop generating and transmitting a mode switching instruction signal by receiving guide information from the management device 3. Based on the position information of the autonomous flying robot 1 received by the position acquisition unit 24b, the switching request generation unit 24e may determine whether or not the autonomous flying robot 1 has performed a safety assurance operation, and if it determines that the autonomous flying robot 1 has performed a safety assurance operation, it may transmit a mode switching instruction signal to the autonomous flying robot 1.

[0060] Figure 6 is a schematic diagram of an example of the display of the first and second regions in the display unit 21 of the operating terminal 2. For example, the display control unit 24d may simultaneously display the current position PL of the autonomous flying robot 1, the flight trajectory Ph from the past to the present time, the future target flight path Rp in autonomous flight mode, the first region R1, and the second region R2, superimposed on the map information displayed in the map information display area 26b as shown in Figure 4. By simultaneously displaying the future target flight path Rp and the second region R2 in this way, the point Pout where the autonomous flying robot 1 leaves the second region R2 can be determined, and the operator can know the timing when the autonomous flying robot 1 leaves the second region R2. Furthermore, the display control unit 24d may estimate the time required for the autonomous flying robot 1 to reach point Pout, where it will leave the second region R2, and display this information on the display unit 21. For example, the display control unit 24d may estimate the time required and the estimated arrival time based on the length of the flight path from the autonomous flying robot 1 to point Pout and the speed at which the autonomous flying robot 1 moves. In Figure 6, the first and second regions near a building are used as an example for explanation, but if flight outside the site S (such as on a public road or someone else's property) is prohibited, similarly, the area outside the site S will be displayed as the first region R1, and the area near the first region R1 will be displayed as the second region R2.

[0061] (operation) Figure 7 is a flowchart of an example of a flight robot control method according to an embodiment of the present invention. In step S1, the position acquisition unit 31b of the management device 3 acquires information on the current position and current attitude of the autonomous flying robot 1. In step S2, the mode switching unit 31c determines whether or not a mode switching request for the operating mode of the autonomous flying robot 1 has occurred. If a mode switching request has occurred (step S2:Y), the process proceeds to step S3. If no mode switching request has occurred (step S2:N), the process proceeds to step S6.

[0062] In step S3, the mode switching unit 31c determines whether the autonomous flying robot 1 is flying within the second region. If the autonomous flying robot 1 is flying within the second region (step S3:Y), the process proceeds to step S4. If the autonomous flying robot 1 is not flying within the second region (step S3:N), the process proceeds to step S5. In step S4, the mode switching unit 31c causes the autonomous flying robot 1 to perform safety assurance operations.

[0063] For example, if the current operating mode of the autonomous flying robot 1 is autonomous flight mode, the mode switching unit 31c sends a safety action request signal to the autonomous flying robot 1 to prompt it to perform safety actions. If the current operating mode of the autonomous flying robot 1 is manual flight mode, the mode switching unit 31c sends guide information to the operation terminal 2 to prompt the operator to perform safety actions. Once the autonomous flying robot 1 performs safety actions, the process proceeds to step S5.

[0064] In step S5, the mode switching unit 31c transmits a mode switching instruction signal to the autonomous flying robot 1. The operating mode of the autonomous flying robot 1 is switched by the mode switching instruction signal. The process then proceeds to step S6. Step S6 determines whether the flight of autonomous flying robot 1 has ended. For example, it determines whether autonomous flying robot 1 has returned to a predetermined waiting position. If the flight has not ended (step S6:N), the process returns to step S1. If the flight has ended (step S6:Y), the process ends.

[0065] (modified version) The above description describes a case where the control unit 31 of the management device 3 implements the functions of the mode switching unit 31c, the guide information generation unit 31d, and the alarm generation unit 31e. However, the present invention is not limited to such specific embodiments. For example, the control unit 13 of the autonomous flying robot 1 may implement some or all of the functions of the mode switching unit 31c, the guide information generation unit 31d, and the alarm generation unit 31e, and the control unit 24 of the operation terminal 2 may implement some or all of the functions of the mode switching unit 31c, the guide information generation unit 31d, and the alarm generation unit 31e.

[0066] (Effects of the embodiment) (1) The flying robot control system 100 controls the autonomous flying robot 1. The flying robot control system 100 includes a position acquisition unit 31b that acquires the current position of the autonomous flying robot 1, and a mode switching unit 31c that switches the operating mode between an autonomous flight mode in which the autonomous flying robot 1 flies automatically according to predetermined flight conditions and a manual flight mode in which it flies manually via an operation terminal 2, based on a request to switch the operating mode of the autonomous flying robot 1. When a switching request occurs while the autonomous flying robot 1 is flying within a second area which is set as an area within a predetermined distance from a first area which is an area in which the autonomous flying robot 1 is prohibited from entering, the mode switching unit 31c executes safety control that allows the autonomous flying robot 1 to switch operating modes after performing predetermined safety assurance operations. This improves the safety of the autonomous flying robot 1 when switching between autonomous flight mode and manual flight mode in the vicinity of the first area where entry of the autonomous flying robot 1 is prohibited.

[0067] (2) For example, the safety assurance operation may be an operation to fly outside the second area. This allows the autonomous flying robot 1 to switch operating modes after leaving the first area where entry is prohibited, thereby improving the safety of the autonomous flying robot 1 when switching operating modes. (3) For example, the safety assurance operation may be an operation to fly at a flight speed or direction that satisfies predetermined conditions. This prevents the autonomous flying robot 1 from approaching the first area where entry is prohibited, even if the behavior of the autonomous flying robot 1 becomes unstable when the operation mode is switched.

[0068] (4) When the autonomous flying robot 1 is flying within the second area and a request to switch from autonomous flight mode to manual flight mode is generated, manual operation of the autonomous flying robot 1 regarding horizontal movement may be restricted for a predetermined period immediately after the autonomous flying robot 1 has performed safety operations and switched its operating mode to manual flight mode. This prevents the autonomous flying robot 1 from unintentionally approaching the first area excessively through manual operation immediately after transitioning to manual flight mode.

[0069] (5) The second area may be an area in which the autonomous flying robot 1 is permitted to enter in manual flight mode. The mode switching unit 31c may switch the operating mode to manual flight mode after the autonomous flying robot 1 has performed predetermined safety operations when a request to switch to manual flight mode occurs while the autonomous flying robot 1 is flying in autonomous flight mode within the second area. This improves the safety of the autonomous flying robot 1 when it transitions from autonomous flight mode to manual flight mode.

[0070] (6) The predetermined distance may be set according to the operating environment conditions relating to the safety of the operating environment when the autonomous flying robot 1 is manually operated. This allows the range of the second area to be appropriately set according to the operating environment when the robot is manually operated. (7) The system may be equipped with an alarm generation unit that outputs an alarm from the control terminal 2 when the autonomous flying robot 1 enters the second area in manual flight mode. This allows the operator to be notified that the autonomous flying robot 1 is approaching the first area where entry is prohibited, or that the switching of operating modes may be restricted.

[0071] An embodiment of the flying robot control system may contribute to solving social issues such as the declining workforce and long working hours. Furthermore, the flying robot control system according to one embodiment of the present invention can also contribute to Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation." [Explanation of Symbols]

[0072] 1...Autonomous flying robot, 2...Operation terminal, 3...Management device, 10...Position / attitude sensor, 11...Outside sensor, 12...Communication unit, 13...Control unit, 13a...Position / attitude calculation unit, 13b...Flight control unit, 13c...Path search unit, 13d...Sensor information transmission unit, 13e...Mode control unit, 14...Storage unit, 14a...Position / attitude information, 14b...Path information, 15...Motor, 16...Rotor, 20...Communication unit, 21...Display unit, 22...Operation unit, 23...Audio signal output unit, 24...Control unit, 24a...Control information generation unit, 24b...Position acquisition unit, 24c...Sensor information reception unit, 24d...Display control unit, 24e...Switching request generation unit 24f... Alarm output unit, 25... Memory unit, 25a... Map information, 25b... Position / attitude information, 26... Graphical user interface, 26a... Sensor information display area, 26b... Map information display area, 26c... Pilot operation interface unit, 26d... Switching request operation interface unit, 30... Communication unit, 31... Control unit, 31a... Flight path setting unit, 31b... Position acquisition unit, 31c... Mode switching unit, 31d... Guide information generation unit, 31e... Alarm generation unit, 32... Memory unit, 32a... Map information, 32b... Area information, 32c... Path information, 32d... Position / attitude information, 100... Flying robot control system

Claims

1. A flying robot control system for controlling flying robots, A position acquisition unit that acquires the current position of the aforementioned flying robot, A mode switching unit that switches the operating mode of the flying robot between an autonomous flight mode, in which the robot flies automatically according to predetermined flight conditions, and a manual flight mode, in which the robot flies manually via an operating terminal, based on a request to switch the operating mode of the flying robot. Equipped with, The mode switching unit is characterized in that, when the mode switching request occurs while the mode switching unit is flying within a second area which is set to be an area within a predetermined distance from a first area which is an area in which the mode switching unit is prohibited, it executes safety control which allows the mode switching to be permitted after the mode switching unit has performed a predetermined safety operation for the mode switching unit.

2. The flying robot control system according to claim 1, characterized in that the safety assurance operation is an operation to move outside the first area and outside the second area.

3. The flight robot control system according to claim 1, characterized in that the safety assurance operation is an operation to fly at a flight speed or direction of travel that satisfies predetermined conditions.

4. The flight robot control system according to claim 1, characterized in that the mode switching unit performs the safety control when a request to switch from the autonomous flight mode to the manual flight mode occurs while the flight robot is flying within the second region.

5. The flying robot control system according to claim 4, characterized in that the second region is a region in which the flying robot is permitted to enter in the manual flight mode.

6. The flight robot control system according to claim 4, characterized in that the mode switching unit restricts manual operation related to the horizontal movement of the flight robot for a predetermined period after executing the safety control and switching the operation mode to the manual flight mode.

7. The flying robot control system according to claim 1, characterized in that the predetermined distance is set according to operating environment conditions relating to the safety of the operating environment when the flying robot is manually operated.

8. The flying robot control system according to claim 1, further comprising an alarm generation unit that outputs an alarm from the operating terminal when the flying robot enters the second area in the manual flight mode.

9. A method for controlling a flying robot, The process of obtaining the current position of the aforementioned flying robot, A process to switch the operating mode of the flying robot between an autonomous flight mode, in which it flies automatically according to predetermined flight conditions, and a manual flight mode, in which it flies manually via an operating terminal, based on a request to switch the operating mode of the flying robot. When the flying robot is flying within a second area, which is set as an area within a predetermined distance range from a first area, which is an area where the flying robot is prohibited from entering, and the switching request occurs, the process involves performing a predetermined safety assurance operation and then executing safety control that allows the switching of the operating mode. A method for controlling a flying robot, characterized by having at least one computer perform the following operation.

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