Unmanned aerial vehicle

Abstract

Provided is an unmanned aerial vehicle that can ensure the stability of communication with a piloting apparatus. An unmanned aerial vehicle 1 comprising: an antenna 115 for communicating with a piloting apparatus that pilots the unmanned aerial vehicle 1; an acquisition unit 130 that acquires the location of the unmanned aerial vehicle 1, said acquisition unit 130 acquiring the flight starting location of the unmanned aerial vehicle 1; a storage unit 140 that stores the flight starting location; a direction determination unit 150 that uses calculation to determine the direction from the current location of the unmanned aerial vehicle 1 to the flight starting location, on the basis of the current location of the unmanned aerial vehicle 1 and the flight starting location which were acquried by the acquisition unit 130; and an antenna control device 125 that controls the orientation of the antenna 115, said antenna control device 125 changing the orientation of the antenna 115 to the direction which is from the current location of the unmanned aerial vehicle 1 to the flight starting location, said direction having been determined by the direction determination unit 150.

Description

unmanned aerial vehicle

[0001] The present invention relates to unmanned aerial vehicles, and more particularly to unmanned aerial vehicles that point their antennas toward a pilot.

[0002] Conventionally, omnidirectional antennas such as monopoles and dipoles have been used as communication antennas mounted on unmanned aerial vehicles such as drones and multicopters.

[0003] Japanese Patent Application Laid-Open No. 2019-121967

[0004] Omnidirectional antennas have null points in the direction of the tip of the antenna and in the opposite direction, so when at least one of the unmanned aircraft and the piloted aircraft is located in the direction of the null point of the other antenna, communication between the unmanned aircraft and the piloted aircraft can become unstable or communication can be interrupted.

[0005] The present invention has been made to solve the above-mentioned problems, and one of its objects is to provide an unmanned aerial vehicle that can ensure stable communication with a piloted aircraft.

[0006] One aspect of the present invention is an unmanned aerial vehicle comprising: an antenna for communicating with a controller that controls the unmanned aerial vehicle; an acquisition unit that acquires the position of the unmanned aerial vehicle, the acquisition unit acquiring the flight start position of the unmanned aerial vehicle and / or the position of the controller; a memory unit that stores the flight start position; a direction determination unit that determines by calculation the direction from the current position to the flight start position or the position of the controller based on the current position of the unmanned aerial vehicle acquired by the acquisition unit and the flight start position or the position of the controller; and an antenna control device that controls the orientation of the antenna, the antenna control device changing the orientation of the antenna to the direction determined by the direction determination unit.

[0007] According to the present invention, it is possible to provide an unmanned aerial vehicle that can ensure stable communication with a piloted aircraft.

[0008] Fig. 1 is an external view of a multicopter that is an example of an unmanned aerial vehicle (multicopter) according to an embodiment. Fig. 2 is a diagram showing the overall configuration of an unmanned aerial vehicle according to an embodiment. Fig. 3 is a configuration diagram relating to antenna control of an unmanned aerial vehicle according to an embodiment. Fig. 4 is an example of an operation flowchart relating to antenna control of an unmanned aerial vehicle according to an embodiment. Fig. 5 is an external view of a multicopter that is an example of an unmanned aerial vehicle (multicopter) according to a modified example of an embodiment. Fig. 6 is a configuration diagram of an adaptive array antenna.

[0009] Embodiments of the present invention will be described below with reference to the drawings. However, the present invention is not limited to the specific embodiments described below and may take various forms within the scope of the technical concept of the present invention. For example, the unmanned aircraft of the present invention is not limited to the multicopter shown in FIG. 1 , but may be any unmanned aircraft, such as a rotary-wing aircraft or a fixed-wing aircraft. Furthermore, the configuration of the unmanned aircraft 1 is not limited to that shown in the drawings and may take any configuration as long as it can perform similar operations. For example, operations performed by multiple components may be performed by a single component, such as integrating the functions of a communication circuit into a flight control unit, or operations performed by a single component may be performed by multiple components, such as distributing the functions of a control device among multiple control devices. Furthermore, various data stored in the memory of the unmanned aircraft 1 may be stored in a separate location. Information recorded in various memories may be stored in multiple types of distributed storage, or multiple types of information may be stored together in a single type.

[0010] [1-1. Overall Configuration] Fig. 1 is an external view of a multicopter, which is an example of an unmanned aerial vehicle (multicopter) 1 according to this embodiment. Fig. 2 is a diagram showing the overall configuration of the unmanned aerial vehicle 1.

[0011] As shown in Figures 1 and 2, the unmanned aerial vehicle 1 is equipped with a control device 101, a motor 102, a rotor 103, an arm 104, landing legs 105, a camera 106, a flight position sensor 110, an attitude sensor 111, a direction sensor 112, an altitude sensor 113, a distance sensor 114, and an antenna 115.

[0012] The control device 101 is configured to process information for flight control of the unmanned aerial vehicle 1 and control the electrical signals required for this purpose, and is typically a device in which the circuits required to realize such functions are configured by arranging and wiring various electronic components on a board. Details of the control device 101 will be described later.

[0013] The motors 102 are driven by control signals from the control device 101. The rotors (rotating wings) 103 rotate when driven by each motor 102, generating lift. The arms 104 connect the control device 101 to each motor 102. The landing legs 105 support the unmanned aerial vehicle 1 during landing. The number of motors 102, rotors 103, and arms 104 is six in the example shown in FIG. 1 , but each number can be three or more, such as three or four. The control signals from the control device 101 control the rotation speed of each of the six rotors 103 via the rotation of the six motors 102, thereby controlling the flight of the unmanned aerial vehicle 1, such as ascent, descent, forward / backward / left / right flight, and turning.

[0014] The camera 106 is a camera for capturing images of an object at high resolution. The camera 106 is rotatably mounted on the control device 101, thereby allowing the capturing direction to be changed. The camera 106 acquires image data of its capture range while the unmanned aerial vehicle 1 is flying, and the acquired images are stored in a storage unit, which will be described later. The images are typically video images consisting of a series of still images.

[0015] The flight position sensor 110 is a sensor that detects the position of the unmanned aerial vehicle 1 and is typically a GPS (Global Positioning System) sensor. The flight position sensor 110 preferably detects three-dimensional coordinates (latitude, longitude, altitude). In this embodiment, the flight position sensor 110 detects the horizontal position (latitude, longitude) of the unmanned aerial vehicle 1.

[0016] The attitude sensor 111 is a sensor, such as a six-axis gyro sensor (acceleration / angular velocity sensor), for detecting the movement and tilt of the unmanned aerial vehicle 1. The attitude sensor 111 can be used to control the attitude of the unmanned aerial vehicle 1 during flight.

[0017] The orientation sensor 112 is a sensor for controlling the flight direction, and is, for example, a magnetic sensor.

[0018] The altitude sensor 113 is a sensor, such as a barometer, that detects the altitude of the unmanned aerial vehicle 1. The altitude sensor 113 can be used to control the flight altitude of the unmanned aerial vehicle 1.

[0019] The distance sensor 114 is a sensor for measuring the distance to an obstacle or the ground, for avoiding collision with the obstacle, and for precisely measuring the altitude above the ground. The distance sensor 114 is, for example, an ultrasonic sensor.

[0020] The antenna 115 is an aerial for receiving radio signals including information and various data for piloting and controlling the unmanned aerial vehicle 1, and for transmitting radio signals including image signals, video signals, and telemetry signals from the unmanned aerial vehicle 1. The antenna 115 can be used to communicate with a controller that pilots the unmanned aerial vehicle 1. Although the antenna 115 is provided on the top of the unmanned aerial vehicle 1 in FIG. 1 , it may also be provided on the bottom of the unmanned aerial vehicle 1, as long as it is provided in any location.

[0021] Although not shown, the unmanned aerial vehicle 1 is equipped with a power supply system including a battery device such as a lithium polymer battery or a lithium ion battery, and a power distribution system to each element.

[0022] As shown in FIG. 2, the control device 101 includes an information processing device 120 , a communication circuit 121 , a control signal generating circuit 122 , a speed controller 123 , an interface 124 , and an antenna control device 125 .

[0023] The communications circuit 121 is an electronic circuit, typically a wireless signal processing IC, that demodulates wireless signals received via the antenna 115 to receive control signals, control signals, and various data for the unmanned aerial vehicle 1 and inputs them to the information processing device 120, and generates wireless signals carrying image signals, video signals, telemetry signals, and the like output from the unmanned aerial vehicle 1. Note that, for example, communications of control signals from a controller for controlling the unmanned aerial vehicle 1 and communications of control signals and various data may be performed by different communication circuits using different frequency bands. For example, a configuration is possible in which communications with a transmitter of a controller (transmitter or controller) for manual control are performed at frequencies in the 920 MHz, 2.4 GHz, or 5.7 GHz band, and data communications are performed at frequencies in the 2 GHz, 1.7 GHz, 1.5 GHz, or 800 MHz band.

[0024] The information processing device 120 includes a CPU 120a, a RAM 120b, a ROM 120c, an external memory 120d, and a system bus 120e. The RAM 120b, the ROM 120c, the external memory 120d, the communication circuit 121, the control signal generation circuit 122, and the interface 124 are connected to the CPU 120a via the system bus 120e.

[0025] The information processing device 120 appropriately controls the flight of the unmanned aerial vehicle 1 based on control signals from the operator (during non-autonomous flight) and flight plan route data (during autonomous flight). Specifically, the information processing device 120 determines the attitude, speed, etc. of the unmanned aerial vehicle 1 from information obtained from various flight control sensors 111, 112, determines the current flight position, etc. of the unmanned aerial vehicle 1 from information obtained from the flight position sensor 110, altitude sensor 113, and distance sensor 114, and compares this with target values ​​for the control signals, flight plan route, speed limit, altitude limit, etc. to calculate control command values ​​for each rotor 103 in the information processing device 120, and outputs data indicating the control command values ​​to the control signal generation circuit 122.

[0026] The control signal generating circuit 122 is configured to convert the control command value data obtained by calculation by the information processing device 120 into a pulse signal (such as a PWM signal) representing a voltage, and is typically an IC including an oscillation circuit and a switching circuit. The control signal generating circuit 122 converts the control command value into a pulse signal representing a voltage and transmits it to each speed controller 123.

[0027] The speed controllers 123, which are typically composed of a smoothing circuit and an analog amplifier, convert the pulse signal from the control signal generating circuit 122 into a drive voltage that drives the motors 102. Each speed controller 123 converts the pulse signal into a drive voltage and applies it to each motor 102, thereby controlling the drive of each motor 102 and controlling the rotation speed of each rotor 103, thereby controlling the flight of the unmanned aerial vehicle 1.

[0028] The interface 124 is a configuration that electrically connects functional elements such as the information processing device 120, the flight position sensor 110, the attitude sensor 111, the direction sensor 112, the altitude sensor 113, and the distance sensor 114 by converting the signal format so that signals can be sent and received between them. For convenience of explanation, the interface is depicted as a single configuration in the drawings, but different interfaces are typically used depending on the type of functional element to be connected. Furthermore, depending on the type of signals input and output by the functional element to be connected, the interface 124 may not be necessary. Even in the information processing device 120 shown in FIG. 2 that is connected without the interface 124, an interface may be required depending on the type of signals input and output by the functional element to be connected.

[0029] The antenna control device 125 changes the orientation of the antenna 115. In this embodiment, the antenna control device 125 is a rotating platform 125a on which the antenna 115 is mounted, and the rotating platform 125a is mounted on the control device 101 as shown in FIG. 1. In the example shown in FIG. 1, the rotating platform 125a is mounted on the upper part of the unmanned aerial vehicle 1 (control device 101), but the installation location is not particularly limited as long as it is mounted on the unmanned aerial vehicle 1. For example, the rotating platform 125a may be mounted on the lower part of the unmanned aerial vehicle 1. In this case, the antenna 115 is located on the lower part of the unmanned aerial vehicle 1.

[0030] The rotating base 125a is configured to be rotatable around an axis J in the vertical direction. Although not particularly shown, the rotating base 125a includes, for example, a motor, a motor shaft that is attached to the motor and rotates around the axis J in the vertical direction when driven by the motor, and a base that is fixed to the motor shaft and on which the antenna 115 is attached. A drive voltage is applied to the motor based on a control command value for the amount of rotation of the motor calculated by the control device 101 (for example, the information processing device 120 or a direction determination unit 150 described below), causing the rotating base 125a to rotate and changing the orientation of the antenna 115.

[0031] [1-2. Detailed Configuration] FIG. 3 is a configuration diagram relating to antenna control of the unmanned aerial vehicle 1.

[0032] The unmanned aerial vehicle 1 includes an antenna 115 , an acquisition unit 130 , a memory unit 140 , a direction determination unit 150 , and an antenna control device 125 .

[0033] The antenna 115 can be used to communicate with a controller that controls the unmanned aerial vehicle 1, and can be, for example, an omnidirectional antenna, a directional antenna, or a directional dual-polarized patch antenna (microstrip antenna). The directional dual-polarized patch antenna is, for example, a 180-degree directional dual-polarized patch antenna. Although the antenna 115 is shown to be provided on the top of the unmanned aerial vehicle 1 in FIG. 1 , it may also be provided on the bottom of the unmanned aerial vehicle 1, as long as it is provided at any location on the unmanned aerial vehicle 1.

[0034] The acquisition unit 130 acquires the position of the unmanned aerial vehicle 1. The acquisition unit 130 is, for example, a flight position sensor 110 and an altitude sensor 113. The position of the unmanned aerial vehicle 1 can include the flight start position at the start of flight of the unmanned aerial vehicle 1, and any position during the flight of the unmanned aerial vehicle 1. Here, the flight start position is the position of the unmanned aerial vehicle 1 at the start of flight or immediately before that. The position of the unmanned aerial vehicle 1 includes the horizontal position (latitude, longitude) of the unmanned aerial vehicle 1 acquired by the flight position sensor 110 and the altitude of the unmanned aerial vehicle 1 acquired by the altitude sensor 113. The altitude is the height above sea level or mean sea level, and is the length in the vertical direction.

[0035] The acquisition unit 130 may also acquire the position of the controller that controls the unmanned aerial vehicle 1. The position information of the unmanned aerial vehicle 1 and / or the controller acquired by the acquisition unit 130 may be information acquired from an external source. For example, the acquisition unit 130 may acquire the flight start position of the unmanned aerial vehicle 1 and / or the position of the controller from an external source via an input device such as a keyboard, mouse, or touch panel.

[0036] The storage unit 140 stores the flight start position acquired by the acquisition unit 130. The storage unit 140 may be, for example, a memory or storage such as the RAM 120b, the ROM 120c, or the external memory 120d included in the information processing device 120.

[0037] The direction determination unit 150 determines the direction from the current position of the unmanned aerial vehicle 1 to the flight start position by calculation based on the current position of the unmanned aerial vehicle 1 acquired by the acquisition unit 130 and the flight start position. When performing this calculation, the direction determination unit 150 can take into account the attitude of the unmanned aerial vehicle 1 at the time the current position was acquired by the acquisition unit 130. The direction determination unit 150 can acquire the attitude of the unmanned aerial vehicle 1 using the attitude sensor 111. The direction determination unit 150 can be configured, for example, by the information processing device 120.

[0038] The direction determination unit 150 may calculate the direction from the current position of the unmanned aerial vehicle 1 to the flight start position continuously or at predetermined time intervals. This time interval can be set or changed as needed. This time interval is a time interval that allows the antenna 115 to track the position of the piloted aircraft (the flight start position of the unmanned aerial vehicle 1), and may be, for example, several seconds, but is not limited to this.

[0039] The direction determination unit 150 of this embodiment calculates a rotation amount command value for the motor of the turntable 125a so that the antenna 115 is directed in the direction from the determined current position of the unmanned aerial vehicle 1 to the flight start position, and outputs the calculated rotation amount command value to the antenna control device 125. As another example, the calculation of the rotation amount command value may be performed by the information processing device 120 and output to the antenna control device 125.

[0040] The antenna control device 125 changes the orientation of the antenna 115 from the current position toward the flight start position determined by the direction determination unit 150. That is, the antenna control device 125 (rotating base 125a) rotates the antenna 115 so that the antenna 115 faces the flight start position. In this embodiment, the antenna control device 125 has a control circuit, which, like the control signal generation circuit 122 and the speed controller 123, can include an IC including an oscillator circuit and a switching circuit, a smoothing circuit, and an analog amplifier. Based on the rotation amount command value for the motor of the rotating base 125a obtained from the direction determination unit 150, the antenna control device 125 applies a drive voltage to the motor of the rotating base 125a to rotate the motor, thereby changing the orientation of the antenna 115 so that it faces the flight start position. Note that "orienting the antenna 115 toward the flight start position" refers to facing the direction in which the antenna 115 has the highest sensitivity toward the flight start position or the piloted aircraft, and it is preferable to face the direction in which the antenna 115 has the highest sensitivity toward the flight start position or the piloted aircraft.

[0041] 4 is an example of an operational flowchart relating to antenna control of the unmanned aerial vehicle 1. Here, it is assumed that at the start of flight, the unmanned aerial vehicle 1 and the controller for controlling it are located within a relatively short distance (for example, within a range of several tens of centimeters to several meters) and that stable communication can be performed between them.

[0042] First, when the unmanned aerial vehicle 1 starts flight, it acquires the flight start position using the flight position sensor 110 and the altitude sensor 113 (S01: Acquisition of flight start position). The acquired flight start position is stored in the memory unit 140 (S02: Storage of flight start position).

[0043] Next, the unmanned aircraft 1 receives a control signal from the control device via the antenna 115 (S03: Receiving control signal), and flies by driving the motor 102 based on the control signal to rotate the rotor 103 (S04: Flying the unmanned aircraft).

[0044] During flight of the unmanned aerial vehicle 1, the unmanned aerial vehicle 1 acquires the current position of the unmanned aerial vehicle 1 using the flight position sensor 110 and the altitude sensor 113 (S05: Acquire current position of unmanned aerial vehicle). The direction determination unit 150 calculates the direction from the current position to the flight start position based on the acquired current position and the flight start position stored in the memory unit 140, and determines this direction (S06: Determine direction from current position of unmanned aerial vehicle to flight start position). Furthermore, in this embodiment, the direction determination unit 150 calculates the amount of rotation for the motor of the turntable 125a as a command value so that the antenna 115 is directed from the current position of the unmanned aerial vehicle 1 in the direction of the flight start position, and outputs this command value to the antenna control device 125 (turntable 125a).

[0045] The antenna control device 125 changes the orientation of the antenna 115 from the current position of the unmanned aerial vehicle 1 to the direction of the flight start position, which has been determined by the direction determination unit 150 (S07: Change antenna orientation from the current position of the unmanned aerial vehicle to the direction of the flight start position). Here, the antenna control device 125 applies a drive voltage to the motor of the turntable 125a to rotate the motor based on the rotation amount command value for the motor of the turntable 125a obtained from the direction determination unit 150, and changes the orientation of the antenna 115 so that it faces the flight start position.

[0046] [1-4. Effects of this embodiment] (1) The unmanned aerial vehicle 1 of this embodiment is equipped with an antenna 115 for communicating with a pilot that pilots the unmanned aerial vehicle 1, an acquisition unit 130 that acquires the position of the unmanned aerial vehicle 1, the acquisition unit 130 acquiring the flight start position of the unmanned aerial vehicle 1, a memory unit 140 that stores the flight start position, a direction determination unit 150 that determines by calculation the direction from the current position of the unmanned aerial vehicle 1 to the flight start position based on the current position of the unmanned aerial vehicle 1 acquired by the acquisition unit 130 and the flight start position, and an antenna control device 125 that controls the orientation of the antenna 115, the antenna control device 125 changing the orientation of the antenna 115 from the current position of the unmanned aerial vehicle 1 to the direction of the flight start position determined by the direction determination unit 150.

[0047] This allows the unmanned aircraft 1 to ensure stable communication with the piloted aircraft. The antenna 115 can be oriented toward the flight start position, preventing communication interruptions and video transmission blockages that would occur if the antennas of the unmanned aircraft 1 and the piloted aircraft were oriented toward the null point. In prior art unmanned aircraft, if the null point direction of the unmanned aircraft's antenna coincided with the null point direction of the piloted aircraft's antenna, it was necessary to limit the communication distance between the two aircraft in consideration of communication interruptions that would occur over long distances. In contrast, in this embodiment, the directivity of the antenna 115 can be oriented toward the flight start position, eliminating the need for such limitations. This eliminates the conventional constraints on communication distance due to the presence of a null point, thereby extending the communication distance. Furthermore, by communicating with the piloted aircraft using the 2.4 GHz band, stable communication can be established even in mountainous areas. The reason for oriented the antenna 115 toward the flight start position, as described above, is that the position of the piloted aircraft piloting the unmanned aircraft 1 and the flight start position are relatively close to each other and can be considered equivalent in terms of communication.

[0048] (2) The antenna control device 125 is a rotating base 125a on which the antenna 115 is mounted. This allows the antenna 115 to be oriented toward the pilot aircraft even if the position of the unmanned aircraft 1 changes during flight.

[0049] (3) A directional dual-polarized patch antenna is used as the antenna 115. This ensures more stable communication than when an omnidirectional antenna or a directional antenna is used as the antenna 115.

[0050] [2. Other Embodiments] Modifications of the above embodiment will be described. Regarding the following modifications of the above embodiment, only the configurations that are different from the above embodiment will be described, and a description of the same configurations will be omitted. Modifications 1, 2, and 3 of the above embodiment, as well as any combination of Modifications 1 to 3, are included in the scope of the present invention.

[0051] (1) As a first modification of the above embodiment, the unmanned aerial vehicle 1 may be equipped with an adaptive array antenna 160, as shown in FIG. 5 . As shown in FIG. 6 , the adaptive array antenna 160 includes an array antenna 161 formed by an array of multiple antenna elements 161 a, and a control circuit 162 that controls the array antenna 161. The adaptive array antenna 160 is an antenna in which the control circuit 162 adaptively controls the weighting of each antenna element 161 a in accordance with the propagation environment, thereby electrically controlling its directivity. In this first modification, the adaptive array antenna 160 is provided instead of the rotating base 125 a. That is, the array antenna 161 is the antenna 115, and the control circuit 162 is the antenna control device 125. In other words, in the above embodiment, the antenna control device 125 changes the directivity of the antenna 115 by rotational drive, whereas in this first modification, the control circuit 162 electrically changes the directivity of the antenna array 161. In Figure 5, the adaptive array antenna 160 is located on the top of the unmanned aircraft 1, but the adaptive array antenna 160 or the array antenna 161 may also be located on the bottom of the unmanned aircraft 1, as long as it is located at any location on the unmanned aircraft 1.

[0052] In this first modification, the control circuit 162 determines a weighting coefficient for each antenna element so that the directivity of the array antenna 161 is directed in the direction from the current position of the unmanned aerial vehicle 1 to the flight start position determined by the direction determination unit 150, and controls each antenna element in terms of amplitude and / or phase based on the weighting coefficient. In another example, the information processing device 120 determines a weighting coefficient for each antenna element 161 a so that the directivity of the array antenna 161 is directed in the direction from the current position of the unmanned aerial vehicle 1 to the flight start position determined by the direction determination unit 150, and outputs the weighting coefficient to the control circuit 162. The control circuit 162 controls the amplitude and / or phase of each antenna element 161 a based on the weighting coefficient.

[0053] Even in this way, the antenna of the unmanned aerial vehicle 1 can be directed toward the piloted aircraft, ensuring stability of communication.

[0054] (2) As a second modification of the above embodiment, the acquisition unit 130 may acquire the position of the piloted aircraft received from the piloted aircraft at the start of flight as the flight start position. That is, in the above embodiment, the flight start position is the position of the unmanned aircraft 1 acquired by the flight position sensor 110 and the altitude sensor 113, whereas in this second modification, the flight start position is the position of the piloted aircraft. In one example, the position of the piloted aircraft can be acquired by a position transmitter provided in the piloted aircraft, and in another example, it can be acquired from an external source other than the piloted aircraft and the unmanned aircraft 1 via an input device such as a keyboard, mouse, or touch panel. In this case, the direction determination unit 150 calculates the direction of the piloted aircraft from its current position to the unmanned aircraft 1 based on the position of the piloted aircraft and the current position of the unmanned aircraft 1.

[0055] Even in this way, the unmanned aircraft 1 can ensure stable communication with the piloted aircraft. That is, at the start of flight, the unmanned aircraft 1 and the piloted aircraft are usually relatively close to each other (for example, within a range of several meters), so the unmanned aircraft 1 and the piloted aircraft can communicate with each other. Therefore, the unmanned aircraft 1 can obtain the position of the piloted aircraft, which serves as the base point for pointing the antenna 115, thereby ensuring stable communication.

[0056] (3) As a third variation of the above embodiment, the acquisition unit 130 acquires the flight start position, and after the unmanned aircraft 1 starts flight, further acquires the position of the piloted aircraft from the pilot. The memory unit 140 stores the position of the piloted aircraft. The direction determination unit 150 may determine the direction from the current position to the position of the piloted aircraft by calculation based on the position of the piloted aircraft and the current position of the unmanned aircraft 1.

[0057] This allows the antenna 115 to be pointed toward the pilot even if the pilot's position changes after the unmanned aerial vehicle 1 has flown.

[0058] In addition, in the above-described third modification, the flight start position and the position of the pilot are stored in the memory unit 140, but if the position of the pilot is acquired after the unmanned aerial vehicle 1 has started flying, the flight start position stored in the memory unit 140 may be stored so as to overwrite the position of the pilot. In this case, the direction determination unit 150 can determine the direction from the current position of the unmanned aerial vehicle 1 to the flight start position (i.e., the position of the pilot) by calculation.

[0059] 1 Unmanned Aerial Vehicle 101 Control Device 102 Motor 103 Rotor 104 Arm 105 Landing Leg 106 Camera 110 Flight Position Sensor 111 Attitude Sensor 112 Orientation Sensor 113 Altitude Sensor 114 Distance Sensor 115 Antenna 120 Information Processing Device 121 Communication Circuit 122 Control Signal Generation Circuit 123 Speed ​​Controller 124 Interface 125 Antenna Control Device 125a Rotating Table 130 Acquisition Unit 140 Memory Unit 160 Adaptive Array Antenna 161 Antenna Array 161a Antenna Element 162 Control Circuit

Claims

Claim 1 A drone, comprising: an antenna for communicating with a controller that controls the drone; an acquisition unit that acquires the position of the drone, the acquisition unit acquiring the flight start position of the drone and / or the position of the controller; a storage unit that stores the flight start position; a direction determination unit that determines, based on the current position of the drone acquired by the acquisition unit and the flight start position or the position of the controller, the direction from the current position to the flight start position or the position of the controller by calculation; an antenna control device that controls the orientation of the antenna, the antenna control device changing the orientation of the antenna in the determined direction; and a drone. Claim 2 The antenna control device is a turntable on which the antenna is provided. The drone according to Claim 1. Claim 3 An adaptive antenna having an array antenna formed by arranging a plurality of antenna elements and a control circuit for controlling the array antenna, wherein the array antenna is the antenna, and the control circuit is the antenna control device. The drone according to Claim 1. Claim 4 The antenna is a directional dual-polarized patch antenna. The drone according to Claim 1 or 2. Claim 5 The acquisition unit acquires, as the flight start position, the position of the controller at the start of flight received from the controller. The drone according to Claim 1 or 2. Claim 6 The acquisition unit acquires the flight start position, and after the drone starts flying, further acquires the position of the controller from the controller, the storage unit further stores the position of the controller, and the direction determination unit determines, based on the position of the controller and the current position of the drone, the direction from the current position to the position of the controller by calculation. The drone according to Claim 1 or 2.