Flight vehicle

Abstract

A flight vehicle 1 performs work at a work site while flying, and includes: a body part; a work device 8 supported by the body part via a support member; and a control unit 13 that controls flight and controls the work device 8. The control unit 13 controls at least one of flight and work in accordance with the position of the work device 8.

Description

flying object

[0001] The present invention relates to an aircraft that supports a work device that performs work on a work site.

[0002] As disclosed in Patent Document 1, a work drone (drone) is equipped with a work device and performs work on a field (work site) while flying. The work drone performs work on a predetermined area of ​​the field by moving along a movement path (flight path).

[0003] Patent Application No. 2023-041675

[0004] However, when the work device is supported on the main body of the drone via a support member, the work device is positioned so as to overlap the main body of the drone in a planar view, but if the work device sways during flight, the work device may become misaligned in a planar direction (front-back or left-right) relative to the main body.

[0005] For example, inertia acts on the work device during drone flight, causing it to move with a delay relative to the drone's main body, resulting in the work device being displaced in the opposite direction to the drone's direction of travel.Also, the work device may be affected by wind during flight and sway relative to the drone's main body, causing the work device to be displaced in a planar direction (front-back or left-right) relative to the drone's main body.

[0006] In this way, if the work device is misaligned with the drone's main body, even if the drone flies in an appropriate position, the work device may not be in an appropriate position to perform the work. In such a case, the work device will not be able to perform the appropriate work.

[0007] An object of the present invention is to perform work on a work site with high precision even if the work device is misaligned with respect to the main body.

[0008] In order to achieve the above-mentioned objective, an aircraft according to one embodiment of the present invention is an aircraft that performs work on a work site while flying, and comprises a main body, a work device supported on the main body via a support member, and a control unit that controls the flight and also controls the work device, and the control unit controls at least one of the flight and the work depending on the position of the work device.

[0009] The flying vehicle is controlled to fly over a work ground, and the work device supported by the flying vehicle performs work on the work ground.

[0010] The work device, which is supported by the aircraft via a support member, may sway relative to the aircraft (main body) due to inertia and wind as the aircraft flies. When the work device sways, the positional relationship between the work device and the main body shifts horizontally, and even if the flight of the aircraft is controlled relative to the work site, the work device will shift in position relative to the location where work should be performed.

[0011] According to the above configuration, the flying body flies and the work device performs work according to the position of the work device, so even if the work device is misaligned relative to the main body, the work device can perform work on the work site with high precision.

[0012] The work device may also include a position detection device that acquires position information of the work device.

[0013] With this configuration, the position of the work device can be obtained with high accuracy, the aircraft can transport the work device to the location where the work device is to perform work with high accuracy, and the work device can perform work on the work site with high accuracy.

[0014] The position information may also be a relative position with respect to the main body portion.

[0015] If the aircraft can fly accurately toward the location where work is to be performed, the position of the work device can be detected sufficiently if the positional relationship between the main body and the work device is known. With the above configuration, the position detection device acquires the relative position of the work device with respect to the main body, and the control unit can control the aircraft so that the work device moves to an appropriate position according to the positional relationship between the main body and the work device. As a result, the work device can perform work on the work site with high precision.

[0016] In addition, the work site may be divided into a work permitted area where the work is performed and a work prohibited area where the work is prohibited, and the control unit may prohibit the work device from performing the work when the work device is present in the work prohibited area.

[0017] The work device performs work in the permitted work area of ​​the work site and is prohibited from performing work in the prohibited work area. If the main body and the work device are misaligned, even if it can be determined whether the main body is located in the permitted work area or the prohibited work area, it is not clear where the work device is located.

[0018] With the above configuration, the control unit can directly determine whether the work implement is located in a work permitted area or a work prohibited area. As a result, the control unit can accurately determine that the work implement is located in a work permitted area, and the work implement can accurately perform work on a specified work site (work permitted area).

[0019] In addition, the work area may be divided into a work permitted area where the work is performed and a work prohibited area where the work is prohibited, and the control unit may control the flight so that the work device returns to the work permitted area when the work device is in the work prohibited area.

[0020] This configuration makes it easy to keep the work implement within the permitted work area during work, and the work implement can perform work on the specified work site (permitted work area) with high precision.

[0021] In addition, the work area may be divided into a work permitted area where the work is performed and a work prohibited area where the work is prohibited, and the control unit may control the flight so that the work device remains within the work permitted area.

[0022] With this configuration, the work device can perform work on a predetermined work area (permitted work area) with high precision.

[0023] Furthermore, the control unit may cause the work device to perform the work when the work device is present in the work permitted area, even if the main body is present in the work prohibited area.

[0024] Even if the main body is located in a work prohibited area, as long as the work device is located in a work permitted area, work can be performed in an appropriate position. With the above configuration, regardless of the position of the main body, the work device can perform work at a specified work location (work permitted area) with high accuracy.

[0025] The control unit may also control the flight so that the working device follows a predetermined movement path.

[0026] With this configuration, the aircraft can easily and appropriately move the work implement to the work site, allowing the work implement to perform work on the work site with high precision.

[0027] The control unit may also control the flight so that the deviation of the working device from the movement path is reduced.

[0028] With this configuration, the work implement moves along the movement path for performing work, and the work implement can perform work on the work site with high precision.

[0029] The apparatus may further include a flight path generation unit that generates a flight path for the main body based on the movement path, and the flight path generation unit may correct the flight path depending on the position of the work device.

[0030] This configuration allows the flying object to fly more easily so that the work implement follows the travel path, allowing the work implement to perform work on the work site more easily and with greater precision.

[0031] 1 is a diagram illustrating a configuration in which a drone supports a work device; FIG. 2 is a diagram illustrating a work site and a work trajectory; FIG. 3 is a diagram illustrating a control system for a drone supporting a work device; FIG. 4 is a diagram illustrating an example of a deviation of a work device from the main body of the drone; FIG. 5 is a diagram illustrating a flight state of a drone supporting a work device; FIG. 6 is a diagram illustrating an example of a relationship between a flight path and a movement path and a permitted work area; FIG. 7 is a diagram illustrating a configuration for controlling the flight path; FIG. 8 is a diagram illustrating a flow in which work is performed when a work device is present in a permitted work area; FIG. 9 is a diagram illustrating a three-dimensional movement trajectory of the main body and the work device; FIG. 10 is a diagram illustrating an example of a relationship between a flight path and a movement path and a prohibited fly area.

[0032] 1 , an air vehicle that flies while supporting a working device 8 will be described, taking as an example a drone 1 that suspends the working device 8. The working device 8 performs a predetermined task on a work site such as a farm field. For example, the working device 8 is a pesticide sprayer that sprays pesticides on a farm field, but it may also be an agricultural machine that performs other agricultural tasks, or another machine that performs work on a work site.

[0033] A drone 1, which is an example of an air vehicle, includes a main body 2. The drone 1 includes multiple rotors 3, which are an example of lift generating units used for flight, and a support member. The rotors 3 are supported by the main body 2. The drone 1 includes the rotors 3 as a main rotor (main lift generating unit) and a sub-rotor (sub-lift generating unit). The main rotor generates lift to propel (float, ascend, and descend) the aircraft and fly it, and the sub-rotor is used to control the attitude of the drone 1. The support member is, for example, four wires 5, but may also be one or more wires 5. The support member may also be a rod-shaped member with high rigidity.

[0034] The drone 1 can fly with the working device 8 mounted thereon by supporting the working device 8 via the wire 5. The working device 8 can perform a predetermined task while flying and supported by the drone 1. The wire 5 also supports the working device 8 in a detachable manner.

[0035] [Work on Work Site] Next, the work site and the work performed by the work device 8 on the work site will be described using FIG. 2 while referring to FIG.

[0036] The drone 1 flies to the work site from a barn where the drone 1 is stored or a truck on which the drone 1 is transported. When the drone 1 arrives at the work site, a work area WA of the work site is identified, and the work site is divided into an allowed work area AWP and a prohibited work area AWH, which will be described later. Furthermore, a permitted flight area APF and a prohibited fly area ANF may be set arbitrarily or in advance around the work site. When the work is completed, the drone 1 flies back to the barn or truck.

[0037] The work performed by the work device 8 is performed in a predetermined work area WA on the work site. Therefore, the drone 1 flies so that the work device 8 moves within the work area WA. For example, the work device 8 moves back and forth within the work area WA. Since the work device 8 performs work in the work area WA, first, a movement path LW (see FIG. 3 ) along which the work device 8 should move during flight is determined. Then, a flight path LB (see FIG. 3 ) of the drone 1 (main body 2) is set so that the work device 8 moves along the movement path LW. The drone 1 flies along the flight path LB, and the trajectory traveled by the work device 8 along this path is the work machine trajectory WT, and the trajectory traveled by the drone 1 is the flight trajectory FT. Then, while moving in accordance with the flight of the drone 1, the work device 8 performs predetermined work in the work area WA.

[0038] [Control System] Next, a control system that controls the flight of the drone 1 and the operation of the work device 8 will be described using FIG. 3 while also referring to FIG. 1 .

[0039] The control system includes a communication unit 11, a control unit 13, a position detection device 15, a positioning device 16, a memory unit 18, and a server 20. The communication unit 11, the control unit 13, the position detection device 15, the positioning device 16, and the memory unit 18 are mounted on the drone 1. The server 20 can communicate data with the drone 1, and is placed in any location such as the work base, the storage location for the drone 1, or the periphery of the work site. The server 20 includes a communication unit 22, a flight path generation unit 24, a movement path generation unit 25, a notification unit 27, and a memory unit 28.

[0040] The communication unit 11 of the drone 1 performs various data communications with the server 20, etc. The communication unit 22 of the server 20 performs various data communications with the drone 1, etc. The memory unit 18 and the memory unit 28 store various information and data. The notification unit 27 performs predetermined notifications.

[0041] The flight path generation unit 24 generates a flight path LB, which is a target path (aircraft target path) for the drone 1 (main body 2), and stores it in the memory unit 28. The flight path LB is a target path along which the drone 1 (main body 2) should fly so that the work device 8 can perform work in a predetermined area of ​​the work area WA in a predetermined order. The communication unit 22 transmits the flight path LB that has been generated and stored in the memory unit 28 to the drone 1, and the communication unit 11 of the drone 1 stores the received flight path LB in the memory unit 18 of the drone 1.

[0042] The movement path generation unit 25 generates a movement path LW, which is a target path (target path for work) for the work device 8, and stores it in the memory unit 28. The movement path LW is a target path along which the work device 8 should move in order for the work device 8 to perform work in a predetermined area of ​​the work area WA in a predetermined order. The communication unit 22 transmits the movement path LW that has been generated and stored in the memory unit 28 to the drone 1, and the communication unit 11 of the drone 1 stores the received movement path LW in the memory unit 18 of the drone 1.

[0043] The positioning device 16 determines the absolute position 31 of the drone 1 (main body 2). The absolute position 31 is information that uniquely defines at least a position relative to a work site. The positioning device 16 may be a satellite positioning unit provided in the main body 2 that receives radio waves from satellites of a global navigation satellite system (GNSS, such as GPS, GLONASS, Galileo, Michibiki, or BeiDou), and determines the absolute position 31. Alternatively, the absolute position 31 may be determined using any configuration.

[0044] The position detection device 15 acquires position information 32 of the working device 8. Specifically, the position detection device 15 acquires a relative position 33 with respect to the main body 2 as the position information 32. For example, the position detection device 15 is a camera that captures an image of the main body 2 and the working device 8 and acquires the relative position 33 of the working device 8 with respect to the main body 2 from the positional relationship between the main body 2 and the working device 8. The camera may be provided on the main body 2 or the working device 8. Note that the position detection device 15 may be a light detection and ranging (LiDAR) instead of a camera, and the LiDAR measures the positional relationship between the main body 2 and the working device 8 and acquires the relative position 33 of the working device 8 with respect to the main body 2. Furthermore, the position detection device 15 may be a satellite positioning unit and acquire information on the absolute position of the working device 8 as the position information 32.

[0045] The control unit 13 controls the flight of the drone 1 and the work performed by the work device 8. Specifically, the control unit 13 controls the drone 1 so that the drone 1 (main body 2) flies along the flight path LB based on the absolute position 31 of the main body 2, while controlling the work device 8 to perform work at a predetermined position.

[0046] [Working Device Position Misalignment] Here, the drone 1 (main body 2) flies back and forth within the working area WA, including turning flight. The working device 8 basically performs work while moving along the same trajectory (working device trajectory WT) as the main body 2. Note that the flight of the drone 1 is not limited to a back and forth flight, and the drone 1 can perform work while flying in any manner. As the drone 1 flies along the flight path LB, the trajectory of the drone 1 traces the flight trajectory FT, and the trajectory of the working device 8 traces the working device trajectory WT.

[0047] However, when the working device 8 is affected by inertia, wind, or the like, as shown in Figures 2, 4, and 6, the working device 8 may sway and be displaced relative to the main body 2 by a positional deviation amount ΔX, and the working device trajectory WT of the working device 8 may deviate from the flight trajectory FT of the drone 1 (the movement path LW of the working device 8). In other words, the working device trajectory WT of the working device 8 may deviate from the flight path LB by the positional deviation amount ΔX. For example, when the drone 1 turns, inertia may cause the working device 8 to make a large turn relative to the main body 2, and the working device 8 may deviate from the flight path LB (movement path LW). Furthermore, even when the drone 1 is flying straight, the working device 8 may sway left and right relative to the traveling direction of the main body 2 due to the influence of wind, and the working device 8 may deviate from the flight path LB (movement path LW) by the positional deviation amount ΔX.

[0048] Here, the work area is divided into a work-permitted area AWP where work is performed and a work-prohibited area AWH where work is prohibited. Since the flight path LB is a path along which the work device 8 performs work in a predetermined order in a predetermined area of ​​the work area WA, if the work device 8 deviates from the flight path LB (movement path LW), the work device 8 will not be able to perform work appropriately in the work area WA. There may also be cases where the work device 8 extends beyond the work-prohibited area AWH and performs work in an inappropriate position.

[0049] Therefore, the drone 1 (control unit 13) controls at least one of the flight of the drone 1 and the work performed by the work device 8 according to the position of the work device 8. Specifically, the control unit 13 performs control according to the absolute position 31 while correcting the control according to the relative position 33. That is, the control unit 13 controls the main body 2 to fly along the flight path LB based on the absolute position 31 of the main body 2, and further controls the flight of the work device 8 to move along the movement path LW based on the relative position 33 of the work device 8. For example, if the work device 8 deviates from the movement path LW, the drone 1 flies to pull the work device 8 back onto the movement path LW. At this time, the control unit 13 acquires the deviation between the work device 8 and the movement path LW, which indicates the direction (orientation deviation) and the distance (distance deviation) by which the work device 8 is separated (deviation) from the movement path LW. Then, if the work device 8 deviates from the movement path LW, the control unit 13 controls the flight of the drone 1 so that the work device 8 approaches the movement path LW based on at least the orientation deviation. By controlling flight based on the azimuth deviation, for example, it is possible to pull the work device 8 back into the work-permitted area AWP and prevent the work device 8 from protruding into the work-prohibited area AWH. Furthermore, the control unit 13 may control the distance by which the main body 2 is returned in the direction opposite to the azimuth deviation based on the distance deviation. By controlling flight to reduce the deviation between the work device 8 and the movement path LW, the drone 1 flies so that the flight trajectory of the main body 2 follows the corrected flight trajectory FTN. At this time, the flight path generation unit 24 may generate a new flight path LBN so that the flight trajectory of the main body 2 follows the corrected flight trajectory FTN.

[0050] By controlling the flight of the drone 1 according to the position of the work device 8, if a positional deviation of the work device 8 (a bulge in the work device trajectory WT) occurs, the drone 1 can be quickly controlled to minimize the bulge in the work device trajectory WT. As a result, the work device trajectory WT of the work device 8 can be aligned (almost aligned) with the flight path LB (movement path LW), allowing the work device 8 to move to an appropriate position in the work area WA. Furthermore, by controlling the work performed by the work device 8 according to the position of the work device 8, it is possible to ensure that the work device 8 performs work only when the work device 8 is flying on the flight path LB (movement path LW). As a result, even if the work device 8 is displaced relative to the main body 2, it is possible to prevent the work device 8 from performing work in an inappropriate position, and the work device 8 can perform work in the work area WA with high precision.

[0051] Specific configurations of such control will be described below as embodiments 1 to 3. Each of embodiments 1 to 3 may be implemented independently, or at least two of embodiments 1 to 3 may be implemented in combination.

[0052] First Embodiment First, a drone 1 (control system) according to a first embodiment will be described using FIGS. 3 to 8 while referring to FIGS. 1 and 2 .

[0053] As described above, the drone 1 flies within the work permission area AWP and performs work within the work permission area AWP using the work device 8. To this end, as described above, first, the movement path LW of the work device 8 is determined, and then the flight path LB of the drone 1 (main body 2) is set in accordance with the movement path LW. Then, the drone 1 flies along the flight path LB to perform work in the work area WA using the work device 8.

[0054] However, even when the drone 1 flies along the flight path LB, the work implement 8 may deviate from the movement path LW. For example, even if the drone 1 attempts to fly while maintaining the main body 2 within the work permitted area AWP, the main body 2 may extend beyond the work prohibited area AWH ( FIG. 5 ). Alternatively, the work implement 8 may sway, causing the work implement trajectory WT of the work implement 8 to deviate from the movement path LW, causing the work implement 8 to extend beyond the work prohibited area AWH ( FIG. 6 ). In such a situation, even if the main body 2 is located within the work permitted area AWP, if the work implement 8 is located within the work prohibited area AWH, there is a risk that the work implement 8 will perform work within the work prohibited area AWH. Conversely, even if the main body 2 is located within the work prohibited area AWH, as long as the work implement 8 is within the work permitted area AWP, the work implement 8 will be prevented from performing work within the work prohibited area AWH.

[0055] Therefore, the drone 1 (control unit 13) according to the first embodiment controls at least one of the flight of the drone 1 and the work performed by the work device 8 according to the position of the work device 8. For example, the control unit 13 causes the work device 8 to perform work when the work device 8 is present in the work permitted area AWP. Specifically, the control unit 13 causes the work device 8 to perform work when the work device 8 is present in the work permitted area AWP, regardless of whether the main body 2 is present in the work permitted area AWP or the work prohibited area AWH.

[0056] That is, the control unit 13 first controls the drone 1 (main body 2) so that it flies along the flight path LB (step #1 in FIG. 8 ). At this time, the control unit 13 determines whether the work device 8 is located in the work-permitted area AWP or the work-prohibited area AWH based on the work site information, including information on the work-permitted area AWP and the work-prohibited area AWH, the absolute position 31, and the relative position 33 (step #2 in FIG. 8 ). The control unit 13 also acquires the deviation between the work device 8 and the movement path LW.

[0057] If the work device 8 is present in the work permission area AWP (No in step #2 in FIG. 8), the control unit 13 permits the work device 8 to perform work (step #3 in FIG. 8).

[0058] If the work device 8 deviates from the movement path LW and is in the work prohibited area AWH (step #2 Yes in Figure 8), the control unit 13 notifies the user that the work device 8 is in the work prohibited area AWH or that the flight path of the drone 1 needs to be corrected (step #4 in Figure 8), and causes the work device 8 to stop working (step #5 in Figure 8).

[0059] Furthermore, the control unit 13 may correct the flight control of the drone 1 so that the working device 8 returns (remains) within the work allowed area AWP (step #5 in FIG. 8 ). For example, the control unit 13 controls the drone 1 to fly off the flight path LB in order to correct the position of the main body 2 so that the working device 8 returns to the work allowed area AWP. That is, if the working device 8 is misaligned with the main body 2 (if the relative position 33 is large), the control unit 13 determines the direction in which to move (pull back) the working device 8 based on the azimuth deviation, and determines the direction in which the drone 1 (main body 2) changes its direction of travel (turns, expands) based on the direction in which the drone 1 is flying. The control unit 13 then flies the drone 1 away from the flight path LB in the determined direction and controls the working device 8 to align (pull back) with the movement path LW. As a result, the drone 1 flies while expanding in the opposite direction to the direction in which the working device 8 expands (deviations from the movement path LW), and aligns (pushes back) the working device 8 with the movement path LW. At this time, the flight path generation unit 24 may correct (amend) the flight path LB itself by a distance equivalent to the positional deviation ΔX in the direction opposite to the direction of deviation of the work device 8 (the direction from the work prohibited area AWH toward the work permitted area AWP) to correct the position of the main body unit 2 so that the work device 8 returns to the work permitted area AWP, thereby generating a new flight path LBN as shown in FIG. 7 . When the drone 1 flies along the new flight path LBN, the drone 1 flies so that the flight trajectory of the main body unit 2 becomes the corrected flight trajectory FTN. Thereafter, the control unit 13 repeats control from step #2 onwards until the work is completed.

[0060] In this way, by controlling the work performed by the work device 8 according to the position of the work device 8, the control unit 13 can permit the work performed by the work device 8 to be performed as planned when the work device 8 is in the work permitted area AWP, regardless of the position of the main body unit 2, and can cause the work device 8 to stop the work when the work device 8 is in the work prohibited area AWH. As a result, even if the work device 8 is misaligned with the main body unit 2, the work device 8 can be prevented from performing the work in an inappropriate position, and the work device 8 can perform the work in the work area WA with high precision.

[0061] Furthermore, by controlling the flight of the drone 1 according to the position of the work device 8, the control unit 13 can return the work device 8 that is in the work prohibited area AWH to the work permitted area AWP. As a result, even if the work device 8 is misaligned with the main body 2, the work device 8 can be returned to an appropriate position, and the work device 8 can perform work in the work area WA with high accuracy.

[0062] Second Embodiment Next, a drone 1 (control system) according to a second embodiment will be described using FIGS. 3, 9, and 10 while also referring to FIGS. 1 and 2.

[0063] As described above, first, the movement path LW of the work device 8 is determined, and then the flight path LB of the drone 1 (main body 2) is set according to the movement path LW. Then, the drone 1 flies along the flight path LB and performs work using the work device 8 within the work area WA so that work by the work device 8 is performed appropriately and efficiently in the work area WA.

[0064] However, even when attempting to fly the drone 1 along the flight path LB, the working device 8 may sway and deviate from the flight path LB (movement path LW). Thus, even if the main body 2 is flying along the flight path LB, if the working device 8 moves away from the movement path LW, there is a risk that the working device 8 will perform work in an inappropriate position. Conversely, even if the main body 2 is flying away from the flight path LB, as long as the working device 8 is moving along the movement path LW, the working device 8 will be prevented from performing work in an inappropriate position.

[0065] Therefore, the drone 1 (control unit 13) according to the second embodiment controls the flight of the work device 8 so that it follows the movement path LW.

[0066] 9 , the control unit 13 controls the drone 1 (main body 2) to fly along a flight path LB from a point Home on the ground to a point C. If the working device 8 does not shift position relative to the main body 2 during flight, the working device 8 moves along a movement path LW.

[0067] At this time, the control unit 13 first causes the drone 1 to rise to point A at the Home point.

[0068] Next, when the control unit 13 causes the drone 1 to fly along the flight path LB to point B, the work device 8 moves along the movement path LW. At this time, the three-dimensional coordinates of point B are (X Ｂ , Y Ｂ , Z Ｂ ), and the length of the support member (from the main body 2 to the work device 8) is L, the position B' of the work device 8 when the drone 1 is located at point B is (X Ｂ , Y Ｂ , Z Ｂ -L).

[0069] Then, the control unit 13 causes the drone 1 to fly from point B to point C along the flight path LB. At this time, the three-dimensional coordinates of point C are (X Ｃ , Y Ｃ , Z Ｃ ), and the position C' of the work implement 8 when the drone 1 is located at point C is (X Ｃ , Y Ｃ , Z Ｃ -L).

[0070] Here, if the working device 8 becomes misaligned with respect to the main body 2 when the drone 1 moves from point B to point C, the working device 8 will not move along the movement path LW. Therefore, the drone 1 (control unit 13) according to the second embodiment controls the flight of the working device 8 so that it moves along the movement path LW based on the position information 32 of the working device 8 and the movement path LW. That is, the control unit 13 determines whether the working device 8 is off the movement path LW (is misaligned with respect to the main body 2), and if the working device 8 is off the movement path LW, the control unit 13 allows the working device 8 to fly at least temporarily off the flight path LB and controls the flight of the drone 1 so that the working device 8 moves along the movement path LW. Furthermore, the flight path generation unit 24 may correct (correct) the flight path LB itself to generate a new flight path LBN in order to correct the position of the main body 2 so that the working device 8 moves along the movement path LW, and the drone 1 may fly along the new flight path LBN. When the drone 1 flies so that the work device 8 moves along the movement path LW, the flight trajectory FT of the drone 1 becomes the corrected flight trajectory FTN, and the corrected (new) flight path LBN becomes a path along the corrected flight trajectory FTN.

[0071] In this way, the control unit 13 controls the flight of the working device 8 so that it follows the movement path LW. This prevents the working device 8 from being positioned outside the movement path LW, and allows the working device 8 to be positioned in an appropriate position in the working area WA. As a result, even if the working device 8 is misaligned with the main body 2, it is possible to prevent the working device 8 from performing work in an inappropriate position, and the working device 8 can perform work in the working area WA with high precision.

[0072] In addition, at least one of the movement route LW and the flight route LB may include not only a planar route but also a route in the height direction relative to the work site.

[0073] There may be obstacles OB in the work area. Since work will not be carried out in areas where obstacles OB exist, the flight path LB is generated in a planar manner to avoid the obstacles OB.

[0074] If the height of the obstacle OB is known in advance, and the flight path LB includes a path in the height direction, the flight path generation unit 24 can generate a flight path LB that avoids the obstacle OB in the height direction. Also, if the movement path LW includes a path in the height direction, the movement path generation unit 25 can generate a movement path LW that avoids the obstacle OB in the height direction.

[0075] Therefore, since at least one of the movement path LW and the flight path LB includes a path in the vertical direction, even if an obstacle OB is present, the drone can easily fly while avoiding the obstacle OB.

[0076] Furthermore, the control unit 13 may control the flight of the drone 1 so that the work device 8 always moves along the movement path LW without using the flight path LB. This allows the work device 8 to move efficiently along the movement path LW.

[0077] Furthermore, when the control unit 13 determines that the working device 8 has deviated from the movement path LW, it may cause the notification unit 27 to notify that fact. This allows the worker (supervisor) to recognize that the working device 8 has deviated from the movement path LW, and to take appropriate measures in preparation for a situation in which the working device 8 cannot be properly performed.

[0078] Third Embodiment Next, a drone 1 (control system) according to a third embodiment will be described using FIGS. 3 and 10 while also referring to FIGS. 1 and 2 .

[0079] As mentioned above, the airspace above the surrounding area of ​​the work site is divided into an authorized flight area (APF) (geofence) and a no-fly area (ANF), and the drone 1 is prohibited from entering the no-fly area (ANF). The no-fly area (ANF) is an area where flying the drone 1 is prohibited for safety reasons due to the presence of residential buildings, etc.

[0080] However, if the working device 8 is misaligned with respect to the main body 2, as shown in Figure 10, the working device 8 may enter (exceed) the no-fly zone ANF even if the main body 2 remains within the permitted flight zone APF.

[0081] Therefore, the drone 1 (control unit 13) according to the third embodiment controls the flight so that the work device 8 stays within the permitted flight area APF.

[0082] Specifically, while drone 1 is flying along flight path LB, control unit 13 determines whether main body 2 is approaching the no-fly zone ANF based on work site information, including information on the permitted flight zone APF and the prohibited flight zone ANF, and drone 1 (main body 2) absolute position 31. If drone 1 deviates from flight path LB and main body 2 is approaching the prohibited flight zone ANF, control unit 13 controls flight so that main body 2 remains within the permitted flight zone APF.

[0083] At the same time, the control unit 13 determines whether the work device 8 is approaching the no-fly zone ANF based on information about the work site, including information about the permitted flight zone APF and the prohibited flight zone ANF, and the position information 32 of the work device 8. If the work device 8 is approaching the prohibited flight zone ANF, the control unit 13 controls the flight of the work device 8 so that it remains within the permitted flight zone APF.

[0084] This makes it possible to prevent the working device 8 from entering the no-fly zone ANF with a simple configuration, even if the working device 8 is misaligned with the main body 2. Furthermore, preventing the working device 8 from entering the no-fly zone ANF increases the likelihood that the working device 8 will remain in the working area WA, allowing the working device 8 to perform work in the working area WA with high precision.

[0085] When the control unit 13 determines that the work device 8 is approaching a no-fly zone ANF, the control unit 13 may cause the notification unit 27 to notify the worker (supervisor) that the work device 8 is approaching a no-fly zone ANF, allowing the worker (supervisor) to recognize that the work device 8 may be entering the no-fly zone ANF and to take appropriate measures.

[0086] (1) In each of the above embodiments, when controlling the drone 1 to fly along the flight path LB, the control unit 13 may not only control the flight of the drone 1 in accordance with the relative position 33 of the working device 8, but may also control the work performed by the working device 8 in accordance with the relative position 33 of the working device 8, or may control only the work performed by the working device 8. In this case, the movement path LW is not generated, and the control unit 13 may control at least one of the flight of the drone 1 and the work of the working device 8 based on the absolute position 31 of the drone 1, the relative position 33 of the working device 8, and the flight path LB.

[0087] (2) In each of the above embodiments and other embodiments, the drone 1 may not be equipped with a position detection device 15, but may be configured to have a measuring means for measuring the position of the work device 8, or may be configured to measure the position of the work device 8 from outside the drone 1, such as at a ground base.

[0088] Furthermore, the position detection device 15 is not limited to a configuration in which it acquires the positional relationship with respect to the main body unit 2 as position information 32, and may acquire absolute position information 32 of the working device 8. In this case, the position detection device 15 calculates the relative position 33 based on the absolute position 31 of the main body unit 2 and the absolute position information 32 of the working device 8. Furthermore, when the absolute position information 32 of the working device 8 is acquired, the control unit 13 may control at least one of flight and work in accordance with the absolute position information 32 of the working device 8.

[0089] (3) In the above embodiments and other embodiments, the control system is not limited to being composed of the above-described functional blocks, but may be composed of any functional blocks. For example, each functional block of the control system may be further subdivided, or conversely, some or all of the functional blocks may be combined. Furthermore, the functions of the control system are not limited to the above-described functional blocks, but may be realized by a method executed by any functional block. Furthermore, some or all of the functions of the control system may be composed of software. A program related to the software is stored in any storage device, such as the storage unit 18 or 28, and executed by a processor, such as a CPU, included in the control system or a separately provided processor.

[0090] Furthermore, the flight path generation unit 24 and the movement path generation unit 25 may be provided in the server 20, but may also be provided in the drone 1. This allows the drone 1 to independently generate the flight path LB and the movement path LW and perform flight and work.

[0091] (4) The work permitted area AWP may be an area that coincides with the work area WA, but the work permitted area AWP may also be set to an area that includes the work area WA.

[0092] (5) The notification unit 27 is not limited to being provided in the server 20, but may be provided in the drone 1, or in any location where the worker (monitor) can receive the notification. The notification by the notification unit 27 may be in any form, such as sound, light, or vibration, or may be provided by communication to a mobile information terminal carried by the worker (monitor). The notification unit 27 may not be provided, and in this case, the control unit 13 may be configured not to provide a predetermined notification.

[0093] (6) The working device 8 is not limited to being suspended downward from the main body 2 via a support member, and may be supported in any direction of the main body 2 .

[0094] The present invention can be applied to an aircraft that flies while supporting a working device.

[0095] REFERENCE SIGNS LIST 1 Drone (aircraft vehicle) 2 Main body 5 Wire (support member) 8 Work device 11 Communication unit 13 Control unit 15 Position detection device 16 Positioning device 24 Flight path generation unit 25 Movement path generation unit 27 Notification unit 31 Absolute position 32 Position information 33 Relative position ANF No-fly zone APF Flight permitted zone AWH No-work zone AWP Work permitted zone LB Flight path LW Movement path

Claims

1. An aircraft that performs work on a work site while flying, comprising a main body, a work device supported by the main body via a support member, and a control unit that controls the flight and controls the work device, wherein the control unit controls at least one of the flight and the work according to the position of the work device.

2. The aircraft according to claim 1, further comprising a position detection device that acquires position information of the work device.

3. The aircraft according to claim 2, wherein the position information is a relative position with respect to the main body.

4. The work site is divided into a work permitted area where the work is performed and a work prohibited area where the work is prohibited, and the control unit prohibits the work device from performing the work when the work device is in the work prohibited area. The aircraft according to any one of claims 1 to 3.

5. The work site is divided into a work permitted area where the work is performed and a work prohibited area where the work is prohibited, and the control unit controls the flight so as to return the work device to the work permitted area when the work device is in the work prohibited area. The aircraft according to any one of claims 1 to 3.

6. The work site is divided into a work permitted area where the work is performed and a work prohibited area where the work is prohibited, and the control unit controls the flight so that the work device stays in the work permitted area. The aircraft according to any one of claims 1 to 3.

7. The control unit causes the work device to perform the work when the work device is in the work permitted area even if the main body is in the work prohibited area. The aircraft according to any one of claims 4 to 6.

8. The control unit controls the flight so that the work device follows a predetermined movement path. The aircraft according to any one of claims 1 to 7.

9. The control unit controls the flight so that the deviation of the work device from the movement path is reduced. The aircraft according to claim 8.

10. Further comprising a flight path generation unit that generates a flight path of the main body based on the movement path, and the flight path generation unit corrects the flight path according to the position of the work device. The aircraft according to claim 8 or 9.

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