Flight control device

Abstract

A flight control device according to one embodiment comprises: an acquisition unit that acquires position information indicating a position of a target facility, range information indicating a range that the target facility can occupy, and a wind direction vector indicating a wind speed and a wind direction measured by an anemometer provided in an unmanned aircraft; a first calculation unit that calculates a flight prohibition region in which flight of the unmanned aircraft is prohibited on the basis of the acquired position information and range information; a correction unit that corrects the flight prohibition region calculated by the first calculation unit on the basis of the wind direction vector; a second calculation unit that calculates a flight route having a shortest flight distance of the unmanned aircraft while avoiding the corrected flight prohibition region; and a control unit that performs control such that the unmanned aircraft flies along the calculated flight route.

Description

Flight control device

[0001] The present invention relates to a flight control device.

[0002] Power facilities such as wind power generation facilities are required to be inspected regularly. In addition, a technique of flying a small unmanned aircraft such as a drone around a wind power generation facility to inspect the wind power generation facility is known.

[0003] For example, a technique of using a 3D city model to map composite risk elements such as ground risk, wind conditions, and radio wave propagation conditions as evaluation values in space and generating a flight route for a highly safe drone is known (see, for example, Non-Patent Document 1).

[0004] "Drone Optimal Route Simulation Technology Verification Report", [online], Urban Policy Section, Urban Bureau, Ministry of Land, Infrastructure, Transport and Tourism, Trajectory Co., Ltd., issued in March 2023, [searched on October 2, 2024], Internet <URL: https: / / www.mlit.go.jp / plateau / file / libraries / doc / plateau_tech_doc_0047_ver01.pdf>

[0005] However, conventionally, it was only possible to assume the risks in the flight of a drone using previously prepared building and wind condition data, etc., and simulate a flight route according to the assumed risks.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a flight control device capable of accurately controlling a flight route so that an unmanned aircraft flying around a target facility can fly safely and efficiently.

[0007] A flight control device according to one embodiment of the present invention controls the flight route of an unmanned aerial vehicle (UAV) flying around a target facility from a flight start point to a flight end point, and is characterized by comprising: an acquisition unit that acquires position information indicating the location of the target facility, range information indicating the area that the target facility may occupy, and a wind direction vector indicating the wind speed and wind direction measured by an anemometer installed on the UAV; a first calculation unit that calculates a no-fly zone where the UAV is prohibited from flying based on the position information and range information acquired by the acquisition unit; a correction unit that corrects the no-fly zone calculated by the first calculation unit based on the wind direction vector acquired by the acquisition unit; a second calculation unit that calculates a flight route that minimizes the flight distance of the UAV while avoiding the no-fly zone corrected by the correction unit; and a control unit that controls the UAV to fly along the flight route calculated by the second calculation unit.

[0008] According to the present invention, the flight path of an unmanned aerial vehicle flying around a target facility can be precisely controlled so that it flies safely and efficiently.

[0009] This figure schematically illustrates the equipment to be inspected and the unmanned aerial vehicle using a flight control device according to one embodiment. This figure shows an example of the configuration of the unmanned aerial vehicle. (a) is a schematic view from above showing the area that can be occupied by the blades of a wind power generation facility. (b) is a schematic view from the front showing the area that can be occupied by the blades of a wind power generation facility. This figure illustrates the no-fly zone calculated by the first calculation unit. This figure schematically illustrates the correction distance calculated by the correction unit. (a) is a schematic view from above showing the no-fly zone before correction and the wind direction. (b) is a schematic view illustrating the state in which the diameter of the no-fly zone perpendicular to the wind direction has been calculated. (c) is a schematic view illustrating the state in which the calculated diameter has been moved z [m] upstream of the wind direction and the area including the circle with the moved diameter has been set as the correction area. (d) is a schematic view illustrating the corrected no-fly zone with the correction area added. This figure shows each of the no-fly zones A superimposed on a map showing a predetermined area in which multiple wind power generation facilities are arranged. This figure shows the map shown in Figure 7 with multiple sub-regions B divided by the division unit superimposed on it. This figure illustrates the weights set by the setting unit for each sub-region B. This figure illustrates the flight route C calculated by the second calculation unit. This figure schematically shows the process by which the second calculation unit calculates the flight route C so that the unmanned aerial vehicle flies in a direction close to the wind direction relative to the sub-region B. This figure illustrates the result of the second calculation unit calculating the flight route C so that the unmanned aerial vehicle flies in a direction close to the wind direction. This figure shows the difference between when the second calculation unit calculates the flight route C using a wind direction vector and when it calculates the flight route C without using a wind direction vector. (a) is a figure showing the result of the second calculation unit calculating the flight route C using a wind direction vector. (b) is a figure illustrating a part of the flight route C calculated by dividing a part of the multiple sub-regions B shown in (a) into multiple divided sub-regions D. This is a flowchart showing an example of the operation of the flight control device.

[0010] The following describes a flight control device according to one embodiment, using drawings. Figure 1 is a schematic diagram illustrating the equipment to be inspected and the unmanned aerial vehicle 1 according to one embodiment. The unmanned aerial vehicle 1 according to one embodiment flies around the equipment to be inspected, for example, an operating wind power generation facility 10, and detects whether or not there is an abnormality in the wind power generation facility 10.

[0011] The wind power generation equipment 10 is equipped with multiple blades 100 and generates electricity using wind power. Here, the height of the wind power generation equipment 10 is X [m] and the length of the blades 100 is Y [m].

[0012] The unmanned aerial vehicle 1 is equipped with, for example, an anemometer 2, and flies around the wind power generation facility 10 to measure, for example, noise (radio noise) from the wind power generation facility 10 and to inspect the wind power generation facility 10.

[0013] Figure 2 shows an example of the configuration of the unmanned aerial vehicle 1. As shown in Figure 2, the unmanned aerial vehicle 1 includes, for example, an anemometer 2, a flight control device 3, and a flight function unit 4, and the flight control device 3 controls the anemometer 2 and the flight function unit 4 so that the unmanned aerial vehicle 1 flies along a predetermined route.

[0014] The anemometer 2 measures wind speed and wind direction while the unmanned aerial vehicle 1 is in flight and outputs the measured results to the flight control device 3. The anemometer 2 may also output a wind direction vector indicating the measured wind speed and wind direction to, for example, the acquisition unit 32.

[0015] The flight function unit 4 includes functions that are generally required for unmanned aerial vehicles such as drones to fly, such as propellers, motors, skids (takeoff and landing equipment), cameras, obstacle detection sensors, GPS antennas, LiDAR, and gyro sensors (not shown).

[0016] The flight control device 3 includes, for example, a control unit 30, a communication unit 31, an acquisition unit 32, a first calculation unit 33, a correction unit 34, a division unit 35, a setting unit 36, a second calculation unit 37, and a measurement unit 38, and controls the flight route of the unmanned aerial vehicle 1 flying around the wind power generation facility 10 from the start point to the end point of the flight.

[0017] Furthermore, the flight control device 3 is not limited to being part of the configuration of the unmanned aerial vehicle 1, but may be configured as an independent device and control the anemometer 2 and the flight function unit 4, etc., via wireless communication.

[0018] The control unit 30 includes, for example, a CPU 300 and a memory 302, and controls each part that constitutes the flight control device 3. For example, the control unit 30 controls the unmanned aerial vehicle 1 to fly along the flight route calculated by the second calculation unit 37, as will be described later. The memory 302 stores information used for control performed by the flight control device 3, such as location information indicating the location of the wind power generation equipment 10, and range information indicating the area that the wind power generation equipment 10 may occupy (no-fly zone: see Figures 3 and 4).

[0019] The communication unit 31 may, for example, communicate wirelessly with other devices. The communication unit 31 may also receive information to be stored in the memory 302 via wireless communication. The communication unit 31 may also receive information from other devices such as electronic map information within a predetermined range, location information and size information (height, length, etc.) of the wind power generation equipment 10, and wind conditions.

[0020] The acquisition unit 32 acquires predetermined information from the anemometer 2 and the communication unit 31, etc. For example, the acquisition unit 32 acquires location information indicating the location of the wind power generation equipment 10, range information indicating the area that the wind power generation equipment 10 may occupy, and a wind direction vector indicating the wind speed and wind direction measured by the anemometer 2 installed on the unmanned aerial vehicle 1.

[0021] Figure 3 is a diagram illustrating an overview of range information showing the area that the wind power generation equipment 10 may occupy. Figure 3(a) is a schematic view from above showing the area that the blades 100 of the wind power generation equipment 10 may occupy. Figure 3(b) is a schematic view from the front showing the area that the blades 100 of the wind power generation equipment 10 may occupy.

[0022] As shown in Figure 3(a), the blade 100 faces different directions depending on the wind direction. The blade 100 can occupy a maximum radius Y [m] in the horizontal direction. Also, as shown in Figure 3(b), the blade 100 can rotate and occupy a maximum radius Y [m] in the vertical direction.

[0023] The first calculation unit 33 (Figure 2) calculates a no-fly zone where the unmanned aircraft 1 is prohibited from flying, based on the position information and range information acquired by the acquisition unit 32. The no-fly zone is expressed using values ​​such as longitude, latitude, and altitude.

[0024] Figure 4 is an example of a no-fly zone calculated by the first calculation unit 33. As shown in Figure 4, the first calculation unit 33 calculates a spherical area with radius Y [m] centered at a height X [m] as a no-fly zone, based on, for example, the height information of the wind power generation equipment 10 and the length information of the blades 100.

[0025] The correction unit 34 corrects the no-fly zone calculated by the first calculation unit 33 based on the wind direction vector acquired by the acquisition unit 32. For example, in order to prevent the unmanned aerial vehicle 1 from being blown away by the wind and getting too close to the wind power generation facility 10, the correction unit 34 first calculates a correction distance based on wind speed and wind direction for the no-fly zone.

[0026] Figure 5 schematically illustrates the correction distance calculated by the correction unit 34. Here, wind speed = v [m / s], flight altitude = h [m], and gravitational acceleration = g [m / s] ２ Let the following be assumed: the fall time = t [sec], the correction distance = z [m], and the case where the unmanned aerial vehicle 1 falls to the ground due to wind.

[0027] The corrected distance z is given by equation (1) below, depending on the velocity and position of the free fall. In this case, the fall time t is given by equation (2) below.

[0028]

[0029]

[0030] Furthermore, the flight altitude h is given by equation (3) below, and equation (4) below holds true.

[0031]

[0032]

[0033] Therefore, the correction distance z can also be expressed as shown in equation (5) below.

[0034]

[0035] Next, the correction unit 34 corrects the no-fly zone using the correction distance z. Figure 6 is a schematic diagram showing the processing procedure by which the correction unit 34 corrects the no-fly zone using the correction distance z. Figure 6(a) is an example diagram showing the no-fly zone (considered as a circle) as viewed from above before correction, and the wind direction (for example, a southwest wind). Figure 6(b) is an example diagram showing the state in which the diameter of the no-fly zone perpendicular to the wind direction has been calculated. Figure 6(c) is an example diagram showing the state in which the calculated diameter has been moved z [m] (correction distance) upstream of the wind direction, and the region including the circle with the moved diameter has been made into the correction region. Figure 6(d) is an example diagram showing the corrected no-fly zone with the correction region added.

[0036] As shown in Figures 6(a) to 6(d), the correction unit 34 calculates the diameter of the no-fly zone perpendicular to the wind direction, moves the calculated diameter upstream of the wind direction, and adds a correction region including the circle with the moved diameter to create the corrected no-fly zone. In Figure 6, the no-fly zone is schematically illustrated in two dimensions (circle), but in reality, the no-fly zone is a three-dimensional, integrated space.

[0037] The division unit 35 divides a predetermined area, including the flight start and end points of the unmanned aircraft 1, as well as the no-fly zone corrected by the correction unit 34, into a plurality of sub-regions. The processing performed by the division unit 35 will be explained with reference to Figures 7 and 8.

[0038] Figure 7 is a diagram showing each of the no-fly zones A superimposed on a map (electronic map) indicating a predetermined area where multiple wind power generation facilities 10 are located. The unmanned aerial vehicle 1 will fly from a designated flight start point S to a flight end point G along a flight route described later that passes around each of the multiple wind power generation facilities 10.

[0039] Figure 8 is a diagram showing the map shown in Figure 7 with multiple sub-regions B divided by the division unit 35 superimposed on it. The division unit 35 divides the map described above into, for example, a grid.

[0040] Furthermore, if the divided small region B satisfies predetermined conditions, the divided portion 35 may further divide the divided small region B into a plurality of divided small regions D (described later using Figure 14).

[0041] The setting unit 36 (FIG. 2) sets weights for each of the small regions B divided by the dividing unit 35 based on predetermined conditions.

[0042] FIG. 9 is a diagram illustrating the weights set by the setting unit 36 for each of the small regions B. For example, the setting unit 36 sets weights of, for example, 1 to 10 for each of the small regions B such that the lower the weight, the less the movement of people and vehicles based on the information described on the map (e.g., roads, residential areas, farmland). At this time, when the ratio of the flight prohibited area A occupied (overlapped) in the small region B is, for example, 80% or more, the setting unit 36 prohibits setting the small region B as a flight route.

[0043] As a specific example, the setting unit 36 assigns a weight of 1 to the small region B that is a forest, field, or paddy field on the map, a weight of 5 to the small region B that is a playground, road, or parking lot, and a weight of 10 to the small region B that is a house or building.

[0044] Further, the setting unit 36 sets weights for each of the divided small regions D further divided by the dividing unit 35 based on predetermined conditions (e.g., the same conditions as the specific example for the small region B) (described later using FIG. 14).

[0045] The second calculation unit 37 calculates a flight route for each of the above-described small regions B based on the weights set by the setting unit 36. For example, the second calculation unit 37 calculates a flight route that minimizes the flight distance of the unmanned aircraft 1 while avoiding the flight prohibited area A corrected by the correction unit 34.

[0046] FIG. 10 is a diagram illustrating the flight route C calculated by the second calculation unit 37. As shown in FIG. 10, when flying from the flight start point S to the flight end point G, the second calculation unit 37 calculates a flight route C that minimizes the weight in the small region B and minimizes the flight distance of the unmanned aircraft 1 while avoiding the flight prohibited area A corrected by the correction unit 34.

[0047] However, the second calculation unit 37 excludes flight routes that cannot be realized by flying using Dijkstra's method, flying using GPS, LiDAR, gyro sensors, etc., depending on the positional relationship between the flight start point S and the flight end point G.

[0048] In this case, the second calculation unit 37 may calculate a flight route C for each of the small regions B described above, such that the unmanned aerial vehicle 1 flies in a direction close to the wind direction indicated by the wind direction vector acquired by the acquisition unit 32, while minimizing the flight distance of the unmanned aerial vehicle 1.

[0049] Figure 11 schematically shows the process by which the second calculation unit 37 calculates a flight route C so that the unmanned aerial vehicle 1 flies in a direction close to the wind direction with respect to the small area B. As shown in Figure 11, when a southwest wind is blowing, the second calculation unit 37 may calculate a portion of the flight route C so that the unmanned aerial vehicle 1 flies in a direction close to the wind direction (wind direction vector) within the small area B to which the assigned weight is small.

[0050] Figure 12 illustrates the result of the second calculation unit 37 calculating a flight route C so that the unmanned aerial vehicle 1 flies in a direction close to the wind direction (wind direction vector). In Figure 12, the flight route C when the wind direction vector is not used is also displayed overlaid within the small region B.

[0051] Figure 13 shows the difference (corresponding to Figure 12) between the case where the second calculation unit 37 calculates the flight route C using wind direction vectors and the case where it calculates the flight route C without using wind direction vectors. In Figure 13, when the second calculation unit 37 does not use wind direction vectors, the flight route C includes routes C1 and C2. On the other hand, when the second calculation unit 37 uses wind direction vectors, the flight route C includes route C3.

[0052] In other words, the unmanned aerial vehicle 1 moves from the flight starting point S to a predetermined position via the route (C1 + C2) or the route C3. For example, suppose the straight-line distance of the route C1 is 500 [m] and the angle between the route C1 and the route C3 is 5°. In this case, the straight-line distance of the route C2 is 44 [m] (calculated value).

[0053] If unmanned aerial vehicle 1 travels along the route (C1 + C2) using Dijkstra's algorithm, the distance traveled will be 500 [m] + 44 [m] = 544 [m]. On the other hand, if unmanned aerial vehicle 1 travels along the route C3, the distance traveled will be 502 [m] (calculated value).

[0054] Therefore, when the second calculation unit 37 calculates the flight route C using the wind direction vector, the unmanned aerial vehicle 1 can move more efficiently over a shorter distance than when the flight route C is calculated without using the wind direction vector.

[0055] Alternatively, the second calculation unit 37 may calculate the flight route by considering each of the divided sub-regions D as a sub-region B.

[0056] Figure 14 shows an example of a flight route C calculated by the second calculation unit 37. Figure 14(a) shows the result of the second calculation unit 37 calculating the flight route C using wind direction vectors. Figure 14(b) is an example of a part of the flight route C calculated by dividing a part of the multiple small regions B shown in Figure 14(a) (within the thick frame) into multiple subdivided small regions D.

[0057] If, for example, two small areas B shown within the thick frame in Figure 14(a) contain roads or private houses, the division unit 35 further divides each small area B into multiple subdivided small areas D as shown in Figure 14(b), and the setting unit 36 ​​assigns a weight to each subdivided small area D.

[0058] Then, the second calculation unit 37 calculates a portion of the flight route C for each of the divided sub-regions D shown in Figure 14(b), similar to the sub-region B described above. In other words, the second calculation unit 37 extracts the route with the smallest weighting for both sub-region B and divided sub-region D, and calculates the flight route C such that the straight line route approaches the same direction as the wind direction vector. The flight control device 3 may also calculate a more detailed flight route C by repeatedly dividing all of the sub-regions B and divided sub-regions D.

[0059] The measurement unit 38 measures noise (radio noise) from, for example, the wind power generation equipment 10 when the unmanned aircraft 1 is flying according to the flight route C calculated by the second calculation unit 37.

[0060] Then, for example, the control unit 30 or an external device (not shown) inspects the wind power generation equipment 10 based on the results measured by the measurement unit 38.

[0061] In other words, the flight control device 3 can control the flight route of the unmanned aerial vehicle 1 based on actual measurements of wind conditions at a specific location and time, thereby enhancing the real-time capability to ensure that the unmanned aerial vehicle 1 flies safely and efficiently without colliding with or coming into contact with the wind power generation equipment 10.

[0062] Next, an example of the operation of the flight control device 3 will be described. Figure 15 is a flowchart showing an example of the operation of the flight control device 3. As shown in Figure 15, in step 100 (S100), the acquisition unit 32 acquires position information indicating the location of the wind power generation equipment 10, range information indicating the area that the wind power generation equipment 10 may occupy, and a wind direction vector indicating the wind speed and wind direction measured by the anemometer 2 installed on the unmanned aerial vehicle 1.

[0063] In step 102 (S102), the first calculation unit 33 calculates a no-fly zone in which the flight of the unmanned aircraft 1 is prohibited, based on the position information and range information acquired by the acquisition unit 32.

[0064] In step 104 (S104), the correction unit 34 corrects the no-fly zone calculated by the first calculation unit 33 based on the wind direction vector acquired by the acquisition unit 32.

[0065] In step 106 (S106), the division unit 35 divides a predetermined area, including the flight start point and flight end point of the unmanned aircraft 1, and the no-fly zone corrected by the correction unit 34, into a plurality of sub-regions.

[0066] In step 108 (S108), the setting unit 36 ​​sets weights for each of the sub-regions divided by the division unit 35 based on predetermined conditions.

[0067] In step 110 (S110), the second calculation unit 37 calculates a flight route for each sub-region based on the weighting set by the setting unit 36.

[0068] In step 112 (S112), the control unit 30 determines whether or not to further divide the small area based on the information on the map. If the control unit 30 determines that the division process should be carried out (S112: Yes), it returns to the process in S106; if it determines that the division process should not be carried out (S112: No), it proceeds to the process in S114.

[0069] In step 114 (S114), the control unit 30 notifies, for example, the maintenance personnel of the wind power generation equipment 10 of the flight route calculated by the second calculation unit 37 via the communication unit 31.

[0070] In step 116 (S116), the measurement unit 38 measures noise (radio noise) and the like from the wind power generation equipment 10 while the unmanned aircraft 1 is flying along the flight route calculated by the second calculation unit 37.

[0071] In step 118 (S118), the control unit 30 stores the data obtained from the measurement unit 38 in a memory 302, for example.

[0072] As described above, the flight control device 3 according to one embodiment calculates a no-fly zone based on the position information and range information acquired by the acquisition unit 32, corrects the no-fly zone based on the wind direction vector, and calculates a flight route that minimizes the flight distance of the unmanned aerial vehicle 1 while avoiding the corrected no-fly zone. Therefore, the flight route can be precisely controlled so that the unmanned aerial vehicle 1 flying around the wind power generation facility 10 flies safely and efficiently.

[0073] Furthermore, each function of the flight control device 3 may be configured in part or in whole using hardware such as a PLD (Programmable Logic Device) or FPGA (Field Programmable Gate Array), or it may be configured as a program executed by a processor such as a CPU.

[0074] For example, the flight control device 3 can be implemented using a computer and a program, and the program can be recorded on a storage medium or provided via a network.

[0075] The functions realized by the components described herein may be implemented in a circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), CPUs (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to realize the functions described herein.

[0076] A processor includes transistors and other circuits and is considered circuitry or processing circuitry. A processor may also be a programmed processor that executes programs stored in memory.

[0077] In this specification, circuitry, unit, and means are hardware programmed to perform or execute the functions described herein. Such hardware may be any hardware disclosed herein, or any hardware known to be programmed to perform or execute the functions described herein.

[0078] If the hardware is a processor that is considered to be a type of circuitry, then the circuitry, means, or unit is a combination of hardware and software used to constitute the hardware and / or processor.

[0079] 1... Unmanned aerial vehicle, 2... Anemometer, 3... Flight control device, 4... Flight function unit, 10... Wind power generation equipment, 30... Control unit, 31... Communication unit, 32... Acquisition unit, 33... First calculation unit, 34... Correction unit, 35... Splitting unit, 36... Setting unit, 37... Second calculation unit, 38... Measurement unit, 100... Blade

Claims

1. A flight control device for controlling the flight route of an unmanned aerial vehicle (UAV) flying around a target facility from a flight start point to a flight end point, comprising: an acquisition unit that acquires position information indicating the location of the target facility, range information indicating the area that the target facility may occupy, and a wind direction vector indicating wind speed and wind direction measured by an anemometer installed on the UAV; a first calculation unit that calculates a no-fly zone where the UAV is prohibited from flying based on the position information and range information acquired by the acquisition unit; a correction unit that corrects the no-fly zone calculated by the first calculation unit based on the wind direction vector acquired by the acquisition unit; a second calculation unit that calculates a flight route that minimizes the flight distance of the UAV while avoiding the no-fly zone corrected by the correction unit; and a control unit that controls the UAV to fly along the flight route calculated by the second calculation unit.

2. The flight control device according to claim 1, further comprising: a division unit that divides a predetermined area including the flight start point, the flight end point, and the no-fly zone corrected by the correction unit into a plurality of sub-regions; and a setting unit that sets weights for each of the sub-regions based on predetermined conditions, wherein the second calculation unit calculates a flight route for each of the sub-regions based on the weights set by the setting unit.

3. The flight control device according to claim 2, characterized in that the second calculation unit calculates a flight route for each of the small regions such that the unmanned aerial vehicle flies in a direction close to the wind direction indicated by the wind direction vector acquired by the acquisition unit, while minimizing the flight distance of the unmanned aerial vehicle.

4. The flight control device according to claim 2 or 3, characterized in that the division unit further divides the small area into a plurality of sub-divided areas if the small area satisfies predetermined conditions, the setting unit sets weights for each of the sub-divided areas based on predetermined conditions, and the second calculation unit calculates a flight route by considering each of the sub-divided areas as the small area.

Images