JP6910392B2 - Unmanned aerial vehicles, programs, methods, and systems - Google Patents

Description

The present invention relates to unmanned aerial vehicles, programs, methods, and systems.

A wind observation tower for observing wind conditions was known. (See, for example, Patent Document 1).
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2018-112039

It is desirable to provide technology that can contribute to cost reduction by increasing the degree of freedom in wind condition observation.

According to the first aspect of the present invention, an unmanned aerial vehicle is provided. The unmanned aerial vehicle may be provided with a mounting unit for mounting a Doppler LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). The unmanned aerial vehicle may include a flight control unit that controls the flight of the unmanned aerial vehicle. The unmanned aerial vehicle may include a measurement result storage unit that stores the measurement results measured by the Doppler LiDAR while the unmanned aerial vehicle is in flight. The unmanned aerial vehicle may include a measurement result transmission unit that transmits the measurement result to the outside.

According to the second aspect of the present invention, an execution step for executing measurement by Doppler LiDAR, a storage step for storing the measurement result of the measurement executed in the execution step, and a measurement result are mounted on an unmanned aerial vehicle equipped with Doppler LiDAR. A program is provided for executing a transmission step to be transmitted to the outside.

According to a third aspect of the invention, a method performed by an unmanned aerial vehicle is provided. The method may comprise an execution step of performing measurements with Doppler LiDAR on board an unmanned aerial vehicle. The method may include a storage step that stores the measurement results of the measurements performed in the execution step. The method may include a transmission step of transmitting the measurement result to the outside.

According to a fourth aspect of the present invention, a system including the unmanned aerial vehicle and a server is provided. The unmanned aerial vehicle may have a route setting unit that sets the flight route of the unmanned aerial vehicle. The measurement result transmitter may transmit the measurement result measured by the Doppler LiDAR to the server while the unmanned aerial vehicle is flying along the flight route. The server may have a measurement result receiving unit that receives the measurement result. The server may have an instruction generator that generates instructions for other unmanned aerial vehicles that are different from the unmanned aerial vehicle based on the measurement results. The server may have an instruction transmitter that transmits the instructions generated by the instruction generator to another unmanned aerial vehicle.

According to a fifth aspect of the present invention, a system is provided. The system may include a first unmanned aerial vehicle equipped with Doppler LiDAR and a second unmanned aerial vehicle. The first unmanned aerial vehicle may have a measurement result transmission unit that transmits the measurement result measured by the Doppler LiDAR to the outside. The second unmanned aerial vehicle may have a measurement result acquisition that acquires the measurement result transmitted by the measurement result transmission unit. The second unmanned aerial vehicle may have a flight control unit that controls the flight of the second unmanned aerial vehicle based on the measurement result. The measurement result transmission unit may transmit the measurement result to the server, and the measurement result acquisition unit may acquire the measurement result from the server.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

An example of the system 10 is shown schematically. An example of the configuration of the unmanned aerial vehicle 100 is shown schematically. An example of the functional configuration of the control device 140 is schematically shown. An example of the processing flow by the control device 140 is schematically shown. An example of the system 10 is shown schematically. An example of the functional configuration of the control device 170 included in the unmanned aerial vehicle 160 is schematically shown. An example of the hardware configuration of the computer 1200 functioning as the control device 140 is schematically shown.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions that fall within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 schematically shows an example of the system 10. System 10 includes an unmanned aerial vehicle 100 and a management system 200.

The unmanned aerial vehicle 100 may be a so-called drone. The unmanned aerial vehicle 100 according to the present embodiment is equipped with the Doppler LiDAR 110.

The Doppler LiDAR 110 measures the distance to the observation target and the relative movement speed of the observation target by observing the time and frequency displacement from the emission of the laser beam 112 to the reception of the reflected light. The Doppler LiDAR 110 measures, for example, the wind direction and the wind speed at the position where the aerosol is floating by emitting a laser beam and detecting the reflected light from the aerosol floating in the atmosphere. The Doppler LiDAR 110 emits an infrared laser as a laser beam, for example.

The unmanned aerial vehicle 100 uses the Doppler LiDAR 110 to observe the situation around the unmanned aerial vehicle 100. The unmanned aerial vehicle 100, for example, performs wind condition observation around the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 may measure an arbitrary object such as a shape measurement of a terrain such as a valley.

The unmanned aerial vehicle 100 performs measurement by the Doppler LiDAR 110 while yawing, for example. Yawing may be the rotation of an object about up and down. The unmanned aerial vehicle 100 may perform the measurement by the Doppler LiDAR 110 while yawing while adjusting the elevation angle. The unmanned aerial vehicle 100 may perform measurement by the Doppler LiDAR 110 while yawing while adjusting the depression angle. The unmanned aerial vehicle 100 may perform measurement by the Doppler LiDAR 110 while yawing while adjusting the elevation angle and the depression angle. With these, it is possible to measure the situation in all directions starting from the unmanned aerial vehicle 100.

The unmanned aerial vehicle 100 may perform measurements while moving. The unmanned aerial vehicle 100 may perform measurement while yawing while adjusting at least one of an elevation angle and a depression angle for each of a plurality of combinations of latitude, longitude, and altitude. This makes it possible to observe the situation in all directions starting from various places.

The unmanned aerial vehicle 100 may rotate the Doppler LiDAR 110 instead of yawing. The unmanned aerial vehicle 100, for example, executes measurement by the Doppler LiDAR 110 while rotating the unmanned aerial vehicle 100 around the central axis of the Doppler LiDAR 110. The unmanned aerial vehicle 100 may perform measurements in combination with yawing and rotation of the Doppler LiDAR 110.

In wind condition observation using a conventional wind condition observation tower, it is not possible to observe a wide range of low-rise areas unless the wind condition observation tower is installed on a hill with good visibility. Issues such as inability, the need for a large amount of land, high construction costs, high costs for securing power sources such as laying power cables and installation of storage batteries, and high maintenance costs due to exposure to the site due to permanent or temporary installation. was there.

On the other hand, the inventor paid attention to the fact that Doppler LiDAR has been miniaturized in recent years, and an unmanned aerial vehicle equipped with Doppler LiDAR to perform measurement while yawing and an unmanned aerial vehicle that performs measurement while rotating Doppler LiDAR. I created the technical idea. This makes it possible to observe a wide range of low-rise areas, where measurement conditions have been severe in the past. Unmanned aerial vehicles do not require permanent installation, which can greatly improve land, construction and maintenance costs.

The management system 200 manages the unmanned aerial vehicle 100. The management system 200 includes a flight control unit 300 that controls the flight of the unmanned aerial vehicle 100, and a measurement management unit 400 that manages the measurement by the unmanned aerial vehicle 100. The management system 200 may be an example of a server.

The management system 200 may be a system composed of a plurality of devices. For example, the flight control unit 300 and the measurement management unit 400 may be independent devices. In this case, the measurement management unit 400 may be an example of a server.

The management system 200 and the unmanned aerial vehicle 100 communicate with each other via the radio base station 30 and the network 20. The unmanned aerial vehicle 100 resides in the radio base station 30 and communicates with the management system 200 via the radio base station 30. The unmanned aerial vehicle 100 being in the radio base station 30 may mean that the unmanned aerial vehicle 100 establishes a radio communication connection with the radio base station 30.

The radio base station 30 may be compliant with any mobile communication system. For example, the radio base station 30 conforms to a 3G (3rd Generation) communication system, an LTE (Long Term Evolution) communication system, a 4G (4th Generation) communication system, and a mobile communication system after the 5G (5th Generation) communication system. .. The network 20 includes a core network in a mobile communication system. The network 20 may include the Internet.

The flight control unit 300 may intermittently receive position information from each of the plurality of unmanned aerial vehicles 100 and manage the respective positions of the plurality of unmanned aerial vehicles 100. Location information may include latitude, longitude, and altitude.

The unmanned aerial vehicle 100 may intermittently transmit the position information of the unmanned aerial vehicle 100 to the flight control center 300. Intermittent transmission of location information may mean periodic transmission of location information. Further, transmitting the position information intermittently may mean transmitting the position information according to a predetermined schedule. Further, transmitting the position information intermittently may mean transmitting the position information every time a predetermined condition is satisfied. The unmanned aerial vehicle 100 transmits, for example, position information in response to a change in the position of the unmanned aerial vehicle 100 by a predetermined distance or more.

The flight control unit 300 may transmit a position information request to each of the plurality of unmanned aerial vehicles 100, and may receive the position information transmitted by each of the plurality of unmanned aerial vehicles 100 in response to the request.

The measurement management unit 400 instructs the unmanned aerial vehicle 100 to perform measurement by the Doppler LiDAR 110, and receives and manages the measurement result from the unmanned aerial vehicle 100.

The unmanned aerial vehicle 100 may be remotely controlled by the operator 42. The operator 42 remotely controls the unmanned aerial vehicle 100 using the controller 40. The unmanned aerial vehicle 100 and the controller 40 may communicate with each other via the radio base station 30 and the network 20. Further, the unmanned aerial vehicle 100 and the controller 40 may directly communicate wirelessly. The unmanned aerial vehicle 100 may perform the measurement using the Doppler LiDAR according to the instruction from the controller 40.

FIG. 2 schematically shows an example of the configuration of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a main body 102, a propeller 104, legs 106, a mounting unit 108, and a Doppler LiDAR 110.

The mounting unit 108 mounts the Doppler LiDAR 110. The mounting unit 108 may mount the Doppler LiDAR 110 from the time of manufacturing the unmanned aerial vehicle 100. Further, the mounting unit 108 may not mount the Doppler LiDAR 110 at the time of manufacturing the unmanned aerial vehicle 100, but may mount the Doppler LiDAR 110 after manufacturing the unmanned aerial vehicle 100. For example, a user of the unmanned aerial vehicle 100 who purchased the unmanned aerial vehicle 100 not equipped with the Doppler LiDAR 110 may mount the separately purchased Doppler LiDAR 110 on the unmanned aerial vehicle 100.

The Doppler LiDAR 110 may be fixedly mounted on the mounting portion 108. Further, the mounting unit 108 may mount the Doppler LiDAR 110 rotatably. The mounting unit 108 may mount the Doppler LiDAR 110 rotatably around the central axis of the Doppler LiDAR 110. The mounting unit 108 may be able to rotate the Doppler LiDAR 110 in the horizontal direction.

The mounting unit 108 may mount the Doppler LiDAR 110 in a stretchable manner. For example, the mounting unit 108 contracts the Doppler LiDAR 110 when not in use and extends the Doppler LiDAR 110 when in use. The expansion and contraction of the Doppler LiDAR 110 is realized by, for example, a slide structure.

As a specific example, the mounting portion 108 contracts the Doppler LiDAR 110 so as to be located inside the tip of the leg portion 106 when not in use. This makes it possible to prevent the Doppler LiDAR 110 from interfering with the landing of the unmanned aerial vehicle 100.

Further, as a specific example, the mounting portion 108 extends the Doppler LiDAR 110 so that the tip of the Doppler LiDAR 110 is located outside the tip of the leg portion 106 during use. As a result, it is possible to prevent the leg portion 106 from interfering with the measurement by the Doppler LiDAR 110.

The main body 102 has a sensor group 120, a communication device 130, and a control device 140. The sensor group 120 includes a GNSS unit 121, an acceleration sensor 122, and a gyro sensor 123.

The GNSS unit 121 identifies the position of the unmanned aerial vehicle 100 and outputs the position information. The acceleration sensor 122 detects the acceleration. The gyro sensor 123 detects the angular velocity.

The communication device 130 executes communication via the radio base station 30. The communication device 130 resides in the radio base station 30 and communicates with the management system 200 via the radio base station 30. Further, the communication device 130 communicates with the controller 40 via the radio base station 30. The communication device 130 may directly execute wireless communication with the controller 40 without going through the wireless base station 30.

The control device 140 executes various controls. The control device 140 executes flight control of the unmanned aerial vehicle 100 using the information output from the sensor group 120. Further, the control device 140 causes the Doppler LiDAR 110 to execute the measurement when the communication device 130 receives the measurement request from the measurement management unit 400.

FIG. 3 schematically shows an example of the functional configuration of the control device 140. The control device 140 includes a flight control unit 142, a measurement control unit 144, a measurement result storage unit 146, a measurement result transmission unit 148, and a route setting unit 150. It is not essential that the control device 140 includes all of these configurations.

The flight control unit 142 controls the flight of the unmanned aerial vehicle 100. The flight control unit 142 controls the flight of the unmanned aerial vehicle 100 by controlling the propeller 104 based on various information detected by the sensor group 120. The flight control unit 142 causes the unmanned aerial vehicle 100 to hover or yaw, for example. The unmanned aerial vehicle 100 may include a camera (not shown), and the flight control unit 142 may control the flight of the unmanned aerial vehicle 100 based on the image captured by the camera.

The flight control unit 142 may control the flight of the unmanned aerial vehicle 100 according to the control signal received from the controller 40 by the communication device 130. Further, the flight control unit 142 may control the flight of the unmanned aerial vehicle 100 according to the signal received from the flight control unit 300 by the communication device 130.

The measurement control unit 144 controls the measurement by the Doppler LiDAR 110. The measurement control unit 144 causes the Doppler LiDAR 110 to perform the measurement while the flight control unit 142 yaws the unmanned aerial vehicle 100, for example. The measurement control unit 144 may cause the Doppler LiDAR 110 to perform measurement while causing the flight control unit 142 to yaw while adjusting the elevation angle of the unmanned aerial vehicle 100. The measurement control unit 144 may cause the Doppler LiDAR 110 to perform measurement while causing the flight control unit 142 to yaw while adjusting the depression angle of the unmanned aerial vehicle 100.

When the mounting unit 108 rotatably mounts the Doppler LiDAR 110, the measurement control unit 144 may cause the Doppler LiDAR 110 to perform the measurement while rotating the Doppler LiDAR 110 on the mounting unit 108. The measurement control unit 144 may cause the Doppler LiDAR 110 to perform measurement while the flight control unit 142 adjusts the elevation angle of the unmanned aerial vehicle 100 and the mounting unit 108 rotates the Doppler LiDAR 110. The measurement control unit 144 may cause the Doppler LiDAR 110 to perform measurement while the flight control unit 142 adjusts the depression angle of the unmanned aerial vehicle 100 and the mounting unit 108 rotates the Doppler LiDAR 110.

The measurement result storage unit 146 stores the measurement result measured by the Doppler LiDAR 110 under the control of the measurement control unit 144. The measurement result may include the distance to the observation target. The measurement result may include the relative moving speed of the observation target. The measurement result may include the position of the unmanned aerial vehicle 100, the orientation of the unmanned aerial vehicle 100, and the time when the measurement is performed.

The measurement result transmission unit 148 transmits the measurement result stored in the measurement result storage unit 146 to the outside. The measurement result transmission unit 148 transmits, for example, the measurement result to the management system 200. The measurement result transmission unit 148 may transmit the measurement result to the measurement management unit 400. Further, the measurement result transmission unit 148 may transmit the measurement result to the controller 40.

The route setting unit 150 sets the flight route of the unmanned aerial vehicle 100. The route setting unit 150 sets the flight route of the unmanned aerial vehicle 100 according to the instruction from the management system 200, for example. The route setting unit 150 may set the flight route of the unmanned aerial vehicle 100 according to the instruction from the flight control unit 300. The route setting unit 150 may set the flight route of the unmanned aerial vehicle 100 according to the instruction from the measurement management unit 400. The route setting unit 150 may set the flight route of the unmanned aerial vehicle 100 according to the instruction from the controller 40.

The flight route may include measurement instructions. For example, the flight route includes instructions such as at which position in the route the measurement should be performed and in which direction the measurement should be performed. The measurement control unit 144 may cause the flight control unit 142 to make the Doppler LiDAR 110 perform the measurement according to the measurement instruction while flying the unmanned aerial vehicle 100 along the route indicated by the flight route.

FIG. 4 schematically shows an example of the processing flow by the control device 140. Here, the flow of processing by the control device 140 when the unmanned aerial vehicle 100 moves to a certain point and then performs measurement while gradually increasing the altitude will be described.

In step 102 (the step may be abbreviated as S) 102, the flight control unit 142 moves the unmanned aerial vehicle 100 to the destination point. In S104, the flight control unit 142 moves the unmanned aerial vehicle 100 to the starting altitude.

In S106, the measurement control unit 144 causes the Doppler LiDAR 110 to perform the measurement while the flight control unit 142 yaws the unmanned aerial vehicle 100. The measurement control unit 144 may cause the unmanned aerial vehicle 100 to perform measurement while having the flight control unit 142 adjust the elevation angle and the depression angle of the unmanned aerial vehicle 100. The measurement result is stored in the measurement result storage unit 146.

In S108, the measurement control unit 144 determines whether or not the measurement is completed. If it is determined that the process is not completed, the process proceeds to S110, and if it is determined that the process is completed, the process proceeds to S112.

In S110, the measurement control unit 144 causes the flight control unit 142 to change the altitude of the unmanned aerial vehicle 100. The measurement control unit 144 may cause the flight control unit 142 to raise the altitude of the unmanned aerial vehicle 100 by a predetermined altitude. The measurement control unit 144 repeats S106 and S110 until the measurement is completed.

In S112, the measurement result transmission unit 148 transmits the measurement result stored in the measurement result storage unit 146. Then, the process ends.

FIG. 5 schematically shows an example of the system 10. The system 10 includes an unmanned aerial vehicle 100 and an unmanned aerial vehicle 160. The unmanned aerial vehicle 160 may have a configuration similar to that of the unmanned aerial vehicle 100 shown in FIG. 2, except that the mounting portion 108 and the Doppler LiDAR 110 are not provided.

The unmanned aerial vehicle 100 may operate as a pacemaker for the unmanned aerial vehicle 160. The unmanned aerial vehicle 100 may operate as a leader of the unmanned aerial vehicle 160.

The route setting unit 150 of the unmanned aerial vehicle 100 sets, for example, the same flight route as the planned flight route of the unmanned aerial vehicle 160. Then, the unmanned aerial vehicle 100 executes the measurement by the Doppler LiDAR 110 while flying along the flight path set by the route setting unit 150. The measurement result transmission unit 148 of the unmanned aerial vehicle 100 may transmit the measurement result to the management system 200.

The management system 200 generates an instruction for the unmanned aerial vehicle 160 based on the measurement result received from the unmanned aerial vehicle 100. The management system 200, for example, gives an instruction to avoid a part of the planned flight route of the unmanned aerial vehicle 160 in which the wind intensity is stronger than a preset intensity, and controls 104 of the propeller assuming that it receives a strong wind. An instruction or the like for specifying the amount is transmitted to the unmanned aerial vehicle 160. The unmanned aerial vehicle 160 may fly according to the instructions received from the management system 200.

The unmanned aerial vehicle 160 may receive the measurement result of the unmanned aerial vehicle 100 and control its own flight based on the measurement result.

FIG. 6 schematically shows an example of the functional configuration of the control device 170 included in the unmanned aerial vehicle 160. The control device 170 has a flight control unit 172 and a measurement result acquisition unit 174. The flight control unit 172 may control the flight of the unmanned aerial vehicle 160 in the same manner as the flight control unit 142.

The measurement result acquisition unit 174 acquires the measurement result measured by the unmanned aerial vehicle 100. The measurement result acquisition unit 174 receives the measurement result from the unmanned aerial vehicle 100 via, for example, the radio base station 30 and the network 20. The measurement result acquisition unit 174 may directly receive the measurement result from the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 and the unmanned aerial vehicle 160 may directly communicate with each other according to an arbitrary wireless communication method. For example, the unmanned aerial vehicle 100 and the unmanned aerial vehicle 160 have a Bluetooth (registered trademark) communication function and communicate with each other by Bluetooth. Further, for example, the unmanned aerial vehicle 100 and the unmanned aerial vehicle 160 have a laser communication function using a laser beam and communicate by laser communication. Further, the measurement result acquisition unit 174 receives the measurement result transmitted by the unmanned aerial vehicle 100 to the management system 200 from the management system 200.

The flight control unit 172 controls the flight of the unmanned aerial vehicle 160 based on the measurement result acquired by the measurement result acquisition unit 174. The flight control unit 172 is a propeller when the unmanned aerial vehicle 100 changes a part of the planned flight route or flies on the planned flight route based on the measurement result measured while flying the planned flight route of the unmanned aerial vehicle 160. Adjust the control amount of. As a specific example, the flight control unit 172 identifies a portion of the scheduled flight route where the wind intensity is stronger than the preset strength, and changes the scheduled flight route so as to avoid the portion.

FIG. 7 schematically shows an example of a hardware configuration of a computer 1200 that functions as a control device 140. A program installed on the computer 1200 causes the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or causes the computer 1200 to perform an operation associated with the device according to the present embodiment or the one or more. A plurality of "parts" can be executed and / or a computer 1200 can be made to execute a process according to the present embodiment or a stage of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform certain operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphic controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes an input / output unit such as a communication interface 1222, a storage device 1224, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a legacy I / O unit such as a ROM 1230 and a keyboard, which are connected to the I / O controller 1220 via an I / O chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires the image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or itself so that the image data is displayed on the display device 1218.

Communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.

The ROM 1230 stores in it a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

The program is provided by a computer-readable storage medium such as an IC card. The program is read from a computer-readable storage medium, installed in a storage device 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information in accordance with the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer area provided in the recording medium such as the RAM 1214, the storage device 1224, or the IC card, and sends the read transmission data to the network. The received data transmitted or received from the network is written in the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 allows the RAM 1214 to read all or necessary parts of a file or database stored in an external recording medium such as a storage device 1224 or an IC card, and performs various types of processing on the data on the RAM 1214. May be executed. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. The attribute value of the attribute of is searched for the entry that matches the specified condition, the attribute value of the second attribute stored in the entry is read, and the first attribute that satisfies the predetermined condition is selected. You may get the attribute value of the associated second attribute.

The program or software module described above may be stored on a computer 1200 or in a computer-readable storage medium near the computer 1200. Also, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, thereby allowing the program to be transferred to the computer 1200 via the network. offer.

The blocks in the flowchart and block diagram of this embodiment may represent a stage of the process in which the operation is performed or a "part" of the device responsible for performing the operation. Specific stages and "parts" are supplied with dedicated circuits, programmable circuits supplied with computer-readable instructions stored on computer-readable storage media, and / or computer-readable instructions stored on computer-readable storage media. It may be implemented by the processor. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits include logical products, logical sums, exclusive logical sums, negative logical products, negative logical sums, and other logical operations, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like. , Flip-flops, registers, and reconfigurable hardware circuits, including memory elements.

The computer-readable storage medium may include any tangible device capable of storing instructions executed by the appropriate device, so that the computer-readable storage medium having the instructions stored therein is in a flow chart or block diagram. It will be equipped with a product that contains instructions that can be executed to create means for performing the specified operation. Examples of the computer-readable storage medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like. More specific examples of computer-readable storage media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), and erasable programmable read-only memory (EPROM or flash memory). , Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-ray® Disc, Memory Stick , Integrated circuit cards and the like may be included.

Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Contains either source code or object code written in any combination of one or more programming languages, including languages and traditional procedural programming languages such as the "C" programming language or similar programming languages. good.

Computer-readable instructions are used to generate means for a general-purpose computer, a special-purpose computer, or the processor of another programmable data processing device, or a programmable circuit, to perform an operation specified in a flowchart or block diagram. General purpose computers, special purpose computers, or other programmable data processing locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to execute the computer readable instructions. It may be provided in the processor of the device or in a programmable circuit. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers and the like.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 systems, 20 networks, 30 radio base stations, 40 controllers, 42 operators, 100 unmanned aircraft, 102 body, 104 propellers, 106 legs, 108 mounts, 110 Doppler LiDAR, 112 laser light, 120 sensor groups, 121 GNSS unit, 122 accelerometer, 123 gyro sensor, 130 communication device, 140 control device, 142 flight control unit, 144 measurement control unit, 146 measurement result storage unit, 148 measurement result transmission unit, 150 route setting unit, 160 unmanned aircraft, 170 control unit, 172 flight control unit, 174 measurement result acquisition unit, 200 management system, 300 flight control unit, 400 measurement management unit, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 display device, 1220 I / O controller, 1222 communication interface, 1224 storage device, 1230 ROM, 1240 I / O chip

Claims (8)

It ’s an unmanned aerial vehicle,
The mounting part that mounts Doppler LiDAR and
A flight control unit that controls the flight of the unmanned aerial vehicle,
A measurement result storage unit that stores the measurement results measured by the Doppler LiDAR while the unmanned aerial vehicle is in flight.
A measurement result transmitter that transmits the measurement results to the outside ,
It is provided with a measurement control unit that controls measurement by the Doppler LiDAR .
The measurement control unit causes the Doppler LiDAR to perform measurement while yawing the unmanned aerial vehicle while causing the flight control unit to adjust the elevation angle or depression angle of the unmanned aerial vehicle.
Unmanned aerial vehicle. The Doppler LiDAR measures the distance to the observation target and the relative movement speed of the observation target by observing the time from irradiating the infrared laser to receiving the reflected light and the displacement of the frequency. The unmanned aircraft according to item 1. The unmanned aerial vehicle according to claim 1 or 2, wherein the Doppler LiDAR measures the wind conditions around the unmanned aerial vehicle. The unmanned aerial vehicle according to any one of claims 1 to 3, comprising the Doppler LiDAR. The measurement result transmitting unit wirelessly transmits the measurement result measured by the Doppler LiDAR while the unmanned aerial vehicle is flying to the outside while the unmanned aerial vehicle is flying, according to claims 1 to 4. The unmanned aerial vehicle described in any one paragraph. For unmanned aerial vehicles equipped with Doppler LiDAR
A program for executing an execution step of executing measurement by the Doppler LiDAR and a storage step of storing the measurement result of the measurement executed in the execution step while yawing while adjusting the elevation angle or depression angle of the unmanned aerial vehicle. The method performed by unmanned aerial vehicles,
An execution step of executing measurement by the Doppler LiDAR mounted on the unmanned aerial vehicle while yawing while adjusting the elevation angle or the depression angle of the unmanned aerial vehicle.
A storage step for storing the measurement result of the measurement executed in the execution step, and
A method including a transmission step of transmitting the measurement result to the outside. The unmanned aerial vehicle according to any one of claims 1 to 5 and
Equipped with a server
The unmanned aerial vehicle has a route setting unit for setting a flight route of the unmanned aerial vehicle.
The measurement result transmission unit transmits the measurement result measured by the Doppler LiDAR to the server while the unmanned aerial vehicle is flying along the flight route.
The server
Based on the measurement result, an instruction for another unmanned aerial vehicle different from the unmanned aerial vehicle is generated, and the instruction is transmitted to the other unmanned aerial vehicle.
system.

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