JP6943684B2 - Communication relay method, relay air vehicle, program and recording medium - Google Patents

Description

The present disclosure relates to a communication relay method, a relay vehicle, a program and a recording medium for relaying communication between an unmanned vehicle and an operation terminal.

In recent years, for example, in order to quickly relieve the convenience of mobile phone services that have become difficult to use in the event of a disaster, unmanned aerial vehicles (for example, UAVs (Unmanned Aerial Vehicles) such as drones) are used for communication. The introduction and study of a drone relay station to be used as a relay station is underway (see, for example, Non-Patent Document 1).

The drone relay station of Non-Patent Document 1 is equipped with a dedicated small relay station that is supposed to be used in a drone, and receives and relays radio waves from nearby operation base stations in the sky to provide a temporary mobile phone service. Form an area of. Compared to conventional mobile base station vehicles, drone relay stations are more portable, so they are expected to be able to provide quick relief regardless of the effects of the ground in the event of a disaster, for example.

"Relaying mobile phone radio waves with a drone, DoCoMo succeeds in disasters", [online], May 18, 2017, ITmedia NEWS, [Search on August 15, 2017], Internet <URL: http: /www.itmedia.co.jp/news/articles/1705/18/news117.html ＞

There is an increasing need to remotely control unmanned aerial vehicles such as drones for on-site investigations in the event of a disaster or on-site investigations in the event of an incident or accident. However, even if the drone relay station of Non-Patent Document 1 is used, when an area with many buildings such as an urban area is targeted for investigation, between the unmanned aerial vehicle performing the investigation work and the operation terminal operated by the user. Communication may be blocked by the building, making remote control of the unmanned aerial vehicle to a position far away from the operating terminal. Further, it is conceivable to increase the radio field strength of the operation signal transmitted from the operation terminal to the unmanned vehicle, but it may interfere with the surrounding mobile phones, which is not preferable in relation to the Radio Law.

In one aspect, it is a communication relay method for relaying communication between an operation terminal and a working vehicle that performs a predetermined work, depending on a step of acquiring the state of the working vehicle and a state of the working vehicle. It has a step of controlling the state of the relay vehicle that relays communication between the operation terminal and the work vehicle.

The step of acquiring the state of the working vehicle may include the step of acquiring the position information of the working vehicle. The step of controlling the state of the relay vehicle may include a step of controlling the flight altitude of the relay vehicle according to the position information of the work vehicle.

The step of acquiring the state of the working vehicle may include the step of calculating the first distance between the working vehicle and the relay vehicle. The step of controlling the state of the relay vehicle may include a step of moving so that the first distance becomes the tracking distance when the first distance is equal to or more than a predetermined tracking distance.

The step of acquiring the state of the working vehicle may include the step of calculating the first distance between the working vehicle and the relay vehicle. The step of controlling the state of the relay vehicle may include a step of continuing the flight at the current flight position when the first distance is less than a predetermined tracking distance.

The step of acquiring the state of the working vehicle may include the step of calculating the second distance between the operating terminal and the relay vehicle. The step of controlling the state of the relay vehicle is a step of instructing the operation terminal to give an alarm that communication between the operation terminal and the relay vehicle will be hindered when the second distance is equal to or longer than a predetermined safety control distance. May include.

The step of acquiring the state of the working vehicle may include the step of calculating the third distance between the working vehicle and the operating terminal. The step of controlling the state of the relay vehicle may include a step of executing the rise mode of the relay vehicle when the third distance is equal to or less than a predetermined direct control distance.

The steps to execute the rise mode of the relay vehicle are the step of calculating the flight altitude difference between the work vehicle and the relay vehicle, and the work flight when the flight altitude difference is equal to or greater than the predetermined tracking altitude difference. It may include a step of performing a flight at the same flight altitude as the body's flight altitude.

The step of acquiring the state of the working vehicle may include the step of calculating the first distance between the working vehicle and the relay vehicle. The steps for executing the rise mode of the relay vehicle are the step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and the flight altitude difference is less than the predetermined tracking altitude difference and the first distance. May include a step of moving so that the first distance is the tracking distance when is greater than or equal to a predetermined tracking distance.

The step of acquiring the state of the working vehicle may include the step of calculating the first distance between the working vehicle and the relay vehicle. The steps for executing the rise mode of the relay vehicle are the step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and the flight altitude difference is less than the predetermined tracking altitude difference and the first distance. May include a step of continuing flight at the current flight position if is less than a predetermined tracking distance.

The step of acquiring the state of the working vehicle may include the step of calculating the third distance between the working vehicle and the operating terminal. The step of controlling the state of the relay vehicle may include a step of executing the relay mode of the relay vehicle when the third distance is equal to or less than a predetermined direct control distance.

The step of executing the rise mode of the relay vehicle may include a step of executing a flight in which the flight altitude of the relay vehicle is set to a predetermined tracking altitude.

The step of acquiring the state of the working vehicle may include the step of calculating the second distance between the operating terminal and the relay vehicle. The step of executing the relay mode of the relay aircraft is a step of instructing the operation terminal to warn that communication between the operation terminal and the relay aircraft will be hindered when the second distance is equal to or longer than a predetermined safety control distance. May include.

The steps for acquiring the state of the working vehicle include a step of calculating the first distance between the working vehicle and the relay vehicle, a step of calculating the second distance between the operating terminal and the relay vehicle, and a step of calculating the second distance between the operating terminal and the relay vehicle. May include. The step of executing the rise mode of the relay vehicle is such that when the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the predetermined tracking distance, the first distance becomes the tracking distance. May include a step to move to.

The steps for acquiring the state of the working vehicle include a step of calculating the first distance between the working vehicle and the relay vehicle, a step of calculating the second distance between the operating terminal and the relay vehicle, and a step of calculating the second distance between the operating terminal and the relay vehicle. May include. The step of executing the rise mode of the relay vehicle continues the flight at the current flight position when the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance. May include steps.

The step of acquiring the state of the working vehicle may include the step of acquiring the flight altitude of the working vehicle. The step of executing the relay mode of the relay vehicle includes a step of executing a flight having the same flight altitude as the work aircraft when the flight altitude of the work vehicle is within a predetermined tracking altitude range. It's fine.

The step of acquiring the state of the working vehicle may include the step of acquiring the flight altitude of the working vehicle. The step of executing the relay mode of the relay vehicle moves to the upper or lower flight altitude of the tracking altitude range so as to approach the working aircraft when the flight altitude of the working vehicle is outside the predetermined tracking altitude range. May include steps.

The step of acquiring the state of the working vehicle may include the step of calculating the second distance between the operating terminal and the relay vehicle. The step of executing the relay mode of the relay aircraft is a step of instructing the operation terminal to warn that communication between the operation terminal and the relay aircraft will be hindered when the second distance is equal to or longer than a predetermined safety control distance. May include.

The steps for acquiring the state of the working vehicle include a step of calculating the first distance between the working vehicle and the relay vehicle, a step of calculating the second distance between the operating terminal and the relay vehicle, and a step of calculating the second distance between the operating terminal and the relay vehicle. May include. The step of executing the rise mode of the relay vehicle is such that when the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the predetermined tracking distance, the first distance becomes the tracking distance. May include a step to move to.

The steps for acquiring the state of the working vehicle include a step of calculating the first distance between the working vehicle and the relay vehicle, a step of calculating the second distance between the operating terminal and the relay vehicle, and a step of calculating the second distance between the operating terminal and the relay vehicle. May include. The step of executing the rise mode of the relay vehicle continues the flight at the current flight position when the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance. May include steps.

In one aspect, it is a relay flight body that relays communication between an operation terminal and a work flight body that performs a predetermined work, and has a control unit that executes processing related to communication relay, and the control unit is a work flight. It is a relay flight body that acquires the state of the body and controls the state of the relay flight body according to the state of the work flight body.

The control unit acquires the position information of the working vehicle in the acquisition of the state of the working vehicle, and controls the flight altitude of the relay vehicle according to the position information of the working vehicle in the control of the state of the relay vehicle. You can do it.

The control unit calculates the first distance between the working vehicle and the relay vehicle in acquiring the state of the working vehicle, and in controlling the state of the relay vehicle, the first distance is equal to or greater than a predetermined tracking distance. In some cases, the first distance may be moved to be the tracking distance.

The control unit calculates the first distance between the working vehicle and the relay vehicle in acquiring the state of the working vehicle, and in controlling the state of the relay vehicle, the first distance is less than a predetermined tracking distance. In some cases, the flight at the current flight position may continue.

The control unit calculates the second distance between the operation terminal and the relay vehicle in acquiring the state of the work vehicle, and when the second distance is equal to or greater than the predetermined safety control distance in controlling the state of the relay vehicle. In some cases, the operating terminal may be instructed to warn that communication between the operating terminal and the relay aircraft will be hindered.

The control unit calculates the third distance between the working vehicle and the operating terminal in acquiring the state of the working vehicle, and in controlling the state of the relay vehicle, the third distance is equal to or less than the predetermined direct control distance. In some cases, the rise mode of the relay vehicle may be performed.

The control unit calculates the flight altitude difference between the working aircraft and the relay aircraft in the execution of the rising mode of the relay aircraft, and when the flight altitude difference is equal to or greater than the predetermined tracking altitude difference, the working flight You may carry out a flight with the same flight altitude as your body.

The control unit calculates the first distance between the working vehicle and the relay vehicle in acquiring the state of the working vehicle, and in executing the rising mode of the relay vehicle, the working vehicle and the relay vehicle When the flight altitude difference between the two is calculated and the flight altitude difference is less than the predetermined tracking altitude difference and the first distance is equal to or more than the predetermined tracking distance, the first distance is moved so as to be the tracking distance. You can.

The control unit calculates the first distance between the working vehicle and the relay vehicle in acquiring the state of the working vehicle, and in executing the rising mode of the relay vehicle, the working vehicle and the relay vehicle The flight altitude difference between the two may be calculated, and if the flight altitude difference is less than the predetermined tracking altitude difference and the first distance is less than the predetermined tracking distance, the flight at the current flight position may be continued.

The control unit calculates the third distance between the working vehicle and the operating terminal in acquiring the state of the working vehicle, and in controlling the state of the relay vehicle, the third distance is equal to or less than the predetermined direct control distance. In some cases, the relay mode of the relay vehicle may be executed.

The control unit may execute a flight in which the flight altitude of the relay vehicle is set to a predetermined tracking altitude in the execution of the rise mode of the relay vehicle.

The control unit calculates the second distance between the operation terminal and the relay vehicle in the acquisition of the state of the work vehicle, and the second distance is equal to or greater than the predetermined safety control distance in the execution of the relay mode of the relay vehicle. In this case, the operation terminal may be instructed to warn that communication between the operation terminal and the relay aircraft will be hindered.

In acquiring the state of the working vehicle, the control unit calculates the first distance between the working vehicle and the relay vehicle, calculates the second distance between the operation terminal and the relay vehicle, and relays the flight. In the execution of the body rise mode, when the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the predetermined tracking distance, the first distance is moved so as to be the tracking distance. good.

In acquiring the state of the working vehicle, the control unit calculates the first distance between the working vehicle and the relay flight, calculates the second distance between the operation terminal and the relay flight, and relays the flight. In executing the body rise mode, if the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance, the flight at the current flight position may be continued.

The control unit acquires the flight altitude of the work vehicle in the acquisition of the state of the work vehicle, and when the flight altitude of the work vehicle is within the predetermined tracking altitude range in the execution of the relay mode of the relay vehicle. , The flight may be carried out at the same flight altitude as the flight altitude of the working vehicle.

The control unit acquires the flight altitude of the work vehicle in the acquisition of the state of the work vehicle, and when the flight altitude of the work vehicle is out of the predetermined tracking altitude range in the execution of the relay mode of the relay vehicle. , May move to the upper or lower flight altitude of the tracking altitude range to approach the working vehicle.

The control unit calculates the second distance between the operation terminal and the relay vehicle in the acquisition of the state of the work vehicle, and the second distance is equal to or greater than the predetermined safety control distance in the execution of the relay mode of the relay vehicle. In this case, the operation terminal may be instructed to warn that communication between the operation terminal and the relay aircraft will be hindered.

In acquiring the state of the working vehicle, the control unit calculates the first distance between the working vehicle and the relay vehicle, calculates the second distance between the operation terminal and the relay vehicle, and relays the flight. In the execution of the body rise mode, when the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the predetermined tracking distance, the first distance is moved so as to be the tracking distance. good.

In acquiring the state of the working vehicle, the control unit calculates the first distance between the working vehicle and the relay flight, calculates the second distance between the operation terminal and the relay flight, and relays the flight. In executing the body rise mode, if the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance, the flight at the current flight position may be continued.

In one aspect, a step of acquiring the state of the working body and a step of acquiring the state of the working body to the relay flying body, which is a computer that relays the communication between the operation terminal and the working body performing a predetermined work, depending on the state of the working body. , A program for executing a step of controlling the state of a relay vehicle that relays communication between an operation terminal and a work vehicle.

In one aspect, a step of acquiring the state of the working aviator to the relay aviation body, which is a computer that relays communication between the operation terminal and the working fleet performing a predetermined work, and a step according to the state of the working fleet. , A computer-readable, recording medium on which a program is recorded for executing a step of controlling the state of a relay aircraft that relays communication between an operating terminal and a working aircraft.

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

It is a schematic diagram which shows the structural example of the communication relay system which concerns on this Embodiment. It is a block diagram which shows an example of the hardware composition of a work drone and a relay drone. It is a block diagram which shows an example of the hardware composition of the operation terminal. It is a block diagram which shows the main functional composition example of a work drone, a relay drone, and an operation terminal. It is explanatory drawing of the setting parameter set at the time of relaying communication by a relay drone. It is explanatory drawing which shows the position of the operation terminal, the relay drone, and the work drone at the time of communication relay which concerns on Example 1. FIG. It is a flowchart which shows an example of the operation procedure of the communication relay in the relay drone which concerns on Example 1. FIG. It is explanatory drawing which shows the position of the operation terminal, the relay drone, and the work drone at the time of communication relay in the start-up mode which concerns on Example 2. FIG. It is explanatory drawing which shows the position of the operation terminal, the relay drone, and the work drone at the time of communication relay in the relay mode which concerns on Example 2. FIG. It is a flowchart which shows an example of the operation procedure of the communication relay in the relay drone which concerns on Example 2. It is explanatory drawing which shows the position of the operation terminal, the relay drone, and the work drone at the time of communication relay in the relay mode which concerns on Example 3. FIG. It is a flowchart which shows an example of the operation procedure of the communication relay in the relay mode in the relay drone which concerns on Example 3. FIG.

Hereinafter, the present disclosure will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Not all combinations of features described in the embodiments are essential to the solution of the invention.

The claims, description, drawings, and abstracts include matters that are subject to copyright protection. The copyright holder will not object to any person's reproduction of these documents as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved.

The communication relay method according to the present disclosure defines various processes (steps) executed in the relay vehicle that relays the communication between the operation terminal and the work vehicle that performs a predetermined work. The operation terminal is a transmitter for instructing remote control of various processes including movement of a work vehicle or a relay vehicle, or a terminal device connected to the transmitter so that information and data can be input and output. including. The terminal device may be, for example, a PC (Personal Computer), a tablet terminal, a smartphone, a mobile terminal, or the like. Both the working vehicle and the relay vehicle may be an aircraft moving in the air (for example, a drone or a helicopter) or an unmanned aerial vehicle (UAV).

The relay flying object according to the present disclosure is a computer, and relays communication between, for example, an operation terminal and a working flying object performing a predetermined work.

The program according to the present disclosure is a program for causing a relay aircraft, which is a computer, to execute various processes (steps).

The recording medium according to the present disclosure is a program (that is, a program for causing a relay flying object, which is a computer, to execute various processes (steps)).

In the following embodiment (hereinafter referred to as "the present embodiment") in which the communication relay method according to the present disclosure is specifically disclosed, a drone as an unmanned aerial vehicle is exemplified as a working vehicle and a relay vehicle. They are called work drone and relay drone, respectively. In the present embodiment, the work drone flies to the site or site and moves to the site or site for the purpose of investigating the site where the disaster occurred, or the site where the incident or accident occurred, and is determined at the site or site. Do the work. The relay drone flies and moves according to remote control from the operating terminal used by the user, and relays the communication between the operating terminal and the working drone. The term "communication" as used herein is a broad concept including data communication in general, and includes not only the case of wired connection by a cable or the like but also the case of wireless communication.

First, a configuration example of the communication relay system 10 according to the present embodiment will be described.

FIG. 1 is a schematic diagram showing a configuration example of the communication relay system 10 according to the present embodiment. The communication relay system 10 includes a work drone 100, a relay drone 30, and an operation terminal 50. Wired communication or wireless communication (for example, wireless LAN (Local Area Network)) between the work drone 100 and the operation terminal 50, between the relay drone 30 and the operation terminal 50, and between the work drone 100 and the relay drone 30. , Or Bluetooth®) to communicate with each other. The operation terminal 50 is used in a state of being held by both hands of a person (hereinafter referred to as "user") who uses the operation terminal 50. The operation terminal 50 may be, for example, a transmitter, a tablet terminal, a smartphone, a mobile terminal, a PC, or the like. The operation terminal 50 may have a configuration in which a tablet terminal, a smartphone, or a mobile terminal is attached to the transmitter so that they can communicate with each other.

FIG. 2 is a block diagram showing an example of the hardware configuration of the work drone 100 and the relay drone 30. The internal configuration of the work drone 100 and the relay drone 30 may be the same (see FIG. 2), or the internal configuration of the relay drone 30 may be a configuration in which a part of the internal configuration of the work drone 100 is omitted. In FIG. 2, first, the working drone 100 will be described as an example, and when the configurations of the working drone 100 and the relay drone 30 are different, the different configurations will be described. The working drone 100 includes a UAV control unit 110, a memory 120, a gimbal GIM, a rotary blade mechanism 130, imaging devices CAM1 and CAM2, a GPS receiver 140, an inertial measurement unit 150, a magnetic compass 160, and a pressure pressure. A configuration including an altimeter 170, a millimeter wave radar 180, a wind speed compass 190, an injection nozzle 200, a tank 210, a pressure sensor 220, a flow sensor 230, a storage 240, a communication interface 250, and a battery 260. Is.

The UAV control unit 110 is configured by using a processor (for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor)). The UAV control unit 110 performs signal processing for controlling the operation of each part of the work drone 100 or the relay drone 30, data input / output processing with and from other parts, data calculation processing, and data storage processing. I do. The UAV control unit 110 has a function of executing processing related to flight control in the work drone 100 or the relay drone 30.

The UAV control unit 110 controls the flight of the working drone 100 or the relay drone 30 according to the information about the program and the flight path stored in the memory 120 or the storage 240. Further, the UAV control unit 110 controls the movement (that is, flight) of the work drone 100 or the relay drone 30 according to a command received from the remote control terminal 50 via the communication interface 250.

The UAV control unit 110 (an example of the control unit) controls the flight of the work drone 100 or the relay drone 30 by controlling the rotary blade mechanism 130. That is, the UAV control unit 110 controls the position including the latitude, longitude, and altitude of the work drone 100 or the relay drone 30 by controlling the rotary blade mechanism 130. The UAV control unit 110 controls the rotary wing mechanism 130 based on the position information acquired by at least one of the GPS receiver 140, the inertial measurement unit 150, the magnetic compass 160, the barometric altimeter 170, and the millimeter wave radar 180. ..

The memory 120 is an example of a storage unit. In the memory 120, the UAV control unit 110 has a rotary blade mechanism 130, a GPS receiver 140, an inertial measurement unit 150, a magnetic compass 160, a barometric altimeter 170, a millimeter wave radar 180, a wind speed wind direction meter 190, an injection nozzle 200, a tank 210, and a pressure. It stores a sensor 220, a flow sensor 230, a storage 240, a program necessary for controlling the communication interface 250, and the like. The memory 120 stores various information and data used at the time of processing by the UAV control unit 110. The memory 120 may be a computer-readable recording medium, and may be a SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), an EPROM (Erasable Programmable Read Only Memory), an EPROM (Electrically Erasable Programmable Read-Only Memory), and an EPROM (Electrically Erasable Programmable Read-Only Memory). It may include at least one of a flash memory such as a USB memory. The memory 120 may be provided inside the work drone 100 or the relay drone 30, or may be detachably provided from the work drone 100 or the relay drone 30.

The gimbal GIM rotatably supports the imaging device CAM1 around at least one axis. The gimbal GIM may rotatably support the image pickup device CAM1 around a yaw axis, a pitch axis, and a roll axis. The gimbal GIM may change the imaging direction of the imaging device CAM1 by rotating the imaging device CAM1 about at least one of the yaw axis, the pitch axis, and the roll axis. The gimbal GIM may be omitted from the internal configuration of the relay drone 30.

The rotary blade mechanism 130 has a plurality of rotary blades 131 and a plurality of drive motors for rotating the plurality of rotary blades 131. The rotary blade mechanism 130 rotates the rotary blade 131 to generate an air flow in a specific direction, and controls the flight (up, down, horizontal movement, turning, inclination, etc.) of the working drone 100 or the relay drone 30.

The imaging device CAM1 is rotatably supported by a gimbal GIM, images a subject in a desired imaging range (for example, a disaster occurrence location or an incident or accident occurrence location) and generates captured image data. The image data obtained by the image pickup of the image pickup apparatus CAM1 is stored in the memory of the image pickup apparatus CAM1 or the memory 120. The image pickup device CAM1 may be omitted from the internal configuration of the relay drone 30.

A plurality of image pickup devices CAM2 are provided so as to be exposed from the housing of the work drone 100 or the relay drone 30, and the surroundings of the work drone 100 or the relay drone 30 are imaged to generate data of the captured image. The image data of the image pickup apparatus CAM2 is stored in the memory 120. The image pickup device CAM2 may be omitted from the internal configuration of the relay drone 30.

The GPS receiver 140 receives a plurality of signals indicating the time transmitted from the plurality of navigation satellites (that is, GPS satellites) and the position (coordinates) of each GPS satellite. The GPS receiver 140 calculates the position of the GPS receiver 140 (that is, the position of the work drone 100 or the relay drone 30) based on the plurality of received signals. The GPS receiver 140 outputs the position information of the work drone 100 or the relay drone 30 to the UAV control unit 110. The position information of the GPS receiver 140 may be calculated by the UAV control unit 110 instead of the GPS receiver 140. In this case, information indicating the time included in the plurality of signals received by the GPS receiver 140 and the position of each GPS satellite is input to the UAV control unit 110.

The inertial measurement unit (IMU) 150 detects the posture of the work drone 100 or the relay drone 30 and outputs the detection result to the UAV control unit 110. In the inertial measurement unit 150, as the posture of the work drone 100 or the relay drone 30, the acceleration in the three axial directions of the front and rear, the left and right, and the up and down of the work drone 100 or the relay drone 30, and the pitch axis, the roll axis, and the yaw axis are three. Detects the angular velocity in the axial direction.

The magnetic compass 160 detects the orientation of the nose of the work drone 100 or the relay drone 30, and outputs the detection result to the UAV control unit 110.

The barometric altimeter 170 detects the altitude at which the working drone 100 or the relay drone 30 flies, and outputs the detection result to the UAV control unit 110.

The millimeter wave radar 180 transmits high-frequency radio waves in the millimeter wave band, detects the position of the ground or an object by measuring the reflected wave reflected by the ground or an object, and outputs the detection result to the UAV control unit 110. do. The detection result may indicate, for example, the distance (that is, altitude) from the working drone 100 or the relay drone 30 to the ground. The detection result may indicate, for example, the distance from the working drone 100 or the relay drone 30 to the object. The detection result may indicate, for example, the topography of the work area of the disaster occurrence location where the work drone 100 orbits while flying over the sky.

The wind speed wind direction meter 190 detects the wind speed and direction around the work drone 100 or the relay drone 30, and outputs the detection result to the UAV control unit 110. The detection result may indicate the wind speed and the wind direction in the work area where the work drone 100 or the relay drone 30 flies.

The storage 240 is an example of a storage unit. The storage 240 stores and holds various data and information. The storage 240 may be an HDD (Hard Disk Drive), an SSD (Solid State Drive), a memory card, a USB memory, or the like. The storage 240 may be provided inside the work drone 100 or the relay drone 30, respectively, or may be provided removable from the work drone 100 or the relay drone 30, respectively.

The communication interface 250 communicates with the operation terminal 50 and also with the work drone 100 or the relay drone 30. The communication interface 250 receives various information regarding the flight path (for example, control commands related to flight) from the operation terminal 50. The communication interface 250 receives various commands (commands) from the operation terminal 50 to the UAV control unit 110. The communication interface 250 transmits information on the state of the work drone 100 or the relay drone 30, or information collected by the work drone 100 or the relay drone 30 to the operation terminal 50. The collected information may also include data of captured images taken aerial by the working drone 100 or the relay drone 30.

The battery 260 has a function as a drive source for each part of the work drone 100 or the relay drone 30, and supplies necessary power to each part of the work drone 100 or the relay drone 30.

Next, an example of the function of the UAV control unit 110 of the work drone 100 or the relay drone 30 will be described.

The UAV control unit 110 acquires position information indicating the position of the work drone 100 or the relay drone 30. This position information may be latitude, longitude, and altitude information calculated by the GPS receiver 140, or may be information further including altitude information detected by the barometric altimeter 170 or the millimeter wave radar 180. The UAV control unit 110 may acquire position information indicating the latitude, longitude, and altitude where the work drone 100 or the relay drone 30 exists from the GPS receiver 140. The UAV control unit 110 has latitude and longitude information indicating the latitude and longitude where the working drone 100 or the relay drone 30 exists from the GPS receiver 140, and the working drone 100 or the relay drone 30 from the barometric altitude meter 170 or the millimeter wave radar 180. Altitude information indicating altitude may be acquired as position information.

The UAV control unit 110 may acquire orientation information indicating the orientation of the work drone 100 or the relay drone 30 from the magnetic compass 160. The orientation information may indicate, for example, the orientation corresponding to the orientation of the nose of the work drone 100 or the relay drone 30.

The UAV control unit 110 may acquire position information indicating the position where the work drone 100 or the relay drone 30 should exist from the memory 120 or the storage 240. The UAV control unit 110 may acquire position information indicating the position where the work drone 100 or the relay drone 30 should exist from another device of the operation terminal 50 via the communication interface 250.

The UAV control unit 110 may acquire wind speed information and wind direction information around the work drone 100 or the relay drone 30 from the wind speed wind direction meter 190. The UAV control unit 110 operates the wind speed information and wind direction information around the work drone 100 or the relay drone 30 or the wind speed information and the wind direction information in the work area where the work drone 100 or the relay drone 30 flies via the communication interface 250. It may be obtained from another device such as the terminal 50.

Based on the information about the flight area stored in the memory 120 or the storage 240, the UAV control unit 110 flies and orbits the flight area when investigating the disaster occurrence location or the incident or the accident occurrence location, and the work drone 100. Alternatively, at least one of the altitude of the relay drone 30, the start of flight, the end of flight, and the flight path during flight may be controlled.

Next, a configuration example of the operation terminal 50 will be described.

FIG. 3 is a block diagram showing an example of the hardware configuration of the operation terminal 50. The operation terminal 50 includes a processing unit 51, a memory 52, a wireless communication unit 53, a display unit 54, an operation unit 55, an input / output interface 56, a storage 57, and a battery 58. The operation terminal 50 has a function of transmitting a control command (command) for remotely controlling the work drone 100 or the relay drone 30. The operation terminal 50 has a function of inputting / outputting various information and data regarding the flight of the work drone 100 or the relay drone 30. The operation terminal 50 may have a separate configuration in which the transmitter and the tablet terminal, the smartphone or the mobile terminal are connected to each other, or may be a single device including the transmitter, the tablet terminal, the smartphone or the mobile terminal. It may be configured.

The processing unit 51 is configured by using a processor (for example, CPU, MPU or DSP). The processing unit 51 performs signal processing for controlling the operation of each unit of the operation terminal 50, data input / output processing with and from other units, data calculation processing, and data storage processing.

The processing unit 51 may acquire data or information from the work drone 100 or the relay drone 30 via the wireless communication unit 53. The processing unit 51 may acquire data or information from another device via the input / output interface 56. The processing unit 51 may acquire data or information input via the operation unit 55. The processing unit 51 may acquire data and information held in the memory 52. The processing unit 51 may send data or information to the display unit 54 and display the display information based on the data or information on the display unit 54. The processing unit 51 may send data or information to the storage 57 and store the data or information. The processing unit 51 may acquire data and information stored in the storage 57.

Based on the operation input of the operation unit 55, the processing unit 51 sets a flight area to fly and orbit at the time of investigating a disaster occurrence location or an incident or an accident occurrence location, sets a work content in the flight region, and flies in the flight region. At least one setting input may be performed among the setting of the route, the setting of the flight start position and the flight end position to the flight path.

The processing unit 51 may generate an operation signal for remotely controlling the movement of the work drone 100 or the relay drone 30 based on the operation input of the operation unit 55. The processing unit 51 may transmit the generated operation signal as a movement control command to the work drone 100 or the relay drone 30 via the wireless communication unit 53 to remotely control the work drone 100 or the relay drone 30.

The processing unit 51 may generate at least one display screen of the setting screen and the operation screen to be displayed on the display unit 54.

The memory 52 is an example of a storage unit. The memory 52 temporarily stores, for example, a ROM (Read Only Memory) in which data of a program or set value that defines the operation of the processing unit 51 is stored, and various information and data used during processing of the processing unit 51. It has a RAM (Random Access Memory) for storing. The program and set value data stored in the ROM of the memory 52 may be copied to a predetermined recording medium (for example, CD-ROM, DVD-ROM). The RAM of the memory 52 may store flight information including, for example, the flight area, flight path, flight altitude, and various set distances (see FIG. 5 to be described later) of the work drone 100 or the relay drone 30.

The wireless communication unit 53 communicates with the work drone 100 or the relay drone 30 via various wireless communication methods via an antenna, and transmits / receives information and data. The wireless communication method may include, for example, wireless LAN, Bluetooth®, short-range wireless communication, or communication via a public wireless line. The wireless communication unit 53 may communicate with other devices to send and receive information and data.

The display unit 54 is configured by using, for example, an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence) display, and displays various information and data output from the processing unit 51. The display unit 54 may have, for example, an indicator lamp using an LED (Light Emission Diode). The indicator lamp is, for example, the wireless connection state between the work drone 100 or the relay drone 30 and the operation terminal 50, the activation state of the work drone 100 or the relay drone 30, the capacity of the battery of the work drone 100 or the relay drone 30 or the operation terminal 50. Display at least one of the remaining amount of.

The operation unit 55 receives an operation instruction, data or information input by a user holding the operation terminal 50. The operation unit 55 may include a joystick, buttons, keys, a touch panel, a microphone, and the like. The operation unit 55 is, for example, in an operation for remotely controlling the movement of the work drone 100 or the relay drone 30 by the user (for example, moving the work drone 100 or the relay drone 30 back and forth, moving left and right, moving up and down, and changing the direction). used. The operation unit 55 is used, for example, in an operation for inputting various settings related to a flight area (see above). The operation unit 55 is used, for example, in an operation for instructing the start or end of the flight of the working drone 100 or the relay drone 30 to the flight area.

The input / output interface 56 inputs / outputs information and data between the operation terminal 50 and other devices. The input / output interface 56 may be, for example, a USB port (not shown) provided in the operation terminal 50. The input / output interface 56 may be an interface other than the USB port.

The storage 57 is an example of a storage unit. The storage 57 stores and holds various data and information. The storage 57 may be a flash memory, an SSD (Solid State Drive), a memory card, a USB memory, or the like. The storage 57 may be provided so as to be removable from the main body of the operation terminal 50.

The battery 58 has a function as a drive source for each part of the operation terminal 50, and supplies necessary power to each part of the operation terminal 50.

Next, main functional configuration examples of the work drone 100, the relay drone 30, and the operation terminal 50 will be described.

FIG. 4 is a block diagram showing a main functional configuration example of the work drone 100, the relay drone 30, and the operation terminal 50. FIG. 4 shows an example of a main functional configuration among the hardware configurations of the work drone 100, the relay drone 30, and the operation terminal 50 shown in FIGS. 2 and 3.

The operation terminal 50 has a configuration mainly including a transmission unit 53T and a reception unit 53R. The transmitting unit 53T and the receiving unit 53R correspond to the wireless communication unit 53 (see FIG. 3).

The transmission unit 53T transmits various control commands (commands) related to flight or information collection of, for example, the work drone 100 or the relay drone 30 to the relay drone 30 according to an operation signal based on the operation of the user. Although not shown in FIG. 4, when the operation terminal 50 is located at a position where it can be directly controlled with the work drone 100, various controls related to flight or information collection of the work drone 100 are performed. The command may be sent directly to the working drone 100. Further, the transmission unit 53T may transmit the current position information in which the operation terminal 50 exists to the relay drone 30 and the work drone 100.

The receiving unit 53R receives the information regarding the current state of the working drone 100 or the information collected by the working drone 100 transmitted from the relay drone 30. This received information is displayed, for example, on the display unit 54 (see FIG. 3) of the operation terminal 50.

The relay drone 30 mainly includes a terminal data receiving unit 31, a working drone data transmitting unit 32, a working drone data receiving unit 33, a terminal data transmitting unit 34, a working drone tracking unit 35, and a relay drone control unit 36. It is a configuration included in. The terminal data receiving unit 31, the working drone data transmitting unit 32, the working drone data receiving unit 33, and the terminal data transmitting unit 34 correspond to the communication interface 250 (see FIG. 2). The work drone tracking unit 35 and the relay drone control unit 36 correspond to the UAV control unit 110 (see FIG. 2).

The terminal data receiving unit 31 receives various control commands (commands) related to flight or information collection of the work drone 100 or the relay drone 30 transmitted from the operation terminal 50. The terminal data receiving unit 31 sends various control commands (commands) related to the flight of the working drone 100 or information collection to the working drone data transmitting unit 32. Further, the terminal data receiving unit 31 may receive the position information of the operation terminal 50 transmitted from the operation terminal 50. The terminal data receiving unit 31 may send the position information of the operating terminal 50 to the working drone tracking unit 35.

The work drone data transmission unit 32 acquires various control commands (commands) related to flight or information collection of the work drone 100 sent from the terminal data reception unit 31. The work drone data transmission unit 32 transmits various control commands (commands) related to flight or information collection of the work drone 100 to the work drone 100.

The working drone data receiving unit 33 receives the information regarding the current state of the working drone 100 or the information collected by the working drone 100 transmitted from the working drone 100. The working drone data receiving unit 33 sends information on the current state of the working drone 100 or information collected by the working drone 100 to the terminal data transmitting unit 34. Further, the work drone data receiving unit 33 may receive the current position information in which the work drone 100 exists, which is transmitted from the work drone 100. The working drone data receiving unit 33 may send the position information of the working drone 100 to the working drone tracking unit 35.

The terminal data transmission unit 34 transmits the information regarding the current state of the work drone 100 or the information collected by the work drone 100 sent from the work drone data reception unit 33 to the operation terminal 50.

The work drone tracking unit 35 includes the position information of the operation terminal 50 sent from the terminal data reception unit 31, the position information of the work drone 100 sent from the work drone data reception unit 33, and the relay drone 30 calculated by the relay drone 30. Get the location information of each. The work drone tracking unit 35 executes various processes related to tracking the work drone 100 by using the position information of the work drone 100, the relay drone 30, and the operation terminal 50.

For example, the work drone tracking unit 35 uses the position information of the work drone 100, the relay drone 30, and the operation terminal 50 to set the relative distance L0 between the work drone 100 and the operation terminal 50 (see FIG. 9) and work. The relative distance L1 between the drone 100 and the relay drone 30 (see FIG. 9) and the relative distance L2 between the relay drone 30 and the operation terminal 50 (see FIG. 9) are calculated. The work drone tracking unit 35 sends the calculation results of the relative distances L0, L1, L2, and the position information of the work drone 100, the relay drone 30, and the operation terminal 50 to the relay drone control unit 36.

The relay drone control unit 36 acquires the calculation results of the relative distances L0, L1, L2 sent from the work drone tracking unit 35, and the position information of the work drone 100, the relay drone 30, and the operation terminal 50, respectively. The relay drone control unit 36 relays using the position information of the work drone 100, the relay drone 30, and the operation terminal 50 so that the relay drone 30 relays the communication between the operation terminal 50 and the work drone 100. It controls the position information of the drone 30 before the start of the flight, during the flight, and at the end of the flight. In other words, the relay drone control unit 36 controls the state of the relay drone 30 that relays the communication between the operation terminal 50 and the work drone 100 according to the state of the work drone 100.

As a result, the relay drone 30 can relay the communication between the operation terminal 50 and the work drone 100 without having to raise the radio field strength of the operation signal from the operation terminal 50 operated by the user. It is possible to reduce the interruption of communication between the work drone 100 and the operation terminal 50 to be performed. Therefore, according to the communication relay system 10, the relay drone 30 can relay mutual communication between the operation terminal 50 and the work drone 100, so that the range of remote control of the work drone 100 from the operation terminal 50 is substantially defined. It becomes possible to expand the target.

Further, the relay drone 30 acquires the position information of the work drone 100 in the UAV control unit 110 as the state of the work drone 100. The relay drone 30 controls the flight altitude of the relay drone 30 according to the position information of the work drone 100 as the state of the relay drone 30. As a result, the relay drone 30 can control the flight altitude during its own flight (in other words, its own position information) according to the position information of the work drone 100, and can communicate between the operation terminal 50 and the work drone 100. Can be relayed effectively.

The work drone 100 mainly includes a work drone receiving unit 101, a working drone transmitting unit 103, a working drone processing unit 105, and a working drone control unit 107. The working drone receiving unit 101 and the working drone transmitting unit 103 correspond to the communication interface 250 (see FIG. 2). The working drone control unit 107 corresponds to the UAV control unit 110 (see FIG. 2).

The work drone receiving unit 101 receives various control commands (commands) related to flight or information collection of the work drone 100 transmitted from the work drone data transmission unit 32. The work drone receiving unit 101 sends various control commands (commands) related to flight or information collection of the work drone 100 to the work drone control unit 107.

The work drone transmission unit 103 transmits the information regarding the current state of the work drone 100 or the information collected by the work drone 100 sent from the work drone processing unit 105 to the relay drone 30.

The working drone processing unit 105 calculates or calculates information about the state of the working drone 100 itself (for example, position, flight speed, flight altitude, acceleration during flight), or the surrounding state of the working drone 100 (for example, wind speed, wind direction, humidity). Measure and acquire. In addition, the working drone processing unit 105 acquires data of captured images (including captured images; the same shall apply hereinafter) captured (that is, aerial shot) by the imaging devices CAM1 and CAM2. The work drone processing unit 105 uses information on the state of the work drone 100 itself or the surrounding state of the work drone 100, and image data as information on the current state of the work drone 100 or information collected by the work drone 100. It is sent to the work drone transmission unit 103.

The work drone control unit 107 controls the execution of predetermined work to be performed at a disaster occurrence location or an incident or accident occurrence location in the flight area. For example, when the work drone 100 is equipped with a robot arm (not shown), the work drone control unit 107 controls the operation of the robot arm to carry supplies and the like during flight in the flight area. As a result, the work drone 100 can take relief measures by transporting supplies or the like at a disaster occurrence location or an incident or accident occurrence location in the flight area.

Further, the work drone control unit 107 is, for example, when the work drone 100 is equipped with at least one injection nozzle (not shown) and a tank (not shown), a valve (not shown) connecting the tank and the injection nozzle. Controls the opening and closing of the tank to allow water in the tank to flow out and sprinkle from the injection nozzle during flight in the flight area. As a result, the work drone 100 can support the extinguishing of a fire as an emergency measure before the arrival of a fire engine, for example, in a disaster occurrence location in a flight area.

Next, the setting parameters set when the communication is relayed by the relay drone 30 will be described.

FIG. 5 is an explanatory diagram of setting parameters set when relaying communication by the relay drone 30. In FIG. 5, the user who uses the operation terminal 50 exists at the position Ps1 which is a point on the ground (that is, the ground GND), and both the relay drone 30 and the work drone 100 are flying over the position Ps1 away from the position Ps1. A condition is shown. In FIG. 5, the position Ps1 where the operation terminal 50 exists corresponds to the center position of the semicircle when the safety control distance Sf1 from the position of the operation terminal 50 is indicated by a semicircle.

The setting parameters include at least a direct control distance Cnt1, a tracking distance Tr1, a tracking altitude Hg1, a safety control distance Sf1, and a tracking altitude range RNG1.

The direct control distance Cnt1 is a distance at which the operation terminal 50 can directly control communication with the work drone 100 or the relay drone 30 regardless of the presence or absence of a communication obstacle such as a building. Therefore, when the work drone 100 or the relay drone 30 exists within the range of the direct control distance Cnt1 from the operation terminal 50, even if the building exists between the operation terminal 50 and the work drone 100 or the relay drone 30. Communication is not interrupted during that time. The direct control distance Cnt1 is, for example, 30 m, but is not limited to 30 m.

The tracking distance Tr1 is such that the relay drone 30 and the relay drone 30 are both in flight so that the relay drone 30 can stably relay the communication between the operation terminal 50 and the work drone 100. A distance that indicates the in-flight distance maintained between and. The tracking distance Tr1 is set to, for example, 10 m, but is not limited to 10 m.

The tracking altitude Hg1 indicates an in-flight flight altitude at which the relay drone 30 is maintained during flight so that the relay drone 30 relays communication between the operating terminal 50 and the working drone 100. The tracking altitude Hg1 is set to, for example, 200 m, but is not limited to 200 m.

The safety control distance Sf1 may cause communication interruption if there is a communication obstacle such as a building, but unless it is affected by a communication obstacle such as a building, the operation terminal 50 is between the relay drone 30 and the relay drone 30. It is the distance to the farthest position where communication can be controlled by. Therefore, when the relay drone 30 exists within the range of the safety control distance Sf1 from the operation terminal 50, there is a possibility that the communication between the operation terminal 50 and the relay drone 30 is blocked by a communication obstacle such as a building. However, communication between the operating terminal 50 and the relay drone 30 is possible. The safety control distance Sf1 is, for example, 3000 m, but is not limited to 3000 m.

The tracking altitude range RNG1 indicates the range of flight altitudes during flight that the relay drone 30 maintains during flight for the relay drone 30 to relay communications between the operating terminal 50 and the working drone 100. The tracking altitude range RNG1 is, for example, 100 m to 500 m, but is not limited to 100 m to 500 m.

Next, in the communication relay system 10 of the present embodiment, three types of examples in which the relay drone 30 relays the communication between the operation terminal 50 and the work drone 100 will be described in order.

(Example 1)
FIG. 6 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay according to the first embodiment. In FIG. 6, the position Ps1 where the operation terminal 50 exists corresponds to the center position of the semicircle when the safety control distance Sf1 from the position of the operation terminal 50 is indicated by a semicircle.

As shown in FIG. 6, when the relay drone 30 is flying at the position Ps2 in the sky, the distance between the operation terminal 50 and the relay drone 30 does not exceed the above-mentioned safety control distance Sf1. Therefore, although there is a possibility that the communication between the operation terminal 50 and the relay drone 30 may be blocked by a communication obstacle such as a building, the communication between the operation terminal 50 and the work drone 100 is performed by the relay drone 30. Relay is possible.

On the other hand, when the relay drone 30 is flying at the position Ps3 in the sky, the distance between the operation terminal 50 and the relay drone 30 exceeds the above-mentioned safety control distance Sf1. Therefore, there is a high probability that the communication between the operation terminal 50 and the relay drone 30 will be blocked by a communication obstacle such as a building, and the relay drone 30 will give a predetermined alarm (see FIG. 7) to the operation terminal 50. Instruct. As a result, the user moves to a position where the distance between the operation terminal 50 and the relay drone 30 is within the safety control distance Sf1 while holding the operation terminal 50, so that the work drone via the relay drone 30 can be used. It is possible to relay the communication between the 100 and the operation terminal 50.

FIG. 7 is a flowchart showing an example of a communication relay operation procedure in the relay drone 30 according to the first embodiment. In the description of FIG. 7, FIG. 6 is referred to as appropriate.

In FIG. 7, the work drone tracking unit 35 of the relay drone 30 executes various processes related to the tracking of the work drone 100 (S1).

Specifically, the work drone tracking unit 35 extracts the position information of the work drone 100 sent from the work drone data receiving unit 33 (S11), and extracts the position information of the relay drone 30 calculated by the relay drone 30. Then, the position information of the operation terminal 50 sent from the terminal data receiving unit 31 is extracted (S13). The execution order of the processes of steps S11 to S13 does not matter.

Further, the work drone tracking unit 35 uses the position information of the work drone 100 and the relay drone 30 extracted in steps S11 and S12, and the horizontal relative distance D1 between the work drone 100 and the relay drone 30. (See FIG. 6, an example of the first distance) is calculated (S14). The working drone tracking unit 35 uses the position information of the relay drone 30 and the operation terminal 50 extracted in steps S12 and S13, and uses the relative distance D3 in the horizontal direction between the relay drone 30 and the operation terminal 50 (FIG. Refer to No. 6, an example of the second distance) is calculated (S15).

The relay drone control unit 36 of the relay drone 30 executes a process related to relaying communication between the operation terminal 50 and the work drone 100 using the process result of step S1 (S2).

Specifically, the relay drone control unit 36 determines whether or not the relative distance D3 calculated in step S15 is equal to or less than the above-mentioned safety control distance Sf1 (for example, 3000 m) (S21).

When the relay drone control unit 36 determines that the relative distance D3 is equal to or less than the safety control distance Sf1 (S21, YES), the relative distance D1 calculated in step S14 is equal to or greater than the above-mentioned tracking distance Tr1 (for example, 10 m). It is determined whether or not (S22).

When the relay drone control unit 36 determines that the relative distance D1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 flies so that the relative distance D1 with the working drone 100 becomes the tracking distance Tr1. The flight of the relay drone 30 is controlled so as to move (S23). As a result, the relay drone 30 can move following the movement of the work drone 100 even when the distance between the relay drone 30 and the work drone 100 exceeds the tracking distance Tr1, so that the communication between the operation terminal 50 and the work drone 100 is stable. Can be relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance D1 is less than the tracking distance Tr1 (S22, NO), the relay drone control unit 36 is hovering (that is, maintaining the current flight position and continuing the flight). Control the flight of the relay drone 30 (S24). As a result, since the relative distance D1 between the relay drone 30 and the work drone 100 is within the tracking distance Tr1, the relay drone 30 is hovering between the operation terminal 50 and the work drone 100 without the need to actively move. Communication can be relayed stably.

On the other hand, when the relay drone control unit 36 determines that the relative distance D3 exceeds the safety control distance Sf1 (S21, NO), the relay drone control unit 36 is located between the relay drone 30 and the operation terminal 50 with respect to the operation terminal 50. An alarm indicating that communication is hindered is instructed (transmitted) as a predetermined alarm (S25). As a result, the user moves to a position where the distance between the operation terminal 50 and the relay drone 30 is within the safety control distance Sf1 while holding the operation terminal 50, so that the work drone via the relay drone 30 can be used. It is possible to relay the communication between the 100 and the operation terminal 50.

After step S2, for example, when a control command (command) for instructing the end of the flight of the relay drone 30 is transmitted from the operation terminal 50 (S3, YES), the relay drone 30 ends the flight. On the other hand, after step S2, for example, if the control command (command) for instructing the end of the flight of the relay drone 30 is not transmitted from the operation terminal 50 (S3, NO), the flight of the relay drone 30 is continued. Therefore, the process of the relay drone 30 returns to step S1, and the processes of steps S1 and S2 are repeated until the flight of the relay drone 30 is completed.

(Example 2)
FIG. 8 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay in the startup mode according to the second embodiment. FIG. 9 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay in the relay mode according to the second embodiment. In FIGS. 8 and 9, the position Ps1 where the operation terminal 50 exists corresponds to the center position of the semicircle when the safety control distance Sf1 from the position of the operation terminal 50 is indicated by a semicircle.

In the start-up mode, for example, the relay drone 30 has not risen to a sufficient flight altitude to stably relay the communication between the operation terminal 50 and the work drone 100, and the flight is equivalent to that of the work drone 100. This is the flight mode when the relay drone 30 rises to altitude. On the other hand, in the relay mode, for example, after the relay drone 30 has risen to a sufficient flight altitude to stably relay the communication between the operation terminal 50 and the work drone 100, the relay drone follows the movement of the work drone 100. This is the flight mode when the relay drone 30 also moves and relays.

As shown in FIG. 8, when the relay drone 30 exists at the position Ps4 in the sky, it rises to a sufficient flight altitude to stably relay the communication between the operation terminal 50 and the work drone 100. Not. That is, the relay drone 30 shown in FIG. 8 is in a state of being ascended to a flight altitude equivalent to that of the working drone 100 (in other words, in the rising mode).

As shown in FIG. 9, when the relay drone 30 exists at the position Ps5 in the sky, it has risen to a sufficient flight altitude to stably relay the communication between the operation terminal 50 and the work drone 100. Is. That is, the relay drone 30 shown in FIG. 9 is in a state after rising to a flight altitude equivalent to that of the work drone 100 (in other words, in the relay mode).

FIG. 10 is a flowchart showing an example of a communication relay operation procedure in the relay drone 30 according to the second embodiment. In the description of FIG. 10, reference is made to FIG. 8 or 9 as appropriate. Further, in the description of FIG. 10, the same step numbers are assigned to the same processes as those described with reference to FIG. 7, and the description will be simplified or omitted.

In FIG. 10, the work drone tracking unit 35 of the relay drone 30 executes various processes related to the tracking of the work drone 100 (S1A).

The work drone tracking unit 35 uses the position information of the work drone 100 and the relay drone 30 extracted in steps S11 and S12, and uses the relative distance L1 in the horizontal direction between the work drone 100 and the relay drone 30 (FIG. 8. Refer to FIG. 9, an example of the first distance) is calculated (S16). The work drone tracking unit 35 uses the position information of the work drone 100 and the operation terminal 50 extracted in steps S11 and S13, and uses the relative distance L0 in the horizontal direction between the work drone 100 and the operation terminal 50 (FIG. 8. Refer to FIG. 9, an example of the third distance) is calculated (S17). The working drone tracking unit 35 uses the respective position information of the relay drone 30 and the operation terminal 50 extracted in steps S12 and S13, and uses the relative distance L2 in the horizontal direction between the relay drone 30 and the operation terminal 50 (FIG. Refer to No. 6, an example of the second distance) is calculated (S18).

The relay drone control unit 36 of the relay drone 30 uses the processing result of step S1A to execute processing according to the startup mode or the relay mode regarding the relay of the communication between the operation terminal 50 and the work drone 100 ((). S2A).

The relay drone control unit 36 determines whether or not the relative distance L0 calculated in step 17 is equal to or less than the above-mentioned direct control distance Cnt1 (for example, 30 m) (S26).

When the relay drone control unit 36 determines that the relative distance L0 is equal to or less than the direct control distance Cnt1 (S26, YES), the relay drone control unit 36 can stably relay the communication between the operation terminal 50 and the work drone 100. Since it has not risen to a sufficient flight altitude, the rise mode is set as the flight mode of the relay drone 30, and various processes according to the rise mode are executed. As a result, the relay drone 30 can efficiently control its own flight altitude so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed, and the tracking distance with the work drone 100 is also maintained. You can fly as much as possible.

Specifically, the relay drone control unit 36 uses the position information of the work drone 100 and the relay drone 30 extracted in steps S11 and S12, and the flight altitude difference between the work drone 100 and the relay drone 30. K1 (see FIGS. 8 and 9) is calculated. The relay drone control unit 36 determines whether or not the flight altitude difference K1 is equal to or greater than a predetermined tracking altitude difference (for example, 20 m) (S27).

When the relay drone control unit 36 determines that the flight altitude difference K1 is equal to or greater than the predetermined tracking altitude difference (S27, YES), the relay drone control unit 36 executes a flight having the same flight altitude as the flight altitude of the work drone 100. In addition, the flight altitude is raised to ascend (S28). As a result, the relay drone 30 can rise to a sufficient flight altitude to stably relay the communication between the operation terminal 50 and the work drone 100.

On the other hand, when the relay drone control unit 36 determines that the flight altitude difference K1 is less than the predetermined tracking altitude difference (S27, NO), the relative distance L1 calculated in step S16 is the tracking distance Tr1 described above (S27, NO). For example, it is determined whether or not it is 10 m) or more (S22).

When the relay drone control unit 36 determines that the relative distance L1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 flies so that the relative distance L1 to the working drone 100 becomes the tracking distance Tr1. The flight of the relay drone 30 is controlled so as to move (S23). As a result, the relay drone 30 can move following the movement of the work drone 100 even when the distance between the relay drone 30 and the work drone 100 exceeds the tracking distance Tr1, so that the communication between the operation terminal 50 and the work drone 100 is stable. Can be relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is less than the tracking distance Tr1 (S22, NO), the relay drone control unit 36 is hovering (that is, maintaining the current flight position and continuing the flight). Control the flight of the relay drone 30 (S24). As a result, since the relative distance L1 between the relay drone 30 and the work drone 100 is within the tracking distance Tr1, the relay drone 30 is hovering between the operation terminal 50 and the work drone 100 without the need to actively move. Communication can be relayed stably.

On the other hand, when the relay drone control unit 36 determines that the relative distance L0 exceeds the direct control distance Cnt1 (S26, NO), the relay drone control unit 36 can stably relay the communication between the operation terminal 50 and the work drone 100. Since the flight altitude has risen to a sufficient level, the relay mode is set as the flight mode of the relay drone 30, and various processes according to the relay mode are executed. As a result, the relay drone 30 can efficiently control its own flight position so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed, and the tracking distance with the work drone 100 is also maintained. You can fly as much as possible.

Specifically, the relay drone control unit 36 constantly controls the flight altitude so that the current flight altitude becomes the above-mentioned tracking altitude Hg1 (for example, 200 m), and controls the ascent or descent of the relay drone 30. (S29). As a result, the relay drone 30 can stably relay the communication between the work drone 100 and the operation terminal 50 while maintaining a flight altitude equivalent to that of the work drone 100 which has risen to a tracking altitude of about Hg1. can.

After step S29, the relay drone control unit 29 determines whether or not the relative distance L2 calculated in step S18 is equal to or greater than the above-mentioned safety control distance Sf1 (for example, 3000 m) (S30).

When the relay drone control unit 36 determines that the relative distance L2 is less than the safety control distance Sf1 (S30, NO), the relative distance L1 calculated in step S16 is equal to or greater than the above-mentioned tracking distance Tr1 (for example, 10 m). It is determined whether or not (S22).

When the relay drone control unit 36 determines that the relative distance L1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 flies so that the relative distance L1 to the working drone 100 becomes the tracking distance Tr1. The flight of the relay drone 30 is controlled so as to move (S23). As a result, the relay drone 30 can move following the movement of the work drone 100 even when the distance between the relay drone 30 and the work drone 100 exceeds the tracking distance Tr1, so that the communication between the operation terminal 50 and the work drone 100 is stable. Can be relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is less than the tracking distance Tr1 (S22, NO), the relay drone control unit 36 is hovering (that is, maintaining the current flight position and continuing the flight). Control the flight of the relay drone 30 (S24). As a result, since the relative distance L1 between the relay drone 30 and the work drone 100 is within the tracking distance Tr1, the relay drone 30 is hovering between the operation terminal 50 and the work drone 100 without the need to actively move. Communication can be relayed stably.

On the other hand, when the relay drone control unit 36 determines that the relative distance L2 exceeds the safety control distance Sf1 (S30, NO), the relay drone control unit 36 is located between the relay drone 30 and the operation terminal 50 with respect to the operation terminal 50. An alarm indicating that communication is hindered is instructed (transmitted) as a predetermined alarm (S25). As a result, the user moves to a position where the distance between the operation terminal 50 and the relay drone 30 is within the safety control distance Sf1 while holding the operation terminal 50, so that the work drone via the relay drone 30 can be used. It is possible to relay the communication between the 100 and the operation terminal 50.

After step S2A, for example, when a control command (command) for instructing the end of the flight of the relay drone 30 is transmitted from the operation terminal 50 (S3, YES), the relay drone 30 ends the flight. On the other hand, after step S2A, for example, if the control command (command) for instructing the end of the flight of the relay drone 30 is not transmitted from the operation terminal 50 (S3, NO), the flight of the relay drone 30 is continued. Therefore, the process of the relay drone 30 returns to step S1A, and the processes of steps S1A and S2A are repeated until the flight of the relay drone 30 is completed.

(Example 3)
FIG. 11 is an explanatory diagram showing the positions of the operation terminal 50, the relay drone 30, and the work drone 100 at the time of communication relay in the relay mode according to the third embodiment. In the third embodiment, unlike the first and second embodiments, the relay drone 30 controls the flight altitude during its own flight within the tracking altitude range RNG1 according to the flight altitude of the work drone 100. , The communication between the work drone 100 and the operation terminal 50 is relayed.

As shown in FIG. 11, when the working drone 100 is flying within the tracking altitude range RNG1, the relay drone 30 flies over (for example, while maintaining the same flight altitude as the working drone 100). See position Ps6).

Further, when the working drone 100 is flying further above the tracking altitude range RNG1, the relay drone 30 flies after ascending to the flight altitude which is the upper limit of the tracking altitude range RNG1 (for example, the position Ps7). reference).

Further, when the working drone 100 is flying at a lower altitude beyond the tracking altitude range RNG1, the relay drone 30 flies after descending to the flight altitude which is the lower limit of the tracking altitude range RNG1 (for example, the position Ps8). reference).

FIG. 12 is a flowchart showing an example of an operation procedure of communication relay in the relay mode in the relay drone 30 according to the third embodiment. In the third embodiment and the second embodiment, the execution contents of the processing of the work drone tracking unit 35 are the same, and the description of the same contents will be omitted. Further, in the third embodiment and the second embodiment, the processing of the relay drone control unit 36 is different only in the processing in the relay mode, and the processing in the startup mode is the same. Therefore, the processing in the startup mode is the same. Since the description of the above has been described with reference to FIG. 9, the description will be omitted again in the third embodiment. Therefore, in FIG. 12, only the processing in the relay mode different from the processing in the relay mode of the relay drone control unit 36 in FIG. 9 is shown, but in the third embodiment, the processing other than the relay mode is the same as in the second embodiment. Therefore, the description of the same content will be omitted.

In the third embodiment, when the relay drone control unit 36 determines that the relative distance L0 exceeds the direct control distance Cnt1 (S26, NO), the relay drone control unit 36 stably communicates between the operation terminal 50 and the work drone 100. Since the flight altitude has risen to a level sufficient for relaying, the relay mode is set as the flight mode of the relay drone 30, and various processes according to the relay mode are executed. As a result, the relay drone 30 can efficiently control its own flight position so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed, and the tracking distance with the work drone 100 is also maintained. You can fly as much as possible.

In FIG. 12, the relay drone control unit 36 uses the position information (including altitude information) of the work drone 100 extracted in step S11 to measure the flight altitude of the work drone 100 from the lower limit to the upper limit of the tracking altitude range RNG1. It is determined whether or not it is within the range (S31).

When the relay drone control unit 36 determines that the flight altitude of the work drone 100 is within the range from the lower limit to the upper limit of the tracking altitude range RNG1 (S31, YES), the flight altitude of the relay drone 30 is set to the work drone 100. The flight of the relay drone 30 is controlled and moved so as to be the same as the flight altitude of (S32). As a result, the relay drone 30 can fly at the same flight altitude as the work drone 100 flying within the predetermined tracking altitude range RNG1, so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed. can.

After step S32, the relay drone control unit 36 determines whether or not the relative distance L2 calculated in step S18 is equal to or greater than the above-mentioned safety control distance Sf1 (for example, 3000 m) (S30).

When the relay drone control unit 36 determines that the relative distance L2 is less than the safety control distance Sf1 (S30, NO), the relative distance L1 calculated in step S16 is equal to or greater than the above-mentioned tracking distance Tr1 (for example, 10 m). It is determined whether or not (S22).

When the relay drone control unit 36 determines that the relative distance L1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 flies so that the relative distance L1 to the working drone 100 becomes the tracking distance Tr1. The flight of the relay drone 30 is controlled so as to move (S23). As a result, the relay drone 30 can move while maintaining the same flight altitude as the flight altitude of the work drone 100 by following the movement of the work drone 100 even when the distance to and from the work drone 100 exceeds the tracking distance Tr1. , Communication between the operation terminal 50 and the work drone 100 can be stably relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is less than the tracking distance Tr1 (S22, NO), the relay drone control unit 36 is hovering (that is, maintaining the current flight position and continuing the flight). Control the flight of the relay drone 30 (S24). As a result, the relay drone 30 works with the operation terminal 50 in a state of hovering without having to actively move because the relative distance L1 to the work drone 100 is within the tracking distance Tr1 while making the flight altitude the same. Communication with the drone 100 can be stably relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L2 exceeds the safety control distance Sf1 (S30, NO), the relay drone control unit 36 is located between the relay drone 30 and the operation terminal 50 with respect to the operation terminal 50. An alarm indicating that communication is hindered is instructed (transmitted) as a predetermined alarm (S25). As a result, the user moves to a position where the distance between the operation terminal 50 and the relay drone 30 is within the safety control distance Sf1 while holding the operation terminal 50, so that the work drone via the relay drone 30 can be used. It is possible to relay the communication between the 100 and the operation terminal 50.

On the other hand, when the relay drone control unit 36 determines that the flight altitude of the work drone 100 is not within the range from the lower limit to the upper limit of the tracking altitude range RNG1 (S31, NO), the relay drone control unit 36 works on the flight altitude of the relay drone 30. The flight altitude is adjusted to the upper limit or the lower limit of the tracking altitude range RNG1 in the direction approaching the flight altitude of the drone 100 (S33). As a result, the relay drone 30 can fly within the predetermined tracking altitude range RNG1 and in the direction approaching the work drone 100, so that the communication between the operation terminal 50 and the work drone 100 can be stably relayed.

After step S33, the relay drone control unit 36 determines whether or not the relative distance L2 calculated in step S18 is equal to or greater than the above-mentioned safety control distance Sf1 (for example, 3000 m) (S30).

When the relay drone control unit 36 determines that the relative distance L2 is less than the safety control distance Sf1 (S30, NO), the relative distance L1 calculated in step S16 is equal to or greater than the above-mentioned tracking distance Tr1 (for example, 10 m). It is determined whether or not (S22).

When the relay drone control unit 36 determines that the relative distance L1 is equal to or greater than the tracking distance Tr1 (S22, YES), the relay drone control unit 36 flies so that the relative distance L1 to the working drone 100 becomes the tracking distance Tr1. The flight of the relay drone 30 is controlled so as to move (S23). As a result, the relay drone 30 follows the movement of the work drone 100 and approaches the work drone 100 while maintaining the flight altitude within the tracking altitude range RNG1 even when the distance between the relay drone 30 and the work drone 100 exceeds the tracking distance Tr1. Since it can be moved to, the communication between the operation terminal 50 and the work drone 100 can be stably relayed.

On the other hand, when the relay drone control unit 36 determines that the relative distance L1 is less than the tracking distance Tr1 (S22, NO), the relay drone control unit 36 is hovering (that is, maintaining the current flight position and continuing the flight). Control the flight of the relay drone 30 (S24). As a result, the relay drone 30 can move in the direction approaching the work drone 100 while maintaining the flight altitude within the tracking altitude range RNG1, and therefore the relative distance L1 to the work drone 100 is within the tracking distance Tr1. Communication between the operation terminal 50 and the work drone 100 can be stably relayed in a hovering state without the need to actively move.

On the other hand, when the relay drone control unit 36 determines that the relative distance L2 exceeds the safety control distance Sf1 (S30, NO), the relay drone control unit 36 is located between the relay drone 30 and the operation terminal 50 with respect to the operation terminal 50. An alarm indicating that communication is hindered is instructed (transmitted) as a predetermined alarm (S25). As a result, the user moves to a position where the distance between the operation terminal 50 and the relay drone 30 is within the safety control distance Sf1 while holding the operation terminal 50, so that the work drone via the relay drone 30 can be used. It is possible to relay the communication between the 100 and the operation terminal 50.

Although the present disclosure has been described above using the embodiments, the technical scope of the invention according to the present disclosure is not limited to the scope described in the above-described embodiments. It will be apparent to those skilled in the art to make various changes or improvements to the embodiments described above. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

The execution order of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, the specification, and the drawing is particularly "before" and "prior to". As long as the output of the previous process is not used in the subsequent process, it can be realized in any order. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it does not mean that it is essential to carry out in this order. No.

10 Communication relay system 30 Relay drone 31 Terminal data reception unit 32 Work drone data transmission unit 33 Work drone data reception unit 34 Terminal data transmission unit 35 Work drone tracking unit 36 Relay drone control unit 50 Operation terminal 51 Processing unit 52 Memory 53 Wireless communication Unit 53R Reception unit 53T Transmission unit 54 Display unit 55 Operation unit 56 Input / output interface 57 Storage 58 Battery 100 Work drone 101 Work drone receiver 103 Work drone transmission unit 105 Work drone processing unit 107 Work drone control unit 110 UAV control unit 120 Memory 130 Rotating wing mechanism 140 GPS receiver 150 Inertial measurement unit 160 Magnetic compass 170 Atmospheric pressure meter 180 Millimeter wave radar 190 Wind speed wind direction meter 240 Storage 250 Communication interface 260 Battery CAM1, CAM2 Imaging device GIM gimbal

Claims (12)

It is a communication relay method that relays the communication between the operation terminal and the work aircraft that performs the predetermined work.
A step of calculating the first distance between the relay vehicle that relays the communication between the operation terminal and the work vehicle and the horizontal distance between the operation terminal and the work vehicle.
The step of calculating the second distance between the operation terminal and the relay vehicle horizontally, and
A step of calculating a third distance between the working vehicle and the horizontal operation terminal, and
When the third distance is equal to or less than a predetermined direct control distance, the step of executing the rise mode of the relay vehicle and the step of executing the rise mode.
Including the step of executing the relay mode of the relay vehicle when the third distance is larger than the direct control distance.
The step of executing the rise mode of the relay vehicle is
The step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and
When the flight altitude difference is equal to or greater than a predetermined tracking altitude difference, a step of executing a flight having the same flight altitude as the flight altitude of the working aircraft, and a step of executing the flight.
When the flight altitude difference is less than the tracking altitude difference and the first distance is equal to or more than a predetermined tracking distance, the step of moving so that the first distance becomes the tracking distance, and
Including the step of continuing the flight at the current flight position when the flight altitude difference is less than the tracking altitude difference and the first distance is less than the tracking distance.
The step of executing the relay mode of the relay vehicle is
A step of executing a flight in which the flight altitude of the relay vehicle is set to a predetermined tracking altitude, and
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the tracking distance, the step of moving so that the first distance becomes the tracking distance.
The step includes a step of continuing the flight at the current flight position when the second distance is less than the safety control distance and the first distance is less than the tracking distance.
Communication relay method. The step of executing the relay mode of the relay vehicle is
If the second distance is the safety control distance or more, comprising the step of instructing a warning to the effect that trouble in communication with the relay aircraft and the operation terminal occurs in the operation terminal,
The communication relay method according to claim 1. It is a communication relay method that relays the communication between the operation terminal and the work aircraft that performs the predetermined work.
A step of calculating the first distance between the relay vehicle that relays the communication between the operation terminal and the work vehicle and the horizontal distance between the operation terminal and the work vehicle.
The step of calculating the second distance between the operation terminal and the relay vehicle horizontally, and
A step of calculating a third distance between the working vehicle and the horizontal operation terminal, and
When the third distance is equal to or less than a predetermined direct control distance, the step of executing the rise mode of the relay vehicle and the step of executing the rise mode.
Including the step of executing the relay mode of the relay vehicle when the third distance is larger than the direct control distance.
The step of executing the rise mode of the relay vehicle is
The step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and
When the flight altitude difference is equal to or greater than a predetermined tracking altitude difference, a step of executing a flight having the same flight altitude as the flight altitude of the working aircraft, and a step of executing the flight.
When the flight altitude difference is less than the tracking altitude difference and the first distance is equal to or more than a predetermined tracking distance, the step of moving so that the first distance becomes the tracking distance.
Including the step of continuing the flight at the current flight position when the flight altitude difference is less than the tracking altitude difference and the first distance is less than the tracking distance.
The step of executing the relay mode of the relay vehicle is
A step of executing a flight having the same flight altitude as the working altitude when the flight altitude of the working aircraft is within a predetermined tracking altitude range is included.
When the flight altitude of the working vehicle is outside the tracking altitude range, the step of moving to the upper or lower flight altitude of the tracking altitude range so as to approach the working aircraft, and
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the tracking distance, the step of moving so that the first distance becomes the tracking distance.
The step includes a step of continuing the flight at the current flight position when the second distance is less than the safety control distance and the first distance is less than the tracking distance.
Communication relay method. The step of executing the relay mode of the relay vehicle is
If the second distance is the safety control distance or more, comprising the step of instructing a warning to the effect that trouble in communication with the relay aircraft and the operation terminal occurs in the operation terminal,
The communication relay method according to claim 3. A relay aircraft that relays communication between the operation terminal and the work aircraft that performs a predetermined task.
It has a control unit that executes processing related to relaying the communication.
The control unit
The first distance between the working vehicle and the relay vehicle horizontally is calculated, and the distance is calculated.
The second distance between the operation terminal and the relay vehicle horizontally is calculated, and the second distance is calculated.
The third distance between the working vehicle and the operation terminal in the horizontal direction is calculated.
When the third distance is equal to or less than the predetermined direct control distance, the rise mode of the relay vehicle is executed.
When the third distance is larger than the predetermined direct control distance, the relay mode of the relay vehicle is executed, and the relay mode is executed.
In the execution of the rise mode of the relay vehicle,
Calculate the flight altitude difference between the working vehicle and the relay vehicle,
When the flight altitude difference is equal to or greater than the predetermined tracking altitude difference, a flight having the same flight altitude as the flight altitude of the working aircraft is executed.
When the flight altitude difference is less than the predetermined tracking altitude difference and the first distance is equal to or more than the predetermined tracking distance, the first distance is moved so as to be the tracking distance.
If the flight altitude difference is less than the predetermined tracking altitude difference and the first distance is less than the predetermined tracking distance, the flight at the current flight position is continued.
In executing the relay mode of the relay vehicle,
Perform a flight with the flight altitude of the relay vehicle as a predetermined tracking altitude,
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the predetermined tracking distance, the first distance is moved so as to be the tracking distance.
If the second distance is less than the predetermined safety control distance and the first distance is less than the predetermined tracking distance, the flight at the current flight position is continued.
Relay aircraft. The control unit
In executing the relay mode of the relay vehicle,
If the second distance is the safety control distance or more, to indicate a warning to the effect that trouble in communication with the relay aircraft and the operation terminal occurs in the operation terminal,
The relay vehicle according to claim 5. A relay aircraft that relays communication between the operation terminal and the work aircraft that performs a predetermined task.
It has a control unit that executes processing related to relaying the communication.
The control unit
The first distance between the working vehicle and the relay vehicle horizontally is calculated, and the distance is calculated.
The second distance between the operation terminal and the relay vehicle horizontally is calculated, and the second distance is calculated.
The third distance between the working vehicle and the operation terminal in the horizontal direction is calculated.
When the third distance is equal to or less than the predetermined direct control distance, the rise mode of the relay vehicle is executed.
When the third distance is larger than the direct control distance, the relay mode of the relay vehicle is executed.
In the execution of the rise mode of the relay vehicle,
Calculate the flight altitude difference between the working vehicle and the relay vehicle,
When the flight altitude difference is equal to or greater than the predetermined tracking altitude difference, a flight having the same flight altitude as the flight altitude of the working aircraft is executed.
When the flight altitude difference is less than the tracking altitude difference and the first distance is equal to or more than a predetermined tracking distance, the first distance is moved so as to be the tracking distance.
When the flight altitude difference is less than the tracking altitude difference and the first distance is less than the tracking distance, the flight at the current flight position is continued.
In executing the relay mode of the relay vehicle,
When the flight altitude of the working aircraft is within the predetermined tracking altitude range, a flight having the same flight altitude as the flight altitude of the working aircraft is executed.
When the flight altitude of the working vehicle is outside the tracking altitude range, the flight altitude is moved to the upper or lower limit of the tracking altitude range so as to approach the working aircraft.
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the predetermined tracking distance, the first distance is moved so as to be the tracking distance.
When the second distance is less than the safety control distance and the first distance is less than the tracking distance, the flight at the current flight position is continued.
Relay aircraft. The control unit
In executing the relay mode of the relay vehicle,
If the second distance is the safety control distance or more, to indicate a warning to the effect that trouble in communication with the relay aircraft and the operation terminal occurs in the operation terminal,
The relay vehicle according to claim 7. To a relay flying object, which is a computer that relays communication between an operating terminal and a working flying object that performs a predetermined task.
A step of calculating the first distance between the relay vehicle that relays the communication between the operation terminal and the work vehicle and the horizontal distance between the operation terminal and the work vehicle.
The step of calculating the second distance between the operation terminal and the relay vehicle horizontally, and
A step of calculating a third distance between the working vehicle and the horizontal operation terminal, and
When the third distance is equal to or less than a predetermined direct control distance, the step of executing the rise mode of the relay vehicle and the step of executing the rise mode.
A program for executing a step of executing a relay mode of the relay vehicle when the third distance is larger than the direct control distance.
The step of executing the rise mode of the relay vehicle is
The step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and
When the flight altitude difference is equal to or greater than a predetermined tracking altitude difference, a step of executing a flight having the same flight altitude as the flight altitude of the working aircraft, and a step of executing the flight.
When the flight altitude difference is less than the tracking altitude difference and the first distance is equal to or more than a predetermined tracking distance, the step of moving so that the first distance becomes the tracking distance.
Including the step of continuing the flight at the current flight position when the flight altitude difference is less than the tracking altitude difference and the first distance is less than the tracking distance.
The step of executing the relay mode of the relay vehicle is
A step of executing a flight in which the flight altitude of the relay vehicle is set to a predetermined tracking altitude, and
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the tracking distance, the step of moving so that the first distance becomes the tracking distance.
The step includes a step of continuing the flight at the current flight position when the second distance is less than the safety control distance and the first distance is less than the tracking distance.
program. To a relay flying object, which is a computer that relays communication between an operating terminal and a working flying object that performs a predetermined task.
A step of calculating the first distance between the relay vehicle that relays the communication between the operation terminal and the work vehicle and the horizontal distance between the operation terminal and the work vehicle.
The step of calculating the second distance between the operation terminal and the relay vehicle horizontally, and
A step of calculating a third distance between the working vehicle and the horizontal operation terminal, and
When the third distance is equal to or less than a predetermined direct control distance, the step of executing the rise mode of the relay vehicle and the step of executing the rise mode.
A program for executing a step of executing a relay mode of the relay vehicle when the third distance is larger than the direct control distance.
The step of executing the rise mode of the relay vehicle is
The step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and
When the flight altitude difference is equal to or greater than a predetermined tracking altitude difference, a step of executing a flight having the same flight altitude as the flight altitude of the working aircraft, and a step of executing the flight.
When the flight altitude difference is less than the tracking altitude difference and the first distance is equal to or more than a predetermined tracking distance, the step of moving so that the first distance becomes the tracking distance.
Including the step of continuing the flight at the current flight position when the flight altitude difference is less than the tracking altitude difference and the first distance is less than the tracking distance.
The step of executing the relay mode of the relay vehicle is
A step of executing a flight having the same flight altitude as the working altitude when the flight altitude of the working aircraft is within a predetermined tracking altitude range is included.
When the flight altitude of the working vehicle is outside the tracking altitude range, the step of moving to the upper or lower flight altitude of the tracking altitude range so as to approach the working aircraft, and
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the tracking distance, the step of moving so that the first distance becomes the tracking distance.
The step includes a step of continuing the flight at the current flight position when the second distance is less than the safety control distance and the first distance is less than the tracking distance.
program. To a relay flying object, which is a computer that relays communication between an operating terminal and a working flying object that performs a predetermined task.
A step of calculating the first distance between the relay vehicle that relays the communication between the operation terminal and the work vehicle and the horizontal distance between the operation terminal and the work vehicle.
The step of calculating the second distance between the operation terminal and the relay vehicle horizontally, and
A step of calculating a third distance between the working vehicle and the horizontal operation terminal, and
When the third distance is equal to or less than a predetermined direct control distance, the step of executing the rise mode of the relay vehicle and the step of executing the rise mode.
A computer-readable recording medium on which a program is recorded for executing a step of executing a relay mode of the relay vehicle when the third distance is larger than the direct control distance.
The step of executing the rise mode of the relay vehicle is
The step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and
When the flight altitude difference is equal to or greater than a predetermined tracking altitude difference, a step of executing a flight having the same flight altitude as the flight altitude of the working aircraft, and a step of executing the flight.
When the flight altitude difference is less than the tracking altitude difference and the first distance is equal to or more than a predetermined tracking distance, the step of moving so that the first distance becomes the tracking distance.
Including the step of continuing the flight at the current flight position when the flight altitude difference is less than the tracking altitude difference and the first distance is less than the tracking distance.
The step of executing the relay mode of the relay vehicle is
A step of executing a flight in which the flight altitude of the relay vehicle is set to a predetermined tracking altitude, and
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the tracking distance, the step of moving so that the first distance becomes the tracking distance.
The step includes a step of continuing the flight at the current flight position when the second distance is less than the safety control distance and the first distance is less than the tracking distance.
recoding media. To a relay flying object, which is a computer that relays communication between an operating terminal and a working flying object that performs a predetermined task.
A step of calculating the first distance between the relay vehicle that relays the communication between the operation terminal and the work vehicle and the horizontal distance between the operation terminal and the work vehicle.
The step of calculating the second distance between the operation terminal and the relay vehicle horizontally, and
A step of calculating a third distance between the working vehicle and the horizontal operation terminal, and
When the third distance is equal to or less than a predetermined direct control distance, the step of executing the rise mode of the relay vehicle and the step of executing the rise mode.
A computer-readable recording medium on which a program is recorded for executing a step of executing a relay mode of the relay vehicle when the third distance is larger than the direct control distance.
The step of executing the rise mode of the relay vehicle is
The step of calculating the flight altitude difference between the working vehicle and the relay vehicle, and
When the flight altitude difference is equal to or greater than a predetermined tracking altitude difference, a step of executing a flight having the same flight altitude as the flight altitude of the working aircraft, and a step of executing the flight.
When the flight altitude difference is less than the tracking altitude difference and the first distance is equal to or more than a predetermined tracking distance, the step of moving so that the first distance becomes the tracking distance.
Including the step of continuing the flight at the current flight position when the flight altitude difference is less than the tracking altitude difference and the first distance is less than the tracking distance.
The step of executing the relay mode of the relay vehicle is
A step of executing a flight having the same flight altitude as the working altitude when the flight altitude of the working aircraft is within a predetermined tracking altitude range is included.
When the flight altitude of the working vehicle is outside the tracking altitude range, the step of moving to the upper or lower flight altitude of the tracking altitude range so as to approach the working aircraft, and
When the second distance is less than the predetermined safety control distance and the first distance is equal to or more than the tracking distance, the step of moving so that the first distance becomes the tracking distance.
The step includes a step of continuing the flight at the current flight position when the second distance is less than the safety control distance and the first distance is less than the tracking distance.
recoding media.

Images