JP6989655B2 - Communication equipment, methods and programs, as well as flight equipment and control systems with such communication equipment. - Google Patents

Description

The present invention relates to a communication device, a method and a program for receiving flight control information of a flight device via wireless communication, and a flight device and a control system having the communication device.

Conventionally, an unmanned flight device whose flight is controlled by flight control information wirelessly transmitted from a control device via a plurality of types of wireless communication methods (WiFi and LTE) is known (see, for example, Patent Document 1). According to this flight device, it is said that the control information for controlling the flight device can be delivered to the flight device more reliably.

Japanese Unexamined Patent Publication No. 2018-08583

However, the conventional flight device has a problem that it is necessary to add a communication module for supporting each of a plurality of types of wireless communication methods and change the device configuration.

The communication device according to one aspect of the present invention is a communication device on the flight device side that receives flight control information of the flight device via wireless communication. This communication device is provided as a device separate from the flight device main body having the flight control unit of the flight device, and is provided from the control device of the flight device via each of a plurality of types of wireless communication systems including a cellular mobile communication system. A plurality of remote control data receiving units that receive transmission signals of transmitted remote control data and the remote control data received by any of the plurality of remote control data receiving units are converted into a remote control signal of a predetermined format. It includes a remote control data processing unit and a transmission unit that transmits the remote control signal to the flight device main body.
In the communication device, switching between the switching determination unit for determining whether or not to switch the remote control data receiving unit and the switching determination unit based on the detection of an abnormality in communication with the external input or the control device of the flight device. A wireless communication method switching unit that switches the remote control data receiving unit that receives the transmission signal of the remote control data based on the determination result may be further provided.
In the communication device, an autonomous flight data receiving unit that receives autonomous flight data, an autonomous flight data processing unit that processes the autonomous flight data received by the autonomous flight data receiving unit, and the autonomous flight data are used for the flight device main body. It may be further provided with a transmission unit for transmitting to.
In the communication device, an autonomous flight data receiving unit that receives autonomous flight data, an autonomous flight data processing unit that converts the autonomous flight data received by the autonomous flight data receiving unit into an autonomous control signal of a predetermined format, and the autonomous flight data processing unit. A transmission unit that transmits a control signal to the flight apparatus main body may be further provided.
The communication device may further include a control mode switching unit that switches between a remote flight control mode for remotely controlling the flight device from the control device and an autonomous flight control mode using the autonomous flight data.
In the communication device, the remote control signal or the autonomous control signal may be a control signal in a signal format common to a plurality of types of flight devices.

The flight device according to another aspect of the present invention includes any of the above communication devices and the flight device main body.

The control system for a flight device according to still another aspect of the present invention includes any of the above communication devices and the control device.

A method according to still another aspect of the present invention is a method of receiving flight control information of a flight device via wireless communication. In this method, a communication device provided as a device separate from the flight device main body having a flight control unit of the flight device switches between a plurality of types of wireless communication methods including a cellular mobile communication method to control the flight device. The communication device receives the transmission signal of the remote control data transmitted from the device, the communication device converts the remote control data into a remote control signal of a predetermined format, and the communication device converts the remote control signal into the remote control signal. Includes sending to the flight device body.

A program according to still another aspect of the present invention is a program executed by a computer or a processor provided in a communication device that receives flight control information of the flight device via wireless communication. In this program, the communication device provided as a device separate from the flight device main body having the flight control unit of the flight device switches between a plurality of types of wireless communication methods including a cellular mobile communication method to obtain the flight device. The program code for receiving the transmission signal of the remote control data transmitted from the control device, the program code for the communication device to convert the remote control data into the remote control signal of a predetermined format, and the communication device. , A program code for transmitting the remote control signal to the flight device main body.

According to the present invention, it is possible to switch between a plurality of types of wireless communication methods including a cellular mobile communication method and receive remote control data from the control device without changing the configuration by adding a communication module to the flight control unit of the flight device. Can be done.

An explanatory diagram showing an example of an overall schematic configuration of a flight control system of a flight device according to an embodiment. The block diagram which shows an example of the flow of a signal and data in the flight control system which concerns on embodiment. The functional block diagram which shows an example of the communication device (drone controller) on the flight device side which concerns on embodiment. The functional block diagram which shows an example of the communication device (propo controller) on the control device side which concerns on embodiment. The flowchart which shows an example of the manual flight control in the flight control system which concerns on embodiment. The flowchart which shows an example of autonomous flight control in the flight control system which concerns on embodiment. The flowchart which shows the other example of the autonomous flight control in the flight control system which concerns on embodiment. The flowchart which shows an example of the switching control of the flight control mode in the flight control system which concerns on embodiment. The flowchart which shows an example of the switching control of the wireless communication system in the flight control system which concerns on embodiment. The flowchart which shows an example of the feedback control of the reception state of the flight control information in the flight control system which concerns on embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram showing an example of an overall schematic configuration of a flight device flight control system according to the present embodiment. The flight control system includes a control device (hereinafter referred to as "propo") 20 for controlling the drone 10 as a flight device, a communication device (hereinafter referred to as "propo controller") 22 on the control device 20 side, and a flight device. It includes a communication device (hereinafter referred to as “drone controller”) 12 on the 10 side and a flight control device (hereinafter also referred to as “flight control device (FC)”) 110 provided on the main body 11 of the drone 10.

The drone 10 which is a flight device to be operated is a moving body such as an aircraft whose flight is controlled by remote control or autonomous control from the outside without the operator getting on board. The drone 10 includes, for example, a multicopter (multirotor) type drone such as a tricopter (3 rotors), a quadcopter (4 rotors), a hexacopter (6 rotors), and an octocopter (8 rotors). It may be a general helicopter or a fixed-wing drone. The drone 10 may fly and move in the sky (including outer space outside the atmosphere), or may move on the ground, in the ground, on the water, in the water, and the like. The drone 10 is generally unmanned, but may be manned.

In addition to the FC110, the drone 10 may have various measuring devices and sensors such as a positioning GNSS receiving device, a gyroscope, an acceleration sensor, an orientation sensor, and a pressure sensor in the main body 11. Further, the drone 10 may have a camera as an imaging means for capturing a peripheral image of visible light, a peripheral image in a specific wavelength region such as infrared rays and ultraviolet rays.

FIG. 2 is a block diagram showing an example of signal and data flow in the flight control system according to the embodiment. The drone controller 12 is attached to the main body 11 as a device (external device) separate from the main body 11 having the FC 110 of the drone 10. The drone controller 12 is removable from the main body 11 so that it can be easily removed during maintenance or replacement.

The connection part for transmitting and receiving signals and data between the drone controller 12 and the FC110 of the drone main body 11 may be configured to be directly connected to each other by a connector or the like, or may be configured to be connected via a cable. You may.
The connection between the drone controller 12 and the drone main body 11 (FC110) may be configured by a wireless connection.

The drone controller 12 is a remote control composed of packets of a predetermined format transmitted from the radio controller 22 of the radio 20 via any of a plurality of types of wireless communication methods including a cellular mobile communication system (referred to as “cellular system”). The data transmission signal can be received.

Further, the drone controller 12 converts the remote control data received from the radio controller 22 into a remote control signal of a predetermined format, and transmits the remote control data to the FC 110 of the drone main body 11 at predetermined time intervals (for example, every 15 ms).

Further, the drone controller 12 transmits a transmission signal of autonomous flight data (for example, time-series data of flight route position information) transmitted from the radio controller 22 of the radio 20 via any of a plurality of types of wireless communication methods. Can be received.

The drone controller 12 transmits the autonomous flight data received from the radio controller 22 to the autonomous flight control module 112 of the drone main body 11. When the autonomous flight control mode is being executed, the autonomous flight control module 112 converts the autonomous flight data into an autonomous control signal of a predetermined format and transmits the autonomous flight data to the FC 110 at predetermined time intervals (for example, every 15 ms).

The radio controller 22 is attached to the radio 20 as a device (external device) separate from the main body 21 having the control signal generation unit 210 of the radio 20. The radio controller 22 is removable from the radio 20 so that it can be easily removed during maintenance or replacement.

The connection unit for transmitting and receiving signals and data between the radio controller 22 and the control signal generation unit 210 of the radio main body 21 may be configured to be directly connected to each other by a connector or the like, or may be connected via a cable. It may be configured to do so.
The connection between the radio controller 22 and the radio main body 21 may be configured by a wireless connection.

The radio controller 22 receives a remote control signal of a predetermined format generated by the control signal generation unit 210 at predetermined time intervals (for example, every 15 ms). The radio controller 22 converts the remote control signal received from the control signal generation unit 210 of the radio 20 into remote control data consisting of packets in a predetermined format, and via any of a plurality of types of wireless communication methods including a cellular method. It can be transmitted to the drone controller 12.

Further, the radio controller 22 receives the autonomous flight data (for example, time-series data of the position information of the flight route) read from the autonomous flight data storage unit 212 of the radio main body 21 and transmitted from the radio controller 22. The radio controller 22 can convert the autonomous flight data received from the radio main body 21 into a packet having a predetermined format and transmit it to the drone controller 12 via any of a plurality of types of wireless communication methods including a cellular system.

When a packet of remote control data and autonomous flight data is transmitted from the radio controller 22 to the drone controller 12, the drone controller 12 receives information indicating the reception status of the packet of the data (for example, "ACK" indicating that the data has been received normally. , Or "NACK" indicating that reception has failed) is transmitted to the radio controller 22. The information indicating the reception state (for example, ACK or NACK) may be transmitted for each packet or may be transmitted for each of a plurality of packets. A packet sequence number may be used to detect a reception failure.

The remote control data and the autonomous flight data between the drone controller 12 and the radio controller 22 may be transmitted / received by using a plurality of types of wireless communication methods at the same time, or one of the wireless communication methods may be selected. You may go there.

In the flight control system having the above configuration, the remote control signal and the autonomous control signal described above have, for example, a predetermined signal format set for each combination of the drone 10 and the radio 20 of each manufacturer. The remote control signal and the autonomous control signal may be control signals in a signal format common to a plurality of types of drones. Further, the remote control signal and the autonomous control signal may be digital control signals such as S-BUS, S-BUS2, and X-BUS, or analog control signals such as PWM and PPM.

The remote control signal and the autonomous control signal are, for example, speed command signals of each of a plurality of motors (for example, servomotors) constituting the drive unit of the drone 10, and are the operation directions and operation amounts of the operation sticks 21a and 21b of the radio 20. Is generated and transmitted at predetermined time intervals (for example, every 15 ms). By the control signal according to the operation direction and operation amount of the operation sticks 21a and 21b of the radio 20, the drone 10 can be moved up and down (throttle), moved back and forth (pitch), moved left and right (roll), and changed direction (roll). Yaw) can be operated.

The cellular system, which is a part of the plurality of types of wireless communication systems, is a user device (for example, an eNodeB, g-NodeB, etc.) via a communication path A between a base station (for example, eNodeB, g-NodeB, etc.) 31 connected to the mobile communication network 30. This is a method of communicating between mobile stations that are UEs). The cellular system is a 3GPP standard 3rd generation, 4th generation (for example, LTE, LTE-Advanced, LTE-Advanced-Pro), or 5th generation (5G) or later generation wireless communication system. May be. The cellular system may be a WiMax ™ or WiMax2 + wireless communication system.

The frequency bands used in the cellular system are, for example, 450 to 470 MHz band, 698 to 862 MHz band, 790 to 862 MHz band, 900 to 960 MHz band, 1.4 to 1.5 GHz band, 1.7 to 1.8 GHz band, and 1. It is a 9 to 2.1 GHz band, a 2.3 to 2.4 GHz band, and a 3.4 to 3.6 GHz band.

Various multiple access technologies can be used for cellular wireless communication. The multiple access technique is a frequency division multiple access (FDMA) method in which multiple mobile stations (drone controller 12 and radio controller 22 in this embodiment) are assigned different frequencies or times or spread codes. It may be a division multiple access method (TDMA: Time Division Multiple Access) or a code division multiple access method (CDMA: Code Division Multiple Access). The multiple access technique may be a spatial division multiple access method (SDMA) in which different base station antenna directivities are assigned to each of the plurality of mobile stations. The multiple access technology is a multiple access technology based on Orthogonal Frequency Division Multiplexing (OFDM), which is classified as one of the FDMA technologies, that is, the Orthogonal Frequency Division Multiple Access (OFDMA). It may be a method called.

Further, the cellular wireless communication may use a single orthogonal multiple access (OMA) technology, or a hybrid in which two or three of the OMA technologies such as FDMA, TDMA, CDMA, and SDMA are used in combination. Multiple OMA techniques may be used in combination, such as a type scheme, eg, a combination of FDMA and TDMA, or a combination of FDMA, TDMA, and SDMA. Cellular wireless communication is ultra-high density using the MU-MIMO transmission method that multiplexes the communication of multiple mobile stations at the same frequency and timing based on the principle of SDMA classified as orthogonal multiple access (OMA technology). It may be a multiple connection type wireless communication system. Non-orthogonal multiple access (NoMA) technology that allows mutual interference of some or all of the radio resources assigned to each mobile station may be applied to the ultra-high density multiple access radio communication system.

Further, in the cellular wireless communication, different multiple access methods may be used for the downlink communication and the uplink communication. For example, OFDMA may be used for downlink communication, and FDMA (Single Carrier-FDMA) may be used for uplink communication.

Further, the plurality of types of wireless communication systems include a short-distance wireless communication system (also referred to as a "short-distance line-of-sight communication system") via a line-of-sight communication path B by a direct wave. The frequency band used in the short-distance line-of-sight communication method is, for example, a 2.4 GHz band (2.400 GHz to 2.497 GHz), which is an ISM (Industry-Science-Medical) band that does not require a license. The frequency band of the short-distance line-of-sight communication system may be a license-free ISM band such as a 5.0 GHz band, a 920 MHz band, a 429 MHz band, or a 150 MHz band. The short-range line-of-sight communication method may be a spread spectrum communication method such as DSSS, FHSS, DMSS, FASST, or ACCST. The short-range line-of-sight communication method includes a wireless communication method (hereinafter also referred to as "wireless LAN method") used in a wireless LAN such as Wi-Fi (registered trademark) of the IEEE802.11 standard, Bluetooth (registered trademark), and the like. It may be a wireless communication method for a short distance.

In the example of FIG. 2, the drone controller 12 and the radio controller 22 are capable of wireless communication of two types of cellular systems (LTE and 5G) and one type of short-distance line-of-sight communication system (Wi-Fi), respectively. be. The drone controller 12 includes a communication module 1211, 1213 corresponding to each of the LTE and 5G cellular systems, and a communication module 1212 corresponding to the Wi-Fi short-distance line-of-sight communication system. Similarly, the radio controller 22 includes communication modules 2211 and 2213 corresponding to the LTE and 5G cellular systems, respectively, and a communication module 2212 corresponding to the Wi-Fi short-range line-of-sight communication system.

The communication modules 1211, 121, 2211, 2213 that perform cellular wireless communication are, for example, communication modules having a function as a mobile station to which subscriber identification information and terminal identification information of mobile communication are assigned. The communication modules 1211, 121, 2211, 2213 may be user devices such as smartphones having a function as the mobile station.

FIG. 3 is a functional block diagram showing an example of a drone controller 12, which is a communication device on the flight device side according to the embodiment. The drone controller 12 includes a plurality of sets of remote control data receiving units 121 and remote control data processing units 122 corresponding to each of a plurality of types of wireless communication methods, and a wireless communication method switching control unit 123.
Each of the plurality of remote control data receiving units 121 receives the transmission signal of the remote control data transmitted from the radio controller 22 via the corresponding wireless communication method, performs demodulation processing and decoding processing, and performs the remote control data. Output a packet.

Each of the plurality of remote control data processing units 122 rearranges a plurality of packets received from the corresponding remote control data receiving unit 121 in a predetermined order to generate the original remote control data, and the remote control data is stored in a predetermined format. Convert to control signal.

The wireless communication method switching control unit 123 controls switching between the remote control data receiving unit 121 and the remote control data processing unit 122 based on an external input, communication quality measurement information, or the like.

Further, the drone controller 12 includes an autonomous flight data receiving unit 124 and an autonomous flight data processing unit 125.
The autonomous flight data receiving unit 124 receives a transmission signal of autonomous flight data transmitted from the radio controller 22 via a predetermined wireless communication method, performs demodulation processing and decoding processing, and outputs a packet of autonomous flight data. do.

The autonomous flight data processing unit 125 processes a plurality of packets received from the autonomous flight data receiving unit 124 so as to generate the original autonomous flight data by rearranging them in a predetermined order. Further, the autonomous flight data processing unit 125, for example, rearranges a plurality of packets received from the autonomous flight data receiving unit 124 in a predetermined order to generate the original autonomous flight data, and then temporarily stores the autonomous flight data. The data set of each flight target position may be sequentially read from the autonomous flight data and processed so as to be converted into an autonomous control signal of a predetermined format.

In the present embodiment, when the cellular method is selected as the wireless communication method of the autonomous flight data in the drone controller 12, not only the autonomous flight data can be received from the radio controller 22, but also other mobile stations (UE) and other mobile stations (UE) and the like. Autonomous flight data can be received from a personal computer or server via the Internet.

Further, the drone controller 12 includes a control mode switching determination unit 126, a control mode switching (switch) unit 127, a transmission unit 128, and a data storage unit 129.
The control mode switching determination unit 126 determines switching between the manual flight control mode (remote flight control mode) and the autonomous flight control mode based on the presence / absence of external input by the radio 20 or communication quality measurement information, etc., and based on the determination result. The control mode switching unit 127 is controlled so as to switch the route from the remote control data processing unit 122 and the autonomous flight data processing unit 125 to the transmission unit 128. By this control, for example, when the manual flight control mode is selected, the remote control signal from the remote control data processing unit 122 is transmitted to the transmission unit 128, and when the autonomous flight control mode is selected, the autonomous flight data from the autonomous flight data processing unit 125 is transmitted. Is transmitted to the transmission unit 128.

The transmission unit 128 transmits the remote control signal, the autonomous control signal, or the autonomous flight data that has passed through the control mode switching unit 127 according to the control mode to the FC 110 or the autonomous flight control module 112 of the drone main body 11.

Further, the drone controller 12 includes a reception state determination unit 130 and a reception state transmission unit 131.
The reception status determination unit 130 determines the reception status of the remote control data packet as flight control information, and the reception status transmission unit 131 determines the reception status information (for example, ACK) of the remote control data packet that is the determination result. Or NACK) is transmitted to the radio controller 22 via wireless communication as a response signal to the packet.
Further, the reception state determination unit 130 determines the reception state of the packet of autonomous flight data as flight control information, and the reception state transmission unit 131 determines the reception state information of the packet of autonomous flight data which is the determination result (for example). , ACK or NACK) is transmitted to the radio controller 22 via wireless communication as a response signal to the packet.

The log data of the remote control data processing unit 122, the autonomous flight data processing unit 125, the transmission unit 128, and the reception state determination unit 130 are recorded in the data storage unit 129.

FIG. 4 is a functional block diagram showing an example of the radio controller 22 which is a communication device on the control device side according to the embodiment. The radio controller 22 includes a plurality of sets of remote control data transmission units 221 and remote control data processing units 222 corresponding to each of the plurality of types of wireless communication methods, and a wireless communication method switching control unit 223.
Each of the plurality of remote control data transmission units 221 performs predetermined coding processing and modulation processing on the remote control data packet to generate a transmission signal, and transmits the transmission signal to the drone controller 12 via the corresponding wireless communication method. ..

Each of the plurality of remote control signal processing units 222 converts the remote control signal of a predetermined format received from the radio 20 into remote control data, and converts the remote control data into a packet of a predetermined format and passes it to the remote control data transmission unit 221.

The wireless communication method switching control unit 223 controls switching between the remote control data transmission unit 221 and the remote control signal processing unit 222 based on an external input, communication quality measurement information, or the like.

Further, the radio controller 22 includes an autonomous flight data transmission unit 224 and an autonomous flight data processing unit 225. The autonomous flight data transmission unit 224 performs predetermined coding processing and modulation processing on the packet of autonomous flight data to generate a transmission signal, and transmits the transmission signal to the drone controller 12 via the corresponding wireless communication method.

The autonomous flight data processing unit 225 converts the autonomous flight data received from the radio 20 into a packet in a predetermined format and passes it to the autonomous flight data transmission unit 224.

Further, the radio controller 22 includes a control mode switching determination unit 126, a control mode switching (switch) unit 227, a receiving unit 228, and a data storage unit 229.
The control mode switching determination unit 226 determines switching between the manual flight control mode (remote flight control mode) and the autonomous flight control mode based on the presence / absence of external input by the radio 20 or communication quality measurement information, etc., and based on the determination result. The control mode switching unit 227 is controlled so as to switch the route from the receiving unit 228 to the remote control signal processing unit 222 and the autonomous flight data processing unit 225. By this control, for example, when the manual flight control mode is selected, the remote control signal from the receiving unit 228 is transmitted to the remote control signal processing unit 222, and when the autonomous flight control mode is selected, the autonomous flight data from the receiving unit 228 is autonomously flown. It is transmitted to the data processing unit 125.

The receiving unit 228 receives the remote control signal or autonomous flight data from the radio 20 and passes it to the control mode switching unit 127.

The log data of the remote control signal processing unit 222, the autonomous flight data processing unit 225, the receiving unit 228, and the information output unit 230 are recorded in the data storage unit 229.

Further, the radio controller 22 includes a reception state receiving unit 231 and an information output unit 230. The reception status reception unit 231 receives the reception status information (for example, ACK or NACK) of the remote control data packet from the drone controller 12 as a response signal. Further, the reception status reception unit 231 receives the reception status information (for example, ACK or NACK) of the packet of autonomous flight data from the drone controller 12 as a response signal.

The information output unit 230 outputs the reception status information (for example, ACK or NACK) of each packet of the remote control data and the autonomous flight data received by the reception status reception unit 231 to the operator. You can be notified. The information to be output is message information generated based on the reception status information received from the drone controller 12 (for example, a message indicating that data transmission to the drone 10 has failed continuously, or a communication abnormality has occurred. Message) may be. Further, the output of this information may be, for example, an image display on a display, a voice output, or a transmission to a predetermined notification destination (for example, a user device such as a smartphone as a mobile station owned by the operator). good. The information output unit 230 may be provided on the radio body 21 side.

FIG. 5 is a flowchart showing an example of manual flight control in the flight control system according to the embodiment. In the manual flight control of FIG. 5, the operator operates the radio 20 to control the flight of the drone, and includes the control block S100 of the radio controller 22 and the control block S110 of the drone controller 12.

In the control block S100 of FIG. 5, a unique remote control signal is transmitted to the radio body 21 at predetermined time intervals (for example, every 15 ms) based on the operation direction and operation amount of the operation sticks 21a and 21b of the radio 20 by the operator. When generated by the control signal generation unit 210, the radio controller 22 receives the remote control signal output from the control signal generation unit 210 at each generation timing of the remote control signal (S101), and receives the remote control signal. It is converted into one or a plurality of packets of remote control data in a predetermined format (S102). The radio controller 22 transmits a packet of converted remote control data to the drone controller 12 by a predetermined wireless communication method selected and set in advance from a plurality of types of wireless communication methods (S103).

In the control block S110 of FIG. 5, the drone controller 12 transmits one or a plurality of packets of remote control data by the same predetermined wireless communication method as the radio side, which is selected and set in advance from a plurality of types of wireless communication methods. Received from the radio controller 22 (S111). At the time of this reception, the drone controller 12 feeds back the reception status information of the remote control data packet to the radio controller 22 as a response signal for each packet of the remote control data. For example, when the remote control data packet is successfully received, the acknowledgment "ACK" is fed back, and when the remote control data packet is unsuccessfully received, the negative response "NACK" is fed back. .. Further, when there is a missing number in the sequence number, "NACK" is fed back.

When the drone controller 12 succeeds in receiving a plurality of packets of remote control data, the drone controller 12 performs packet order control to generate the original remote control data by rearranging the plurality of packets received from the radio controller 22 in a predetermined order (S112). ), The remote control data is converted into a remote control signal in a unique format corresponding to the combination of the radio 20 and the drone 10 (S113). The drone controller 12 transmits the converted remote control signal to the FC 110 of the drone main body 11 at predetermined time intervals (for example, every 15 ms) (S114). The FC110 controls the rotation of the motor of the drive unit based on the received remote control signal.

FIG. 6 is a flowchart showing an example of autonomous flight control in the flight control system according to the embodiment. In the autonomous flight control of FIG. 6, the drone 10 autonomously controls the flight based on the autonomous flight data stored in advance without the operation of the radio 20 by the operator, and the control of the radio controller 22. It includes a block S200, a control block S210 of the drone controller 12, and a control block 220 of the drone body 11.

In the control block S200 of FIG. 6, when the autonomous flight data is read from the autonomous flight data storage unit 212 at an arbitrary timing based on the operation of the radio 20 by the operator, the radio controller 22 transfers the autonomous flight data to the radio main body. Received from 21 (S101) and temporarily stored in the data storage unit 229 (S202). The radio controller 22 transmits a packet of autonomous flight data of the data storage unit 229 to the drone controller 12 by a predetermined wireless communication method selected and set in advance from a plurality of types of wireless communication methods (S203).

In the control block S210 of FIG. 6, the drone controller 12 transmits one or a plurality of packets of autonomous flight data by the same predetermined wireless communication method as the radio side, which is selected and set in advance from a plurality of types of wireless communication methods. Received from the radio controller 22 (S211). At the time of this reception, the drone controller 12 feeds back the reception status information of the autonomous flight data packet to the radio controller 22 as a response signal for each packet of the autonomous flight data. For example, when the reception of the packet of autonomous flight data is successful, the feedback "ACK" is transmitted as an acknowledgment, and when the reception of the packet of autonomous flight data is unsuccessful, the negative response "NACK" is transmitted as feedback. .. Further, when there is a missing number in the sequence number of the received packet, "NACK" is fed back and transmitted.

When the drone controller 12 succeeds in receiving a plurality of packets of autonomous flight data, the drone controller 12 performs packet order control to generate the original autonomous flight data by rearranging the plurality of packets received from the radio controller 22 in a predetermined order (S212). ), The autonomous flight control data is stored in the data storage unit and transmitted to the drone main body 11 (S213). The drone main body 11 stores the autonomous flight data received from the drone controller 12 in a data storage unit such as a memory in the autonomous flight control module 112.

Next, in the control block S220 of FIG. 6, when the flight control mode is switched to the autonomous flight control mode, the autonomous flight control module 112 of the drone main body 11 sequentially reads out the data set of the autonomous flight data (S221), and the data thereof. From the set, a unique type of autonomous control signal corresponding to the combination of the radio 20 and the drone 10 is generated (S222). For example, the data set is target position information (eg, latitude, longitude and altitude information) of the drone 10 set over time. The autonomous flight control module 112 generates a unique type of autonomous control signal based on the comparison result between the target position information and the current position information acquired by the output of the GNSS receiving device or the like. The autonomous flight control module 112 transmits the generated autonomous control signal to the FC 110 at predetermined time intervals (for example, every 15 ms) (S223). The FC110 controls the rotation of the motor of the drive unit based on the received autonomous control signal.

FIG. 7 is a flowchart showing another example of autonomous flight control in the flight control system according to the embodiment. The example of FIG. 7 is an example of generating an autonomous control signal in the drone controller 12 and transmitting it to the FC 110 of the drone main body 11. In FIG. 7, the parts common to FIG. 6 (S200, S231, S232) will be omitted.

In the control block S230 of FIG. 7, the drone controller 12 performs packet order control for generating autonomous flight data, and then stores the autonomous flight control data in the data storage unit (S233). Next, the drone controller 12 sequentially reads out a data set of autonomous flight data (S234), and generates an autonomous control signal in a unique format corresponding to the combination of the radio 20 and the drone 10 from the data set (S235). The drone controller 12 transmits the generated autonomous control signal to the FC110 of the drone main body 11 at predetermined time intervals (for example, every 15 ms) (S226). The FC110 controls the rotation of the motor of the drive unit based on the received autonomous control signal.

FIG. 8 is a flowchart showing an example of flight control mode switching control in the flight control system according to the embodiment. FIG. 8 is an example in which the flight control mode of the flight control system is initially set to the manual flight control mode (remote flight control mode) (S301).

In FIG. 8, communication is performed between the radio controller 22 and the drone controller 12, and data is transmitted from the radio controller 22 to the drone controller 12 (S302). This transmission data is, for example, the above-mentioned remote control data or autonomous flight data. The transmission data may include flight control mode switching instruction data externally input by operating the radio 20.

The flight control mode switching instruction data can be generated, for example, based on an external input operated by the radio 20 or the radio controller 22. Control mode switching operation for switching the flight control mode between the manual flight control mode (remote flight control mode) that remotely controls the drone 10 from the radio 20 and the autonomous flight control mode that uses autonomous flight data. The unit may be provided on at least one of the radio 20 and the radio controller 22.

The drone controller 12 determines whether or not the data received from the radio controller 22 includes the data of the external input of the flight control mode switching instruction (S303), and when there is an external input of the flight control mode switching instruction (S303). YES), the flight control mode is switched to the autonomous flight control mode (S305), and the above-mentioned autonomous flight control of FIG. 6 or FIG. 7 is executed.

Further, when there is no external input of the flight control mode switching instruction (NO in S303), the drone controller 12 further determines whether or not there is a communication abnormality in the communication with the radio controller 22 (S304), and detects the communication abnormality. If this is the case (YES in S304), the flight control mode is switched to the autonomous flight control mode (S305), and the autonomous flight control of FIG. 6 or FIG. 7 described above is executed.

FIG. 9 is a flowchart showing an example of switching control of the wireless communication method in the flight control system according to the embodiment. FIG. 9 shows an example in which the wireless communication system of the flight control system is initially set to the short-distance line-of-sight communication system (S401).

In FIG. 9, communication is performed between the radio controller 22 and the drone controller 12, and data is transmitted from the radio controller 22 to the drone controller 12 (S402). This transmission data is, for example, the above-mentioned remote control data or autonomous flight data. The transmission data may include data for instructions for switching the wireless communication method.

The data of the wireless communication method switching instruction can be generated, for example, based on an external input operated by the radio 20 or the radio controller 22. The wireless communication method switching operation unit for performing the operation of switching the wireless communication method used for transmitting and receiving remote control data or autonomous flight data may be provided on at least one of the radio 20 and the radio controller 22.

The drone controller 12 determines whether or not the data received from the radio controller 22 includes the data of the external input of the wireless communication method switching instruction (S403), and when there is an external input of the wireless communication method switching instruction (S403). YES), the wireless communication method with the radio controller 22 is switched to the cellular method (LTE or 5G) (S405).

Further, when there is no external input of the wireless communication method switching instruction (NO in S403), the drone controller 12 further determines whether or not there is a communication abnormality in the communication with the radio controller 22 (S404), and detects the communication abnormality. (YES in S404), the wireless communication method is switched to the cellular method (LTE or 5G) (405).

FIG. 10 is a flowchart showing an example of feedback control of a reception state of flight control information in the flight control system according to the embodiment.
In FIG. 10, first, the radio controller 22 resets the counter used for this control (S501). After that, data is transmitted from the radio controller 22 to the drone controller 12 (S502), and information indicating the reception state (“ACK” or “NACK”) is fed back from the drone controller 12 to the radio controller 22 (S503). When the reception status information fed back to the radio controller 22 is a negative response (NACK) indicating that reception has failed (YES in S504), the radio controller 22 counts up by increasing the counter value by one (YES in S504). S505). On the other hand, when the reception status information fed back to the radio controller 22 is not a negative response (NACK) indicating that reception has failed, that is, when the reception status information is an affirmative response (ACK) indicating success in reception (ACK). NO) in S504 resets the counter (S506) and returns to step 502.

The radio controller 22 displays an image when the value of the counter indicating the number of times the negative response (NACK) is continuously received (hereinafter, also referred to as “NACK reception counter”) becomes larger than a predetermined threshold value (S507). Alternatively, by outputting information such as voice, the operator is notified that the data transmission to the drone 10 has failed continuously (S508). An information output unit 230 such as a display or a speaker that outputs to the effect that data transmission to the drone 10 has failed continuously by image display or voice can be provided on at least one of the radio body 21 and the radio controller 22. It should be noted that the fact that the data transmission to the drone 10 has failed continuously may be notified to the application running on the user device such as a smartphone as a mobile station owned by the radio operator.

Upon receiving the notification, the operator switches the wireless communication system with the drone 10 (for example, switching from manual flight control to cellular system) or switches the flight control mode of the drone 10 (for example, from manual flight control to autonomous flight control). The radio 20 can be operated to instruct (switching).

Further, when the value of the NACK reception counter exceeds the threshold value, in addition to notifying the operator, the process automatically transitions to the communication abnormality processing process after a predetermined time has elapsed (S509).

As described above, according to the present embodiment, the communication module is added to the drone main body 11 by providing the drone controller 12 capable of wireless communication with the radio 20 by a plurality of types of wireless communication methods including the cellular method as an external separate device. It is possible to switch between a plurality of types of wireless communication methods including the cellular method and receive remote control data and autonomous flight data from the radio 20 without changing the configuration.

Further, according to the present embodiment, a communication module is added to the radio body 21 by providing a radio controller 22 capable of wireless communication with the drone 10 by a plurality of types of wireless communication methods including a cellular system as an external separate device. It is possible to switch between a plurality of types of wireless communication methods including the cellular method and transmit remote control data and autonomous flight data to the drone 10 without changing the configuration.

Further, according to the present embodiment, when flight control information such as remote control data and autonomous flight data is transmitted from the radio controller 22 to the drone controller 12, the radio controller 22 has a reception state indicating the reception state of the flight control information. Information can be received from the drone controller 12 and output. Therefore, it is possible for the radio 20 to confirm whether or not the flight control information such as the remote control data and the autonomous flight data transmitted from the radio 20 has normally reached the drone 10. Further, when the flight control information does not reach the drone 10 normally, the operator can operate the radio 20 to perform the control mode switching or the communication method switching process. If the operator does not respond, the communication error handling process may be automatically executed.

Although the flight control system of the present embodiment includes both the drone controller 12 and the radio controller 22, only one of the drone controller 12 and the radio controller 22 may be provided. For example, in the flight control system of the present embodiment, the drone controller 12 is provided on the drone 10 side and the radio controller 22 is not provided on the radio 20 side, and the radio 20 without the radio controller 22 is operated via the drone controller 12. The drone 10 may be controlled.

Further, the drone controller 12 of the present embodiment is configured to correspond to a combination of a plurality of types of drones 10 and a radio 20, so that flight control of a plurality of types of drones 10 can be performed via the drone controller 12. You may.

The processing steps described herein and the components of the flight control system and communication device of the flight device can be implemented by various means. For example, these processes and components may be implemented in hardware, firmware, software, or a combination thereof.

Regarding hardware implementation, means such as a processing unit used to realize the above steps and components in an entity (for example, various wireless communication devices, eNodeBs, terminals, hard disk drive devices, or optical disk drive devices) One or more application-specific ICs (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors , Controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, computers, or combinations thereof.

Further, for firmware and / or software implementation, means such as a processing unit used to realize the above components are programs (eg, procedures, functions, modules, instructions) that execute the functions described herein. , Etc.) may be implemented. In general, any computer / processor readable medium that clearly embodies the firmware and / or software code is a means such as a processing unit used to implement the steps and components described herein. May be used to implement. For example, the firmware and / or software code may be stored in memory and executed by a computer or processor, for example, in a control device. The memory may be mounted inside the computer or processor, or it may be mounted outside the processor. The firmware and / or software code may be, for example, a random access memory (RAM), a read-only memory (ROM), a non-volatile random access memory (NVRAM), a programmable read-only memory (PROM), or an electrically erasable PROM (EEPROM). ), FLASH memory, floppy (registered trademark) discs, compact discs (CDs), digital versatile discs (DVDs), magnetic or optical data storage devices, etc. good. The code may be executed by one or more computers or processors, or the computers or processors may be made to perform functional embodiments described herein.

Further, the medium may be a non-temporary recording medium. Further, the code of the program may be read and executed by a computer, a processor, or another device or device machine, and the format thereof is not limited to a specific format. For example, the code of the program may be any of source code, object code, and binary code, or may be a mixture of two or more of these codes.

Also, the description of the embodiments disclosed herein is provided to allow one of ordinary skill in the art to manufacture or use the present disclosure. Various amendments to this disclosure will be readily apparent to those of skill in the art and the general principles defined herein are applicable to other variations without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not limited to the examples and designs described herein, but should be recognized in the broadest range consistent with the principles and novel features disclosed herein.

10: Drone (flying device)
11: Drone body 12: Drone controller 20: R / C system (control device)
21: R / C system 22: R / C controller 21a, 21b: Operation stick 30: Mobile communication network 31: Base station 110: Drone flight control unit (FC)
112: Autonomous flight control module 121: Remote control data receiving unit 122: Remote control data processing unit 123: Wireless communication method switching control unit 124: Autonomous flight data receiving unit 125: Autonomous flight data processing unit 126: Control mode switching determination unit 127 : Control mode switching unit 128: Transmission unit 129: Data storage unit 130: Reception status determination unit 131: Reception status transmission unit 210: Control signal generation unit 212: Autonomous flight data storage unit 221: Remote control data transmission unit 222: Remote control Data processing unit 223: Wireless communication method switching control unit 224: Autonomous flight data transmission unit 225: Autonomous flight data processing unit 226: Control mode switching determination unit 227: Control mode switching unit 228: Reception unit 229: Data storage unit 230: Information Output unit 231: Reception status Reception unit 1211-1213: Communication module 2211 to 2213: Communication module

Claims (14)

In combination with an external communication device on the control device side, which is detachably provided on the flight device and is detachably provided on the control device that can be operated by the operator while visually recognizing the flight device. used is a communication device external of the flying device side for receiving flight control information of the flying device via a wireless communication,
A remote control data receiving unit that receives remote control data from the communication device on the external control device side via each of a plurality of types of wireless communication methods including a cellular mobile communication method.
Via a respective plurality of types of radio communication systems including a cellular mobile communication system, an autonomous flight data reception unit which receives steering device side communication apparatus or et autonomous flight data of the external,
Transmission that generates a remote control signal based on the remote control data or an autonomous control signal based on the autonomous flight data and transmits it to a flight control device provided in the main body of the flight device so as to control a drive unit of the flight device. Department and
And said remote control data or the autonomous flight reception state determining unit that determines success or failure of reception of data from the communication device before Symbol External pilot control side,
A reception state transmitting unit which transmits a signal including the determination result of the reception state determination unit to the communication device before Symbol External pilot control side,
A control mode switching unit that switches between a remote flight control mode that remotely controls the flight device from the control device and an autonomous flight control mode that is controlled using the autonomous flight data.
Equipped with
On the remote control data or the autonomous flight data transmitted from the communication device before Symbol External pilot control side, the flight control mode switching instruction data for instructing the switching between the remote flight control mode and the autonomous flight control modes Judging whether or not is included,
When the remote control data or the autonomous flight data transmitted from the communication device on the external control device side includes the flight control mode switching instruction data , the control mode switching unit performs the flight control. The flight control mode of the flight device is switched based on the data of the mode switching instruction,
If it does not contain the said flight control mode switching instruction data to the remote control data transmitted from the communication device before Symbol external steering apparatus, whether there is a communication abnormality in communication with the steering device When the reception of the remote control data fails, the control mode switching unit switches the flight control mode of the flight device from the remote flight control mode to the autonomous flight control mode, and the reception state. The transmission unit transmits a signal indicating that the reception of the remote control data has failed to the control device.
Communication device. In the communication device of claim 1,
When the reception of the remote control data is successful, the transmission unit transmits the remote control signal to the flight control unit of the flight device.
The reception state transmission unit transmits a signal indicating that the remote control data has been successfully received to the control device.
Communication device. In the communication device of claim 1 or 2,
Multiple remote control data receivers that support multiple types of wireless communication methods, including cellular mobile communication methods,
A wireless communication method switching unit that switches the remote control data receiving unit that receives the transmission signal of the remote control data among the plurality of remote control data receiving units based on an external input or a communication state is further provided.
Communication device. In the communication device according to any one of claims 1 to 3,
Further comprising an autonomous flight data processing unit that processes the autonomous flight data received by the autonomous flight data receiving unit.
Communication device. In the communication device of claim 4,
The autonomous flight data processing unit converts the autonomous flight data into an autonomous control signal of a predetermined format.
Communication device. In the communication device according to any one of claims 1 to 5.
The remote control data or the autonomous flight data received from the control device is data of a wireless communication method switching instruction instructing switching of the wireless communication method when receiving the transmission signal of the remote control data or the autonomous flight data. include,
Communication device. In the communication device according to any one of claims 1 to 6.
Receive the autonomous flight data from a mobile station, personal computer or server via the Internet,
Communication device. In the communication device according to any one of claims 1 to 7.
The remote control signal or the autonomous control signal is a control signal in a signal format common to a plurality of types of flight devices.
Communication device. A flight device equipped with the communication device according to any one of claims 1 to 8. A control system for a flight device including the communication device according to any one of claims 1 to 8 and the control device. In the control system of claim 10,
The control device has a counter that counts the number of failures of data transmission to the flight device.
The control device increases the value of the counter when it receives a signal from the flight device indicating that the reception of data has failed.
Control system. In the control system of claim 11,
The control device further has an information notification unit for notifying the operator of information.
The control device outputs information to the information notification unit to notify the operator that data transmission to the flight device has failed continuously when the number of times of the counter becomes larger than a predetermined threshold value. Let, let
Control system. In combination with an external communication device on the control device side, which is detachably provided on the flight device and is detachably provided on the control device that can be operated by the operator while visually recognizing the flight device. It is a method in which a communication device on the side of an external flight device, which is used and receives flight control information of the flight device via wireless communication, receives flight control information of the flight device via wireless communication.
Via a respective plurality of types of radio communication systems including a cellular mobile communication system, the method comprising: receiving a remote control data from the communication device before Symbol External pilot control side,
And that through the respective plurality of types of radio communication systems including a cellular mobile communication system, receives the autonomous flight data from the communication device before Symbol External pilot control side,
A remote control signal based on the remote control data or an autonomous control signal based on the autonomous flight data is generated and transmitted to a flight control device provided in the main body of the flight device so as to control a drive unit of the flight device. When,
And determining the remote control data or the success or failure of reception of autonomous flight data from the communication device before Symbol External pilot control side,
On the remote control data or the autonomous flight data transmitted from the communication device before Symbol External pilot control side, using a remote flight control mode and the autonomous flight data for remotely controlling the flying device from the steering device Judging whether or not the data of the flight control mode switching instruction for instructing the switching to the autonomous flight control mode to be controlled is included, and
Based on the flight control mode switching instruction data when the flight control mode switching instruction data is included in the remote control data or the autonomous flight data transmitted from the communication device on the external control device side. To switch the flight control mode of the flight device and
If it does not contain the said flight control mode switching instruction data to the remote control data transmitted from the communication device before Symbol External pilot control side, to communicate with said external pilot control side communication device When it is determined whether or not there is a communication abnormality and the reception of the remote control data fails, the flight control mode of the flight device is switched from the remote flight control mode to the autonomous flight control mode, and the remote control is performed. Sending a signal indicating that data reception failed to the communication device on the external control device side, and
How to include. In combination with an external communication device on the control device side, which is detachably provided on the flight device and is detachably provided on the control device that can be operated by the operator while visually recognizing the flight device. used, a program executed in a computer or processor with the external communication apparatus for receiving flight control information of the flying device via a wireless communication,
Program code via a respective plurality of types of wireless communication systems, receiving the external communication device or al remote control data steering apparatus that includes a cellular mobile communication system,
Program code via a respective plurality of types of wireless communication systems to receive the communication device or et autonomous flight data of the external steering apparatus including a cellular mobile communication system,
A program that generates a remote control signal based on the remote control data or an autonomous control signal based on the autonomous flight data and transmits it to a flight control device provided in the main body of the flight device so as to control a drive unit of the flight device. Code and
And program code for determining the remote control data or the success or failure of reception of autonomous flight data from the communication device before Symbol External pilot control side,
On the remote control data or the autonomous flight data transmitted from the communication device before Symbol External pilot control side, using a remote flight control mode and the autonomous flight data for remotely controlling the flying device from the steering device A program code for determining whether or not the flight control mode switching instruction data for instructing switching to the autonomous flight control mode to be controlled is included, and
Based on the flight control mode switching instruction data when the flight control mode switching instruction data is included in the remote control data or the autonomous flight data transmitted from the communication device on the external control device side. And the program code to switch the flight control mode of the flight device,
If it does not contain the said external said flight control mode switching instruction data to the remote control data transmitted communication device or these steering device side, the communication with said external pilot control side communication device A remote flight control mode in which it is determined whether or not there is a communication abnormality, and when the reception of the remote control data fails, the flight control mode of the flight device is controlled remotely from the control device. To the autonomous flight control mode controlled by using the autonomous flight data, and a program code for transmitting a signal indicating that reception of the remote control data has failed to the communication device on the external control device side.
Have a program.

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