JP7620874B2 - Drone - Google Patents

Description

The present invention relates to a drone that flies by obtaining lift from the rotation of a propeller connected to a motor.

The use of small unmanned aerial vehicles (also called "drones") has been proposed (for example, Patent Document 1).

JP 2017-24488 A

Drones achieve stable flight by controlling the rotation of the propellers connected to the rotating shafts of multiple motors. In drones, the reaction force caused by the rotation of the propellers is offset by rotating the adjacent propellers in the opposite direction. For this reason, if even one of the multiple motors malfunctions, stable flight becomes difficult. Therefore, when one of the devices that make up the drone malfunctions, the malfunctioning part may be identified and the drone may fly without using that part, switching to a control law that reduces the degree of freedom of control, thereby preventing the drone from crashing. In order to implement this control, it is first necessary to detect the malfunction as soon as possible, and then to identify the malfunctioning part. If it takes a long time to detect the malfunction and identify the malfunctioning part, for example, if one of the four motors or one ESC (electric speed controller) malfunctions and the motor rotates at full speed or the rotation speed is suddenly reduced, the attitude will tilt significantly from the time of the malfunction, resulting in a stall and a crash. In addition, since the attitude is stabilized by controlling the rotation speed of the four motors, it is difficult to identify motor failures using the rotation speed as an index. On the other hand, for example, in the case of a sensor such as a 6-axis sensor included in an autonomous control device of a drone, a failure may be diagnosed by providing two 6-axis sensors and comparing the outputs of both sensors, but when a failure is detected, it may not be known which signal is correct, and the signal is unreliable and cannot be used for control. Therefore, the drone may be flown by switching to a control law that mainly uses GNSS (Global Navigation Satellite System) signals, but the positioning accuracy of the current position is low, and precise attitude control using four motors is difficult. In addition, since the 6-axis sensor has a large error in cumulative calculation due to integration, it is appropriately corrected using GNSS signals, but in order to compare them, displacements in the X-axis, Y-axis, and Z-axis directions are required. Forward/backward displacement is calculated by integrating the acceleration in the X-axis direction multiple times (e.g., twice), left/right displacement is calculated by integrating the acceleration in the Y-axis direction multiple times (e.g., twice), and up/down displacement is calculated by integrating the acceleration in the Z-axis direction multiple times (e.g., twice), so the processing takes time. Therefore, there is a demand for drones that can be continuously controlled even if they break down.

The present invention attempts to solve this problem, and aims to provide a drone that can continue to fly even if a malfunction occurs in the drone's control device.

The first invention is a drone capable of flying by receiving a command signal from an external control device, the drone comprising: a first control device including a first communication device, a first control drive device, and a first power generation device; a first fault diagnosis device for diagnosing a fault in the first control device; a second control device including a second communication device, a second control drive device, and a second power generation device; a second fault diagnosis device for diagnosing a fault in the second control device; and when the first fault diagnosis device detects a fault in the first control device, the drone stops the first control device and controls the drone to fly using the second control device, and when the second fault diagnosis device detects a fault in the second control device, the drone stops the second control device and controls the drone to fly using the first control device.

The configuration of the first invention makes it possible to provide a drone that can continue to fly even if one control device fails.

The second invention is a drone in which, in the configuration of the first invention, the first control drive device includes a first battery, a first motor drive device (ESC), and a first relay device, the first control drive device supplies power to at least the first motor drive device via the first relay device, and when the first fault diagnosis device detects a fault in the first control device, stops the power supply to at least the first motor drive device via the first relay device, and the second control drive device includes a second battery, a second motor drive device (ESC), and a second relay device, the second control drive device supplies power to at least the second motor drive device via the second relay device, and when the second fault diagnosis device detects a fault in the second control device, stops the power supply to at least the second motor drive device via the second relay device.

The configuration of the second invention makes it possible to reliably stop the motor drive when one of the drone's control devices fails. For example, even if control is stopped when the first control device fails, if the transistor for driving the motor is operating but has a failure, the motor will rotate at full speed, interfering with flight by the second control device. In this regard, the configuration of the second invention makes it possible to reliably cut off the power supply to the failed first control device or second control device using a relay device.

The third invention is a drone having the configuration of the first invention, which has a notification means for notifying the pilot device of a failure when the first fault diagnosis device detects a failure in the first control device, or when the second fault diagnosis device detects a failure in the second control device.

The configuration of the third invention makes it possible to notify the pilot of a drone malfunction. The drone of the present invention can continue to fly even if, for example, the first control device malfunctions, so the pilot may not notice the malfunction. In this case, the drone will fly using the second control device, which is the same flight state as a conventional drone. In this state, there is an effect of making the pilot aware of the malfunction of the first control device.

The fourth invention is a drone having the configuration of the first invention, which has a motion control means for ascending, descending, hovering, moving forward, backward, moving laterally to the right or left, and rotating right or left around the vertical axis (Z-axis) based on commands from the control device, a target motion setting means for defining a target motion by a pitch angle, a roll angle, and an angular velocity around the vertical axis (Z-axis), and a current state detection means for detecting a current motion state by a pitch angle, a roll angle, and an angular velocity around the vertical axis (Z-axis), and has a correction control means for determining a deviation between the target motion defined by the target motion setting means and the current motion state detected by the current state detection means, and performing correction control by adding or subtracting a corrected signal so as to reduce the deviation.

According to the configuration of the fourth invention, basic flight is controlled manually without using sensors, and for disturbances that require correction, a target value is defined using three variables: pitch angle, roll angle, and angular velocity around the up-down axis (Z-axis), and the deviation from the current state is calculated and the control signal is corrected in the direction that reduces this deviation. Therefore, while multiple integrations were previously required when calculating from the signal of the six-axis sensor, only one integration is required, so the calculation time is short and the detection accuracy is high, enabling stable flight with little control delay.

The fifth invention is a configuration according to the first invention, in which the first power generating device and the second power generating device are provided with at least four motors, and the four motors are arranged so that, in a plan view, connecting the rotation axes of the four motors forms a rectangle that is a rectangle or a square, and when the motors arranged on the diagonal lines of the rectangle are FR (front right motor), FL (front left motor), RR (rear right motor), and RL (rear left motor), and the respective rotation speeds are nFR, nFL, nRR, and nRL, based on the command signal from the control device, during ascent, the rotation speeds of the respective motors are set to nFR = nFL = nRR = nR When descending, the rotation speed is controlled to be smaller while maintaining the relationship nFR=nFL=nRR=nRL based on the command signal from the control device, when moving forward, the forward speed is controlled to be larger by making nFR and nFL smaller while maintaining the relationship nFR=nFL<nRR=nRL, when moving backward, the reverse speed is controlled to be larger by making nFR=nFL larger while maintaining the relationship nFR=nFL>nRR=nRL, and when moving right lateral, the right lateral movement is controlled to be larger by making nFL and nRL larger while maintaining the relationship nFR=nRR<nFL=nRL. and a motion control means for controlling the aircraft to drive and control the aircraft so as to increase the speed of left lateral movement, and for controlling the aircraft to drive and control nFL and nRL to be smaller while maintaining the relationship nFR=nRR>nFL=nRL and to increase the left lateral movement speed during left lateral movement, and for controlling the aircraft to rotate right about an axis in the vertical direction (Z-axis) to drive and control nFL and nRR to be larger while maintaining the relationship nFR=nRL<nFL=nRR and to increase the right rotation speed, and for controlling the aircraft to rotate left to drive and control nFL and nRR to be smaller while maintaining the relationship nFR=nRL>nFL=nRR and to increase the left rotation speed; and a motion control means for controlling the aircraft to drive and control the aircraft so as to increase the speed of left rotation, and The drone has a target motion setting means for determining a target angular velocity around the vertical (Z) axis, a position sensor (6-axis sensor, or 6-axis sensor and GNSS, or GNSS) arranged in the control drive device, a current state detection means for determining the current pitch angle and roll angle and the angular velocity around the vertical (Z) axis determined from the output value of the position sensor, and a correction control means for comparing the data from the target motion setting means and the current state detection means to determine the respective deviations, and for correcting and controlling the pitch angle nFR and nFL, the roll angle nFL and nRL, and the rotational angular velocity nFL and nRR by adding or subtracting corrected signals so as to reduce these deviations.

According to the configuration of the fifth invention, when moving forward or backward, the nFR and nFL of the two motors are adjusted, when moving laterally to the right or left, the nFL and nRL of the two motors are adjusted, and when rotating right or left around the vertical axis (Z-axis), only the nFL and nRR of the two motors are adjusted, and the remaining two motors are always manually controlled, so stable flight is possible even if there is an abnormality or detection delay in the position sensor, in contrast to drones that automatically control four motors.

The sixth invention is a drone according to the first invention, in which the first power generating device and the second power generating device each include at least four sets of motors, each set including two motors whose rotation axes are arranged on the same line, the four sets are arranged such that, when viewed in a plane, the rotation axes of the four sets of motors are connected to form a rectangle that is a rectangle, a square, or a rhombus, the two motors in each set are configured to rotate in opposite directions at the same rotational speed, and the first control drive device and the second control drive device are configured to move the drone forward, backward, and laterally in the diagonal direction of the rectangle.

According to the configuration of the sixth invention, the two motors move forward and backward in the diagonal direction and move laterally to the left and right, so the distance between the motors in the direction of travel is longer than in the conventional case of movement in the direction of a side, and the moment required for the motor to return to its original position in the horizontal direction can be increased, improving stability.

The seventh invention is a drone configured as in the sixth invention, in which the four groups are F, R, r, and sL, F and R are arranged on one diagonal of the rectangle, r and sL are arranged on the other diagonal of the rectangle, and the respective rotation speeds are nF, nR, nr, and nsL, and the control drive device is configured to control the drive based on the command signal from the pilot device so that the relationship is nF<nR when moving forward, nF>nR when moving backward, nsL>nr when moving right, and nsL<nr when moving left.

According to the seventh aspect of the invention, by changing the rotation speed of a pair of motors, it is possible to move forward, backward, and sideways, so that it is possible to provide a drone that can fly with simple control without the need for complex calculations.

The eighth invention is the drone according to claim 7, which has, in the configuration of the seventh invention, a target motion setting means for determining a target pitch angle, a target roll angle, and a target angular velocity around an up-down (Z) axis based on the command signal from the control device, a position sensor (six-axis sensor, or a six-axis sensor and GNSS, or a GNSS) disposed within the control drive device, a current state detection means for determining the current pitch angle and roll angle determined from the output value of the position sensor, and a correction control means for comparing the data from the target motion setting means and the current state detection means to determine the respective deviations, and for correcting and controlling the pitch angle by adding or subtracting the corrected signals nF and the roll angle by nsL so as to reduce these deviations.

The eighth aspect of the invention allows the motor drive signal to be automatically corrected to deal with disturbances such as wind gusts. Moreover, the correction can be made by changing the rotation speed of one set of motors, enabling stable flight with good responsiveness.

The present invention makes it possible to provide a drone that can continue to fly even if one control device fails.

FIG. 1 is a schematic perspective view showing a drone according to a first embodiment of the present invention. FIG. 2 is a schematic side view showing a motor and a propeller. FIG. 1 is a schematic plan view of a drone viewed from above. FIG. 1 is a conceptual diagram showing functional blocks (first control device) of a drone. FIG. 1 is a conceptual diagram showing functional blocks (second control device) of the drone. 1 is a schematic flowchart showing the operation of a drone. This is a conceptual diagram to explain the reliability of drones. FIG. 1 illustrates control of a drone. FIG. 11 is a schematic perspective view showing a drone according to a second embodiment of the present invention. FIG. 11 is a schematic plan view of a drone according to a second embodiment of the present invention, viewed from above. FIG. 1 illustrates control of a drone. FIG. 13 is an explanatory diagram showing the theoretical basis of correction control.

The following provides a detailed description of the form for implementing the present invention (hereinafter, "embodiment"). In the following description, the same components are given the same reference numerals, and their description will be omitted or simplified. Descriptions of components that can be implemented appropriately by a person skilled in the art will be omitted, and only the basic configuration of the present invention will be described.

First Embodiment
A drone 1 according to a first embodiment will be described with reference to Fig. 1 to Fig. 8. The drone 1 is a drone that can fly by receiving a command signal from an external control device (also called a "radio transmitter"). The control device is not shown in the drawings.

<<Configuration of Drone 1>>
1, the drone 1 has a housing 10 to which four arms 12 and four landing legs 40 are connected. Motor sets 20, 22, 24, and 26 are connected to the ends of the arms 12 opposite the housing 10. The arms 12 are tubular members with a space on the inside, and cables for supplying power to and controlling each motor constituting the motor set 20 and the like are arranged in the inner space.

The motor set 20 is composed of a pair of motors 20a and 20b, a propeller 20ap, and a propeller 20bp. As shown in FIG. 2, the rotation shaft of the motor 20a and the rotation shaft of the motor 20b are arranged on the same straight line. The rotation shaft of the motor 20a protrudes upward, and the propeller 20ap is connected to the upper end of the rotation shaft. The rotation shaft of the motor 20b protrudes downward, and the propeller 20bp is connected to the lower end of the rotation shaft. In this embodiment, the motor 20a is also called the upper motor, and the motor 20b is also called the lower motor. The motors 20a and 20b are outer rotor type brushless DC (Direct current) motors. The configurations of the motor sets 22, 24, and 26 are the same as that of the motor set 20.

As shown in FIG. 1, in motor group 20, motors 20a and 20b rotate in a clockwise direction C1 at the same rotational speed nFR (see FIG. 3). In motor groups 22, 24, and 26, the upper motor and the lower motor also rotate at the same rotational speed and in the same direction. The upper motor group, i.e., motors 20a, 22a, 24a, and 26a, constitute the first power generating unit 106A (see FIG. 4). The lower motor group, i.e., motors 20b, 22b, 24b, and 26b, constitute the second power generating unit 106B (see FIG. 5).

Focusing on the upper motors 20a, 22a, 24a, and 26a constituting the first power generating device 106A, adjacent motors rotate in opposite directions. Specifically, as shown in FIG. 1, motor 20a rotates in a clockwise direction C1, motor 22a rotates in a counterclockwise direction C2, motor 24a rotates in a direction C2, and motor 26a rotates in a direction C1. Therefore, in the motors 20a, 22a, 24a, and 26a, the reaction forces of adjacent motors are cancelled out. For example, when motors 20a, etc. rotate at the same rotational speed, the reaction forces due to the rotation of motors 20a, 22a, 24a, and 26a as a whole are cancelled out, and no force is applied to rotate the drone 1 around the Z axis. This is also true for the lower motors 20b, 22b, 24b, and 26b constituting the second power generating device 106B.

As shown in FIG. 1, the housing 10 is connected to communication antennas 30A and 30B for communicating with an external control device, positioning antennas 32A and 32B for receiving positioning radio waves from positioning satellites that make up the Global Navigation Satellite System (GNSS), and infrared detection devices 34A and 34B for detecting external obstacles by infrared reflection. The drone 1 receives command signals from the control device via the communication antennas 30A and 30B. As shown in FIGS. 4 and 5, the signals output from the communication antennas 30A and 30B, the positioning antennas 32A and 32B, and the infrared detection devices 34A and 34B are processed by signal processing devices 110A and 110B, respectively.

As shown in FIG. 4, a first communication device 102A is made up of a communication antenna 30A, a positioning antenna 32A, an infrared detection device 34A, and a signal processing device 110A. Similarly, as shown in FIG. 5, a second communication device 102B is made up of a communication antenna 30B, a positioning antenna 32B, an infrared detection device 34B, and a signal processing device 110B.

As shown in FIG. 4, the housing 10 stores the computer 112A, the six-axis sensor 114A, the battery 118A as the first battery, the ESCs 120a, 122a, 124a, and 126a as the first motor drive devices, and the relay device 116A as the first relay device, constituting the first control drive device 104A. In FIG. 1, only the battery 118A is shown among the first control drive device 104A, and the other components are omitted. Similarly, as shown in FIG. 5, the housing 10 stores the computer 112B, the six-axis sensor 114B, the battery 118B as the second battery, the ESCs 120b, 122b, 124b, and 126b as the second motor drive devices, and the relay device 116B as the second relay device, constituting the second control drive device 104B. In FIG. 1, only the battery 118B is shown among the second control drive device 104B, and the other components are omitted.

As shown in FIG. 4, a first control device 100A is formed by a first communication device 102A, a first control drive device 104A, and a first power generating device 106A. Similarly, as shown in FIG. 5, a second control device 100B is formed by a second communication device 102B, a second control drive device 104B, and a second power generating device 106B. In this way, the drone 1 has two control devices, a first control device 100A and a second control device 100B.

The six-axis sensor 114A included in the first control drive device 104A and the six-axis sensor 114B included in the second control drive device 104B detect the acceleration in each of the X-, Y-, and Z-axis directions (see FIG. 3) and the angular velocity around the X-, Y-, and Z-axes.

Computers 112A and 112B calculate and output input signals. Computer 112A also includes a program for diagnosing faults in first control device 100A and a watchdog timer circuit for detecting faults in the CPU (Central Process Unit), and functions as a first fault diagnosis device. Similarly, computer 112B includes a program for diagnosing faults in second control device 100B and a watchdog timer circuit for detecting faults in the CPU, and functions as a second fault diagnosis device.

Battery 118A supplies power to the first control device 100A, and battery 118B supplies power to the second control device 100B.

The relay device 116A supplies power from the battery 118A or cuts off the power supply in response to a command signal from the computer 112A constituting the first control drive device 104A. Specifically, the computer 112A has a power supply device, and when a fault is detected by the above-mentioned watchdog timer circuit or the fault diagnosis program, the relay device 116A cuts off the power supply to at least the ESC 120a, etc. Furthermore, when the computer 112A does not detect a fault by the above-mentioned watchdog timer circuit or the fault diagnosis, it continues to supply power to at least the ESC 120a, etc. via the relay device 116A.

The relay device 116B supplies power from the battery 118B or cuts off the power supply in response to a command signal from the computer 112B constituting the second control drive device 104B. Specifically, the computer 112B has a power supply device, and when a fault is detected by the above-mentioned watchdog timer circuit or the fault diagnosis program, the relay device 116B cuts off the power supply to at least the ESC 120b, etc. Furthermore, when the computer 112B does not detect a fault by the above-mentioned watchdog timer circuit or the fault diagnosis program, it continues to supply power to at least the ESC 120b, etc. via the relay device 116B.

<<Drone 1 Operation>>
Next, the operation of the drone 1 will be described with reference to Fig. 6 and the like. Fig. 6 is a flowchart showing the operations of the computers 112A and 112B. Since the operations of the computers 112A and 112B are similar, the operation of the computer 112A will be described, and the description of the operation of the computer 112B will be omitted.

When the power switch of drone 1 is switched ON, the ON signal starts the start process of start step ST1. In step ST1, computer initial settings such as reading in initial data are performed. Next, in step ST2, input from the first communication device 102A, that is, basic information such as the operation signal from the control device and the current position of drone 1 calculated using GNSS, is input. In step ST3, six outputs from the six-axis sensor 114A in the first control drive device 104A, that is, the acceleration in the X-axis direction, the Y-axis direction, the Z-axis direction, and the angular velocity around the X-axis, the Y-axis, and the Z-axis, are input.

In step ST4, the computer 112A of the first control device 100A functions as a fault diagnosis device and performs fault diagnosis. It diagnoses the following faults: interruption or abnormality of the input signal to the first communication device 102A, abnormality or failure of the input signal from the 6-axis sensor 114A, stoppage or runaway of the computer 112A, ON or OFF failure of the ESCs 120a, 122a, 124a, and 126a, lock failure or winding breakage of the motors 20a, 22a, 24a, or 26a, or layer short. If the computer 112A diagnoses that a fault exists, it turns off the relay device 116A to cut off the power supply. This prevents full rotation of one motor 20a, etc. due to runaway of the computer 112A or ON failure of the ESC 120a, etc. Note that control after fault diagnosis will be described later.

The computer 112A is equipped with a watchdog timer circuit that detects a CPU (Central Process Unit) failure and outputs an OFF signal to the relay device 116A if an abnormality is detected. When the watchdog timer circuit outputs an OFF signal, or when the CPU of the computer 112A diagnoses a failure and outputs an OFF signal, the relay device 116A cuts off power from the battery 118A and stops all four motors 20a, etc., but the second control device 100B is operating, so flight is possible.

However, if the drone 1 continues to fly only by the second control device 100B, there is a risk of the drone crashing if the second control device 100B malfunctions. In this regard, the computers 112A and 112B each include a notification program, and are configured to transmit a fault signal indicating the fault to the control device when a fault is detected. That is, the computers 112A and 112B function as a notification means. When power to the first control device 100A is interrupted, the second control device 100B detects the interruption and transmits a fault signal to the control device via the signal processing device 110B and communication antenna 30B constituting the second communication device 102B to notify the fault. Similarly, when power to the second control device 100B is interrupted, the first control device 100A detects the interruption and transmits a fault signal to the control device via the signal processing device 110A and communication antenna 30A constituting the first communication device 102A to notify the fault. When the control device receives a malfunction signal, it makes the pilot aware of the malfunction of drone 1, for example by turning on a red light or flashing an orange light.

Figure 7 shows a comparison of the reliability of the drone 1 according to this embodiment and a conventional drone. When the reliability of the communication device, the control drive device, and the power generation device is each set to 0.999, the reliability of the entire conventional drone is 0.997. On the other hand, with the configuration according to this embodiment, the overall reliability is 0.99999, and it has been confirmed that a significant theoretical improvement has been achieved.

If the drone 1 determines in step ST4 that no fault exists, it generates a main control signal in step ST5. Then, in step ST6, it generates (calculates) a correction control signal, and generates a signal that is added to the main signal generated in step ST5. Then, in step ST7, it outputs this added signal to the ESC 120a, etc. The ESC 120a, etc. drive the motor 20a, etc. based on the main control signal and the correction control signal to control the rotation speed.

The main control generates signals nFR*, nFL*, nRR*, and nRL* to the motors 20a, 22a, 24a, and 26a based on command signals from the control device. The signals nFR*, nFL*, nRR*, and nRL* are signals for controlling the rotation speed of the motors 20a, etc., and are also called "target rotation speed signals." The correction control generates a correction signal for correcting and controlling the main control signal and adds it to the main control signal. The correction signal calculates the target attitude angle and target angular velocity from the target rotation speed signals nFR*, nFL*, nRR*, and nRL* generated by the command signal from the control device, calculates the current attitude angle and angular velocity of the drone 1 body based on the signal from the 6-axis sensor 114A, and generates a signal to reduce the difference between the two data. The target attitude angle is the attitude angle (roll angle, pitch angle) around two axes (X axis, Y axis), and the target angular velocity is the yaw angular velocity around the Z axis.

Next, steps ST5 to ST7 will be described. Step ST5 will be described with reference to FIG. 3 and FIG. 8. The solid lines in FIG. 8 indicate main control, and the dotted lines indicate correction control. First, the main control indicated by the solid lines will be described.

Computer 112A includes a motion control program, a target motion setting program, a current state detection program, and a correction control program, and functions as a motion control means, a target motion setting means, a current state detection means, and a correction control means.

The motion control program is a program for making the drone 1 ascend, descend, hover, move forward, backward, move laterally to the right or left, and rotate right or left around the vertical axis (Z-axis) based on commands from the control device. The target motion setting program is a program for defining the target motion in terms of pitch angle, roll angle, and angular velocity around the vertical axis (Z-axis). The current state detection program is a program for detecting the current motion state in terms of pitch angle, roll angle, and angular velocity around the vertical axis (Z-axis). The correction control program is a program for determining the deviation between the target motion defined by the target motion setting program and the current motion state detected by the current state detection program, and for corrective control by adding or subtracting a corrected signal to reduce the deviation. The drone 1 performs the following main control and correction control using these programs.

When drone 1 receives an ascent command from the control device, it increases the overall target rotational speed of the motors 20a and other components of the first power generating unit 106A by maintaining the relationship nFR* = nFL* = nRR* = nRL* for the target rotational speed signals nFR*, nFL*, nRR*, and nRL*. This causes the drone 1 to ascend.

When the target pitch angle, target roll angle, and target angular velocity around the Z axis calculated from the target rotation speed signals nFR*, nFL*, nRR*, and nRL* at the time of the ascending command are all 0, and the information from the position sensor S1 (positioning by the 6-axis sensor 114A and GNSS) is processed by S2, and the current pitch angle, current roll angle, and current angular velocity around the Z axis obtained by the processing are all 0. In this case, the target rotation speed signals nFR*, nFL*, nRR*, and nRL* of the motors 20a, etc. constituting the first power generating device 106A are input as is to the ESC 120a, etc. These input signals are input to the summing points S3, S4, S5, and S6 inside the ESC 120a, etc. The motors 20a, etc. are three-phase brushless motors, and each motor is provided with an angle sensor (hall element or resolver) to detect the actual rotation angle θ.

This rotation angle θ is input to a vector control device, which sequentially energizes the three-phase windings according to the rotation angle to control the rotation of the motor. The rotation angle θ is also differentiated (dθ/dt) in a differentiation circuit, and the rotation speed signal obtained is fed back to summing points S3 to S6, and the motor is driven in a proportional-integral-differential (PID) manner based on the deviation. As a result, the target rotation speed signals nFR*, nFL*, nRR*, and nRL* are controlled to be equal to the actual motor rotation speeds nFR, nFL, nRR, and nRL. In this way, the motor is driven and controlled by the target rotation speed signals nFR*, nFL*, nRR*, and nRL* generated by the computer 112A based on commands from the control device. In this embodiment, the motor rotation speed is used as the target signal, but the motor current may also be used. In that case, the feedback signals to summing points S3, S4, S5, and S6 become the motor current signals used in vector control.

When drone 1 reaches the pilot's intended height and receives a command signal to stop ascent, the target rotational speed signal will maintain the state nFR* = nFL* = nRR* = nRL*. This is hovering.

When drone 1 receives a command signal to descend from the control device, it reduces the overall value by setting nFR* = nFL* = nRR* = nRL*. This reduces lift and causes the aircraft to descend.

When the drone 1 is hovering at a specified height, it rotates left around the Z axis (vertical axis) by a specified control. This is achieved by generating a target rotation speed signal with the relationship nFR* = nRL* > nFL* = nRR*. The rotation speed of the motor is driven and controlled by these target rotation speed signals with the relationship nFR = nRL > nFL = nRR. At this time, reaction forces FRL and RLL in the direction of left rotation act on the motors 20a and 26a rotating at nFR and nRL, respectively, and reaction forces FLR and RRR in the direction of right rotation act on the motors 22a and 24a rotating at nFL and nRR, respectively. When the relationship FRL + RLL > FLR + RRR holds, a left rotation moment MZ is generated and rotates. Ultimately, it is sufficient that the relationship nFR + nRL > nFL + nRR holds.

When drone 1 receives a command signal from the control device to stop rotation while rotating left, a target rotation speed signal is generated such that nFR* = nFL* = nRR* = nRL*, and each motor is driven and controlled to maintain the hovering state.

When a command signal to rotate clockwise around the Z axis (vertical axis) is received from the control device, a target rotation speed signal is generated with the relationship nFR* = nRL* < nFL* = nRR*, and the drive control of each motor 20a, etc. is performed.

When drone 1 is hovering at a specified height and receives a forward command signal from the control device, it generates a target rotational speed signal with the relationship nFR* = nFL* < nRR* = nRL*. These target rotational speed signals drive and control the rotational speed of each motor with the relationship nFR = nFL < nRR = nRL. At this time, due to the relationship nFR = nFL < nRR = nRL, a lift difference occurs at the front and rear of the drone 1 body, causing it to lean forward; in other words, a pitch angle occurs counterclockwise around the Y axis. This pitch angle generates a forward component force in the lift, causing it to move forward.

When drone 1 receives a command signal from the control device to stop moving forward, it generates a target rotational speed signal such that nFR* = nFL* = nRR* = nRL*, and each motor is driven and controlled to maintain the hovering state.

When drone 1 receives a command signal to move backward from the control device, it generates a target rotational speed signal with the relationship nFR* = nFL* > nRR* = nRL*. These target rotational speed signals drive and control the rotational speed of each motor with the relationship nFR = nFL > nRR = nRL. At this time, due to the relationship nFR = nFL > nRR = nRL, a lift difference occurs between the front and rear of the drone 1 body, causing it to tilt backwards, in other words, a pitch angle occurs in the clockwise direction around the Y axis. This pitch angle generates a backward component force in the lift, causing it to move backwards.

When drone 1 is hovering at a specified height and receives a command signal from the control device to move laterally to the left, it generates a target rotational speed signal with the relationship nFL* = nRL* < nFR* = nRR*. These target rotational speed signals drive and control the rotational speed of each motor with the relationship nFL = nRL < nFR = nRR. Due to the relationship nFL = nRL < nFR = nRR, a lift difference occurs on the left and right sides of the drone 1 body, causing it to tilt downward and to the left, in other words, a roll angle occurs in the clockwise direction around the X axis. This roll angle generates a component force in the lift in the direction of left lateral movement, causing it to move laterally to the left.

In response to this, when drone 1 receives a command signal from the control device to move laterally to the right, it generates a target rotational speed signal with the relationship nFL* = nRL* > nFR* = nRR*. These target rotational speed signals drive and control the rotational speed of each motor with the relationship nFL = nRL > nFR = nRR. Due to the relationship nFL = nRL > nFR = nRR, a lift difference occurs on the left and right sides of the drone 1 body, causing it to tilt downward to the right, in other words, a roll angle occurs in the counterclockwise direction around the X axis. This roll angle generates a component force in the lift in the direction of rightward movement, causing it to move laterally to the right.

As described above, the drone 1 can perform basic movements such as ascending, descending, hovering, moving forward, backward, and moving laterally to the right and left through primary control based on commands from the control device. The target rotational speed signal for this is received from the control device, so the drone 1 does not need to perform time-consuming, complex calculations or integral calculations with large errors. This allows the drone 1 to fly responsively in response to the pilot's intentions.

Next, step ST6 will be described with reference to Figures 3 and 8. In step ST6, a correction control signal is generated (calculated) and added to the main signal.

In situations where it is difficult to control the drone 1 using only the command signals received from the control device, such as when an unexpected gust of wind or other unforeseen circumstances occur during flight, corrective control is performed as shown by the dotted lines in Figure 8.

When the drone 1 is hit by a gust of wind from the front in the direction of travel and the pitch angle suddenly increases, a difference, i.e., deviation, occurs between the target pitch angle and the current pitch angle. In S9 (see FIG. 8), the target pitch angle is calculated from the target rotational speed signals nFR* and nRL*. Then, in the summing point S10, the deviation between this target pitch angle and the current pitch angle calculated by integrating the pitch angle velocity signal around the Y axis output from the position sensor S1 in the arithmetic processing S2 is calculated, and a pitch angle correction signal is generated in the PID controller S11 based on this deviation. This pitch angle correction signal is input to the summing points S12 and S13. As a result, if the pitch angle suddenly increases and the attitude is tilted forward significantly, the current pitch angle becomes larger than the target pitch angle, so a correction signal in the direction of reducing the deviation is generated and added to the target rotational speed signals nFR* and nRL*, i.e., the target values of nFR* and nRL* are corrected to be larger (smaller) to bring the pitch angle closer to the target.

When the drone 1 receives a gust of wind from the side and the roll angle suddenly increases, a deviation occurs between the target roll angle and the current roll angle. In S14, the target roll angle is calculated from the target rotation speed signals nRR* and nRL*. Then, in the summing point S15, the deviation between this target roll angle and the current roll angle calculated by integrating the roll angular velocity signal around the X-axis output from the position sensor S1 in the arithmetic processing S2 is calculated, and a roll angle correction signal is generated in the PID controller S16 based on this deviation. This roll angle correction signal is input to the summing points S13 and S17. As a result, if the roll angle suddenly increases and the left and right attitudes are significantly tilted, the current roll angle becomes larger than the target roll angle, so that the deviation generated by this is reduced by adding a correction target correction signal to each of the target rotation speed signals nFL* and nRL*, that is, the target values of nFL* and nRL* are corrected to be larger (or smaller) to bring the roll angle closer to the target.

When drone 1 receives a gust of wind from the front or side, causing the aircraft to have a counterclockwise angular velocity around the Z axis, a deviation occurs between the target angular velocity and the current angular velocity. In S18, the target angular velocity around the Z axis is calculated from the target rotational speed signals nFL* and nRR*. Then, in summing point S19, the deviation between this target angular velocity and the current angular velocity obtained by shaping the angular velocity signal around the Z axis output from position sensor S1 in arithmetic processing S2 is calculated, and an angular velocity correction signal is generated in PID controller S20 based on this deviation. This angular velocity correction signal is input to summing points S13 and S21. As a result, even if an angular velocity occurs around the Z axis, the current angular velocity is greater than the target angular velocity, so to reduce the deviation that occurs as a result, the signals nFL* and nRR* are corrected to the target rotation speed signals, and correction signals are added to each of them with the angular velocity around the axis as the target; in other words, the target values of nFL* and nRR* are corrected to be larger (or smaller) to bring the angular velocity around the Z axis closer to the target.

In step ST7, the motor rotation speed signal calculated in step ST6 is output to the ESC 22a, etc. As a result, the motor 20a, etc. is controlled to rotate at the target rotation speed.

Return to step ST2, and repeat steps ST2 to ST7 until the switch OFF operation is input. According to the control of this embodiment, the basic control (main control) is to fly the drone 1 by generating a drive signal for the motor in response to a command signal from the control device, so there is little control delay and stable control is possible. In addition, obstacles and other obstacles can be avoided appropriately without delay.

In addition, disturbances such as gusts of wind can be controlled using three variables - pitch angle, roll angle, and angular velocity around the Z axis - eliminating the need for six-axis variables as in the past. This reduces the number of position sensor variables required for disturbance control, which requires particularly high responsiveness, by half, greatly improving the aircraft's automatic correction capabilities.

Next, the operation of the drone 1 of this embodiment in the fault diagnosis step of step ST4 will be described. The drone 1 performs fault diagnosis on the first control device 100A and the second control device 100B, and if it is determined that there is no fault in either the first control device 100A or the second control device 100B, it performs control based on the above-mentioned step ST5 (see FIG. 6). In contrast, if the drone 1 determines that there is a fault in either the first control device 100A or the second control device 100B, it determines whether there is a fault in both the first control device 100A and the second control device 100B.

When the drone 1 determines that there is a failure in either the first control device 100A or the second control device 100B, it switches to sole control of the first control device 100A or the second control device 100B that is not malfunctioning by cutting off the power supply to the malfunctioning first control device 100A or the second control device 100B. The drone 1 then maintains the hovering state on the spot, or returns or lands. The return or landing may be performed by instructions from the control device that received the failure signal, or a program that automatically performs the return or landing may be executed.

When the drone 1 determines that there is a failure in either or both of the first control device 100A and the second control device 100B, it investigates the cause and severity of the failure in either or both of the first control device 100A and the second control device 100B. The criteria for severity are built into the failure diagnosis program. For example, a severity level is assigned to each cause of failure, with a low severity level being 0 and a maximum severity level being 10. For example, if there is a full rotation failure of the motor 20a or the like in the computer 112A or 112B, the severity level is 10, and a failure of any of the six-axis sensors 114 or a decrease in the rotation speed of the motor 20a or the like is rated as a severity level of 3. In addition, the cause of the failure and the part of the cause of the failure are coded and stored in the computer. This code can be displayed by connecting an external tester or the like as appropriate.

For example, if the severity is less than a predetermined standard, for example, severity level 3 or less, the control is switched to one that does not use only the part that is the cause. In other words, if the faulty part is, for example, a 6-axis sensor, control is performed without performing the above-mentioned correction control. This allows the first control device 100A and the second control device 100B to continue flying using parts that are not faulty and parts whose severity is less than the predetermined standard, without switching to single control.

As described above, if there is a failure in either the first control device 100A or the second control device 100B, the drone 1 can be controlled independently by the other control device that is not malfunctioning. Furthermore, even if there are failures in both the first control device 100A and the second control device 100B, the drone 1 can continue control without switching to independent control if, for example, the severity is 3 or less.

Second Embodiment
The second embodiment will be described with reference to Figures 9 to 12. Descriptions of features common to the first embodiment will be omitted, and the following description will focus on features different from the first embodiment.

Figure 9 is a schematic perspective view of drone 1A of the second embodiment. Figure 10 is a schematic plan view of drone 1A viewed from above. Drone 1A is driven and controlled to move forward (X1) and backward (X2) and move laterally to the right (Y1) and left (Y2) along the diagonal lines of a rectangle formed by motor group 20 arranged in the front (F), motor group 22 arranged in the left (sL), motor group 24 arranged in the right (r), and motor group 26 arranged in the rear (R). This type of movement is called "diagonal movement" in contrast to movement along the sides of the rectangle. Motor groups 20, 22, 24, and 26 are arranged so that their rotation axes, when connected, form a square. Note that, unlike this embodiment, the rotation axes may be connected to form a rectangle that is a rectangle or a rhombus.

As shown in Figures 9 and 10, in motor set 20, motor 20a rotates in a clockwise direction C1, and motor 20b rotates in a counterclockwise direction C2. The rotation speeds nF (see Figure 10) of motors 20a and 20b are the same. Therefore, in motor set 20, the reaction force due to the rotation of motor 20a and the reaction force due to the rotation of motor 20b cancel each other out. In motor sets 22, 24, and 26, the upper motor and the lower motor also rotate at the same rotation speed but in opposite directions.

Next, the operation of drone 1A will be described with reference to FIG. 11. In FIG. 11, solid lines indicate main control, and dotted lines indicate correction control. Note that the control of motors 20a, etc. constituting first power generating device 106A (see FIG. 4) and motors 20b, etc. constituting second power generating device 106B (see FIG. 4) is basically the same, except that the motors rotate in opposite directions. Therefore, below, motors 20a, etc. constituting first power generating device 106A (see FIG. 4) will be described, and explanations of motors 20b, etc. constituting second power generating device 106B will be omitted, and only the necessary parts of second power generating device 106B will be described.

First, we will explain the main control indicated by the solid line. When drone 1A receives a command signal to ascend from the control device, it increases the overall target rotational speed by maintaining the relationship nF* = nR* = nr* = nsL* of the target rotational speed signals nF*, nR*, nr*, nsL* of motors 20a, 22a, 24a, and 26a of each motor group 20, 22, 24, and 26 (see Figure 9). This causes motors 20a, etc. to rotate while maintaining the relationship nF = nR = nr = nsL, causing drone 1A to ascend.

When drone 1A receives an ascent command, the target pitch angle, target roll angle, and target angular velocity around the Z axis calculated from the target rotational speed signals nFR*, nFL*, nRR*, and nRL* are all 0, and the current pitch angle, current roll angle, and current angular velocity around the Z axis obtained by processing information from position sensor S1 in S2 are all 0. In this case, the target rotational speed signals nF*, nR*, nr*, and nsL* of motors 20a, etc. constituting the first power generating device 106A (see FIG. 4) are input directly to ESC 120a, etc. Similarly, these ESCs 120a, etc. control the rotational speeds nFR, nFL, nRR, and nRL of motors 20a, etc. to be equal to the target rotational speed signals nFR*, nFL*, nRR*, and nRL*.

When drone 1A reaches the flight altitude intended by the pilot and receives a command signal from the control device to stop ascent, it will hover by maintaining the target rotational speed, nF* = nR* = nr* = nsL*.

When drone 1A receives a command signal to descend, it reduces the overall value by maintaining nF* = nR* = nr* = nsL*. This reduces the lift force and the aircraft descends.

When drone 1A receives a forward command signal from the control device while hovering at a specified height, it generates a target rotational speed signal with the relationship nF*<nR*, nr*=nsL*. At this time, due to the relationship nF<nR, nr=nsL, a lift difference occurs at the front and rear of the drone 1A's body, causing it to lean forward, in other words, a pitch angle occurs counterclockwise around the Y axis. This pitch angle generates a forward component force in the lift, causing it to move forward.

When drone 1A receives a command signal to move backward from the control device, it generates a target rotational speed signal with the relationship nF*>nR*, nr*=nsL*. These target rotational speed signals drive and control the rotational speed of each motor with the relationship nF>nR, nr=nsL. At this time, a lift difference occurs between the front and rear of the drone 1A's body, causing it to tilt backwards, in other words, a pitch angle occurs in the clockwise direction around the Y axis. This pitch angle generates a backward component force in the lift, causing it to move backwards.

When drone 1A receives a command signal to move laterally to the left while hovering at a specified height, it generates a target rotational speed signal where nr*>nsL* and nF*=nR*. At this time, the difference in lift generated on the left and right sides of drone 1A's body causes it to tilt to the left, meaning that a roll angle is generated in the clockwise direction around the X-axis. This roll angle generates a component force in the lift in the direction of left lateral movement, causing it to move laterally to the left.

Conversely, when drone 1A receives a command signal to move laterally to the right, it generates a target rotational speed signal where nr* < nsL*, nF* = nR*. At this time, the lift generated on the left and right sides of drone 1A's body causes it to tilt downward to the right, meaning that a roll angle is generated in the counterclockwise direction around the X-axis. This roll angle generates a component force in the lift in the direction of rightward movement, causing it to move laterally to the right.

As described above, the drone 1A can perform basic movements such as ascending, descending, hovering, moving forward, backward, and moving laterally to the right and left through main control based on commands from the control device. The target rotational speed signal for this is generated by the control device, so the drone 1A does not need to perform time-consuming, complex calculations or integral calculations with large errors, allowing it to fly responsively and exactly as the pilot intends. Moreover, forward, backward, and moving laterally to the right and left can be changed simply by changing the rotational speed of a pair of motors, enabling stable flight with good responsiveness.

Next, the correction control shown by the dotted line in Figure 11 will be explained. In situations where it is difficult to fly based on command signals from the control device, for example when an unexpected gust of wind or other unforeseen circumstances occur during flight, the correction control shown by the dotted line in Figure 11 is performed.

When drone 1A is hit by a gust of wind from the front and the pitch angle suddenly increases, a difference, i.e., deviation, occurs between the target pitch angle and the current pitch angle. In S9, the target pitch angle is calculated from the target rotation speed signals nF* and nR*. Then, in summing point S10, the deviation between this target pitch angle and the current pitch angle calculated by integrating the pitch angle velocity signal around the Y axis output from position sensor S1 in arithmetic processing S2 is calculated, and a pitch angle correction signal is generated in PID controller S11 based on this deviation. This pitch angle correction signal is input to summing point S12. As a result, if the pitch angle suddenly increases and the attitude tilts forward significantly, the current pitch angle becomes larger than the target pitch angle, so a correction signal in the direction of reducing the deviation is generated and added to the target rotation speed signal nF*, i.e., the target value of nF* is corrected to be larger (smaller) and the pitch angle is brought closer to the target.

When drone 1A receives a gust of wind from the side and the roll angle suddenly increases, a deviation occurs between the target roll angle and the current roll angle. In S14, the target roll angle is calculated from the target rotation speed signals nr* and nsL*. Then, in summing point S15, the deviation between this target roll angle and the current roll angle calculated by integrating the roll angular velocity signal around the X-axis output from position sensor S1 in arithmetic processing S2 is calculated, and a roll angle correction signal is generated in PID controller S16 based on this deviation. This roll angle correction signal is input to summing point S17. As a result, if the roll angle suddenly increases and the left and right posture tilts significantly, the current roll angle becomes larger than the target roll angle, so a correction signal is added to the target rotation speed signal nsL* to reduce the deviation that occurs as a result, that is, the target value of nsL* is corrected to be larger (or smaller) to bring the roll angle closer to the target.

According to the control of this embodiment, the basic control (main control) is to generate a drive signal for the motor and fly it according to a command signal from the control device, so there is little delay in control and stable control is possible. In addition, it is possible to appropriately avoid obstacles and the like without delay. Since the drone 1A moves forward and backward in a diagonal direction and laterally to the left and right, it is possible to ensure a longer distance between the motors than when moving in a conventional side direction, and it has the effect of being able to increase the moment for returning to the horizontal direction by itself. For example, as shown in FIG. 12, even if a crosswind force P suddenly acts and a moment MP is generated, if L is sufficiently long, the attitude can be stabilized without control to generate a lift difference F1-F2, that is, the structural toughness can be improved even against disturbances such as gusts of wind, and moreover, it can be corrected by simply changing the rotation speed of one pair of motors, so stable flight with good response is possible.

The failure judgment program of drone 1A is basically the same as the failure judgment program of drone 1 of the first embodiment, but differs in that it is configured to stop diagonal movement and switch to movement in the side direction similar to drone 1 of the first embodiment when switching to independent control of either first control device 100A or second control device 100B. For this reason, drone 1A stores both a program for diagonal movement and a program for movement in the side direction in computers 112A and 112B.

When there is a failure in either the first control device 100A or the second control device 100B, the drone 1A stops control by the failed first control device 100A or second control device 100B and switches to sole control by the non-failed first control device 100A or second control device 100B. When there are failures in both the first control device 100A and the second control device 100B, if the severity of the failure is, for example, 3 or less in both, the drone 1A allows flight by control by both, but if either exceeds 3, it switches to sole control by the relatively smaller control device. Then, under sole control, diagonal movement is stopped and switching to movement in the side direction.

The present invention is not limited to the above-described embodiments, and includes modifications and improvements that can achieve the object of the present invention. Furthermore, the embodiments and modifications can be combined as appropriate, provided no contradictions arise.

1, 1A Drone 100A First control device 100B Second control device 102A First communication device 102B Second communication device 104A First control drive device 104B Second control drive device 106A First power generation device 106B Second power generation device

Claims (8)

A drone capable of flying by receiving command signals from an external control device,
a first control device including a first communication device, a first control drive device, and a first power generating device;
a first fault diagnosis device for diagnosing a fault in the first control device;
a second control device including a second communication device, a second control drive device, and a second power generating device;
a second fault diagnosis device for diagnosing a fault in the second control device ,
When the first fault diagnosis device does not detect a fault in the first control device and the second fault diagnosis device does not detect a fault in the second control device, flight control is performed by the first control device and the second control device;
When the first fault diagnosis device detects a fault in the first control device, the first control device is stopped and flight control is performed by the second control device;
When the second fault diagnosis device detects a fault in the second control device, the second control device is stopped and the drone is controlled to fly using the first control device. the first control drive device includes a first battery, a first motor drive device (ESC), and a first relay device;
the first control drive device supplies power to at least the first motor drive device via the first relay device, and when the first fault diagnosis device detects a fault in the first control device, stops the supply of power to at least the first motor drive device via the first relay device;
the second control drive device includes a second battery, a second motor drive device (ESC) and a second relay device;
the second control drive device supplies power to at least the second motor drive device via the second relay device, and stops the supply of power to at least the second motor drive device via the second relay device when the second fault diagnosis device detects a fault in the second control device;
The drone of claim 1 . The drone of claim 1, further comprising a notification means for notifying the pilot device of a failure when the first failure diagnosis device detects a failure in the first control device or when the second failure diagnosis device detects a failure in the second control device. A motion control means for ascending, descending, hovering, moving forward, retreating, moving laterally to the right, moving laterally to the left, and rotating right and left around a vertical axis (Z-axis) based on commands from the control device;
a target motion setting means for defining a target motion by a pitch angle, a roll angle, and an angular velocity around a vertical axis (Z-axis);
a current state detection means for detecting a current motion state by a pitch angle, a roll angle, and an angular velocity around a vertical axis (Z axis);
The drone described in claim 1, further comprising a correction control means for calculating a deviation between the target motion defined by the target motion setting means and the current motion state detected by the current state detection means, and for performing correction control by adding or subtracting a corrected signal so as to reduce the deviation. the first power generating device and the second power generating device each include at least four motors;
the four motors are arranged such that, in a plan view, a rectangle is formed by connecting rotation axes of the four motors, the rectangle being a rectangle or a square;
The motors arranged on the diagonals of the rectangle are designated FR (front right motor), FL (front left motor), RR (rear right motor), and RL (rear left motor), and the rotational speeds of the motors are designated nFR, nFL, nRR, and nRL. Based on the command signal from the control device, the rotational speeds of the motors are controlled to be increased while maintaining the relationship nFR=nFL=nRR=nRL during ascent, and are controlled to be decreased while maintaining the relationship nFR=nFL=nRR=nRL during descent, based on the command signal from the control device. When moving forward, nFR and nFL are decreased while maintaining the relationship nFR=nFL<nRR=nRL, and the forward speed is increased. When moving backward, nFR=nFL>nRR=nRL. a motion control means for controlling the vehicle to drive and control so that nFR=nFL is increased to increase the reverse speed while maintaining the relationship nFR=nRR<nFL=nRL, for right lateral movement, driving and controlling so that nFL and nRL are increased to increase the right lateral movement speed while maintaining the relationship nFR=nRR<nFL=nRL, for left lateral movement, driving and controlling so that nFL and nRL are decreased to increase the left lateral movement speed while maintaining the relationship nFR=nRR>nFL=nRL, for right rotation about a vertical axis (Z-axis), driving and controlling so that nFL and nRR are increased to increase the right rotation speed while maintaining the relationship nFR=nRL<nFL=nRR, and for left rotation, driving and controlling so that nFL and nRR are decreased to increase the left rotation speed while maintaining the relationship nFR=nRL>nFL=nRR;
a target motion setting means for determining a target pitch angle, a target roll angle, and a target angular velocity about a vertical (Z) axis based on the command signal from the control device;
A position sensor (6-axis sensor, or 6-axis sensor and GNSS, or GNSS) arranged in the control drive device;
a current state detection means for detecting a current pitch angle, a current roll angle, and an angular velocity around a vertical (Z) axis from an output value of the position sensor;
a correction control means for comparing the data of the target motion setting means with the data of the current state detection means to obtain respective deviations, and correcting and controlling the pitch angles nFR and nFL, the roll angles nFL and nRL, and the rotational angular velocities nFL and nRR by adding or subtracting corrected signals so as to reduce these deviations;
The drone of claim 1 . each of the first power generating device and the second power generating device includes at least four motors, each of which includes two motors whose rotation axes are arranged on the same line;
the four sets are arranged such that, when viewed in plan, connecting the rotation shafts of the four sets of motors forms a rectangle that is a rectangle, a square, or a rhombus;
The two motors in the set are configured to rotate in opposite directions at the same rotational speed;
The first control drive device and the second control drive device are configured to move the drone forward, backward, and laterally in a diagonal direction of the rectangle.
The drone of claim 1 . The drone according to claim 6, wherein the four groups are F, R, r, and sL, the F and the R are arranged on one diagonal of the rectangle, the r and the sL are arranged on the other diagonal of the rectangle, and the respective rotational speeds are nF, nR, nr, and nsL, and the control drive device is configured to control the drive based on the command signal from the pilot device so that the relationship is nF<nR when moving forward, nF>nR when moving backward, nsL>nr when moving right, and nsL<nr when moving left. a target motion setting means for determining a target pitch angle, a target roll angle, and a target angular velocity about a vertical (Z) axis based on the command signal from the control device;
A position sensor (6-axis sensor, or 6-axis sensor and GNSS, or GNSS) arranged in the control drive device;
a current state detection means for detecting a current pitch angle and a current roll angle from an output value of the position sensor;
a correction control means for comparing the data from the target motion setting means with the data from the current state detection means to obtain the deviations between the data and correcting and controlling the pitch angle nF and the roll angle nsL by adding or subtracting corrected signals so as to reduce the deviations;
The drone of claim 7 .