阅读说明：本技术 无人飞行器及其控制系统以及控制程序 (Unmanned aerial vehicle, and control system and control program thereof ) 是由 和气千大 柳下洋 西东敦规 于 2019-03-26 设计创作，主要内容包括：提供无人飞行器及其控制系统以及控制程序,能够使得若与物体碰撞或者坠落则无法再次运转,从而将再次运转导致的无法控制、坠落等导致的损害的发生防患于未然。无人飞行器具有多个旋转体、对多个旋转体分别进行旋转驱动的多个电动机(102)以及对多个电动机(102)分别进行控制的飞行控制器(501),飞行控制器(501)具有通过来自传感器的信号来检测碰撞或者坠落的碰撞坠落检测部(551)和通过来自碰撞坠落检测部(551)的检测信号来切断电源供给的电源切断指令部(556)。(Provided are an unmanned aerial vehicle, a control system and a control program thereof, which can prevent the occurrence of damage caused by uncontrollable operation, falling and the like caused by re-operation because the unmanned aerial vehicle cannot be operated again when colliding with an object or falling. The unmanned aerial vehicle comprises a plurality of rotating bodies, a plurality of motors (102) for driving the plurality of rotating bodies to rotate, and a flight controller (501) for controlling the plurality of motors (102), wherein the flight controller (501) comprises a collision/fall detection unit (551) for detecting a collision or fall based on a signal from a sensor, and a power supply interruption command unit (556) for interrupting the power supply based on a detection signal from the collision/fall detection unit (551).)

1. An unmanned aerial vehicle includes a plurality of rotating bodies, a plurality of motors for rotationally driving the plurality of rotating bodies, and a flight controller for controlling the plurality of motors,

the flight controller includes:

a collision/fall detection unit that detects a collision or fall from a signal from the sensor; and

and a power supply interruption command unit that interrupts power supply in response to a detection signal from the collision/fall detection unit.

2. The unmanned aerial vehicle of claim 1,

the flight controller includes a motor control unit that controls each of the plurality of motors, and stops the plurality of motors by the motor control unit to stop the rotating body before the power supply is cut off by the power cut-off command unit.

3. The unmanned aerial vehicle of claim 1 or 2,

the sensor is an acceleration sensor or an angular velocity sensor.

4. The unmanned aerial vehicle of any of claims 1-3,

the unmanned aerial vehicle has a chemical liquid supply control unit that controls the spreading of the chemical liquid, and the chemical liquid supply control unit stops the spreading of the chemical liquid before the power supply is cut off by the power-off command unit.

5. The unmanned aerial vehicle of claim 1 or 2,

the sensor is an obstacle contact sensor.

6. The unmanned aerial vehicle of any of claims 1-5,

the unmanned aerial vehicle has a memory that stores detection signals from the crash fall detection section.

7. The unmanned aerial vehicle of claim 6,

the memory is a non-volatile memory.

8. The unmanned aerial vehicle of claim 6 or 7,

the power supply interruption instruction unit interrupts power supply after storing the detection signal in the memory.

9. The unmanned aerial vehicle of any of claims 6-8,

the unmanned aerial vehicle reads out the data stored in the memory at the time of starting, and the power supply cut-off command unit cuts off the power supply to prohibit starting or flying when the data of collision or falling is stored.

10. The unmanned aerial vehicle of any of claims 6-9,

the unmanned aerial vehicle is provided with a control system for controlling the unmanned aerial vehicle,

when it is determined that the control system is operating normally, the memory is cleared, and the power supply is resumed by the power shutoff instruction unit.

11. A control system of an unmanned aerial vehicle is provided,

the unmanned aerial vehicle includes a plurality of rotating bodies, a plurality of motors for driving the plurality of rotating bodies to rotate, and a flight controller for controlling the plurality of motors,

the flight controller includes:

a collision/fall detection unit that detects a collision or fall from a signal from the sensor; and

and a power supply interruption command unit that interrupts power supply in response to a detection signal from the collision/fall detection unit.

12. The unmanned aerial vehicle control system of claim 11,

the flight controller includes a motor control unit that controls each of the plurality of motors, and has a function of stopping the plurality of motors by the motor control unit and stopping the rotating body before the power supply is cut off by the power cut-off command unit.

13. The unmanned aerial vehicle control system of claim 11 or 12, wherein,

the flight controller stores the detection signal from the collision and fall detection portion via a memory.

14. The unmanned aerial vehicle control system of claim 13,

the power supply interruption instruction unit interrupts power supply after storing the detection signal in the memory.

15. The unmanned aerial vehicle control system of claim 13,

the memory is a non-volatile memory.

16. The unmanned aerial vehicle control system of claim 13 or 14,

the control system of the unmanned aerial vehicle reads out the stored data of the memory at the time of start, and the power supply cut-off command unit cuts off the power supply and prohibits start when the data of collision and fall are stored.

17. The unmanned aerial vehicle control system of any one of claims 13 to 16,

the control system of the unmanned aerial vehicle has the following functions: and when the control system for controlling the unmanned aerial vehicle is judged to be in normal operation, the memory is cleared, and the power supply is restored by the power supply cut-off command section.

18. The unmanned aerial vehicle control system of any one of claims 13 to 17,

the unmanned aerial vehicle is used for spreading the liquid medicine,

the control system of the unmanned aerial vehicle has a function of stopping the spreading of the liquid medicine before the power supply is cut off.

19. A control program for an unmanned aerial vehicle having a plurality of rotors, a plurality of motors for rotationally driving the plurality of rotors, and a flight controller for controlling the plurality of motors,

the control program of the unmanned aerial vehicle causes the flight controller computer to function as:

a motor control function of controlling each of the plurality of motors;

a collision and fall detection function of detecting a collision or fall by a signal from the sensor; and

and a power supply cutoff function that cuts off power supply by a detection signal obtained by the collision and fall detection function.

20. The unmanned aerial vehicle control program of claim 19, wherein,

the control program of the unmanned aerial vehicle causes the flight controller computer to function as:

the plurality of motors are stopped to stop the rotating body before the power supply is cut off by the power cut-off function.

21. The unmanned aerial vehicle control program according to claim 19 or 20, wherein,

the control program of the unmanned aerial vehicle realizes the following functions: the detection signal obtained by the collision and fall detection function is stored by a memory.

22. The unmanned aerial vehicle control program of claim 21, wherein,

the memory is a non-volatile memory.

23. The unmanned aerial vehicle control program according to claim 21 or 22, wherein,

the control program of the unmanned aerial vehicle realizes the following functions: the power supply is cut off by the power cut-off function after the detection signal is stored in the memory.

24. The unmanned aerial vehicle control program according to any one of claims 21 to 23, wherein,

the control program of the unmanned aerial vehicle realizes the following functions:

when data of collision or fall is stored, the power supply is cut off by the power cut-off function, and the start is prohibited.

25. The unmanned aerial vehicle control program according to any one of claims 21 to 24, wherein,

when it is determined that the control system for controlling the unmanned aerial vehicle is operating normally, the control program for the unmanned aerial vehicle causes the flight controller computer to realize a function of clearing the memory and restoring the power supply.

26. The unmanned aerial vehicle control program according to any one of claims 19 to 25, wherein,

the unmanned aerial vehicle is used for spreading the liquid medicine,

the control program of the unmanned aerial vehicle realizes the following functions: the spreading of the chemical liquid is stopped before the power supply is cut off.

Technical Field

The present invention relates to an unmanned aerial vehicle with improved safety, a control system thereof, and a control program thereof.

Background

The use of unmanned aircraft, such as small helicopters or multi-rotor helicopters, commonly referred to as drones, is being propelled. Hereinafter, the unmanned aerial vehicle is referred to as an "unmanned aerial vehicle". As one of important fields of use of unmanned aerial vehicles, there is chemical application of agricultural chemicals, liquid fertilizers, and the like to agricultural lands, that is, farms (see, for example, patent document 1). In japan where the farmland is narrow, compared with europe and the united states, the method is suitable for the case of the chemical distribution by the unmanned aerial vehicle in comparison with the case of the chemical distribution by the manned airplane or the helicopter.

By utilizing technologies such as quasi-zenith satellite System (QZSS) or RTK-GPS (Real Time Kinematic-Global positioning System), the unmanned aerial vehicle can accurately know the absolute position of the aircraft in the flight by centimeter units. Thus, in japan, even in a typical farmland with narrow and complicated terrains, the burden of manual operation can be reduced by autonomous flight, and the medicine can be efficiently and accurately distributed.

On the other hand, in an autonomous flying type drone used for, for example, chemical distribution for agriculture, consideration is required for safety. Since the weight of the unmanned aerial vehicle loaded with the chemical is several tens of kilograms, serious results may be caused in the event of an accident such as falling to a human body. In addition, since the operator of the drone is not a professional related to the drone, a mechanism for preventing the malfunction, in which safety is ensured even by a non-professional, is necessary. There has been a safety technique of an unmanned aerial vehicle based on human manipulation (for example, see patent document 2), but there is no technique for dealing with a safety problem unique to an autonomous flight type unmanned aerial vehicle for medicine distribution, particularly for agricultural use.

Disclosure of Invention

Problems to be solved by the invention

The present invention aims to provide an unmanned aerial vehicle, a control system and a control program thereof, which can prevent the occurrence of uncontrollable damage caused by re-operation and damage caused by falling and the like because the unmanned aerial vehicle cannot be re-operated when colliding with an object or falling.

Means for solving the problems

The present invention relates to an unmanned aerial vehicle including a plurality of rotors, a plurality of motors for driving the plurality of rotors to rotate, and a flight controller for controlling the plurality of motors,

the flight controller includes:

a collision/fall detection unit that detects a collision or fall from a signal from the sensor; and

and a power supply interruption command unit that interrupts power supply in response to a detection signal from the collision/fall detection unit.

The control system of an unmanned aerial vehicle to which the invention relates is characterized in that,

the unmanned aerial vehicle includes a plurality of rotating bodies, a plurality of motors for driving the plurality of rotating bodies to rotate, and a flight controller for controlling the plurality of motors,

the flight controller includes:

a collision/fall detection unit that detects a collision or fall from a signal from the sensor; and

and a power supply interruption command unit that interrupts power supply in response to a detection signal from the collision/fall detection unit.

The control program of the unmanned aerial vehicle relating to the invention is characterized in that,

the unmanned aerial vehicle includes a plurality of rotating bodies, a plurality of motors for driving the plurality of rotating bodies to rotate, and a flight controller for controlling the plurality of motors,

the control program of the unmanned aerial vehicle causes the flight controller computer to function as:

a motor control function of controlling each of the plurality of motors;

a collision and fall detection function of detecting a collision or fall by a signal from the sensor; and

and a power supply cutoff function that cuts off power supply by a detection signal obtained by the collision and fall detection function.

The computer program can be provided by downloading via a network such as the internet or can be provided by recording on a computer-readable recording medium such as a CD-ROM.

Effects of the invention

According to the unmanned aerial vehicle, the control system thereof, and the control program according to the present invention, since the probability of an accident caused by the unmanned aerial vehicle experiencing a collision or a fall is high, the supply of power is cut off, and the unmanned aerial vehicle cannot be operated, so that the occurrence of the accident can be prevented.

Drawings

Fig. 1 is a plan view showing an example of the appearance of a drone as an unmanned aerial vehicle according to the present invention.

Fig. 2 is a front view of the above-described drone.

Fig. 3 is a right side view of the drone.

Fig. 4 is a conceptual diagram of an example in which the unmanned aerial vehicle is used for spreading a chemical agent for agricultural use.

Fig. 5 is a block diagram showing an example of the entire electrical control system of the above-described unmanned aerial vehicle.

Fig. 6 is a block diagram showing an example of a control system portion characteristic of the present invention in the above-described control system in more detail.

Fig. 7 is a flowchart showing the operation of the first embodiment of the present invention.

Fig. 8 is a flowchart showing the operation in the crash drop detection according to the second embodiment of the present invention.

Fig. 9 is a flowchart showing the operation at the time of startup of the second embodiment.

Fig. 10 is a flowchart showing the operation of the third embodiment of the present invention.

Detailed Description

Hereinafter, an unmanned aerial vehicle, a control system thereof, and a control program according to an embodiment of the present invention will be described with reference to the drawings. The illustrated embodiment is an example of a drone that contemplates agricultural use, but the use of a drone is not so limited.