Title:
FLIGHT CONTROL DEVICE, METHOD, PROGRAM, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2019/172335
Kind Code:
A1
Abstract:
The objective of the present invention is to enable an unmanned aerial vehicle to be operated freely and controlled to fly stably.
On the basis of three-dimensional coordinates of each marker, measured by means of a position measuring sensor, and on the basis of a preset target point at a target location of a UAV, a position and azimuth detecting unit calculates a midpoint of the three-dimensional coordinates of each marker, the distance from the midpoint to the target point, and the azimuth angle of a line segment joining the three-dimensional coordinates of each marker, relative to the target point in a global coordinate system. On the basis of the distance to the target point, a velocity control unit updates control data for controlling a velocity vector of the UAV, in such a way as to achieve a velocity vector defined from the midpoint and the target point. A flight command converting unit calculates flight instruction data for the UAV on the basis of the updated control data and the calculated azimuth angle, and controls the operation of the UAV on the basis of the calculated flight instruction data.
Inventors:
MIYAGAWA ISAO (JP)
KINEBUCHI TETSUYA (JP)
KINEBUCHI TETSUYA (JP)
Application Number:
PCT/JP2019/008939
Publication Date:
September 12, 2019
Filing Date:
March 06, 2019
Export Citation:
Assignee:
NIPPON TELEGRAPH & TELEPHONE (JP)
International Classes:
G05D1/00; B64C13/18; B64C39/02; G05D1/04
Domestic Patent References:
| WO2017022058A1 | 2017-02-09 | |||
| WO2016059930A1 | 2016-04-21 |
Foreign References:
| JP2016177640A | 2016-10-06 | |||
| JP2013175221A | 2013-09-05 | |||
| JP2009544528A | 2009-12-17 | |||
| JP2006051864A | 2006-02-23 |
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
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