JP2016018472A - Control device, control system and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device capable of improving operation ability of an operator.SOLUTION: A control device comprises: a command part 4 for receiving a command related to operation of a moving body 3, and transmitting the command to the moving body 3; and an estimation part 5 for repeatedly acquiring state information indicating a state of the moving body 3, and based on latest state information, and a history of commands which are received at and after determined time which is time corresponding to the latest state information, estimating a state of the moving body 3 at and after the determined time.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a moving body control device, a control system, and a control method.

In a control system that controls the movement of a moving body from a remote location, when an operator of the control device inputs a command related to the movement of the moving body, the input command is transmitted from the control device to the moving body using communication. The moving body operates according to this command, and as a result, enters a certain state. This state changes depending on the environment in which the moving object is placed, such as the direction and strength of the wind. For this reason, the mobile body transmits its state to the control device using communication, and the control device outputs the state transmitted from the mobile body. Notify what has happened. Thus, the operator can determine the content of the next command based on the notified state of the moving body.
The command transmitted from the control device to the moving body is generated by the control device based on the operator's input and then transmitted to the moving body using communication. With delay. In addition, since the information indicating the state of the mobile object is generated by the mobile object and transmitted to the control device using communication, the delay due to the arithmetic processing of the computer and the delay due to communication are the same as in the above command. Accompanied by. Therefore, the state output from the control device is already a past state at the time of output, and the operator cannot accurately know the current state of the moving body.

  As a technique related to delay due to communication, Patent Document 1 describes a technique for compensating for a difference between received data and current data based on the received data. In addition, Patent Literature 2 and Patent Literature 3 can be cited as other literature relating to the control of the moving body.

JP-T-2005-509970 Japanese Patent No. 2972427 Japanese Patent Laid-Open No. 03-139494

However, even if the technique disclosed in Patent Document 1 is applied to a control system that controls the movement of a moving body from a remote location to compensate for the deviation between the data received from the moving body and the current data, The current state may not be known accurately.
Specifically, in the technique disclosed in Patent Document 1, a data shift is compensated based only on data received from a mobile body, and the compensated data includes a time point when the mobile body transmits data. The commands entered between the current and the present are not reflected. For this reason, if the state of the moving body is changed by this command, a deviation occurs between the compensated data and the current data, and the operator cannot make the current state of the moving body accurate. . Therefore, the operability for the operator is lowered.
The above-mentioned problems are not considered in Patent Document 2 and Patent Document 3.
The objective of this invention is providing the control apparatus, control system, and control method which can improve an operator's operativity.

The control device according to the present invention comprises:
A command unit that receives a command related to the operation of the moving body and transmits the command to the moving body;
Repetitively obtaining the state information indicating the state of the mobile body, based on the latest state information, and a history of commands received by the command unit after a fixed time that is a time corresponding to the latest state information, And an estimation unit that estimates the state of the moving body after the fixed time.

Moreover, the control system according to the present invention includes:
A moving body that operates according to the command;
A control device for transmitting the command to the moving body,
The controller is
A command unit that receives a command related to the operation of the moving body and transmits the command to the moving body;
Repetitively obtaining the state information indicating the state of the mobile body, based on the latest state information, and a history of commands received by the command unit after a fixed time that is a time corresponding to the latest state information, And an estimation unit that estimates a state of the moving body after the fixed time.

The control method according to the present invention includes:
Accepts commands related to the movement of moving objects,
The command is transmitted to the moving body,
Repeatedly acquiring state information indicating the state of the moving object;
Based on the latest state information and a history of commands received by the command unit after a fixed time that is a time corresponding to the latest state information, the state of the moving body after the fixed time is estimated.

  ADVANTAGE OF THE INVENTION According to this invention, it is possible to improve the operativity of an operator in the control system which controls the movement of a moving body from a remote place.

It is a block diagram of the control system which concerns on one Embodiment of this invention. It is a figure which shows an example of the screen which shows the state of a moving body. It is a figure which shows another example of the screen which shows the state of a moving body. It is a flowchart for demonstrating operation | movement of a control apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in this specification and drawing, the description which overlaps may be abbreviate | omitted by attaching | subjecting the same code | symbol about the component which has the same function.

FIG. 1 is a configuration diagram of a control system 100 according to an embodiment of the present invention.
The control system 100 is a control system including a control device 2 operated by an operator 1 and a moving body 3. The operator 1 is a controller who operates the control device 2. The control device 2 is a control device that controls the moving body. The moving body 3 is an unmanned aerial vehicle that operates according to a command.

The control device 2 includes a command unit 4, a motion simulation unit 5, and a display unit 6.
When the operator 1 inputs a command to the control device 2, the command unit 4 receives this command. The command unit 4 transmits the received command to the moving body 3 and inputs the command to the motion simulation unit 5. The item input as the command is an item that changes the movement of the moving body such as a pitch angle, a roll angle, and an engine speed. The command unit 4 repeats this operation every time a command is received.
When the moving body 3 receives a command transmitted from the command unit 4, the moving body 3 is in a state of operating according to the command. The moving body 3 generates state information indicating the state of the moving body 3 itself, and transmits the generated state information to the motion simulation unit 5.
The state information generated by the moving body 3 indicates, for example, flight specifications regarding the flight of the moving body 3 as the state of the moving body 3. The flight specifications include, for example, the position, posture, moving state, operating condition, and the like of the moving body 3. The state information indicates, for example, the latitude, longitude, and altitude at which the moving body 3 is located. The state information indicates, for example, the nose direction as the posture of the moving body 3, and indicates, for example, the air speed, the ground speed, the flight direction, and the lift rate as the moving state. The state information indicates a pitch angle, a roll angle, and the like as operating conditions.
For example, the moving body 3 generates state information every predetermined time, and transmits the state information to the motion simulation unit 5 in association with the time when the state information is generated.

The motion simulation unit 5 receives the command input from the command unit 4, the state information transmitted from the moving body 3, and the time corresponding to the state information. The exercise simulation unit 5 has a memory (not shown) for storing data, and when an instruction is received, the received instruction is stored and accumulated in the memory. At this time, the motion simulation unit 5 stores the time when the command is input and the command in association with each other. In addition, when the motion simulation unit 5 receives the state information, the motion simulation unit 5 extracts from the memory a history of commands input after the time associated with the state information. Then, the motion simulation unit 5 calculates the state of the moving body 3 based on the latest received state information and the history of commands taken out from the memory.
Since the state of the moving body 3 indicated by the latest state information is a confirmed state that is actually transmitted from the moving body 3, this state is referred to as a confirmed state. The state of the moving body estimated by is referred to as an estimated state. In addition, the time associated with the latest state information indicating the confirmed state is referred to as a confirmed time. The fixed time can also be referred to as a time when the moving body 3 is in the state indicated by the latest state information. In this case, the motion simulation unit 5 estimates the state of the moving body 3 after the fixed time. The motion simulation unit 5 inputs information indicating the latest confirmed state transmitted from the moving body 3 and the estimated state of the moving body 3 to the display unit 6.

  The display unit 6 is an example of an output unit that outputs information indicating the confirmed state and estimated information of the moving body 3. The display unit 6 outputs a screen showing the confirmed state and the estimated state as information indicating the confirmed state and the estimated state. 2 and 3 are diagrams illustrating an example of a screen showing a confirmed state and an estimated state. A screen 20 in FIG. 2 shows a horizontal movement path of the moving body 3, and a screen 30 in FIG. 3 shows a vertical movement path of the moving body 3.

The screen 20 shows the flight information indicated by the state information and the estimated state estimated by the motion simulation unit 5 using a symbol indicating the moving body 3, a line indicating the moving path of the moving body, a numerical value, and the like. Specifically, the screen 20 indicates the position of the moving body 3 indicated by the latest state information using the confirmed symbol 21, and indicates the latest state information using the numerical value in the flight specification box 22. Among the flight specifications, the altitude and the rate of elevation, speed, and direction are shown. The screen 20 shows the current position of the moving body 3 indicated by the estimated state using the current symbol 23, and uses the numerical values in the flight specification box 24 to indicate the flight specifications indicated by the estimated state. , Altitude and elevating rate, speed and bearing.
Further, the screen 20 shows an estimated movement route of the moving body 3 based on the estimated state from the fixed time to the present time using the estimated movement route line 25, and using the estimated movement route line 26, Based on the estimated state of the future, the estimated moving path of the moving body 3 is shown. Note that the estimated movement route line 25 indicates a movement route estimated based on a command received from the confirmed time to the present and the confirmed position indicated by the latest state information. The estimated movement path line 26 indicates future estimated movement paths divided every 10 seconds, and this estimated movement path estimates the position of the moving body 3 on the assumption that the current command is maintained. Is generated.
In addition, the display unit 6 displays the past estimated state and the future estimated state by different representation methods. Specifically, the display unit 6 indicates an estimated travel route line 25 indicating a past estimated travel route, and a future estimated travel. A different line type is used for the estimated movement route line 26 indicating the route.

A screen 30 in FIG. 3 shows a moving path of the moving body 3 in the vertical plane, and includes a horizontal axis 31 representing the ground and a target point 32 indicating a target grounding position of the moving body 3. Further, the screen 30 shows the position of the moving body 3 among the flight specifications indicated by the latest state information using the confirmed symbol 33, and the latest state information using the numerical values in the flight specification box 34. Among the flight specifications shown by, the altitude, the rate of elevation, the speed, and the direction are shown. Further, the screen 30 shows the current position of the moving body 3 indicated by the estimated state and the pitch angle of the body using the body symbol 35. Specifically, the position of the front end of the machine symbol 35 on the screen 30 indicates the position of the mobile object 3, and the display angle of the machine symbol 35 on the screen 30 indicates the pitch angle of the mobile object 3. Further, the screen 30 shows the altitude, the ascending / descending rate, the speed, and the azimuth among the flight specifications indicated by the latest state information, using the numerical values in the flight specification box 36.
In addition, the screen 30 shows an estimated movement route from the fixed time point to the present time using the estimated movement route line 37, and shows an estimated movement route in the future using the estimated movement route line 38. The estimated movement route line 38 indicates a route calculated on the assumption that the current command is maintained, and is divided every second. In FIG. 3, the estimated movement route line 38 indicates a route up to 3 seconds later.

  The display unit 6 may display the screen 20 and the screen 30 at the same time, or may switch between the screen 20 and the screen 30 for display. When the screen 20 and the screen 30 are switched and displayed, the display unit 6 may switch between the screen 20 and the screen 30 according to the switching operation of the operator 1, or the screen 20 and the screen 20 may be detected by detecting a predetermined trigger. The screen 30 may be switched. When the change in altitude of the moving body 3 is small, it is often preferable to display the screen 20 showing the moving path in the horizontal direction, and when the altitude change of the moving body 3 is large, the screen showing the moving path in the vertical direction. It is often desirable to display 30. For this reason, the display unit 6 can automatically switch between the screen 20 and the screen 30 using a change in the magnitude relationship between the magnitude of the height change of the moving body 3 and the threshold as a trigger.

FIG. 4 is a flowchart for explaining the operation of the motion simulation unit 5. The motion simulation unit 5 mainly executes three processes repeatedly in parallel. The first process is a process in which the motion simulation unit 5 receives a command input from the command unit 4 (step S100) and accumulates the received command (step S101). The motion simulation unit 5 repeats the processes of step S100 and step S101 each time a command is input from the command unit 4.
The second process is a process in which the motion simulation unit 5 receives the latest state information transmitted from the moving body 3 (step S102). The motion simulation unit 5 repeats the process of step S102 every time the moving body 3 transmits the latest state information.
In the third process, the motion simulation unit 5 performs motion simulation calculation (step S103) for estimating the state of the moving body 3, and the estimated state estimated by the motion simulation calculation and the confirmed state indicated by the latest state information are displayed. This is the output process (step S104). The motion simulation calculation is performed based on the latest state information and a history of commands after the fixed time corresponding to the state information.

As described above, according to one embodiment of the present invention, the control device 2 includes the command unit 4 and the motion simulation unit 5. The command unit 4 receives a command related to the operation of the moving body 3 and transmits the command to the moving body 3. The motion simulation unit 5 repeatedly acquires state information indicating the state of the moving body 3. The motion simulation unit 5 estimates the state of the moving body 3 after the confirmed time based on the latest state information and the history of commands received after the confirmed time that is the time corresponding to the latest state information. .
With this configuration, the state of the moving body 3 after the confirmed time is estimated based on the latest state information and the history of commands received after the confirmed time. For this reason, even if there is a delay in the transmission of the state information and the confirmed time is already a past time, an operator who inputs a command to the moving body 3 The state can be grasped. Therefore, the operator 1 can determine the content of the command to be input next based on the state of the moving body 3 after the fixed time, and the operability of the operator 1 can be improved.

  Moreover, according to the said embodiment, the control apparatus 2 further has the display part 6 which outputs the information which shows the fixed state which is the state of the mobile body 3 which state information shows, and an estimated state. With this configuration, the operator 1 can more reliably grasp the confirmed state and the estimated state. For this reason, the operator 1 can judge the content of the command input next based on a definite state and an estimated state. Therefore, the operability of the operator 1 can be improved more reliably.

  Moreover, according to the said embodiment, the display part 6 outputs the screen which shows a definite state and an estimated state as information which shows a definite state and an estimated state. With this configuration, since the confirmed state and the estimated state are visually shown, the operator 1 can intuitively grasp the confirmed state and the estimated state. Therefore, the operability of the operator 1 can be further improved.

  Further, according to the embodiment, the state of the moving body 3 includes the position of the moving body 3. Thereby, the display part 6 will output the screen which shows the position of a moving body as a definite state and an estimated state. With this configuration, since the position of the moving body 3 is visually indicated, the operator 1 can quickly determine the content of the command to be input next based on the indicated position. Therefore, the operability of the operator 1 can be further improved.

  Moreover, according to the said embodiment, the display part 6 outputs the screen which showed the present position using the specific symbol among the positions of the mobile body 3 contained in an estimation state. With this configuration, the current position of the moving body 3 is visually indicated. For this reason, the operator 1 can grasp the current position of the moving body 3 more intuitively, and can quickly determine the content of the command to be input next based on the current position of the moving body 3. it can. Therefore, the operability of the operator 1 can be further improved.

  Moreover, according to the said embodiment, the display part 6 outputs the screen which shows the past state and future state of the mobile body 3 which are contained in an estimation state using a respectively different expression. Thus, the operator 1 can intuitively grasp the past state and the future state, and quickly determines the content of the next command to be input based on the past estimated state and the future estimated state. Judgment can be made. Therefore, the operability of the operator 1 can be further improved.

  When the state information is transmitted from the moving body 3 to the control device 2 with a delay, and the operator 1 can only know the past state based on the state information, the operator 1 moves from the past state to the current movement. It is necessary to guess the state of the body 3. Then, the operator 1 needs to input the command in consideration of the influence of the delay until the command is transmitted to the moving body 3. The skill to perform this operation needed to be worn over time through experience. On the other hand, according to the above-described embodiment, the operability of the operator 1 is improved, so that it is possible to shorten the period until this skill is acquired.

  Further, when the operator 1 can only know the past position of the moving body 3 based on the state information transmitted from the moving body 3, the communication between the moving body 3 and the control device 2 is interrupted. In this case, it becomes impossible to know the state of the moving body 3. On the other hand, according to the above-described embodiment, the operator 1 can know the estimated position of the moving body 3 even when the communication between the moving body 3 and the control device 2 is interrupted. Accordingly, the operability of the operator 1 can be improved.

While the present invention has been described with reference to the embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.
For example, in the above embodiment, the moving body is an unmanned aerial vehicle, but the present invention is not limited to such an example. For example, the moving body may be a manned aircraft, a ship, a vehicle, or the like.

DESCRIPTION OF SYMBOLS 1 Operator 2 Control apparatus 3 Moving body 4 Command part 5 Motion simulation part (estimation part)
6 Display section (output section)
100 Control system 21, 33 Final symbol 23 Current symbol 35 Airframe symbol

Claims (8)

A command unit that receives a command related to the operation of the moving body and transmits the command to the moving body;
Repetitively obtaining the state information indicating the state of the mobile body, based on the latest state information, and a history of commands received by the command unit after a fixed time that is a time corresponding to the latest state information, A control unit comprising: an estimation unit configured to estimate a state of the moving body after the fixed time.   The control device according to claim 1, further comprising an output unit that outputs information indicating a confirmed state that is a state indicated by the state information and an estimated state that is a state estimated by the estimation unit.   The control device according to claim 2, wherein the output unit outputs a screen showing the confirmed state and the estimated state as the information.   The control apparatus according to claim 1, wherein the state includes a position of the moving body.   The control device according to claim 4, wherein the output unit outputs the screen indicating a current position using a specific symbol among positions of a moving body included in the estimated state.   The control device according to any one of claims 3 to 5, wherein the output unit outputs the screen indicating a past state and a future state included in the estimated state using different expressions. A moving body that operates according to the command;
A control device for transmitting the command to the moving body,
The controller is
A command unit that receives a command related to the operation of the moving body and transmits the command to the moving body;
Repetitively obtaining the state information indicating the state of the mobile body, based on the latest state information, and a history of commands received by the command unit after a fixed time that is a time corresponding to the latest state information, A control system comprising: an estimation unit configured to estimate a state of the moving body after the fixed time. Accepts commands related to the movement of moving objects,
The command is transmitted to the moving body,
Repeatedly acquiring state information indicating the state of the moving object;
Based on the latest state information and a history of commands received by the command unit after a fixed time that is a time corresponding to the latest state information, the state of the moving body after the fixed time is estimated. Control method.

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