JP6698889B2 - Flight system - Google Patents

Description

  The present invention relates to a flight system including a flight device that flies in the air, a control device and a program for flying the flight device.

  In recent years, flight devices such as drones have been actively operated. For example, Patent Document 1 describes that a flight device is operated by Wi-Fi (registered trademark) using a tablet terminal.

JP, 2016-94188, A

  When operating a flight device via a wireless communication line such as Wi-Fi, Wi-Fi crosstalk may occur due to, for example, many users who use the same frequency band in the vicinity. In this case, there is a possibility that the flight device cannot be controlled until the factors that hinder the communication are improved.

  Therefore, the present invention has been made in view of these points, and provides a flight system, a control device, and a program capable of shortening a period in which control information for controlling a flight device is not transmitted to the flight device. The purpose is to do.

  A flight system according to a first aspect of the present invention includes a flight device that flies based on external control, and a control device for controlling the flight device, wherein the flight device uses a first wireless communication system. And a flight-side communication unit that receives flight data used for flight of the flight device from the control device by using at least one of the second wireless communication system and the flight data. A flight control unit that causes the flight device to fly, and the control device is configured to send the flight device to the flight device using at least one wireless communication system of the first wireless communication system and the second wireless communication system. In a communication with the flight side communication unit that transmits the flight data and the flight device that uses the first wireless communication system, a connection state detection unit that detects a connection state with the flight side communication unit is provided, The control-side communication unit transmits the flight data to the flight device using the second wireless communication method based on the detection result of the connection state detection unit, and the control-side communication unit causes the control device to transmit the flight data. The flight data to the flight device via a session maintenance server for maintaining communication between the flight device and the flight device by the second wireless communication method, and the flight side communication unit A response signal in response to the flight data is transmitted to the control device via the session maintenance server.

  The flight-side communication unit may transmit non-flight data other than the flight data to the control device via the session maintenance server. The flight-side communication unit transmits a response signal to the flight control device in response to the flight data received from the flight control device in the communication using the first wireless communication method, and the connection state detection unit causes the flight state of the flight. When the response signal is not received within a predetermined period after the transmission of the work data, it may be determined that the communication using the first wireless communication method is disconnected.

  The control device includes a wireless communication method used for communication of the flight data, and a wireless communication used for communication of the flight data, of the first wireless communication method and the second wireless communication method. A notification unit that notifies the user whether or not the wireless communication method different from the method can be used may be further provided.

  The control device further includes a management server that stores a first identifier that identifies the flight device and a second identifier that is used for communication with the flight device using the second wireless communication scheme in association with each other, The control side communication unit further includes a storage unit that stores the first identifier, and the control-side communication unit uses the second identifier that is used for communication with the flight device specified by the first identifier stored in the storage unit. It may be acquired from the management server. The first identifier may be a telephone number recorded in a SIM (Subscriber Identity Module) mounted on the flight device.

  A flight control device according to a second aspect of the present invention is a flight control device for operating a flight device, and detects a connection state with the flight device in communication with the flight device using the first wireless communication method. And transmitting flight data used for flight of the flight device to the flight device by using a connection state detection unit and at least one of the first wireless communication system and the second wireless communication system. A control side communication section that transmits the flight data to the flight device using the second wireless communication method based on a detection result of the connection state detection section, wherein the control side communication section is the control section. The flight data is transmitted to the flight device via a session maintenance server for maintaining communication between the device and the flight device according to the second wireless communication method, and the session data is transmitted via the session maintenance server. , A response signal responsive to the flight data from the flight device.

  The control-side communication unit receives a response signal in response to the flight data from the flight device in communication using the first wireless communication method, and the connection state detection unit determines a predetermined value after the flight data is transmitted. When the response signal is not received within the period, it may be determined that the communication using the first wireless communication scheme is disconnected.

  The control device includes a wireless communication method used for communication of the flight data, and a wireless communication used for communication of the flight data, of the first wireless communication method and the second wireless communication method. A notification unit that notifies the user whether or not the wireless communication method different from the method can be used may be further provided.

  The program according to the third aspect of the present invention causes a computer to detect a connection state with the flying device in communication with the flying device using the first wireless communication system, the first wireless communication system, and the second wireless communication system. Based on the detection result in the step of transmitting the flight data used for flight of the flight device to the flight device by using at least one of the wireless communication system and the detection result in the step of detecting the connection state, the control device Transmitting the flight data to the flying device by using the second wireless communication system via a session maintaining server for maintaining communication between the flying device and the flying device by a second wireless communication system, Receiving a response signal in response to the flight data via the session maintenance server.

  According to the present invention, it is possible to reduce the period during which the control information for controlling the flight device is not transmitted to the flight device.

It is a figure which shows an example of a structure of the flight system S1 which concerns on this Embodiment. It is a figure which shows the structure of the control device 1. 6 is a diagram showing an example of an operation of a display unit 11 of the control device 1. FIG. It is a figure which shows the structure of the flying device 2. It is a sequence diagram which shows an example of operation|movement of the flight system S1. It is a figure which shows an example of a structure of the flight system S2 which concerns on this Embodiment. It is a sequence diagram which shows an example of operation|movement of the flight system S2. It is a figure which shows an example of a structure of the flight system S3 which concerns on this Embodiment. It is a figure which shows the structure of the flying device 30. It is a figure which shows the structure of the control apparatus 5.

[Embodiment 1]
[Outline of Embodiment]
FIG. 1 is a diagram showing an example of the configuration of a flight system S1 according to the present embodiment. The flight system S1 includes a control device 1 and a flight device 2. The flying device 2 is a device that flies based on external control, and is, for example, a drone. The control device 1 is a terminal for controlling the flight device 2 via wireless communication, such as a radio transmitter, a smartphone, and a tablet. The control device 1 is, for example, a dedicated device such as a radio controller for control, a terminal in which a control application is installed on a smartphone or a tablet, and the like. The flight device 2 is controlled by controlling the flight direction and the flight speed of the flight device 1.

  The control device 1 is paired with the flight device 2 so as to be able to transmit and receive data via a wireless communication line, and communicates with the flight device 2 for flight data used for flight of the flight device 2. To do. The flight data includes, for example, control information for operating the rotor and power unit of the flight device 2, position information of the aircraft that is device information indicating the flight state of the flight device 2, height, flight speed, and flight direction. And the remaining battery level. Further, the control device 1 communicates non-flight data that is not used for the flight of the flight device 2. Communication of non-flight data includes, for example, reception of image data taken by a camera mounted on the flight device 2 and measurement data of ambient environment such as atmospheric pressure and temperature measured by the flight device 2, and shooting by the camera. This is, for example, transmission of a control signal for starting.

  The control device 1 and the flight device 2 can transmit and receive flight data and non-flight data using a plurality of wireless communication lines. The control device 1 and the flight device 2 communicate using the communication W1 according to the first wireless communication method that can establish communication without going through the management server 3 for establishing communication of the mobile phone network. Further, the control device 1 and the flight device 2 communicate with each other using the communication W2 by the second wireless communication method for establishing a communication session via the management server 3. The management server 3 is a session construction server for establishing communication between the control device 1 and the flight device 2. The communication W1 according to the first wireless communication method is communication that does not pass through the base station, and is, for example, Wi-Fi. The communication W2 based on the second wireless communication method is communication in which data is transmitted and received via a base station before a communication session between the control device 1 and the flight device 2 by P2P is established, and for example, LTE (Long Term Evolution). ).

In the flight system S1, the control device 1 and the flight device 2 can communicate using either or both of the first wireless communication system and the second wireless communication system. Further, the control device 1 transmits flight data to the flight device 2 by the first wireless communication system and establishes communication W2 with the flight device 2 by the second wireless communication system in advance. The control device 1 transmits the flight data to the flight device 2 by the second wireless communication method when the communication W1 by the first wireless communication method is disconnected. By adopting such a configuration, the control device 1 can shorten the time taken to restart the transmission of the flight data to the flight device 2 after the disconnection of the communication W1 by the first wireless communication method. ..
Hereinafter, the configurations of the control device 1 and the flight device 2 will be described in detail.

[Configuration of control device 1]
FIG. 2 is a diagram showing a configuration of the control device 1 of FIG. The control device 1 includes a display unit 11, an operation unit 12, a communication unit 13, a storage unit 14, and a control unit 15. The control unit 15 includes a display control unit 151, an operation reception unit 152, a control information generation unit 153, a connection state detection unit 154, a communication control unit 155, and a notification unit 156.

  The display unit 11 is a display for displaying information necessary for the user to operate the flight device 2. The display unit 11 displays the display data input from the display control unit 151.

  The operation unit 12 is a device for a user to perform an operation for operating the flight device 2, and includes, for example, a joystick or a volume for controlling a flight direction and a flight speed. The operation unit 12 may further include a touch panel provided on the surface of the display unit 11. The operation unit 12 notifies the operation reception unit 152 of a signal according to the operation content of the user.

  The communication unit 13 is a communication module that transmits and receives radio waves for communication using the first wireless communication system and the second wireless communication system. The communication unit 13 is a modulator that modulates the transmission data input from the communication control unit 155, and a high frequency signal that transmits the modulated data as a high frequency signal in a frequency band assigned to either Wi-Fi or LTE. Parts. Further, the communication unit 13 has a demodulator that demodulates a high frequency signal received by the high frequency unit from the flying device 2. The demodulator inputs the demodulated received data to the communication control unit 155. Further, the communication unit 13 measures the radio field intensity of the communications W1 and W2 by the first wireless communication system and the second wireless communication system, and inputs the measured radio field intensity to the connection state detection unit 154.

  The communication unit 13 transmits flight data to the flight device 2 in the communications W1 and W2 using the first wireless communication system and the second wireless communication system. The communication unit 13 also transmits a keep-alive signal for maintaining the session of the communication W1 and W2 using the first wireless communication system and the second wireless communication system to the flying device 2. The keep-alive signal is a signal periodically transmitted and received between the flight control device 1 and the flight device 2 in order to maintain the communication session. In the communication W1 and W2 using the first wireless communication method and the second wireless communication method, the communication unit 13 indicates the Ack signal transmitted by the flight device 2 in response to the flight data and the flight state of the flight device 2. The device information shown is received.

  The storage unit 14 is a storage medium including a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 14 stores a program executed by the control unit 15. Further, the storage unit 14 is used as a work memory of the control unit 15.

  The control unit 15 is, for example, a CPU (Central Processing Unit), and executes the various programs stored in the storage unit 14 to display the display control unit 151, the operation reception unit 152, the control information generation unit 153, and the connection. It functions as the state detection unit 154, the communication control unit 155, and the notification unit 156. The display control unit 151 generates display data to be displayed on the display unit 11. The display control unit 151 inputs the generated display data to the display unit 11.

  The operation reception unit 152 identifies the operation content of the user based on the signal indicating the operation content input from the operation unit 12. The operation reception unit 152 notifies the display control unit 151 and the control information generation unit 153 of the specified operation content.

  The control information generation unit 153 generates control information for controlling the flight device 2 based on the operation content notified from the operation reception unit 152. The control information generation unit 153 inputs the generated control information to the communication control unit 155.

  The connection state detection unit 154 detects the connection state with the flight device 2 in the communication W1 with the flight device 2 that uses the first wireless communication method. More specifically, the connection state detection unit 154 detects whether or not the Ack signal is received from the flight device 2 within a predetermined period after the communication control unit 155 transmits the flight data, and thereby the flight device 2 is detected. Detects the connection status of. That is, the connection state detection unit 154 determines that the communication W1 according to the first wireless communication scheme is continued if the communication control unit 155 receives the Ack signal within a predetermined period after transmitting the flight data, If the communication control unit 155 does not receive the Ack signal within a predetermined period after transmitting the flight data, it is determined that the communication W1 according to the first wireless communication method is disconnected. The connection state detection unit 154 notifies the communication control unit 155 and the notification unit 156 of the detected connection state.

  If the communication control unit 155 does not receive flight data such as device information from the flight device 2 within a predetermined period, the connection state detection unit 154 determines that the throughput of the communication W1 according to the first wireless communication method is less than a predetermined value. In the case where the communication unit 13 cannot receive the radio wave transmitted by the flight device 2 or the base station, or the radio wave intensity of the first wireless communication system and the second wireless communication system measured by the communication unit 13 has a predetermined value. A configuration may be used in which, when the number is below the threshold, it is determined that the communication W1 according to the first wireless communication method is disconnected.

  For example, when the communication control unit 155 retransmits the data a predetermined number of times and when the data error rate of the device information or the like received by the communication control unit 155 becomes equal to or higher than a threshold, the connection state detection unit 154 sets the throughput to a predetermined value. It is determined that the communication W1 according to the first wireless communication method is disconnected when the value is less than the value.

  Further, the connection state detection unit 154 detects the connection state with the flight device 2 in the second wireless communication system in the communication W2 with the flight device 2 using the second wireless communication system. The connection state detection unit 154 detects whether the Ack signal has been received from the flight device 2 within a predetermined period after the communication control unit 155 has transmitted the flight data or the keep-alive signal, and thus the connection state detection unit 154 can be connected to the flight device 2. Detects the connection status of. For example, when the communication control unit 155 cannot receive the identification information for identifying the base station of the predetermined mobile phone network from the base station, the connection state detection unit 154 determines that the radio wave transmitted by the base station cannot be received. To do.

  The communication control unit 155 uses at least one of a first wireless communication method capable of establishing communication without the management server 3 and a second wireless communication method capable of establishing communication via the management server 3. Then, the flight data and the non-flight data are transmitted via the communication unit 13. The communication control unit 155 transmits flight data to the flight device 2 based on the detection result of the connection state detection unit 154 using the second wireless communication method. For example, when the communication control unit 155 transmits flight data to the flight device 2 using the first wireless communication system and the connection state detection unit 154 detects disconnection of the communication W1 by the first wireless communication system, The flight data is transmitted to the flight device 2 using the second wireless communication method.

  In this case, in consideration of shortening the time required for switching from the first wireless communication system to the second wireless communication system, before the connection state detection unit 154 detects disconnection of the communication W1 by the first wireless communication system. First, it is desirable to establish the communication W2 by the second wireless communication method. Therefore, the communication control unit 155 establishes the communication W2 using the second wireless communication system with the flying device 2 before the connection state detection unit 154 detects the disconnection of the communication W1 by the first wireless communication system, and the communication W2. The communication W2 with the flight apparatus 2 is maintained by repeatedly transmitting to the flight apparatus 2 a keep-alive signal for maintaining. Further, the communication control unit 155 causes the connection state detection unit 154 to detect the disconnection of the communication W1 and then causes the flight device 2 to transmit the flight data using the communication W2.

  The notification unit 156 acquires the connection state of the communications W1 and W2 by the first and second wireless communication methods detected by the connection state detection unit 154. The notification unit 156 is different from the first wireless communication method and the second wireless communication method used for communication of flight data and the wireless communication method used for communication of flight data. The display control unit 151 is notified of whether or not the wireless communication method can be used. Hereinafter, with reference to FIG. 3, the notification of availability of use by the notification unit 156 will be described.

  FIGS. 3A and 3B are diagrams showing an example of a screen displayed by the display unit 11 of the control device 1. The wireless communication system used for communication of flight data and the communication of flight data are shown in FIGS. It indicates whether or not it is possible to use a spare wireless communication system that is not used. The display control unit 151 displays the screens of FIGS. 3A and 3B on the display unit 11 when the communication control unit 155 changes the wireless communication method used for communication of flight data, for example. On the screens of FIGS. 3A and 3B, an icon A1 indicating a wireless communication system used for communication of flight data and a standby wireless communication system not used for communication of flight data are shown. Icon A2 is shown.

  In the upper part of the screen of FIG. 3A, the communication control unit 155 of the control device 1 uses the first wireless communication system such as Wi-Fi for communication of flight data, and the communication control unit 155 communicates with the flight device 2. It shows that the communication W1 by the first wireless communication method is established during the period. Further, in the lower part of the screen of FIG. 3A, the communication control unit 155 selects the second wireless communication system such as LTE as the backup wireless communication system not used for the communication of the flight data. It shows that the unit 155 has established communication W2 with the flying device 2 by the second wireless communication method.

  The screen of FIG. 3B has display control, for example, when the connection state detection unit 154 detects disconnection of the communication W1 in the state of FIG. 3A and then the communication control unit 155 starts communication W2. The screen is a screen displayed by the unit 151 on the display unit 11. The upper part of the screen of FIG. 3B shows that the communication control unit 155 of the control device 1 uses the second wireless communication method for communication of flight data. Further, in the lower part of the screen of FIG. 3B, the communication control unit 155 selects the first wireless communication system as the backup wireless communication system, and communication with the flying device 2 by the first wireless communication system W1. Has not been established.

[Configuration of flight device 2]
FIG. 4 is a diagram showing a configuration of the flight device 2 of FIG. The flight device 2 includes a camera 21, a detection unit 22, a communication unit 23, a flight mechanism 24, a storage unit 25, and a control unit 26. The control unit 26 includes a data management unit 261, a communication control unit 262, and a flight control unit 263.

  The camera 21 captures an image around the flight device 2 and generates image data. The camera 21 outputs the generated image data to the data management unit 261 as non-flight data. The detection unit 22 includes, for example, an acceleration sensor, a GPS (Global Positioning System) receiver, a pressure sensor, a thermometer, and the like, and is position information that is device information indicating the flight state of the flight device 2, height, flight speed, and flight information. For flight of the flight device 2, such as the direction, the radio field intensity around the flight device 2 in the first and second wireless communication systems, and the remaining battery level that supplies power used by the flight device 2 for flight. The flight data used and non-flight data such as atmospheric pressure and temperature that are not used for the flight of the flight device 2 are output to the data management unit 261.

  The communication unit 23 is a communication module that transmits and receives radio waves for communication using the first wireless communication system and the second wireless communication system, and has the same function as the communication unit 13. In addition, the communication unit 23 measures the radio field intensity of the communications W1 and W2 according to the first wireless communication system and the second wireless communication system, and inputs them to the data management unit 261.

  The flight mechanism 24 includes a propeller, a motor for rotating the propeller, a rudder, and the like. The flight mechanism 24 can change the flight speed and the flight direction by operating these mechanisms under the control of the flight control unit 263.

  The storage unit 25 is a storage medium including a ROM, a RAM, and the like. The storage unit 25 stores a program executed by the control unit 26. Further, the storage unit 25 is used as a work memory of the control unit 26, and temporarily stores the control information received from the control device 1, for example. The control unit 26 is, for example, a CPU, and functions as a data management unit 261, a communication control unit 262, and a flight control unit 263 by executing various programs stored in the storage unit 25.

  The data management unit 261 acquires image data captured by the camera 21 as non-flight data. Further, the data management unit 261 acquires flight data such as position information input from the detection unit 22 and non-flight data such as atmospheric pressure and temperature.

  The communication control unit 262 receives flight data via the communication unit 23 using at least one of the first wireless communication system and the second wireless communication system. In addition, the communication control unit 262 uses at least one of the first wireless communication system and the second wireless communication system, the flight data and the non-flight data input from the data management unit 261 via the communication unit 23. The data is transmitted to the control device 1.

  Further, when receiving the flight data from the control device 1 in the communication W1, the communication control unit 262 transmits an Ack signal to the control device 1 in the communication W1 in response to the flight data. Further, when receiving the flight data from the control device 1 in the communication W2, the communication control unit 262 transmits an Ack signal to the control device 1 in the communication W2 in response to the flight data. The flight control unit 263 acquires flight data from the communication control unit 262, and controls the flight mechanism 24 using this flight data to control the flight state.

  When the communication control unit 262 receives flight data from the flight control device 1 using the second wireless communication system while receiving flight data from the flight control device 1 using the first wireless communication system, It is determined that the communication W1 according to the first wireless communication method is disconnected. In this case, the communication control unit 262 transmits/receives flight data and non-flight data to/from the control device 1 using the second wireless communication method.

  By adopting such a configuration, when the connection state detection unit 154 determines that the communication W1 according to the first wireless communication system is disconnected, the communication control unit 155 uses the communication W2 according to the second wireless communication system. The flight data can be transmitted to the flight device 2. Therefore, the user can operate the flying device 2 even after the communication W1 is disconnected by the first wireless communication method.

  By the way, since the communication W2 by the second wireless communication method passes through the base station, the communication W2 can be performed even when the distance between the control device 1 and the flight device 2 is large. On the other hand, since the communication W1 according to the first wireless communication system does not pass through the base station, the communicable range in the first wireless communication system is limited to a predetermined range (for example, 2 km) from the control device 1.

  For this reason, the flight control unit 263 determines that the radio wave intensity of the communication W1 is in a state where the communication W2 by the second wireless communication system is disconnected, for example, in a state where the keep alive signal cannot be received for a predetermined period or more in the second wireless communication system. The flight mechanism 24 is controlled so as to be equal to or higher than a predetermined threshold value. In this case, the flight control unit 263 does not move to an area where the radio wave intensity of the communication W1 acquired by the detection unit 22 is lower than this threshold value. This threshold is, for example, a value that allows the communication control unit 262 to transmit and receive flight data in the communication W1.

  FIG. 5 is a sequence diagram showing an example of the operation of the flight system S1 of FIG. This processing procedure is started when the control device 1 and the flight device 2 are turned on. Here, after the communication control unit 155 of the control device 1 transmits flight data to the flight device 2 by the first wireless communication system, and the connection state detection unit 154 detects disconnection of the communication W1 by the first wireless communication system. An example in which the communication control unit 155 transmits flight data to the flight device 2 by the second wireless communication method will be described.

  First, the communication control unit 155 of the control device 1 performs position registration in an HSS (Home Subscriber Server). The position registration is to register a base station capable of calling a wireless communication device such as the control device 1 or a group of base stations to which a base station capable of calling a wireless communication device belongs to the HSS. Similarly, the communication control unit 262 of the flight device 2 also performs position registration with the HSS.

  The management server 3 holds an identifier for identifying the control device 1 and the flight device 2. The management server 3 uses the second wireless communication method to directly send and receive data between the flight control device 1 and the flight control device 2, and a destination identifier such as an IP (Internet Protocol) address, and the flight control device 1 and the flight control device 2. Holds the connection identifier used to obtain the other destination identifier.

  The connection identifier is a first identifier unique to the control device 1 and the flight device 2, and is, for example, a telephone number recorded in a SIM (Subscriber Identity Module), but a SIM card identifier and a terminal identification number are also available. Good. For example, the management server 3 holds the connection identifier of the control device 1 and the connection identifier of the flight device 2 in association with each other in the pairing information in which the control device 1 and the flight device 2 are previously paired.

  The destination identifier corresponds to the second identifier and is used when data is directly transmitted and received between the control device 1 and the flight device 2. When the operation receiving unit 152 receives a user operation for validating the communication W2 by the second wireless communication method (S11), the communication control unit 155 of the control device 1 uses the connection identifier of the control device 1 recorded in the SIM. , The connection identifier of the flying device 2 held in the storage unit 14 is transmitted to the management server 3. The communication control unit 155 requests the management server 3 to establish the P2P session of the communication W2 by the second wireless communication method by transmitting these connection identifiers.

  The management server 3 respectively receives the connection identifiers of the control device 1 and the flight device 2 from the control device 1, and the connection identifier of the control device 1 and the connection identifier of the flight device 2 are associated in the pairing information. Is determined. When the connection identifier of the flight control device 1 and the connection identifier of the flight control device 2 are associated with each other in the pairing information, the management server 3 determines that the control server 3 detects the flight control device 1 and the flight control device 2 from the IP database. The IP address is acquired and temporarily stored in association with the connection identifiers of the control device 1 and the flight device 2, respectively.

  Further, the management server 3 notifies the control device 1 and the flight device 2 of the acquired IP address as a destination identifier. That is, the management server 3 transmits the destination identifier assigned to the flight device 2 to the control device 1 in response to receiving the P2P session establishment request from the control device 1. The management server 3 also transmits the destination identifier assigned to the control device 1 to the flight device 2. Upon receiving the destination identifier of the flight device 2, the communication control unit 155 of the control device 1 starts the communication W2 with the flight device 2 in the P2P session in which the destination identifier of the flight device 2 is designated as the communication destination. The management server 3 may also send the destination identifier assigned to the flight control device 1 to the flight control device 1 and the destination identifier assigned to the flight control device 2 to the flight control device 2.

  The communication control unit 155 transmits a keep-alive signal for maintaining communication to the flight device 2 in the communication W2 by the second wireless communication method. The communication control unit 262 of the flying device 2 transmits the Ack signal to the control device 1 in response to the received keep-alive signal. After that, the communication control unit 155 of the control device 1 repeatedly transmits the keep-alive signal to the flying device 2 via the communication unit 23 in the communication W2 of the second wireless communication system, thereby performing the communication W2 of the second wireless communication system. maintain.

  When the connection state detection unit 154 detects disconnection of the communication W1 while the communication control unit 155 maintains the communication W2 with the flight device 2 (S12), the display control unit 151 causes the flight device 2 to operate. Information indicating that the wireless communication system for transmitting the flight data is being switched is displayed on the display unit 11 (S13). Next, the communication control unit 155 of the control device 1 transmits the flight data to the flight device 2 in the communication W2.

  The communication control unit 262 of the flying device 2 transmits an Ack signal to the control device 1 in response to the received flight data. In addition, when the communication control unit 155 receives the Ack signal from the flight device 2 in the communication W2 after the connection state detection unit 154 detects the disconnection of the communication W1, the display control unit 151 of the flight control device 1 uses the second signal. Information indicating that the flight data is being transmitted using the wireless communication method is displayed on the display unit 11. After that, the communication control unit 155 of the control device 1 repeats the transmission of the flight data to the flight device 2 in the communication W2.

  According to the present embodiment, when connection state detection unit 154 detects disconnection of communication W1, communication unit 13 of control device 1 performs a handover from the first wireless communication system to the second wireless communication system. Thus, the flight data can be transmitted to the flight device 2 using the second wireless communication method. Therefore, the communication control unit 155 can transmit the flight data to the flight device 2 without waiting for the recovery of the communication W1 by the first wireless communication method, and the flight data is not transmitted to the flight device 2. The period can be shortened.

  Further, according to the present embodiment, the communication control unit 155 sets the communication W2 using the second wireless communication method to the flight device before the connection state detecting unit 154 detects the disconnection of the communication W1 by the first wireless communication method. Established with 2. Therefore, the communication control unit 155 starts transmission of flight data to the flight device 2 using the second wireless communication method after the connection state detection unit 154 detects disconnection of the communication W1 by the first wireless communication method. It is possible to further shorten the period until it is done.

  Further, according to the present embodiment, the display control unit 151 uses the wireless communication method used for communication of flight data and the communication of flight data, among the first wireless communication scheme and the second wireless communication scheme. The display unit 11 displays whether or not the wireless communication method different from the wireless communication method used in the above can be used. Therefore, the user can grasp the wireless communication method used by the communication unit 13 of the control device 1 to communicate the flight data. Further, when the connection state detecting unit 154 detects disconnection of communication by the wireless communication method used for flight data communication, the user can grasp the presence or absence of the wireless communication method that can be used instead. ..

  In the present embodiment, an example in which communication control unit 155 of control device 1 transmits a keep-alive signal to flight device 2 has been described. However, the present invention is not limited to this. For example, the communication control unit 262 of the flight device 2 transmits a keep-alive signal to the control device 1, and the communication control unit 155 of the control device 1 transmits an Ack signal to the flight device 2 in response to the received keep-alive signal. It may be configured to.

  When the communication unit 13 of the control device 1 can communicate with the flight device 2 by both the first wireless communication system and the second wireless communication system, the communication control unit 155 of the control device 1 uses the first wireless communication system. May be used to transmit flight data to the flight device 2 and receive non-flight data from the flight device 2 using the second wireless communication method. For example, the communication control unit 155 uses the second wireless communication method while transmitting flight data using the first wireless communication method, and image data captured by the camera mounted on the flight device 2. To receive.

  Further, in the present embodiment, the communication control unit 155 of the control device 1 flies with respect to the management server 3 when the operation reception unit 152 receives a user operation for enabling the communication W2 by the second wireless communication method. The configuration for requesting the destination identifier of the device 2 has been described. However, the present invention is not limited to the case where the operation of enabling the communication W2 by the second wireless communication method is the trigger for requesting the destination identifier. For example, when the user performs an operation to power on both the control device 1 and the flight device 2, or when the operation reception unit 152 receives a user operation for starting the control application in the control device 1, the control operation is performed. The communication control unit 155 of the device 1 may be configured to request the destination identifier of the flight device 2 from the management server 3.

  Further, in the present embodiment, the communication control unit 155 of the control device 1 stores the connection identifier of the control device 1 recorded in the SIM and the connection identifier of the flight device 2 held in the storage unit 14. The example in which the management server 3 is requested to establish communication W2 between the control device 1 and the flight device 2 by causing the communication unit 13 to transmit the management server 3 has been described. However, the present invention is not limited to the configuration in which the communication control unit 155 reads the connection identifier of the flight device 2 from the storage unit 14. For example, the operation reception unit 152 acquires the connection identifier of the flying device 2 by the user's operation input of inputting the connection identifier to the operation unit 12, and the communication control unit 155, together with the connection identifier of the control device 1, The connection identifier of the flight device 2 acquired by the operation reception unit 152 may be transmitted to the management server 3.

[Second Embodiment]
In the first embodiment, the communication control unit 155 of the control device 1 communicates with the flight device 2 by the second wireless communication method in the P2P session in which the destination identifier of the flight device 2 is designated as the communication destination. I explained. On the other hand, in the present embodiment, the communication is established between the session maintenance server 4 and the flight device 2 and between the session maintenance server 4 and the control device 1 in two communication paths. Different from form 1. In this case, the control device 1 acquires the destination identifier of the session maintenance server 4, but does not acquire the destination identifier of the flight device 2, and transmits and receives flight data and non-flight data via the session maintenance server 4.

  FIG. 6 is a diagram showing an example of the configuration of the flight system S2 according to the present embodiment. In the flight system S2, the control device 1 and the flight device 2 communicate with the session maintenance server 4 for maintaining the communication W2 by the second wireless communication method. In the communication W1 according to the first wireless communication method, the control device 1 transmits the flight data to the flight device 2 without passing through the session maintenance server 4 in the communication W1 according to the first wireless communication method. In the communication W2 by the second wireless communication system, the control device 1 uses the destination identifier of the session maintenance server 4 to transmit flight data to the flight device 2 via the session maintenance server 4.

  FIG. 7 is a sequence diagram showing an example of the operation of the flight system S2 of FIG. This processing procedure is started when the control device 1 and the flight device 2 are turned on. Hereinafter, with reference to FIG. 7, the communication control unit 155 of the control device 1 transmits flight data to the flight device 2 by the first wireless communication system, and the connection state detection unit 154 causes the communication W1 by the first wireless communication system. An example of a case in which the flight data is transmitted to the flight device 2 via the session maintenance server 4 using the second wireless communication method after detecting the disconnection of No.

  The communication control unit 155 of the control device 1 establishes the communication W2 with the session maintenance server 4 by the second wireless communication method. Similarly, the communication control unit 262 of the flight device 2 establishes communication W2 with the session maintenance server 4 by the second wireless communication method.

  Next, the communication control unit 155 of the flight control device 1 transmits the telephone number of the flight control device 2 as the connection identifier of the flight control device 2 to the session maintenance server 4, for example, so that the flight control device is transmitted to the session control server 4. 1 and the flight device 2 are requested to establish communication W2 by the second wireless communication method. The session maintenance server 4 holds pairing information that associates the connection identifier of the control device 1 with the connection identifier of the flight device 2, and the connection identifier of the control device 1 and the flight device 2 received from the control device 1. Determines whether they are associated in the pairing information. When determining that the connection identifiers of the flight control device 1 and the flight device 2 received from the flight control device 1 are associated, the session maintenance server 4 establishes communication between the flight control device 1 and the flight device 2. ..

  The session maintenance server 4 transmits to each of the control device 1 and the flight device 2 a connection completion notification indicating that communication has been established between the control device 1 and the flight device 2. In addition, the session maintenance server 4 maintains communication between the control device 1 and the flight device 2 by repeatedly transmitting the keep-alive signal to the control device 1 and the flight device 2.

  When the connection state detection unit 154 detects disconnection of the communication W1 by the first wireless communication system (S21), the display control unit 151 is switching the wireless communication system for transmitting flight data to the flying device 2. Information indicating that is displayed on the display unit 11 (S22).

  Further, the communication control unit 155 of the control device 1 transmits flight data to the session maintenance server 4 in the second wireless communication system, and the session maintenance server 4 uses the received flight data in the second wireless communication system. And transmits it to the flight device 2. On the other hand, the communication control unit 262 of the flight device 2 transmits the Ack signal to the session maintenance server 4 using the second wireless communication method in response to the received flight data. The session maintenance server 4 transmits the received Ack signal to the control device 1 using the second wireless communication method. Similarly, the communication control unit 262 of the flight device 2 uses the second wireless communication method to pass the non-flight data such as image data captured by the camera 21 to the control device 1 via the session maintenance server 4. Send.

  In the present embodiment, an example in which the session maintenance server 4 maintains communication between the flight control device 1 and the flight control device 2 by transmitting a keep-alive signal to the flight control device 1 and the flight control device 2. explained. However, the present invention is not limited to this. For example, the communication control unit 155 of the control device 1 transmits a keep alive signal to the session maintenance server 4 in the second wireless communication system, and the communication control unit 262 of the flying device 2 keeps alive in the second wireless communication system. The communication W2 between the control device 1 and the flight device 2 according to the second wireless communication method may be maintained by transmitting a signal to the session maintenance server 4.

  Further, in the first and second embodiments, the communication control unit 155 of the control device 1 performs the second wireless communication with the flight device 2 before the connection state detection unit 154 detects the disconnection of the communication by the first wireless communication method. The example of establishing the communication W2 using the method has been described. However, the present invention is not limited to this. For example, the communication control unit 155 of the control device 1 establishes the communication W2 with the flying device 2 using the second wireless communication system after detecting the disconnection of the communication W1 by the first wireless communication system in the connection state detection unit 154. It may be configured.

[Third Embodiment]
In the first and second embodiments, when the connection state detecting unit 154 detects disconnection of the communication W1 by the first wireless communication system, the communication control unit 262 transmits flight data to the flight device 30 by the second wireless communication system. An example of the case has been described. On the other hand, in the present embodiment, an example in which the communication unit 23 of the flying device 30 receives the flight data from the control device 5 by the second wireless communication system after disconnecting the communication W1 by the first wireless communication system explain.

  FIG. 8 is a diagram showing an example of the configuration of the flight system S3 according to the present embodiment. The flight device 30 in the flight system S3 outputs a communication disconnection signal indicating that the disconnection of the communication W1 by the first wireless communication system is detected after the disconnection of the communication W1 by the first wireless communication system with the control device 1. 2 It transmits to the control apparatus 5 using a wireless communication system. In response to the communication disconnection signal, the control device 5 transmits flight data for flying the flight device 30 in the direction of the destination registered in advance to the flight device 30 using the second wireless communication method. ..

  FIG. 9 is a diagram showing a configuration of the flight device 30 of FIG. 9 is different from the flying device 2 of FIG. 4 in that the control unit 26 of the flying device 30 further includes a connection state detection unit 301. The same components as those of the flying device 2 of FIG. 4 are designated by the same reference numerals and the description thereof will be omitted. The connection state detection unit 301 detects the connection state with the control device 1 in the communication W1 with the control device 1 using the first wireless communication method. The connection state detection unit 301 determines that the communication W1 by the first wireless communication method is disconnected when the communication unit 23 does not receive the Ack signal from the control device 1 within a predetermined period after transmitting the device information. The connection state detection unit 301 notifies the communication control unit 262 of the detected connection state. When the connection state detecting unit 301 detects the disconnection of the communication W1 using the first wireless communication system, the communication control unit 262 outputs a communication disconnection signal indicating that the disconnection of the communication W1 by the first wireless communication system is detected. It transmits to the control apparatus 5 using a 2nd radio|wireless communication system. Further, the communication control unit 262 receives the flight data from the control device 5 by using the second wireless communication method.

  FIG. 10 is a diagram showing a configuration of the control device 5 of FIG. The control device 5 includes a communication unit 51, a storage unit 52, and a control unit 53. The control unit 53 includes an acquisition unit 531, an estimation unit 532, a control unit 533, and a communication control unit 534. The communication unit 51 is a communication module for communicating with the flight device 30 using the second wireless communication method. The storage unit 52 is a storage medium including a ROM and a RAM. The storage unit 52 stores a program executed by the control unit 53. The storage unit 52 is also used as a work memory of the control unit 53.

  The control unit 53 is, for example, a CPU, and executes various programs stored in the storage unit 52. In addition, the acquisition unit 531 receives position information, which is device information indicating the flight state of the flight device 30, height, flight speed, flight direction, and power used by the flight device 30 for flight, via the communication unit 51. The flight data used for the flight of the flight device 30, such as the remaining battery level to be supplied, and the non-flight data not used for the flight of the flight device 30, such as atmospheric pressure and temperature, are acquired. . The acquisition unit 531 also acquires, as an example of the position information, the current position of the flying device 30 and the flight start position at which the flying device 30 has started flying.

  The estimation unit 532 reads the destination of the flight device 30 registered in advance from the storage unit 52, and estimates the power required for the flight device 30 to move from the current position of the flight device 30 to the destination. The communication control unit 155 of the control device 1 may transmit the information indicating the destination of the flight device 30 to the control device 5 using the second wireless communication method.

  When the communication unit 51 receives the communication disconnection signal from the flight device 30, the control unit 533 reads the destination of the flight device 30 registered in advance from the storage unit 52, and moves the flight device 30 in the direction of the destination. Generate flight data for flight. More specifically, the control unit 533 determines whether or not the flying device 30 can reach the destination based on the remaining battery level acquired by the acquisition unit 531 and the required power estimated by the estimation unit 532. When it is determined that the flying device 30 can reach the destination, the control unit 533 generates flight data for flying the flying device 30 in the direction of the destination. On the other hand, when the control device 5 determines that the flight device 30 cannot reach the destination, the control device 5 generates flight data for flying the flight device 30 in the direction of the flight start position.

  The communication control unit 534 transmits the flight data generated by the control unit 533 to the flight device 30. In addition, when the control unit 533 determines that the flying device 30 can reach the destination, the communication control unit 534 sends the flight data for flying the flying device 30 toward the destination to the flying device 30. Send. On the other hand, when the control unit 533 determines that the flight device 30 cannot reach the destination, the communication control unit 534 transmits flight data for flying the flight device 30 in the direction of the flight start position to the flight device 30. To do.

  According to the present embodiment, control unit 533 generates flight data for flying flight device 30 in the direction of the destination, and transmits the generated flight data to flight device 30. Therefore, the communication control unit 155 of the control device 1 cannot transmit the flight data to the flight device 30 due to the disconnection of the communication W1 between the control device 1 and the flight device 30 by the first wireless communication method. However, the flight device 30 can be flown to the destination.

  Further, according to the present embodiment, control unit 533 determines whether or not flight device 30 can reach the destination, and generates flight data based on the determined result. Therefore, in the state where the flight device 30 is flying by the flight data from the control device 5, it is possible to prevent the flight device 30 from being unable to continue flight due to insufficient battery power while reaching the destination. ..

  In addition, this Embodiment demonstrated the example in case the communication control part 262 of the flying device 30 communicates with the control apparatus 5 by a 2nd wireless communication system, after disconnecting the communication W1 by a 1st wireless communication system. However, the present invention is not limited to this. For example, the communication control unit 262 of the flying device 30 may communicate with the control device 5 using the second wireless communication method before disconnecting the communication W1 using the first wireless communication method.

  In this case, the communication control unit 262 of the flight device 30 receives the flight data from the control device 1 using the first wireless communication method, and the flight control unit 263 uses the received flight data to operate the flight mechanism 24. By controlling, the flight condition is controlled. The communication control unit 262 transmits the current position of the flying device 30 to the control device 5 during the flight of the flying device 30 by using the second wireless communication method.

  The control unit 533 of the control device 5 reads out the flight prohibited area in which the flight is prohibited from the storage unit 52, and determines whether the flight device 30 is flying in the vicinity of the flight prohibited area. The control unit 533 notifies the control device 1 and the flight device 30 when the current position acquired by the acquisition unit 531 from the flight device 30 is near the flight prohibited area. At this time, the display control unit 151 of the control device 1 causes the display unit 11 to display a message urging the flight device 30 to move to an area away from the flight prohibited area.

  By adopting such a configuration, the display control unit 151 of the control device 1 causes the display unit 11 to display a message urging the flight device 30 to move to an area away from the flight prohibited area. It is possible to prevent the flight device 30 from entering the no-fly area while it is not.

  In addition, in the first to third embodiments, the communication control unit 155 uses the second wireless communication system and uses the second wireless communication system when the connection state detection unit 154 detects disconnection of the communication W1 by the first wireless communication system. An example of transmitting flight data to has been described. However, the present invention is not limited to the configuration in which the control device 1 instructs the flight device 2 to switch the wireless communication system. For example, when the connection state detection unit 301 of the flight device 2 detects the disconnection of the communication W1 by the first wireless communication system, the communication control unit 262 of the flight device 2 notifies the control device 1 by the second wireless communication system. It may be configured to request transmission of flight data.

  Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be added to the above-described embodiment. In particular, the specific embodiment of the dispersion/integration of the devices is not limited to the one shown in the above, and all or some of them may be added in arbitrary units according to various additions or functional loads. It can be functionally or physically distributed and integrated.

1... Control device 2... Flying device 3... Management server 4... Session maintenance server 5... Control device 11... Display unit 12... Operation unit 13, 23, 51... Communication unit 14, 25, 52... Storage unit 15, 26, 53... Control unit 21... Camera 22... Detection unit 24... Flight mechanism 151... Display control unit 152... -Operation accepting unit 153... Control information generating unit 154... Connection state detecting unit 155, 262, 534... Communication control unit 156... Notification unit 261... Data management unit 263... Flight control Sections S1 to S3... Flight system W1, W2... Communication

Claims (4)

A flying device that flies based on external control,
A control device for controlling the flight device;
Equipped with
The flying device is
A flight-side communication unit that receives flight data used for flight of the flight device from the control device by using at least one of the first wireless communication system and the second wireless communication system;
A flight control unit for flying the flight device using the flight data;
Have
The control device is
A control side communication unit that transmits the flight data to the flight device using at least one of the first wireless communication method and the second wireless communication method;
In communication with the flight device using the first wireless communication method, a connection state detection unit that detects a connection state with the flight side communication unit,
The control side communication unit maintains a communication by the second wireless communication system with respect to a session maintaining server for maintaining communication by the second wireless communication system between the control device and the flying device. A keep-alive signal is transmitted , based on the detection result of the connection state detection unit, the second wireless communication method is used to transmit the flight data to the flight device via the session maintenance server ,
The flight-side communication unit transmits a keep-alive signal for maintaining communication to the session maintenance server, and transmits a response signal in response to the flight data to the control device via the session maintenance server. Send,
Flight system. The flight side communication unit transmits non-flight data other than the flight data to the control device via the session maintenance server,
The flight system according to claim 1. The flight-side communication unit transmits a response signal to the flight control device in response to the flight data received from the flight control device in communication using the first wireless communication method,
The connection state detection unit determines that the communication using the first wireless communication method is disconnected when the response signal is not received within a predetermined period after the transmission of the flight data,
The flight system according to claim 1 or 2. The control device includes a wireless communication method used for communication of the flight data and a wireless communication method used for communication of the flight data, among the first wireless communication method and the second wireless communication method. Further comprising a notification unit for notifying the user whether or not the wireless communication method different from the method can be used,
The flight system according to any one of claims 1 to 3.

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