To enable an autonomous flying object to perform an autonomous flight in an environment that a wall surface is present.SOLUTION: A drone 1 comprises: a wall surface detection unit by which a point where an obstacle whose distance to the drone 1 is within an obstacle distance is determined to be present in directions at 90 degrees at right and left sides with respect to a flight direction is defined as an obstacle continuance starting point, the obstacle is detected in an intermittent manner so as to get closer to the obstacle in the flight direction, it is determined whether or not the distance to the drone 1 is increased gradually as the distance to the drone 1 is within the obstacle distance and a detection direction gets closer to the flight direction, a point where the distance to the drone 1 is equal to the obstacle distance is defined as an obstacle continuance ending point, and a space from the obstacle continuance starting point to the obstacle continuance ending point is detected as a wall surface; and a flight direction determination unit by which a direction connecting the obstacle continuance ending point and a point where the distance to the drone 1 is equal to the obstacle distance, in a direction in which the wall surface is not detected, between the direction at 90 degrees at the right and left sides, and bisecting a circular arc around the drone 1 is determined as a new flight direction of the drone 1.SELECTED DRAWING: Figure 4

    【課題】壁面の存在する環境下において自律飛行体による自律飛行を可能とする。【解決手段】ドローン1は、飛行方向に対して左右90度となる方向にドローン1との距離が障害距離以内となる障害物が存在すると判定した地点を障害物存続開始点とし、飛行方向に近づくように継続的に障害物の検出を行い、ドローン1との距離が障害距離以内かつ検出方向が飛行方向に近づくほどドローン1との距離が漸増するかを判定し、ドローン1との距離が障害距離となる地点を障害物存続終了点として、障害物存続開始点から障害物存続終了点までを連続した壁面として検出する壁面検出部と、障害物存続終了点と左右90度となる方向のうち壁面が検出されなかった方向にあるドローン1までの距離が障害距離となる地点とを結びドローン1を中心とする円弧を二分する方向を、ドローン1の新たな飛行方向として決定する飛行方向決定部とを備える。【選択図】図4


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    Titel :

    AUTONOMOUS FLYING OBJECT AND FLIGHT CONTROL METHOD


    Weitere Titelangaben:

    自律飛行体及び飛行制御方法


    Beteiligte:
    AOYAMA MITSUGU (Autor:in) / SATO AKIRA (Autor:in) / SATO KAZUNORI (Autor:in) / MITSUI HIROYOSHI (Autor:in)

    Erscheinungsdatum :

    07.10.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge



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