To provide an unmanned flying object, unmanned flight method and unmanned flight program capable of flying a predetermined route without using positioning radio waves from a navigation satellite.SOLUTION: An unmanned flying object 1 capable of autonomous flight includes: image photographing means for photographing an image while flying; feature point extraction means for extracting a feature point in the image; outward path feature point information storage means for generating and storing outward path feature point information by defining the position of the unmanned flying object 1 in relation to a plurality of feature points in an outward path; return path feature point information generating means for generating return path feature point information by defining the position of the unmanned flying object 1 in relation to a plurality of feature points in the return path; and return means for returning while minimizing the difference between the position of the unmanned flying object 1 indicated by the outward path feature point information and the position of the unmanned flying object 1 indicated by the return path feature point information.SELECTED DRAWING: Figure 4
【課題】航法衛星からの測位用電波を使用しなくても、所定の経路を飛行することができる無人飛行体、無人飛行方法及び無人飛行プログラムを提供すること。【解決手段】自律飛行可能な無人飛行体1は、飛行しつつ、画像を撮影する画像撮影手段と、画像中の特徴点を抽出する特徴点抽出手段と、往路における複数の特徴点との関係で無人飛行体の位置1を規定することによって、往路特徴点情報を生成及び記憶する往路特徴点情報記憶手段と、復路における複数の特徴点との関係で無人飛行体1の位置を規定することによって、復路特徴点情報を生成する復路特徴点情報生成手段と、往路特徴点情報に示される無人飛行体1の位置と復路特徴点情報に示される無人飛行体1の位置の相違を最小化しつつ、帰還する帰還手段と、を有する。【選択図】図4
UNMANNED FLYING OBJECT, UNMANNED FLIGHT METHOD AND UNMANNED FLIGHT PROGRAM
無人飛行体、無人飛行方法及び無人飛行プログラム
2019-09-19
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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