JP6602614B2 - Drones and drones - Google Patents

Description

  The present invention relates to a drone and a drone group, and more particularly to a drone and a drone group that can perform stable flight control in a drone in which a wired cable is suspended from another drone.

  2. Description of the Related Art Conventionally, there is known an unmanned flying object that moves over the sky or maintains a flying posture at a predetermined position and altitude (this maintenance state is referred to as hovering) by remote control using wireless technology or the like. . Such an unmanned flying object is generally called a drone. A typical drone has a plurality of motors for driving the propeller to rotate, and the drone can be moved up and down, left and right, and back and forth by controlling the number of revolutions of the propeller according to remote operation. It is possible to change direction on the ground.

  In addition, a general drone is provided with an automatic attitude control function. For example, the drone is provided with a three-axis gyro sensor and a three-axis acceleration sensor. When a change in the attitude of the drone is detected by the three-axis gyro sensor and the three-axis acceleration sensor, each drone is controlled by Control in which the flight posture is stabilized by changing the rotation speed of the propeller is performed (see, for example, Patent Document 1, Patent Document 2, etc.).

  A general drone is used to take a picture from the sky or to carry a lightweight object by flying alone while performing stable control of the flight posture.

JP 2013-010499 A Special table 2015-514263 gazette

  A typical drone is equipped with a battery power source, a battery power source, and the like, and performs flight by driving a motor using the battery power source as a drive source. However, since the battery capacity stored in the battery power source or the like is limited, there is a problem that the flight time is limited by the battery capacity. For example, a short flight time is about 10 minutes, and even a long flight time is several tens of minutes, and it is not easy to realize a long flight.

  For this reason, in recent years, there has been proposed a method of supplying power as a drone driving source from the ground (by wire) using a power supply cable (for example, “Flight Drone Wired Power Test Test Flight by Wired Power” [2015 August 1 search], Internet <https://www.youtube.com/watch?v=crXytGhV27c>). Such power supply by wire makes it possible to realize a long flight. However, in order to maintain the hovering state in the drone, it is necessary to ensure the stability of the flight posture in consideration of the influence of the wired cable, and thus there is a problem that the flight control becomes difficult.

  In recent years, there has been a growing demand to use drones for transporting luggage. However, the load (called payload) that can be lifted by the drone alone is limited to several hundred grams to several kilograms. When carrying several tens of kilograms of luggage, it is necessary to secure a sufficient payload in the drone, so it is necessary to increase the size of the drone itself (for example, several meters outside), and by wire etc. Since sufficient power supply is required, there is a problem that it is not easy to realize.

  Also, when shooting from the sky using a drone, if shooting with only a single drone, the flight route is linear, so the range that can be shot in one flight is limited there were. For this reason, it is possible to shoot a wider range by flying the drone in multiple times. However, as described above, when a battery power source or the like is used as a drive source, the flight time is limited. Therefore, there is a problem that it is not easy to shoot a plurality of times.

  The present invention is made in view of the above problems, and provides a drone group capable of supplying power to a plurality of drones using a power supply cable with respect to a drone group constituted by a plurality of drones. The task is to do.

  In addition, in a drone connected to another drone with a wired cable, to realize stable flight control of the drone considering the influence (external force) of the wired cable, etc., and to maintain the distance and direction between the drone and the other drone It is an object to provide a drone capable of realizing a flight in which a plurality of drones cooperate.

  In addition, when carrying objects to be transported such as luggage in cooperation with multiple drones, each drone realizes stable flight control that takes into account the influence (external force) of the objects to be transported, and It is an object of the present invention to provide a drone capable of realizing a flight in which a plurality of drones cooperate by maintaining the distance and the direction of each other.

In order to solve the above-described problem, a drone according to the present invention is a drone provided with a control unit that performs flight attitude control by driving and controlling a motor unit, and a three-dimensional flight space in which the drone actually flies. Angle detecting means for detecting an angle formed between each coordinate axis defined in advance and a wired cable suspended from the drone to another drone, and the control means includes the drone to the other drone. The theoretical external force F _fixed that can be generated with respect to the drone due to the suspension of the wired cable when the flying attitude of the drone is stable, which is calculated in advance based on the existing distance and the existing direction, and the angle Calculated based on the angle formed by the detection means, the actual outside of the drone caused by the suspension of the wired cable A control amount u (t) is calculated by PID control based on an error e (t) with respect to c (t), and the motor means is driven and controlled based on the calculated control amount u (t). It is characterized by.

ｓｉｎθ_１は、

により算出され、
前記理論上の外力Ｆ_fixedは、ｘ軸方向の理論上の外力Ｆ^１ _ｘと、前記ｘ軸に垂直なｚ軸方向の理論上の外力Ｆ^１ _ｚとにより算出されて、
前記ｘ軸方向の理論上の外力Ｆ^１ _ｘは、

前記ｚ軸方向の理論上の外力Ｆ^１ _ｚは、

により算出されるものであってもよい。 In addition, regarding the calculation of the theoretical external force F _fixed of the drone described above, it is assumed that another drone is located at a position in the x-axis direction separated from the drone by an existing distance d, and the mass of the drone is M, When the mass of the wired cable is m, the gravitational acceleration is g, the length of the wired cable is l, and the angle between the x-axis and the wired cable in the drone is θ ₁ , cos θ ₁ is

sin θ ₁ is

Calculated by
The theoretical external force F _fixed is calculated by a theoretical external force F ¹ _x in the x-axis direction and a theoretical external force F ¹ _{z in the} z-axis direction perpendicular to the x-axis,
The theoretical external force F ¹ _x in the x-axis direction is

The theoretical external force F ¹ _z in the z-axis direction is

It may be calculated by.

  In the above-described drone, the power supply cable extended from the power supply means arranged on the ground is connected to the drone, and the motor means is driven by the power supplied from the power supply means. The power supplied via the power supply cable may be supplied to the other drone via the wired cable.

ｓｉｎθ_２は、

により算出され、
前記ｘ軸に垂直なｚ軸と前記給電ケーブルとのなす角をθ_３とすると、
ｃｏｓθ_３は、

ｓｉｎθ_３は、

により算出され、
前記理論上の外力Ｆ_fixedは、前記ｘ軸方向の理論上の外力Ｆ^２ _ｘ（θ_２,θ_３）と、前記ｚ軸方向の理論上の外力Ｆ^２ _ｚ（θ_３）とにより算出されて、
前記ｘ軸方向の理論上の外力Ｆ^２ _ｘ（θ_２,θ_３）は、

前記ｚ軸方向の理論上の外力Ｆ^２ _ｚ（θ_３）は、

により算出されるものであってもよい。 Furthermore, regarding the calculation of the theoretical external force F _fixed of the drone described above, it is assumed that another drone is located at a position in the x-axis direction that is separated from the drone by the existing distance d, and the height of the drone is h, The drone has a mass of M, the mass of the wired cable is m, the mass of the feeder cable is m ₂ , the acceleration of gravity is g, the length of the wired cable is l, and the length of the feeder cable is L. Where the angle between the x-axis and the wired cable is θ ₂ ,
cos θ ₂ is

sin θ ₂ is

Calculated by
When an angle formed between the z-axis perpendicular to the x-axis and the feeding cable is θ ₃ ,
cos θ ₃ is

sin θ ₃ is

Calculated by
The theoretical external force F _fixed is calculated from the theoretical external force F ² _x (θ ₂ , θ ₃ ) in the _x- axis direction and the theoretical external force F ² _z (θ ₃ ) in the z-axis direction. And
The theoretical external force F ² _x (θ ₂ , θ ₃ ) in the x-axis direction is

The theoretical external force F ² _z (θ ₃ ) in the z-axis direction is

It may be calculated by.

前記ｙ軸方向の理論上の外力Ｆ^ｉ _ｙ,totalは、

前記ｚ軸方向の理論上の外力Ｆ^ｉ _ｚ,totalは、

により算出されるものであってもよい。 In addition, regarding the calculation of the theoretical external force F _fixed of the drone described above, the drone is assumed to be drone i, and there are | N (i) | other drones, and drone j (where j∈N (i)) The mass of the drone i is represented by M _i , the mass of the wired cable connected from the drone i to the drone j is represented by m _{i, j} , and the gravitational acceleration is represented by g, and the drone is represented in a three-dimensional coordinate space. If the angle between the wire cable connected to i and the x-axis, y-axis, and z-axis is θ _x ^{i, j} , θ _y ^{i, j} , θ _z ^{i, j} , The external force F _fixed is the theoretical external force F ⁱ _{x, total} in the x-axis direction, the theoretical external force F ⁱ _{y, total in the y-} axis direction, and the theoretical external force F ⁱ _{z, total in the} z-axis direction. Calculated by
The theoretical external force F ⁱ _{x, total} in the x-axis direction is

The theoretical external force F ⁱ _{y, total} in the y-axis direction is

The theoretical external force F ⁱ _{z, total} in the z-axis direction is

It may be calculated by.

前記ｙ軸方向の理論上の外力Ｆ^ｉ２ _ｙ,totalは、

前記ｚ軸方向の理論上の外力Ｆ^ｉ２ _ｚ,totalは、

により算出されるものであってもよい。 Furthermore, regarding the calculation of the actual external force c (t) of the drone described above, the drone is assumed to be a drone i, and there are | N (i) | other drones, and drone j (where j∈N (i) ), The mass of the drone i is M _i , the mass of the wired cable connected from the drone i to the drone j is m _{i, j} , and the gravitational acceleration is g. If the angle between the x-axis, y-axis and z-axis and the wired cable connected to the drone i is φ _x ^{i, j} , φ _y ^{i, j} , φ _z ^{i, j} , The actual external force c (t) generated in this way is the actual external force F ⁱ² _{x, total} in the x-axis direction, the theoretical external force F ⁱ² _{y, total in} the y-axis direction, and the theoretical external force F in the z-axis direction. calculated by ⁱ² _{z, total} ,
The actual external force F ⁱ² _{x, total} in the x-axis direction is

The theoretical external force F ⁱ² _{y, total} in the y-axis direction is

The theoretical external force F ⁱ² _{z, total} in the z-axis direction is

It may be calculated by.

Furthermore, the drone according to the present invention is a drone provided with control means for controlling flight attitude by drivingly controlling motor means, and the drone group is constituted by a plurality of the drones, and the drone constituting the drone group Are connected to the other end of a wired cable having one end connected to the object to be transported, and the drone has coordinate axes defined in advance in a three-dimensional flight space in which the drone actually flies, and Having an angle detection means for detecting an angle formed with the wired cable to which the other end is connected, and the control means is calculated in advance based on an existing distance and an existing direction to the transport object, and the external force F _fixed theoretical flight attitude of the drone can occur with respect to the drone by connecting the transporting object when stabilized, the angle detection means Based on the detected error e (t) from the actual external force c (t) generated on the drone by the connection of the transport object calculated based on the detected angle formed, the control amount u is controlled by PID control. (T) is calculated, and the motor means is drive-controlled based on the calculated control amount u (t).

前記ｙ軸方向の理論上の外力Ｆ_ｙ（θ_ｙ）は、

前記ｚ軸方向の理論上の外力Ｆ_ｚ（θ_ｚ）は、

により算出されるものであってもよい。 Further, regarding the calculation of the theoretical external force F _fixed of the drone described above, the number of the drone connected to the transport object via the wired cable is k, the mass of the drone is M, and the transport target is The angle between the wired cable connected to the drone and the x-axis, y-axis, and z-axis in the three-dimensional coordinate space is θ _x , where M _{2 is} the mass, m is the mass of the wired cable, and g is the gravitational acceleration. , θ _y , θ _z , the theoretical external force F _fixed generated for the drone is the theoretical external force F _x (θ _x ) in the x-axis direction and the theoretical external force F _{y in the} y-axis direction. (Θ _y ) and the theoretical external force F _z (θ _z ) in the z-axis direction,
The theoretical external force F _x (θ _x ) in the x-axis direction is

The theoretical external force F _y (θ _y ) in the y-axis direction is

The theoretical external force F _z (θ _z ) in the z-axis direction is

It may be calculated by.

前記ｙ軸方向の現実の外力Ｆ_ｙ（φ_ｙ）は、

前記ｚ軸方向の現実の外力Ｆ_ｚ（φ_ｚ）は、

により算出されるものであってもよい。 Furthermore, regarding the calculation of the actual external force c (t) of the drone described above, the number of the drone connected to the object to be transported via the wired cable is k, the mass of the drone is M, and the object to be transported Where M _{2 is} the mass of the cable, m is the mass of the wired cable, and g is the gravitational acceleration, and the angles formed by the angle detection means with the x-axis, y-axis, and z-axis are φ _x , φ _y , φ _z Then, the actual external force c (t) generated on the drone is the actual external force F _x (φ _x ) in the x-axis direction, the actual external force F _y (φ _y ) in the y-axis direction, and z Calculated by the actual external force F _z (φ _z ) in the axial direction,
The actual external force F _x (φ _x ) in the x-axis direction is

The actual external force F _y (φ _y ) in the y-axis direction is

The actual external force F _z (φ _z ) in the z-axis direction is

It may be calculated by.

In the above-described drone, a plurality of formation patterns determined by the existing distance and the existing direction are prepared by setting a plurality of patterns of the existing distance and the existing direction in advance. A plurality of external forces F _fixed are calculated according to the formation pattern, and the control means changes the theoretical external force F _fixed by changing the theoretical external force F _fixed in accordance with the change of the formation pattern. Based on the error e (t) between F _fixed and the actual external force c (t), a new control amount u (t) is calculated by PID control, and based on the calculated control amount u (t). The motor unit may be driven and controlled.

  The drone group according to the present invention includes a plurality of drones that connect a plurality of drones capable of performing flight attitude control by driving and controlling motor means and adjacent drones of the plurality of drones. A wired cable for connecting a network, a power supply cable connected to at least one of the plurality of drones, and a power supply means connected to the other end of the power supply cable and disposed on the ground And the power supply means supplies power for driving the plurality of drones through the power supply cable and the wired cable.

  Furthermore, the drone group described above may be configured by using a plurality of the above drones.

In the drone according to the present invention, the control means calculates in advance the external force F _fixed that can be generated on the drone when the flight attitude of the drone is calculated in advance based on the existing distance and the existing direction with respect to the other drone. An error e (t) with an actual external force c (t) generated on the drone, which is calculated by detecting an angle formed by each coordinate axis of the three-dimensional flight space and the wired cable using an angle detection unit. ), The control amount u (t) is calculated by PID control, and the motor means is drive-controlled based on the calculated control amount u (t). By performing drive control of the motor means in this way, it becomes possible to correct and maintain the actual distance and the actual direction from other drones to the existing distance and the existing direction. For this reason, it becomes possible to perform the flight control in cooperation with the whole while maintaining and correcting the flight form of the drone group constituted by the drone and other drones.

  In addition, the three-dimensional flight space relating to the drone provided with the control means without taking into account the position (coordinates) of other drones, the angle between the other drone's wired cable and each coordinate axis of the flight space, etc. By simply detecting the angle between each coordinate axis and the wired cable, it is possible to perform cooperative flight control for the entire drone group. For this reason, the specific position (coordinates) of each drone is measured by GPS (Global Positioning System), and the measured position (coordinates) of each drone is distributed to each drone. This makes it possible to perform stable flight control in the drone group without any trouble.

  Furthermore, in the drone according to the present invention, the drone motor means can be driven by the power supplied from the power supply means. Moreover, the electric power supplied via the power supply cable can be supplied to other drones via the wired cable. For this reason, it is possible to realize continuous long-time flight control without worrying about the capacity of the battery power supply as in the case of driving the motor means using a battery power supply or the like.

In the drone according to the present invention, a plurality of formation patterns determined by the existing distance and the existing direction are prepared by setting a plurality of patterns of the existing distance and the existing direction in advance, and the theoretical external force F _A plurality of _{fixed values} are calculated according to the formation pattern. Based on the error e (t) between the changed theoretical external force F _fixed and the actual external force c (t), the control means changes the theoretical external force F _fixed with the change of the formation pattern. The control amount u (t) is newly calculated by PID control, and the motor means is driven and controlled based on the calculated control amount u (t). Therefore, by changing the formation pattern, the actual distance between the drones and the actual direction can be changed, and the formation shape of the entire drone group can be easily changed by widening or narrowing the formation. It becomes possible.

  Furthermore, the drone group according to the present invention connects a plurality of drones to each other in a network using a wired cable, and the power supply cable is connected to at least one drone from the power supply cable to the power supply means arranged on the ground. ing. In the present invention, power for driving a plurality of drones is supplied from the power supply means through the power supply cable and the wired cable.

  In this way, by connecting a plurality of drones with wired cables and supplying power via the power supply cable, the drone group as a whole can fly for a long time without worrying about the capacity of the battery power supply. Can be realized.

  Further, by performing the flight at intervals of each drone constituting the drone group, the drone group as a whole can be moved in a state having a wide area. For this reason, it becomes possible to detect the video of the moving image and the photograph image | photographed with the whole drone group as a video of a wider range.

It is the perspective view which showed the doranet which consists of several drone which concerns on embodiment from diagonally upward. It is the perspective view which showed the drone which concerns on embodiment from diagonally downward. It is the block diagram which showed schematic structure of the drone which concerns on embodiment. It is a schematic diagram for demonstrating the theoretical external force which arises in the two drones A and the drone B by which the wired cable was suspended in the left-right direction. It is a schematic diagram for demonstrating the theoretical external force produced when the electric power feeding cable extended from the ground power supply machine is attached with respect to the drone B shown in FIG. The theoretical external force generated when drone A, drone B, and drone C are arranged in a line on the x-axis by positioning drone C at a distance d on the right side of drone B shown in FIG. It is a schematic diagram for demonstrating. It is a schematic diagram for demonstrating the theoretical external force produced when three drones AC are arrange | positioned on the orthogonal cross line which consists of a horizontal surface of an x-axis and a y-axis. It is the schematic diagram which showed the dynamic model at the time of connecting two drones i and drone j which comprise the dronenet which concerns on embodiment with a wired cable. It is the schematic diagram which showed the dynamic model of the force which may arise when actually carrying out flight control of the drone which concerns on embodiment. The schematic diagram for demonstrating the process which measures the angle (PHI) (t) = ((phi) _x (t), (phi) _y (t), (phi) _z (t)) which a wire cable makes using the camera which concerns on embodiment. It is. FIG. 10 is a schematic diagram illustrating a dynamic model when a force M (t) in a moving direction is applied to move the drone with respect to the dynamic model illustrated in FIG. 9. It is the figure which showed an example which changes the connection state of the drone which comprises a drone by changing a formation pattern using (a) (b). (A) is a schematic diagram showing a case where a drone i in the middle stops flying in a hood where seven drones are connected by a wired cable, and (b) is a case where drone i can fly. It is a schematic diagram for demonstrating the generated theoretical external force. It is a schematic diagram for demonstrating the theoretical external force which arises in the drone j when the drone i stops flight. (A) is the figure which showed typically the structure of the doranet which seven drones are connected with a wired cable, (b) is the schematic diagram which showed the state where one wired cable fell. .

  Hereinafter, an example of the drone according to the present invention will be shown and described in detail with reference to the drawings. FIG. 1 is a perspective view showing a plurality of drones according to the present embodiment obliquely from above, and FIG. 2 is a perspective view showing a single drone from obliquely below.

  As shown in FIG. 1, each drone 10 is connected to another drone 10 via a wired cable 12. Specifically, one end of the wired cable 12 is connected to one drone 10 and the other end is connected to another drone 10, so that the wired cable 12 is suspended between the drones 10 in a network shape. It is in a state. The number of other drones connected from the drone 10 via the wired cable 12 is not necessarily limited to one, and may be connected to a plurality of other drones.

  In the present embodiment, as shown in FIG. 1, a drone group (a plurality of drones) connected by a wired cable 12 is referred to as a drone 1. In the drone 10 according to the present embodiment, each of the drones 10 can fly while keeping a constant distance from the other drones 10 to perform a flight (former flight) in cooperation with the drone 1. It has become.

  One of the drones 10 constituting the drone 1 is connected to one end of a power supply cable 13 extending from a power supply device (power supply means) 14 provided on the ground. It is possible to receive power supply (power feeding) via 13. Further, it is possible to supply power from the power supply device 14 to the other drones 10 constituting the drone 1 via the wired cable 12 suspended between the drones 10.

  As shown in FIG. 2, the drone 10 is roughly configured by a main body portion 15 located at the center, and four arm portions 16 a to 16 d that are equally extended from the main body portion 15 in four directions. Propellers 18a to 18d are rotatably provided at the tips of the arm portions 16a to 16d. The propellers 18a to 18d are structured to be rotated by motors (motor means) 20a to 20d provided at the distal ends of the arm portions 16a to 16d. In addition, a camera 28 is provided on the bottom 15a of the drone 10, and the camera 28 can photograph the periphery of the end of the wired cable 12 attached to the bottom 15a.

  FIG. 3 is a block diagram showing a schematic configuration of the drone 10. The drone 10 includes four motors 20a to 20d, a magnetic sensor 22, a three-axis gyro sensor 24, a three-axis acceleration sensor 26, a camera (angle detection means) 28, a storage unit 30, a communication unit 32, And a control unit (control means, angle detection means) 34. As described above, the motors 20a to 20d are provided at the distal ends of the arm portions 16a to 16d. The output shafts of the motors 20a to 20d are projected upward, and propellers 18a to 18d are attached to the tips of the output shafts.

  The magnetic sensor 22 has a role to detect the direction. Each drone 10 has predetermined front / rear, left / right, and up / down directions in a three-dimensional flight space in which the drone 10 flies. The vertical direction can be detected by detecting the acceleration in the direction of gravity by the triaxial acceleration sensor 26, but the front-rear direction and the left-right direction are determined based on a reference orientation. For this reason, by detecting the azimuth by the magnetic sensor 22, it is possible to determine the front / rear / left / right direction of the drone. For example, the front-rear direction can be determined based on the north-south direction detected by the magnetic sensor 22, and the left-right direction can be determined based on the east-west direction. By determining the front / rear / left / right / up / down directions in this way, it is possible to determine which direction the drone 10 is facing. The azimuth information detected by the magnetic sensor 22 is output to the control unit 34.

  The three-axis acceleration sensor 26 has a role of measuring acceleration in each axial direction with reference to three axes (three orthogonal axes) in a three-dimensional flight section where the drone flies. As the three orthogonal axes, the front and rear axes, the left and right axes, and the up and down axes are used as references. Of these, the vertical axis is determined by detecting acceleration in the direction of gravity with the triaxial acceleration sensor 26. On the other hand, as described above, the front and rear axes are determined based on the direction measured by the magnetic sensor 22 (for example, the north-south direction), and the left and right axes are determined by the magnetic sensor 22 (for example, the east-west direction). Is determined based on It is also possible to define an axis that is orthogonal to the front and rear axes as a left and right axis. The acceleration in each axial direction detected by the three-axis acceleration sensor 26 is output to the control unit 34.

  The three-axis gyro sensor 24 has a role of measuring a rotation state (angular velocity) based on each axis on the basis of the three axes in the three-dimensional flight space. The triaxial gyro sensor 24 can detect a rotational movement that cannot be detected by the triaxial acceleration sensor 26. The three axes that are the basis of the angular velocity detected by the three-axis gyro sensor 24 are the longitudinal axis (roll axis), the left-right axis (pitch axis), the vertical axis, and the three axes that are the reference in the three-axis acceleration sensor 26. It is based on the axis (yaw axis). The triaxial gyro sensor 24 detects an angle per second (dps: degree per second) in each axis as a roll angle, a pitch angle, and a yaw angle, and outputs them to the control unit 34.

  The camera 28 has a role of detecting the inclination angle of the wired cable 12 by photographing the periphery of the end of the wired cable 12 connected to the drone 10. As shown in FIGS. 1 and 2, one end of the wired cable 12 is attached to the bottom 15 a of the main body 15. A marker (mark) 36 is provided in advance near the end of the wired cable 12. The camera 28 is provided so that the periphery of the end portion of the wired cable 12 can be photographed. By photographing the periphery of the end portion of the wired cable 12 with the camera 28, photographing is performed so that the marker 36 is always included in the video. It is possible. The captured image data is output to the image buffer area of the storage unit 30.

  The storage unit 30 includes a flight control program in the control unit 34 and various data used for processing of the control unit 34 (for example, markers for detecting marker positions (marker coordinates) in a three-dimensional flight space from camera images). A position conversion table or the like) is stored. Further, the storage unit 30 has an image buffer area for storing an image taken by the camera 28. A flash memory (nonvolatile memory) is used for the storage unit 30 in consideration of weight reduction and power consumption reduction. However, it is also possible to use a lightened hard disk drive, solid state drive (SSD), or the like.

  The communication unit 32 has a role of receiving a control signal received from a controller (not shown). The drone 10 and the controller can transmit and receive data (control signals and the like) using wireless communication. When the controller is operated by the user, a control signal is output from the controller to the drone 10. The communication unit 32 receives a control signal from the controller and outputs it to the control unit 34. The communication method of wireless communication between the communication unit 32 and the controller is not limited to a specific communication method, and a commonly used communication method can be used. For example, it is possible to use various communication methods such as a communication method based on a Wi-Fi (Wireless Fidelity) standard, a communication method based on a specific power-saving wireless standard, and a communication method using a mobile phone network.

  The control unit 34 has a role of performing flight control of the drone 10 by controlling the rotation speeds of the four motors 20a to 20a. Specifically, after the drone 10 starts flying, the control unit 34 performs flight control for maintaining hovering in a situation where the communication unit 32 has not received a control signal. Moreover, the control part 34 performs the flight control for moving the drone 10 based on a control signal, when the communication part 32 receives a control signal.

  Here, hovering means a flight situation in which the drone 10 maintains its flight posture (position and altitude (height) in the front-rear and left-right directions) after the drone 10 starts to fly. For example, even if the drone 10 is about to tilt or be swept away due to the influence of the wind or the like, the control unit 34 controls the motor 20a so that the drone 10 is not tilted or swept by the wind. It is possible to maintain a flying state of the drone 10 at a horizontal and constant altitude by controlling a rotational speed of ˜20d to generate a constant force (thrust) in a direction to cancel the external force due to the wind.

  More specifically, the flight control in which the drone 10 performs hovering will be described. The three-axis gyro sensor 24 measures the rotational state (angular velocity) of the drone based on the front and rear axes, the left and right axes, and the vertical axis. By controlling the number of rotations of the four motors 20a to 20d according to the detection of the rotation state, the flight posture is corrected in a direction to correct the change in the state of the drone 10, and the control for maintaining the drone 10 in the horizontal state is performed. Do.

  In addition, the triaxial acceleration sensor 26 measures the acceleration of the drone 10 based on the front-rear direction, the left-right direction, and the up-down direction, and the control unit 34 controls the number of rotations of the four motors 20a to 20d according to the detection of the acceleration. Thus, control is performed to maintain the flight state so that the thrust by the motors 20a to 20d is generated in the direction of correcting the movement of the drone 10 and the drone 10 is not flowed (does not move).

Further, the control unit 34, based on the image taken by the camera 28, the inclination angle and the extending direction of the wired cable 12 attached to the bottom portion 15a of the drone 10 (more specifically, the left-right axis is the x-axis, It has a role of detecting angles (φ _x , φ _y , φ _z ) between each axis and the wired cable, with the front-rear axis being the y-axis and the vertical axis being the z-axis. Video captured by the camera 28 is stored in the image buffer area of the storage unit 30. A marker 36 is attached to the wired cable 12, and a camera 28 is attached at a position where the marker 36 can be imaged regardless of the direction of movement of the wired cable 12 (the marker 28 is always in the shooting range of the camera 28). The attachment position, the photographing range, and the photographing angle of view are determined so that 36 can enter. The control unit 34 detects the position of the marker 36 (abscissa and ordinate in the photographed image) from the photographed video. The storage unit 30 stores in advance a marker position conversion table for detecting the three-dimensional coordinates (x, y, z) of the wired cable 12 from the position of the marker 36 in the captured image. The control unit 34 calculates the tilt angle and the extending direction of the wired cable 12 by detecting the three-dimensional coordinates (x, y, z) of the marker 36 using the marker position conversion table. Based on the inclination angle and the extending direction of the wired cable 12 thus detected, flight control is performed in consideration of the influence of the wired cable 12 and other drone to which the other end of the wired cable 12 is attached.

Next, a theoretical external force used for flight control of each drone 10 when the wired cable 12 is suspended between the drones 10 will be described. In the drone 10 according to the embodiment, there is a “formation mode” in which where the other drone 10 is located with respect to the one drone 10 (distance and direction from the one drone 10 to the other drone 10) is set in advance. It is prepared. By this formation mode, the distance and direction with the other drones 10 are determined in advance as the existing distance and the existing direction for each drone 10. Furthermore, the angles (θ _x , θ _y , θ _z ) between the x-axis, the y-axis, the z-axis and the wired cable 12 are calculated in advance based on the length of the wired cable 12 and the existing distance from the other drone 10. The The theoretical external force generated in the drone 10 is calculated in advance based on the formed angles (θ _x , θ _y , θ _z ), the mass m of the wired cable 12, the mass M of the drone 10, and the like. The control unit 34 controls the motors 20a to 20d to generate a force (thrust) in a direction that cancels the theoretical external force, thereby realizing stable flight of the drone 10 and real-life with other drones 10. Control is performed to maintain (or correct) the distance and the actual direction at the existing distance and the existing direction.

  A plurality of formation modes can be set on the basis of the existing distance from other drones 10 and the existing direction. For this reason, the flight form of the entire drone 1 (such as the flight position of each drone 10) can be easily changed by outputting a control signal for changing the formation mode to the control unit 34 of each drone 10 via the controller. It is possible to do.

  FIG. 4 is a schematic diagram for explaining the theoretical external force generated for the two drones A and the drone B in which the wired cable 12 is suspended in the left-right direction on the paper surface. The interval between the two drones A and B in FIG. 4 is set in advance to an existing distance. In the description using FIG. 4, a theoretical external force (load) generated in each drone 10 will be described with reference to the x-axis, y-axis, and z-axis in a three-dimensional coordinate space. In FIG. 4, for convenience of explanation, the feeding cable 13 connected to the power supply machine 14 installed on the ground is not shown. The description in consideration of the power supply cable 13 connected to the power supply unit 14 will be described later.

  In FIG. 4, the existing distance between the drone A and the drone B is set to d [cm]. The length of the wired cable 12 is 1 [cm]. Furthermore, the mass of the drone A and the drone B is M, and the mass of the wired cable 12 is m. Further, the gravitational acceleration is indicated by g. The horizontal axis extending from drone A to drone B in the horizontal direction is defined as the x axis, and the vertical axis is defined as the z axis.

また、有線ケーブル１２の中心位置には、有線ケーブル１２の重力ｍｇが掛かると考えることができるので、ドローンＡにおける有線ケーブル１２の張力F_ｘ ^１は、

で示すことができる。
ドローンＢにおける有線ケーブル１２の張力F_ｘ ^２は、

で示すことができる。 As shown in FIG. 1, the wired cable 12 is usually a curved shape having a certain deflection and is suspended between two drones. In the present embodiment, the curved shape of the wired cable 12 is 2 Approximate with two straight lines. Then, the angles formed by the x-axis and the respective ends of the wired cable 12 are θ ₁ and θ ₂ as shown in FIG. If the existing distance d and the length l of the wired cable 12 are determined, the angles θ ₁ and θ ₂ (angle θ) can be obtained approximately by the following calculation formula.

Further, the center position of the wireline cable 12, so it can be considered that the gravity mg of the wire cable 12 is applied, the tension F _x ¹ wired cable 12 in drone A is

Can be shown.
Tension _F ^{x 2} wired cable 12 in drone B,

Can be shown.

For this reason, the theoretical external force of the drone A in the x-axis direction can be represented by F _x ¹ described above, and the theoretical external force of the drone B in the x-axis direction can be represented by F _x ² described above. .

で表すことができる。また、ドローンＢのｚ軸方向の理論上の外力F_ｚ ^２は、

で表すことができる。 The theoretical external force F _z ¹ of drone A in the z-axis direction is

Can be expressed as In addition, the theoretical external force F _z ² of the drone B in the z-axis direction is

Can be expressed as

  Each drone 10 can generate a force (thrust) that opposes external forces in the three directions of the x-axis direction, the y-axis direction, and the z-axis direction by driving and controlling the motors 20a to 20d. However, when the y-axis direction (front-rear direction) is not considered as shown in FIG. 4, in order to stably fly the drone 1, the two directions of the x-axis direction and the z-axis direction are opposite to the external force. It is necessary to generate and maintain force (thrust).

が算出され、ｚ軸方向の理論上の外力F_ｚ ^１として、

が算出される。 FIG. 5 is a schematic diagram showing a case where the power feeding cable 13 extending from the ground power supply machine 14 is attached to the drone B shown in FIG. Regarding the drone A in FIG. 5, as in the case described with reference to FIG. 4, as the theoretical external force F _x ¹ (θ ₁ ) in the x-axis direction,

Is calculated as the theoretical external force F _z ¹ in the z-axis direction,

Is calculated.

On the other hand, in the drone B, the influence of the power feeding cable 13 connected to the power supply machine 14 occurs. Assume that the mass of the power supply cable 13 is m ₂ , the angle between the power supply cable 13 and the z-axis is θ _3, and the slack of the power supply cable 13 from the power supply unit 14 to the drone B does not occur. In addition, the height from the power supply unit 14 to the drone B is a distance h, and the length of the power supply cable 13 is L.

Under such conditions, the theoretical external force generated in the drone B only by the feeding cable 13 is expressed as sin θ ₃ cos θ ₃ · m ₂ g as the theoretical external force in the x-axis direction as shown in FIG. As a theoretical external force in the z-axis direction, it can be calculated as cos θ ₃ cos θ ₃ · m ₂ g.

が算出される。また、ｚ軸方向の理論上の外力F_ｚ ^２（θ_３）として、

が算出される。 Accordingly, the theoretical external force generated by the cable of the wired cable 12 (mass m) and the feeding cable 13 (mass m ₂ ) with respect to the drone B is
As a theoretical external force F _x ² (θ ₂ , θ ₃ ) in the x-axis direction,

Is calculated. Moreover, as a theoretical external force F _z ² (θ ₃ ) in the z-axis direction,

Is calculated.

  FIG. 6 shows that drone C is located on the right side of the plane of drone B shown in FIG. 4 (on the opposite side of drone A with drone B as the center), with an existing distance d from drone B. Drone A, drone It is the schematic diagram which showed the state by which B and drone C were arrange | positioned in a line on the x-axis. In FIG. 6, the wired cable 12 is suspended between the drone A and the drone B, and the wired cable 12 is also suspended between the drone B and the drone C.

ドローンＡのｘ軸方向に生じる理論上の外力Ｆ_ｘ ^１（θ_１）は、

ドローンＢのｚ軸方向に生じる理論上の外力Ｆ_ｚ ^２は、

ドローンＢのｘ軸方向に生じる理論上の外力Ｆ_ｘ ^２（θ_２,θ_３）は、

但し、θ_２＝−θ_３ならば、Ｆ_ｘ ^２（θ_２,θ_３）＝０
ドローンＣのｚ軸方向に生じる理論上の外力Ｆ_ｚ ^３は、

ドローンＣのｘ軸方向に生じる理論上の外力Ｆ_ｘ ^３（θ_４）は、

になる。 The mass of each drone A, B, C is M, the mass of the wired cable is m, the gravitational acceleration is g, the length of the wired cable 12 is l, and the angle between each wired cable 12 and the x axis is shown in FIG. As shown, if θ ₁ to θ ₄ , the theoretical external force F _z ¹ generated in the z-axis direction of the drone A is

The theoretical external force F _x ¹ (θ ₁ ) generated in the x-axis direction of drone A is

The theoretical external force F _z ² generated in the z-axis direction of drone B is

The theoretical external force F _x ² (θ ₂ , θ ₃ ) generated in the x-axis direction of drone B is

However, if θ ₂ = −θ ₃ , F _x ² (θ ₂ , θ ₃ ) = 0
The theoretical external force F _z ³ generated in the z-axis direction of drone C is

The theoretical external force F _x ³ (θ ₄ ) generated in the x-axis direction of drone C is

become.

ドローンＡのｘ軸方向に生じる理論上の外力Ｆ_ｘ ^１は、

ドローンＡのｙ軸方向に生じる理論上の外力Ｆ_ｙ ^１（θ_１）は、

ドローンＢのｚ軸方向に生じる理論上の外力Ｆ_ｚ ^２は、

ドローンＢのｘ軸方向に生じる理論上の外力Ｆ_ｘ ^２（θ_３）は、

ドローンＢのｙ軸方向に生じる理論上の外力Ｆ_ｙ ^２（θ_２）は、

ドローンＣのｚ軸方向に生じる理論上の外力Ｆ_ｚ ^３は、

ドローンＣのｘ軸方向に生じる理論上の外力Ｆ_ｘ ^３（θ_４）は、

ドローンＣのｙ軸方向に生じる理論上の外力Ｆ_ｙ ^３は

になる。 FIG. 7 shows a case where three drones A to C are positioned on the horizontal plane of the x axis and the y axis, where the drone B is positioned at the intersection of the x axis and the y axis, and the drone A is on the y axis. In this case, the drone C is located at a location away from the drone B by the existing distance d, and the drone C is located on the x-axis and at a location away from the drone B by the existing distance d. A theoretical external force generated in three drones A to C on a so-called orthogonal cross line is shown. As in FIG. 6, the mass of each drone is set to M, the mass of each wired cable 12 is set to m, the gravitational acceleration is set to g, the existing distance is set to d, and the length of each wired cable 12 is set to 1 and shown in FIG. Thus, when the angles formed by the x-axis and y-axis and the wired cable 12 are set to θ ₁ to θ ₄ ,
The theoretical external force F _z ¹ generated in the z-axis direction of drone A is

The theoretical external force F _x ¹ generated in the x-axis direction of drone A is

The theoretical external force F _y ¹ (θ ₁ ) generated in the y-axis direction of drone A is

The theoretical external force F _z ² generated in the z-axis direction of drone B is

The theoretical external force F _x ² (θ ₃ ) generated in the x-axis direction of drone B is

The theoretical external force F _y ² (θ ₂ ) generated in the y-axis direction of drone B is

The theoretical external force F _z ³ generated in the z-axis direction of drone C is

The theoretical external force F _x ³ (θ ₄ ) generated in the x-axis direction of drone C is

The theoretical external force F _y ³ generated in the y-axis direction of drone C is

become.

  The drone 10 illustrated in FIGS. 4 to 7 exemplifies a case where a plurality of drones 10 are connected via a wired cable 12. The number of the drone 10 constituting the drone 1 is not particularly limited and is arbitrary. Further, the connection relationship between the drones 10 by the wired cable 12 is not particularly limited, and is arbitrary. For this reason, as shown in FIG. 1, the external force generated in each drone 10 will be described by paying attention to any two drones 10 out of the drone 1 constituted by connecting a plurality of drones 10. . In addition, in the drone 1 to which the plurality of drones 10 are connected like the network by the wired cable 12, each drone 10 constituting the drone 1 can be interpreted as a topology in the network of the drone 1.

  FIG. 8 is a schematic diagram showing a state where any two drones i and drone j constituting the drone 1 are connected by the wired cable 12. In FIG. 8, it is assumed that the drone i is located at the origins of the x axis, the y axis, and the z axis, and the drone j is also located at the origins of the x axis, the y axis, and the z axis. The x-axis, y-axis, and z-axis in the drone i and the drone j have the same extending direction, but the x-axis, y-axis, and z-axis in the drone i and the x-axis in the drone j, y The axis and the z-axis are independent and independent coordinate axes (different three-dimensional coordinate spaces). In this way, even if each drone 10 is considered as different coordinate axes, the position (coordinate position) of the other drone 10 is not subject to direct control determination when actually controlling the flight of the drone 10. , No problems arise. Specifically, in the drone 1, when flight control is performed in the drone 10, only the angle formed by the wired cable 12 detected by the camera 28 and each axis is actually detected. The position (coordinates) and direction are not used for flight control.

As shown in FIG. 8, the angle formed by the wired cable 12 with respect to the x-axis, y-axis, and z-axis of the drone i is θ _x ^{i, j} , θ _y ^{i, j} , θ _z ^{i, j,} and x of the drone j The angles formed by the wired cable 12 with respect to the axis, the y-axis, and the z-axis are assumed to be θ _x ^{j, i} , θ _y ^{j, i} , θ _z ^{j, i} . This angle can be calculated based on the length l of the wired cable 12 between the drones 10 and the existing distance d.

となる。ドロネット１を構成するドローン１０の集合をＮ（ｉ）とする。｜Ｎ（ｉ）｜は、集合Ｎ（ｉ）のメンバの総数（ドローン１０の総数）である。ドローンｉに生じるが外力は、有線ケーブル１２が接続される本数ｊ（ｊ∈Ｎ（ｉ））だけ加算されることになる。このため、ドローンｉに対して生じるｘ軸方向の理論上の外力Ｆ^ｉ _x,totalは、

ｙ軸方向の理論上の外力Ｆ^ｉ _y,totalは、

ｚ軸方向の理論上の外力Ｆ^ｉ _z,totalは、

となる。
全体的な理論上の外力Ｆ^ｉ _totalは、
Ｆ^ｉ _total＝（Ｆ^ｉ _x,total，Ｆ^ｉ _y,total，Ｆ^ｉ _z,total）となる。 A theoretical external force in the x-axis direction, the y-axis direction, and the z-axis direction that works when the drone i and the drone j are connected by the wired cable 12 is expressed as F ^{i, j} = (F _x ^{i, j} , F _y ^{i, j} , F _z ^{i, j} ))

It becomes. A set of drones 10 constituting the drone 1 is N (i). | N (i) | is the total number of members of the set N (i) (the total number of drones 10). The external force generated in the drone i is added by the number j (jεN (i)) to which the wired cable 12 is connected. For this reason, the theoretical external force F ⁱ _{x, total} generated in the x-axis direction for the drone i is

The theoretical external force F ⁱ _{y, total} in the y-axis direction is

The theoretical external force F ⁱ _{z, total} in the z-axis direction is

It becomes.
The overall theoretical external force F ⁱ _total is
_{^{F i total = (F i x}} , total, F i y, total, F i z, total) it becomes.

The above-mentioned F ⁱ _total, the external force of the power supply cable 13 extending from Doronetto 1 to the power supply unit 14, not for convenience considerations described.

Here, when the flying posture of the drone i is stable (when it is in a stable state), an external force that defines a stable state for the drone i is defined as F ⁱ _fixed .
F ⁱ _fixed = (F ⁱ _{x, fixed} , F ⁱ _{y, fixed} , F ⁱ _{z, fixed} )
When the flying posture of the drone i connected to the wired cable is stabilized by the theoretical external force F ⁱ _total of the drone i, the external force F ⁱ _fixed that determines the stable state with respect to the drone i is the theoretical external force F of the drone i. ⁱ _total . For this reason,
^{F i} _fixed = F ⁱ _{total
^{= (F i x, total,}} F i y, total, F i z, total)
It can be expressed as.
Accordingly, by generating a thrust of −F ⁱ _fixed for the drone i in the flight state and balancing it with F ⁱ _fixed , it becomes possible to stably fly the drone i. However, the thrust generated in reality drone i, since no balancing and F ⁱ _fixed, it is difficult to fly the drone i in a stable state. For this reason, control for bringing the drone i to a stable state is required. Next, this control method will be described.

FIG. 9 is a schematic diagram of a dynamic model showing the force of the drone 10 that may occur when actually controlling the flight. When the distance d is actually maintained as an interval with another drone 10 (in FIG. 9, the wired cable 12 when the distance d is maintained is shown as a wired cable (stable state)), Thus, an overall external force F _fixed (this external force corresponds to the theoretical external force F _fixed ) is generated. In order to make the drone 10 stable, a force of −F _fixed needs to be generated in the drone 10, but the force (thrust) measured in the drone 10 is not equal to −F _fixed .

Assuming that the force (thrust) measured in the drone 10 is D (t), D (t) is not equal to −F _fixed , so an error that is the difference is obtained. If the error is e (t),
e (t) = − D (t) −F _fixed
Can be obtained.

ここで、Κ_ｐ，Κ_ｉ，Κ_ｄは事前に定められるパラメータを意味している。算出された制御量ｕ（ｔ）は、図９に示すように、安定状態の有線ケーブルに対して生じる外力Ｆ_fixed（理論上の外力Ｆ_fixed）と、ドローン１０に生じる現実の外力ｃ（ｔ）との差で示される。 Therefore, in order to perform control so that the flight state of the drone is stabilized, it is necessary to calculate a force (control amount) in consideration of the error e (t). In the drone 1 according to the embodiment, PID control is used for calculation of force (control amount) considering the error e (t). PID control is a control method using feedback, and is the most typical control method for evaluating an error by proportionality, integration, or differentiation of the error. If the control amount obtained by PID control is u (t), u (t) can be calculated using the following PID control equation.

Here, Κ _p , Κ _i , and Κ _d mean parameters determined in advance. As shown in FIG. 9, the calculated control amount u (t) includes an external force F _fixed (theoretical external force F _fixed ) generated on the stable wired cable and an actual external force c (t) generated on the drone 10. ) And the difference.

Further, the force (actual external force) c (t) generated in the drone 10 can be calculated based on the angle and direction of the wired cable 12 obtained based on the video imaged by the camera 28. c (t) is
c (t) = (c _x (t), c _y (t), c _z (t))
This c (t) is an angle Φ (t) = (φ _x (t), φ _y (actually formed by the x-, y-, and z-axes and the wired cable 12 in a three-dimensional flight space. t), φ _z (t)) is determined based on the measured value.

現実のなす角φ_ｙ ^i,jにより測定されるｙ軸方向の現実の力Ｆ^ｉ２ _y,totalは、

現実のなす角φ_ｚ ^i,jにより測定されるｚ軸方向の現実の力Ｆ^ｉ２ _z,totalは

となり、ドローンｉについて測定される全体的な力Ｆ^ｉ２，ｊは、

となる。従って、ドローンｉに発生される力（現実の外力）ｃ（ｔ）は、
ｃ（ｔ）＝Ｆ^ｉ２，ｊ＝（Ｆ^ｉ２ _x,total，Ｆ^ｉ２ _y,total，Ｆ^ｉ２ _z,total）となる。 Specifically, in a state where the drone j and the drone i are connected by the wired cable 12, the reality in the x-axis direction measured by the actual angle φ _xi ^{, j} between the wired cable 12 of the drone i and the x-axis. The external force F ⁱ² _{x, total} is

The actual force F ⁱ² _{y, total} in the y-axis direction measured by the actual angle φ _y ^{i, j} is

The actual force F ⁱ² _{z, total} in the z-axis direction measured by the actual angle φ _z ^{i, j} is

And the overall force F ^{i2, j} measured for drone i is

It becomes. Therefore, the force (actual external force) c (t) generated in the drone i is
c (t) = F ^{i2, j} = (F ⁱ² _{x, total} , F ⁱ² _{y, total} , F ⁱ² _{z, total} ).

In this way, the force c (t) measured based on the change in angle between the wired cable 12 and each axis becomes a negative value −D (t) of the force (thrust) measured in the drone i. Equal c (t) =-D (t)
So that
e (t) = − D (t) −F _fixed
= C (t) -F _fixed .

Also, as shown in FIG. 9, D (t) is calculated when the drone 10 enters a stable flight state.
D (t + 1) = D (t) + u (t)
= -F _fixed
The following relational expression holds. When this D (t + 1) = D (t) + u (t) is generated as the repulsive force of the drone 10, the drone 10 balances with -F _fixed and becomes a stable state.

FIG. 10 is a schematic diagram for explaining processing for measuring the angle Φ = (φ _x , φ _y , φ _z ) formed by the wired cable 12 using the camera 28. As already described, the camera 28 is provided on the bottom 15 a of the main body 15 of the drone 10. The camera 28 has a role of photographing the marker 36 of the wired cable 12 having one end attached to the bottom of the main body 15, and the photographing range of the camera 28 is determined in consideration of the movement range of the marker 36. . In FIG. 10, the movable range of the wired cable 12 is shown in a cone shape, and the shooting range of the camera 28 is determined after the movement range of the marker 36 is the bottom of the cone. However, by using a fish-eye lens or the like for the camera 28, it is possible to take a configuration in which the lower half of the drone 10 is photographed from the bottom 15a regardless of the movable range of the wired cable 12.

In the video imaged by the camera 28, the marker 36 of the wired cable 12 is always photographed, and the imaging position of the marker 36 changes according to the movement state of the wired cable 12. Therefore, the three-dimensional coordinates (x, y, z) of the marker shown in FIG. 10 can be obtained in a one-to-one correspondence based on the photographing position of the marker 36 (abscissa and ordinate of the photographed image). Such a marker position conversion table for converting one-to-one is stored in the storage unit 30 in advance, and the control unit 34 detects the marker position based on the captured image and uses the marker position conversion table to perform three-dimensional analysis. Coordinates (x, y, z) are detected. Further, if the three-dimensional coordinates (x, y, z) can be detected, the immediately preceding (ie, substantial wired cable) from the marker 36 to the origin is based on the three-dimensional coordinates (x, y, z). 12), and the angles (φ _x , φ _y , φ _z ) formed by the x axis, the y axis, and the z axis can be calculated.

On the other hand, since the existing distance d with the other drone 10 is determined in advance according to the formation mode, the wired cable 12 and the x-axis, based on the existing distance d and the length l of the wired cable 12, A theoretical angle (θ _x , θ _y , θ _z ) between the y axis and the z axis can be calculated. Based on the calculated theoretical angle, a theoretical external force F _fixed is calculated. However, as described above, when the actual external force generated in the drone 10 is actually determined by the angles (φ _x , φ _y , φ _z ) formed by the x axis, the y axis, and the z axis using the camera image, The calculated theoretical angle (θ _x , θ _y , θ _z ) and the actual angle based on the camera image (φ _x , φ _y , φ _z ) do not match, and the difference between these angles Thus, it can be determined that the stable control of the flying attitude of the drone is not realized.

For this reason, the external force F _fixed obtained by the theoretical angle (θ _x , θ _y , θ _z ) calculated in advance and the actual angle (φ _x , φ _y , A control amount u (t) is obtained by PID control using an error e (t) with a force (actual external force) c (t) obtained based on φ _z ), and the flight control of the drone 10 is performed. This makes it possible to stabilize the flight posture of each drone 10.

In particular, for each drone 10 constituting the drone 1, a theoretical external force F _fixed generated by the wired cable 12 or the like is calculated in advance based on the existing distance and the existing direction with respect to the other drone 10. Comparing the force (actual external force) c (t) obtained based on the actual angles (φ _x , φ _y , φ _z ) obtained from the image and the theoretical external force F _fixed , an error e ( t) occurs. Therefore, the control amount u (t) is calculated by PID control based on the error e (t), and the control unit 34 controls the driving of the motors 20a to 20d based on the calculated u (t). The actual distance and the actual direction with the drone 10 can be corrected or maintained at the existing distance and the existing direction, and the harmonious flight as the drone 1 (flight according to a preset formation pattern) Can be realized.

  In this way, the control unit 34 performs drive control of the motors 20a to 20d based on the above-described D (t + 1) = D (t) + u (t) at every time t. It is possible to perform flight control as one unit while maintaining the preset formation state.

  In addition, when the drone 1 is moved as a whole, it is not always necessary to output a control command to each drone 10 and move all drones 10 independently.

  A control signal for moving in a certain direction with respect to at least one drone 10 (may be several when the number of drones 10 constituting the drone 1 is large) among the drones 10 constituting the drone 1 Is output from the controller, only the drone 10 receiving the control signal tries to start moving. As the drone 10 moves, the distance d with other drones 10 temporarily increases or decreases, but the actual angle of the wired cable 12 detected by the camera image changes due to the change in the distance d. Therefore, the flight control of each drone 10 is automatically performed so as to eliminate the error based on the amount of change (so that the drone 1 is stabilized as a whole). For this reason, only the movement control is performed on at least one drone 10, and as a result, all drones 10 constituting the drone 1 start moving similarly, and the entire drone 1 is formed as a formation. It is possible to move while trying to maintain the state.

FIG. 11 is a schematic diagram illustrating a dynamic model when a force M (t) in the moving direction is applied to move the drone 10 in order to move the drone 10 to the schematic diagram of the dynamic model illustrated in FIG. 9. As shown in FIG. 11, the force D (t + 1) generated on the drone 10 is added to the force D (t) measured in the drone 10 and the control amount u (t) obtained by the PID control. This is the force obtained by adding the force M (t) toward As described with reference to FIG. 9, the force obtained by adding the force D (t) measured in the drone 10 and the control amount u (t) obtained by the PID control cancels the theoretical external force F _fixed. The flying posture can be maintained in a stable state while the drone 10 remains at a fixed position. When flight control is performed in this stable posture, if a force M (t) in the moving direction is applied to some of the drones 10, the balance (the formation state) of the entire drone 1 is temporarily lost. It will be in a stable state.

  The drone 10 to which the force M (t) in the moving direction is applied can move by itself. On the other hand, in the drone 10 to which the force M (t) directed in the moving direction is not directly applied, the force M (t) directed in the moving direction is indirectly applied via the wired cable 12. Thus, the drone 10 to which the force M (t) directed in the moving direction is indirectly applied generates a repulsive force to maintain its stability, and the force M (t) directed in the moving direction is directly applied. It follows the drone 10 that has been made.

  For example, when a force M (t) for moving the drone 1 to the left of the drone 1 is applied to the drone A, the distance d of the drone B temporarily connected by the wired cable 12 increases. The angle θ formed changes, and as a result, a force for moving the drone B to the left is generated, and thereafter, control for absorbing the fluctuations is performed. As a result, the entire drone 1 will move in an unstable state while the forcible force is working along with the movement of the drone A, and when the forcing force stops working, the whole is again in a stable state. Will be migrated.

  Thus, when moving the drone 1 as a whole, some drones 10 do not have to be directly applied to all drones 10 constituting the drone 1 in the direction of movement M (t). As a result, by applying the force M (t), it becomes possible to move the entire drone 1 as a result.

  Next, the formation posture changing process in the drone 10 will be described. Since the formation pattern is set based on the existing distance and the existing direction with the other drone 10, a plurality of types of formation patterns can be set by setting a plurality of existing distances and existing directions in advance. It is possible to prepare. Since the storage unit 30 can store a plurality of types of formation patterns, the controller 1 transmits a control signal for changing the formation pattern to all the drones 10 of the drone 1. It becomes possible to change the distance and direction between 10.

Specifically, the theoretical external force F for the x-axis direction, the y-axis direction, and the z-axis direction for each drone 10 based on the existing distance and the existing direction with respect to the other drone 10 set in the formation pattern. _fixed is calculated in advance and stored in the storage unit 30. The control unit 34 of each drone 10 performs rotation control of the motors 20 a to 20 d so as to cancel the calculated theoretical external force F _fixed , and performs stable control of the flight posture in each drone 10.

  FIGS. 12A and 12B are diagrams showing an example of changing the connection state of the dornet 1 by changing the formation pattern. As shown in FIG. 12A, among the drones 10 constituting the drone 1, seven drones 10 within the range of the broken line s are arranged close to each other, and the connection state by the wired cable 12 is zigzag like a bellows. To make the doranet 1 into a compact formation state. In this state, by outputting a control signal for changing the formation pattern to each drone 10 via the controller, as shown in FIG. 12B, between the seven drones 10 surrounded by a broken line s. The connection state is changed to a formation state in which the distance between the drones 10 is increased by extending the wired cable 12 in a straight line. By changing the formation pattern in this way, it is possible to change the formation shape of the drone 1 to an elongated state. By changing the formation shape of the hood 1 to be elongated, it is possible to expand the flight form of the hood 1 while maintaining the power supply state to all the drones 10 by the power supply unit 14. For this reason, it becomes possible to move the drone 10 at the end of the drone 1 to a position far away from the power supply machine 14, and it is possible to widen the flight range of the drone 10 and to supply power from the power supply machine 14. It is possible to perform continuous flight.

  In addition, in the drone 1, even if one of the drones 10 has a failure or the like and cannot maintain sufficient flight capability, other drones 10 connected via the wired cable 12 are By performing flight control by pulling up the drone 10 that has lost its flight capability, it is possible to continue the flight of the entire drone 1.

  For example, as shown in FIG. 13 (a), when the drone i (indicated by a black circle) in the middle of the drone 1 to which seven drones 10 are connected by the wired cable 12 stops flying, the wired cable 12 The drone i can be carried by controlling the flight by pulling up the drone i with the four drones 10 connected to the drone i.

で計算される。ここで、ｋはドローンｉと有線ケーブル１２を介して接続される他のドローン１０の台数を意味する。 When the drone i can fly, as shown in FIG. 13B, the external force F _z ^{i, j} in the z-axis direction generated on the drone i connected to the drone ^j by the wired cable 12 represents the mass of the wired cable 12. m, and the mass of drone i is M ₂
F _z ^{i, j} = M ₂ g + mg / 2
become. However, when the drone i cannot fly, it is necessary that another drone 10 connected to the drone i via the wired cable 12 separately supports the external force F _z ^{i, j} in the z-axis direction. Therefore, as shown in FIG. 14, the external force _F ^{z j} on the z-axis direction of theory occurring in drone ^{j, i} (theta _z ^{j, i),} when the mass of the drone i and _{M 2,}

Calculated by Here, k means the number of other drones 10 connected to the drone i via the wired cable 12.

ドローンｊに生じるｙ軸方向の理論上の外力Ｆ_ｙ ^ｊ，ｉ（θ_ｙ ^ｊ，ｉ）は、

で計算することができる。 Similarly, the theoretical external force F _x ^{j, i} (θ _x ^{j, i} ) generated in the drone j in the x-axis direction is

The theoretical external force F _y ^{j, i} (θ _y ^{j, i} ) generated in the drone j in the y-axis direction is

Can be calculated with

  As described above, assuming that the drone i loses the flight capability in advance, the theoretical external force generated in each drone 10 is calculated, and the formation mode when the drone i loses the flight capability is set. When the drone i loses the flight capability, the flight control of each drone 10 can be changed to a state in which the drone i can be easily lifted and continued to fly in the entire drone 1 by changing the formation mode. it can.

Further, in this way, when the drone i loses the flight capability, the force (actual external force) c (t) generated in the drone j is detected with the wired cable 12 detected based on the video imaged by the camera 28. It is calculated based on the measured values of the actual angles (φ _x , φ _y , φ _z ) formed with the x-axis, y-axis, and z-axis.

ドローンｊに生じるｙ軸方向の現実の外力Ｆ_ｙ ^ｊ，ｉ（φ_ｙ ^ｊ，ｉ）は、

ドローンｊに生じるｚ軸方向の現実の外力Ｆ_ｚ ^ｊ，ｉ（φ_ｚ ^ｊ，ｉ）は、

により計算することが可能になる。 Specifically, the angle between the actually measured wired cable 12 and the x axis is φ _x ^{j, i,} and the angle between the actually measured y axis is φ _y ^{j, i} and is actually measured. If the angle formed with the z axis is φ _z ^{j, i} ,
The actual external force F _x ^{j, i} (φ _x ^{j, i} ) generated in the drone j in the x-axis direction is

The actual external force F _y ^{j, i} (φ _y ^{j, i} ) in the y-axis direction generated in the drone j is

The actual external force F _z ^{j, i} (φ _z ^{j, i} ) generated in the drone j in the z-axis direction is

Can be calculated.

Further, according to the same concept, it becomes possible to cooperate and transport a transport object (such as luggage) connected to the plurality of drones 10 by the wired cable 12. In this case, if the mass of the object to be transported is M ₂ , the theoretical external force generated in the other drone 10 connected via the wired cable 12 is the theoretical external force F _x ^{j, i} (θ _x ^{j, i} ), the theoretical external force F _y ^{j, i} (θ _y ^{j, i} ) in the _y- axis direction, and the theoretical external force F _z ^{j, i} (θ _z ^{j, i} ) in the z-axis direction ⁱ ) and can be calculated. The actual external force generated in the other drone 10 connected via the wired cable 12 includes the actual external force F _x ^{j, i} (φ _x ^{j, i} ) in the x-axis direction and the actual external force in the y-axis direction. The external force F _y ^{j, i} (φ _y ^{j, i} ) and the actual external force F _z ^{j, i} (φ _z ^{j, i} ) in the z-axis direction can be calculated.

  Further, as shown in FIG. 15, even when one of the wired cables 12 is dropped, the formation of the formation 1 can be quickly performed by setting the formation mode assuming that the wired cable 12 is dropped in advance. It is possible to maintain a stable state.

ｙ軸方向に対する理論上の外力Ｆ^ｉ _ｙ,totalは、

ｚ軸方向に対する理論上の外力Ｆ^ｉ _ｚ,totalは、

となり、全体的な外力Ｆ^ｉ _totalは、
Ｆ^ｉ _total＝（Ｆ^ｉ _x,total，Ｆ^ｉ _y,total，Ｆ^ｉ _z,total）となる。 For example, in a drone 1 composed of N (i) drones 10, when j drones (j∈N (i)) are connected to the drone i via the wired cable 12, the drone i x The theoretical external force F ⁱ _{x, total} in the axial direction is

The theoretical external force F ⁱ _{y, total} in the y-axis direction is

The theoretical external force F ⁱ _{z, total} in the z-axis direction is

The overall external force F ⁱ _total is
_{^{F i total = (F i x}} , total, F i y, total, F i z, total) it becomes.

ｙ軸方向に対する理論上の外力Ｆ^ｉ _ｙ,totalは、

ｚ軸方向に対する理論上の外力Ｆ^ｉ _ｚ,totalは、

に変化することになる。 On the other hand, if the number of drones 10 that are no longer connected to the drone i because the wired cable 12 connected to the drone i falls or the like is B (i),
The theoretical external force F ⁱ _{x, total} for the x-axis direction of drone i is

The theoretical external force F ⁱ _{y, total} in the y-axis direction is

The theoretical external force F ⁱ _{z, total} in the z-axis direction is

Will change.

  Therefore, when the number of other drones 10 connected to the drone i via the wired cable 12 is reduced by B (i) (the maximum number of connected drones 10 is N (i) −B (In the case of (i)), a formation pattern considering the reduced external theoretical force is set in advance, and the formation pattern is changed by changing the formation pattern according to the fall of the wired cable 12 or the like. It becomes possible to perform control corresponding to the state change.

  As described above, the drone 1 according to the embodiment is configured by a plurality of drones 10 connected by the wired cables 12, and at least one drone 10 is connected to the wired cables 12 extending from the power supply device 14. Thus, it is possible to supply power to each drone 10. For this reason, it becomes possible to continue flying without worrying about the capacity of the battery power supply as in the case of supplying power using a battery power supply or the like.

  Further, the storage unit 30 of each drone 10 has a theoretical external force that can be generated by connecting each drone 10 with the wired cable 12 based on a preset existing distance between the drones 10 and an existing direction. Is calculated and stored according to the formation pattern. The control unit 34 of each drone 10 generates a theoretical external force corresponding to the selected formation pattern separately from the flight control for the flight attitude change of the drone 10 detected by the 3-axis gyro sensor 24 or the 3-axis acceleration sensor 26. Flight control is performed on the drone 10. In this way, by performing flight control on the assumption that a theoretical external force corresponding to the formation pattern is generated separately from the flight control for the flight attitude change detected by the 3-axis gyro sensor 24 or the 3-axis acceleration sensor 26, In addition to realizing stable flight of the drone 10 alone, the drone 10 as a whole can fly while maintaining the formation shape of each drone 10 according to the formation pattern.

Furthermore, in the drone 10 according to the present embodiment, by detecting the position of the marker 36 photographed by the camera 28 in each drone 10, the angle of the wired cable 12 (with respect to the x axis, the y axis, and the z axis) is determined. Corner)) to calculate the actual external force c (t), and based on the error e (t) between the theoretical external force F _fixed and the actual external force c (t), the control amount u (t ) Is calculated, and the motors 20a to 20d are driven and controlled by the control unit 34, thereby performing stable control of the flight posture. In this way, by performing stable control of the flight attitude based on the error e (t) between the theoretical external force F _fixed and the actual external force c (t), the actual distance and the actual distance from the other drones 10 are determined. Can be corrected and maintained at the existing distance and the existing direction.

  Further, by actually detecting the angle of the wired cable 12 in the drone 10 (angle formed by the x-axis, y-axis, and z-axis), the flight posture of the drone 10 can be controlled and corrected, and the entire drone 1 As a result, it becomes possible to carry out joint flights. For this reason, the specific position (coordinates) of each drone 10 constituting the drone 1 is measured by GPS (Global Positioning System), or the measured position (coordinates) is assigned to each drone 10. On the other hand, it is possible to correct and maintain the flight form of the entire drone 1 without distributing it.

  Currently, many drones shipped on the market are provided with a control unit that performs flight control based on a flight attitude change detected by a 3-axis gyro sensor or a 3-axis acceleration sensor. For this reason, by newly providing means for calculating the angle of the wired cable (angle formed by the x-axis, y-axis, and z-axis), the external force generated by the connection of the wired cable as described in the present embodiment is reduced. It is possible to easily realize the flight control in consideration with a general drone.

  Further, by changing the formation pattern, the distance and direction between the drones 10 can be changed as shown in FIGS. 12 (a) and 12 (b), and the formation shape of the entire drone 1 can be widened or narrowed. It becomes possible to do. Therefore, for example, when shooting ground images with the drone 1, it is possible to perform shooting at a time with a plurality of drones 10, so a wide range of shooting can be realized in one flight. In particular, since the drone 10 can be blown to a place relatively far from the power supply machine 14 by widening the formation of the formation of the drone 1, long-time shooting is performed in a wide range without considering the power consumption. It becomes possible.

  As mentioned above, although the drone and drone group which concern on this invention were demonstrated using drawing, the drone and drone group which concern on this invention are not limited to the structure demonstrated in embodiment. It is obvious for those skilled in the art that various changes or modifications can be conceived within the scope of the claims, and the same effects as those of the configuration described in the embodiment can be obtained for these. It is possible to play.

  For example, in the drone 10 according to the embodiment, in order to detect the angle of the wired cable 12 (angle formed by the x axis, the y axis, and the z axis), the marker 28 of the wired cable 12 is photographed by the camera 28 and photographed. A configuration for performing angle detection based on an image has been described. However, the method for detecting the angle of the wired cable 12 is not limited to the method for analyzing the image captured by the camera 28. For example, a connecting member having a joystick structure is provided on the bottom 15a of the drone 10, and the end of the wired cable 12 is attached to the tip of the stick, thereby detecting the angle and direction of the wired cable 12 based on the amount of variation of the connecting member. It is also possible to adopt a configuration to do so. By using such a joystick structure as an angle detection means, it is possible to detect the angle and direction of the wired cable 12 by detecting the physical change amount without performing image analysis or the like. It becomes possible to simplify the structure.

  Further, the number of drones 10 constituting the drone 1 and the number of wired cables 12 suspended between the drones 10 are not limited to the example shown in FIG. The number of drones 10 constituting the drone 1 may be any number, and the wired cable 12 may be suspended between the drones 10 in any connection pattern.

  Furthermore, in the drone 10 according to the present embodiment, as shown in FIG. 2, four arm portions 16 a to 16 d are extended in four directions from the main body portion 15, and a motor is provided at the tip of each arm portion 16 a to 16 d. A configuration in which 20a to 20d and propellers 18a to 18d are provided is shown as an example. However, the drone according to the present invention is not limited to such a configuration. For example, a drone provided with only one set of propeller and motor, and a structure capable of performing posture control by providing a steering blade for adjusting the direction of discharging the wind blown from the propeller. It may be.

1 ... Dronet (drone group)
DESCRIPTION OF SYMBOLS 10 ... Drone 12 ... Wired cable 13 ... Feeding cable 14 ... Power supply machine (electric power supply means)
DESCRIPTION OF SYMBOLS 15 ... (Drone) main-body part 15a ... (Drone main-body part) 16a-16d (Drone) arm part 18a-18d ... Propeller 20a-20d ... Motor (motor means)
22 ... Magnetic sensor 24 ... 3-axis gyro sensor 26 ... 3-axis acceleration sensor 28 ... Camera (angle detection means)
30 ... Storage unit 32 ... Communication unit 34 ... Control unit (control means, angle detection means)
36 ... Marker

Claims (11)

A drone provided with a control means for performing flight posture control by driving and controlling motor means,
The other end of the wired cable of a predetermined length that is suspended from the drone to the other drone is connected to the drone by connecting one end to the other drone,
The drone has angle detection means for detecting an angle formed between each coordinate axis defined in advance in a three-dimensional flight space where the drone actually flies and the wired cable to which the other end is connected ,
The control means includes
A force that will be pre-calculated on the basis of the existing distance and existing direction from the drone to the other drone, the suspension passing the wire cable if the flying posture of the drone and the other drone is stabilized A theoretical external force F _fixed that can be generated against the drone;
Based on the error e (t) calculated from the angle formed by the angle detection means and the actual external force c (t) generated on the drone due to the suspension of the wired cable, PID The control amount u (t) is calculated by control,
The drone characterized in that the motor means is driven and controlled based on the calculated control amount u (t). Regarding the calculation of the theoretical external force F _fixed ,
Assume that another drone is located at a position in the x-axis direction that is separated from the drone by an existing distance d, the mass of the drone is M, the mass of the wired cable is m, the gravitational acceleration is g, and the length of the wired cable is If the angle between the x axis of the drone and the wired cable is θ ₁ ,
cos θ ₁ is

sin θ ₁ is

The theoretical external force F _fixed is calculated by the theoretical external force F ¹ _x in the x-axis direction and the theoretical external force F ¹ _{z in the} z-axis direction perpendicular to the x-axis,
The theoretical external force F ¹ _x in the x-axis direction is

The theoretical external force F ¹ _z in the z-axis direction is

The drone according to claim 1, wherein the drone is calculated by: A power supply cable extending from the power supply means arranged on the ground is connected to the drone, and the motor means is driven by the power supplied from the power supply means.
The drone according to claim 1, wherein the electric power supplied via the power supply cable is supplied to the other drone via the wired cable. Regarding the calculation of the theoretical external force F _fixed ,
Assume that another drone is located at a position in the x-axis direction separated from the drone by an existing distance d, the height of the drone is h, the mass of the drone is M, the mass of the wired cable is m, and the power supply When the mass of the cable is m ₂ , the gravitational acceleration is g, the length of the wired cable is l, the length of the feeding cable is L, and the angle between the x axis and the wired cable in the drone is θ ₂ ,
cos θ ₂ is

sin θ ₂ is

And the angle between the z-axis perpendicular to the x-axis and the feeding cable is θ ₃ ,
cos θ ₃ is

sin θ ₃ is

Calculated by
The theoretical external force F _fixed is calculated from the theoretical external force F ² _x (θ ₂ , θ ₃ ) in the _x- axis direction and the theoretical external force F ² _z (θ ₃ ) in the z-axis direction. And
The theoretical external force F ² _x (θ ₂ , θ ₃ ) in the x-axis direction is

The theoretical external force F ² _z (θ ₃ ) in the z-axis direction is

The drone according to claim 3, wherein the drone is calculated by: Regarding the calculation of the theoretical external force F _fixed ,
Assuming that the drone is a drone i and the other drone is | N (i) | and there are drones j (where j∈N (i)), the mass of the drone i is M _i , and the drone The wire cable connected from i to the drone j is m _{i, j} and the gravitational acceleration is g, and the wire cable connected to the drone i in the three-dimensional coordinate space and the x-axis, y-axis, and z-axis ^, an angle ^{_{θ x i j, θ y i}} , j, when the theta _z ^{i, j,}
The theoretical external force F _fixed imposed on the drone i is the theoretical external force F ⁱ _{x, total} in the x-axis direction, the theoretical external force F ⁱ _{y, total in the y-} axis direction, and the theory in the z-axis direction. the external force F ^{i z} _above, is calculated by the _total,
The theoretical external force F ⁱ _{x, total} in the x-axis direction is

The theoretical external force F ⁱ _{y, total} in the y-axis direction is

The theoretical external force F ⁱ _{z, total} in the z-axis direction is

The drone according to claim 1, wherein the drone is calculated by: Regarding the calculation of the actual external force c (t),
Assume that the drone is drone i, the other drone is | N (i) |, and is indicated by drone j (where j∈N (i)), and the mass of the drone i is M _i and the drone The wire cable connected from i to the drone j is connected to the drone i and the x, y, and z axes detected by the angle detection means, where m _{i, j} is the mass of gravity and g is the acceleration of gravity. When the angle formed with the wired cable is φ _x ^{i, j} , φ _y ^{i, j} , φ _z ^{i, j} ,
The actual external force c (t) generated for the drone i is the actual external force F ⁱ² _{x, total} in the x-axis direction, the theoretical external force F ⁱ² _{y, total in the y-} axis direction, and the theoretical in the z-axis direction. Calculated by the external force F ⁱ² _{z, total} above,
The actual external force F ⁱ² _{x, total} in the x-axis direction is

The theoretical external force F ⁱ² _{y, total} in the y-axis direction is

The theoretical external force F ⁱ² _{z, total} in the z-axis direction is

The drone according to claim 1 or 5, wherein the drone is calculated by: A drone provided with a control means for performing flight posture control by driving and controlling motor means,
A plurality of drones constitute a drone group,
Each of the drones constituting the drone group is connected to the other end of a predetermined length of a wired cable having one end connected to the object to be transported,
The drone, an angle detecting means for the drone detects the angle of the respective coordinate axes in advance defined in the three-dimensional flight space to fly in reality, and the wireline cable the other end of which is connected,
The control means includes
A force that will be pre-calculated on the basis of the existing distance and existing direction to the transporting object, flying posture of the drone group can occur to the drone by connecting the transporting object when stable The theoretical external force F _fixed
Based on the error e (t) with the actual external force c (t) generated on the drone due to the connection of the transport object calculated based on the angle formed by the angle detection means, PID The control amount u (t) is calculated by control,
The drone characterized in that the motor means is driven and controlled based on the calculated control amount u (t). Regarding the calculation of the theoretical external force F _fixed ,
The number of the drones connected to the transport object via the wired cable is k, the mass of the drone is M, the mass of the transport object is M ₂ , the mass of the wired cable is m, and the gravitational acceleration is g Assuming that angles between the wired cable connected to the drone and the x-axis, y-axis, and z-axis in a three-dimensional coordinate space are θ _x , θ _y , θ _z ,
The theoretical external force F _fixed generated for the drone includes a theoretical external force F _x (θ _x ) in the x-axis direction, a theoretical external force F _y (θ _y ) in the _y- axis direction, and a z-axis direction. And the theoretical external force F _z (θ _z ) of
The theoretical external force F _x (θ _x ) in the x-axis direction is

The theoretical external force F _y (θ _y ) in the y-axis direction is

The theoretical external force F _z (θ _z ) in the z-axis direction is

The drone according to claim 7, which is calculated by: Regarding the calculation of the actual external force c (t),
The number of the drones connected to the transport object via the wired cable is k, the mass of the drone is M, the mass of the transport object is M ₂ , the mass of the wired cable is m, and the gravitational acceleration is g Assuming that the angles formed by the x-axis, y-axis, and z-axis detected by the angle detection means are φ _x , φ _y , and φ _z ,
The actual external force c (t) generated on the drone is the actual external force F _x (φ _x ) in the x-axis direction, the actual external force F _y (φ _y ) in the y-axis direction, and the actual external force F _y (φ _y ) in the z-axis direction. Calculated by the actual external force F _z (φ _z ),
The actual external force F _x (φ _x ) in the x-axis direction is

The actual external force F _y (φ _y ) in the y-axis direction is

The actual external force F _z (φ _z ) in the z-axis direction is

The drone according to claim 7 or 8, wherein the drone is calculated by: A plurality of formation patterns determined by the existing distance and the existing direction are prepared by setting a plurality of patterns of the existing distance and the existing direction in advance, and the theoretical external force F _fixed is Multiple calculated according to the formation pattern,
The control means changes the theoretical external force F _fixed with the change of the formation pattern, whereby an error e () between the changed theoretical external force F _fixed and the actual external force c (t). t), a new control amount u (t) is calculated by PID control,
The drone according to any one of claims 1 to 9, wherein drive control of the motor means is performed based on the calculated control amount u (t). A plurality of drones according to any one of claims 1 to 6 ;
Connect the drone adjacent to each other of said plurality of drones, said wireline cable for connecting said plurality of drones network shape,
A feeding cable having one end connected to at least one drone of the plurality of drones;
Power supply means connected to the other end of the power supply cable and disposed on the ground,
The drone group, wherein power for driving the plurality of drones is supplied from the power supply means through the power supply cable and the wired cable.

Images