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
自律飛行体及び飛行制御方法
2024-03-15
Patent
Elektronische Ressource
Japanisch