To provide a technology about falling determination which can be achieved with a configuration that is simpler than a conventional one by determining a flying operation according to a prescribed data processing algorithm on the basis of information of acceleration or the like in an unmanned aircraft.SOLUTION: A falling determination device 100 mounted on a multicopter 10 includes: an acceleration sensor 101 for measuring acceleration Z(g); a processor 102; a memory 103 for storing a falling start trigger when the acceleration Z(g) is within the prescribed range in the vicinity of zero; a distance sensor 104 for measuring a distance between the ground surface and the multicopter 10; a comparator 106 for comparing the distance measured by the distance sensor 104 and a predetermined threshold; and a determination circuit 107 for determining that the multicopter 10 is in a falling state when the falling start trigger is stored in the memory 103 and the distance becomes equal to or less than the predetermined threshold.SELECTED DRAWING: Figure 3
【課題】無人航空機において、加速度等の情報に基づいて所定のデータ処理アルゴリズムに従い飛行動作判別を行うことで、従来よりも簡便かつ簡素な構成で実現できる落下判定に関する技術を提供すること。【解決手段】マルチコプタ10に搭載される落下判定装置100は、加速度Z(g)を測定する加速度センサ101と、プロセッサ102と、加速度Z(g)がゼロ近傍の所定範囲になったとき、落下開始トリガーを記憶するメモリ103と、地表とマルチコプタ10との距離を測定する距離センサ104と、距離センサ104により測定された前記距離と所定の閾値とを比較するコンパレータ106と、メモリ103に落下開始トリガーが記憶され、かつ、前記距離が前記所定の閾値以下となったとき、マルチコプタ10が落下の状態にあると判定する判定回路107とを備える。【選択図】図3
UNMANNED AIRCRAFT, UNMANNED AIRCRAFT FALLING DETERMINATION DEVICE AND FALLING DETERMINATION METHOD
無人航空機、無人飛行機の落下判定装置及び落下判定方法
2019-05-23
Patent
Electronic Resource
Japanese
DETERMINATION SYSTEM, DETERMINATION METHOD, UNMANNED AIRCRAFT, AND DETERMINATION DEVICE
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