To provide a technique that improves the precision of an autonomous flight of a flying object.SOLUTION: Provided is an autonomous flying method for a flying object 1 that tracks a linear member. The autonomous flying method includes: a linear member model obtaining step of obtaining a linear member model by using dot-group data; a control information generating step of generating flight control information based on the linear member model; a moving step in which the flying object moves to a new site based on the flight control information; a dot-group data obtaining step of obtaining the dot-group data; and a linear member model updating step of updating the linear member model by using the obtained dot-group data. The flight control information is generated in the control information generating step based on the linear member model updated in the linear member model updating step to execute the moving step, and the linear model updating step is executed by obtaining the new dot-group data in the dot-group data obtaining step, and thus the flying object is caused to track the linear member.SELECTED DRAWING: Figure 1

    【課題】 本発明は、飛行体の自律飛行における精度向上の技術に関する。【解決手段】 線状部材に追従する飛行体1の自律飛行方法である。自律飛行方法は、点群データを用いて線状部材モデルを取得する線状部材モデル取得ステップと、線状部材モデルに基づいて飛行制御情報を生成する制御情報生成ステップと、飛行制御情報に基づいて飛行体が新たな地点に移動する移動ステップと、点群データを取得する点群データ取得ステップと、取得した前記点群データを用いて線状部材モデルを更新する線状部材モデル更新ステップと、を有する。線状部材モデル更新ステップで更新した線状部材モデルに基づいて制御情報生成ステップで飛行制御情報を生成して移動ステップを実行すると共に、点群データ取得ステップで新たな点群データを取得して線状部材モデル更新ステップを実行することで、線状部材に追従する。【選択図】図1


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    Title :

    FLYING OBJECT, AUTONOMOUS FLYING METHOD AND AUTONOMOUS FLYING PROGRAM


    Additional title:

    飛行体、自律飛行方法、自律飛行プログラム



    Publication date :

    2024-08-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64U



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