JP2017037369A - Small size aviation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To establish a technique for making small flying objects in flight accurately land at a destination.SOLUTION: A landing guidance port device 2 is provided with a port ID storage part 422 and a guidance radio wave transmission control part 412. A small flying object 1 is provided with a port ID registration part 214 in which a destination port ID is registered, a guidance radio wave reception part 192, a port ID visualization part 216 that visualizes the port ID from a guidance radio wave, a port ID confirmation part 217 that confirms whether the port ID coincides with the destination port ID, a destination setting part 215 that sets a transmission position of the guidance wave as a destination when it is confirmed that the port ID coincides with the destination port ID, and a flight control part 16 that controls the flight of the small flying object 1 toward the destination.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a small flight system.

  In recent years, the spread of small aircraft has been remarkable. For this reason, the technical research regarding the flight control of a small air vehicle is actively performed (for example, refer patent documents 1 thru | or 3).

Japanese Patent No. 4222510 JP 2006-82775 A JP-A-2015-113100

  However, from the viewpoint of safety, etc., establishment of a technique for accurately landing at the destination of a small flying object in flight is required. However, the conventional techniques including Patent Documents 1 to 3 are sufficient to satisfy the request. It is a situation that can not respond to.

  The present invention has been made in view of such a situation, and an object thereof is to establish a technique for accurately landing at a destination of a small flying object in flight.

In order to achieve the above object, a small flight system according to an embodiment of the present invention includes:
In a small flight system having a small flying body and a landing guide port device for guiding and landing the small flying body,
The landing guide port device is:
A port ID storage unit that stores, as a port ID, an identifier registered in advance as a unique identification of the self;
An induced radio wave transmission control unit that executes control to transmit a predetermined radio wave superimposed with the port ID as an induced radio wave for guiding and landing the small air vehicle;
With
The small aircraft is
A port ID registration unit for registering a port ID of the destination landing port device as a destination port ID;
An induced radio wave receiving unit for receiving the induced radio wave;
A port ID rendering unit for rendering a port ID from the induced radio wave when the induced radio wave is received by the induced radio wave receiving unit;
A port ID confirmation unit for confirming whether or not the port ID matches the destination port ID;
A destination setting unit configured to set a transmission position of the induced radio wave on which the port ID is superimposed as a destination when the port ID is confirmed by the port ID confirmation unit to match the destination port ID;
A flight control unit that controls the flight of the small aircraft so as to land at the transmission position of the guided radio wave set as the destination by the destination setting unit;
Is provided.

Also,
The small aircraft further includes a position information acquisition unit that acquires position information indicating a current position,
Until the port ID confirmation unit confirms that the port ID matches the destination port ID,
The destination setting unit sets a destination based on a difference between a current position indicated by the position information and a position of the landing guide port device specified by the destination port ID.
The flight control unit controls the small flying object to fly toward the destination set by the destination setting unit.

Also,
The small aircraft is
A vehicle ID storage unit for storing an identifier registered in advance as a vehicle ID to uniquely identify itself;
An ID transmission control unit for controlling transmission of the flying object ID;
Further comprising
In the landing guide port device,
A landing permission management unit that manages the flying object ID of the small flying object that permits landing;
A flying object ID receiving unit for receiving the flying object ID transmitted from the small flying object;
When the flying object ID is received by the flying object ID receiving unit, it is confirmed whether or not the flying object ID is managed by the landing permission management unit. An authenticating unit that authenticates the small flying object that transmits the flying object ID as a landing object;
Further comprising
The guided radio wave transmission control unit starts control of transmission of the guided radio wave, triggered by the authentication unit authenticating the small aircraft as the landing target.
Also,
The landing guide port device is:
When the small aircraft is authenticated as the landing object by the authentication unit, the information processing device further includes a notification control unit that executes control for notifying that the small aircraft has entered the landing area.

Also,
In the landing guide port device,
A landing detection unit for detecting that the small aircraft to be landed has landed on the landing guide port device;
The notification control unit further executes control for notifying the landing of the small flying object when the landing detecting unit detects the landing of the small flying object.
Also,
The notification control unit controls the notification to be output from the separate device by controlling communication with the separate device as the notification control.
Also,
The landing guide port device is:
A light emitting unit;
Control that starts light emission of the light emitting unit is triggered by the start of control of transmission of the induced radio wave by the guided radio wave transmission control unit.
Also,
The small aircraft is
When the object to be transported is locked and accommodated and one or more requirements including at least the requirement to detect landing of the landing guide port device are satisfied,
Is further provided.
Also,

The landing guide port device is:
A charging / discharging control unit that executes control for charging the charging / discharging unit from a predetermined power source, and performs control for discharging the charging / discharging unit to supply power to the small aircraft that has landed,
Is further provided.

  According to the present invention, it is possible to establish a technique for accurately landing a small flying object in flight to a destination.

It is a mimetic diagram showing the whole composition of the small flight system of one embodiment of the present invention. It is a block diagram which shows the structure of the hardware of a small air vehicle among the small flight systems of FIG. It is a block diagram which shows the structure of the hardware of a server among the small flight systems of FIG. It is a block diagram which shows the structure of the hardware of the landing guidance port apparatus in the small flight system of FIG. It is a functional block diagram which shows the functional structure of a small air vehicle and a server among the small flight systems of FIG. FIG. 1 is a functional block diagram showing a functional configuration of the landing guide port device and the small flying body in the case of demonstrating the function of landing the small flying body 1 according to the guidance of the landing guiding port device among the functions of the small flying system of FIG. It is. It is a schematic diagram which shows the example of the external appearance of the flying body ID control part of a small flying body among the small flying systems of FIG. It is a schematic diagram which shows the connection relation between a small air vehicle and a server among the small flight systems of FIG. It is a schematic diagram which shows that the small air vehicle is flying in the predetermined air route among the small flight systems of FIG. It is a schematic diagram which shows the specific example of the air path shown in FIG. FIG. 2 is a schematic diagram showing a parachute as an example of a protective member that operates to mitigate an impact when a small flying object makes an emergency landing based on the control of an emergency landing control unit in the small flight system of FIG. 1. 1 is an example of a protective member that operates to mitigate the impact of a small aircraft when it makes an emergency landing based on the control of the emergency landing control unit, and is different from FIG. It is a schematic diagram which shows an airbag. It is a schematic diagram which shows that the small air vehicle can go back and forth between the point A and the point B which exist in the small flight system of FIG. It is the figure which showed the specific example of the schematic diagram shown in FIG. In the specific example shown in FIG. 14, it is a schematic diagram which shows that a destination port ID can be input into the input part of the normal landing control part of a small air vehicle. In the specific example shown in FIG. 14, it is the figure which showed typically each of the points A thru | or C where a small air vehicle flies automatically. It is a figure which shows an LED lamp and an aluminum reflecting plate as a specific example of the parameter | index of each point A thru | or C of FIG. It is the figure which showed the example of arrangement | positioning of the parameter | index of an area | region in case a small air vehicle flies in the area | region of each point A thru | or C of FIG. It is a figure which shows an example of the digital map which a small air vehicle uses among the small flight systems of FIG. It is a figure which shows an example at the time of attaching the hangar which can store a some small flying body to the landing guidance port apparatus among the small flight systems of FIG. It is a figure which shows an example at the time of attaching the landing board which has a leg to the landing guidance port apparatus among the small flight systems of FIG. It is a figure which shows the example in the case of using the said ship like an aircraft carrier of a small aircraft by installing the landing guidance port apparatus in a ship among the small flight systems of FIG. In the small flight system of FIG. 1, a plurality of solar panels for photovoltaic power generation are connected, and a plurality of floats are attached to the ends of the connected solar panels so that the connected solar panels float on the water. It is the figure which showed an example at the time of installing the landing guidance port apparatus which attached the hangar on the connected solar panel.

FIG. 1 shows the overall configuration of a small flight system according to an embodiment of the present invention.
The small flight system shown in FIG. 1 includes N (N is an arbitrary integer value of 1 or more) small aircrafts 1-1 to 1-N and M (M is one or more arbitrary independent of N). (Integer value) landing guide port devices 2-1 to 2-M, server 3, and port ID registrant possessing devices 4 to 6 are connected to each other via a predetermined network N such as the Internet. It is configured.

  Hereinafter, when it is not necessary to individually distinguish each of the small aircrafts 1-1 to 1-N, these are collectively referred to as “small aircraft 1”. Further, when it is not necessary to individually distinguish each of the landing guide port devices 2-1 to 2-M, they are collectively referred to as “landing guide port device 2”.

  The small air vehicle 1 is a small aircraft (small unmanned aerial vehicle) that cannot be boarded by humans among aircraft that do not fall under the aviation law.

  The landing guide port device 2 is a device that is arranged at a place where the small flying object 1 may land and guides the small flying object 1 to land.

Specifically, the landing guide port device 2 stores an identifier (hereinafter referred to as “port ID”) registered in advance to uniquely identify itself, and a predetermined superimposition of the port ID. Radio waves are transmitted as guided radio waves for guiding and landing the small air vehicle 1.
The small aircraft 1 registers the port ID of the landing guide port device 2 that is the destination among the landing port devices 2-1 to 2-M as the destination port ID based on the input of the user or the like before the flight. . Therefore, when the small air vehicle 1 receives the induced radio wave during the flight, it draws the port ID from the induced radio wave.
The small aircraft 1 confirms whether or not the port ID matches the destination port ID, and if it matches, according to the induced radio wave, the transmission position of the induced radio wave (that is, transmit the induced radio wave) Landing on the existing landing port device 2).

  Various other processes executed between the landing guide port device 2 and the small aircraft 1 will be described later with reference to FIG.

  The server 3 executes various processes in order to monitor and manage the operations of the small air vehicle 1 and the landing guide port device 2.

Specifically, for example, the server 3 monitors the flight status of each of the small aircrafts 1-1 to 1-N as follows.
That is, in the present embodiment, each of the small aircrafts 1-1 to 1-N has an identifier (hereinafter referred to as an aircraft ID) that uniquely identifies itself in distinction from the other small aircrafts 1 in advance. It is attached.
The air vehicle ID of the predetermined small air vehicle 1 is stored in the predetermined small air vehicle 1 itself and is also registered in a predetermined DB. The location of the predetermined DB is not particularly limited and may be a location different from the server 3, but in the present embodiment, the location is within the server 3 (the small size shown in FIGS. 5 and 6 described later). (See flight DB 321).
Therefore, the small flying object 1-K in flight (K is an arbitrary integer value from 1 to N) transmits its own flying object ID.
When the server 3 receives the flying object ID of a certain flying object (since the server 3 cannot recognize that it is of the small flying object 1-K at this time), the flying object ID is registered. It is determined whether or not it is. In this case, it is determined that the aircraft ID is registered as that of the small aircraft 1-K. That is, the flying object is authenticated as the small flying object 1-K. Therefore, the server 3 monitors the flight status of the authenticated small aircraft 1-K, for example, the flight status such as whether or not the aircraft has deviated from a predetermined air route.

  Various other processes of the server 3 will be described later with reference to FIG.

  The port ID registrant possessing devices 4 to 6 are persons who have previously registered the port ID of the specific landing guide port device 2 as users of the specific landing guide port device 2 (hereinafter referred to as “port ID registrant”). For example, a personal computer, a smartphone, and a tablet.

  For example, in the example of FIG. 1, the port ID registrant of the port ID registrant possessing device 4 is a person who has registered in advance the port ID of the landing guide port device 2-1. The port ID registrants of the port ID registrant possessing devices 5 and 6 are those who have registered in advance the port ID of the landing guide port device 2-M.

  FIG. 2 is a block diagram showing a hardware configuration of the small aircraft 1 in the small flight system of FIG.

  The small aircraft 1 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a bus 14, an input / output interface 15, a flight control unit 16, a GPS. Unit 17, normal landing control unit 18, storage unit 19, flying object ID control unit 20, camera unit 21, transported object storage unit 22, emergency landing control unit 23, charging unit 24, and drive 25 And.

The CPU 11 executes various processes according to a program recorded in the ROM 12 or a program loaded from the storage unit 19 to the RAM 13.
The RAM 13 appropriately stores data necessary for the CPU 11 to execute various processes.

  The CPU 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output interface 15 is also connected to the bus 14. The input / output interface 15 includes a flight control unit 16, a GPS unit 17, a normal landing control unit 18, a storage unit 19, a flying object ID control unit 20, a camera unit 21, a transport object storage unit 22, The emergency landing control unit 23, the charging unit 24, and the drive 25 are connected.

  The flight control unit 16 controls the flight operation of the small aircraft 1 such as take-off, ascending, descending, turning, and landing based on information obtained from the CPU 11 and the GPS unit 17.

  The GPS unit 17 receives an GPS signal from a plurality of GPS (Global Positioning System) satellites including an antenna, and acquires position information indicating the current position (latitude, longitude) of the small aircraft 1 from the GPS signal. .

The normal landing control unit 18 includes an input unit 181 and a communication unit 182, and controls a normal landing operation of the small air vehicle 1, that is, a landing operation to the landing guide port device 2 in the present embodiment.
The input unit 181 inputs the port ID of the landing guide port device 2 that is the destination of the small aircraft 1 by the operation of the user or the like.
The communication unit 182 communicates with the landing guide port device 2 and transmits / receives various information.
For example, the communication unit 182 receives the guide radio wave transmitted from the landing guide port device 2. In this case, the guidance radio wave received by the communication unit 182 includes the port ID of the landing guidance port device 2 that has transmitted the guidance radio wave as described above. When the port ID included in the guide radio wave received by the communication unit 182 matches the port ID input by the input unit 181, it is specified that the landing guide port device 2 that transmitted the guide radio wave is the destination Is done. In this case, the small squadron 1 lands on the landing guide port device 2 that is the destination in accordance with the guided radio waves. This will be described later with reference to FIG.

  The storage unit 19 includes a hard disk, a DRAM (Dynamic Random Access Memory), and the like, and stores various data.

The flying object ID control unit 20 includes a flying object ID storage unit 201 and a communication unit 202 in order to control the handling of the flying object ID in the small flying object 1.
The flying object ID storage unit 201 stores the flying object ID attached to the small flying object 1 of its own aircraft.
The communication unit 202 wirelessly transmits the flying object ID stored in the flying object ID storage unit 201 in accordance with a predetermined wireless communication standard. As described above, when the aircraft ID transmitted wirelessly is received by the server 3, it is used for authentication of the small aircraft 1 of its own aircraft.

  The camera unit 21 captures, for example, a state below the small aircraft 1 and provides the CPU 11 with image data obtained as a result. The CPU 11 performs various types of image processing on the image data, and appropriately uses the result of the image processing as information for assisting in recognition of the current position.

  The transported material storage unit 22 locks and stores the transported material, and releases the locking when a predetermined requirement is satisfied. Here, the predetermined condition is not particularly limited, and the present embodiment includes at least the requirement of detecting the landing of the small aircraft 1. In addition, for example, it is possible to accept the input of a password and include a requirement that the password is correct.

The emergency landing control unit 23 controls an operation for the small aircraft 1 to make an emergency landing at a safe place when the small aircraft 1 cannot continue flying due to some factor.
The charging unit 24 charges a battery (not shown) that discharges electric power necessary for driving the small aircraft 1 using electric power supplied from a charging / discharging unit 61 of the landing guide port device 2 described later. To do.

  A removable medium 31 is appropriately attached to the drive 25 as necessary. The program read from the removable medium 31 by the drive 25 is installed in the storage unit 19 as necessary. The removable medium 31 can also store various data stored in the storage unit 19 in the same manner as the storage unit 19.

  FIG. 3 is a block diagram showing a hardware configuration of the server 3 in the small flight system of FIG.

  The server 3 includes a CPU 81, a ROM 82, a RAM 83, a bus 84, an input / output interface 85, an output unit 86, an input unit 87, a storage unit 88, a communication unit 89, and a drive 90. .

The CPU 81 executes various processes according to a program recorded in the ROM 82 or a program loaded from the storage unit 88 to the RAM 83.
The RAM 83 appropriately stores data necessary for the CPU 81 to execute various processes.

  The CPU 81, ROM 82, and RAM 83 are connected to each other via a bus 84. An input / output interface 85 is also connected to the bus 84. An output unit 86, an input unit 87, a storage unit 88, a communication unit 89, and a drive 90 are connected to the input / output interface 85.

The output unit 86 includes a display, a speaker, and the like, and outputs various types of information such as images and sounds.
The input unit 87 includes a mouse, a keyboard, and the like, and inputs various information.
The storage unit 88 is configured with a hard disk, a DRAM, or the like, and stores the flying object ID and various data.
The communication unit 89 controls communication performed with another device (mainly each small air vehicle 1-1 to 1-N described in FIG. 1 in this embodiment) via the network N. For example, control of transmission / reception of information relating to flight status is executed.

  A removable medium 101 is appropriately attached to the drive 90 as necessary. The program read from the removable medium 101 by the drive 90 is installed in the storage unit 88 as necessary. The removable medium 101 can also store various data stored in the storage unit 88 in the same manner as the storage unit 88.

  FIG. 4 is a block diagram showing a hardware configuration of the landing guide port device 2 in the small flight system of FIG.

  The landing guide port device 2 includes a CPU 51, a ROM 52, a RAM 53, a bus 54, an input / output interface 55, an input unit 56, an output unit 57, a storage unit 58, a network communication unit 59, and a short-range wireless communication. The communication part 60, the charging / discharging part 61, the light emission part 62, the landing detection part 63, the GPS part 64, and the drive 65 are provided.

The CPU 51 executes various processes according to a program recorded in the ROM 52 or a program loaded from the storage unit 58 to the RAM 53.
The RAM 53 appropriately stores data necessary for the CPU 51 to execute various processes.

  The CPU 51, ROM 52, and RAM 53 are connected to each other via a bus 54. An input / output interface 55 is also connected to the bus 54. The input / output interface 55 includes an input unit 56, an output unit 57, a storage unit 58, a network communication unit 59, a short-range wireless communication unit 60, a charge / discharge unit 61, a light emitting unit 62, and a landing detection unit. 63, the GPS unit 64, and the drive 65 are connected.

The input unit 56 is configured by a keyboard or the like and inputs various information.
The output unit 57 includes a display, a speaker, and the like, and outputs various types of information such as images and sounds.
The storage unit 58 is configured by a hard disk, a DRAM, or the like, and stores various data.
The network communication unit 59 controls communication with another device (mainly the port ID registrant possessing devices 4 to 6 described in FIG. 1 in this embodiment) via the network N.

  The short-range wireless communication unit 60 performs wireless communication with the small flying object 1 flying in a short distance.

  The charging / discharging unit 61 charges a battery (not shown) that discharges power necessary for driving the landing guide port device 2 and the small aircraft 1 using power supplied from a predetermined power source. At the same time, when the small flying object 1 has landed on the landing guide port device 2, the charging unit 24 (FIG. 2) of the small flying object 1 is discharged.

The light emitting unit 62 is configured by an LED lamp or the like, and emits light so as to indicate the location of the landing guide port device 2 with respect to the small air vehicle 1 attempting normal landing.
Me

The landing detection unit 63 detects that the small aircraft 1 has landed on the landing guide port device 2.
The GPS unit 64 receives GPS signals from a plurality of GPS satellites including an antenna, and acquires position information indicating the current position (latitude, longitude) of the landing guide port device 2 from the GPS signals.

  A removable medium 71 is appropriately attached to the drive 65 as necessary. The program read from the removable medium 71 by the drive 65 is installed in the storage unit 58 as necessary. The removable media 71 can also store various data stored in the storage unit 58 in the same manner as the storage unit 58.

  FIG. 5 is a functional block diagram illustrating a functional configuration of the small aircraft 1 and the server 3 when the server 2 functions as a management device that manages the small aircraft 1 in the small flight system of FIG. 1. .

  In the CPU 11 (FIG. 2) of the small aircraft 1, a transmission control unit 211, a position information acquisition unit 212, and a flight drive monitoring unit 213 function as shown in FIG. 5.

In the CPU 81 (FIG. 3) of the server 3, as illustrated in FIG. 5, an acquisition unit 311, an authentication unit 312, a monitoring unit 313, and a warning unit 314 function.
A flying object DB 321 and an air route DB 322 are provided in one area of the storage unit 88.

In the small air vehicle 1, the air vehicle ID storage unit 201 stores the air vehicle ID attached to the small air vehicle 1 as described above.
The transmission control unit 211 controls to extract the flying object ID stored in the flying object ID storage unit 201 and wirelessly transmit the flying object ID from the communication unit 202 during the flight of the small flying object 1 or the like.

In the server 3, the acquisition unit 311 acquires information transmitted from the flying object via the communication unit 89.
Here, the flying object DB 321 stores the flying object IDs of the small flying objects 1-1 to 1-N.
Therefore, if the information acquired by the acquisition unit 311 includes the flying object ID, the authentication unit 312 accesses the flying object DB 321 and searches for an item that matches the flying object ID, and acquires the acquisition unit. The flying object that transmitted the information acquired in 311 is authenticated as the small flying object 1 specified from the flying object ID.
The monitoring unit 313 monitors the flight status of each of the small aircrafts 1-1 to 1-N based on the authentication result of the authentication unit 312.

Furthermore, in the small aircraft 1 of the present embodiment, the position information acquisition unit 212 acquires position information indicating the current position of the small aircraft 1 from the GPS unit 17.
Therefore, the transmission control unit 211 of the present embodiment executes control for transmitting position information of the small aircraft 1 together with the aircraft ID of the small aircraft 1.

  In this case, the monitoring unit of the server 3 identifies the current position of the small aircraft 1 authenticated by the authentication unit 312 based on the position information transmitted from the small aircraft 1, so that the small aircraft 1 1 flight status can be monitored.

  Although details will be described later with reference to FIGS. 9 and 10, air routes on which the small aircrafts 1-1 to 1-N can fly are determined in advance, and information on the air routes is stored in the air route DB 322. Yes.

  Therefore, the monitoring unit 313 further determines whether or not the current position of the small aircraft 1 that has been authenticated by the authentication unit 312 is in a predetermined air route, so that the flight status of the flying object 1 is determined. To monitor.

  Here, when it is monitored by the monitoring unit 313 that the small flying object 1 out of the air path is present among the small flying objects 1-1 to 1-N, the warning unit 314 issues a warning to the small flying object 1. .

  The method of issuing a warning is not particularly limited. For example, a method of outputting a warning sound or the like from the output unit 86 of the server 3 may be adopted, or a warning message or the like is removed from the air route via the communication unit 89. A technique of directly wirelessly transmitting to the small aircraft 1 may be adopted, or these techniques may be combined.

In the small aircraft 1, the flight drive monitoring unit 213 monitors whether or not the driving for flight of the small aircraft 1 has been started, for example, by monitoring the rotational drive state of the motor.
The transmission control unit 211 executes control to start transmission of the flying object ID and position information, triggered by the flight drive monitoring unit 213 monitoring the start of driving for flight.

  FIG. 6 shows the functions of the landing guide port device 2 and the small air vehicle 1 when the function of landing the small air vehicle 1 according to the guidance of the landing guide port device 2 among the functions of the small flight system of FIG. It is a functional block diagram which shows a typical structure.

In the CPU 51 (FIG. 4) of the landing guide port device 2, as shown in FIG. 6, an aircraft authentication unit 411, a guided radio wave transmission control unit 412, a notification control unit 413, and a light emission control unit 414 function. .
In one area of the storage unit 58, a flying object DB 321 and a port DB 422 are provided.

In the CPU 11 (FIG. 2) of the small aircraft 1, as shown in FIG. 6, the aircraft ID transmission control unit 211, the port ID registration unit 214, the destination port authentication unit 215, the port ID rendering unit 216, The port ID confirmation unit 217 and the destination setting unit 218 function.
In the communication unit 182 (FIG. 2), a landing signal receiving unit 191 and a guided wave receiving unit 192 function.

In the landing guide port device 2, the port ID DB 422 stores an identifier registered in advance as a port ID that uniquely identifies itself.
Although not shown, the server 3 also manages the port ID and position information indicating the installation position in association with each landing guide port device 2.

  The guided radio wave transmission control unit 412 superimposes the port ID stored in the port ID DB 422 on a predetermined radio wave (carrier wave). Then, the induced radio wave transmission control unit 412 performs control to cause the predetermined radio wave superimposed on the port ID to be transmitted from the induced radio wave transmission unit 162 as the induced radio wave for guiding and landing the small aircraft 1.

  On the other hand, in the small aircraft 1, the port ID of the destination landing guide port device 2 among the landing guide port devices 2-1 to 2-M is input to the input unit 181 by the operation of the user or the like as described above. The The port ID registration unit 214 registers the port ID of the destination landing guide port device 2 as the destination port ID.

Here, when entering the communication area with the landing guide port device 2 during the flight of the small flying object 1, the guide radio wave receiving unit 192 receives the guide radio wave from the landing guide port device 2.
When the induced radio wave receiving unit 192 receives the induced radio wave in this way, the port ID extracting unit 216 draws the port ID from the induced radio wave.

  The port ID confirmation unit 217 confirms whether or not the port ID extracted by the port ID extraction unit 216 matches the destination port ID registered by the port ID registration unit 214.

When the port ID confirmation unit 217 confirms that the port ID matches the destination port ID, the destination setting unit 218 transmits the induced radio wave transmission position on which the port ID is superimposed, that is, the induced radio wave. The landing guide port device 2 is set as the destination.
The flight control unit 16 controls the flight of the small air vehicle 1 so as to land on the landing port device 2 (transmission position of the guided wave) set as the destination.

  As described above, when the small flying object 1 enters the communication range with the destination landing guide port device 2, the small flying object 1 flies so as to land in accordance with the guidance radio wave from the landing guide port device 2.

  On the other hand, the small air vehicle 1 cannot receive the induced radio wave when it is flying outside the communication area with the destination landing guide port device 2, so that the position information from the GPS unit 17 and the destination landing guide port device are not received. Flight based on the position information of 2.

  Specifically, the destination setting unit 218 determines the current position indicated by the location information from the GPS unit 17 and the destination port until the port ID confirmation unit 217 confirms that the port ID matches the destination port ID. The destination is set based on the difference from the position of the landing guide port device 2 specified from the ID. The flight control unit 16 controls the small air vehicle 1 to fly toward the destination set by the destination setting unit 218.

  In the present embodiment, the destination port ID and the installation position are managed in the server 3 for each landing port device 2 as described above. Thus, the position of the landing guide port device 2 specified from the destination port ID is acquired from the server 3.

  Here, the landing guide port device 2 may always transmit a guide radio wave. In this case, however, power for transmitting the guide radio wave is always required, and the unexpected small aircraft 1 also generates a guide radio wave. There is a risk of landing.

  Therefore, in the present embodiment, for each of the landing guide port devices 2-1 to 2-M, the small aircrafts 1-1 to 1-N that permit landing are pre-registered. That is, the flying object ID of the small flying object 1-1 to 1-N that permits landing is pre-registered in the flying object DB 321.

  On the other hand, the small flying object 1 transmits its flying object ID during the flight as described above. That is, the transmission control unit 211 executes control for transmitting the flying object ID stored in the flying object ID storage unit 201 via the communication unit 202.

  Therefore, when the small flying object 1 that is transmitting the flying object ID during the flight enters the communication range of the predetermined landing guiding port device 2, the flying object ID receiving unit 163 of the landing guiding port device 2 performs the small flying operation. The flying object ID of the body 1 is received and supplied to the flying object authentication unit 411.

  When the flying object ID reception unit 163 receives the flying object ID in this way, the flying object authentication unit 411 checks whether or not the flying object ID is pre-registered (managed) by the flying object DB 321. To do. Then, when it is confirmed that the flying object authentication unit 411 is managed, the flying object authentication unit 411 authenticates the small flying object 1 that transmits the flying object ID as a landing target.

  The conductive wave transmission control unit 412 starts the control of the transmission of the induced radio wave triggered by the fact that the small aircraft 1 has been authenticated as the landing object by the flying object authentication unit 411.

  That is, the induced radio wave is transmitted only when the small flying object 1 permitted to the landing guide port device 2 as a landing target has flew within the communication range, and in other cases, the transmission of the induced radio wave is stopped. Thereby, the low power of the landing guide port device 2 can be achieved, and unexpected landing of a flying object that is not permitted can be prevented.

  When the flying object authentication unit 411 authenticates the small flying object 1 as the landing target, the notification control unit 413 of the landing guide port device 2 executes control for notifying that the small flying object has entered the landing area.

  Here, the control of the notification is not particularly limited. For example, control that outputs from the output unit 57 by voice or the like that the small air vehicle 1 will soon arrive may be adopted, and this is indicated by network communication. Control that is transmitted to the port ID registrant possessing devices 4 to 6 through the unit 59, in other words, control that controls communication with another device and outputs the notification content from the other device may be employed. However, these methods may be combined.

Here, the landing detection unit 63 of the landing guide port device 2 detects that the small aircraft 1 to be landed has landed on the landing guide port device 2 as described above.
Therefore, when the landing detection unit 63 detects the landing of the small flying object 1, the notification control unit 43 performs control for notifying the landing of the small flying object.

  The detection signal of the landing detection unit 63, that is, a signal indicating that the landing target small aircraft 1 has landed on the landing guide port device 2 (hereinafter referred to as “landing signal”) is detected by the landing guide port device 2. The signal is transmitted from the landing signal transmitting unit 161 from the unit 63 and received by the landing signal receiving unit 191 of the small aircraft 1.

  As described above, the transport object storage unit 22 of the small aircraft 1 locks and stores the transport object, and locks the transport object when it satisfies one or more requirements including at least the detection of landing of the landing guide port device 2. Is released. That is, when the landing signal is received by the landing signal receiving unit 191 and supplied to the transported object accommodation unit 22, the “requirement for detection of landing of the landing guide port device 2” is satisfied. If the condition is satisfied (for example, an accurate encryption key is input), the lock of the transported object is released.

  Here, the charging / discharging control unit of the landing guide port device 2 executes control for charging the charging / discharging unit 61 from a predetermined power source (not shown) and supplies power to the landing small vehicle 1. In order to do so, control is performed to discharge the charging / discharging unit 61.

  FIG. 7 is a schematic diagram showing an example of the appearance of the flying object ID control unit 20 of the small flying object 1 in the small flying system of FIG.

  As shown in FIG. 7, the flying object ID control unit 20 can be attached to and detached from the small flying object 1, and the mounting method is not particularly limited. For example, winding with a string or the like, sticking with an adhesive, There are methods such as mounting using screws.

  As described above, since the flying object ID control unit 20 has a function of storing and transmitting the assigned flying object ID, the flying object is attached to every flying object, so that the flying object is used as the small flying object 1 as a server. 3 can be placed under control.

  As an application example of this technology, the vehicle ID on the public road is required to register the number of vehicles, so that the land vehicle traffic safety is ensured in the same way that the vehicle ID is assigned to the small vehicle 1 flying on the air route. It is also possible to make it mandatory and to ensure traffic safety on air routes.

  Further, like the vehicle registration number, in order to enable visual identification of the flying object ID, the flying object ID control unit 20 can be provided with a plate 203 on which the flying object ID is printed.

  Furthermore, as with the registration of automobile numbers, the aircraft ID is classified according to the purpose of use, size, installed function, flight capability, etc. of the small aircraft 1, and a license system is provided as necessary. It can also be managed.

  FIG. 8 is a schematic diagram showing a connection relationship between the small aircraft 1 and the server 3 in the small flight system of FIG. 1.

As shown in FIG. 8, the small air vehicle 1 including the air vehicle ID control unit 20 transmits the air vehicle ID to the server 3.
At this time, since the small air vehicle 1 transmits the air vehicle ID in accordance with the start of driving of the motor, the power consumption can be suppressed as compared with the case where the air vehicle ID is continuously transmitted. it can.

The server 3 monitors and manages the small aircraft 1 based on the information received from the small aircraft 1.
The frequency of the radio wave used between the small aircraft 1 and the server 3 can be the same as the frequency of the mobile phone. As a result, mobile phone base stations covered throughout the country can be used, and the server 3 can manage the small aircraft 1 on a nationwide scale.

  FIG. 9 is a schematic diagram showing that, in the small flight system of FIG. 1, the small aircraft 1 is flying on a predetermined air route 9.

  As shown in FIG. 9, the small aircraft 1 receives a GPS signal from the GPS satellite 8, acquires position information indicating the current position (latitude, longitude) of the small aircraft 1 from the GPS signal, Fly so as not to deviate from the determined air route 9.

  At this time, the server 3 monitors whether or not the small air vehicle 1 is in the predetermined air route 9, and if the small air vehicle 1 deviates from the predetermined air route 9, Issue a warning.

  The small aircraft 1 that has received the warning from the server 3 performs flight control according to the content of the warning, and performs an operation for emergency landing as necessary.

  Since the server 3 organically manages information on the air route 9 and information on the small aircraft 1, when an accident or failure occurs in the small aircraft 1, Etc. can be quickly identified.

  FIG. 10 is a schematic diagram showing a specific example of the airway 9 shown in FIG.

  As shown in FIGS. 10A to 10C, the air path 9 can be set at an arbitrary position. In addition, the airway 9 allows the small aircrafts 1 to fly without colliding or contacting with each other. Like the public road on which the automobile runs, the airway 9R for flying in the first direction and the first direction are: It can also arrange | position so that the airway 9L for flying in the 2nd direction of a reverse direction may be parallel to a horizontal direction.

Moreover, the airway 9 can also be arrange | positioned so that the airway 9R and the airway 9L may be parallel to a perpendicular direction, as shown to FIG 10 (D).
Thereby, even when the airways 9 cannot be secured on the left and right due to space limitations, it is possible to set the airways 9 so that the small aircraft 1 does not collide or come into contact.

11 shows a parachute 112a as an example of a protective member that operates to mitigate the impact when the small aircraft 1 makes an emergency landing based on the control of the emergency landing control unit 23 in the small flight system of FIG. It is a schematic diagram which shows.
That is, the emergency landing control unit 23 can execute control to open the parachute 112a when the small aircraft 1 makes an emergency landing.
In addition, in order to prevent the danger at the time of a fall or emergency landing, the buffer material 113 of the small air vehicle 1 can also be wound.

FIG. 12 is an example of a protective member that operates to mitigate the impact when the small aircraft 1 makes an emergency landing based on the control of the emergency landing control unit 23 in the small flight system of FIG. 11 is a schematic diagram showing an airbag 112b of an example different from 11. FIG.
That is, the emergency landing control unit 23 can execute control to open the airbag 112b instead of the parachute 112a in FIG. 11 when the small aircraft 1 makes an emergency landing.

  In this way, the emergency landing control unit 23 executes control for operating the parachute 112a in FIG. 11 and the airbag 112b in FIG. 12, etc., thereby only mitigating damage to the own aircraft when the small aircraft 1 is dropped. In addition, secondary damage (such as a collision with a pedestrian or a building) that may occur due to the fall or the like can be prevented.

FIG. 13 is a schematic diagram showing that in the small flight system of FIG. 1, the small aircraft 1 can go back and forth between a point A and a point B that exist at a distance.
At point A, a landing guide port device 2 (particularly referred to as “landing guide port device 2-A”) with a predetermined port ID is arranged. At point B, a landing guide port device 2 (particularly referred to as “landing guide port device 2-B”) to which a port ID different from that of the guide port device 2-A is assigned is arranged.
Therefore, the port ID of the landing guide port device 2-B is registered as the destination port ID when the small flying object 1 exists at the point A, and the landing guide port device 2-when the small flying object 1 exists at the point A. By registering the port ID of B as the destination port ID, the small aircraft 1 can travel between the point A and the point B.
Here, only the position information based on GPS involves an error in units of meters in landing control, so by adopting the landing guide port device 2-A and the landing guide port device 2-B that use a guide radio wave, It is possible to move back and forth between the point A and the point B with high accuracy without being affected by an obstacle existing between the point A and the point B.

FIG. 14 is a diagram showing a specific example of the schematic diagram shown in FIG.
In addition, in the example of FIG. 14, in addition to the point A and the point B, the point C is also provided as a scheduled landing point of the small aircraft 1.
At the point C, the landing guide port device 2 to which a predetermined port ID different from any of the guide port devices 2-A and 2-B is attached (particularly referred to as “landing guide port device 2-C”). Is arranged.
Specifically, in the example of FIG. 14, “0123” is assigned as the port ID 114 of the landing guide port device 2-A. “0124” is assigned as the port ID 114 of the landing guide port device 2-B. “0125” is assigned as the port ID 114 of the landing guiding port device 2-C.
On the other hand, the small flying object 1 is flying by registering the port ID 114 of the destination landing guide port device 2 as the destination port ID 115. In the example of FIG. 4, “0123” is registered as the destination port ID 115. That is, in the example of FIG. 4, the destination of the small aircraft 1 is the landing port device 2-A.
Therefore, when the small flying object 1 flies to the communication range of the destination landing guide port device 2 among the landing guide port devices 2-A to 2-C, it is superimposed on the induced radio wave transmitted from the landing guide port device 2. It is confirmed that the port ID 114 matches the destination port ID 115 of “0123”. Then, the small air vehicle 1 lands on the destination landing guide port device 2-A according to the guidance radio wave.

FIG. 15 is a schematic diagram showing that the destination port ID 115 can be input to the input unit 181 of the normal landing control unit 18 of the small aircraft 1 in the specific example shown in FIG.
In the example of FIG. 15, the input unit 181 is configured with a numeric keypad. The user or the like can input “0123” as the destination port ID 115 by pressing the numeric keypad.
At this time, “0123” input as the destination port ID 115 is displayed on the display unit 183.
In addition, the input unit 181 of the normal landing control unit 18 may have a function of inputting a personal identification number for locking and unlocking the transported object storage unit 22 in addition to the input function of the destination port ID 115. .
Further, the method of registering the destination port ID 115 in the small aircraft 1 is not limited to the method of directly inputting from the input unit 18 (tenkey), but the method of inputting indirectly from the port ID registrant possessing devices 4 to 6 is adopted. It is also possible to do.

  FIG. 16 is a diagram schematically showing each of the points A to C where the small aircraft 1 automatically fly in the specific example shown in FIG.

As described above, the small aircraft 1 can automatically fly between the points A to C.
Specifically, for example, when the small air vehicle 1 enters the landing area of the landing guide port device 2-A having the port ID 114 of “0123”, the landing guide port device 2-A has the port ID registrant possessing device 5 And 6 are notified of arrival. Thereby, a user or the like who possesses the port ID registrant possessing devices 5 and 6 can know the arrival of the small aircraft 1 in advance.
Thereafter, when the small aircraft 1 has landed on the landing guide port device 2-A according to the induced radio wave, the user or the like registers, for example, “0124” in the small aircraft 1 as the destination port ID of the next destination.
Here, the charging / discharging unit 61 of the landing guide port device 2-A is charged using the electric power from the solar panel 500. Therefore, if necessary, the small aircraft 1 can receive the discharge from the charging / discharging unit 61 of the landing guide port device 2-A and charge the charging unit 24 of its own aircraft.
After the completion of charging, the small aircraft 1 acquires the position information of the landing guide port device 2-B having “0124” as the port ID, and performs landing based on the current position information of the own aircraft obtained from the GPS signal. Fly toward the guide port device 2-B.
When the small flying object 1 flies to the communication range of the landing guide port device 2-B, the port ID “0124” superimposed on the guide radio wave from the landing guide port device 2 and the destination port ID “0124” are displayed. Make sure they match. Then, the small aircraft 1 lands on the destination landing guidance port device 2-B according to the guidance radio wave.

  By executing such a series of processes at the points A to C, the small aircraft 1 can efficiently fly between the points A to C.

Here, with respect to landing of the small aircraft 1 at the respective points A to C, the landing can be performed with high accuracy by using the induction radio waves of the landing guide port devices 2-A to 2-C of the small aircraft 1. .
Furthermore, in this embodiment, since the small air vehicle 1 includes the camera unit 21, the landing of each of the points A to C can be made more accurate by using the captured images of the landing points A to C captured by the camera unit 21. Can be done well.
However, in the case of nighttime or bad weather, since the points A to C are not reflected in the captured image, the light emitting unit 62 as an index of the points A to C is arranged.

FIG. 17 is a diagram showing an LED lamp 62a and an aluminum reflecting plate 62b as specific examples of indices of the points A to C.
The LED lamp 62a emits light independently under the control of the light emission control unit 414 (FIG. 6). The aluminum reflecting plate 62b emits light by reflecting light from the outside (for example, light from the small aircraft 1).

The light emitting unit 62 can be used not only as an index as a landing point of each of the points A to C but also as an index of a region when the small air vehicle 1 flies within the region of each of the points A to C. .
FIG. 18 is a diagram illustrating an example of the arrangement of the region indices when the small flying vehicle 1 flies within the regions of the points A to C.
As shown in FIG. 18A, an image obtained as a result of the light emitting unit 62 being arranged at the edge of the region where the landing guide port device 2 is arranged and the small aircraft 1 imaging the region with the camera unit 21. Based on the image, as shown in FIG. 18B, the small flying object 1 can fly without departing from the area surrounded by the light emitting unit 62.
For example, if this region is a field, if the light emitting unit 62 is arranged so as to surround the field, the small flying object 1 flies so as not to depart from the field, and seeds, pesticides, and the like are sowed automatically. You can also come back.

Thus, the flight system including the small aircraft 1 and the landing guide port device 2 according to the present invention can be used not only for the transportation of luggage but also for various applications.
For example, the small flying object 1 can be used for security, patrol, or the like by arranging the landing guide port device 2, the light emitting unit 62, and the like in places where humans cannot go or where it is difficult to go. Specifically, the flight system to which the present invention is applied can be applied to, for example, a primitive power plant, important facilities, buildings, construction sites, areas without surveillance cameras, and search in times of distress.
In addition, for example, by using the small aircraft 1 equipped with a camera, a sound collector, a microphone, etc., the monitoring video transmitted from the small aircraft 1 can be confirmed instead of patrol by a surveillance camera or a guard. Thus, efficient security and patrol can be performed.
Furthermore, by placing the landing guide port device 2 on the airway 9 in accordance with the cruising distance of the small aircraft 1, a wider range of flight is possible. Thereby, the flight system to which the present invention is applied can be easily applied to various uses.

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention. It is.

  For example, the functional configurations of FIGS. 5 and 6 are merely examples, and are not particularly limited. That is, it is sufficient that the information processing system has a function capable of executing the above-described series of processes as a whole. What functional blocks are used to realize this function are particularly shown in the examples of FIGS. It is not limited.

Further, the location of the functional block is not limited to that shown in FIGS. 5 and 6 and may be arbitrary.
In addition, one functional block may be constituted by hardware alone, software alone, or a combination thereof.

When the processing of each functional block is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer incorporated in dedicated hardware. The computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose smartphone or personal computer other than a server.

  The recording medium including such a program is not only constituted by a removable medium (not shown), which is distributed separately from the apparatus main body in order to provide the program to the port ID registrant, but is preinstalled in the apparatus main body. It consists of a recording medium provided to the port ID registrant in the state.

  In the present specification, the steps for describing the program recorded on the recording medium are not limited to the processing performed in time series according to the order, but may be performed in parallel or individually even if not necessarily performed in time series. The process to be executed is also included.

  Further, in the present specification, the term “system” means an overall apparatus composed of a plurality of devices, a plurality of means, and the like.

  In summary, the small flight system to which the present invention is applied can realize the following technology.

For example, after landing on the landing guide port device 2, the small aircraft 1 automatically connects the charging / discharging unit 61 of the landing guide port device 2 to the charging unit 24 and performs charging, and then the next destination (newly It is possible to automatically depart for the landing guide port device 2) corresponding to the registered port ID.
Accordingly, each of the plurality of arrival guide port devices 2 can be used as each relay point for charging the small aircraft 1.
As a result, it is possible to carry out a long-distance flight by repeating recharging without returning to the landing guide port device 2 from which the small aircraft 1 has taken off first. That is, the flight distance of the small air vehicle 1 can be extended freely by arranging the plurality of landing guide port devices 2 at each relay point. In this case, it is not necessary to prepare a large number of spare batteries for the small aircraft 1.

Here, the landing guide port device 2 that can be each relay point can be installed at any place regardless of whether it is on land or at sea. When installing on the sea, for example, the landing guide port device 2 and the solar panel can be installed on the ship, and the landing guide port device 2 can be charged by the solar panel.
In this case, the small aircraft 1 can be charged by automatically connecting the charging / discharging unit 61 of the landing guiding port device 2 to the charging unit 24 as described above. At this time, a buoy may be attached to the ship so that the ship on which the landing guide port device 2 is installed does not overturn.
Furthermore, since the landing guide port device 2 can have a GPS function, even when the length of the anchor for anchoring the ship at sea is insufficient, the anchoring position of the ship is corrected. It can be kept within a certain range.
In addition, a hangar for storing the small flying object 1 may be attached to the landing guide port device 2. The hangar can also be provided with an automatic opening and closing door by a sensor. Thereby, the ship in which the landing guide port device 2 is installed can be used like an aircraft carrier of the small aircraft 1.
In this way, by combining the ship and the arrival guide port device 2 and using it as an aircraft carrier of the small aircraft 1, it is possible to monitor fishing, poaching, transporting goods to remote islands, searching for marine accidents, marine weather information and The small flight system to which the present invention is applied can be effectively utilized for the investigation of the water temperature.

  Further, for example, the power consumption of the small aircraft 1 is affected by the flight environment such as wind direction and wind force. Therefore, a wind sensor may be attached to the small aircraft 1. As a result, the small air vehicle 1 makes an emergency landing when the wind sensor detects that it has reached a certain level of wind force or more, and then restarts when the wind sensor detects that it has reached a certain level or less. be able to. In this way, the power consumption of the small aircraft 1 can be suppressed.

  Further, for example, the small air vehicle 1 may be provided with an ultrasonic sensor in case the GPS cannot be used for some reason. Thereby, the small aircraft 1 can avoid collision with other flying objects or buildings.

For example, in addition to the camera unit 21, a sound collecting microphone may be attached to the small flying object 1. For example, at the time of a disaster, a situation that cannot be grasped only by an image by the camera unit 21 of the small aircraft 1 and can be complemented by the sound collected by the sound collecting microphone of the small aircraft 1 can be supplemented.
Further, a speaker may be further attached to the small aircraft 1. Thereby, based on each data of the image | video image | photographed from the sky by the camera part 21, and the audio | voice collected by the sound collection microphone, the small air vehicle 1 which exists in the sky calls the evacuation guidance from a speaker. be able to.
Furthermore, a light emitter may be attached to the small aircraft 1. Thereby, the illuminant can be used as a searchlight even during evacuation guidance at night.

  In addition, for example, the landing guide port device 2 is provided with an ultrasonic sensor or a laser output device for guiding the small air vehicle 1 in case the GPS or the induced radio wave cannot be used for some reason. Also good. Thereby, since GPS, a guidance electric wave, an ultrasonic sensor, and a laser output device can mutually complement each other, the small air vehicle 1 can be reliably landed by the landing guide port device 2.

  Further, for example, IC tags may be arranged at predetermined intervals in any place adjacent to the landing guide port device 2 or the airway 9 and the IC tag reader may be attached to the small aircraft 1. Thereby, the small air vehicle 1 can more reliably fly on an accurate route according to the air route 9 and the landing guide port device 2 while reading the information of the IC tags arranged at regular intervals.

In addition, for example, the server 3 uses the mobile phone base station to immediately obtain the air vehicle ID of the small air vehicle 1 that travels freely in cities and suburbs around the world via the mobile phone base station and the Internet. Since they can be easily acquired, these small aircrafts 1 can be easily managed in real time.
As a result, the server 3 can manage millions of small air vehicles 1 in the same manner as the number of mobile phone lines.

The server 3 collects the sound generated by the small flying object 1 with a sound collecting microphone, and stores and accumulates the collected sound data on the database for each flying object ID of the small flying object 1. Can do.
Then, the server 3 analyzes the generated sound of the flying object and collates the analyzed generated sound with each of the sounds of the N small aircrafts 1-1 to 1-N accumulated in advance. Thereby, the server 3 can specify that the flying object is the small flying object 1 having the verified flying object ID. As a result, the server 3 can also notify the approach of the flying object in the vicinity of the destination before the flying object arrives at the destination.
The notification method is not particularly limited, and for example, a method of notifying the port ID registrant possessing devices 4 to 6 by e-mail or SNS may be employed.
As an example of such notification, for example, notification of arrival of delivery using the small air vehicle 1 can be assumed.
Moreover, it can also alert | report as one of the means for the search of the stolen small aircraft 1.
Here, by registering the sound generated by the small aircraft 1 in association with the vehicle ID, re-registration of the vehicle ID of the stolen small vehicle 1 can be prevented.

Further, for example, the map is divided like a graph paper, a digital map is created with an arbitrary code number assigned to each square, and the digital map is stored in the small aircraft 1 or the port ID registrant possessing devices 4 to 6. May be stored. Thereby, the destination of the small aircraft 1 can be set only by storing the code number assigned to each cell in the small aircraft 1 as the destination.
That is, as a destination, not only the port ID of the landing guide port device 2 but also an arbitrary place can be set.

Furthermore, the small aircraft 1 can be used not only for setting a code number assigned to each cell as a destination, but also for checking a current position during flight.
In this case, in each grid of the digital map, the tallest building in the grid, the height of the terrain, the width of the space, and the like may be displayed numerically. Thereby, the small aircraft 1 can fly while maintaining the altitude and the space width by reading the numerical values. As a result, the small air vehicle 1 can fly while reading the digital map even in areas where GPS cannot be used, nuclear power plants, factories, limited areas in the city, and the like.

  FIG. 19 is a diagram illustrating an example of a digital map used by the small aircraft 1.

The digital map in the example of FIG. 19 is used in a state where it is put on a planar map in a pseudo manner. Thereby, the said plane map is divided | segmented by a square, and a code number is attached | subjected for every square. In addition, the tallest building in the grid and the height and width of the terrain are displayed numerically.
For example, the grid in the first column and the A row is divided into 01 to 25, and it can be seen that a building having a height of 50 meters exists in the division of 01.

Further, the size of each square of the digital map can be arbitrarily enlarged or reduced.
For example, the size of the cell at the time of departure of the small aircraft 1 is 50 m × 50 m, which is within the GPS error, and after the small vehicle 1 enters the range of the induction wave of the arrival guidance port device 2, The size may be reduced to 1 m × 1 m. Thereby, the small aircraft 1 can fly while reading numerical values such as the height and width of buildings, trees, and terrain.

In the digital map, the route 9 can be set in advance in detail.
Thereby, the small air vehicle 1 can perform not only the sky over facilities such as nuclear power plants and factories, but also a detailed patrol, confirmation work, security activities, etc. by low-flying.

  FIG. 20 is a diagram illustrating an example of a case where a hangar 71 capable of storing a plurality of small aircraft 1 is attached to the landing guide port device 2 in the small flight system of FIG. 1.

  The landing guide port device 2 in the example of FIG. 20 can automatically charge the small aircraft 1 while the small aircraft 1 is stored in the hangar 71. Thereby, the small air vehicle 1 can depart at any time after charging.

A solar panel 500 for photovoltaic power generation can be attached to the surface of the hangar 71. Thereby, even if it is a place where a commercial power source etc. do not exist, the small air vehicle 1 can be landed and the battery of the landing guidance port apparatus 2 can be charged.
At this time, a battery (not shown) can be stored under the floor of the hangar 71.

  In addition, a door 72 that opens or closes automatically or manually can be attached to the hangar 71. The landing guide port device 2 can be installed with the door 72 open. As a result, it is possible to provide a sufficient space for installing a plurality of landing guide port devices 2. Even if a plurality of other small aircrafts 1 land on the landing guide port device 2 while the small aircraft 1 is being stored in the hangar 71, each of the small aircrafts 1 is collectively managed by the server 3. Therefore, it is possible to fly without being affected by the other small aircraft 1.

  The landing guide port device 2 can be provided with a stopper 73 that prevents the small aircraft 1 from moving due to the influence of wind or the like when the small aircraft 1 lands on the landing guidance port device 2.

  In addition, the hangar 71 can include a crane 74. Thereby, the small air vehicle 1 can be moved to arbitrary positions.

  FIG. 21 is a diagram showing an example of a landing board 90 having legs attached to the landing guide port device 2 in the small flight system of FIG.

  The landing guide port device 2 in the example of FIG. 21 can be used on the ground, on the roof of a car, on a loading platform, on a small ship, etc. by fixing the legs of the landing board 90. A battery or the like can be stored below the landing board 90.

  FIG. 22 is a diagram illustrating an example in which the ship is used like an aircraft carrier of the small aircraft 1 by installing the landing guide port device 2 in the ship in the small flight system of FIG. 1.

  The landing guide port device 2 in the example of FIG. 22 connects a plurality of solar panels 500 for photovoltaic power generation, and the landing guide port device 2 to which the hangar 71 is attached is installed thereon. As a result, the landing guide port device 2 can receive a large amount of power from the solar panel 500. Moreover, the net | network 91 for protecting the solar panel 500 can be attached to the edge part of the solar panel 500 spread.

  FIG. 23 is a diagram illustrating an example in which the landing guide port device 2 is installed on the water surface without using a ship in the small flight system of FIG. 1.

  23, a plurality of solar panels for photovoltaic power generation are connected in the small flight system of FIG. 1, and the connected solar panels float on the water at the ends of the connected solar panels. It is the figure which showed an example at the time of installing the landing guide port apparatus which attached the hangar on the solar panel which attached multiple floats and was connected. Accordingly, the landing guide port device 2 can be installed on the water without using a ship. Furthermore, it is possible to receive power supplied by solar power generation.

DESCRIPTION OF SYMBOLS 1, 1-1, 1-N ... Small air vehicle 2, 2-1, 2-A, 2-B, 2-C, 2-M ... Landing guidance port apparatus 3 ... Server 4, 5, 6 ... Port ID registrant possession device 8 ... GPS satellites 9, 9R, 9L ... Airway 11, 51, 81 ... CPU
12, 52, 82 ... ROM
13, 53, 83 ... RAM
14, 54, 84 ... bus 15, 55, 85 ... input / output interface 16 ... flight control unit 17 ... GPS unit 18 ... normal landing control unit 19 ... storage unit 20 ...・ Aircraft ID control unit 21 ... Camera unit 22 ... Transported object storage unit 23 ... Emergency landing control unit 24 ... Charging unit 25, 65, 90 ... Drive 31, 71, 101 ... -Removable media 56, 87, 181 ... Input unit 57, 86 ... Output unit 58, 88 ... Storage unit 59 ... Network communication unit 60 ... Short-range wireless communication unit 61 ... Discharge unit 62 ... Indicator 62a ... LED lamp 62b ... Aluminum reflector 63 ... Landing detection unit 64 ... GPS unit 89, 182, 202 ... Communication unit 112a ... Parachute 112b ... Airbag 113 ... Buffer material 114 ... Port ID
115 ... Destination port ID
161 ... Landing signal transmitter 162 ... Guided wave transmitter 163 ... Aircraft ID receiver 183 ... Display unit 191 ... Landing signal receiver 192 ... Guided wave receiver 201 ... Aircraft ID storage unit 203 ... plate 211 ... transmission control unit 212 ... position information acquisition unit 213 ... flight drive monitoring unit 214 ... port ID registration unit 215 ... destination recognition unit 216 ... Port ID rendering unit 217 ... Port ID confirmation unit 218 ... Destination setting unit 311 ... Acquisition unit 312 ... Authentication unit 313 ... Monitoring unit 314 ... Warning unit 321 ... Aircraft DB
322 ... Air DB
411 ... Aircraft authentication unit 412 ... Guided wave transmission control unit 413 ... Notification control unit 414 ... Light emission control unit 422 ... Port IDDB
500 ... Solar panel N ... Network 71 ... Hangar 72 ... Door 73 ... Stopper 74 ... Crane 90 ... Landing board 91 ... Net 92 ... Float

Claims (9)

In a small flight system having a small flying body and a landing guide port device for guiding and landing the small flying body,
The landing guide port device is:
A port ID storage unit that stores, as a port ID, an identifier registered in advance as a unique identification of the self;
An induced radio wave transmission control unit that executes control to transmit a predetermined radio wave superimposed with the port ID as an induced radio wave for guiding and landing the small air vehicle;
With
The small aircraft is
A port ID registration unit for registering a port ID of the destination landing port device as a destination port ID;
An induced radio wave receiving unit for receiving the induced radio wave;
A port ID rendering unit for rendering a port ID from the induced radio wave when the induced radio wave is received by the induced radio wave receiving unit;
A port ID confirmation unit for confirming whether or not the port ID matches the destination port ID;
A destination setting unit configured to set a transmission position of the induced radio wave on which the port ID is superimposed as a destination when the port ID is confirmed by the port ID confirmation unit to match the destination port ID;
A flight control unit that controls the flight of the small aircraft so as to land at the transmission position of the guided radio wave set as the destination by the destination setting unit;
A small flight system. The small aircraft further includes a position information acquisition unit that acquires position information indicating a current position,
Until the port ID confirmation unit confirms that the port ID matches the destination port ID,
The destination setting unit sets a destination based on a difference between a current position indicated by the position information and a position of the landing guide port device specified by the destination port ID.
The flight control unit is controlled to fly the small aircraft toward the destination set by the destination setting unit.
The small flight system according to claim 1. The small aircraft is
A vehicle ID storage unit for storing an identifier registered in advance as a vehicle ID to uniquely identify itself;
An ID transmission control unit for controlling transmission of the flying object ID;
Further comprising
In the landing guide port device,
A landing permission management unit that manages the flying object ID of the small flying object that permits landing;
A flying object ID receiving unit for receiving the flying object ID transmitted from the small flying object;
When the flying object ID is received by the flying object ID receiving unit, it is confirmed whether or not the flying object ID is managed by the landing permission management unit. An authenticating unit that authenticates the small flying object that transmits the flying object ID as a landing object;
Further comprising
The guided radio wave transmission control unit starts control of transmission of the induced radio wave, triggered by the authentication unit authenticating the small aircraft as the landing target,
The small flight system according to claim 1 or 2. The landing guide port device is:
When the small flying object is authenticated as the landing object by the authentication unit, the information processing unit further includes a notification control unit that executes control for notifying that the small flying object has entered the landing area.
The small flight system according to any one of claims 1 to 3. In the landing guide port device,
A landing detection unit for detecting that the small aircraft to be landed has landed on the landing guide port device;
The notification control unit further executes control for notifying the landing of the small aircraft when the landing detection unit detects the landing of the small aircraft.
The small flight system according to claim 4. The notification control unit controls the communication with another device to output the notification content from the separate device as the notification control,
The small flight system according to claim 4 or 5. The landing guide port device is:
A light emitting unit;
Triggering the start of transmission control of the induced radio wave by the guided radio wave transmission control unit as a trigger, the control to start light emission of the light emitting unit,
The small flight system according to any one of claims 1 to 6. The small aircraft is
When the object to be transported is locked and accommodated and one or more requirements including at least the requirement to detect landing of the landing guide port device are satisfied,
Further comprising
The small flight system according to any one of claims 1 to 7. The landing guide port device is:
A charging / discharging control unit that executes control for charging the charging / discharging unit from a predetermined power source, and performs control for discharging the charging / discharging unit to supply power to the small aircraft that has landed,
Further comprising
The small flight system according to any one of claims 1 to 8.

Images