JP2019031164A - Taking-off/landing device, control method of taking-off/landing device, and program - Google Patents

Abstract

To guide so that an unmanned aircraft is landed accurately at a target point.SOLUTION: A take-off/landing device 200 includes a position measurement part 201 for measuring the position of a flying unmanned aircraft, a landing guidance part 202 for guiding the unmanned aircraft to a target point of landing based on the position of the unmanned aircraft measured by the position measurement part 201, and a guidance light 203 including one or more lights. The landing guidance part 202 presents an instruction for guiding the unmanned aircraft to the target point of landing, by emission from one or more lights included in the guidance light 203.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a take-off and landing device, a control method and a program for the take-off and landing device, and, for example, to a take-off and landing device for an unmanned aircraft.

  Industrial forms of innovation are changing the way in which small unmanned aerial vehicles (UAVs) (for example, multicopter unmanned aerial vehicles; so-called drones) are used. For example, industrial forms such as drone transportation may appear. As a result, the number of drone operations is expected to increase dramatically.

  In the future, drones may fly in densely populated areas. Also, drones and manned aircraft may be mixed and flying.

  In the related technology, the user guides the unmanned aircraft to a landing target point (a takeoff / landing device or a takeoff / landing device) by remotely maneuvering the unmanned aircraft.

  Patent Document 1 describes a management device that provides a user with information on the difficulty level of landing at a target point when an unmanned aircraft is landing.

JP 2009-223407 A

  However, the user visually guides the unmanned aircraft to the landing target point according to the situation near the target point (for example, the degree of congestion of people, the presence or absence of obstacles) and the environment (for example, weather conditions, brightness). The difficulty of doing changes. For example, when the wind is strong, the swing of the unmanned aerial vehicle increases, and it becomes difficult for the user to accurately guide the unmanned aircraft to the landing target point.

  An object of the present invention is to provide a take-off and landing device that guides an unmanned aircraft so that it can accurately land at a target point.

  A take-off and landing apparatus according to an aspect of the present invention includes a position measuring unit that measures a position of an unmanned aircraft in flight, and a target point for landing the unmanned aircraft based on the position of the unmanned aircraft measured by the position measuring unit. Landing guide means for guiding the unmanned aircraft by the light emission of the one or more lights provided in the guide light, and a guide light provided with one or more lights. Present instructions to guide you to the target location.

  According to an aspect of the present invention, there is provided a control method for a take-off and landing device that measures a position of an unmanned aircraft in flight, guides the unmanned aircraft to a landing target point based on the measured position of the unmanned aircraft, and performs the guidance. Then, the method includes presenting an instruction for guiding the unmanned aircraft to the target point by light emission of one or more lights included in the guide light.

  A program according to an aspect of the present invention includes measuring a position of an unmanned aircraft in flight, guiding the unmanned aircraft to a landing target point based on the measured position of the unmanned aircraft, and a computer. In the guidance, the computer is caused to present an instruction to guide the unmanned aircraft to the target point by light emission of one or more lights provided in the guide light.

  According to the present invention, it is possible to guide an unmanned aircraft so that it can accurately land at a target point.

It is a block diagram which shows the structure of the separation / departure apparatus concerning Embodiment 1-5. It is a perspective view of the take-off and landing apparatus concerning Embodiments 1-5. (A) is a figure which shows an example of the flightable area | region and unflyable area | region of an unmanned aerial vehicle which the separation / departure apparatus concerning Embodiment 1-5 determines, (b) is a flightable area | region above the separation / departure apparatus. It is a figure which shows a certain vertical takeoff and landing area | region. It is a block diagram which shows the structure of the drone concerning Embodiment 1-5. It is a flowchart which shows the operation | movement flow of the separation / departure apparatus concerning Embodiment 1-5. It is a block diagram which shows the structure of the separation / departure apparatus concerning Embodiment 6. FIG. FIG. 20 is a block diagram illustrating a hardware configuration of a computer according to a seventh embodiment.

(Configuration of take-off and landing device 100)
FIG. 1 is a block diagram illustrating a configuration of a take-off and landing apparatus 100 according to the first embodiment. As shown in FIG. 1, the take-off and landing device 100 includes an imaging unit 2 (imaging unit), a weather information acquisition unit 3, a risk determination unit 4, a landing route determination unit 5 (landing route determination unit), and a topography detection unit 6 (topography). Detection means), obstacle detection section 7 (obstacle detection means), landing guidance section 8 (landing guidance means), landing route instruction section 9, position measurement section 10 (position measurement means), guide light 11, and charging section 12 It has.

  As shown in FIG. 1, the control unit 90 includes a risk determination unit 4, a landing route determination unit 5, a terrain detection unit 6, an obstacle detection unit 7, a landing guidance unit 8, and a landing route instruction unit 9. The control unit 90 includes a CPU (Central Processing Device) and a memory. The CPU functions as each unit described above by executing a program stored in the memory. Alternatively, each unit of the control unit 90 may be realized as a hardware element using an electronic circuit or the like.

  The take-off and landing device 100 may be portable. For example, the departure / arrival device 100 may be transported by an automobile.

(External appearance of takeoff and landing device 100)
2A and 2B are perspective views of the separation and landing apparatus 100 according to the first embodiment. The takeoff and landing device 100 can take two forms. (A) of FIG. 2 shows the separation / desorption apparatus 100 which is a 1st form. (B) of FIG. 2 shows the separation / desorption apparatus 100 which is a 2nd form.

  The take-off and landing device 100 is in the first form shown in FIG. 2A when being carried or stored in a warehouse or the like. On the other hand, when the landing and landing apparatus 100 accepts landing of an unmanned aerial vehicle (drone 25 in the present embodiment), it takes the second form shown in FIG.

  The takeoff and landing apparatus 100 can be deformed between the first form shown in FIG. 2A and the second form shown in FIG. An example of a modification method of the take-off and landing device 100 will be described below.

  When the separating / desorbing device 100 is deformed from the second configuration to the first configuration, the portion 100b of the separating / desorbing device 100 is reduced, and the upper surface 100a of the separating / desorbing device 100 is folded downward like an umbrella. Next, the cover 100d shown in FIG. 2A is covered by the take-off and landing device 100 so as to cover the position measuring unit 10, the guide lamp 11, and the charging unit 12 exposed on the folded upper surface 100a. . Thereby, the deformation | transformation of the separation / desorption apparatus 100 is completed.

  When the separation and landing apparatus 100 is deformed from the first form to the second form, each step of the above-described deformation method proceeds in reverse order.

  As shown in (a) of FIG. 2, when the takeoff and landing device 100 is in the first form, the position measuring unit 10, the guide light 11, and the charging unit 12 of the takeoff and landing device 100 are arranged inside the case 100 d of the takeoff and landing device 100. Is not exposed. Thereby, it is possible to prevent the position measuring unit 10, the guide light 11, and the charging unit 12 from being damaged or soiled while the take-off and landing device 100 is moving or housed in a warehouse.

  On the other hand, as shown in FIG. 2B, when the takeoff and landing device 100 is in the second form, the position measuring unit 10, the guide light 11 and the top surface of the takeoff and landing device 100 (the surface on which the drone 25 lands) The charging unit 12 appears. In addition, the imaging unit 2 and the weather information acquisition unit 3 appear on the side surface (the “leg” portion 100 b of the pedestal structure) of the takeoff and landing device 100. Thereby, these parts can function as described later.

  For example, the controller 90 may be housed inside the bottom 100c of the pedestal structure.

  The take-off and landing device 100 may be installed outdoors (for example, a convenience store roof, electric lamp, disaster prevention radio tower, park building, fire department, or police station).

(Area management device 1)
The area management device 1 manages the operation of unmanned aerial vehicles (including the drone 25) in a predetermined management region.

  The area management apparatus 1 acquires aircraft information (for example, information on the model, specifications, performance, status, etc. of the drone 25) from the drone 25 using a general-purpose communication means (for example, a mobile phone network). The status of the drone 25 is, for example, a battery remaining amount, an error that is occurring, or a motor abnormality.

  Further, the area management device 1 determines the flight route of the drone 25. Then, the area management device 1 transmits the aircraft information acquired from the drone 25 to the risk determination unit 4 of the takeoff and landing device 100 that the drone 25 is scheduled to land on (that is, the takeoff and landing device 100 at the destination of the drone 25). To do.

  One or more take-off and landing devices 100 may be arranged in the management area. The area management device 1 may acquire the position information of each takeoff / departure device 100 from each takeoff / departure device 100 in the management area regularly or irregularly.

(Imaging unit 2)
The imaging unit 2 images the surroundings and the sky of the take-off and landing device 100. The imaging unit 2 may include a plurality of cameras or imaging elements. The imaging unit 2 transmits the captured image (still image) or video (moving image) to the risk determination unit 4.

  In FIG. 2B, the imaging unit 2 is disposed on a “leg” portion 100 b (a portion that supports the upper surface 100 a of the take-off and landing device 100) of the base structure on which the take-off and landing device 100 is landed. However, the imaging unit 2 may also be disposed in other parts of the separation / desorption apparatus 100, for example, the upper surface 100 a of the separation / desorption apparatus 100.

(Meteorological information acquisition unit 3)
The weather information acquisition unit 3 acquires weather information around the take-off and landing device 100. For example, the weather information acquisition unit 3 measures the wind direction, rainfall, air temperature, and / or atmospheric pressure around the take-off and landing device 100, and acquires the measurement result as weather information. Alternatively, the weather information acquisition unit 3 specifies the position of the take-off and landing device 100 by, for example, a GPS (Global Positioning System) signal reception function, and obtains the weather information of the area where the take-off and landing device 100 is located from the network server that provides the weather information. You may get it.

  Further, the weather information acquisition unit 3 may share the weather information with the weather information acquisition unit 3 of another take-off and landing device 100. The weather information acquisition unit 3 may transmit and receive weather information to and from the weather information acquisition unit 3 of another takeoff and landing device 100 by wireless communication. Thereby, the weather information acquisition part 3 can acquire weather information of a wider area.

  As shown in FIG. 2B, the weather information acquisition unit 3 includes an anemometer. The anemometer is disposed on the “leg” portion 100b of the pedestal structure on which the take-off and landing device 100 lands. Although not illustrated, the weather information acquisition unit 3 may further include a rain gauge, a thermometer, and / or a barometer.

  The weather information acquisition unit 3 transmits the weather measurement result or the acquired weather information to the risk determination unit 4.

(Danger degree determination unit 4)
The risk determination unit 4 receives aircraft information of the drone 25 scheduled to land on the takeoff and landing device 100 from the area management device 1, that is, information such as the model, specifications, performance, and status of the drone 25. At this time, the risk determination unit 4 determines the level of risk that the drone 25 will land on the take-off and landing device 100 as described below.

  The risk determination unit 4 acquires an image or video that captures the periphery of the take-off and landing device 100 from the imaging unit 2. In more detail, the risk determination unit 4 acquires an image or video obtained by capturing an arbitrary direction in the horizontal plane of the ground surface where the take-off and landing device 100 is located from the imaging unit 2.

  Further, the risk determination unit 4 acquires weather information around the take-off and landing device 100 from the weather information acquisition unit 3.

  The risk determination unit 4 analyzes the image or video captured by the imaging unit 2 and identifies a person and other moving objects in the vicinity of the take-off and landing device 100 based on the feature amount of the movement of the moving object. There is no particular limitation on how far the danger determination unit 4 identifies the person and other moving objects at a distance from the take-off and landing device 100. For example, the risk determination unit 4 identifies a person and other moving objects that are within a predetermined determination radius from the take-off and landing device 100. The determination radius may be variable.

  Next, the risk determination unit 4 divides the periphery of the take-off and landing device 100 into a plurality of two-dimensional regions. The width and angle range of the two-dimensional region are not limited. The risk determination unit 4 calculates a numerical value representing the degree of congestion for each two-dimensional area.

  The degree of congestion represents how many people and moving objects (for example, vehicles) exist in each area around the take-off and landing device 100.

  Further, the risk determination unit 4 calculates a numerical value representing the difficulty (risk) of the drone 25 landing on the takeoff / landing device 100 based on the weather conditions (for example, wind speed and rainfall) around the takeoff / landing device 100. To do. For example, the stronger the wind, the higher the possibility that the drone 25 is swung by the wind and swings, so the risk of landing increases. The risk level also depends on the wind direction.

  People move and the weather changes over time. Therefore, the degree of congestion and the degree of danger also change with time.

  The degree-of-risk determination unit 4 may divide the sky above the take-off and landing device 100 into a plurality of layers. This is because the weather generally changes with altitude. In this configuration, the risk determination unit 4 acquires information representing a change in weather in the altitude direction from the weather information acquisition unit 3, and calculates the risk for each layer based on the acquired information.

  The degree of risk also depends on the performance and specifications of the drone 25. For example, the lower the wind resistance performance of the drone 25, the greater the swing of the drone 25 with respect to the strong wind, and thus the higher the risk of landing. Further, the lighter the drone 25 is, the larger the swing of the drone 25 with respect to the strong wind is, so the risk of landing becomes higher.

  For example, the risk determination unit 4 refers to a table showing a correspondence relationship between the specifications and performance of the drone 25 and the weather conditions, and responds to the weather conditions and the specifications and performance of the drone 25. The risk level may be calculated.

  The risk determination unit 4 transmits information indicating the calculated congestion level and information indicating the risk level to the landing route determination unit 5.

(Landing route determination unit 5)
The landing route determination unit 5 acquires information representing the degree of congestion for each region and information representing the degree of risk for each region from the risk determination unit 4. And the landing route determination part 5 discriminate | determines the circumference | surroundings of the takeoff and landing apparatus 100 into the area | region which permits the drone 25 to pass, and the area | region which does not permit the drone 25 to pass based on those acquired information. Hereinafter, the former is referred to as a flightable area, and the latter is referred to as a non-flyable area.

  Specifically, when the numerical value indicating the degree of congestion and the numerical value indicating the degree of danger of a certain area are equal to or less than the respective reference values, the landing route determination unit 5 determines that the area is a flightable area. On the other hand, when at least one of the numerical value representing the degree of congestion and the numerical value representing the degree of danger exceeds a reference value, the landing route determination unit 5 determines that the region is a non-flightable region.

  Further, the landing route determination unit 5 may determine the vertical take-off / landing region and the landing angle range of the drone 25 based on the risk level of each layer. The vertical takeoff and landing area extends in a direction perpendicular to the plane including the flightable area and the non-flyable area. The vertical takeoff / landing area is at least large enough for the drone 25 to pass through the vertical takeoff / landing area.

  That is, the flightable area is an area that passes when the drone 25 moves in a horizontal plane, while the vertical takeoff and landing area is an area that passes when the drone 25 moves in the vertical direction.

  (A) of FIG. 3 is a figure which shows an example of a flight possible area | region and a flight impossible area | region. A circle at the center of FIG. 3A represents the take-off and landing device 100. The drone 25 is allowed to approach the takeoff and landing device 100 only through the flightable region.

  The flightable area and the non-flyable area vary depending on the situation (for example, the degree of congestion of people, the number of vehicles) or the environment (for example, wind speed, rainfall, brightness). For example, when the congestion degree of a certain region increases and exceeds a reference value, the region changes to a non-flight region.

  FIG. 3B is a diagram showing a vertical takeoff / landing region through which the drone 25 passes when landing on the takeoff / landing device 100. As shown in (b) of FIG. 3, the vertical take-off and landing area extends in the vertical direction with respect to the upper surface 100 a of the take-off and landing device 100 (the surface on which the drone 25 lands). The vertical takeoff and landing area also changes depending on the situation and environment. For example, when the weather condition of a certain layer above the take-off and landing device 100 deteriorates, the vertical take-off and landing region is reduced to a length not including that layer.

  The drone 25 that has received landing route information (described later) from the landing route instruction unit 9 first passes through the flightable region while flying in the direction of longitude and latitude (up and down, left and right in FIG. 3A), It moves almost directly above the take-off and landing device 100. Thereafter, the drone 25 passes through the vertical takeoff and landing area while descending in the vertically downward direction, and lands on the takeoff and landing device 100.

  The landing route determination unit 5 acquires terrain information from the terrain detection unit 6 described later, and acquires obstacle information (more specifically, position information of the obstacle) from the obstacle detection unit 7. Then, the landing route determination unit 5 determines the landing route of the drone 25 based on the acquired topographic information and obstacle information. For example, the landing route determination unit 5 determines the landing route of the drone 25 so that the drone 25 passes the route having the smallest undulation difference and avoids an obstacle.

  The landing route determination unit 5 transmits the determined landing route information to a landing guide unit 8 and a landing route instruction unit 9 described later. The landing route information includes at least information on a route point, that is, a flightable region through which the drone 25 passes before landing at the target point.

(Terrain detection unit 6)
The terrain detection unit 6 uses the imaging unit 2 to detect the terrain (for example, a flat ground, an inclined surface, a mountain, a hill) around the take-off and landing device 100. Specifically, the terrain detection unit 6 detects the terrain by acquiring an image obtained by photographing the ground surface from the imaging unit 2 and analyzing the acquired image.

  The terrain detection unit 6 transmits the detected terrain information to the landing route determination unit 5 described above.

(Obstacle detection unit 7)
The obstacle detection unit 7 uses the imaging unit 2 and / or an optical sensor (not shown) to detect an obstacle (for example, a bird, a tree, an electric wire, a power pole, or another aircraft) around the take-off and landing device 100. Detect.

  For example, the obstacle detection unit 7 may detect an obstacle within a predetermined distance from the take-off and landing device 100 using an optical sensor (not shown). Alternatively, when there are a plurality of imaging units 2, the obstacle detection unit 7 analyzes the images or videos captured by the plurality of imaging units 2, and within a predetermined determination radius from the take-off and landing device 100 based on the analysis result. An obstacle may be identified.

  The obstacle detection unit 7 transmits obstacle information including position information of the obstacle to the landing route determination unit 5 described above.

(Landing guidance part 8)
The landing guide unit 8 guides the drone 25 based on the landing route information received from the landing route determination unit 5 so that the drone 25 can land at the target point. Specifically, the landing guide unit 8 turns on, turns off, and blinks light from an LED (Light Emitting Diode) or other lights provided in a guide light 11 described later, based on the landing route determined by the landing route determination unit 5. Present by pattern, color, brightness, or a combination thereof.

  For example, the landing guiding unit 8 determines in which direction (east, west, north, and south) the position of the drone 25 is shifted with respect to the landing target point based on the position information of the drone 25 acquired from the position measurement unit 10. To do. Then, the landing guiding unit 8 presents the direction of deviation to the drone 25 by the lighting, extinguishing, and blinking patterns, colors, luminances, or combinations thereof from the LEDs included in the guide light 11.

  In addition, the landing guiding unit 8 may further measure the speed or swing magnitude of the drone 25 by the position measuring unit 10. Then, when the measured speed or swing of the drone 25 is too large, the landing guiding unit 8 may instruct the drone 25 to stop landing or temporarily wait.

  The landing guiding unit 8 instructs the drone 25 to stop landing or temporarily wait according to the irradiation direction of the light from the LED included in the guide light 11, the blinking pattern, the color, the brightness, or a combination thereof. Also good.

  In addition, the landing guiding unit 8 may also present the status of the takeoff and landing device 100 (eg, standby, in use by another aircraft) to the drone 25.

  Further, the landing guiding unit 8 visually (for example, blinking of the LED) or audibly (for example, a warning sound from a speaker (not shown)) to a person in the vicinity of the takeoff and landing device 100, You may be warned or warned that drone 25 is approaching.

(Landing route instruction section 9)
The landing route instruction unit 9 transmits the landing route information acquired from the landing route determination unit 5 to the drone 25. The drone 25 lands on the takeoff / landing surface (upper surface 100a shown in FIG. 2B) of the takeoff / landing device 100 by autonomous flight according to the landing route information acquired from the landing route instructing unit 9.

  The landing route instruction unit 9 may transmit landing route information to the operator terminal 13.

  For example, the landing route instruction unit 9 may output the landing route information together with a map around the take-off and landing device 100 to a display unit (not shown) provided in the operator terminal 13. Thereby, the operator can remotely control the drone 25 according to the landing route displayed on the display part of the operator terminal 13, for example.

(Position measuring unit 10)
The position measurement unit 10 measures the position of the drone 25 in a three-dimensional space (direction of longitude and latitude and direction of altitude). Specifically, the position measuring unit 10 may measure the position of the drone 25 with a radar device, or take an image including the drone 25 with an imaging unit, and recognize the shape of the drone 25 by shape recognition from the taken image. May be measured. Here, the shape recognition means that an object of known size (in this embodiment, a drone 25 or an unmanned aerial vehicle) is captured at a certain angle of view, and the size of the object in the captured image is compared with the actual size. This is a method of measuring the distance to the object from the ratio with the size of the object.

  Alternatively, when the position measurement unit 10 includes a fisheye lens and an imaging unit, the position measurement unit 10 can capture an image with an angle of view of approximately 180 degrees. In this configuration, the position measurement unit 10 can measure the azimuth of the drone 25 from the position of the drone 25 in the captured image.

  Alternatively, when the position measurement unit 10 includes a gimbal mechanism and an imaging unit, the position measurement unit 10 can maintain the orientation of the imaging unit constant regardless of the topography. In this configuration, the position measurement unit 10 can measure the orientation of the drone 25 based on the position of the drone 25 measured from the center of the captured image.

  By combining the plurality of configurations described above, the position measurement unit 10 can measure the distance from the landing / removal device 100 to the drone 25 and the orientation of the drone 25 as viewed from the separating / landing device 100. The position measurement unit 10 can calculate coordinates indicating the position of the drone 25 in the three-dimensional space, that is, latitude, longitude, and altitude from these measured values.

  The position measurement unit 10 may further be able to measure the speed of the drone 25.

  As shown in (b) of FIG. 2, the position measuring unit 10 is disposed near the center of the upper surface 100 a of the separation and landing device 100.

  The position measuring unit 10 transmits the measured position (and speed) information of the drone 25 to the landing guiding unit 8.

(Guide light 11)
The guide light 11 includes one or more lights such as LEDs. The guide light 11 presents support or information to the drone 25 by, for example, turning on / off the LED, blinking pattern, color, brightness, or a combination thereof.

  In FIG. 2B, the LEDs of the guide light 11 are arranged at a plurality of positions on the upper surface of the take-off and landing device 100 (the surface on which the drone 25 lands). Light is emitted from each LED toward the sky. However, the LED may also be disposed on the side surface of the take-off and landing device 100. Moreover, LED is not restricted circularly, Arbitrary shapes, such as a cross shape, may be sufficient.

(Charging unit 12)
The charging unit 12 charges the drone 25 that has landed on the takeoff and landing device 100. The charging unit 12 includes a battery charged in advance (for example, by solar power generation) and a power supply terminal connected to the drone 25.

  When the drone 25 has landed on the takeoff and landing device 100, the drone 25 automatically connects to the power supply terminal of the charging unit 12. Electric power is supplied from the battery provided in the charging unit 12 to the battery provided in the drone 25. Alternatively, the charging unit 12 may be automatically connected to the drone 25 by wireless (non-contact) power transmission technology.

  Thereby, the operator can save the trouble of charging the drone 25. Therefore, the operator can operate the drone 25 without worrying about the remaining amount of the battery.

(Operator terminal 13)
The operator terminal 13 is used for the operator to determine the operation plan of the drone 25 or to remotely control the operation of the drone 25. The operator terminal 13 may include a display unit for displaying the landing route of the drone 25. The operator terminal 13 may have a wireless communication function in order to remotely control the drone 25.

(Configuration of drone 25)
FIG. 4 is a block diagram showing a configuration of the drone 25 according to the first embodiment. As shown in FIG. 4, the drone 25 includes a light receiving unit 251, an instruction determination unit 252, a drive control unit 253, a plurality of motors 254, a gyro sensor 255, and a plurality of propellers 256.

  The light receiving unit 251 receives visible light or infrared light emitted from the guide lamp 11 provided in the separation and landing device 100. Specifically, the light receiving unit 251 is an optical sensor.

  The instruction determination unit 252 determines an instruction or information presented by the lighting, extinguishing, and blinking patterns, colors, luminance, or combinations thereof received by the light receiving unit 251. In other words, the instruction determination unit 252 interprets the light received by the light receiving unit 251 as a signal. For example, the instruction determination unit 252 may determine an instruction or information with reference to a table that is stored in advance in the drone 25 and indicates a correspondence relationship between the light signal and the instruction.

  The instruction determination unit 252 transmits the determination result, that is, instruction information indicating what instruction or information the light signal corresponds to to the drive control unit 253.

  The drive control unit 253 generates drive control information for driving each of the plurality of motors 254 based on the instruction information received from the instruction determination unit 252 and the attitude information of the drone 25 acquired from the gyro sensor 255. The drive information includes information for controlling the rotation speed of each motor 254.

  Each of the plurality of motors 254 is connected to another propeller 256, and rotates each propeller 256 by transmitting power to each propeller 256. Thereby, the drone 25 flies.

(Operation flow)
FIG. 5 is a flowchart showing an operation flow of the departure / arrival device 100. The operation flow described here is the same as the operation flow of the take-off and landing apparatus according to each embodiment described later.

  As a previous stage, the area management device 1 determines the takeoff and landing device 100 as the landing point of the drone 25. The area management device 1 transmits to the drone 25 the flight route information including the position information of the landing point of the drone 25. The drone 25 autonomously flies toward the landing point, that is, the take-off and landing device 100 according to the flight route determined by the area management device 1.

  As shown in FIG. 5, the risk determination unit 4 receives the aircraft information of the drone 25 scheduled to land on the takeoff and landing device 100 from the area management device 1. At this time, the degree-of-risk determination unit 4 determines the degree of congestion around the take-off and landing device 100 and the degree of risk of landing (S1).

  Next, the landing route determination unit 5 determines each area of the management area as a flightable area and a non-flightable area based on the congestion level and the risk level determined by the risk level determination unit 4 (S2). The landing route determination unit 5 determines an optimal landing route for the drone 25 based on the topography detected by the topography detection unit 6 and the obstacle detected by the obstacle detection unit 7.

  After finding the drone 25 approaching the take-off and landing device 100 by the radar device, the position measuring unit 10 starts measuring the position of the found drone 25 (S3). Thereafter, the landing route instruction unit 9 transmits the landing route information acquired from the landing route determination unit 5 to the drone 25.

  Based on the position information of the drone 25 measured by the position measuring unit 10, the landing guiding unit 8 reaches the landing target point so that the drone 25 can fly according to the landing route determined by the landing route determining unit 5. The drone 25 is guided (S4).

  At this time, the landing guiding unit 8 guides the drone 25 by light emission of the light (including the LED) included in the guide light 11, that is, the lighting on / off / flashing pattern, color, brightness, or a combination thereof. To do.

(Effect of Embodiment 1)
According to the configuration of the first embodiment, the take-off and landing device 100 can be used for the drone 25 (unmanned) by turning on / off / flashing patterns, colors, brightness, or combinations of lights (including LEDs) included in the guide light 11. Aircraft).

  For example, when the position of the drone 25 and the landing target point are deviated, the take-off and landing device 100 presents information indicating the magnitude and / or direction of the deviation between the position of the drone 25 and the target point, so that the drone Help 25 to land accurately at the target point.

  Accordingly, the drone 25 can accurately land on the landing target point, that is, the take-off and landing device 100.

[Embodiment 2]
In the second embodiment, the drone 25 approaching the take-off and landing device 100 captures the periphery of the take-off and landing device 100. The takeoff and landing device 100 receives an image or video captured by the drone 25 via the area management device 1 or directly.

  The terrain detection unit 6 acquires an image or video taken by the drone 25. The terrain detection unit 6 generates three-dimensional terrain information around the take-off and landing device 100 by analyzing images and videos taken by the drone 25. Then, the terrain detection unit 6 transmits the generated three-dimensional terrain information to the landing route determination unit 5.

  In addition, the obstacle detection unit 7 requests the area management device 1 for an image or video captured by the drone 25. The obstacle detection unit 7 generates three-dimensional obstacle information around the take-off and landing device 100 by analyzing images and videos taken by the drone 25. The obstacle detection unit 7 transmits the generated three-dimensional obstacle information to the landing route determination unit 5.

  Also in the second embodiment, as in the first embodiment, the landing route determination unit 5 uses the landing route based on the terrain information generated by the terrain detection unit 6 and the obstacle information generated by the obstacle detection unit 7. To decide.

(Effect of Embodiment 2)
According to the configuration of the second embodiment, the landing route determination unit 5 can obtain more detailed and accurate terrain information from the three-dimensional terrain information provided by the terrain detection unit 6. Further, the landing route determination unit 5 can obtain more detailed and accurate obstacle information based on the three-dimensional obstacle information provided by the obstacle detection unit 7.

  Therefore, the landing route determination unit 5 can determine a landing route that is more appropriate, that is, a safer or shorter distance.

[Embodiment 3]
In the third embodiment, digital data including an instruction to the drone 25 (for example, a landing route) and information (for example, the magnitude and / or direction of the difference between the position of the drone 25 and the landing target point) is transmitted to the drone 25. To do. The digital data may be generated, for example, by encoding a blinking pattern of an LED or other light provided in the guide light 11, that is, by converting it into digital information of “0” or “1”. Alternatively, digital data may be generated by modulating the color or brightness of an LED or other light.

  The configuration of the third embodiment is realized by using a so-called visible light communication technique. However, infrared light can be used instead of visible light.

(Effect of Embodiment 3)
According to the configuration of the third embodiment, digital data including instructions and information for the drone 25 is transmitted to the drone 25. The drone 25 can fly autonomously to the target point based on the digital data received from the landing guiding unit 8.

[Embodiment 4]
The takeoff and landing apparatus 100 according to the fourth embodiment includes a movement system including a battery, a motor (electric motor), wheels, and the like. The take-off and landing device 100 can be moved autonomously or remotely by a moving system.

(Effect of Embodiment 4)
According to the configuration of the fourth embodiment, the take-off and landing device 100 is suitable for the drone 25 to land, that is, the degree of congestion, according to the situation (for example, the number of people and obstacles) and the environment (for example, weather conditions, terrain). And move to a less dangerous place.

  In the fourth embodiment, the landing guiding unit 8 may eliminate the deviation between the position of the drone 25 and the target point by controlling the movement system and moving the take-off / landing device 100.

[Embodiment 5]
In the first embodiment, an example has been described in which the take-off and landing device 100 guides landing of an unmanned aircraft (drone 25) in a city. However, the application example is not limited to landing guidance in the city. In the fifth embodiment, the take-off and landing device 100 performs landing guidance of a plurality of unmanned aircraft at various sites (for example, disaster occurrence sites, transportation bases, wide area searches, mountain rescues, marine accidents, etc.).

(Effect of this Embodiment 5)
According to the configuration of the fifth embodiment, the take-off and landing device 100 performs guidance for landing unmanned aircraft at various sites. Therefore, it becomes possible for an unmanned aerial vehicle to carry out activities (for example, photographing, food transportation, etc.) particularly in a site where it is difficult to operate a manned aircraft. In particular, it is possible for an unmanned aerial vehicle to land on the takeoff and landing device 100 in a small, narrow, or complicated structure.

[Embodiment 6]
A minimum configuration of the embodiment of the present invention will be described as a sixth embodiment.

(Separation and departure device 200)
FIG. 6 is a block diagram showing the configuration of the takeoff and landing apparatus 200 according to the sixth embodiment. As shown in FIG. 6, the take-off and landing device 200 includes a position measurement unit 201, a landing guide unit 202, and a guide light 203.

  The position measuring unit 201 measures the position of an unmanned aircraft (for example, a drone) in flight.

  The landing guiding unit 202 guides the unmanned aircraft to the landing target point while acquiring the position information of the unmanned aircraft measured by the position measuring unit 201.

  The guide light 203 includes one or more lights.

  The landing guide unit 202 moves the unmanned aircraft to the target point by light emission of one or more lights provided in the guide light 203 (specifically, lighting, extinguishing, blinking pattern, color, brightness, or a combination thereof). Present instructions to guide.

(Effect of Embodiment 6)
According to the configuration of the sixth embodiment, the take-off and landing device 200 guides the unmanned aircraft by the emission of one or more lights. Thereby, the unmanned aircraft can accurately land at the landing target point.

[Embodiment 7]
A program for realizing all or part of the control function (for example, the control unit 90) of the separation and landing apparatus 100 according to the first to fifth embodiments is recorded on a computer-readable recording medium and recorded on the recording medium. You may implement | achieve the control function of the separation / departure apparatus 100 by making a computer read and run a program. The “computer” here includes an OS (Operating System) and hardware such as peripheral devices.

  In addition, all or part of the control function of the separation and landing apparatus 200 according to the sixth embodiment may be realized by a computer reading and executing a program recorded on a recording medium.

  The “computer-readable recording medium” is a portable medium such as a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), a CD (Compact Disc) -ROM, or a storage device such as a hard disk built in the computer. I mean. Further, the program may be a program for realizing a part of the functions described above, or may be a program that can be realized by a combination with a program already recorded in the computer.

(Hardware configuration of computer 300)
FIG. 7 is a block diagram illustrating a hardware configuration of a computer 300 according to the seventh embodiment. As shown in FIG. 7, the computer 300 includes a CPU (Central Processing Unit) 301, a RAM 302, a storage device 303, and an input / output device 304. The computer 300 further includes a communication interface 305 for performing wireless communication with the outside (for example, an aircraft).

  The control function of the departure / arrival device 100 according to the first to fifth embodiments is realized by the CPU 301 of the computer 300 executing a program read from the storage device 303 to a RAM (Random Access Memory) 302. Similarly, the control function of the separation and landing apparatus 200 according to the sixth embodiment is also realized by each unit of the computer 300.

  The input / output device 304 performs input from the outside of the computer 300 or output from the computer 300 to the outside. The input / output device 304 corresponds to, for example, the landing route instruction unit 9 of the takeoff and landing device 100 according to the first to fifth embodiments.

(Effect of this Embodiment 7)
According to the configuration of the seventh embodiment, the configuration and operation of the separation and landing devices 100 and 200 described in the first to sixth embodiments can be realized by the computer 300.

[Examples of Embodiments of the Present Invention]
The aspect of the present invention can be expressed as follows. However, the present invention is not limited to the modes described below.

(Appendix 1)
One or more position measuring means for measuring the position of the unmanned aircraft in flight, landing guidance means for guiding the unmanned aircraft to a landing point based on the position of the unmanned aircraft measured by the position measuring means, and one or more The landing guide means provides an instruction for guiding the unmanned aircraft to the target point by light emission of the one or more lights provided in the guide light. A take-off and landing device characterized by that.

(Appendix 2)
Supplementary note 1 further comprising landing route determining means for determining a landing route of the unmanned aircraft, wherein the landing guiding means guides the unmanned aircraft according to the landing route determined by the landing route determining means. The take-off and landing device described in 1.

(Appendix 3)
The terrain detection unit that detects the terrain around the landing target point, and the landing route determination unit determines the landing route based on the terrain detected by the terrain detection unit The take-off and landing device according to 2.

(Appendix 4)
It further comprises an obstacle detection unit for detecting obstacles around the landing target point, and the landing route determination means determines the landing route so as to avoid the obstacle detected by the obstacle detection unit. The take-off and landing device as set forth in appendix 2 or 3, characterized in that:

(Appendix 5)
The takeoff and landing apparatus according to appendix 3, wherein the terrain detection unit acquires an image or video taken by the unmanned aircraft and detects the terrain around the landing target point from the image or video. .

(Appendix 6)
The supplementary note 4 is characterized in that the obstacle detection unit acquires an image or video taken by the unmanned aircraft and detects an obstacle around the landing target point from the image or video. Take-off and landing device.

(Appendix 7)
The takeoff and landing apparatus according to any one of appendices 1 to 6, further comprising a takeoff and landing surface including the landing target point.

(Appendix 8)
The take-off and landing device according to any one of supplementary notes 1 to 7, wherein the device can be carried or moved.

(Appendix 9)
The position of the unmanned aircraft in flight is measured, and based on the measured position of the unmanned aircraft, the unmanned aircraft is guided to a landing target point, and in the guidance, one or more lights provided in the guide light are emitted. The method for controlling the take-off and landing apparatus includes presenting an instruction for guiding the unmanned aircraft to the target point.

(Appendix 10)
Measuring the position of the unmanned aerial vehicle in flight, guiding the unmanned aircraft to a landing target point based on the measured position of the unmanned aircraft, and causing the computer to execute the operation. A program for causing a computer to execute an instruction for guiding the unmanned aircraft to the target point by one or more light emission provided.

(Appendix 11)
The take-off and landing device according to any one of appendices 1 to 8, further comprising an imaging unit that captures an area around the landing target point.

(Appendix 12)
Risk level determination means for determining a risk level of landing of the unmanned aircraft on the take-off and landing device is further provided, and the landing route determination means is configured to determine the landing route based on the risk level determined by the risk level determination means. The departure / arrival device according to any one of appendices 1 to 8, characterized in that:

(Appendix 13)
The landing and landing device according to any one of appendices 1 to 8, wherein the landing guiding means transmits instructions or information to the unmanned aircraft as digital data to the unmanned aircraft.

(Appendix 14)
The landing guiding means transmits information indicating the magnitude and / or direction of deviation between the position of the unmanned aircraft and the landing target point as the digital data to the unmanned aircraft. The take-off and landing device according to attachment 13.

(Appendix 15)
9. The take-off and landing device according to any one of appendices 1 to 8, wherein the light emission of the one or more lights includes a lighting pattern, a lighting pattern, a blinking pattern, a color, a luminance, or a combination thereof.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes within a scope not departing from the gist of the present invention are included in the present invention. It is.

DESCRIPTION OF SYMBOLS 5 Landing route determination part 6 Terrain detection part 7 Obstacle detection part 8 Landing guidance part 10 Position measurement part 11 Guide light 100 Takeoff / landing device 200 Takeoff / landing device 201 Position measurement part 202 Landing guidance part 203 Guide light

Claims (10)

Position measuring means for measuring the position of the unmanned aerial vehicle in flight;
Landing guiding means for guiding the unmanned aircraft to a landing target point based on the position of the unmanned aircraft measured by the position measuring means;
A guide light with one or more lights,
With
The landing and landing device is characterized by presenting an instruction for guiding the unmanned aircraft to the target point by light emission of the one or more lights provided in the guide light. A landing route determining means for determining a landing route of the unmanned aircraft;
The take-off and landing apparatus according to claim 1, wherein the landing guidance unit guides the unmanned aircraft according to the landing route determined by the landing route determination unit. Further comprising terrain detection means for detecting terrain around the landing target point;
The take-off and landing apparatus according to claim 2, wherein the landing route determining means determines the landing route based on the terrain detected by the terrain detecting means. It further comprises obstacle detection means for detecting obstacles around the landing target point,
The landing / departure apparatus according to claim 2 or 3, wherein the landing route determination means determines the landing route so as to avoid the obstacle detected by the obstacle detection means. The terrain detection means includes:
The takeoff and landing apparatus according to claim 3, wherein an image or video taken by the unmanned aerial vehicle is acquired, and terrain around the landing target point is detected from the image or video. The obstacle detection means includes
The takeoff and landing apparatus according to claim 4, wherein an image or video captured by the unmanned aircraft is acquired, and an obstacle around the landing target point is detected from the image or video.   The take-off and landing apparatus according to claim 1, further comprising a take-off and landing surface including the landing target point.   The take-off and landing device according to any one of claims 1 to 7, wherein the device can be carried or moved. Measure the position of an unmanned aerial vehicle in flight,
Based on the measured position of the unmanned aircraft, the unmanned aircraft is guided to the landing target point,
In the guidance, the instruction method for guiding the unmanned aircraft to the target point by light emission of one or more lights provided in the guide light includes a control method of the take-off and landing device. Measuring the position of an unmanned aerial vehicle in flight;
Guiding the unmanned aircraft to a landing target point based on the measured position of the unmanned aircraft;
To the computer,
In the guidance, a program for causing a computer to execute an instruction for guiding the unmanned aircraft to the target point by light emission of one or more lights provided in the guide light.

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