JP4521540B2 - Flying robot - Google Patents

Description

  The present invention is intended for situations such as narrow places where humans cannot enter, places where strange odors, toxic gases, radiation, etc. are expected, places where humans are expected to be harmful, places where there are people with weapons, etc. It relates to flying robots for sensing.

  There is a narrow space where humans cannot enter or enter, such as the backside of stored items in the warehouse, the interior of tanks and containers, and piping groups, and the presence of odors, toxic gases, radiation, etc. due to disasters Observing the situation where it is expected that a person may enter the person, or where it is expected to be harmed, or where there is a person with weapons or explosives, etc. In some cases, a flying robot has been proposed for collecting a situation photograph of the place or detecting a harmful substance (for example, see Patent Document 1 and Non-Patent Documents 1, 2, and 3). .

  Conventionally, a fixed surveillance camera or a surveillance camera with a swing mechanism has been used to monitor and observe these narrow places and dangerous places.

  However, the conventional method has a problem that the direction of the camera for monitoring and observation is limited, and the observation direction cannot be changed, the distance can be changed, and the back side cannot be observed. It was.

  In order to observe an arbitrary place from an arbitrary direction and to observe the back side well, a flying robot that can freely move in space is considered to be more effective.

  A flying robot for this purpose needs to have the ability to move freely in the space and stop in the air, and is intended for use in places where humans cannot enter. You must be able to control it without having to look at it, and you must be able to freely control the location and space posture.

  However, there is still no flying robot that can freely control the location and space posture even if a human does not look directly at the flying robot.

  Model radio-controlled helicopters and radio-controlled airplanes are equipped with position and attitude control functions, and if an expert maneuvers while looking at the flight status of the radio-controlled helicopters or radio-controlled airplanes, the accuracy and stability of the model will be improved. The position and posture can be controlled.

  However, a flying robot that can control the location and space posture freely without human beings looking directly at the radio controlled helicopter or radio airplane and observing the fine movements of the aircraft, and human beings can control freely without looking directly at the flying robot The control method has not been established yet.

  Non-Patent Document 2 describes that it is important to give the target flying robot a visual function, and describes a diagram in which a pilot is watching a monitor screen sent from the flying robot. However, there is no description regarding the visual function. It is described that the flying robot is controlled by GPS.

  In addition, it is easy to think of mounting a camera to give a visual function to the target flying robot, but according to the results of experiments conducted by the inventor, as shown in Non-Patent Document 2, the flying robot is simply Even if the image of the installed camera is projected on the monitor screen and seen by the operator, it was found that the flying robot cannot be operated.

  According to the results of the experiment conducted by the inventor, even if the video of the camera mounted on the flying robot is simply displayed on the monitor screen and viewed by the operator, the relative positional relationship between the video and the flying robot and the video Since it is impossible to grasp the relationship between the flight robot and the relative motion status, it is impossible to predict how the video will change if it is operated.

Therefore, for example, a situation where an obstacle to be avoided on the monitor screen is seen very well, but it does not hit well, or the target is seen well but the target is accidentally lost due to steering. Become.
Japanese Patent Application No. 2003-436851 Journal of Precision Engineering, Vol. 66, No. 4, p. 594-600 Journal of the Japan Society for Mechanical Engineering, Vol. 106, no. 1019, p. 16-19 Mechanical Design, Vol. 48, No. 2, p. 1-4

  The problem to be solved by the present invention is to provide a flying robot capable of recognizing surrounding conditions without being directly viewed by humans and freely controlling the location and the space posture.

  In order to solve the above problems, the present invention is provided with a marker object for recognizing a part or end of a flying robot, and a camera for observing the periphery of the flying robot including the marker object. It is characterized in that at least a part of the image enters the field of view of the camera as a foreground of an observation scene and is reflected on the monitor screen of the camera.

  Furthermore, the marker object is a light emitter.

  According to the present invention, it is possible to maneuver while always viewing a camera image that reflects the surroundings of the flying robot together with a marker object that can recognize a part or end of the flying robot. For this reason, it is possible to maneuver the flying robot as if driving on a car while looking at the scenery in front through the hood.

  Therefore, the maneuvering is easy, and the position and posture of the flying robot can be flexibly controlled while watching the surrounding situation.

  In addition, because it is possible to determine the position and posture by grasping the surroundings of the flying robot using an observation camera that is unavoidably mounted on the flying robot for the purpose of use, an objective distance sensor, azimuth angle sensor, height sensor, etc. It is not always necessary to provide another device or element for position and orientation control.

  For this reason, there is a margin in the lift of the flying robot and the power consumption is reduced, so that it is possible to increase the hover time when using the same battery.

  And if you put the marker object as a place where you can recognize the end of the flying robot, the flying robot suddenly changes its position and posture in the air to something due to mishandling or blowing wind etc. Even if it collides, since the marker object first collides, it is possible to prevent the rotary wing and fixed wing of the flying robot from being damaged and falling.

  In addition, when a collision or a collision is likely to occur, the marker object is included in the camera image. Therefore, it is possible to determine whether or not to collide with each other and to monitor the state of the collision.

  If the marker object is a light emitter, the end of the flying robot can be better recognized even in a dark place, and collision can be easily avoided. In addition, it is possible to deal with a collision more accurately.

  The best mode for carrying out the present invention will be described with reference to FIG. FIG. 1 shows an embodiment of a flying robot of the present invention.

  The base 1 of the flying robot obtains a lift force floating in the air by the levitation mechanism 2. In FIG. 1, the levitation mechanism 2 is depicted as a single rotor blade, but a plurality of rotor blades may be used.

  The levitation mechanism 2 is optional, and any levitation mechanism 2 may be used as long as it can float the flying robot base 1 in the air, such as a balloon, a gas jetting device, or a combination of a propeller and a fixed wing. The levitation mechanism 2 may be a combination of a rotary blade and any one of these.

  A camera 3 for monitoring and observing the front of the flying robot is attached to the base 1 of the flying robot. And the marker object 4 which shows a part or edge of this flying robot is provided so that it may enter into the imaging | photography range of this camera 3. FIG.

  Since the flying robot has a three-dimensional shape, even if the marker object 4 is attached so that it can avoid colliding with another object when the flying robot moves in the horizontal direction, the upper levitation mechanism 2 and the lower part of the base body 1 are attached to the object. There are still some hits. Therefore, the marker object 4 that can determine the left and right ends and the upper and lower ends of the flying robot is better.

  The number and shape of the marker objects may be arbitrary. In FIG. 1, as the marker object 4, a marker object 4a indicating the front upper end of the flying robot, that is, the outer side of the rotation range of the rotary wing provided as the levitation mechanism 2, a marker object 4b indicating the front lower left and right ends of the flying robot, 4c and a marker object 4d indicating the lower end of the substrate 1 were provided.

  Reference numerals 5a, 5b, and 5c are marker object support parts for attaching the marker objects 4a, 4b, and 4c to the base 1 of the flying robot.

  The marker objects 4a, 4b, 4c, and 4d and the marker object support parts 5a, 5b, and 5c may also serve as the legs of the flying robot and the rotor protection part.

  For example, as shown in FIG. 3, a ring-shaped or skirt-shaped collision protector 4 e may be provided, and a part or all of them may be used as the marker object 4. Reference numerals 5d, 5e, and 5f denote support parts for the collision protector 4e.

  The marker object 4 is preferably a marker object that has a color and shape that is as different as possible in the environment observed by the camera 3 and can be clearly distinguished from the image to be observed.

  If the field of view of the camera 3 is close to the human field of view, it is convenient for maneuvering while viewing the image of the camera 3, and is preferably at least 110 ° or more.

  As the field of view of the camera 3 is increased, the peripheral part of the captured image is generally distorted, but even if the peripheral part of the image is distorted, if the viewing angle is approximately 180 ° or less, a wider field of view is more suitable for the surrounding situation. It can be grasped accurately and can be operated more easily.

  A video transmission circuit for sending a camera image to a place where the flight robot operator is located is installed at an arbitrary position on the flying robot, and the image of the camera 3 is displayed on the monitor screen 6 where the operator is located. Reference numeral 7 denotes a main body of the monitor device.

  The operator operates the flying robot using the controller 8 while watching the image displayed on the screen of the monitor 6.

  In order to control the flying robot, a signal for moving the levitation mechanism 2 and a signal for moving the mechanism for controlling the position and posture angle of the flying robot are appropriately given to the flying robot from the joystick 9 and the switch 10 of the pilot 8. send.

  A mechanism for controlling the position and posture angle of the flying robot may be arbitrary. As shown in FIG. 1, when a single main rotor blade is provided as the levitation mechanism 2 in the same manner as the helicopter, the angle formed by the rotating surface of the main rotor blade with the base 1 of the flying robot is controlled, or the flight If the measure of whether the tilt angle is controlled by controlling the position of the weight mounted on the robot, the forward / backward and left / right movement and the tilt angle can be controlled. Moreover, if the auxiliary rotor blade 11 is provided and the rotation speed is controlled, the azimuth angle can be controlled.

  In FIG. 1, reference numeral 12 denotes a leg portion.

  The video transmission / reception circuit from the camera 3 and / or the position / posture angle control signal transmission / reception circuit is preferably a wireless circuit from the viewpoint of ensuring the mobility of the flying robot.

  However, if a thin and light communication line that does not hinder the flight is used, a wired connection between the video transmission circuit of the camera 3 on the flying robot and the monitor screen 6 where the operator is present or the monitor device body 7 is wired. It may be connected, and the controller 7 and the flying robot may be connected by wire.

  FIG. 2 is a schematic diagram of an image displayed on the monitor screen 6. Images 14a, 14b, 14c, and 14d of the marker objects 4a, 4b, 4c, and 4d shown in FIG. 1 are shown in the monitor screen 6, and a scene in front of the flying robot can be seen in the back.

  The figure simulates a situation in which a liquid leak occurs in a narrow space in the corner of the room. In a place surrounded by the walls 16, 17, 18, 19 on the floor 15, the liquid 21 flows from the lattice 20 on the wall 19. It shows a state of leaking and spreading.

  As the images 14a, 14b, 14c, and 14d of the marker objects 4a, 4b, 4c, and 4d, for example, as illustrated, the marker objects 4a, 4b, 4c, and 14d can be distinguished from the marker objects 4a, 4b, 4c, and 4d. It is sufficient that at least a part of 4d is reflected.

  If the camera 3 is fixed on the flying robot base 1 and used, the place where the images 14a, 14b, 14c and 14d of the marker objects 4a, 4b and 4c appear on the monitor screen 6 is a fixed place on the monitor screen 6. .

  On the other hand, a camera attitude angle control mechanism (not shown) may be provided in the camera 3 so that the head can be swung.

  Even when the head swing operation is performed, at least a part of the marker object 4 is projected on the monitor screen 6.

  When the camera 3 shown in FIG. 1 is swung left and right, for example, if the marker objects 14a, 14c, and 14d remain on the monitor screen 6 as shown in FIG. 4, the marker objects 14a, From the positions on the monitor screen 6 of 14c and 14d, the direction in which the scenery with respect to the flying robot is seen can be easily determined.

  Similarly, when the camera 3 shown in FIG. 1 is swung up and down, for example, if the marker objects 14b, 14c, and 14d are left on the monitor screen 6 as shown in FIG. Based on the positions of the objects 14b, 14c, and 14d on the monitor screen 6, the direction in which the scenery with respect to the flying robot is seen can be easily determined.

  When performing the swing motion, an arbitrarily large number of marker objects 4 are provided, and any one of them is displayed on the monitor screen 6, and which marker object is displayed on the monitor screen 6 is indicated to the operator. It is even better if you can recognize it immediately.

  For example, the color or the shape may be changed for each marker object 4a, 4b, 4c,..., Or a number or a symbol may be attached to the marker objects 4a, 4b, 4c,.

  As described above, in order to maneuver the flying robot while watching the image of the camera 3 always reflecting the surroundings of the flying robot together with the marker object indicating a part or end of the flying robot, The flying robot can be operated as if driving a car while looking at the scenery in front of the bonnet. For this reason, the position and posture of the flying robot can be controlled flexibly while watching the surrounding situation, and can be easily operated.

  Therefore, the amount of the leaked liquid 17 and how it collects can be observed with the flying robot in an optimal position and posture so as not to hit the walls 11, 12, 13 and the floor 15.

  If an observation camera that is unavoidably mounted on a flying robot is used as the camera 3, an objective distance sensor, an azimuth angle sensor, a height sensor, and the like, which are necessary when the camera is a simple observation camera, are used for position and orientation control. Therefore, it is not always necessary to provide a part or all of the equipment for this purpose. For this reason, there is a margin in the lift of the flying robot and the power consumption is reduced, so that it is possible to increase the hover time when using the same battery.

  And even if the flying robot suddenly changes position and posture in the air and hits something by accident such as mishandling or blowing wind, the marker object indicating the end of the flying robot will hit first Thus, it is possible to avoid a situation where the flying robot's levitation mechanism 2 is damaged and crashes.

  In addition, since the marker object is included in the camera image when it collides or is likely to collide, it can be determined whether or not it collides, and the state of the collision can be monitored, so that it is possible to deal with it without panic. Therefore, the collision avoidance operation can be performed smoothly, and damage can be minimized.

  In addition, there is a case where the observation required place is dark and it is difficult to detect the situation. In this case, the observation is performed by irradiating illumination light from the flying robot. However, the flying robot itself is not illuminated, increasing the risk of collision.

  If the marker objects 4a, 4b, 4c, 4d, and 4e in FIG. 1 or FIG. 3 are light emitters, it is effective when it is difficult to perceive the situation because the observation location is dark. The light emitter may be any light emitter such as a light emitting diode, miniature light bulb, or phosphorescent material.

  If the marker object is a illuminant in a dark place, it will be easy to recognize separately from the background scenery. In addition, since the vicinity of the end of the flying robot is illuminated, it is easy to avoid a collision.

  Needless to say, the marker object can be switched between light emission and non-light emission, and light can be emitted only in a dark place.

  Embodiment of the flying robot of the present invention   Embodiment of monitor screen for maneuvering flying robot of the present invention   Another embodiment of the flying robot of the present invention   Embodiment of the monitor screen when the camera's head is swung from side to side   Embodiment of monitor screen when camera head is shaken up and down

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Flying robot base body 2 Levitation mechanism 3 Cameras 4a, 4b, 4c, 4d, 4e Marker object 6 Monitor screen 8 Pilots 14a, 14b, 14c, 14d Image of marker object

Claims (2)

  A marker object for recognizing a part or end of the flying robot and a camera for observing the surroundings of the flying robot including the marker object are provided, and at least a part of the marker object is observed in the field of view of the camera A flying robot characterized in that it enters as a foreground of a scene and is projected on the monitor screen of the camera.   The flying robot according to claim 1, wherein the marker object is a light emitter.

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