JP7237504B2 - measuring system - Google Patents

Description

The present invention relates to a measurement system using an unmanned air vehicle equipped with a measurement unit, and a measurement result presentation program that can be used in such a measurement system.

Patent Document 1 below describes a lighting environment measurement system including a mobile body having a body that moves in a three-dimensional space and a control device capable of wireless communication with the mobile body, wherein the mobile body includes the control a receiving unit that receives three-dimensional position information indicating the measurement position transmitted from the device; a sensor that measures the lighting environment mounted on the aircraft; A lighting environment measurement system comprising: a propulsion unit that stands by; and a control unit that checks the direction in which the lighting environment is measured at the measurement position and measures the lighting environment using the sensor based on the confirmed direction. It is Patent Document 1 listed below also discloses that an unmanned flying object is used as the moving object, and that an illuminance sensor or a luminance camera is used as the sensor.

According to this lighting environment measurement system, when measuring the lighting environment in stadiums with large lighting devices, there is no need for a person carrying an illuminance meter to move to each measurement position and measure the illuminance. , the lighting environment can be measured while reducing manpower.

Japanese Patent Application Laid-Open No. 2018-84508

However, the conventional lighting environment measurement system is not always sufficient in improving the reliability of measurement.

This point applies not only to the conventional lighting environment measurement system, but also to other measurement systems using an unmanned air vehicle on which a measurement unit is mounted.

The present invention has been made in view of such circumstances, and a measurement system capable of improving the reliability of measurement while using an unmanned air vehicle equipped with a measurement unit, and in such a measurement system An object of the present invention is to provide a measurement result presentation program that can be used.

The following aspects are presented as means for solving the above problems. A measurement system according to a first aspect includes an unmanned flying object that moves to a measuring position by autopilot or remote control, and is equipped with a measuring unit that measures predetermined information at the measuring position; and a measurement result presentation device that receives the result of measurement by the measurement unit outside the body via wireless communication and presents the result to a person in real time.

According to this first aspect, the unmanned flying object moves to the measurement position by autopilot or remote control, and the unmanned flying object is equipped with a measurement unit that measures predetermined information at the measurement position. In addition, it is not necessary for an operator with a measurement unit such as an illuminance meter to move to each measurement position to measure the illuminance, etc., and it is possible to measure predetermined information while reducing manpower.

Further, according to the first aspect, since the measurement result presentation device is provided outside the unmanned air vehicle, the measurement result presentation device receives the measurement result from the measurement unit via wireless communication and presents it to a person in real time. can check the measurement results in real time. Therefore, if the presented measurement results deviate significantly from the expected results, it is possible to know in real time that the measurement is being performed in an abnormal state. It is possible to check whether the flying object or measurement unit is broken, and if it is broken, repair or replace it and then perform measurement in a normal state, thereby improving the reliability of measurement. be able to. In addition, if the person who receives the measurement results is a witness other than the person taking the measurement, it will help the witness to confirm that the measurement is being carried out properly. Since it becomes difficult, the reliability of the measurement can be improved.

A measurement system according to a second aspect is characterized in that, in the first aspect, the measurement unit has a first display for displaying a measurement result, and the unmanned air vehicle displays a display image of the first display. and a first communication unit that wirelessly transmits transmission information including the display image captured by the imaging unit in real time, and the measurement result presentation device is equipped with the first a second communication unit that receives the transmission information transmitted by the communication unit directly or via a relay means; and a second display unit for displaying on.

In this second aspect, the display section of the measurement section is captured on the unmanned air vehicle, and the captured display image is displayed on the display section of the measurement result presentation device via wireless communication. Therefore, according to the second aspect, it is possible to use a measuring instrument such as a handy type that does not have a function of outputting a measurement result as a data signal as the measuring section. Therefore, according to the second aspect, even a measuring instrument such as a handy type that does not have a function of outputting a measurement result as a data signal is subject to a predetermined certification or test, for example, to ensure reliability. can be used as the measuring unit, thereby improving the reliability of the measurement. In addition, in the second aspect, the measurement section may have a function of not only displaying the measurement result on the display section but also outputting the measurement result as a data signal.

A measurement system according to a third aspect is characterized in that, in the first aspect, the measurement unit has a first display for displaying a measurement result, and the unmanned aircraft has a display image of the first display. a recognition unit that recognizes the measurement result from the display image captured by the image capture unit; and a real-time wireless transmission of transmission information including the measurement result recognized by the recognition unit. 1 communication unit is installed, and the measurement result presentation device includes a second communication unit that receives the transmission information transmitted by the first communication unit directly or via a relay means; and a second display unit that displays in real time at least the measurement result of the transmission information received by the second communication unit.

In this third aspect, the display unit of the measurement unit is imaged on the unmanned air vehicle, the measurement result is recognized from the imaged display image, and the recognized measurement result is transmitted to the measurement unit via wireless communication. It is displayed on the display unit of the result presentation device. Therefore, according to the third aspect, it is possible to use a measuring instrument such as a handy type that does not have a function of outputting a measurement result as a data signal as the measuring section. Therefore, according to the third aspect, even a measuring instrument such as a handy type that does not have a function of outputting the measurement result as a data signal is subject to a predetermined certification or test, for example, to ensure reliability. can be used as the measuring unit, thereby improving the reliability of the measurement.

A measurement system according to a fourth aspect is the measurement system according to the first aspect, wherein the measurement unit has a first display unit for displaying a measurement result, and the unmanned air vehicle displays a display image of the first display unit. and a first communication unit that wirelessly transmits transmission information including the display image captured by the imaging unit in real time, and the measurement result presentation device is equipped with the first a second communication unit that directly or via a relay means receives the transmission information transmitted by the communication unit; and the measurement result from the display image in the transmission information received by the second communication unit. and a second display unit for displaying the measurement result recognized by the recognition unit in real time.

In this fourth aspect, the display unit of the measurement unit is imaged on the unmanned air vehicle, the imaged display image is transmitted to the measurement result presentation device, and the measurement result presentation device receives the The display image is recognized and the recognized measurement result is displayed on the display section of the measurement result presentation device. Therefore, according to the fourth aspect, it is possible to use a measuring instrument such as a handy type that does not have a function of outputting a measurement result as a data signal as the measuring section. Therefore, according to the fourth aspect, even a measuring instrument such as a handy type that does not have a function of outputting a measurement result as a data signal is subject to a predetermined certification or test, for example, to ensure reliability. can be used as the measuring unit, thereby improving the reliability of the measurement.

A measurement system according to a fifth aspect is the measurement system according to any one of the first to fourth aspects, wherein the unmanned flying object is equipped with a position detection unit for detecting the current position of the unmanned flying object, and the measurement result is presented. The device receives the current location along with the measurement result via wireless communication and presents it to the person in real time.

According to the fifth aspect, not only the measurement results but also the current position of the unmanned flying object when obtaining the measurement results are presented in real time by the measurement result presentation device, which is more preferable. .

A measurement system according to a sixth aspect is the measurement system according to any one of the first to fifth aspects, wherein the unmanned flying object is equipped with a position detection unit for detecting the current position of the unmanned flying object, and the measurement result and the A storage unit is provided for storing the current positions when the measurement results are obtained in a readable manner in association with each other. The storage unit may be mounted on the unmanned flying object, may be mounted on the measurement result presentation device, or may be provided on a device separate from the unmanned flying object or the measurement result presentation device. . In the case where it is provided in the storage unit in the separate device, for example, in the separate device, the measurement result and the current position at the time when the measurement result was obtained from the unmanned flying object are received by wireless transmission. , may be stored in a readable manner in the storage unit provided in the other device.

In the first to fifth aspects, for example, the measurement result presented by the measurement result presentation device may be recorded by the person who receives the presentation by writing or the like on recording paper. In the sixth aspect, the measurement result and the current position when the measurement result was obtained are stored in the storage unit in a readable manner. It is possible to verify the obtained measurement result by reading out the current position when it is obtained and comparing it with the measurement result recorded by writing or the like, thereby improving the reliability of the measurement. .

In the sixth aspect, the measurement result and the current position at the time when the measurement result was obtained are stored in the storage unit in a readable manner. A final measurement result based on the measurement result and the current position at the time when the measurement result was obtained may be used as the final measurement result, instead of being recorded by writing. . Even in this case, the possibility of erroneous writing can be reduced compared to recording by handwriting at the measurement site, thereby improving the reliability of the measurement.

A measurement system according to a seventh aspect is an unmanned flying object that moves to a measurement position by autopilot or remote control, and is equipped with a measurement unit that measures predetermined information at the measurement position. The measurement unit has a display unit for displaying the measurement result, and the unmanned air vehicle is equipped with an imaging unit for capturing an image displayed on the display unit.

According to the seventh aspect, the unmanned flying object moves to the measurement position by autopilot or remote control, and is equipped with the measurement unit for measuring the predetermined information at the measurement position. In addition, it is not necessary for an operator with a measurement unit such as an illuminance meter to move to each measurement position to measure the illuminance, etc., and it is possible to measure predetermined information while reducing manpower.

According to the seventh aspect, since the display section of the measurement section is imaged on the unmanned air vehicle, the measurement section is a handy type or the like that does not have a function of outputting the measurement result as a data signal. measuring instrument can be used. Therefore, according to the seventh aspect, even a measuring instrument such as a handy type that does not have a function of outputting the measurement result as a data signal is subject to a predetermined certification or test, for example, to ensure reliability. can be used as the measuring unit, thereby improving the reliability of the measurement. In addition, in the seventh aspect, the measurement section may have a function of not only displaying the measurement result on the display section but also outputting the measurement result as a data signal.

A measurement system according to an eighth aspect is characterized in that, in the seventh aspect, the unmanned flying object includes a position detecting unit for detecting a current position of the unmanned flying object, and a display image captured by the imaging unit or the display image. and a communication unit that wirelessly transmits transmission information including the measurement result recognized from the device and the current position when the measurement result was obtained.

In the eighth aspect, the display image captured by the imaging unit, the measurement result recognized from the display image, and the current position when the measurement result was obtained are wirelessly transmitted from the unmanned flying object. be done. Therefore, according to the ninth aspect, it is possible to receive them in the device on the ground side and display them in real time or record them in a readable manner.

A measurement system according to a ninth aspect is characterized in that, in the seventh or eighth aspect, the unmanned flying object includes a position detecting unit for detecting a current position of the unmanned flying object, and a display image captured by the imaging unit. Alternatively, a storage unit is mounted that stores the measurement result recognized from the display image and the current position at the time when the measurement result was obtained in a readable manner in association with each other.

According to the ninth aspect, the display image captured by the imaging unit, the measurement result recognized from the display image, and the current position when the measurement result was obtained are the unmanned flying object. can be stored in a readable manner in a storage unit mounted on the .

A measurement system according to a tenth aspect is the measurement system according to any one of the first to ninth aspects, wherein the measurement unit includes a sensor unit and a display unit configured separately from the sensor unit and configured to display a measurement result. a body portion, wherein the sensor portion of the measuring portion is arranged above the body of the unmanned flying object, and the body portion of the measuring portion is arranged below the body of the unmanned flying object.

In some cases, it is preferable to perform sensing by the sensor section of the measurement section above the main body of the unmanned air vehicle. In this case, if the sensor unit and the body unit are integrated as the measurement unit, the entire measurement unit must be placed above the main body of the unmanned aircraft. There is a risk that the center of gravity of the unmanned aerial vehicle will rise and the flight of the unmanned aerial vehicle will become unstable, reducing the reliability of measurement. In contrast, according to the tenth aspect, the sensor section of the measurement section is arranged above the main body of the unmanned air vehicle, and the main body section of the measurement section is arranged below the main body of the unmanned air vehicle. As a result, the center of gravity of the unmanned air vehicle can be lowered and the flight of the unmanned air vehicle can be stabilized, thereby improving the reliability of measurement.

A measurement system according to an eleventh aspect is an unmanned flying object that moves to a measurement position by autopilot or remote control, and is equipped with a measurement unit that measures predetermined information at the measurement position. wherein the measurement unit has a sensor unit and a body unit including a display unit configured separately from the sensor unit and configured to display a measurement result, and the sensor unit of the measurement unit is connected to the unmanned flight It is arranged above the main body of the body, and the main body part of the measuring unit is arranged below the main body of the unmanned air vehicle.

According to the eleventh aspect, the unmanned flying object moves to the measurement position by autopilot or remote control, and the unmanned flying object is equipped with a measurement unit that measures predetermined information at the measurement position. In addition, it is not necessary for an operator with a measurement unit such as an illuminance meter to move to each measurement position to measure the illuminance, etc., and it is possible to measure predetermined information while reducing manpower.

According to the eleventh aspect, similarly to the tenth aspect, the sensor section of the measurement section is arranged above the main body of the unmanned air vehicle, and the main body section of the measurement section is located above the unmanned air vehicle. Since it is located below the main body, the center of gravity of the unmanned air vehicle can be lowered and the flight of the unmanned air vehicle can be stabilized, thereby improving the reliability of measurement.

A measurement system according to a twelfth aspect is the measurement system according to any one of the first to eleventh aspects, wherein the predetermined information includes illuminance.

Although the twelfth aspect is an example of illuminance measurement, in the first to eleventh aspects, the object to be measured is not limited to illuminance, but may be luminance or other environmental information.

A measurement system according to a thirteenth aspect is the measurement system according to the twelfth aspect, wherein the orientation of at least the sensor portion of the measurement section with respect to the unmanned air vehicle can be switched by 90 degrees.

According to the thirteenth aspect, since the orientation of at least the sensor section of the measurement section with respect to the unmanned air vehicle can be switched by 90 degrees, even if the measurement section has only a single sensor section, the unreasonable flight is not possible. Horizontal and vertical illuminance can be measured without taking any posture.

A measurement result presentation program according to a fourteenth aspect is a program for causing a computer to function as the measurement result presentation device of the measurement system according to any one of the first to sixth aspects. Examples of the computer include tablets, smartphones, notebook personal computers, and the like.

According to the present invention, a measurement system capable of improving the reliability of measurement while using an unmanned air vehicle equipped with a measurement unit, and a measurement result presentation program that can be used in such a measurement system are provided. can do.

1 is a schematic configuration diagram showing a measurement system according to a first embodiment of the invention; FIG. FIG. 2 is a schematic diagram showing an aerial photograph of an area of a race track plotted with measurement locations and describing flight paths for predetermined rounds, according to an example; 2 is a schematic block diagram showing an unmanned air vehicle in FIG. 1; FIG. FIG. 2 is a schematic front view schematically showing the unmanned air vehicle in FIG. 1; 3A and 3B are side views of the main parts schematically showing a state of the unmanned flying object in FIG. 1 when measuring horizontal illuminance and a state when measuring vertical illuminance; FIG. FIG. 2 is a schematic block diagram showing a manipulator in FIG. 1; FIG. 2 is a schematic block diagram showing a measurement result presentation device for witnesses in FIG. 1; 2 is a diagram schematically showing an example of a display image displayed on a display unit of the measurement result presentation device for witnesses in FIG. 1; FIG. FIG. 2 is a schematic configuration diagram showing a measurement system according to a second embodiment of the invention; FIG. FIG. 10 is a schematic block diagram showing a measurement result presentation device for an assistant in FIG. 9;

A measurement system and a measurement result presentation program according to the present invention will be described below with reference to the drawings.

[First embodiment]

FIG. 1 is a schematic configuration diagram showing a measurement system 1 according to a first embodiment of the invention.

A measurement system 1 according to the present embodiment is a system for measuring illuminance at a predetermined number of measurement positions P in a boat racing course where a large lighting device (not shown) is arranged.

FIG. 2 is an aerial photograph (equivalent to a two-dimensional map of latitude and longitude) of a partial area of a boat racing track according to an example, in which measurement positions P are plotted with black circles and a predetermined flight path L is described. 1 is a schematic diagram showing the . However, in FIG. 2, the route from the takeoff position on the ground to the measurement position P on the one end side of the flight route L and the measurement position P on the other end side of the flight route L from the measurement position P on the ground Illustration of the route to the landing position is omitted. Note that one flight is the flight from the takeoff position on the ground until the unmanned flying object 11 lands on the next landing position on the ground. In FIG. 2, 82, 83, 84 are boundary formations (such as wave dissipating devices) forming the outer boundary of a playing area 81 near the shore of the sea, and 85 is a stand.

The facility where the measurement system according to the present invention measures the illuminance etc. is not limited to the boat race track, but other outdoor or indoor stadiums (for example, baseball stadium, soccer field, track and field stadium, tennis stadium, racetrack, auto race track) ) and so on.

As shown in FIG. 1, the measurement system 1 according to the present embodiment includes an unmanned flying object 11 that moves to a measurement position P by autopilot or remote control, a manipulator 12, and a measurement result presentation device 13 for witnesses. I have.

In this embodiment, unmanned flying object 11 is equipped with two communication units 27A and 27B, manipulator 12 has three communication units 67A, 67B, and 67C, and measurement result presentation device 13 for witnesses has one It has one communication section 75 . As will be described later, wireless communication is performed at different frequencies between the communication units 27A and 67A, between the communication units 27B and 67B, and between the communication units 67C and 75. . The antennas of the communication units 27A and 27B may be separate, or one antenna may be shared. Similarly, the antennas of the communication units 67A, 67B, and 67C may be separate, or one antenna may be shared.

FIG. 3 is a schematic block diagram showing the unmanned air vehicle 11 in FIG. FIG. 4 is a schematic front view schematically showing the unmanned air vehicle 11 in FIG. FIG. 5(a) is a side view of the main part schematically showing the state of the unmanned flying object 11 in FIG. 1 when the horizontal plane illuminance is measured. FIG. 5(b) is a side view of the main part schematically showing the state of the unmanned flying object 11 in FIG. 1 when the vertical surface illuminance is measured.

In this embodiment, the unmanned flying object 11 is called a drone or a multicopter, and as shown in FIG. A plurality of (for example, four, six or eight) rotor blades 31 and a skid 51 are provided.

Further, in the present embodiment, as shown in FIG. 3, the unmanned flying object 11 includes a CPU 21, a ROM 22, a RAM 23, and external devices (not shown) in addition to the two communication units 27A and 27B described above. An input/output interface 24 to be connected, a display unit 25 such as a liquid crystal display panel, a camera (digital camera) 26 for capturing an image of the front of the unmanned air vehicle 11 for use in manual remote control, etc., and a hard disk. A storage device 28 such as , SSD or eMMC, a GPS receiver 29 as a position detector for detecting the current position of the unmanned air vehicle 11, and various sensors for controlling flight and attitude such as a gyro and an acceleration sensor. a sensor group 30 including a sensor group 30, a motor 32 that rotates a rotor blade 31, a drive unit 33 that drives the motor 32 under the control of the CPU 21, and predetermined information at the measurement position P (illuminance in this embodiment). an illuminometer 34 as a unit, an illuminometer display unit imaging camera (digital camera) 35 as an imaging unit for capturing an image displayed on the display unit 44 of the illuminometer 34, and a secondary device that supplies power to elements other than the illuminometer 34 A battery 37 consisting of a battery and a bus 36 for interconnecting each element other than the illuminance meter 34 as shown in FIG. 2 are mounted.

Various programs are pre-installed in the storage device 28, and the CPU 21 and the like implement the functions described below by reading and executing the programs and the like.

Although not shown in the drawing, most of the elements in FIG.

In the present embodiment, the illuminance meter 34 is a handy type so-called digital illuminance meter, and has a light receiving section 41 as a sensor section and a body section 42 configured separately from the light receiving section 41. . A cable (not shown) connects between the light receiving portion 41 and the main body portion 42 . The main unit 42 includes a display unit 44 for displaying numerically the illuminance value as the measurement result, and a display unit 44 that receives the light reception signal from the light receiving unit 41, obtains an illuminance value corresponding to the light reception signal, and displays the illuminance value on the display unit 44. and a battery 45 such as a dry battery for supplying power to each part. Although not shown in the drawing, the illuminance meter 34 has a power switch, and when the power is turned on by the power switch, the illuminance measurement operation is repeated until the power is turned off, and the illuminance value measured in real time is It continues to be displayed on the sequential display unit 41 .

In this embodiment, the main body 42 of the illuminance meter 34 is detachably attached to the main body 51 of the unmanned air vehicle 11 by means of a fixture 54, and is arranged below the main body 51, as shown in FIG. . The illuminance meter display section imaging camera 35 is attached to the main body 51 by a mounting tool 55 and is disposed below the main body 51 so as to face the display section 44 of the illuminometer 34 .

In this embodiment, as shown in FIGS. 4 and 5, the light receiving part 41 of the illuminance meter 34 is attached at its lower end to the upper end of the support 53 fixed to the upper part of the body 51 of the unmanned aircraft 11 by means of a fixture 56. It is detachably attached and arranged above the main body 51 . In FIGS. 4 and 5, 41a is a light receiving window of the light receiving section 41. FIG. In the present embodiment, as shown in FIG. 5, the orientation of the light receiving section 41 can be manually switched by 90 degrees with respect to the unmanned flying object using a fixture 56. The orientation for measurement and the orientation for vertical surface illuminance measurement can be switched. Various known structures can be adopted for the specific structure of the attachment 56 itself.

In this embodiment, in the autopilot mode, the unmanned air vehicle 11 is flown multiple times to measure horizontal and vertical illumination at all predetermined measurement positions P on the boat racing track. The reason for performing multiple flights in this way is that if one flight attempts to move to all the measurement positions P, there is a possibility that the remaining amount of the battery 37 will run out on the way, and if the aircraft does not land once, This is because the orientation of the light receiving part 41 of the illuminometer 34 cannot be switched from the orientation for measuring horizontal illumination shown in FIG. 5(a) to the orientation for measuring vertical illumination shown in FIG. 5(b), or vice versa. is. However, for example, the capacity of the battery 37 is sufficiently large for the power consumption when moving to all the measurement positions P in one flight and performing measurements at those positions, and the horizontal plane illuminance measurement and vertical plane Either only one of the surface illuminance measurements is measured, or the direction of the light receiving unit 41 is switched by remote control using an actuator for switching the direction of the light receiving unit 41, or two illuminance meters 34 are provided. If one is attached for horizontal illumination measurement and the other is attached for vertical illumination measurement, measurement can be performed at all the predetermined measurement positions P of the boat racing course by one flight of the unmanned air vehicle 11. can.

FIG. 6 is a schematic block diagram showing the manipulator 12 in FIG. In addition to the three communication units 67A, 67B, and 67C described above, the operation device 12 includes a CPU 61, a ROM 62, a RAM 63, an input/output interface 64 connected to external devices (not shown), and a display such as a liquid crystal display panel. 65, a storage device 68 such as a hard disk, SSD, or eMMC, an operation unit 66 for the operator to give various instructions to the unmanned air vehicle 11, and mutual communication between them as shown in FIG. and a battery 70 comprising a secondary battery for supplying power to each element in FIG.

Various programs are pre-installed in the storage device 68, and the CPU 61 and the like implement the functions described below by reading and executing the programs and the like.

In the present embodiment, the following data are stored in advance in the storage device 68 using, for example, a personal computer connected to the input/output interface 64 . That is, in the storage device 68, the total area including all the predetermined measurement positions P of the boat racing course is divided into N (N is an integer of 2 or more) corresponding to each of N divided areas. , data indicating the measurement position P included in the divided area, and data indicating the flight path in which the measurement position P included in the divided area is traced in a unicursal manner and the path length is as short as possible (flight path corresponding to the divided area data), and the aerial photograph data corresponding to the divided area is stored in advance. For example, if one of the N divided areas is the area shown in FIG. 2, the storage device 68 stores the measurement position P in FIG. , data indicating the flight path L in FIG. data) is stored in advance.

FIG. 7 is a schematic block diagram showing the witness measurement result presentation device 13 in FIG. The measurement result presentation device 13 for witnesses presents the measurement results in real time to a witness (measurement witness) such as an administrator of a facility (in this embodiment, a boat racing course) where illuminance is measured. Witness measurement result presentation device 13 includes, in addition to one communication unit 75 described above, CPU 71, ROM 72, RAM 73, input/output interface 74 connected to external devices (not shown), hard disk, SSD or eMMC. etc., a touch panel that also serves as a display unit 77 and an operation unit 78, a bus 79 interconnecting these as shown in FIG. 7, and a secondary battery that supplies power to each element in FIG. and a battery 80 consisting of

In addition to the measurement result presentation program, various programs are pre-installed in the storage device 76. By reading and executing the programs, etc., the CPU 71 and the like implement the functions described below. ing. The computer constituting the measurement result presentation device according to the present invention is not limited to a personal computer, and may be a tablet, a smart phone, or the like.

When the illuminance is measured in the autopilot mode, the operator confirms the orientation of the light receiving section 41 of the illuminometer 34 while the unmanned flying object 11 is on the ground, and then confirms that the orientation is as shown in FIG. When the orientation of the horizontal plane illuminance measurement shown in is set, one unselected divided area is selected from the N divided areas by the autopilot mode, and the horizontal plane illuminance measurement is performed for the divided area. An instruction is given by the operation unit 66 of the operation device 12 .

In response to this instruction, the CPU 61 of the manipulator 12 reads out the measurement position P in the divided area and the flight path L corresponding to the divided area, which are pre-stored in the storage device 68, and the unmanned flying object 11 It flies along the flight path L, stops at each measurement position P in a predetermined attitude for a predetermined time, and finally issues a control command necessary for landing at the final landing position on the flight path L. , to the unmanned flying object 11 via wireless communication between the communication unit 67A and the communication unit 27A. The CPU 21 of the unmanned flying object 11 realizes the operations of the unmanned flying object 11 described above by controlling the drive unit 33, the rotor blades 31, etc. according to the control command. In this embodiment, the altitude of the unmanned aerial vehicle 11 is maintained at a predetermined low altitude within a range where waves and the like do not hit, for example.

During the operation of the unmanned flying object 11 , the CPU 61 of the manipulator 12 controls the current position (latitude/longitude) and altitude of the unmanned flying object 11 from the GPS receiver 29 and the signals from the sensor group 30 . The posture and speed of the body 11, the display image of the display section 44 of the illuminometer 34 captured in real time by the camera 35 for imaging the illuminometer display section, and the like are transmitted between the communication section 27B and the communication section 67B in real time. to the operating device 12 via wireless communication. The CPU 61 of the manipulator 12 receives the information sent from the unmanned flying object 11, the measurement position P in the currently selected divided area, the flight path L corresponding to the divided area, and the corresponding divided area. Based on the aerial photograph data, image data such as the display image shown in FIG. 75 to the measurement result presentation device 13 for witnesses in real time. The CPU 71 of the measurement result presentation device for witness 13 adds the display of the display area 88 (for example, the display for the predetermined operation of the touch panel) to the image sent from the operation machine, and displays the display image as shown in FIG. is displayed on the touch panel functioning as the display unit 77 .

FIG. 8 is a diagram schematically showing an example of a display image displayed on the display unit 77 of the measurement result presentation device for witness 13 in FIG. The display image shown in FIG. 8 shows an example in which the currently selected divided area is the area shown in FIG. The display image shown in FIG. 8 is a superimposed image obtained by superimposing a mark G indicating the current position of the unmanned air vehicle 11 on an image obtained by superimposing an aerial photograph, a flight route L, and a measurement position P corresponding to the divided area. An image 86 captured by the camera 35 for capturing an illuminance meter display section including a display image 86a of the display section 44 of the illuminance meter 34, the display of the display area 88, and the display of the display area 87 are combined. Although not shown in FIG. 8, in the display area 87, the latitude, longitude, and altitude indicating the current position of the unmanned flying object 11, the speed of the unmanned flying object 11, and, if necessary, the current measurements are displayed on the horizontal plane and the vertical plane. A display indicating which surface illuminance is being measured, the current attitude of the unmanned flying object 11, and the like are displayed.

In the present embodiment, the CPU 61 of the operation device 12 selects the display mode by the operation unit 66 to display the image shown in FIG. 12 display units 65 are configured to display the information. In this display mode, the manipulator 12 also functions as a measurement result presentation device. In this display mode, the CPU 61 of the operation device 12 displays the timing (measurement timing) after a predetermined time has passed since the unmanned flying object 11 has stopped at each measurement position, by displaying the display unit 65 or by using sound or the like. Notify the assistant in In this embodiment, the operator or the assistant sees the display image on the display unit 65, which is the display image shown in FIG. is recorded by writing on the recording paper. Further, at the measurement timing, the CPU 61 of the operation device 12 causes the storage device 68 to readably store an image such as the display image shown in FIG. The image stored in this way corresponds to an example in which the measurement result of the illuminance and the current position of the unmanned air vehicle 11 at the time when the measurement result was obtained are associated with each other. Such images can be read by a personal computer connected to the input/output interface 64, for example. Instead of storing such an image in the storage device 68 in a readable manner, the CPU 21 of the unmanned flying object 11 stores the image captured by the illuminance meter display unit imaging camera 35 and the current position from the GPS receiver 29 at the measurement timing. In association with each other, if necessary, information such as the attitude and speed of the unmanned flying object 11 at the measurement timing may also be associated with each other and stored in the storage device 28 of the unmanned flying object 11 . Such information can be read by, for example, a personal computer connected to the input/output interface 24 after the unmanned air vehicle 11 has landed.

In this way, when the horizontal plane illumination measurement for the currently selected divided area is completed and the unmanned flying object 11 lands, the operator or the like replaces the battery 37 of the unmanned flying object 11 with a charged one. , after switching the direction of the light receiving part 41 of the illuminometer 34 to the direction of the vertical plane illuminance measurement shown in FIG. Measure the vertical illuminance of the divided area. In this embodiment, the measurement position for horizontal illumination measurement is the same as that for vertical illumination measurement, but both may be different in the present invention.

In this way, when both the horizontal plane illuminance measurement and the vertical plane illuminance measurement are completed for the currently selected divided area, the horizontal plane illuminance measurement and the vertical plane illuminance measurement are similarly performed for one unselected divided area. The measurement is performed sequentially, and when both the horizontal surface illumination measurement and the vertical surface illumination measurement are completed for all the divided areas, a series of measurements is completed.

In this embodiment, not only illumination measurement in autopilot mode but also illuminance measurement in manual remote control mode can be performed.

For example, when measuring the illuminance at a desired measurement position other than the measurement position P in the autopilot mode in response to a request from the witness who is in the VIP seat of the stand (for example, a request by a transceiver), the operator switches the direction of the light receiving part 41 of the illuminometer 34 to the required horizontal plane illuminance measurement or vertical plane measurement direction while the unmanned air vehicle 11 is on the ground. After that, the operator uses the operating unit 66 of the operating device 12 to give an instruction to manually measure the illuminance in the remote control mode. In response to this instruction, the operator can operate the operation unit 66 to move the unmanned flying object 11 to a desired measurement position and to stop it at a desired orientation in the same manner as a normal manual remote operation of a drone. If possible, do so. At this time, the CPU 61 of the operation device 12 uses the current position information of the unmanned flying object 11 from the unmanned flying object 11 to determine whether the divided region containing the current position out of the N divided regions is in the autopilot mode. For example, the display image as shown in FIG. 8 or an image excluding the display of the display area 88 is displayed on the display unit 77 of the measurement result presentation device for witness 13 or the operation device 12. Displayed in real time on the unit 65 . In such an image, the mark G at the current position is often off the flight path L. Then, when the operator instructs through the operation unit 66 that the unmanned flying object 11 has stopped at the desired measurement position in the desired orientation and the desired measurement timing has come, the CPU 61 of the operation device 12 responds to this instruction. causes the storage device 68 to readably store an image such as the one shown in FIG. Also, at this measurement timing, the operator or the assistant sees the display image on the display unit 65, which is the display image shown in FIG. is recorded by writing on the recording paper.

According to this embodiment, the unmanned flying object 11 moves to a measurement position by autopilot or remote control, and includes the unmanned flying object 11 on which the illuminance meter 34 for measuring the illuminance at the measurement position is mounted. Therefore, there is no need for a person holding the illuminance meter 34 to move to each measurement position to measure the illuminance, and the illuminance can be measured while reducing manpower.

Then, according to the present embodiment, it functions as the measurement result presentation device 13 or the measurement result presentation device that receives the measurement result from the illuminance meter 34 outside the unmanned flying object 11 via wireless communication and presents it to a person in real time. Since the manipulator 12 is provided, the person can confirm the measurement result in real time. Therefore, if the presented measurement results deviate significantly from the expected results, it is possible to know in real time that the measurement is being performed in an abnormal state. It is possible to check whether the flying object 11 and the illuminance meter 34 are out of order, and if they are out of order, repair or replace them, and then perform measurement in a normal state, thereby improving the reliability of the measurement. can be improved. In addition, since a witness other than the measurement person receives the measurement result by the measurement result presentation device 13 for the witness, it helps the witness to confirm that the measurement is being performed properly. Since it becomes difficult to perform fraudulent measurements, the reliability of measurements can be improved.

Further, in the present embodiment, the display section of the illuminometer 34 is imaged by the illuminometer display section imaging camera 35 on the unmanned air vehicle 11, and the imaged display image is sent to the witness for measurement via wireless communication. It is displayed on the display unit 77 of the result presentation device 13 and the display unit 65 of the operation device 12 functioning as the measurement result presentation device. Therefore, according to the present embodiment, it is possible to use, as the illuminance meter 34, an illuminance meter such as a handy type that does not have a function of outputting the measurement result as a data signal. For this reason, according to the present embodiment, even an illuminance meter such as a handy type that does not have a function of outputting the measurement result as a data signal can receive a predetermined certification or test for reliability. A high luminometer can be used as the luminometer 34, which can improve the reliability of the measurement. The illuminance meter 34 may have a function of not only displaying the measurement result on the display unit but also outputting the measurement result as a data signal.

Furthermore, according to the present embodiment, not only the measurement result but also the measurement result of the unmanned flying object 11 is obtained by the operation device 12 functioning as a measurement result presentation device and the measurement result presentation device 13 for witnesses. It is more preferable because the current position is also presented in real time at the same time.

Furthermore, in the present embodiment, the measurement result presented by the operation device 12 functioning as a measurement result presentation device is recorded by writing or the like on recording paper by the operator or the assistant who receives the presentation. . According to the present embodiment, the measurement result and the current position of the unmanned flying object 11 when the measurement result was obtained are stored in the storage device 68 in a readable manner. By reading out the current position of the unmanned flying object 11 when the measurement result was obtained and collating it with the measurement result recorded by writing or the like, the obtained measurement result can be verified, thereby increasing the reliability of the measurement. can improve sexuality.

In this embodiment, the measurement result and the current position of the unmanned flying object 11 when the measurement result was obtained are stored in the storage device 68 in a readable manner. The final result is based on reading out the measurement result and the current position of the unmanned air vehicle 11 when the measurement result was obtained from the storage device 68 later without recording by writing on the recording paper by the assistant. You may use it as an objective measurement result. Even in this case, the possibility of erroneous writing can be reduced compared to recording by handwriting at the measurement site, thereby improving the reliability of the measurement.

In addition, in the present embodiment, the illuminometer 34 has a light receiving unit 41 and a main unit 42 including a display unit 44 configured separately from the light receiving unit 41 and displaying the measurement result. It is arranged above the main body 51 of the unmanned flying object 11 , and the main body part 42 of the illuminance meter 34 is arranged below the main body 51 of the unmanned flying object 11 . Therefore, the center of gravity of the unmanned flying object 11 is lowered, and the flight of the unmanned flying object 11 can be stabilized, thereby improving the reliability of measurement.

[Second embodiment]

FIG. 9 is a schematic configuration diagram showing a measurement system 101 according to a second embodiment of the invention. FIG. 10 is a schematic block diagram showing the measurement result presentation device 14 for the assistant in FIG. 9 of the measurement result presentation device 13 for the witness.

A measurement system 101 according to the present embodiment differs from the measurement system 1 according to the first embodiment in that a measurement result presentation device 14 for an assistant is added.

The assistant's measurement result presentation device 14 is basically configured in the same manner as the witness's measurement result presentation device 13, and includes elements 91 to 100 corresponding to the respective elements 71 to 80 of the witness's measurement result presentation device 13. have.

The assistant's measurement result presentation device 14 differs from the witness's measurement result presentation device 13 in that, in the assistant's measurement result presentation device 14, in the autopilot mode, the CPU 91 of the assistant's measurement result presentation device 14: The timing (measurement timing) at which a predetermined time has passed after the unmanned flying object 11 stops at each measurement position is notified to the assistant by display or sound on the display unit 97 . In the present embodiment, in the autopilot mode, the assistant sees a display image on the display unit 97 similar to the display image shown in FIG. is recorded by writing on the recording paper.

In the measurement result presentation device 14 for the assistant, unlike the measurement result presentation device 13 for the witness, the assistant can display the same display image as that shown in FIG. Looking at the image, the assistant uses the operation unit 98 to indicate that the unmanned flying object 11 has stopped at the desired measurement position in the desired orientation and the desired measurement timing has come.

According to the present embodiment, in addition to the advantages similar to those of the first embodiment, the advantage of reducing the burden on the operator can also be obtained.

Although each embodiment of the present invention has been described above, the present invention is not limited to these embodiments.

For example, in each of the above-described embodiments, the CPU 21 of the unmanned flying object 11 recognizes the illuminance value, which is the measurement result, from the display image of the display unit 44 of the illuminance meter 34 captured by the illuminance meter display unit imaging camera 35, Instead of the imaged display image, the recognized illuminance value is sent to the operation device 12 in real time via wireless communication between the communication unit 27B and the communication unit 67B, and the display image as shown in FIG. In an image excluding the display of the display area 88, the recognized illuminance value is replaced with the captured image 86 of the illuminance meter display unit imaging camera 35 including the display image 86a of the display unit 44 of the illuminance meter 34. You may make it display.

Further, in each of the above-described embodiments, the CPU 61 of the operation device 12 recognizes the illuminance value, which is the measurement result, from the display image of the display unit 44 of the illuminance meter 34 sent from the unmanned flying object 11, and is shown in FIG. In the display image as shown and the image excluding the display of the display area 88, instead of the captured image 86 of the illuminometer display section imaging camera 35 including the display image 86a of the display section 44 of the illuminometer 34, The recognized illuminance value may be displayed.

Furthermore, in the present invention, each of the above-described embodiments may be appropriately modified so as to realize the measurement system according to each of the above-described aspects. For example, the present invention does not necessarily require a measurement result presentation device.

Furthermore, the present invention can be applied not only to the measurement of illuminance, but also to the measurement of luminance and other information.

REFERENCE SIGNS LIST 1, 101 measurement system 11 unmanned flying object 12 operator 13 measurement result presentation device for witness 14 measurement result presentation device for assistant 34 illuminometer 35 illuminometer display unit imaging camera

Claims (13)

An unmanned air vehicle that moves to a measurement position by autopilot or remote control, and is equipped with a measurement unit that measures predetermined information at the measurement position;
A manipulator having an operation unit for an operator to give instructions to the unmanned air vehicle, wherein the measurement results obtained by the measurement unit are received outside the unmanned air vehicle via wireless communication, and are controlled in real time by the operator or the operator. an operation device having a function of presenting it to an assistant who is next to it;
with
The manipulator has a function of notifying the timing when a predetermined time has elapsed since the unmanned flying object stopped at the measurement position.
A measurement system characterized by: The measurement unit has a first display unit that displays the measurement result,
The unmanned air vehicle includes an imaging unit that captures an image displayed on the first display unit, and a first communication unit that wirelessly transmits transmission information including the display image captured by the imaging unit in real time. is installed,
The operating device includes a second communication unit that receives the transmission information transmitted by the first communication unit directly or via a relay means, and the transmission information received by the second communication unit. a second display unit that displays at least the display image in real time;
2. The measuring system according to claim 1, characterized in that: The measurement unit has a first display unit that displays the measurement result,
The unmanned air vehicle includes an imaging unit that captures an image displayed on the first display unit, a recognition unit that recognizes the measurement result from the display image captured by the imaging unit, and a and a first communication unit that wirelessly transmits transmission information including the measurement result in real time,
The operating device includes a second communication unit that receives the transmission information transmitted by the first communication unit directly or via a relay means, and the transmission information received by the second communication unit. and a second display unit that displays at least the measurement results in real time,
2. The measuring system according to claim 1, characterized in that: The measurement unit has a first display unit that displays the measurement result,
The unmanned air vehicle includes an imaging unit that captures an image displayed on the first display unit, and a first communication unit that wirelessly transmits transmission information including the display image captured by the imaging unit in real time. is installed,
The operating device includes a second communication unit that receives the transmission information transmitted by the first communication unit directly or via a relay means, and the transmission information received by the second communication unit. A recognition unit that recognizes the measurement result from the display image of the display unit, and a second display unit that displays the measurement result recognized by the recognition unit in real time,
2. The measuring system according to claim 1, characterized in that: The unmanned flying object is equipped with a position detection unit that detects the current position of the unmanned flying object,
The manipulator receives the current position together with the measurement result via wireless communication and presents it to the operator or an assistant next to him in real time.
5. The measurement system according to any one of claims 1 to 4, characterized in that: The unmanned flying object is equipped with a position detection unit that detects the current position of the unmanned flying object,
A storage unit that stores the measurement result and the current position at the time when the measurement result was obtained in a readable manner in association with each other,
6. The measurement system according to any one of claims 1 to 5, characterized in that: A measurement system comprising an unmanned air vehicle that moves to a measurement position by autopilot or remote control, and is equipped with a measurement unit that measures predetermined information at the measurement position,
The measuring unit has a display unit for displaying the measurement result,
The unmanned air vehicle is equipped with an imaging unit that captures an image displayed on the display unit,
A measurement result presentation device that receives the measurement results obtained by the measurement unit outside the unmanned air vehicle via wireless communication and presents them to a person in real time, the operation unit being used by an operator to give instructions to the unmanned air vehicle. A measurement result presentation device separate from the operation device having
The measurement result presentation device has a function of notifying the timing when a predetermined time has passed since the unmanned flying object stopped at the measurement position.
A measurement system characterized by: The unmanned flying object includes a position detection unit that detects the current position of the unmanned flying object, a display image captured by the imaging unit or the measurement result recognized from the display image, and the measurement result. 8. The measurement system according to claim 7, further comprising a communication unit that wirelessly transmits transmission information including the current position when the measurement system is detected. The unmanned flying object includes a position detection unit that detects the current position of the unmanned flying object, a display image captured by the imaging unit or the measurement result recognized from the display image, and the measurement result. 9. The measurement system according to claim 7, further comprising a storage unit for readablely storing the current positions when the measuring system is detected in association with each other. The measuring unit has a sensor unit and a main unit including a display unit that is configured separately from the sensor unit and displays a measurement result,
the sensor unit of the measurement unit is arranged above the main body of the unmanned air vehicle;
the main body of the measurement unit is arranged below the main body of the unmanned air vehicle,
10. The measurement system according to any one of claims 1 to 9, characterized in that: A measurement system comprising an unmanned air vehicle that moves to a measurement position by autopilot or remote control, and is equipped with a measurement unit that measures predetermined information at the measurement position,
The measurement unit has a sensor unit and a body unit including a measurement result display unit configured separately from the sensor unit,
the sensor unit of the measurement unit is arranged above the main body of the unmanned air vehicle;
the main body of the measuring unit is arranged below the main body of the unmanned air vehicle;
A measurement result presentation device that receives the measurement results obtained by the measurement unit outside the unmanned air vehicle via wireless communication and presents them to a person in real time, the operation unit being used by an operator to give instructions to the unmanned air vehicle. A measurement result presentation device separate from the operation device having
The measurement result presentation device has a function of notifying the timing when a predetermined time has passed since the unmanned flying object stopped at the measurement position.
A measurement system characterized by: 12. The measurement system according to any one of claims 1 to 11, wherein said predetermined information includes illuminance. 13. The measurement system according to claim 12, wherein the orientation of at least the sensor section of the measurement section with respect to the unmanned air vehicle can be switched by 90 degrees.

Images