JP2007050871A - Flying robot control device and flying robot control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a flying robot used in a place where humans cannot directly look at and control the flying robot from being collided with and contacted with surrounding objects, and to enable a navigator to control the flying robot while confirming its orientation. <P>SOLUTION: An object approach detecting sensor and/or an azimuth detecting sensor is mounted to the flying robot. In addition to image information of a camera observing the surrounding of the flying robot, information detected by the object approach detecting sensor and/or the azimuth detecting sensor is sent to the navigator side and displayed on a monitor screen. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a flying robot maneuvering apparatus and maneuvering method that can be maneuvered by a human without directly viewing the flight situation.

  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). .

  In addition to this, the flying robot can be used for various purposes such as observation of damage caused by plant pests, observation of the nests of protected birds and animals, contact with workers at disaster sites, and transportation of instructions and drawings. It is considered effective.

  In general, flying robots are indispensable in places where humans cannot easily approach because they are narrow in location or are expected to be harmed.

  Therefore, it is desirable for the flying robot to be maneuverable even if a human does not directly observe the flight status.

  In addition to being able to move freely in the space, it is preferable to be able to stop in the air.

  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.

  A flying robot maneuvering method has yet to be established that allows a human to freely control the location and space posture without directly looking at the flying robot. However, Non-Patent Document 2 discloses that a flying robot has a visual function and GPS ( It has been shown that it is effective to control by the Global Positioning System.

  In Patent Document 2 and Non-Patent Document 4, even if a flying robot is simply provided with a visual function, and the image of the mounted camera is projected on a monitor screen, the relative relationship between the image and the flying robot is grasped. Because it is not possible to predict how the image will change if you steer it, even if the obstacle to avoid on the monitor screen looks very good, it will not hit well or the target will be well Although it was visible, it was shown that it would cause a situation where the target was accidentally lost due to steering.

  As a solution to this problem, Patent Document 2 includes 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. It is shown that it is effective if at least a part of an object enters the field of view of the camera as a foreground of an observation scene and is projected on the monitor screen of the camera.

  However, in order to control the flying robot so that the flying robot does not collide with or contact with surrounding objects, a visual function is provided and as disclosed in Patent Document 2 above. A marker object for recognizing a part or end of the flying robot, and a camera for observing the periphery of the flying robot including the marker object, wherein at least a part of the marker object is within the field of view of the camera It is not always sufficient to make it appear as a foreground of the observation scene and to be displayed on the monitor screen of the camera.

That is, it is necessary to properly transmit the robot heading information and the prediction information of the possibility of collision and contact with surrounding obstacles to the pilot.
Japanese Patent Application No. 2003-436851 Japanese Patent Application No. 2004-201188 Journal of Precision Engineering, Vol. 66, No. 4, p. 594-600 Journal of Japan Society for Mechanical Engineering, Vol. 106, no. 1019, p. 16-19 Mechanical Design, Vol. 48, No. 2, p. 1-4 Proceedings of 2004 Annual Conference of the Institute of Electrical Engineers of Japan, p. 53

  The problem to be solved by the present invention is to realize a flying robot capable of recognizing surrounding conditions without being directly viewed by humans and controlling the position and space posture freely. It is to obtain the measures provided by the line.

  In order to solve the above problems, the flying robot control apparatus of the present invention is provided with a camera that observes the surroundings of the flying robot, an object proximity detection sensor, and / or an orientation detection sensor, and the object proximity detection sensor and / or The detection information of the azimuth detection sensor is displayed in the monitor visual field on the driver side in addition to the video signal of the camera as the object proximity warning mark and the distance value to the object and / or the azimuth display.

  In addition, the flying robot control method of the present invention includes a monitor image in which an object proximity warning mark and a distance value to the object and / or an orientation display are added to the image of a camera that observes the periphery of the flying robot attached to the flying robot. The flying robot is controlled while referring to the flight robot.

  According to the present invention, a warning indicating that a nearby object detected by the object proximity detection sensor is approaching, a distance to the object, and / or a direction information of the flying robot detected by the direction detection sensor are displayed. Since it is inserted into a camera image used as a visual function and transmitted to the operator, it is not necessary to send the output signal of the object proximity detection sensor and / or the direction detection sensor to the operator via another communication line, and the communication line is not increased. It will end.

  When communication is performed wirelessly, the wireless range depends on the wireless output, so the fact that the number of lines does not increase means that power consumption is reduced. It means that you can control for a long time.

  In addition, since the number of wireless transmission circuits can be reduced, it is possible to make a margin for the lift of the flying robot that has a limited loadable load.

  When communication is performed in a wired manner, the number of communication lines can be reduced, so that the communication lines can be made thinner and the communication lines can hardly affect the flight.

  When the flying robot approaches a surrounding object, a warning mark appears in the camera image that reflects the surroundings of the flying robot, so that attention can be paid so as not to approach further and collision and contact can be avoided.

  In addition, because the direction of the flying robot can be grasped while maneuvering, even if it flies in various directions during information gathering activities, or even if it is steered for the first time, it loses sight of the target direction and the direction to turn back. There is nothing.

  Since it is controlled by watching a warning mark and direction information display when approaching a surrounding object together with an image showing the surrounding state, the position and posture of the flying robot can be controlled easily and flexibly.

  The best mode for carrying out the present invention will be described with reference to FIG. FIG. 1 is an embodiment of a flying robot control apparatus according to the present invention, wherein (a) is an explanatory diagram of equipment provided in the flying robot, (b) is an explanatory diagram of equipment provided on the pilot side, and (c) is a pilot side. It is explanatory drawing of this monitor screen.

  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 such as a counter-rotating rotor blade and a cross-shaped four rotor blade 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 other than the rotating wing, a gas injection device, and 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. Then, marker objects 4 a, 4 b, 4 c, 4 d,... That indicate the ends of the flying robot are provided so as to fall within the shooting range of the camera 3.

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

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

  The marker objects 4a, 4b, 4c, 4d,... And the marker object support parts 5a, 5b, 5c, 5d,... Also serve as the leg portions of the flying robot and the protection portion of the levitation mechanism 2. Good. In FIG. 1A, the marker object support parts 5c and 5d also serve as legs of the flying robot.

  In addition, for example, as disclosed in Patent Document 2, a ring-shaped or skirt-shaped collision protector is provided, and a part or all of them may be used as marker objects 4a, 4b, 4c, 4d,. Good.

  Assuming that 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 periphery of the video shot is generally distorted. However, even if there is distortion, a wider field of view can accurately grasp the surrounding situation, and if you practice a little, the better You can control.

  Needless to say, two or more cameras 3 may be provided and the range to be projected may be divided.

  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.

  The operator operates the flying robot using the controller 7 while watching the image displayed on the screen of the monitor 6.

  For maneuvering, 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 8 and the switch 9 of the pilot 7. send.

  The number of joysticks 8 and switches 9 of the pilot machine 7 may be any number as necessary.

  Further, in the figure, the monitor 6 and the pilot 7 are drawn together, but it goes without saying that they may be separated.

  A mechanism for controlling the position and attitude 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 a helicopter, if the angle between the rotating surface of the main rotor blade and the base 1 of the flying robot is controlled, The movement to the left and right and the tilt angle can be controlled.

  Further, if a weight is mounted on the flying robot base 1 and its position is controlled, the center of gravity is changed and the inclination angle of the flying robot is changed, so that the forward / backward and left / right movement and the inclination angle can be controlled. .

  Moreover, if the auxiliary rotor blade 10 is provided and the rotation speed is controlled, the azimuth angle can be controlled.

  When the levitation mechanism 2 provided with a plurality of rotor blades such as a counter rotating rotor blade and a cross-shaped four rotor blade is used, the azimuth angle can be controlled even by controlling the rotation speed of the plurality of rotor blades.

  The above configuration is substantially the same as that disclosed in Patent Document 2, but in the present invention, in addition to the configuration described above, an arbitrary number of object proximity detection sensors 11a, 11b, 11c, ... and / or the azimuth detection sensor 12 is mounted.

  The object proximity detection sensors 11a, 11b, 11c to be used may be any sensor such as an ultrasonic transmission / reception sensor or PSD (Photo Sensitive Detector) sensor, and two or more kinds of sensors may be used in combination. .

  When the object proximity detection sensors 11a, 11b, 11c,... Approach an arbitrary object below a predetermined distance, a warning signal is output.

  Since both the ultrasonic transmission / reception sensor and the PSD sensor can detect the absolute distance, the distance value may be output in some cases.

  For example, when these sensors are attached to the lower side of the flying robot, the distance value is the flying height from the floor or the like, so that it is often easier to control if the value is known.

  When a proximity warning signal is output from the object proximity detection sensors 11a, 11b, 11c,..., A monitor screen so that the operator can immediately understand which side of the flying robot is approaching an obstacle. 6 is displayed.

  The display method on the monitor screen 6 may be performed in the same manner as a method of putting characters or symbols as a caption on the television monitor screen.

  An alarm mark and / or a distance indicator to surrounding objects, for example, a light emitting diode that lights up or blinks, a digital numeric display panel, an arrow display, etc. are actually placed within the viewing angle of the camera 3 and captured by the camera 3. Then, it may be displayed in the monitor screen 6.

  When the warning mark display body and / or the distance display body to the surrounding objects are actually placed on the screen of the camera 3, the place and arrangement of placing them are arbitrary. Marker object 4a, 4b, 4c, 4d,..., Marker object support parts 5a, 5b, 5c, 5d,... .

  The direction detection sensor 12 may be attached to an arbitrary place of the flying robot, and the method of displaying the output of the direction detection signal in the monitor screen 6 may be arbitrary.

  For example, even if “North”, “NW”,..., Or “N”, “NW”,... Of course, marks and arrows may be shown on the symbol display of the bearing board. You may make it display the mark which shows the direction which has just faced.

  Also, on the screen of the camera 3, for example, a mechanism in which a light emitting diode lights or blinks on a symbol display on a bearing board, a mechanism in which a digital azimuth is displayed numerically, a mechanism in which an azimuth is displayed with an arrow, etc. The video imaged by the camera 3 may be displayed in the monitor screen 6.

  FIG. 6C shows a part or all of the images 13a, 13b, 13c, 13d,... Of the marker objects 4a, 4b, 4c, 4d,. The situation where the scenery in front of the flying robot can be seen is shown.

  The screen imitates the situation in the room, and shows a state where one side on the floor 14 is a wall 15 and a wall 16 and a door 17 are in front. Reference numeral 18 denotes a ceiling.

  Reference numeral 19 denotes a display example of a proximity warning mark, which indicates that there is an obstacle on the left side based on the output of the object proximity detection sensor 11a and that it is in the range requiring attention. The marks shown short radially around the circle indicate that the proximity warning mark 19 is lit or flashing to alert the operator.

  Marks 20a, 20b, and 20c drawn with broken lines are not displayed at this time, but indicate locations where proximity warning marks are displayed.

  Proximity warning mark has steps such as caution area and danger area according to the distance, changes display color, distinguishes between lighting and flashing, and emits sound from pilot 7 when it approaches considerably It is better to add a device such as warning, and in FIG. 1 (c), two types of proximity warning marks are prepared for one side, and only the proximity warning mark 19 is displayed on the left side at this stage. , Mark 20a indicates that it is not displayed.

  Reference numeral 21 denotes a display example of a distance to a close object. The distance to the obstacle on the lower side of the flying robot measured by the object proximity detection sensor 11c attached to the lower side of the flying robot is displayed, and the margin of the floating distance can be always grasped. 01.2 indicates a distance of 1.2 m.

  Reference numeral 22 denotes an example of azimuth display. By indicating the azimuth with an arrow mark, it is possible to always grasp the direction in which the flying robot is facing.

  Note that the number of the proximity detection sensors 11a, 11b, 11c,... And / or the azimuth detection sensor 12 may be arbitrary as necessary.

  The output of the proximity detection sensors 11a, 11b, 11c,... May be a proximity warning mark or a distance display to a proximity object.

  The flying robot maneuvering method of the present invention using the flying robot maneuvering apparatus of the present invention shown in FIG. 1 is self-evident, and the monitor 6 shows a scene image around the flying robot, a proximity warning mark and a proximity With reference to the display of the distance to the object and / or the display of the direction, the joystick 8 and the switch 9 of the controller 7 are operated to control the flying robot.

  Thus, according to the present invention, while visually confirming the warning mark indicating the proximity of the object, the distance to the object, and the azimuth angle of the flying robot in the image of the camera 3 that reflects the surroundings of the flying robot, The flying robot can be operated.

  For this reason, the flying robot can be operated without colliding with surrounding objects, and it can be targeted even if it flies in various directions during information gathering activities, or it can be operated in the first place. The flying robot can be maneuvered without losing sight of the direction and the direction of turning back.

  Further, since the detection information of the object proximity detection sensors 11a, 11b, 11c,... And the azimuth angle sensor 12 is sent to the operator of the flying robot as a video signal to be sent to the monitor 6, the sensor detection signal is transmitted. There is no need to increase communication lines and transmission equipment. 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 flight time when using the same battery power source.

  Embodiment of the flying robot of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Flying robot base 2 Levitation mechanism 3 Cameras 4a, 4b, 4c, 4d Marker object 6 Monitor 7 Pilots 11a, 11b, 11c Object proximity detection sensor 12 Direction detection sensors 13a, 13b, 13c, 13d Image of marker object 19 Proximity Warning mark 20a, 20b, 20c Location where proximity warning mark is displayed 21 Display example of distance to proximity object 22 Display example of direction

Claims (2)

  A camera for observing the surroundings of the flying robot and an object proximity detection sensor and / or direction detection sensor are attached to the flying robot, and the detection information of the object proximity detection sensor and / or direction detection sensor is used as a distance to the object proximity warning mark or the object. In addition to the video signal of the camera as a value and / or azimuth display, the flying robot control device is projected in the monitor field of view of the operator   Maneuvering the flying robot while referring to a monitor image in which an object proximity warning mark and a distance value to the object and / or a direction display are added to an image of a camera for observing the periphery of the flying robot attached to the flying robot Flying robot control method characterized by

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