JP2018084955A - Unmanned aircraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned aircraft having a function to execute active control in a traffic control system.SOLUTION: There is provided an unmanned aircraft 1 that is applied to a traffic control system constructed to have detection means 5 configured to sense a predetermined region by flying overhead above the ground to output sensing information; control instruction means 4 by which the sensing information is analyzed to acquire traffic information, and an instruction for controlling vehicle traffic is performed on the basis of the acquired traffic information; and display means 6 (61, 62) configured to display a display image based on the instruction. The unmanned aircraft provided with at least the detection means 5 and the display means 6 is possible to fly overhead at a desired position above the predetermined region.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an unmanned aircraft suitable for application to a traffic control system for realizing safe traffic and smooth traffic of pedestrians and vehicles on a road.

  As a traffic control system on a road, for example, an image pickup device is arranged at an intersection or road to image cars, pedestrians, etc., and traffic lights installed at intersections or roads in a traffic control center based on the obtained image are used. Control or control the display on the road sign display device composed of light-emitting diodes, liquid crystal display devices, etc. to ensure the safety of pedestrians at intersections and roads, ensuring safe and smooth driving of vehicles A traffic control system has been established.

  In such a traffic control system, since the imaging device is fixedly installed on the intersection or road, the imaging area is limited. It is possible to enlarge the imaging area by configuring the imaging device to be movable and moving in the vertical direction, or performing imaging while rotating the imaging device in the horizontal direction, but the imaging point is fixed, It is difficult to image an arbitrary imaging area, and there is a limit to enlargement of the imaging area.

  In recent years, a technique has been proposed in which an imaging device is mounted on an unmanned aerial vehicle represented by a drone to perform imaging. By using a drone equipped with such an imaging apparatus, it is possible to perform imaging while changing the imaging position, and it is possible to capture an arbitrary area and expand the imaging area. Japanese Patent Application Laid-Open No. 2004-133620 proposes a technique for enhancing the monitoring by capturing an image of the monitoring area with a flying device and capturing an image while tracking the tracking object moving in the monitoring area.

JP-A-2006-119626

  By applying the flying device of Patent Document 1 to a traffic control system, it is predicted that a desired area or a wide area of an intersection or a road can be imaged, and more public traffic support can be realized. However, since the flying device only has a function of imaging, it cannot be said that it sufficiently plays an active role in traffic control. In particular, at intersections where there are no traffic lights or roads where there are no sign display devices, even if traffic conditions including cars and pedestrians can be recognized, suitable traffic control corresponding to the traffic conditions is executed. It is not possible.

  An object of the present invention is to provide an unmanned aerial vehicle having a function of performing active control in a traffic control system.

  The unmanned aerial vehicle according to the present invention senses a predetermined region by flying over the ground, outputs sensing information, analyzes the sensing information to acquire traffic information, and obtains traffic based on the acquired traffic information. The present invention is applied to a traffic control system constructed by including a control instruction means for giving an instruction for control and a display means for displaying a display image based on the instruction. In addition, at least the detection means and the display means are provided, and it is possible to fly to a desired position above the predetermined area.

  The unmanned aerial vehicle according to the present invention preferably includes a flight control means for flying to a desired position above the predetermined area. It is preferable that the control instruction means is provided. Furthermore, it is preferable to provide a communication means for transmitting and receiving at least one of the sensing information, the traffic information, and the instruction to a traffic control center or a related department installed on the ground.

  According to the present invention, it is possible to sense intersections and roads with an unmanned aerial vehicle, analyze a traffic situation from the obtained sensing information, and display a display image based on an appropriate instruction corresponding to the traffic situation on the unmanned airplane. Thus, a suitable traffic control system that actively uses unmanned aerial vehicles can be constructed.

The external appearance perspective view of the drone to which this invention is applied. The external appearance perspective view which looked at the drone of FIG. 1 from diagonally downward. The block diagram of the internal structure of a drone. The conceptual diagram of the traffic control system constructed | assembled in Embodiment 1 (intersection without a traffic signal). The perspective view of the example of a display on the display of a drone. The perspective view of the example of a display with a drone projector. The conceptual diagram of the traffic control system constructed | assembled in Embodiment 2 (intersection with a traffic signal). The conceptual diagram of the traffic control system constructed | assembled in Embodiment 3 (highway).

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an external perspective view of a drone 1 as an unmanned aerial vehicle according to the present invention, and FIG. 2 is a perspective view of the drone 1 viewed obliquely from below. This drone is configured as a drone capable of performing a predetermined flight and operation based on a preset program. The drone has a frame 2, and the frame 2 includes a central cylindrical body 21 and four arms 22 protruding in the radial direction from the body 21. A motor 3 indicated by a broken line in FIG. 1 is fixed inside the tip of each arm 22, and a drone is made to fly by rotating a propeller 31 attached to a rotation shaft of each motor 3.

  A control unit 4 which will be described later is built in the trunk portion 21 so as to control the flight of the drone 1 by controlling the rotation of the motor 3 and to perform operations for traffic control as described later. It has become. The imaging device 5 is disposed below the trunk portion 21 and images a required area on the ground such as an intersection or a road existing below when the drone 1 is flying. Further, a display 61 as a display device 6 and a projector 62 are disposed at the lower portion of the body portion 21 and a sound generator 7 is attached so as to generate a sound, such as a display related to traffic control and an alarm. It has become.

  FIG. 3 is a block diagram of the internal configuration of the drone 1. The control unit 4 built in the body portion 21 of the frame 2 includes a flight controller 41, a GPS (Global Positioning System) 42, and a communication device 43.

  The flight controller 41 controls the rotation of each motor 3 based on position detection data detected by the GPS 42 or based on a command received via the communication device 43, and the flight height and position of the drone 1. Control movement speed, posture, etc. A predetermined program is set in the flight controller 41 in advance, and the flight of the drone 1 can be controlled by controlling the motor 3 according to the set program. The flight controller 41 constitutes flight control means for flying to a desired position above a predetermined area in the present invention.

  The control unit 4 includes a battery circuit 44 for controlling the battery 8 built in the body portion 21 of the frame 2. The battery 8 is a power source for the drone 1 and is composed of a rechargeable secondary battery. The battery circuit 44 detects the remaining amount of the battery 8 and is connected to a charging device 101 to be described later via a charging terminal 441 to execute charging control of the battery 8.

  The communication device 43 can perform wireless communication with a traffic control center and traffic lights and various measuring devices installed on a road through an antenna 431. Through this mutual communication, it is possible to transmit information acquired by the drone 1 to the traffic control center or to receive control information from the traffic control center. In addition, information and control signals can be transmitted and received between a traffic light and various measuring instruments. Communication of the communication device 43 is not limited to radio wave communication such as ultrashort waves and millimeter waves, and may be optical communication.

  The control unit 4 further includes a control controller 45. The control controller 45 can control the imaging device 5, the display device 6, the sound generation device 7, and the communication device 43. In particular, the control controller 45 controls the imaging operation of the imaging device 5 and transmits the captured image from the communication device 43. In addition, the control controller 45 analyzes the captured image and generates an instruction suitable for traffic control. Furthermore, it is possible to control an image to be displayed on the display device 6 based on an instruction, to control a display for traffic control, and at the same time to sound a predetermined alarm or the like in the sound generating device 7. The control controller 45 constitutes a control instruction means in the present invention.

  The imaging device 5 constitutes a detecting means in the present invention, and is configured to include a semiconductor imaging element such as a CCD or a CMOS, and is capable of imaging a predetermined area below the drone 1 in a flying state. It is possible. The imaging device 5 may include an infrared imaging device so that night imaging can be performed. Or you may provide the illuminating device which illuminates an imaging region. The imaging device 5 may have a fixed imaging optical axis, or may be configured to be tiltable in an arbitrary direction. Further, the image capturing angle of view may be changed by a zoom mechanism. This imaging device 5 constitutes a detecting means for detecting sensing information in the present invention.

  The display device 6 includes the display 61 and the projector 62 as described above. The display 61 is formed in a square cylinder having four side surfaces, and each of these four side surfaces is configured as a display surface 611 of a liquid crystal display device or the like. By the control by the control controller 45, it is possible to perform a predetermined display on all or selected portions of the four display surfaces 611.

  The projector 62 is configured to project an image displayed on a liquid crystal panel, for example, by a projection optical system, and emits projection light downward or obliquely downward of the drone 1 under the control of the control controller 45, and the lower region The image can be projected and displayed on the road surface of the road.

  Note that legs 9 are respectively provided below the drone 1, in this case, at the bottom of the four corners of the display 61, to prevent damage to the imaging device 5 and the projector 62 when landing.

  Embodiments 1 to 3 will be described as a traffic control system using the drone having the above configuration. In the first to third embodiments, three forms of “intersection without traffic light”, “intersection with traffic light”, and “highway” will be described as representative examples.

(Embodiment 1: Intersection without traffic lights)
FIG. 4 is a conceptual diagram of the traffic control system according to the first embodiment. The drone 1 departure / arrival place 100 is installed in the vicinity of the intersection where there is no traffic signal, and the drone 1 uses the departure / arrival place 100 as a base. When the drone 1 flies, the flight controller 41 flies over the intersection while checking its own flight position based on the position detection signal of the GPS 42.

  The departure / arrival place 100 is provided with a charging device 101 using a commercial power source or the like. The drone 1 always flies over the intersection, and the remaining amount of the battery 8 is detected by the battery circuit 44 during the flight. When it is detected that the remaining battery level is less than or equal to the predetermined level, the flight controller 41 causes the drone 1 to land at the landing 100, the charging terminal 441 of the drone 1 is electrically connected to the charging terminal 101, and charging is executed. The The landing GPS 100 is provided with a reference GPS 102, and the drone 1 can control the position with higher accuracy by using the reference GPS 102 and its own GPS 42.

  The drone 1 captures an image of a predetermined area including an intersection from the sky by the imaging device 5 during flight. The control controller 45 analyzes the captured image. The flight controller 41 detects the flight position by the GPS 42 and uses it as position information of the captured image. Alternatively, the flight position of the drone 1 may be recognized based on the result of analyzing the captured image.

  The imaging device 5 functions as a surveillance camera, and the control controller 45 transmits the captured image to the traffic control center TCC or the police (not shown) by the communication device 43. In this image, pedestrians, bicycles, automobiles and other vehicles passing through the intersection are imaged. At the same time, a foreign object such as a fallen object present at the intersection is imaged. Furthermore, when a traffic accident occurs at an intersection, the state is imaged. Furthermore, in the event of a disaster such as a typhoon or a fire, an image of an abnormality at the intersection, for example, a road collapse, a fence or a telephone pole collapse, a vehicle damaged by the disaster, or the like is imaged.

  The traffic control center TCC that has received the image confirms the situation at the intersection from the received image and generates an appropriate instruction for traffic control. In particular, pedestrians, vehicles, foreign objects, etc. existing in the image are detected, and particularly when the detected pedestrians and vehicles are detected, the subsequent movement position is predicted from the most recent movement trajectory of these pedestrians and vehicles. . In addition, it predicts the interrelationship between these pedestrians and vehicles, especially whether there is a risk of collision between pedestrians and vehicles or between vehicles, and based on this prediction, traffic control to avoid traffic accidents. Generate instructions. This instruction is transmitted to the drone 1.

  The police who received the image uses it to determine the vehicle involved in the crime from the received image. For example, it is used to determine the stolen vehicle from the vehicle number and vehicle shape of the imaged vehicle. Alternatively, it is used to determine a specific person who has been appointed from the figure of the vehicle occupant.

  On the other hand, the drone 1 is provided with AI (artificial intelligence) in the control controller 45, and the image taken by the imaging device 5 in this AI is subjected to image analysis, and the same prediction as the prediction in the traffic control center TCC described above. It is also possible to generate an instruction for traffic control based on this prediction.

  The control controller 45 of the drone 1 executes normal control when no instruction is transmitted from the traffic control center TCC and no command is generated by itself. On the other hand, when an instruction is transmitted from the traffic control center TCC or when an instruction is generated in its own AI, traffic control control is executed based on these instructions.

  For example, when it is detected that a pedestrian, a bicycle, or a car has entered only one of the roads at the intersection and there is little risk of encountering an accident, no instruction will be sent from the traffic control center TCC. The control controller 45 of the drone 1 does not generate an instruction and executes normal control. In this normal control, a display image such as a commercial advertisement or an administrative public information is displayed on the display surface 611 of the display 61 facing the pedestrian, bicycle, or automobile. Alternatively, these display images are projected onto the road surface by the projector 62. Furthermore, messages such as advertisements and public relations are generated by the sound generation device 7.

  When the drone 1 receives an instruction from the traffic control center TCC, or generates an instruction by itself, the traffic control control is executed. For example, as shown in FIG. 4, it is detected that a bicycle B or a pedestrian M has entered the intersection from one road of the intersection, and a car C has approached the intersection from the other road, and the two vehicles collide. When an instruction for avoiding this is generated, the control controller 45 executes an appropriate display on each display surface 611 of the display 61 as shown in FIG. Here, a warning “bicycle caution (or pedestrian attention)” is displayed on the display surface 611 directed to the automobile, and a “vehicle caution” warning is displayed on the display surface 611 directed to the bicycle or pedestrian. To do. Simultaneously with this display, the sound generator 7 may utter a warning sound or a message sound.

  Thus, when displaying on the display 61 of the drone 1, as shown by a broken line in FIG. 4, the altitude of the drone 1 is lowered to a height where it does not contact or collide with a pedestrian, bicycle, car, or the like. You may do it. By flying to a position close to the height of the line of sight of the pedestrian or passenger, the display 61 can be made more conspicuous.

  In this traffic control control, when the control controller 45 predicts that a bicycle or a pedestrian M is going to cross an intersection at night or the like, as shown in FIG. D1 may be projected and drawn. Alternatively, the stop sign D2 may be projected and drawn on the road ahead of the automobile C. By continuing this display until the pedestrian M completes the crossing, the driver of the car C can be more surely recognized that there is a bicycle or a pedestrian crossing the intersecting road.

  When an emergency vehicle approaches the intersection, an instruction for traffic control control is also generated, and the drone 1 displays the fact on the display 61 to the pedestrian and other vehicles. At the same time, a predetermined warning pattern may be blinked and displayed on the pedestrian or the vehicle by the projector 62 to call attention.

  Furthermore, in the traffic control control, if communication between the drone 1 and the vehicle approaching the intersection is possible via the communication device 43 by radio, light, etc., this communication is used for the vehicle. An alarm may be notified.

  In the traffic control center TCC or the control controller 45, it is preferable to analyze the cause of an accident that occurred at the intersection or when an image of a near-miss (a situation where an accident might occur) is analyzed. In particular, when determining that there is a high possibility that a similar accident will occur, you may refer to information on accidents and near misses that have been imaged in the past. Determine that there is a high possibility of an accident. In this case, a more prominent noticeable display or warning can be executed to prevent a similar accident.

(Embodiment 2: intersection with traffic lights)
FIG. 7 is a conceptual diagram of Embodiment 2 in which a drone is caused to fly at an intersection where a traffic signal is present. The configuration of the drone 1 is the same as the drone of the first embodiment shown in FIGS. Since there is a relatively large amount of traffic at the intersection where the traffic signal is present, in order to prevent the drone from falling, a wire 110 is stretched between the plurality of traffic signals 200, and the drone 1 flies in a state of being suspended by the wire 110. It is preferable to configure so as to. In the second embodiment, the drone 1 is configured such that one wire 110 is stretched in an oblique direction between the traffic lights 200 at diagonal positions of the intersection, and the wire 110 is inserted into the hook 23 provided in the drone 1. It flies along this wire 110. In this case, the landing area 100 of the drone 1 is disposed on the upper part of the traffic signal 200 to which a part of the wire 110 is connected.

  The traffic control system of the second embodiment is basically the same as that of the first embodiment. Although the description of the same control as in the first embodiment is simplified, the drone 1 always captures the intersection from the sky, transmits the captured image to the traffic control center TCC and the police, analyzes each, and the traffic control and the police Use for business. It is the same as that in the first embodiment at the time of an abnormality or a disaster at an intersection. Also, the control controller 45 of the drone 1 performs analysis based on the captured image.

  When no bicycles or pedestrians are detected at the intersection and the car is driving in order according to the signal display and there is little risk of an accident, the drone 1 performs normal control and displays on the display 61 commercial advertising or administrative use. It is possible to display the public information. Alternatively, the advertisement may be projected on the road surface by the projector 62.

  The traffic control control in the drone 1 is almost the same as that in the first embodiment, but when the bicycle or pedestrian is detected at the intersection at night and the bicycle or pedestrian crosses the road with a green light, the drone 1 has the projector 62. A bicycle or a pedestrian may be spot-illuminated using such that these are easily seen from other vehicles.

  In the second embodiment, as a configuration that is particularly different from the first embodiment, as shown in FIG. 7, the traffic signal 200 disposed at the intersection is not described in detail, but information is exchanged with the drone 1. The signal controller 201 is integrally provided with a communication device for controlling the lighting and a lighting control unit for controlling the lighting state of each signal device. In this signal controller 201, the lighting control unit can control the lighting time and lighting timing of some or all of the traffic lights 200 based on the instruction received by the communication device. This communication device may be radio wave communication or optical communication.

  For example, when the drone 1 or the traffic control center TCC detects that the traffic volume on one road of the intersection is smaller than the traffic volume on the other road, the drone 1 transmits a predetermined signal to the signal controller 201. The lighting control unit controls the green signal time of the traffic light 200 on the one road to be shorter than the green signal time on the other road. Conversely, when the traffic volume on one road is greater than the traffic volume on the other road, the time of the green light on the traffic light 200 on the one road is made longer than the time of the green light on the other road. As a result, the flow of traffic on the road on the side with a large amount of traffic can be improved, and unnecessary traffic congestion can be prevented.

  In the drone 1 or the traffic control center TCC, when it is predicted that the detected walking speed of the pedestrian is slow and the pedestrian crosses the road, the fact is transmitted to the signal controller 201. The lighting control unit controls the green time of the traffic light 200 on the side where the pedestrian crosses long, or continues the green light of the traffic light while the pedestrian crosses.

  When the drone 1 or the traffic control center TCC detects that the emergency vehicle has approached the intersection, it transmits this fact to the signal controller 201. The lighting control unit preferentially controls the traffic light 200 on the side through which the emergency vehicle passes until the emergency vehicle passes through to a green signal. At the same time, the fact is displayed on the display 61 of the drone, and further, a predetermined warning pattern is flashed on the road surface by the projector 62 to call attention.

  In the second embodiment, although not shown in the drawings, a fixed imaging device, millimeter wave radar, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) is included in all or a part of each of the traffic lights 200 installed at the intersection. In addition, environmental sensors such as a sound collection sensor, a rain gauge, and an anemometer may be provided. Information on the intersection detected by these environmental sensors may be transmitted to the drone 1 and the control controller 45 of the drone 1 may detect the situation of the intersection, or may be used as reference information when performing various predictions and determinations. Thereby, the reliability in the determination can be improved. This can also be applied to the determination at the traffic control center TCC.

  In the case of an intersection with a traffic light, it is possible to take a fixed imaging device in the traffic light and take an image of the intersection, but by taking an image with the drone 1, an image of a wide area of the intersection is taken. In addition, an image captured from an arbitrary position can be easily obtained. That is, it is possible to take an image of a vehicle or the like existing at a position away from the intersection, and to realize traffic control with higher accuracy.

(Embodiment 3: Expressway)
FIG. 9 is a conceptual diagram of the third embodiment in which the drone 1 is flying on the highway. The configuration of the drone 1 is the same as that of the first embodiment. The drone 1 is assigned a predetermined area of the highway as a jurisdiction area, and images the vehicle traveling in the jurisdiction area by always flying in the jurisdiction area. The captured image is transmitted to the traffic control center TCC, and the captured image is also analyzed by the control controller 45. When the drone 1 flies, the GPS 42 is used, and for example, it repeatedly flies back and forth over a jurisdiction range of 1 to 5 km along the highway.

  The traffic control center TCC or the control controller 45 detects the presence of a fallen object on the highway, a traffic jam or an accident that has occurred on the highway by analyzing the captured image. When these are detected, the drone 1 flies above the site or above the location in the traveling direction from the site based on an instruction from the traffic control center TCC or the control controller 45.

  In the case of a fallen object, the drone 1 flies over the position before the fallen object in the traveling direction, and displays the presence of the fallen object on the display 61. At this time, it is preferable to display a lane where a falling object exists and a traveling lane for avoiding the falling object. In this case, the projector 62 may project and display it on the road surface. Further, at night, it may fly on the fallen object together with the display on the display 61, and the fallen object may be illuminated by the projector 62. A warning sound or a voice warning by the sound generator 7 is also possible.

  Even when an animal enters the highway, the drone 1 similarly performs display on the display 61 and projection display on the road surface by the projector 62 to notify the traveling vehicle. At night, animals may be illuminated.

  In the case of traffic jams, drone 1 flies from the beginning of the traffic jam to the sky before the rearmost location, and the presence of traffic jams is displayed on the road surface with display 61 and projector 62 for the following vehicle. To do. At the same time, a display prompting the subsequent vehicle to decelerate is displayed. In addition to this, a lane with a small number of traveling vehicles may be displayed on the display 61, or projected onto the road surface by the projector 62, and the following vehicle may be guided to the lane.

  In these cases, if communication between the communication device 45 of the drone 1 and the vehicle is possible, the presence of a fallen object, an approaching animal, or the presence of a traffic jam may be notified by communication. Further, when the control control 45 analyzes the cause of the traffic jam in the drone 1 or when the cause of the traffic jam is transmitted from the traffic control center TCC, the cause may be notified to each vehicle.

  Needless to say, the traffic jam includes not only a natural traffic jam on an expressway but also a traffic jam at an interchange or junction, or a traffic jam at the entrance of a service area.

  When an accident occurring on the expressway is detected, the drone 1 performs imaging with the imaging device 5 at a plurality of different positions while moving and flying over the accident site, and transmits the plurality of captured images to the traffic control center TCC. . In the traffic monitoring center TCC, the details of the accident can be recognized from these plural images. In particular, it is possible to detect a vehicle damage state, the presence or absence of an injured person, and an injured state. This detection can also be performed by the single control controller 45 of the drone.

  In particular, when an injured person is detected in the control controller 45 of the drone 1, a request for an emergency vehicle can be transmitted directly to the police and the fire department via the communication device 43. Further, when the emergency vehicle approaches the accident site, the drone 1 flies to a position before the accident site and performs a display for guiding the emergency vehicle. At this time, the drone 1 may fly so as to lead the emergency vehicle to the accident site while warning the general vehicle.

  In the third embodiment, the drone 1 does not always fly, but normally landed at a landing 100 provided in a part of the jurisdiction area, receives a report from a road manager or a traveling vehicle, or a highway. When the traffic control center TCC detects a fallen object, traffic jam, or accident from the information of the fixed camera, etc., the drone 1 receives the information and flies to the site of the fallen object, traffic jam, or accident. Good.

  In the first to third embodiments, since the drone images the road from a high position in the sky above the intersection or highway, the road is more imaged than the fixed camera (fixed point camera) installed on the road or building. Can be obtained, and the position, moving speed, and moving direction of vehicles and pedestrians traveling on the road can be accurately detected. In addition, since the situation of the intersection, traffic jams, and the scene of the accident are imaged from a plurality of different positions, the situation of the accident scene can be detected in detail, and an appropriate response can be made.

  In the first to third embodiments, when it is difficult to mount all devices such as an imaging device and a display device in one drone, a configuration in which devices having these functions are distributed to a plurality of drones may be employed. For example, although illustration is omitted, regarding the imaging device and the display device, a first drone having only the imaging device and a second drone having only the display device may be used. The first drone captures the road and obtains an image, and transmits the image to the traffic control center. Alternatively, the image is analyzed by the control controller of the first drone, or the image received by the second drone is analyzed by the control controller of the second drone. The second drone performs a predetermined display on its own display device based on the analysis result. In this case, the first and second drones are configured as one drone in the present invention.

  For example, in Embodiment 2, the wires are stretched between two traffic lights at diagonal positions among the four traffic lights at the intersection, and two wires having different vertical positions are configured in an X shape. The first and second drones may be suspended on the wires, respectively. The intersection may be imaged with the first drone flying on the upper side, and the vehicle may be displayed with the second drone flying on the lower side.

  In the third embodiment, in the case of a traffic jam due to an accident, the first drone is made to fly to the accident site at the tip of the traffic jam to capture the accident site, and the second drone is made to fly to the tail position of the traffic jam. Display on the vehicle. Further, three or more drones may be allowed to fly and imaging and display may be shared among a plurality of drones.

  The drone 1 shown in the first to third embodiments includes an imaging unit as a detection unit according to the present invention, and acquires traffic information based on an image captured by the imaging unit. In the present invention, the other detection unit For example, it may be configured by sensors such as LiDAR, millimeter wave radar, and microwave radar.

  In the first to third embodiments, an example in which the present invention is applied to a traffic control system at an intersection and an expressway has been shown. However, fixed cameras such as general roads, roads in areas including parks and entertainment facilities, mountain roads, etc. may be installed. It can also be configured as an unmanned aerial vehicle applied to a traffic control system in a difficult place or a place where it is difficult to capture a wide area with a fixed camera. Therefore, application as a traffic control system for railways and ships is also possible.

  Although an example of a drone is shown as the unmanned aerial vehicle of the present invention, it can be applied to any unmanned helicopter, unmanned airship, unpopular sphere, or an aircraft equivalent to these.

1 drone (unmanned aerial vehicle)
2 Frame 3 Motor 4 Control unit (Control instruction means)
5 Imaging device (detection means)
6. Display device (display means)
7 Sounding device 8 Battery 9 Leg 41 Flight controller (flight control means)
42 GPS
43 Communication device 44 Battery circuit 45 Control controller (control instruction means)
61 Display (display means)
62 Projector (display means)

Claims (6)

  Detection means for flying over the ground, sensing a predetermined area on the ground and outputting sensing information, analyzing the sensing information to acquire traffic information, and controlling vehicle traffic based on the acquired traffic information The present invention is applied to a traffic control system constructed by including a control instruction means for giving an instruction to display and a display means for displaying a display image based on the instruction, and includes at least the detection means and the display means, An unmanned aerial vehicle capable of flying at a desired position   The unmanned aerial vehicle according to claim 1, further comprising flight control means for flying to a desired position above the predetermined area.   The unmanned aerial vehicle according to claim 1, further comprising the control instruction unit.   The communication means for transmitting and receiving at least one of the sensing information, the traffic information, and the instruction with a traffic control center or a related department installed on the ground. Unmanned aircraft.   The unmanned aircraft according to any one of claims 1 to 4, wherein the display means is a display that displays a display image and / or a projector that projects the display image on a road. 6. The unmanned aerial vehicle according to claim 1, wherein the predetermined area includes at least one area of an intersection without a traffic signal, an intersection with a traffic signal, and a highway.

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