JP2018189434A - Flying type drawing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flying type drawing device capable of accurately and promptly drawing a marking point on a drawing object by launching a marker from air.SOLUTION: A flying type drawing device includes: a drone 10 flying in air above a drawing object part 100; a marker launching device mounted on a drone 10 and capable of launching the marker for each of a plurality of zones 12a; an information acquisition part for acquiring information including a present position in air of the drone 10; and a drone control part for controlling the flying of a drone 10 and controlling launching of the marker by the marker launching device. A drone control device creates a launching map 44 for determining a draw able range of the marker for each present position during flying of the drone 10 above the drawing object 100 according to the change of the present position. When a planned marking point M*is available within the launching map 44, the market is launched from the zone 12a corresponding to the planned marking M*among the plurality of zones 12a.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a flight drawing apparatus.

  2. Description of the Related Art Conventionally, for example, a technique for drawing a marking (marking) point that serves as a work reference in land preparation for civil engineering or foundation work after shaping is known. With regard to position measurement for drawing marking points, a high-precision measurement method such as GPS (Global Positioning System) is used, and the digitized measurement data advances, so the marking point drawing automation environment is improved. Yes. In addition, when inspecting and observing civil engineering work area topography and existing structures, by using a drone with high maneuverability and flight stability, work that was previously only possible with the use of aircraft, etc. Work in a small area is possible.

  The drone can maintain the flight state with automatic control by combining multiple rotors and high-precision gyroscopes, and can perform operations that greatly reduce the burden on the operator against flight space restrictions and wind and other disturbances. It is. Therefore, a marking point drawing device may be mounted on the drone, and marking may be performed on the drawing target portion from the air. For example, in Patent Document 1, a color ball is fired to specify a color by firing a color ball filled with paint and landing on a target location in an inspection of a structure or a building or an accident or disaster. It is disclosed that the device is mounted on a drone.

International Publication No. 2016/181426

  However, when drawing marking points using a flying object such as a drone flying in the air, it is difficult to completely control the trajectory and attitude of the flying object in the air as desired. Therefore, an error occurs between the actual position of the flying object and the control target position according to the wind speed and the flying speed of the flying object. If marking is performed in this state, the marking point will deviate from the target position. End up. In addition, it is conceivable to correct the deviation of the marking point by correcting the flight direction of the flying object. However, the correction of the flight direction requires a certain amount of flight distance and time. May not be promptly corrected.

  The present invention has been made in view of the above, and it is an object of the present invention to provide a flying drawing apparatus capable of firing a marker from the air and drawing a marking point on a drawing target portion with high accuracy and speed.

  In order to solve the above-described problems and achieve the object, the present invention provides a flying object that flies in the air on a drawing target part, and a marker firing that is mounted on the flying object and can fire a marker for each of a plurality of sections. A device, an information acquisition unit that acquires information including a current position of the flying object in the air, and a control unit that controls the flight of the flying object and controls the marker emission by the marker emitting device. The control unit is configured to change the marker for each current position according to a change in the current position of the flying object acquired by the information acquiring unit while the flying object is flying over the drawing target unit. When a plurality of planned marking points that are positions where the marker should be drawn on the drawing target portion are included in the firing map, the plurality of planned marking points are defined. To fire the marker from the compartment which corresponds to the plan marking point of the separation, characterized in that.

  According to this configuration, while the flying object is flying over the drawing target portion, using the launch map that defines the range in which the marker can be drawn for each current position according to the change in the current position of the flying object. The marker can be fired from each section of the marker firing device corresponding to the planned marking point included in the firing map. Thereby, when the current position of the flying object is deviated from the originally assumed position, it is possible to suppress the drawing of the marker at a position different from the planned marking point without moving the flying object itself. In addition, since it is not necessary to move the flying object itself, it is possible to quickly draw a marker at the planned marking point. Therefore, the flying drawing apparatus according to the present invention can draw a marking point on the drawing target portion with high accuracy and promptly by firing a marker from the air.

  In addition, when the planned marking point in the firing map is an actual marking point on which the marker has been drawn, the control unit is configured to start from a section corresponding to the actual marking point among the plurality of sections. Preferably does not fire the marker.

  According to this configuration, since it is possible to prevent the marker from being drawn on the portion where the marker has been once drawn, the drawing quality of the marking point can be improved.

  The information acquisition unit further acquires an attitude of the flying object in the air, and the control unit acquires the information at the current position of the flying object acquired by the information acquisition unit. In the case where the posture acquired by the unit is taken, it is preferable that the firing map defining a range in which the marker can be drawn is created.

  According to this configuration, at the current position of the flying object, using the firing map that defines the range in which the marker can be drawn according to the attitude of the flying object in the air, the planned marking point included in the firing map is used. Markers can be fired from corresponding marker firing device sections. Thereby, when the attitude of the flying object in the air deviates from the originally assumed attitude, it is possible to suppress the drawing of the marker at a position different from the planned marking point without correcting the attitude of the flying object. . In addition, since it is not necessary to correct the attitude of the flying object, it is possible to quickly draw a marker at the planned marking point.

  Further, the information acquisition unit further acquires a flight speed of the flying object, and the control unit obtains the flying object at the current position of the flying object acquired by the information acquisition unit by the information acquisition unit. In the case of flying at the obtained flight speed, it is preferable to create the launch map that defines a range in which the marker can be drawn.

  According to this configuration, at the current position of the flying object, it corresponds to the planned marking point included in the firing map using the firing map that defines the range in which the marker can be drawn according to the flying speed of the flying object. A marker can be fired from a compartment of the marker firing device. Thereby, it can suppress that a marker is drawn in the position different from a plan marking point due to the flight speed of a flying body.

  Further, the marker launching device accelerates and fires the marker, the information acquisition unit further acquires a firing speed of the marker, and the control unit acquires the flying object acquired by the information acquisition unit. The marker can be drawn when the flying object takes the posture acquired by the information acquisition unit at the current position and the marker is fired at the firing speed acquired by the information acquisition unit. It is preferable to create the launch map that defines a specific range.

  According to this configuration, at the current position of the flying object, it is included in the firing map using the firing map that defines the range in which the marker can be drawn according to the attitude of the flying object in the air and the firing speed of the marker. A marker can be fired from a section of the marker firing device corresponding to the planned marking point. Thereby, even when the attitude of the flying object in the air deviates from the originally assumed position and the landing position of the marker can deviate from the originally assumed position in accordance with the firing speed of the marker, the attitude of the flying object is corrected. Without drawing the marker at a position different from the planned marking point. In addition, since it is not necessary to correct the attitude of the flying object, it is possible to quickly draw a marker at the planned marking point.

  Moreover, it is preferable that the marker launching device launches the marker by free fall with the marker directed downward in the vertical direction.

  According to this configuration, since the reaction force acting on the flying object can be reduced by the firing of the marker, compared to the case where the marker is accelerated and forcedly fired, the position and posture of the flying object in the air can be stabilized. Can be planned. Thereby, a marker can be accurately drawn at the planned marking point.

  Moreover, it is preferable that the said marker is a pile-shaped member which lands and pierces the said drawing object part.

  According to this configuration, since a pile-shaped marker can be landed and fixed on the drawing target portion, for example, when a paint such as a paintball is used as the marker, the paint is absorbed by the drawing target portion. There is nothing. In addition, when paint using paintball or the like is used as a marker, there is unevenness (undulations) on the drawing target part, and the paintball has landed because the distance from the flying drawing device to the drawing target part is not constant. The paint does not rupture at the point, so that the paint is not printed, and the printed state by the paint does not change or deform. Therefore, the visibility of the drawn marker can be improved. In addition, the marker can be drawn while flying the flying object at a certain height regardless of the undulation shape of the drawing target part, so that the flying object can fly stably, and the marker drawing accuracy is improved. It becomes possible to raise.

  Further, the control unit is configured to cause the marker to be placed on the plurality of planned marking points while flying the flying object on the drawing target unit along a plurality of planned flight lines created based on the plurality of planned marking points. Preferably, the marker is fired from a launcher.

  According to this configuration, the marker can be drawn at the planned marking point while flying the flying object along the plurality of planned flight lines created by reflecting the positions of the plurality of planned marking points. It is possible to draw a simple marker.

  Moreover, it is preferable that the said control part is made to fly, without stopping the said flight body at one said flight speed along one of the said scheduled flight lines.

  According to this configuration, since the flying speed of the flying object does not change during the drawing of the marker, the posture of the flying object can be stabilized and the drawing accuracy of the marker can be improved.

  The flight type drawing apparatus according to the present invention produces an effect that a marker can be fired from the air and marking points can be drawn on the drawing target portion with high accuracy and speed.

FIG. 1 is a perspective view illustrating an outline of a flying drawing apparatus according to an embodiment. FIG. 2 is a schematic configuration diagram of the flying drawing apparatus according to the embodiment. FIG. 3 is a flowchart showing an example of automatic flight control processing executed by the drone side control unit. FIG. 4 is an explanatory diagram illustrating an example of a plurality of scheduled flight lines created by the drone side control unit. FIG. 5 is a flowchart showing an example of n-line flight control processing. FIG. 6 is a flowchart illustrating an example of automatic firing control processing. FIG. 7 is an explanatory diagram schematically showing a map for launching at an arbitrary time. FIG. 8 is an explanatory view schematically showing a map for launching at an arbitrary time. FIG. 9 is an explanatory diagram schematically showing a map for launching at an arbitrary time. FIG. 10 is a schematic diagram for explaining a change in the position where the marker lands on the drawing target portion according to the attitude of the drone in the air or the like.

  Embodiments of a flight drawing apparatus according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment.

  FIG. 1 is a perspective view illustrating an outline of a flying drawing apparatus according to the embodiment, and FIG. 2 is a schematic configuration diagram of the flying drawing apparatus according to the embodiment. The flight-type drawing apparatus 1 according to the embodiment, for example, in site preparation for civil engineering work or foundation work after shaping, uses the ground surface as a drawing target part 100 and fires a marker from the air on the drawing target part 100 to set a marking point. It is a device for drawing. In addition, the marking point may be any reference on the drawing target unit 100, and for example, a marathon course or the like may be drawn on the ground surface. As shown in FIGS. 1 and 2, the flying drawing apparatus 1 includes a drone 10 as a flying object, a ground operating device 20, and a position detection support unit 30.

  As shown in FIG. 2, the drone 10 includes a flying device 11, a marker launching device 12, an information acquisition unit 13, a drone side control unit 14, a drone side storage unit 15, and a drone side communication unit 16. . The ground operating device 20 includes a ground side storage unit 21, a ground side control unit 22, a control unit 23, and a ground side communication unit 24.

  The flying device 11 of the drone 10 includes a plurality (four in this embodiment) of rotors 11a and a propeller 11b attached to the rotor 11a. The drone 10 is configured such that each rotor 11a can be individually driven to rotate, and each propeller 11b rotates along with the rotation of each rotor 11a, so that it can fly in the air. In the present embodiment, drive control of the flying device 11, that is, each rotor 11 a is executed by the drone side control unit 14.

  The marker firing device 12 of the drone 10 is a device capable of firing the marker 2 for each of a plurality of sections. In the present embodiment, the marker firing device 12 is attached to the lower part of the drone 10. As shown in FIG. 1, the marker firing device 12 stores a plurality of markers 2 for each of a plurality of grid-like sections 12a arranged side by side, and fires one marker 2 from each section 12a. It is possible. In FIG. 1, the sections 12 a are schematically illustrated, and the actual number of the sections 12 a is larger than that illustrated. In the present embodiment, the marker launching device 12 launches the marker 2 from each section 12a in the vertical direction downward by free fall.

  In the present embodiment, the marker 2 is a pile-shaped member that can be pierced into the drawing target portion 100 that is the ground surface by being fired from the air. The marker 2 may be one in which at least a part of the portion exposed to the ground expands radially after piercing the drawing target unit 100. Thereby, the visibility of the marking point by the marker 2 can be improved.

  The information acquisition unit 13 of the drone 10 includes the current position P (X, Y, Z) of the drone 10 in the air, the attitude of the drone 10 in the air (rotation angle θ (α, β, γ)), and the flight of the drone 10. Get the velocity V. In the present embodiment, the information acquisition unit 13 includes a GPS receiver, communicates with the position detection support unit 30 via the drone side communication unit 16, and the current position P (X, Y, Z) of the drone 10 by GPS. ) To get. The information acquisition unit 13 includes a gyroscope for detecting the attitude of the drone 10 in the air. The information acquisition unit 13 can measure the rotation angle θ (α) around the X axis, the rotation angle θ (β) around the Y axis, and the rotation angle θ (γ) around the Z axis by the gyroscope. it can. The information acquisition unit 13 includes a speed sensor that detects the flight speed V of the drone 10.

  The drone-side control unit 14 of the drone 10 includes, for example, a calculation process including a CPU (Central Processing Unit), a SoC (System-on-a-Chip), an MCU (Micro Control Unit), and an FPGA (Field-Programmable Gate Array). Device.

  When the automatic flight command for the drone 10 is output from the ground-side control unit 22, the drone-side control unit 14 drives and controls the flying device 11 according to the automatic flight command, and causes the drone 10 to fly. In addition, when the manual flight command for the drone 10 is output from the ground-side control unit 22, the drone-side control unit 14 performs the flying device 11 according to the control command from the flight control device 23 a included in the control unit 23 of the ground operating device 20. Is controlled to fly the drone 10.

  When the automatic firing command of the marker launching device 12 is output from the ground side control unit 22, the drone side control unit 14 drives and controls the marker launching device 12 according to the automatic firing command, and launches the marker 2 from the marker launching device 12. Let Further, when the manual firing command for the marker launching device 12 is output from the ground side control unit 22, the drone side control unit 14 performs the marker according to the manipulation command by the launching operation device 23 b included in the control unit 23 of the ground operating device 20. The launcher 12 is driven and controlled, and the marker 2 is fired from the marker launcher 12.

  The drone side storage unit 15 of the drone 10 stores various programs relating to drive control of the flying device 11 and drive control of the marker launching device 12. The drone side storage unit 15 exchanges various programs with the drone side control unit 14.

  The drone-side communication unit 16 of the drone 10 communicates with the ground-side communication unit 24 of the ground operating device 20 wirelessly, exchanges command signals between the drone-side control unit 14 and the ground-side control unit 22, and acquires information. The current position P (X, Y, Z), rotation angle θ (α, β, γ), and flight speed V of the drone 10 are exchanged between the unit 13 and the ground side control unit 22. The drone side communication unit 16 communicates with the position detection support unit 30 to exchange the current position P (X, Y, Z) of the drone 10. The wireless standard of the drone side communication unit 16 may be anything.

  The ground side storage unit 21 of the ground operating device 20 stores a plan map 41, a result map 42, and planned flight line data 43. As shown in FIG. 2, the plan map 41 is data in which a plurality of plan marking points M * that are positions where the marker 2 is to be drawn on the drawing target unit 100 are recorded. For example, the plan map 41 is obtained by converting CAD data (not shown) in which the marking position on the drawing target unit 100 is set as a line drawing into dots at a predetermined pitch. That is, each dot of the plan map 41 becomes a plan marking point M * for the drawing target unit 100. In the present embodiment, the plan map 41 is stored in the ground-side storage unit 21 after previously converting CAD data (not shown) into the plan marking point M *. Note that, when the marker is drawn on the drawing target unit 100, the CAD data may be converted into the plan map 41.

  The actual result map 42 is data in which an actual marking point M at which the marker 2 is drawn from the marker emitting device 12 to the drawing target unit 100 according to the plan map 41 is recorded. The performance map 42 is created in the automatic firing control of the marker launching device 12 executed by the ground side control unit 22. The performance map 42 is updated as necessary as the automatic firing control of the marker launching device 12 proceeds.

  The scheduled flight line data 43 is data defining a plurality of scheduled flight lines Ln (see FIG. 4) that cause the drone 10 to fly on the drawing target unit 100. The scheduled flight line data is created in the automatic flight control of the drone 10 executed by the ground side control unit 23. As shown in FIG. 2, the scheduled flight line Ln is a line that connects a plurality of dot-like target flight positions P * set at a predetermined pitch. The scheduled flight line Ln may be created in advance and stored in the ground side storage unit 21.

  The ground-side control unit 22 of the ground operating device 20 includes, for example, a CPU (Central Processing Unit), an SoC (System-on-a-Chip), an MCU (Micro Control Unit), and an FPGA (Field-Programmable Gate Array). An arithmetic processing unit.

  The ground side control unit 22 executes the automatic flight control of the drone 10 when an instruction to automatically fly the drone 10 is given from the user via an interface (not shown), and is created by executing the automatic flight control. The automatic flight command is transmitted to the drone side control unit 14. In addition, when an instruction to manually fly the drone 10 is given from the user via an interface (not shown), the ground side control unit 22 sends a manual flight command of the drone 10 to the drone side control unit 14 and the control unit. To 23.

  The ground side control unit 22 executes the automatic firing control of the marker launching device 12 when an instruction to automatically launch the marker 2 from the marker launching device 12 is given from the user via an interface (not shown). Then, the automatic firing command created by the execution of the automatic firing control is transmitted to the drone side control unit 14. Further, the ground side control unit 22 issues a manual firing command of the marker launching device 12 when an instruction to manually launch the marker 2 from the marker launching device 12 is given from the user via an interface (not shown). It outputs to the drone side control part 14 and the control part 23.

  The control unit 23 of the ground control device 20 includes a flight control device 23a and a launch control device 23b. The flight control device 23a is an interface for the user to manually execute the flight of the drone 10 when a manual flight command of the drone 10 is output from the ground side control unit 22 to the control unit 23. The flight control device 23a outputs a control command for the drone 10 to the drone-side control unit 14 in accordance with a user's manual operation. Further, when the manual firing command of the marker launching device 12 is output from the ground side control unit 22 to the control unit 23, the launch operation device 23b manually launches the marker 2 from the marker launching device 12. It is an interface for execution. The firing operation device 23b outputs an operation command for the marker 2 from the marker firing device 12 to the drone-side control unit 14 in accordance with a user's manual operation.

  The ground side communication unit 24 of the ground operating device 20 communicates with the drone side communication unit 16 by radio, exchanges command signals between the drone side control unit 14 and the ground side control unit 22, and the information acquisition unit 13 The current position P (X, Y, Z), rotation angle θ (α, β, γ), and flight speed V of the drone 10 are exchanged with the ground side control unit 22. The wireless standard of the ground side communication unit 24 may be anything.

  In this embodiment, the position detection support unit 30 is a GPS fixed station. The position detection support unit 30 communicates with the GPS receiver of the information acquisition unit 13 via the drone side communication unit 16 and transmits the current position P (X, Y, Z) of the drone 10 to the information acquisition unit 13. The position detection support unit 30 may transmit the current position P (X, Y, Z) of the drone 10 to the ground side control unit 22 via the ground side communication unit 22.

  Next, automatic flight control of the drone 10 by the ground side control unit 22 and automatic launch control of the marker launching device 12 will be described. The automatic flight control of the drone 10 and the automatic launch control of the marker launching device 12 are executed in parallel by the ground side control unit 22. Accordingly, the marker 2 is drawn at the planned marking point M * on the drawing target unit 100 while the drone 10 is flying on the drawing target unit 100. First, automatic flight control of the drone 10 will be described. FIG. 3 is a flowchart showing an example of automatic flight control processing executed by the ground side control unit. In the automatic flight control, an automatic flight command is output as needed from the ground side control unit 22 to the drone side control unit 14, and the drone side control unit 14 causes the flying device 11 to fly so that the drone 10 flies according to the contents of the automatic flight command. Is controlled.

  The ground side control part 22 performs the marker emission start process and the takeoff process of the drone 10 as step S1. The ground side control unit 22 acquires the plan map 41 and the actual result map 42 from the ground side storage unit 21 as the marker firing start process. The actual result map 42 is not created at the timing when this control is started, but is updated as needed as the automatic firing control of the marker firing device 12 proceeds. The ground side control unit 22 causes the drone side control unit 14 to drive and control the flying device 11 to take off the drone 10. The ground side control unit 22 acquires the plan map 41 and the actual result map 42, and proceeds to step S2 when the takeoff process of the drone 10 is completed.

  The ground-side control unit 22 creates a plurality of scheduled flight lines Ln that cause the drone 10 to fly on the drawing target unit 100 while firing the marker 2 from the marker launching device 12 at the planned marking point M * as step S2. FIG. 4 is an explanatory diagram showing an example of a plurality of scheduled flight lines created by the ground side control unit. In the example illustrated in FIG. 4, the scheduled flight line Ln is a straight line extending on the drawing target unit 100 with an interval. In the present embodiment, the planned flight line Ln is created with a constant height in the vertical direction. The drone side control unit 14 efficiently draws the marker 2 at the planned marking point M * before drawing the marker 2 based on the positions of the planned marking point M * of the plan map 41 and the actual marking point M of the actual map 42. Create a plurality of possible scheduled flight lines Ln. The marker 2 can be efficiently drawn in consideration of the shape of the drawing target portion 100, the positions of the planned marking points M * and the actual marking points M, the maximum width of each section 12a of the marker firing device 12, and the like. This means that a plurality of scheduled flight lines Ln are created so that the flight distance or flight time of the drone 10 flying over the drawing target unit 100 is minimized.

  Further, the number of markers 2 accommodated in each section 12a of the marker launcher 12 is limited. Furthermore, in this embodiment, in order to prevent the posture of the drone 10 from being stabilized due to the deviation of the center of gravity of the drone 10 as the marker 2 is fired, the number of markers 2 fired at the same timing is limited. . Therefore, even if the drone 10 is caused to fly only once along each scheduled flight line Ln, there is a possibility that the markers 2 cannot be drawn at all the planned marking points M *. Also, the planned marking point may be caused by the fact that the current position P (X, Y, Z) of the drone 10 is deviated from the planned flight line Ln, or the attitude of the drone 10 is deviated from the assumed position. There is a possibility that the marker 2 cannot be drawn on all M *. Therefore, the ground side control unit 22 sets an upper limit of the number of times the drone 10 is reciprocated for each scheduled flight line Ln. The ground side control unit 22 causes the drone 10 to fly along the planned flight line Ln and, as a result of executing automatic launch control described later, if there is a drawing omission of the marker 2 at the planned marking point M *, the upper limit of the set upper limit is set. Within the range, the drone 10 is reciprocated along the scheduled flight line Ln. The created planned flight line Ln is stored in the ground side storage unit 21 as planned flight line data 43. After creating the scheduled flight line Ln, the ground side control unit 22 proceeds to step S3.

  The ground side control part 22 performs n line flight control which makes the drone 10 fly along the scheduled flight line Ln created in step S2 and stored in the ground side storage part 21 as step S3. The n-line flight control will be described later.

  When the n-line flight control is completed, the ground side control unit 22 proceeds to step S4, and determines whether or not the drawing of the marker 2 has been completed at all the planned marking points M * defined in the plan map 41. As described above, the automatic launch control of the marker launcher 12 is executed in parallel with the automatic flight control of the drone 10. Therefore, during execution of the automatic flight control, the marker 2 is drawn at the planned marking point M * as needed. The planned marking point M * at which the marker 2 has been drawn is It will be recorded as M. The ground side control unit 22 draws the marker 2 at all the planned marking points M * based on the planned marking points M * recorded in the plan map 41 and the actual marking points M recorded in the actual result map 42. Determine if completed.

  The ground side control part 22 performs the process after step S2 again, when it determines with drawing of the marker 2 not being completed at all the plan marking points M * (step S4, No). As a result, a plurality of scheduled flight lines Ln for flying the drone 10 toward an area having the planned marking point M * for which the drawing of the marker 2 has not been completed are newly created (step S2), and the plurality of scheduled flight lines Ln. The n-line flight control of the drone 10 along is performed. On the other hand, if it is determined that the drawing of the marker 2 is completed at all planned marking points M * (step S4, Yes), the ground side control unit 22 ends the automatic flight control.

  Next, the n-line flight control in step S3 will be described. FIG. 5 is a flowchart showing an example of n-line flight control processing.

  In step S301, the ground side control unit 22 causes the drone side control unit 14 to drive and control the flying device 11, and moves the drone 10 to the start position of the next scheduled flight line Ln. Then, the ground side control part 22 progresses to step S302.

  In step S302, the ground-side control unit 22 causes the drone-side control unit 14 to drive and control the flying device 11, and causes the drone 10 to fly toward the next target flight position P * on the planned flight line Ln. In the present embodiment, the drone 10 is caused to fly along the scheduled flight line Ln at a constant flight speed V without stopping (hovering). Further, since the planned flight line Ln has a constant height in the vertical direction, the drone 10 flying along the planned flight line Ln always flies at the same height. Then, the ground side control part 22 progresses to step S303.

  In step S303, the ground side control unit 22 communicates with the drone side communication unit 16 and the ground side communication unit 24 from the information acquisition unit 13 to the current position P (X, Y, Z) and the rotation angle θ (α , Β, γ) are input, and the process proceeds to step S304.

  The ground side control part 22 determines whether the value of rotation angle (theta) ((alpha), (beta), (gamma)) of the drone 10 is more than predetermined angle (theta) 1 as step S304. If the ground-side control unit 22 determines that the value of the rotation angle θ (α, β, γ) is equal to or greater than the predetermined angle θ1 (Yes in step S304), the attitude of the drone 10 is any relative to the planned flight line Ln. Since it is inclined in this direction, the process proceeds to step S305.

  In step S305, the ground-side control unit 22 causes the drone-side control unit 14 to drive and control the attitude of the drone 10 so that the rotation angle θ (α, β, γ) is less than the predetermined angle θ1. Correct it. Then, the ground side control part 22 progresses to step S306.

  If the ground side control unit 22 determines that the value of the rotation angle θ (α, β, γ) of the drone 10 is less than the predetermined angle θ1 (No in step S304), the attitude of the drone 10 is set to the planned flight line Ln. On the other hand, since it is not inclined, the process of step S305 is omitted, and the process proceeds to step S306.

  In step S306, the ground side control unit 22 determines whether or not the current position P (X, Y, Z) is separated from the planned flight line Ln by a predetermined distance D1 or more. If the ground-side control unit 22 determines that the current position P (X, Y, Z) of the drone 10 is away from the planned flight line Ln by a predetermined distance D1 or more (step S306, Yes), the process proceeds to step S307.

  In step S307, the ground-side control unit 22 causes the drone-side control unit 14 to drive and control the flying device 11 so that the current position P (X, Y, Z) of the drone 10 approaches the planned flight line Ln. Correct the flight. Then, the ground side control part 22 progresses to step S308.

  On the other hand, when it is determined that the current position P (X, Y, Z) is not separated from the planned flight line Ln by the predetermined distance D1 or more (No in Step S306), the ground side control unit 22 omits the process in Step S307. Then, the process proceeds to step S308.

  The ground side control part 22 determines whether the drone 10 reached | attained the end point (last target flight position P *) of the scheduled flight line Ln as step S308. When it is determined that the drone 10 has not reached the end point of the scheduled flight line Ln (No at Step S308), the ground-side control unit 22 executes the processes after Step S302 again. If the ground side control unit 22 determines that the drone 10 has reached the end point of the scheduled flight line Ln (step S308, Yes), the process proceeds to step S309.

  In step S309, the ground side control unit 22 determines whether or not there is a planned marking point M * in which the marker 2 could not be drawn by the automatic firing control described later in the planned flight line Ln that flew between step S302 and step S308. Determine. In step S309, for example, when the drone 10 flies along the planned flight line Ln without causing a positional shift or a positional shift, the marker 2 is compared with the planned marking point M * to be drawn. Whether or not is actually drawn may be determined based on the result map 42.

  If the ground-side control unit 22 determines that there is a planned marking point M * on the planned flight line Ln where the marker 2 could not be drawn by automatic firing control described later (step S309, Yes), the process proceeds to step S310.

  The ground side control part 22 determines whether the upper limit frequency | count of the round trip of the scheduled flight line Ln has been reached as step S310. If the ground-side control unit 22 determines that the upper limit number of reciprocations of the scheduled flight line Ln has not been reached (No at Step S310), the process returns to Step S302 and reverses the previous time along the scheduled flight line Ln. Fly the drone 10 from the direction.

  On the other hand, if it is determined that the upper limit number of reciprocations of the scheduled flight line Ln has been reached (step S310, Yes), the ground side control unit 22 proceeds to step S311. Further, the ground side control unit 22 did not have the planned marking point M * that could not draw the marker 2 by the automatic firing control described later on the planned flight line Ln (all planned marking points M * on the planned flight line Ln). If it is determined that the marker 2 is drawn (No in step S309), the process proceeds to step S311.

  The ground side control part 22 determines whether the flight of all the scheduled flight lines Ln was completed as step S311. When it is determined that the flight of all scheduled flight lines Ln has not been completed (No at Step S311), the ground side control unit 22 returns to Step S301 and causes the drone 10 to fly along the next scheduled flight line Ln + 1. . Moreover, the ground side control part 22 complete | finishes n line flight control, when it determines with the flight of all the schedule flight lines Ln having been completed (step S311, Yes).

  Next, automatic firing control of the marker firing device 12 will be described. FIG. 6 is a flowchart illustrating an example of automatic firing control processing. The automatic launch control shown in FIG. 6 is repeatedly executed at all times while the automatic flight control of the drone 10 is being executed.

  In step S11, the ground side control unit 22 communicates with the drone side communication unit 16 and the ground side communication unit 24 from the information acquisition unit 13 to the current position P (X, Y, Z) of the drone 10, and the rotation angle θ (α , Β, γ) and the flight speed V are input, and the process proceeds to step S12.

  In step S12, the ground-side control unit 22 takes the attitude of the drone 10 at the rotation angle θ (α, β, γ) at the current position P (X, Y, Z) of the drone 10, and the drone 10 Is flying at a flying speed V, a firing map 44 that defines a range in which the marker 2 can be drawn is created. After creating the launch map 44, the ground side control unit 22 proceeds to step S13.

  The ground side control part 22 inputs the plan marking point M * from the plan map 41 as step S13, and determines whether the plan marking point M * exists in the map 44 for discharge. If the ground-side control unit 22 determines that the planned marking point M * is not present in the launch map 44 (No at Step S13), the ground side control unit 22 executes the processes after Step S11 again. On the other hand, if the ground side control unit 22 determines that there is a planned marking point M * in the launch map 44 (step S13, Yes), the process proceeds to step S14.

  The ground side control part 22 inputs the actual result map 42 from the ground side memory | storage part 21 as step S14, and whether the actual marking point M is contained in the plan marking point M * in the map 44 for discharge | emission. judge.

  If the ground side control unit 22 determines that the actual marking point M is included in the planned marking point M * in the launch map 44 (Yes in step S14), the process proceeds to step S15. The ground side control unit 22 deletes the actual marking point M from the planned marking points M * in the launch map 44 as step S15, and proceeds to step S16. On the other hand, when it is determined that the actual marking point M is not included in the planned marking point M * in the launch map 44 (No in step S14), the ground-side control unit 22 omits the process in step S15 and performs step S16. Proceed to

  In step S16, the ground-side control unit 22 issues an automatic firing command for firing the marker 2 from the section 12a corresponding to the planned marking point M * in the launch map 44 from which the actual marking point M has been deleted. Output to. Accordingly, the drone side control unit 14 that has received the automatic firing command drives and controls the marker firing device 12 in accordance with the automatic firing command, and fires the marker 2 from the section 12a corresponding to the planned marking point M *. As a result, the marker 2 is drawn at a position corresponding to the planned marking point M * on the drawing target unit 100. Further, the marker 2 is not fired from the section 12a corresponding to the actual marking point M. Note that, as described above, in this embodiment, there is a limit on the number of markers 2 that are fired at the same timing. Therefore, when the planned marking point M * in the firing map 44 is larger than the limit number of the markers 2 to be fired at the same timing, only the planned marking point M * positioned upstream with respect to the traveling direction of the drone 10 is used. Marker 2 is drawn.

  Furthermore, the ground side control part 22 updates the performance map 42 as the plan marking point M * which drawn the marker 2 in step S16 as a performance marking point M as step S17, and the updated performance map 42 is the ground side memory | storage part. 21 is stored. Then, the ground side control part 22 performs the process after step S11 again.

  Next, an example of the processing contents of steps S11 to S17 in the automatic firing control will be described in detail. FIG. 7 to FIG. 9 are explanatory diagrams schematically showing a map for launching at an arbitrary time. A two-dot chain line in each figure indicates the drone 10. The broken line in each figure shows a part of the plan map 41, and the white circle in each figure shows the plan marking point M * included in the plan map 41. Also, the black circles in FIGS. 8 to 9 indicate the actual marking points M. The range surrounded by the thick solid line in each figure shows the maps 441 to 443 for launching at arbitrary times t1 to t3, and the grid-like region delimited by the solid line within the range enclosed by the thick solid line is for launching Each section 12a of the marker firing device 12 in the maps 441 to 443 is shown. Moreover, the solid line arrow extended in the up-down direction in each figure shows the scheduled flight line Ln which the drone 10 is flying.

  FIG. 7 shows an example in which the drone 10 is flying at the flight speed V in the state where the drone 10 is not inclined with respect to the planned flight line Ln at the arbitrary time t1. . The example shown in FIG. 7 shows a case where the drone 10 is flying the scheduled flight line Ln for the first time.

  When the drone 10 is flying at the flying speed V, the marker 2 fired from the marker launching device 12 receives an inertial force in the traveling direction side of the drone 10 according to the flying speed V. As a result, there is a possibility that the marker 2 fired from the marker firing device 12 is directed in a direction deviated from the assumed firing direction (vertical direction in the present embodiment).

  In the example shown in FIG. 7, it is assumed that the attitude of the drone 10 is not inclined with respect to the planned flight line Ln. However, even when the attitude of the drone 10 is inclined about the Y axis, the marker launcher 12 There is a possibility that the marker 2 fired from is directed in a direction deviated from the assumed firing direction (vertical direction in the present embodiment) or drawn at a position deviated from the assumed drawing position. FIG. 10 is a schematic diagram for explaining a change in the position where the marker lands on the drawing target portion according to the attitude of the drone in the air or the like. In the figure, the range between the solid arrows is the maximum drawing width of the marker 2 when the drone 10 is not inclined in the air and the marker 2 is allowed to fall freely from the section 12a of the marker launcher 12. W1 is shown. In the figure, the range between the broken arrows is the maximum drawing of the marker 2 when the drone 10 is inclined in the air and the marker 2 is allowed to fall freely from the section 12a of the marker launcher 12. The width W2 is indicated. As shown in the figure, when the marker 2 is allowed to fall freely, the maximum drawing width W2 of the marker 2 when the attitude of the drone 10 in the air is inclined is the case where the attitude of the drone 10 in the air is not inclined. The maximum drawing width W1 of the marker 2 may be narrower. As a result, when the attitude of the drone 10 in the air is inclined, there is a possibility that the marker 2 fired from the marker launching device 12 will land at a position deviated from the assumed drawing position.

  Therefore, the ground side control unit 22 determines each section 12a at the current position P (X, Y, Z) based on the rotation angle θ (α, β, γ) of the drone 10 and the flight speed V of the drone 10. The predicted position at which the marker 2 fired from the point lands on the drawing target unit 100 is calculated. The ground side control unit 22 determines that the calculated predicted position is within a range in which the marker 2 can be drawn at the present time, and creates a launch map 441 shown in FIG. 7 (step S12).

  Moreover, the ground side control part 22 can draw the marker 2 at the present time based on the remaining number of the markers 2 accommodated in each section 12a, and the range corresponding to the section 12a where the marker 2 that can be fired at the present time remains. It is determined that the range is within the range, and the firing map 441 shown in FIG. 7 is created (step S12).

  Further, when the planned flight line Ln is flying for the first time, the ground side control unit 22 starts from the section 12a located on the center side of the marker launching device 12 as shown by a range surrounded by a thick solid line in the drawing. A firing map 441 is created so that the marker 2 is fired preferentially (step S12). Thereby, it is possible to prevent the marker 2 from being fired first from the section 12a located outside (the section 12a in the range surrounded by the thick solid line and the thick broken line in the drawing). As a result, it is possible to prevent the center of gravity of the marker firing device 12 from being easily shifted as the marker 2 is fired from the outer section 12a, and to stabilize the posture of the drone 10. . Therefore, the drawing accuracy of the marker 2 can be further increased.

  Since the planned marking point M * is included in the launch map 441 shown in FIG. 7 (step S13, Yes), the ground side control unit 22 includes the actual marking point M at the planned marking point M * in the launch map 441. It is determined whether it is included (step S14). In the example at time t1 shown in FIG. 7, since the actual marking point M is not included in the firing map 441, the drone side control unit 14 starts from the section 12a corresponding to the planned marking point M * in the firing map 441. Then, an automatic firing command for firing the marker 2 is output to the marker firing device 12 (step S16). Moreover, the ground side control part 22 memorize | stores in the ground side memory | storage part 21 as the performance marking point M (refer the black circle in FIG. 8) that the marker 2 was drawn on the plan marking point M * (step S17). .

  Next, FIG. 8 shows an example in which the drone 10 is flying at the flight speed V in a state where the drone 10 is separated from the planned flight line Ln and tilted with respect to the planned flight line Ln at an arbitrary time t2. . The example shown in FIG. 8 shows a case where the drone 10 is flying the scheduled flight line Ln for the first time.

  The ground side control unit 22 creates the launch map 442 shown in FIG. 8 in the same procedure as in the example of FIG. 7 described above (step S12). That is, the drone side control unit 14 determines each section 12a at the current position P (X, Y, Z) based on the rotation angle θ (α, β, γ) of the drone 10 and the flight speed V of the drone 10. The predicted position at which the marker 2 fired from the point lands on the drawing target unit 100 is calculated. The ground-side control unit 22 determines that the calculated predicted position is within a range in which the marker 2 can be drawn at the present time, and creates a launch map 442. Further, the ground-side control unit 22 determines that the range corresponding to the section 12a in which the marker 2 that can be fired at this time remains is the range in which the marker 2 can be drawn at the current time, and creates the firing map 442. Further, the ground-side control unit 22 creates the firing map 442 so that the marker 2 is preferentially fired from the section 12 a located on the center side of the marker launching device 12.

  Since the planned marking point M * is included in the firing map 442 shown in FIG. 8 (step S13, Yes), the ground side control unit 22 includes the actual marking point M at the planned marking point M * in the firing map 442. It is determined whether it is included (step S14). In the example shown in FIG. 8, the marking mark M shown with a black circle is included in the firing map 442 (step S14, Yes). Therefore, the ground side control unit 22 deletes the actual marking point M from the planned marking points M * included in the launch map 442 (step S15), and starts from the section 12a corresponding to the remaining planned marking points M *. Then, an automatic firing command for firing the marker 2 is output to the marker firing device 12 (step S16). Moreover, the ground side control part 22 is memorize | stored in the ground side memory | storage part 21 as the performance marking point M for the performance which drawn the marker 2 to the plan marking point M * (step S17).

  In this way, the flight-type drawing apparatus 1 also allows the current position P (X of the drone 10 to fly even when the drone 10 is flying away from the planned flight line Ln and tilted with respect to the planned flight line Ln. , Y, Z), posture (rotation angle θ (α, β, γ)), and flight speed V, a firing map 442 that is a range in which the marker 2 can be drawn at this time is created. Then, the marker 2 is drawn at the planned marking point M *. Therefore, the marker 2 can be prevented from being drawn at a position different from the planned marking point M *, and the drawing accuracy of the marker 2 can be increased. Further, the marker 2 is quickly drawn at the planned marking point M * without correcting the current position P (X, Y, Z) and posture (rotation angle θ (α, β, γ)) of the drone 10. Can do. By repeating this procedure, the marker 2 is sequentially drawn from the marker launcher 12 at each planned marking point M * during the flight of the planned flight line Ln, and the marker 2 is drawn on the planned flight line Ln. The recorded position is stored as the actual marking point M (see the black circle in FIG. 9).

  Next, FIG. 9 shows the flight speed in a state where the drone 10 is along the planned flight line Ln and the drone 10 is returned to a posture not inclined with respect to the planned flight line Ln at an arbitrary time t3. An example in the case of flying at V is shown. The example shown in FIG. 9 shows a case where the drone 10 flies on the scheduled flight line Ln for the second and subsequent times.

  The ground side control unit 22 creates the launch map 433 in the same procedure as the example shown in FIGS. However, when the drone 10 flies on the scheduled flight line Ln for the second time or later, the ground side control unit 22 launches the firing map 443 so that the marker 2 is also fired from the section 12a located outside the marker launching device 12. Create As a result, as shown in FIG. 9, the marker 2 can be more reliably drawn at the planned marking point M * where the marker 2 was not drawn during the first flight of the planned flight line Ln. Accordingly, drawing omission of the planned marking point M * can be suppressed satisfactorily.

  As described above, the flying drawing apparatus 1 according to the embodiment has the current position P (X, Y, Z) of the drone 10 while the drone 10 as the flying object is flying over the drawing target unit 100. Included in the firing map 44 using a firing map 44 (launch maps 441 to 443) that defines a range in which the marker 2 can be drawn for each current position P (X, Y, Z) according to changes. The marker 2 can be fired from each section 12a of the marker firing device 12 corresponding to the planned marking point M *. Accordingly, when the current position P (X, Y.Z) of the drone 10 is deviated from the originally assumed position, the marker 2 is drawn at a position different from the planned marking point M * without moving the drone 10 itself. Can be suppressed. Further, since it is not necessary to move the drone 10 itself, the marker 2 can be quickly drawn at the planned marking point M *. Therefore, the flying drawing apparatus 1 according to the embodiment can draw the marker 2 from the air and draw a marking point on the drawing target unit 100 with high accuracy and speed.

  Further, when the planned marking point M * in the firing map 44 is the actual marking point M on which the marker 2 has been drawn, the ground side control unit 22 sets the actual marking point M among the plurality of sections 12a. The marker 2 is not fired from the corresponding section 12a (step S14 to step S16).

  According to this configuration, since it is possible to prevent the marker 2 from being drawn on the portion where the marker 2 has been drawn once, the drawing quality of the marking point can be improved.

  Further, the information acquisition unit 13 further acquires the attitude of the drone 10 in the air (the rotation angle θ (α, β, γ)), and the ground side control unit 22 acquires the drone 10 acquired by the information acquisition unit 13. When the drone 10 takes the posture acquired by the information acquisition unit 13 at the current position P (X, Y, Z), a firing map 44 (a firing map 442) that defines a range in which the marker 2 can be drawn. ).

  According to this configuration, at the current position P (X, Y, Z) of the drone 10, the launch map 44 (the launch map 442) that defines the range in which the marker 2 can be drawn according to the attitude of the drone 10 in the air. ) Can be used to fire the marker 2 from the section 12a of the marker firing device 12 corresponding to the planned marking point M * included in the firing map 44 (launching map 442). Thereby, when the posture of the drone 10 in the air is deviated from the originally assumed posture, the drawing of the marker 2 at a position different from the planned marking point M * is suppressed without correcting the posture of the drone 10. be able to. Further, since it is not necessary to correct the posture of the drone 10 itself, the marker 2 can be quickly drawn at the planned marking point M *.

  Further, the information acquisition unit 13 further acquires the flight speed V of the drone 10, and the ground side control unit 22 performs the drone at the current position P (X, Y, Z) of the drone 10 acquired by the information acquisition unit 13. When 10 is flying at the flight speed V acquired by the information acquisition unit 13, a launch map 44 (launch maps 441 to 443) that defines a range in which the marker 2 can be drawn is created.

  According to this configuration, at the current position P (X, Y, Z) of the drone 10, the launch map 44 (the launch maps 441 to 441) that defines the range in which the marker 2 can be drawn according to the flight speed V of the drone 10. 443), the marker 2 can be fired from the section 12a of the marker firing device 12 corresponding to the planned marking point M * included in the firing map 44 (launch maps 441 to 443). Thereby, it is possible to prevent the marker 2 from being drawn at a position different from the planned marking point M * due to the flight speed V of the drone 10.

  In addition, the marker launching device 12 launches the marker 2 by free fall with the marker 2 facing downward in the vertical direction.

  According to this configuration, since the reaction force acting on the drone 10 can be reduced by firing the marker 2 as compared with the case where the marker 2 is accelerated and forcedly fired, the position and posture of the drone 10 in the air can be stabilized. Can be achieved. Thereby, the marker 2 can be accurately drawn at the planned marking point M *.

  The marker 2 is a pile-shaped member that lands and pierces the drawing target unit 100.

  According to this configuration, since the pile-shaped marker 2 can be landed and fixed on the drawing target portion 100, for example, when a paint such as a paintball is used as the marker 2, the drawing target portion such as the ground surface is used. 100 is not absorbed. In addition, when paint using a paintball or the like is used as the marker 2, there are irregularities (for example, wrinkles by a large civil engineering vehicle or local topographic relief) on the drawing target portion 100, and drawing from the flying drawing apparatus 1. Due to the fact that the distance to the target portion 100 is not constant, the paintball does not rupture at the landing point, so that the paint is not printed, and the printing state by the paint does not change or deform significantly. Therefore, the visibility of the drawn marker 2 can be improved. Further, since the marker 2 can be drawn while the drone 10 is flying at a constant height regardless of the undulation shape of the drawing target portion 100, the drone 10 can be stably fly, and the drawing of the marker 2 can be performed. The accuracy can be further increased.

  Further, the ground side control unit 22 causes the drone 10 to fly on the drawing target unit 100 along the plurality of planned flight lines Ln created based on the plurality of planned marking points M *, while the plurality of planned marking points M. The marker 2 is fired from the marker firing device 12 in *.

  According to this configuration, the marker 2 is drawn at the planned marking point M * while flying the drone 10 along the plurality of planned flight lines Ln created by reflecting the positions of the plurality of planned marking points M *. Therefore, it is possible to draw the marker 2 efficiently.

  Moreover, the ground side control part 22 is made to fly without stopping the drone 10 with the fixed flight speed V along one of the scheduled flight lines Ln.

  According to this configuration, since the flying speed V of the drone 10 does not change during the drawing of the marker 2, the posture of the drone 10 can be stabilized and the drawing accuracy of the marker 2 can be improved.

  In the present embodiment, the launch map is based on all of the current position P (X, Y, Z), attitude (rotation angle (θ (α, β, γ)), and flight speed V of the drone 10. 44, the launch map 44 may be created based on at least the current position P (X, Y, Z) of the drone 10. The launch map 44 may be the current position P of the drone 10. (X, Y, Z) and posture (rotation angle (θ (α, β, γ)) may be created, or the current position P (X, Y, Z) of the drone 10, And it may be created based on the flight speed V.

  Further, the marker launching device 12 may be one that accelerates the marker 2 along the vertical direction and forcibly launches it. In this case, the information acquisition unit 13 acquires the firing speed Vm of the marker 2 by the marker launching device 12, and the ground side control unit 22 detects that the drone 10 is informed at the current position P (X, Y, Z) of the drone 10. A shooting map that defines the range in which the marker 2 can be drawn when the posture (rotation angle θ (α, β, γ) is acquired by the acquisition unit 13 and the marker 2 is fired at the firing speed Vm. 44 may be created.

  In FIG. 10, the range between the dashed-dotted arrows is when the drone 10 is inclined in the air and the marker 2 is accelerated and fired from the section 12a of the marker launcher 12 at the firing speed Vm. The maximum drawing width W3 of the marker 2 is shown. As shown in the figure, when the drone 10 is inclined in the air, the drawing width W3 of the marker 2 when the marker 2 is accelerated and launched at the firing speed Vm is the marker when the marker 2 is freely dropped. 2 may be wider than the drawing width W1, W2. That is, when the attitude of the drone 10 in the air is inclined, the marker 2 fired from the marker launching device 12 may have a large amount of deviation from the assumed drawing position depending on the firing speed Vm.

  Therefore, the ground side control unit 22 determines the current position P (X, Y) based on the rotation angle θ (α, β, γ) of the drone 10, the flight speed V of the drone 10, and the firing speed Vm of the marker 2. , Z), the predicted position where the marker 2 fired from each section 12a lands on the drawing target portion 100 is calculated. The ground side control unit 22 determines that the calculated predicted position is within a range in which the marker 2 can be drawn at the present time, and creates the launch map 44 (step S12).

  According to this configuration, at the current position P (X, Y, Z) of the drone 10, a firing map that defines a range in which the marker 2 can be drawn according to the attitude of the drone 10 in the air and the firing speed Vm of the marker 2. 44, the marker 2 can be fired from the section 12a of the marker firing device 12 corresponding to the planned marking point M * included in the firing map 44. As a result, even when the drone 10's posture in the air deviates from the originally assumed posture and the landing position of the marker 2 can deviate from the originally assumed posture in accordance with the firing speed Vm of the marker 2, It is possible to prevent the marker 2 from being drawn at a position different from the planned marking point M * without correcting. Further, since it is not necessary to correct the posture of the drone 10 itself, the marker 2 can be quickly drawn at the planned marking point M *.

  The marker launching device 12 may be a device that forcibly launches the marker 2 by accelerating the marker 2 at a predetermined angle with respect to the vertical direction. In this case, the information acquisition unit 13 acquires a predetermined angle of the marker 2 firing in addition to the firing speed Vm of the marker 2 by the marker launching device 12, and the ground side control unit 22 determines the current position P (X , Y, Z) when the drone 10 takes the posture (rotation angle θ (α, β, γ) acquired by the information acquisition unit 13 and the marker 2 is fired at the firing speed Vm and a predetermined angle. Alternatively, a firing map 44 that defines a range in which the marker 2 can be drawn may be created.

  Further, in the present embodiment, at the time of the flight of the first scheduled flight line Ln, the marker 2 is preferentially fired from the section 12a located on the center side of the marker launching device 12, and the flight of the scheduled flight line Ln for the second and subsequent times. In some cases, the firing map 44 is created so that the marker 2 is also fired from the section 12 a located outside the marker launching device 12. The section 12a located on the center side of the marker firing device 12 and the section 12a located outside may be divided at any position, or may be divided into two or more. Further, the firing map 44 may be created so that the marker 2 is fired from the section 12 a located outside the marker launching device 12 even during the first flight of the scheduled flight line Ln. Also, the firing map 44 may be created so that the marker 2 is also fired from the section 12a located outside the marker launching device 12 at the time of the flight of the scheduled flight line Ln after the third time instead of the second time or later. .

  Further, the information acquisition unit 13 may be capable of acquiring the undulating shape of the drawing target unit 100. For example, a scanning device capable of acquiring the undulation shape of the drawing target unit 100 is mounted on the drone 10 and before the control for drawing the marker 2 is executed, the drone 10 is once caused to fly on the drawing target unit 100 to be undulated. Get the shape. Then, when creating the firing map 44, the drawing is performed from the drone 10 based on the undulation shape of the drawing target unit 100 acquired by the information acquisition unit 13 and the current position P (X, Y, Z) of the drone 10. A vertical distance to the target unit 100 is calculated. Then, based on the calculated vertical distance from the drone 10 to the drawing target part 100, the rotation angle θ (α, β, γ) of the drone 10, and the flight speed V of the drone 10 (and the marker 2 based on a firing speed Vm of 2 and a predetermined angle of firing of the marker 2), and a predicted position where the marker 2 fired from each section 12 a lands on the drawing target unit 100 at the current position P (X, Y, Z). Is calculated. Thereby, the projected map 44 can be created by calculating the predicted position where the marker 2 lands on the drawing target part 100 with higher accuracy. As a result, even when the drone 10 is caused to fly at a constant height, the drawing accuracy of the marker 2 at the planned marking point M * can be further increased.

  In the present embodiment, the drone 10 is allowed to fly at a constant flight speed V along the planned flight line Ln without stopping (hovering), but the drone 10 is connected to the planned flight line Ln. It may stop at any position (it may be in a hovering state), and the flight speed V may not be constant. For example, when the drone 10 is flying along the planned flight line Ln, the flight speed V may be increased if a range where the planned marking point M * does not exist in the planned map 41 continues for a predetermined distance or more. Further, the planned flight line Ln may not have a constant height in the vertical direction. That is, the drone 10 flying along the scheduled flight line Ln does not always have to fly at the same height.

  In addition, the flying object is not limited to the drone 10, and is a manned flying object such as a radio helicopter, an unmanned aircraft (UAV), or an aircraft having an autopilot function, according to a flight instruction from the ground side control unit 24. It may be a flying object operated by a pilot.

  Further, the marker 2 is not limited to a pile-shaped member that lands and pierces the drawing target unit 100, and may be a paint ball containing paint.

  In the present embodiment, the ground side storage unit 21 stores the plan map 41, the result map 42, and the scheduled flight line data 43, and the ground side control unit 22 controls the automatic flight control of the drone 10 and the automatic operation of the marker device 12. The launch control is to be executed. Thereby, the function of the drone side control part 14 and the drone side memory | storage part 15 can be simplified, and an enlargement can be suppressed. As a result, the drone 10 can be reduced in size and weight.

  Note that some of the functions of the ground side storage unit 21 and the ground side control unit 22 may be provided on the drone 10 side. For example, the drone side control unit 14 may execute the automatic flight control of the drone 10, and the planned flight line data 43 created (or previously created) in the automatic flight control may be stored in the drone side storage unit 15. . In this case, the drone side control unit 14 acquires the planned map 41 and the actual result map 42 from the ground side storage unit 21 by communication, and based on the acquired planned map 41 and the actual result map 42, the planned flight line data in the automatic flight control. 43 and the n-line flight control of the drone 10 along the scheduled flight line Ln may be executed.

  Further, the drone side control unit 14 may execute the automatic firing control of the marker launching device 12. Also in this case, the drone side control unit 14 acquires the plan map 41 and the result map 42 from the ground side storage unit 21 by communication, and based on the acquired plan map 41 and the result map 42, the map for launch in the automatic launch control. 44 and the automatic firing control of the marker launching device 12 may be executed based on the created firing map 44. Moreover, what is necessary is just to update the performance map 42 by automatic launch control, and to transmit the updated performance map 42 to the ground side memory | storage part 21. FIG. As described above, by executing the automatic flight control and the automatic launch control in the drone side control unit 14, it becomes possible to improve the control responsiveness.

  Further, the position detection support unit 30 may be a laser tracker. In this case, a reflective target for reflecting the laser light from the laser tracker is attached to the drone 10, and the laser light is irradiated from the laser tracker toward the reflective target of the drone 10, and the laser light reflected from the reflective target is input. Thus, the current position P (X, Y, Z) and the rotation angle θ (α, β, γ) of the drone 10 can be measured. Further, the position detection support unit 30 shoots the drone 10 flying over the drawing target unit 100 using a plurality of photographic devices, including the peripheral video, and synthesizes the shot video, so that the current position P ( It may be a position detection device by image processing having a function of measuring (X, Y, Z).

  Further, in the n-line flight control shown in FIG. 5, the position detection support unit 30 acquires or uses a laser tracker or an image by GPS when correcting the attitude of the drone 10 in step S305 or correcting the flight direction of the drone 10 in step S307. Based on the current position P (X, Y, Z) and the rotation angle θ (α, β, γ) of the drone 10 measured by the position calculation device by processing, the current position P (X, Y, Z), the rotation angle θ You may provide the correction amount calculation part which calculates the correction amount of ((alpha), (beta), (gamma)), and transmits to the ground side control part 22. FIG. The ground side control unit 22 corrects the attitude of the drone 10 or flies based on the correction amount of the current position P (X, Y, Z) and the rotation angle θ (α, β, γ) received from the correction amount calculation unit. Correct the direction.

DESCRIPTION OF SYMBOLS 1 Flight type | mold drawing apparatus 2 Marker 10 Drone 11 Flight apparatus 11a Rotor 11b Propeller 12 Marker launching apparatus 12a Section 13 Information acquisition part 14 Drone side control part 15 Drone side memory | storage part 16 Drone side communication part 20 Ground operation apparatus 21 Ground side memory | storage part DESCRIPTION OF SYMBOLS 22 Ground side control part 23 Control part 23a Flight control apparatus 23b Launching operation apparatus 24 Ground side communication part 30 Position detection assistance part 41 Plan map 42 Result map 43 Plan flight line data 44,441,442,443 Launch map 100 Drawing object Part Ln Planned flight line M * Planned marking point M Actual marking point

Claims (9)

A flying object flying in the air on the drawing target part;
A marker launcher mounted on the flying body and capable of firing a marker for each of a plurality of sections;
An information acquisition unit for acquiring information including a current position of the flying object in the air;
A control unit for controlling the flight of the flying object and controlling the firing of the marker by the marker launching device;
With
The controller is
While the flying object is flying over the drawing target part, a range in which the marker can be drawn for each current position according to a change in the current position of the flying object acquired by the information acquisition part. Create a prescribed launch map,
When there are a plurality of planned marking points that are positions where the marker should be drawn on the drawing target portion in the firing map, the marker is fired from a section corresponding to the planned marking point among the plurality of sections. Let
A flying drawing apparatus characterized by that.   When the planned marking point in the map for launch is an actual marking point on which the marker has been drawn, the control unit starts from the section corresponding to the actual marking point among the plurality of sections. The flying drawing apparatus according to claim 1, wherein the marker is not fired. The information acquisition unit further acquires the attitude of the flying object in the air,
The control unit is a range in which the marker can be drawn when the flying object is in the posture acquired by the information acquiring unit at the current position of the flying object acquired by the information acquiring unit. Create the launch map that defines
The flight drawing apparatus according to claim 1 or 2, wherein The information acquisition unit further acquires the flight speed of the aircraft,
The control unit can draw the marker when the flying object is flying at the flight speed acquired by the information acquiring unit at the current position of the flying object acquired by the information acquiring unit. Creating a map for launching that defines a specific range,
The flight drawing apparatus according to claim 1 or 2, wherein The marker firing device accelerates and fires the marker,
The information acquisition unit further acquires the firing speed of the marker,
The control unit takes the posture acquired by the information acquisition unit at the current position of the aircraft acquired by the information acquisition unit, and is acquired by the information acquisition unit. When the marker is fired at a firing speed, the firing map that defines a range in which the marker can be drawn is created.
The flying drawing apparatus according to claim 3.   The flight type drawing apparatus according to any one of claims 1 to 4, wherein the marker launching apparatus launches the marker by free-falling downward in the vertical direction.   The flight type drawing apparatus according to any one of claims 1 to 6, wherein the marker is a pile-shaped member that lands and pierces the drawing target portion.   The control unit is configured to cause the marker projecting device to move to the plurality of planned marking points while flying the flying object on the drawing target unit along a plurality of planned flight lines created based on the plurality of planned marking points. The flight type drawing apparatus according to any one of claims 1 to 7, wherein the marker is fired.   The flight type drawing apparatus according to claim 8, wherein the control unit causes the flying object to fly along one of the scheduled flight lines without stopping at the constant flight speed.

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