JP2018206089A - Induction system and induction method - Google Patents

Abstract

To provide an induction system that induces an unmanned flight vehicle according to a simpler method so that the unmanned flight vehicle can land at a predetermined point, and an induction method.SOLUTION: An induction system uses an index, which is associated with a specified landing position of an unmanned flight vehicle, to induce the unmanned flight vehicle to land at a predetermined point. The induction system includes a display unit that is disposed at a position separated by a predetermined distance from the specified landing position and displays the index, and a control unit that modifies the size of the index, which is displayed in the display unit, in association with the position of the unmanned flight vehicle.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a guidance system and a guidance method.

  In recent years, a guidance system for taking off and landing a relatively small unmanned airplane (drone) is known (see Patent Document 1). According to Patent Document 1, a marker indicating the position is shown on a specific vehicle, and an unmanned airplane is guided to be docked with the vehicle based on the marker.

JP-T-2006-535879

  However, a function as a marker for indicating a landing point where a necessary marker does not fit in an image even if the distance from the unmanned airplane to the marker is too long or too short to guide the unmanned airplane by the method according to Patent Document 1. May not be satisfied.

  The problem to be solved by the present invention is to provide a guidance system and a guidance method for guiding the unmanned air vehicle in a simpler manner so that the unmanned air vehicle lands at a predetermined point.

(1) A guidance system according to an aspect of the present invention is a guidance system for landing an unmanned air vehicle at a predetermined point using an index associated with a landing designated position of the unmanned air vehicle. A display unit arranged at a predetermined position from the landing specified position and displaying the indicator; and a control unit that changes the size of the indicator displayed by the display unit in association with the position of the unmanned air vehicle. It is the guidance system characterized by providing.

(2) Moreover, the said control part in said guidance system adjusts so that the said parameter | index may become small as the position of the said unmanned air vehicle approaches the said parameter | index.

(3) In addition, the above guidance system includes a position detection unit that detects the position of the unmanned air vehicle, and the control unit determines the size of the index based on the detection result of the position of the unmanned air vehicle. adjust.

(4) Moreover, the said position detection part in said guidance system detects the position of the said unmanned air vehicle based on the image imaged in the position of the said unmanned air vehicle.

(5) A guidance method according to an aspect of the present invention is a guidance method for landing an unmanned air vehicle at a predetermined point using an index associated with a landing designated position of the unmanned air vehicle. Displaying the index on a display unit arranged at a predetermined position from the landing specified position, and changing the size of the index displayed on the display unit in association with the position of the unmanned air vehicle. It is the guidance method characterized by including.

  ADVANTAGE OF THE INVENTION According to this invention, the guidance system and guidance method which guide | induced by a simpler method can be provided so that an unmanned air vehicle may land on a predetermined point.

It is a figure for demonstrating the guidance system which concerns on embodiment of this invention. It is a lineblock diagram of the guidance system concerning a 1st embodiment. It is a lineblock diagram of drone 2 concerning an embodiment. It is an elevation view of drone 2 concerning an embodiment. It is an elevation view at the time of landing of drone 2 concerning an embodiment. It is a block diagram of the base of embodiment. It is a figure for demonstrating an example of the base where the storage apparatus which concerns on embodiment is arrange | positioned. It is a figure for demonstrating the parameter | index utilized for guidance of the drone of embodiment. It is a layout view of a guidance position display device for displaying an index of an embodiment. It is a figure for demonstrating the image imaged by the imaging part of embodiment. It is a figure for demonstrating an example of the more concrete guidance process of embodiment. It is a figure for demonstrating an example of the guidance process of the modification example 1. FIG. It is a figure for demonstrating an example of the guidance process of the modification 2.

  Hereinafter, a guidance system and a guidance method according to embodiments of the present invention will be described with reference to the accompanying drawings.

[Outline of guidance system]
Drawing 1 is a figure for explaining the guidance system concerning an embodiment. The guidance system 1 shown in FIG. 1 is applied to, for example, a takeoff point or a landing point of a transportation means for delivering a predetermined package. Note that the above does not limit the application to takeoff and landing points. For example, the drone 2 (unmanned aerial vehicle) is an example of a transportation means, and delivers a predetermined baggage between predetermined bases determined based on a baggage transportation plan. Reference numerals 3-1 to 3-3, 4-1 to 4-6, 5-1, and 5-2 each indicate an example of a base. For example, each of the base 4-1 and the base 4-2, the base 4-3 and the base 4-4, the base 4-5 and the base 4-6 are paired with each other and are arranged at a relatively close distance to be redundant. Has been. The bases 4-1 to 4-6 are examples of relay bases. When the bases 4-1 to 4-6 are described without being distinguished from each other, they are collectively referred to as a relay base 4 collectively. Sometimes.

  In the following description, the bases 3-1 to 3-3 are referred to as the bases 3 when they are described without distinction. Further, the base 5-1 and the base 5-2 are referred to as the base 5 when they are described without being distinguished.

  The drone 2 of the embodiment is an unmanned aerial vehicle that can move in the vertical direction. The drone 2 flies between bases in a state of carrying a predetermined baggage BGG or in an empty state and moves.

  In addition, when the path length between bases, for example, the path length from the delivery base 3 to the delivery destination base 5 of the package BGG is relatively long, the drone 2 is connected to one or more relay bases 4. You may go through.

  The center device 50 is a computer in which information such as a flight plan of each drone 2 is stored in a storage unit. The center device 50 notifies the drone 2 of the flight plan and causes the drone 2 to fly according to the flight plan. The flight plan includes the flight route of the drone 2. For example, the flight route of the drone 2 connects the base 3, the relay base 4, the base 5, etc., and defines a route for the drone 2 to fly. The drone 2 moves autonomously based on the flight route of the flight plan, and flies to the base 3, the relay base 4, the base 5 and the like designated in the flight plan. The guidance system 1 may guide the drone 2 when taking off and landing at the base 3, the base 5, and the relay base 4.

  The terminal device 40 is a computer operated by a user. The center device 50 receives a user operation notified from the terminal device 40.

  Said drone 2 is equipped with the electrical storage part, stores the energy required for the movement between bases in an electrical storage part, and flies, consuming the energy.

[Details of guidance system]
(First embodiment)
An example of the guidance system according to the embodiment will be described in detail.

FIG. 2 is a configuration diagram of the guidance system according to the embodiment.
The guidance system 1 includes a drone 2, a storage device 6, a management device 7, a charging device 8, a guidance position display device 9 (display unit), a center device 50, and a terminal device 40.

(Drone)
FIG. 3A is a configuration diagram of the drone 2 according to the embodiment. FIG. 3B is a perspective view of the drone 2 according to the embodiment. Drawing 3C is an elevation view at the time of landing of drone 2 concerning an embodiment.

  The drone 2 shown in FIGS. 3A to 3C includes a main body 21, a plurality of rotors 22, a connecting part 23 (support), an imaging part 24, a leg part 25, and a coil 26.

  The main body 21 forms a frame of the drone 2 and includes a housing for incorporating a main configuration as the drone 2.

  The plurality of rotors 22 (rotary blades) are disposed on the main body 21 and are supported so as to be rotatable about their axes. The direction of the axis is substantially vertical when flying in a stationary state in the air.

  The connecting portion 23 includes an end effector formed so as to hold the luggage transporter 10 and is provided at the lower portion of the main body 21. For example, the drone 2 conveys it in a state in which the connecting portion 23 holds the upper portion of the load transporter 10 and suspends the load transporter 10. It should be noted that the luggage BGG may be stored in the luggage carrier 10.

  The imaging unit 24 is arranged at a position where the situation around the drone 2 can be identified. For example, the imaging unit 24 is arranged eccentrically from the center of the main body 21 in the horizontal direction so as not to interfere with the luggage transporter 10. With the imaging unit 24 arranged in this way, the lower direction of the main body 21 can be photographed even when there is the luggage transporter 10 suspended by the connecting unit 23.

  The leg part 25 supports the main body 21 when it is in a state of landing at a base or the like. For example, a coil 26 is provided below the leg portion 25. The coil 26 is electrically connected to a power supply unit 216 described later, and power generated by electromagnetic induction or the like is supplied to the power supply unit 216.

  The main body 21 includes a motor 211, a position detection unit 212, an attitude detection unit 213, an altitude detection unit 214, a communication unit 215, a power supply unit 216, a storage unit 217, and a control unit 218. ing.

  The motor 211 adjusts the rotation amount in accordance with the control amount from the control unit 218 and drives the rotor 22 provided in correspondence therewith.

  The position detector 212 receives a GNSS (Global Navigation Satellite System) signal such as GPS (Global Positioning System), generates position information indicating the current position of the drone 2, and outputs the position information to the controller 218.

  The posture detection unit 213 includes an acceleration sensor, a gyro, and the like, detects the posture of the drone 2, and outputs a detection value to the control unit 218.

  The altitude detection unit 214 includes, for example, a barometric sensor, detects the altitude of the drone 2 based on a change in barometric pressure from the time of takeoff, and outputs the detected value to the control unit 218. Further, the altitude detection unit 214 may detect the distance to the obstacle in the downward direction using ultrasonic waves, estimate the altitude based on the detection result, and output the estimated value to the control unit 218. .

  The communication unit 215 communicates with ground-side equipment such as the management device 7 and the center device 50 described later via a wireless base station (not shown) that relays communication of the network NW.

  The power supply unit 216 stores energy that can supply a desired amount of power, and supplies power based on the energy to each unit. The power supply unit 216 supplies power required for flight.

For example, the power supply unit 216 includes a power storage unit such as a secondary battery or a capacitor. The power supply unit 216 stores a part of energy supplied from the outside of the main body 21 in the power storage unit. For example, the energy supplied from the outside may be supplied by a non-contact method such as electromagnetic induction or resonance (resonance). In the case of the non-contact type, a coil 26 may be provided on the main body 21 or the leg portion 25 and the power generated in the provided coil 26 may be used. In addition, a power supply terminal may be provided in the main body 21 or the leg part 25, and the electric power supplied via it may be utilized. The physical specifications such as the coil 26 and the power supply terminal may be different for each drone 2, and a plurality of types may be defined so as to facilitate classification.
The power supply unit 216 according to the embodiment detects, for example, the SOC (State Of Charge) of the above-described secondary battery sequentially or at a predetermined timing, and notifies the management device 7 in response to a request.

  The storage unit 217 stores a software program for processing executed by the control unit 218, identification information of the drone 2, and data such as a flight plan.

  The control part 218 controls each part in the drone 2, moves the drone 2 between bases, and performs takeoff or landing at the bases. For example, the control unit 218 can adjust the rotation amount of each motor 211 so that the desired flight altitude, traveling direction, and direction of the main body 21 (rotation amount around the vertical axis) can be adjusted. .

  The control unit 218 controls each part of the drone 2 based on the flight plan and information acquired from each part for the movement between the bases, and causes the drone 2 to fly according to the flight plan. The control unit 218 detects the attitude of the drone 2 by the attitude detection unit 213, and flies it while stabilizing the attitude based on the detection result. A known method for stabilizing the posture of the drone 2 may be applied. Note that the control unit 218 may fly the drone 2 in accordance with the guidance information instructed from the site side when taking off and landing at the site.

  The control unit 218 may transmit the image captured by the imaging unit 24 via the communication unit 215. Furthermore, the control unit 218 causes the drone 2 to fly according to the image captured by the imaging unit 24 and the guidance information from the base. For example, the image captured by the image capturing unit 24 includes a detection result of light emitted from the light emitter provided on the building BL side to guide the drone 2. In addition, the guidance information is determined based on the status of the facilities on the site side. Details thereof will be described later.

(Base)
4 and 5 show an example of the base according to the embodiment. FIG. 4 is a configuration diagram of the base in the embodiment. The base shown in FIG. 4 is provided with the one or more storage devices 6, the management device 7, the charging device 8, and the guidance position display device 9.

  FIG. 5 is a diagram for describing an example of a base where the storage device according to the embodiment is arranged.

  As shown in FIG. 5, the base 3 (the relay base 4 and the base 5) is provided with a departure / arrival base ST for the drone 2 to take off / arrive. For example, the departure / arrival base ST is arranged on a rooftop RF of a building BL, a specific floor in the building BL, a ground surface in a predetermined site, or the like. The example shown in FIG. 5 is an example in the case of being arranged on the rooftop RF of the building BL.

  One or a plurality of storage devices 6 are provided in the departure / arrival base ST. The storage devices 6 in the departure / arrival base ST are arranged at a predetermined distance from each other. The storage device 6 stores the baggage BGG transported using the drone 2 together with the baggage transport tool 10 and temporarily stores it.

  At the time of collection by the drone 2, the luggage carrier 10 including the luggage BGG is arranged in the storage device 6 in advance. The drone 2 collects the baggage BGG from the storage device 6 for each baggage carrier 10. The same applies to the recovery of the empty luggage carrier 10 from the storage device 6.

  At the time of delivery by the drone 2, the storage device 6 is in a state where the luggage carrier 10 is not disposed. The drone 2 flies over the storage device 6 with the load BGG loaded together with the load transport device 10, and places the load transport device 10 at a predetermined position of the storage device 6. At the time of relaying at the relay base 4, the package BGG is relayed together with the package carrier 10 by a combination of the above delivery and collection.

  For example, four storage devices 6 from the storage device 6-1 to the storage device 6-4 are arranged side by side along the X-axis direction of the three-dimensional coordinates in the departure / arrival base ST-1 shown in FIG. The storage device 6-1 and the storage device 6-4 are in an unused state in which the luggage carrier 10 is not disposed. A luggage carrier 10 is arranged in the storage device 6-2 and the storage device 6-3. Furthermore, the storage device 6-3 is in a state in which the drone 2 has landed to collect or deliver the cargo transporter 10. Note that the storage device 6-1 and the storage device 6-4 that are not in use can be arranged with the luggage carrier 10 for the user to request delivery, or wait for delivery of the drone 2. It is also possible to make a reservation for this. The same applies to the departure / arrival base ST-2. Hereinafter, when the departure / arrival base ST-1 and the departure / arrival base ST-2 are described without being distinguished, they are simply referred to as the departure / arrival base ST.

  Further, a guidance position display device 9 which is a target when the drone 2 is landing is provided in the takeoff and landing base ST shown in FIG. The guidance position display device 9 is disposed so as to surround the storage device 6 at a position determined based on the position of the point where the storage device 6 is disposed. The guidance position display device 9 indicates a desired landing point when the drone 2 takes off and landing, and performs a display for guiding the drone 2 there. The desired landing point is an example of a chargeable point. The guidance position display device 9 of the embodiment includes a plurality of sets each including a plurality of issuers. The guidance position display device 9 switches light emission and extinguishing for each set by the management device 7 controlling the light emission state. In the guidance position display device 9, the light emission state for each set corresponds to an index for guiding the drone 2. Details of the index will be described later.

(Charging device)
Next, the charging device 8 (charging unit) will be described.
A power feeding unit for supplying power to the drone 2 is provided in the vicinity of the opening 66 of the upper surface part 64. A coil 81 and a terminal 82, which will be described later, are an example of a power feeding unit.

  The charging device 8 receives supply of electric power based on commercial power or natural energy, and supplies a part of the power to one or a plurality of storage devices 6, a management device 7, and the drone 2. For example, the charging device 8 supplies power to the drone 2 in the state after landing through the power feeding unit in accordance with a command from the management device 7.

  For example, the coil 81 is provided at a position facing the coil 26 of the drone 2 as in the above-described departure / arrival base ST-1 in FIG. The charging device 8 may send power from the coil 81 to the coil 26 by a non-contact power feeding method.

  Further, for example, as in the above-described departure / arrival base ST-2 of FIG. 5, the terminal 82 is provided at a position (see FIG. 5) where the leg portion 25 of the drone 2 contacts the upper surface portion 64. Power may be supplied from the charging device 8 via the terminal 82 by a contact power feeding method.

  As described above, the charging device 8 and its power feeding unit may be provided in different manners for each landing point of the drone 2. In such a case, it is necessary to land the drone 2 at a suitable position. In addition, the position of the power feeding unit of the charging device 8 and the position of the storage device 6 in the embodiment are examples of a chargeable point.

(Management device)
Next, the management device 7 will be described.
The management device 7 is a computer that manages the state of equipment provided at the base of the guidance system 1, the state of the charging device 8, the arrival and departure of the drone 2, and the like. The equipment provided at the base of the guidance system 1 includes one or a plurality of storage devices 6 and a charging device 8.

  The management device 7 according to the embodiment includes a take-off and landing control unit 71 (control unit), a charge control unit 72, a position detection unit 73, and a storage unit 74.

  The storage unit 74 is configured by a semiconductor memory or the like. The storage unit 74 includes a program executed by the computer of the management device 7, a management information DB for storing information on the drone 2 to be managed by the management device 7, a building BL, and a building BL. A facility information DB for storing facility information, a guidance display position pattern DB for storing a display pattern of an index used for guidance control, and the like are included.

  The take-off and landing control unit 71, the charge control unit 72, and the position detection unit 73 are examples of functional units realized by a program executed by a computer.

  The takeoff / landing control unit 71 obtains information related to the flight plan of the drone 2 from the center device 50 or the like, and extracts the takeoff / landing information of the target drone 2. The takeoff / landing control unit 71 obtains information on the state of the drone 2 and generates a command for the drone 2. The take-off / landing control unit 71 adjusts the size of the index displayed on the guidance position display device 9 to display the position of the landing point on the drone 2.

  The charging control unit 72 obtains information related to availability of the charging device 8 from the charging device 8. When the predetermined condition is satisfied, the charging control unit 72 permits the use of the charging device 8 and notifies the permitted drone 2 of the position of the permitted power feeding unit. The charging control unit 72 supplies power to the drone 2 via the power feeding unit when the drone 2 is in the landing state.

  Note that the position detection unit 73 in the present embodiment is not an essential configuration and can be omitted.

  For example, the management device 7 receives a request for landing from the drone 2 before or when the drone 2 reaches the airspace of the base, and responds to the drone 2 and instructs the drone 2 to permit landing. At that time, the management device 7 selects an available storage device 6 based on information acquired from the charging device 8 and the storage device 6. The management device 7 notifies the drone 2 of the position of the selected storage device 6.

  For example, the management device 7 adjusts the size of the index displayed on the guidance position display device 9 in association with the position of the drone 2.

  In addition, the management device 7 receives a request regarding takeoff from the drone 2 before the drone 2 takes off, responds to the request, and instructs the drone 2 to permit takeoff based on the result of the situation determination to take off.

[Operation of guidance system]
Next, details of the operation of the guidance system 1 will be described. The guidance system 1 adjusts the display of the guidance position display device 9 to guide the drone 2 at the time of landing.

  FIG. 7 is a diagram for explaining an index used for guiding the drone according to the embodiment. FIG. 8 is a layout diagram of the guidance position display device 9 for displaying the index of the embodiment. The index in the embodiment has a shape in which a plurality of scattered light emitters are part of the contour. The shape of the index may be monotonous such as a circle or a polygon. In the following description, a circle is exemplified as the shape of the index. For example, as shown in FIG. 8, it arrange | positions on the circumference | surroundings of the concentric circle from which the radius differs centering | focusing on the storage apparatus 6. FIG. In the example shown in the figure, four or eight are arranged on each circumference. In addition, in the example shown to a figure, although arrange | positioning so that it may become symmetrical with respect to the X-axis and a Y-axis, it is not restrict | limited to this. For example, the light emitting bodies being issued are arranged apart from each other on the circumference of a virtual circle, and the shape of the index can be identified by connecting the light emitting bodies in order and approximating a predetermined shape.

FIGS. 7A1 and 7A2 show that the height at which the drone 2 flies is relatively high (h1), and FIGS. 7B1 and 7B2 show the height at which the drone 2 flies. Are in a relatively low state (h2), and FIGS. 7 (c1) and (c2) show that the flying height of the drone 2 is in a lower state (h3).
FIGS. 7 (a1), (b1), and (c1) schematically show the state where the drone 2 is flying. FIGS. 7 (a2), (b2), and (c2) show the landing point from above. A plan view is shown. In the figure, a circle mark indicates the guidance position display device 9 that indicates the landing position by lighting, and a cross mark indicates the guidance position display device 9 that is turned off.

  For example, the take-off and landing control unit 71 indicates an index using a plurality of guidance position display devices 9 that are in a lighting state. As shown in FIG. 7, three types of indicators can be shown by using the guidance position display devices 9 on the circumference C1, the circumference C2, and the circumference C3 in pairs. In this case, the size of the index can be defined as the diameter d or the radius r of the circle.

  The first index (C1) is shown in FIG. This index is recognized as a circle C1 having a diameter d1 (radius r1), and corresponds to, for example, a “landing permission” pattern described later. Note that a plurality of rechargeable points that enable charging of the power storage unit of the drone 2 may be included within the range of the index.

  The second index (C2) is shown in FIG. 7 (b2). This index is recognized as a circle C2 having a diameter d2 (radius r2), and corresponds to, for example, the aforementioned “landing guidance” pattern.

  The third index (C3) is shown in FIG. 7 (c2). This index is recognized as a circle C2 having a diameter d2 (radius r3) and corresponds to the “landing position” pattern.

  For example, when comparing the first index and the second index, the diameter d2 is shorter than the diameter d1 and the diameter d3 is shorter than the diameter d2. The takeoff / landing control unit 71 displays the above index larger as the flying height of the drone 2 is higher, and displays the lower index as the flying height of the drone 2 is lower. The take-off and landing control unit 71 may switch between a first index including a plurality of chargeable points and a third index indicating a desired chargeable point.

  As described above, when the flying height of the drone 2 is relatively high, the large index (C1) is displayed, so that the size of the index on the image captured by the imaging unit 24 of the drone 2 is relatively large. Can be.

FIG. 8 is a diagram for describing an image captured by the imaging unit of the embodiment. FIGS. 8A to 8C correspond to the above-described three indexes of FIG. 7, that is, each correspond to the first, second, and third indexes. The squares shown in each figure indicate a range in which an image is displayed in a predetermined size, and the sizes are the same.
The images shown in FIGS. 8A to 8C are examples of images captured by the imaging unit 24 when the drone 2 flies at heights h1 to h3, respectively. As shown in FIGS. 8A and 8B, the size of each index on the image becomes a desired size as shown in FIG. 8 if the drone 2 flies at a desired height.

  If the state in which the same index is displayed is maintained and the drone 2 descends in this state, the size of the index on the above image gradually increases and may protrude from the range of the image. For example, in FIG. 8A, the guidance position display device 9 for displaying the index (C1) is settled in the range of the image, but in FIG. 8B, the size of the index (C1). Then, a part will be out of range and will not be displayed. Therefore, by switching the index to be displayed from the index (C1) to the index (C2), it is possible to fit within the image range. Thus, when the drone 2 descends to a predetermined height, the take-off and landing control unit 71 adjusts the size of the indicator to be displayed to make it smaller so as to prevent the drone 2 from protruding from the image. To do.

  However, when the takeoff / landing control unit 71 adjusts the display of the guidance position display device 9 as described above and the index protrudes from the image captured by the imaging unit 24 of the drone 2, or When the index on the image exceeds a predetermined size, the takeoff and landing control unit 71 may determine that the drone 2 is flying at a position lower than the assumed height.

According to the above embodiment, the guidance system 1 is for landing the drone 2 at a predetermined point using the indices (at least the indices C1 and C2) associated with the landing designated position of the drone 2. is there. The guidance system 1 is arranged at a predetermined position from the landing designated position, and a guidance position display device 9 that displays a predetermined index, and the size of the index displayed by the guidance position display device 9 is set to the position of the drone 2. By providing the take-off and landing control unit 71 that is changed in association with, by adjusting the size of the index, it is possible to guide the drone 2 to land at a predetermined point by a simpler method. The predetermined index indicated by the guidance position display device 9 may include a geometric pattern or a pattern formed by one or a plurality of display means. For example, the plurality of display means may be arranged so as to be continuously arranged, or may be arranged in a distributed manner according to a predetermined rule. Each display means may be formed including a light-emitting body that emits light, or may be formed including a display body that can adjust reflected light or transmitted light. For example, the issuer may be an LED, an LED module, a light bulb, a fluorescent tube, a discharge tube, a projector, or the like. The display body may be a combination of a plurality of objects whose surfaces are processed differently from each other in addition to a liquid crystal display device, organic electroluminescence, and the like.
As described above, the index indicated by the guidance position display device 9 is recognized as a monotonous figure such as a circle, an ellipse, or a polygon by detecting a point of view on the drone 2 side. The individual display means may be capable of displaying a monotonous shape such as a circle, an ellipse, or a polygon, and the light emitting unit or the display unit has the monotonous shape as described above. It's okay.

  Further, the takeoff / landing control unit 71 may adjust the size of the index to be smaller as the position of the drone 2 approaches the index. By adjusting the size of the index in this way, the index can be included in the image captured by the imaging unit 24 of the drone 2 until the drone 2 is landed.

  In the above example, the case where three types of indicators are used is illustrated, but the takeoff and landing control unit 71 uses two types, or four or more types of indicators having different sizes, and uses the same method as described above. The size may be adjusted.

  In the above example, the index size is set discretely and adjusted in stages. However, the take-off and landing control unit 71 can adjust the levels in multiple stages by narrowing the stage width. Or may be adjusted continuously.

(Second Embodiment)
A second embodiment will be described. In the first embodiment, an example in which a predetermined index is displayed on the guidance position display device 9 corresponding to the landing point when the drone 2 landed at the predetermined landing point has been described. In the present embodiment, a case will be described in which the drone 2 is guided to a landing point selected from a plurality of landing point candidates.

  The take-off / landing control unit 71 of the embodiment may adjust the size of the index displayed on the guidance position display device 9 based on the position of the drone 2. The position of the drone 2 may be detected by the position detection unit 73, for example. In this case, the position detection unit 73 detects the position of the drone 2 based on the image captured by the imaging unit 24.

  FIG. 9 is a diagram for describing an example of more specific guidance processing according to the embodiment.

  The drone 2 of the embodiment detects that it has reached the sky or near the departure / arrival base ST based on the position information of the designated base and the GNSS information. The drone 2 applies a landing request to the management device 7 and waits for a notification (landing permission) that it is permitted. Drone 2 enters landing after receiving a notice of permission.

  The drone 2 of the embodiment detects the display of the guidance position display device 9 as shown in FIG. The drone 2 flies while adjusting the position in the three-dimensional space so that the display is within a predetermined range of the image obtained by the imaging unit 24, and moves toward a predetermined landing point. For example, the drone 2 adjusts the horizontal position so that the center of the index indicated by the display of the guidance position display device 9 is the center of the image obtained by the imaging unit 24.

  The takeoff and landing control unit 71 controls the display of the guidance position display device 9 to display the following indices. For example, FIG. 9A shows an example of an index displayed by the takeoff / landing control unit 71 when the drone 2 is located above the rooftop RF of the building BL. This image exemplifies a case where the drone 2 detects a building BL provided with a landing point from the sky at a predetermined distance from the building BL. In addition, eight squares shown in the drawing indicate the positions of the storage device 6 set as landing points.

  The display pattern (figure) displayed on the roof here is a circle having a predetermined diameter or a figure simulating a circle. Here, a plurality of points are arranged on the circumference of the index C1 and displayed as a display pattern. The magnitude | size of the parameter | index C1 is displayed by the magnitude | size which can identify easily from the sky of the building BL, and the several landing point is contained in the range. For example, the diameter when the index C1 is regarded as a circle may be several meters or more.

  FIG. 9B shows an example of an index C3 displayed by the take-off and landing control unit 71 when the drone 2 is lowered to near the rooftop RF of the building BL. The index C3 displayed on the roof here is, for example, a circle or a graphic simulating a circle as the index C3 displayed on the roof. The index C3 shown in FIG. 9B includes a specific landing point. The diameter when the index C3 is regarded as a circle may be, for example, about 1 meter.

  The height of the drone 2 can be estimated from the size of the index in the obtained image. For example, the distance from the rooftop RF to the drone 2, that is, the height of the drone 2, is determined from the size of the index displayed on the rooftop RF, the angle of view of the imaging unit 24, and the size of the index on the image with respect to the image range. Can be derived. By adjusting the size of the index displayed on the rooftop RF, the drone 2 can adjust the flight altitude so that the size of the graphic image becomes a predetermined size. Thereby, it becomes possible to guide the drone 2 so that the drone 2 flies at an altitude corresponding to the size of the index displayed on the rooftop RF.

  In the above case, the position of the drone 2 is controlled based on the position and size of the graphic displayed as the index. The figure as an index is not limited to a circle, and may be a figure of another shape as long as the size of the figure can be easily extracted. For example, as a figure related to a circle, it is only necessary to display a plurality of discrete figures that discretely indicate the positions of the circumference as shown in FIG. 8 described above. Alternatively, the shape of the index only needs to be a figure having an area that can be imaged from the sky. For example, as shown in FIG. 9C, a square tile shape having a side of about 1 meter as shown in FIG. It may be a frame. By arranging such discrete figures at positions indicating the circumference corresponding to the index, the size of the circle passing through the discrete figures can be obtained from the image.

  The take-off / landing control unit 71 replaces the position of the index C3 displayed on the rooftop with the landing designated position, instead of the position shown in FIG. 9 (b), as shown in FIG. 9 (d). You may display in the position on the basis of.

  According to said embodiment, besides having the same effect as 1st Embodiment, the landing point selected from several storage points can be instruct | indicated.

(Modification 1 of the second embodiment)
In the example shown in the second embodiment, the case where the index C3 is displayed at the position instructing landing is illustrated. In the first modification, a case where the index C3 is displayed at a position where landing is instructed and the index C4 is displayed at a position where landing is restricted will be described.

  FIG. 10 is a diagram for explaining an example of the guidance process of the first modification. As shown in FIG. 10, the takeoff / landing control unit 71 may indicate a circular index C3 at a position where landing is instructed, and an index C4 indicated by an X mark at a position where landing is restricted.

  According to the above modification, in addition to the same effects as those of the second embodiment, it is possible to display a position for instructing landing and a position for restricting landing.

(Modification 2 of the second embodiment)
In the example shown in the second embodiment, the case where the index C3 is displayed at the position where the landing is instructed after the index C1 is displayed is exemplified. In the first modification, a case where the index C1 is displayed, the index C2 is displayed, and then the index C3 is displayed will be described.

  FIG. 11 is a diagram for explaining an example of the guidance process according to the second modification. As shown in FIG. 11, the take-off and landing control unit 71 displays an index based on information indicating a predetermined display position associated with each index, and switches information indicating the predetermined display position, thereby switching the information indicating the predetermined display position. The indicator display is switched in the order of (a), (b1), (c1), and (d1). For example, the take-off and landing control unit 71 displays the indicator C1 as shown in FIG. 11A, displays the indicator C2-1 as shown in FIG. 11B1, and shows as shown in FIG. 11C1. The index C2-1 is displayed on the screen, and the index C3 is displayed as shown in FIG. Until the display is switched from the index C1 to the display of the index C2-1 through the index C2-1, the takeoff / landing control unit 71 moves the center of each index circle from the center position of the index C1 to the center of the index C2-2 Move to position. That is, the take-off and landing control unit 71 moves the center of the index C2-2 to the position of the center of the circle of the index C3 shown in (d1) until the transition to the state shown in (c1) is made. ing. The drone 2 flies while gradually lowering the height while moving to a position where the index is expected to be directly below the index that is sequentially switched while the display of the index is switched as described above. In addition, when switching from the figure (c1) to the index of the figure (d1), it becomes based on the example shown in above-mentioned Drawing 6 to Drawing 8.

  Although the detailed description is omitted, the same applies when the takeoff and landing control unit 71 switches the indicators in the order of FIGS. 11A, 11B2, 11C2 and 11D2. In this case, the landing point is different from the case described above.

  According to the above modification, in addition to the same effect as the second embodiment, both the position for instructing landing and the route suitable for landing are shown by switching the display of the index. The landing of drone 2 can be guided.

(Third embodiment)
A third embodiment will be described. In 1st, 2nd embodiment, the management apparatus 7 demonstrated the example which guide | induces the position by feedforward control type, without acquiring the position of the drone 2. FIG. In the present embodiment, a case will be described in which the management device 7 captures the position of the drone 2 and guides it by a feedback control type based on the position.

As shown in FIG. 4 described above, the management device 7 according to the embodiment includes a take-off and landing control unit 71 (control unit), a charge control unit 72, a position detection unit 73, and a storage unit 74.
The position detection unit 73 of the embodiment detects a position where the drone 2 flies. For example, the position detection unit 73 detects the position where the drone 2 flies by any of the methods described below.

  In the first method, the position detection unit 73 receives position information notified from the drone 2 and detects the position of the drone 2 based on the position information. For example, the position information notified from the drone 2 is information detected by the drone 2 using GNSS or the like.

  In the second method, the position detection unit 73 receives the image information notified from the drone 2 and detects the position of the drone 2 based on the image information. For example, the image information notified from the drone 2 may have been imaged by the imaging unit 24. The image information notified from the drone 2 includes an index for guiding the drone 2 to land. The position detection unit 73 extracts an index from the image information received from the drone 2 by a desired image processing method. The position detection unit 73 detects the position (horizontal direction position and height) of the drone 2 based on the image of the subject other than the index as necessary, in addition to the position, size, direction, and the like of the extracted index. .

  Based on the horizontal position and height of the drone 2 detected by the above method, the position detection unit 73 switches the index when the drone 2 reaches a desired range. Thereby, the drone 2 can follow the switching of the index without difficulty. By guiding in this way, the flight of the drone 2 can be stabilized.

  According to the above embodiment, in addition to the same effects as the first embodiment, the position of the drone 2 is captured, and the index is switched at an appropriate timing based on the position. Even when the position is unstable due to an external factor, it is possible to stably guide the position.

  As described above, the guidance system 1 includes the position detection unit 73 that detects the position of the drone 2, so that the takeoff and landing control unit 71 adjusts the size of the index based on the detection result of the position of the drone 2. be able to. The position of the drone 2 can be changed to the altitude of the drone 2 or the distance to the drone 2.

  Further, the position detection unit 73 in the guidance system 1 described above can improve the estimation accuracy of the actual position of the drone 2 by detecting the position of the drone 2 based on the image captured at the position of the drone 2. .

  It should be noted that a program for realizing the guidance system 1 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into the computer system and executed, thereby executing the delivery of the luggage carrier 10. Processing operations may be performed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer system” includes a WWW system having a homepage providing environment (or display environment). The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network or a communication line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Guidance system 1, BL ... Building, 2 ... Drone (unmanned air vehicle) 3, 5 ... Base, 4 ... Relay base, 6 ... Storage device, 7 ... Management device, 8 ... Charging device, 9 ... Position for guidance Display device (display unit), 10 ... luggage carrier, 24 ... imaging unit, 40 ... terminal device, 50 ... center device, 71 ... take-off and landing control unit 71 (control unit), 73 ... position detection unit

Claims (5)

A guidance system for landing an unmanned air vehicle at a predetermined point using an index associated with a landing designated position of the unmanned air vehicle,
A display unit arranged at a predetermined position from the landing designated position and displaying the indicator;
A control unit that changes the size of the index displayed by the display unit in association with the position of the unmanned air vehicle;
A guidance system comprising: The controller is
Adjust so that the index becomes smaller as the position of the unmanned air vehicle approaches the index,
The guidance system according to claim 1 characterized by things. A position detector for detecting the position of the unmanned air vehicle,
The controller is
Adjusting the size of the index based on the detection result of the position of the unmanned air vehicle,
The guidance system according to claim 1 or 2, characterized by things. The position detector is
Based on the image captured at the position of the unmanned air vehicle, the position of the unmanned air vehicle is detected.
The guidance system according to claim 3 characterized by things. A guide method for landing an unmanned air vehicle at a predetermined point using an index associated with a landing designated position of the unmanned air vehicle,
The indicator is displayed on a display unit arranged at a predetermined position from the landing designated position,
A guidance method comprising: changing the size of the index displayed on the display unit in association with the position of the unmanned air vehicle.

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