JP2019027116A - Marker system and marker method - Google Patents

Abstract

To warn traveling vehicles while reducing labor and danger toward workers and regardless of the situation of a travel restriction site.SOLUTION: A command communication terminal issues a command to a flying object for marking 10 so as to photograph an image from the air of the state in the vicinity of a travel restriction site in relation to traveling vehicles. The command communication terminal displays map information and the photographed image. An operator accepts designation of installation locations of each of the flying objects for marking 10 so as to arrange the plurality of flying objects for marking 10 along a road 74. Instructions are then given to each of the flying objects for marking 10 along with instructions to make only the upstream side flying objects for marking 10 fly. The command communication terminal 60 gives a command to switch the flying object for marking 10 which are on standby without flying in accordance with the remaining energy amount of the flying objects for marking 10 which are flying.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a sign system and a sign method for giving a warning regarding travel regulation for a traveling vehicle.

  Traditionally, traffic regulations for repairs and other work on roads and traffic regulations due to traffic accidents have been accompanied by signs for prohibiting vehicles traveling on the road from entering the construction site or near the accident site. Used.

  Generally, smoke cylinders, arrow boards, and cones (pylons) are used for signs, but these installation operations require a lot of labor because workers are arranged one by one at predetermined positions. Furthermore, installation work in places with many passing vehicles is also a dangerous environment.

  In order to deal with such problems, an invention in which a cone can be easily installed (Patent Document 1), an invention in which a hose-like member capable of emitting light by a security vehicle is continuously installed (Patent Document 2), and display on a security vehicle An invention (Patent Document 3) in which a device is loaded and used as a sign, a self-propelled sign device (Patent Document 4), and the like have been proposed.

JP 2005-9289 A JP 2012-136909 A JP 2009-133126 A JP 2013-87419 A

  However, in the technique of devising the configuration of the cone or the like described in Patent Document 1, although work efficiency is improved, since the placement of the sign is performed by an operator's hand, a problem remains from the viewpoint of safety.

  In addition, the technique of installing a sign using a security vehicle described in Patent Document 2 and the technique of using the security vehicle as a sign itself described in Patent Document 3 can ensure the safety of workers. The device becomes large and complicated.

  In addition, the technique of automatically installing a plurality of self-propelled marker devices described in Patent Document 4 enables a long-distance operation, and therefore requires less labor and less danger. However, in this technique, the signage device moves on the road, so that if the road is damaged due to an accident or the like, or if damaged parts are scattered on the road, it may not be able to run on its own. In addition, in this technique, since the device performs a sign function by emitting light near the road surface, there is a problem that visibility from a distance is deteriorated.

  The present invention has been made in consideration of the above facts, and is a sign that can reduce the labor and danger of workers and can give a warning to a traveling vehicle regardless of the situation of the travel regulation place. It is an object to provide a system and a marking method.

  The sign system according to the present invention includes warning means for warning a traveling vehicle, autonomous attitude control means for hovering with four or more rotor blades, and the position of the aircraft itself to a designated position. A plurality of marker flying bodies including control means for controlling to fly automatically, and a command communication terminal for giving a command to each of the plurality of marker flying bodies in order to give a warning regarding travel regulation for the traveling vehicle. It is configured to include.

  The marking method according to the present invention includes a warning means for warning a traveling vehicle, an autonomous attitude control means for hovering with four or more rotor blades, and a position where the position of the aircraft is recognized and designated. A plurality of marker flying bodies including control means for controlling to fly automatically, and a command communication terminal for giving a command to each of the plurality of marker flying bodies in order to give a warning regarding travel regulation for the traveling vehicle. A plurality of signage methods in a signage system, wherein the command communication terminal includes a photographing device for photographing a lower part from the sky so as to photograph a state in the vicinity of a travel restriction point with respect to the traveling vehicle from the sky. The command communication terminal displays map information and a photographed image, and the operator transmits the complex information along the travel path. Receiving the designation of the installation location of each of the plurality of marker aircraft so as to arrange the plurality of marker aircraft, and according to the designation of the installation location of each of the plurality of marker aircraft, A command is given to each of the flying objects, and a command is given to each of the plurality of marker flying bodies so that only the marker flying body upstream of the traveling path is caused to fly. A command is given to each of the marker flying bodies so as to be replaced with the marker flying aircraft waiting without flying in accordance with the remaining energy of the marker flying vehicle.

  As described above, according to the marking system and the marking method of the present invention, the command communication terminal gives a command to each of the plurality of marker flying bodies in order to give a warning regarding travel regulation to the traveling vehicle. Each of the aircrafts for signing recognizes the position of its own aircraft and controls it to fly automatically to the specified position, thereby reducing the labor and danger of workers and the situation of the restricted travel location. In addition, a warning can be given to the traveling vehicle.

It is a figure which shows the structure of the label | marker system which concerns on embodiment of this invention. It is a side view which shows the flying object for a marking of the marking system which concerns on embodiment of this invention. It is a perspective view which shows the flying object for a marking of the marking system which concerns on embodiment of this invention. It is a figure which shows the functional structure of the flying body for a marking of the marking system which concerns on embodiment of this invention. It is a figure which shows an example of the warning by the flying body for a marking of the marking system which concerns on embodiment of this invention. It is a figure which shows an example of the warning by the flying body for a marking of the marking system which concerns on embodiment of this invention. It is a figure which shows the functional structure of the command communication terminal of the sign system which concerns on embodiment of this invention. It is a flowchart which shows the arrangement | positioning instruction | command processing routine of the instruction | command communication terminal of the sign system which concerns on embodiment of this invention. It is a figure which shows an example of the display screen of the command communication terminal of the sign system which concerns on embodiment of this invention. It is a flowchart which shows the in-flight command processing routine of the command communication terminal of the sign system which concerns on embodiment of this invention. It is a figure which shows a mode that the some communication terminal for instructions of the marker system which concerns on embodiment of this invention is arrange | positioned, and is flying.

<System configuration of signage system>
As shown in FIG. 1, a sign system 100 according to an embodiment of the present invention includes a plurality of sign flying bodies 10 and a command communication terminal 60, and each of the plurality of sign flying objects 10 and a command use. The communication terminal 60 is connected by wireless communication.

  As shown in FIGS. 2 and 3, the marker flying object 10 includes a flying main body 22, an arm 24, and four rotary wings 26. The flight main body 22 is provided in the center of the sign flying object 10 in plan view, and the flight main body 22 includes a communication antenna, a battery, a lighting fixture 30, a photographing unit 32, and the like (not shown). ing.

  Four arms 24 are provided and project radially outward from the flight body 22 in plan view. A rotary blade 26 is attached to the tip of each arm 24. The arm 24 is hollow and accommodates a motor for operating the rotor blade 26, control wiring, power wiring, and the like.

  On the lower surface side of the flight main body 22, a lighting fixture 30 and a photographing unit 32 are mounted. The lighting device 30 emits light downward so as to illuminate the road surface, and also emits light in the horizontal direction in order to appeal the existence of the flying object itself. The imaging unit 32 is installed so as to be able to capture an image on the road surface side below from the sky.

  A control device 40 shown in FIG. 4 is mounted on the flight body 22. The control device 40 includes a CPU, a ROM, a RAM, a port for inputting / outputting signals transmitted / received by a communication antenna, and the like. It is remembered.

  The control device 40 is functionally configured as follows. As illustrated in FIG. 4, the control device 40 includes a communication unit 42, an autonomous posture control unit 44, a position measurement unit 46, a control unit 48, an energy management unit 50, and a warning notification unit 52. .

  The communication unit 42 transmits and receives signals to and from the command communication terminal 60 by wireless communication.

  The autonomous posture control unit 44 controls the four rotor blades 26 to perform hovering.

  The position measurement unit 46 measures the current position of the sign flying object 10 using a GPS sensor (not shown) provided in the sign flying object 10.

  Based on the current position measured by the position measurement unit 46, the control unit 48 controls the autonomous posture control unit 44 so as to automatically fly to a designated position.

  Moreover, the control part 48 controls the energy management part 50, the warning alerting | reporting part 52, the imaging | photography part 32, and the lighting fixture 30 according to instruction | command.

  The energy management unit 50 manages the remaining amount of energy of the battery.

  The warning notification unit 52 notifies the traveling vehicle of a warning that there is a travel restriction, for example, by blinking light using the lighting fixture 30. Note that the warning may be notified by sound, or, as shown in FIG. 5, the warning display using a specific object such as the flag 54 is performed by the two most upstream flying objects 10. May be. In addition, as shown in FIG. 6, the warning vehicle 10 may be notified of a warning by making a conspicuous movement such as a flight that repeatedly flies and descends while emitting light instead of hovering.

  The command communication terminal 60 is composed of, for example, a portable information terminal, and the command communication terminal 60 stores a CPU, a RAM, and a program for executing an arrangement command processing routine and an in-flight command processing routine described later. A ROM is provided and is functionally configured as follows. As shown in FIG. 7, the command communication terminal 60 includes a communication unit 62, an input unit 64, a control unit 66, and a display unit 68.

  The communication unit 62 transmits / receives a signal to / from each of the marker flying objects 10 by wireless communication.

  The input unit 64 receives a command for each of the marker flying objects 10.

  The control unit 66 causes the communication unit 62 to transmit a signal for controlling each of the marker flying bodies 10 in accordance with the command for each of the marker flying bodies 10 received by the input unit 64.

  The display unit 68 displays a screen for receiving a command for each of the marker flying bodies 10 and displays a screen for displaying information related to each of the marker flying bodies 10.

<Operation of sign system>
Next, the operation of the sign system 100 will be described.

  First, a plurality of marker flying bodies 10 are carried by a truck or the like up to near a travel regulation point for a traveling vehicle (for example, a disaster site where one lane of a road is covered with earth and sand due to a landslide). Then, the command communication terminal 60 issues a flight command and a shooting command to at least one of the plurality of marker flying bodies 10 so as to photograph the state near the landslide site from the sky, and the measured shooting position Is transmitted to the command communication terminal 60. At this time, the operator manually operates the command communication terminal 60 to fly the marker flying object 10 to the travel restriction point. Then, based on the position information measured by the position measurement unit 46 and the photographed image photographed by the photographing unit 32 at the position where the marker flying object 10 arrives, a photographed image with position information is photographed. To the command communication terminal 60. When the command communication terminal 60 receives a captured image with position information, the command communication terminal 60 executes an arrangement command processing routine shown in FIG.

  First, in step S100, a captured image with position information is acquired, which is captured from the sign flying object 10 and captured in the vicinity of the travel restriction location.

  In step S102, based on the positional information attached to the captured image acquired in step S100 and each position on the map, the captured image is superimposed on the map and displayed on the display unit 68. Thereby, the operator refers to the captured image superimposed on the map, and determines the arrangement position and the number of arrangement of each marker flying object 10.

  In step S104, as shown in FIG. 9, designation of the arrangement position of each marker flying object 10 is received on the captured image superimposed on the map displayed in step S102. Specifically, in the vicinity of the landslide site 70, designation of the arrangement positions of the plurality of marker flying bodies 10 so that the plurality of marker flying bodies 10 are arranged along the road 74 (for example, a to b in FIG. 9). f)). As shown in the example of FIG. 9 above, in order to prevent the vehicle from entering the landslide site 70 on the most upstream side, the marker flying object 10 may be disposed so as to surround the landslide site 70 (a to FIG. 9). b).

  In step S106, the designation of the marker flying object 10 that is in a flying state at the arrangement position is also accepted. Specifically, the designation of the marker flying object 10 that is in the flying state at the arrangement position is accepted so that only the marker flying object on the most upstream side of the travel path (see, for example, ac in FIG. 9) is allowed to fly. .

  In step S108, an instruction corresponding to the designation of the placement position received in steps S104 and S106 and the designation of the marker flying object that is in the flying state at the placement position is transmitted to each marker flying object 10, and the placement is performed. The command processing routine is terminated.

  As a result, as shown in FIG. 11, each marker flying object 10 automatically flies to the designated arrangement position, enters from the air, and lands. Then, only the sign flying object 10 on the most upstream side of the travel path flies at the arrangement position, and each of the other sign flying objects 10 waits on the ground without flying. In addition, each of the marker flying bodies 10 notifies the traveling vehicle of a warning that there is travel regulation by blinking light using the lighting fixture 30.

  Then, when each of the marking aircrafts 10 is in a flight state at the designated arrangement position or stands by on the ground, the command communication terminal 60 repeatedly executes the in-flight command processing routine shown in FIG. To do.

  First, in step S <b> 120, the remaining energy level is acquired from each marker flying vehicle 10. At this time, in each of the marker flying bodies 10, the remaining energy of the battery is acquired by the energy management unit 50 and transmitted to the command communication terminal 60.

  In step S122, the display unit 68 displays the remaining energy of each marker flying object 10 acquired in step S120. Thereby, the operator can refer to the remaining energy of the marker flying object 10 in flight.

  In step S124, it is determined whether or not there is an instruction to replace the flying object for marking 10 in the flight state. If there is no replacement instruction for the marker flying object 10 in the flight state, the process returns to step S120. On the other hand, since the remaining amount of energy of each of the flying aircrafts for marking 10 in the flight state has decreased, when there is an instruction to replace the flying aircraft for flying vehicles 10 in the flying state, the process proceeds to step S126.

  In step S126, the designation of the marker flying object 10 to be replaced is accepted. In step S128, in response to the designation of the marker flying object 10 to be exchanged received in step S126, the marker flying object 10 in the flight state and the ground. A command is transmitted to each of the marker flying bodies 10 so that the waiting marker flying object 10 is replaced, and the in-flight command processing routine is terminated.

  As a result, as shown in FIG. 11, the marker flying object 10 in a flying state in which the remaining amount of energy has decreased performs automatic flight to the arrangement position on the downstream side and stands by on the ground. In addition, the downstream signing vehicle 10 that is flying instead of waiting on the ground performs automatic flight to the upstream arrangement position, and enters the flight state at the arrangement position.

  As described above, according to the sign system according to the embodiment of the present invention, the command communication terminal commands each of the plurality of sign flying bodies in order to give a warning regarding travel regulation for the traveling vehicle. And each of the plurality of marker flying bodies recognizes the position of the aircraft and controls it to automatically fly to the specified position, thereby reducing labor and danger of workers and driving restriction places. A warning can be given to the traveling vehicle regardless of the situation.

  In addition, since the marker flying object can enter the target place from the air, it is possible to reach a travel regulation point where obstacles are scattered on the road and difficult to travel on land.

  In addition, the marker flying object 10 can hover or perform a characteristic movement in the air to catch the driver's eyes, so that it can be recognized that there is a travel restriction even from a distance.

  In addition, since the marker flying object 10 can be installed at a target location by remote operation or fully automatically, it is possible to alleviate heavy labor and dangerous work of workers.

  Also, in the sign system, the sign flying object can fly by four rotating wings, and can also stand still in the air, so there is no problem even if obstacles are scattered on the road. Can be reached. In addition, the flying vehicle can be lifted and hovered in the air, and can be moved irregularly, such as moving up and down. be able to.

  In the above embodiment, the case where the flying vehicle for marking is provided with four rotor blades has been described as an example. However, the present invention is not limited to this and includes five or more rotor blades. May be.

  Moreover, although the case where all the marker flying bodies are provided with the imaging unit has been described as an example, the present invention is not limited to this, and only one aircraft may include the imaging unit.

  In addition, the command communication terminal may automatically monitor the remaining energy level of the marker flying object in flight and automatically issue a command to replace the marker flying object in flight.

DESCRIPTION OF SYMBOLS 10 Marking vehicle 22 Flight main body part 24 Arm 26 Rotor wing 30 Lighting fixture 32 Image pick-up part 40 Control apparatus 42 Communication part 44 Autonomous attitude control part 46 Position measurement part 48 Control part 50 Energy management part 52 Warning notification part 54 Flag 60 Command Communication terminal 62 Communication unit 64 Input unit 66 Control unit 68 Display unit 100 Sign system

Claims (10)

Warning means for warning a traveling vehicle, autonomous attitude control means for hovering with four or more rotor blades, and control for recognizing the position of the aircraft and controlling it to automatically fly to a specified position A command communication terminal for giving a command to each of the plurality of marker aircrafts, in order to give a warning about travel regulation for the plurality of marker aircrafts and the traveling vehicle,
A signage system including:   The command communication terminal arranges the plurality of marker flying bodies along a traveling path, and causes each of the plurality of marker flying bodies to fly only the marker flying body on the upstream side of the traveling path. The signage system according to claim 1, wherein a command is given to the system.   The sign system according to claim 2, wherein the command communication terminal gives a command to perform a characteristic flight to each of the sign flying bodies upstream of the travel path.   3. The command communication terminal gives a command to perform the warning by the warning means without flying to each of the marker flying bodies that are not the marker flying bodies upstream of the traveling path. Or the labeling system according to 3.   The command communication terminal gives a command to each of the marker vehicles so that the marker vehicle is replaced with a marker vehicle waiting without flying according to the remaining energy of the marker vehicle in flight. The labeling system according to any one of claims 2 to 4. At least one of the plurality of marker flying objects includes a photographing device for photographing the lower part from the sky,
6. The command communication terminal according to claim 1, wherein the command communication terminal issues a command to at least one of the plurality of marker flying bodies so as to photograph a state in the vicinity of a travel regulation point for the traveling vehicle from above. The labeling system according to any one of the preceding claims.   The command communication terminal displays map information and a photographed image, receives designation of an installation location of each of the plurality of marker flying bodies from an operator, and installs each of the plurality of marker flying bodies. The sign system according to claim 6, wherein a command is given to each of the plurality of sign flying objects according to designation of a place.   The command communication terminal is configured to enter and land from the air at the installation locations of the plurality of marker aircrafts according to the designation of the installation locations of the plurality of marker aircrafts, 8. A marking system according to claim 7, wherein a command is given to each of the plurality of marking vehicles.   The sign system according to any one of claims 1 to 8, wherein the warning means warns the traveling vehicle by sound, light, presentation of a specific object, or movement of the sign flying object. . Warning means for warning a traveling vehicle, autonomous attitude control means for hovering with four or more rotor blades, and control for recognizing the position of the aircraft and controlling it to automatically fly to a specified position A marking method in a marking system, comprising: a plurality of marking vehicles including means; and a command communication terminal that gives a command to each of the plurality of marking vehicles in order to give a warning regarding travel regulation for a traveling vehicle. And
At least one of the plurality of marker flying bodies provided with a photographing device for photographing the state from the sky so that the command communication terminal photographs the state near the travel restriction point with respect to the traveling vehicle from the sky. Command to
The command communication terminal displays map information and a photographed image, and an operator installs each of the plurality of marker flying bodies so that the plurality of marker flying bodies are arranged along a traveling path. Accepting designation of a location, giving a command to each of the plurality of marker flying bodies according to designation of the installation location of each of the plurality of marker flying vehicles, and marking aircraft on the upstream side of the traveling path Giving instructions to each of the plurality of marking vehicles so as to fly only
The command communication terminal gives a command to each of the marker vehicles so that the marker vehicle is replaced with a marker vehicle waiting without flying according to the remaining energy of the marker vehicle in flight. A labeling method characterized by.