JP2021116995A - Operation restriction method of unmanned aircraft - Google Patents

Abstract

To provide an operation restriction method for restricting an operation of a second unmanned aircraft using a first unmanned aircraft.SOLUTION: The invention relates to an operation restriction method for restricting an operation of an unmanned aircraft 200 using an unmanned aircraft 100. The operation restriction method comprises a step of detecting an unmanned aircraft 200, a step of supplying operation restriction means 120 from the unmanned aircraft 100 to the unmanned aircraft 200 and a step of restricting the operation of the unmanned aircraft 200 by the operation restricting menas 120.SELECTED DRAWING: Figure 5

Description

The present invention relates to a method for limiting the operation of an unmanned aerial vehicle.

Conventionally, an unmanned aerial vehicle equipped with a fluid injection nozzle is known. (See, for example, Patent Document 1).
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2019-18589

In order to solve the above problems, the present invention provides an operation limiting method for limiting the operation of the second unmanned aerial vehicle by using the first unmanned aerial vehicle. The operation restriction method includes a stage of detecting the second unmanned aerial vehicle, a stage of providing the operation restricting means from the first unmanned aerial vehicle to the second unmanned aircraft, and a stage of restricting the operation of the second unmanned aerial vehicle by the operation restricting means. Be prepared.

The step of limiting the operation of the second unmanned aerial vehicle may include a step of reducing the maneuverability of the second unmanned aerial vehicle.

The step of giving the motion limiting means may include a step of giving the motion limiting means to the second unmanned aerial vehicle from a higher altitude than the second unmanned aerial vehicle.

The step of giving the motion limiting means may include a step of giving the motion limiting means to the power of the second unmanned aerial vehicle.

The operation limiting means may be a resistance of power.

The operation limiting means may include a magnetic material that changes the magnetic field of the motor used for power.

The step of providing the motion limiting means may include the step of providing the motion limiting means to the fixed wing or the rotary wing of the second unmanned aerial vehicle.

The motion limiting means may change the blade shape of the fixed blade or the rotary blade.

The motion limiting means may include chemicals to erode the material of the fixed or rotor blades.

The step of giving the motion limiting means may include a step of giving the motion limiting means to the main body of the second unmanned aerial vehicle.

The step of providing the motion limiting means may include a step of attaching the motion limiting means to the second unmanned aerial vehicle to increase the weight.

The step of limiting the operation of the second unmanned aerial vehicle may include a step of reducing the remote control performance of the second unmanned aerial vehicle.

The step of giving the motion limiting means may include a step of giving the motion limiting means to the sensor of the second unmanned aerial vehicle.

The motion limiting means may include a covering material covering the sensor.

The step of providing the motion limiting means may include a step of providing the motion limiting means to the wireless communication antenna of the second unmanned aerial vehicle.

The operation limiting means may include a shielding material that shields electromagnetic waves.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

An example of the side view of the unmanned aerial vehicle 100 is shown. An example of the front view of the unmanned aerial vehicle 100 is shown. An example of a conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200 is shown. An example of the outline of the operation of the control system 150 that controls the operation of the unmanned aerial vehicle 100 is shown. An example of the control system 400 of the unmanned aerial vehicle 100 is shown. The outline of the block diagram of the operation limiting method 300 is shown. Another example 1 of the conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200 is shown. Another example 2 of the conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200 is shown. Another example 3 of the conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200 is shown. Another example 4 of the conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200 is shown.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions that fall within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1A shows an example of a side view of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 of this example includes a main body 10, a fixed camera 12, a leg 15, a propulsion 20, an arm 24, a support 30, a movable camera 32, a discharge unit 60, and a container 70. And.

The unmanned aerial vehicle 100 is an air vehicle that flies in the air. The unmanned aerial vehicle 100 discharges the contents contained in the container 70 from the discharge port 62 via the flow path 72 and the pipe portion 64.

The main body 10 stores various control circuits, power supplies, and the like of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a control system 150, which will be described later with reference to FIG. The main body 10 of this example includes a fixed camera 12, a detection unit 80, an operation control unit 85, a communication unit 90, and a storage unit 95 in the control system 150. Further, the main body portion 10 may function as a structure for connecting the configurations of the unmanned aerial vehicle 100 to each other. The main body portion 10 of this example is connected to the propulsion portion 20 by the arm portion 24. The operations of the detection unit 80, the operation control unit 85, the communication unit 90, and the storage unit 95 will be described in detail later with reference to FIG.

The fixed camera 12 captures an image of the surroundings of the unmanned aerial vehicle 100. As an example, the fixed camera 12 is a CMOS camera or a CCD camera. However, the fixed camera 12 may be another imaging device as long as it can capture an image of the surroundings. The image captured by the fixed camera 12 is not limited to the image of visible light (electromagnetic waves having a wavelength of about 360 nm to about 830 nm), and the fixed camera 12 has an electromagnetic wave in a longer wavelength region (for example, about 830 nm to about 830 nm). It may be an infrared camera or the like that captures an image in an infrared region (15 μm). In this example, one fixed camera 12 is provided, but a plurality of fixed cameras 12 may be provided depending on the type of image to be captured, the imaging range, and the like. Further, in this example, the fixed camera 12 is provided in the main body 10, but the fixed camera 12 may be provided at different positions of the unmanned aerial vehicle 100. In another example, the fixed camera 12 may not be provided in front of the main body 10 and may be provided with lighting instead. In the example in which the illumination is provided in front of the main body 10, the image of the surroundings of the unmanned aerial vehicle 100 may be performed by the fixed camera 12 provided at another position, or may be performed only by the movable camera 32.

The movable camera 32 is an imaging device that captures an image of a discharge target that discharges the contents of the container 70. The movable camera 32 of this example is provided at the end of the support portion 30. As an example, the movable camera 32 may be provided with a camera of the same type as the fixed camera 12. When the fixed camera 12 is provided in the main body 10, the movable camera 32 may be a lighter camera than the fixed camera 12. In order to improve the accuracy of the ejection hit of the ejection unit 60 of this example, the movable camera 32 tracks and images the ejection target by the operation of the support portion 30 and the movable mechanism of the movable camera 32 itself. In another example, when lighting is provided instead of the fixed camera 12, the movable camera 32 may be a camera for photographing the surroundings of the unmanned aerial vehicle 100. In yet another example, the movable camera 32 is not provided, but is provided with lighting for tracking and illuminating the ejection target. The movable camera 32 may be provided in parallel with the lighting.

The propulsion unit 20 generates a propulsive force for propelling the unmanned aerial vehicle 100. The propulsion unit 20 has a rotary blade 21 and a rotary drive device 22. The unmanned aerial vehicle 100 of this example includes four propulsion units 20. The propulsion portion 20 is attached to the main body portion 10 via the arm portion 24. The unmanned aerial vehicle 100 may be an air vehicle having fixed wings as a propulsion unit 20.

The rotary blade 21 generates a propulsive force by rotation. Four rotary blades 21 are provided around the main body 10, but the arrangement method of the rotary blades 21 is not limited to this example. The rotary blade 21 is provided at the tip of the arm portion 24 via a rotary drive device 22.

The rotary drive device 22 has a power source such as a motor and drives the rotary blades 21. The rotary drive device 22 may have a brake mechanism for the rotary blades 21. As an example, the rotation drive device 22 is controlled by a control circuit provided in the main body 10. However, the control device of the rotation drive device 22 may be incorporated in the rotation drive device 22 or may be installed side by side. The rotary blade 21 and the rotary drive device 22 may be directly attached to the main body portion 10 by omitting the arm portion 24.

As an example, the arm portion 24 is provided so as to extend radially from the main body portion 10. The unmanned aerial vehicle 100 of this example includes four arm portions 24 provided so as to correspond to each of the four propulsion portions 20. However, the number of the propulsion unit 20 and the arm unit 24 is not limited to four as long as a sufficient number is provided to maintain the attitude of the unmanned aerial vehicle 100 in flight. As an example, when four arm portions 24 are provided, they may be provided at positions having four-fold rotational symmetry around the main body portion 10. However, the extending direction of the arm portion 24 may be any direction suitable for maintaining the posture of the unmanned aerial vehicle 100, and is extended in a direction different from the rotationally symmetric direction according to the position of the center of gravity of the unmanned aerial vehicle 100. May be good. The arm portion 24 may be fixed or movable.

The leg portion 15 is a leg that is connected to the main body portion 10 and holds the posture of the unmanned aerial vehicle 100 at the time of landing or landing. The leg portion 15 holds the posture of the unmanned aerial vehicle 100 with the propulsion portion 20 stopped. The unmanned aerial vehicle 100 of this example has two legs 15, but the number and structure of the legs are not limited to this.

The support portion 30 supports the movable camera 32 and the discharge portion 60. The support portion 30 may be provided with a member having rigidity such as metal or hard resin. The support portion 30 may have a mechanism for tilting the direction in which the movable camera 32 or the discharge port 62 is supported, and may have a bending element for changing the angle.

The discharge unit 60 has a discharge port 62 and a pipe unit 64. The discharge portion 60 is supported by the end portion of the support portion 30.

The discharge port 62 is provided at the end of the pipe portion 64 extending to the side opposite to the container 70 side in the support portion 30. The discharge port 62 discharges the contents in the container 70 to the discharge target. As an example, the discharge port 62 includes a valve mechanism that adjusts the flow rate, flow velocity, pressure, and the like of the discharged contents.

The pipe portion 64 communicates the discharge port 62 with the container 70 via the flow path 72. As an example, the pipe portion 64 is a rigid metal or resin pipe. However, the tube portion 64 may be a tube made of an elastic body provided with an expansion / contraction mechanism. As an example, the cross section of the pipe portion 64 is circular, but may be polygonal. The contents of the container 70 are injected from the flow path 72 into the discharge port 62 through the pipe portion 64.

The container 70 is, in one example, an aerosol container that discharges the contents filled inside. The aerosol container ejects the contents by the gas pressure of the propellant such as liquefied gas or compressed gas filled inside. The container 70 of this example is a metal aerosol can, but may be a pressure-resistant plastic container. The container 70 of this example is stored in the container holding portion and fixed to the leg portion 15. However, the place where the container 70 is fixed is not limited to the leg portion 15, and may be provided at another place of the unmanned aerial vehicle 100.

The contents of the container 70 may be liquid, gas or solid, and may be in a powdery, granular or gel state. The contents of the container 70 are an example of the operation limiting means 120 described later in FIG. If the content is solid, as an example, the content may be a string spray that ejects a thread or string. The string spray is a spray that restricts the operation of a target by discharging a synthetic resin such as an acrylic resin into a string with a surfactant. When the container 70 is an aerosol can, the synthetic resin is discharged to the target by a propellant such as fluorinated hydrocarbon.

As the propellant for the contents, a liquefied gas such as a hydrocarbon (liquefied petroleum gas) (LPG), dimethyl ether (DME), or fluorinated hydrocarbon (HFO-1234ze) may be used. However, a compressed gas such as carbon dioxide (CO ₂ ), nitrogen (N ₂ ), and nitrous oxide (N ₂ O) may be used.

The flow path 72 connects the container 70 and the discharge unit 60. As an example, the flow path 72 is a hose in which a reinforcing material is incorporated into a flexible elastic body, but the flow path 72 may be a tube made of only the elastic body. As an example, the cross section of the flow path 72 is circular, but may be polygonal.

FIG. 1B shows an example of a front view of the unmanned aerial vehicle 100. In this example, the fixed camera 12 is provided at the center of the front surface of the main body 10. In another example, instead of the fixed camera 12, lighting may be provided to illuminate the front of the unmanned aerial vehicle 100.

In this example, the support portion 30 supports the movable camera 32 and the discharge portion 60 in parallel to the left and right toward the front of the unmanned aerial vehicle 100. As a result, the imaging direction of the movable camera 32 and the discharge direction of the contents of the discharge unit 60 are easily associated with each other, and the discharge unit 60 can easily aim. However, the support mode of the movable camera 32 and the discharge unit 60 of the support unit 30 is not limited to this example, and the angles of the movable camera 32 and the discharge unit 60 are independently changed to cover a wide area around the unmanned aerial vehicle 100. It may be imaged by tracking other unmanned aerial vehicles to be ejected.

FIG. 2 shows an example of a conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200. The unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200. The unmanned aerial vehicle 100 is an example of a first unmanned aerial vehicle, and the unmanned aerial vehicle 200 is an example of a second unmanned aerial vehicle.

The unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200 by providing the operation limiting means 120 to the unmanned aerial vehicle 200. As an example, the unmanned aerial vehicle 100 discharges to the unmanned aerial vehicle 200 a content that is a resistance to the power of the unmanned aerial vehicle 200, such as a sol, gel, or viscous fluid. For example, the unmanned aerial vehicle 100 may spray the adhesive onto the unmanned aerial vehicle 200. In another example, the operation limiting means 120 is a string-shaped synthetic resin discharged from the string spray. By providing the operation limiting means 120 to the unmanned aerial vehicle 200, the rotational load of the motor of the unmanned aerial vehicle 200 increases.

In yet another example, the motion limiting means 120 may include a magnetic material that changes the magnetic field of the motor used to power the unmanned aerial vehicle 200. By blowing the magnetic material onto the unmanned aerial vehicle 200, the magnetic field generated inside the motor is disturbed, and the output of the motor of the unmanned aerial vehicle 200 is reduced. For example, the object to which the magnetic material is sprayed is the permanent magnet of the motor. However, as long as the magnetic field generated in the motor of the unmanned aerial vehicle 200 can be disturbed, the application is not limited to spraying on a permanent magnet.

Such contents are lightweight and can be carried without degrading the maneuverability of the unmanned aerial vehicle 100 due to its weight. Therefore, it becomes easy to design and manufacture the maneuverability of the unmanned aerial vehicle 100 to be superior to that of the unmanned aerial vehicle 200. As a result, the unmanned aerial vehicle 100 can easily track the unmanned aerial vehicle 200, and can easily hit the contents with high accuracy.

Further, such an operation limiting means 120 can restrict the operation without directly damaging or destroying the unmanned aerial vehicle 200. Therefore, the operation limiting means 120 of this example is also suitable for the purpose of capturing the unmanned aerial vehicle 200 without damaging parts such as the main body of the unmanned aerial vehicle 200 while limiting the operation of the unmanned aerial vehicle 200.

FIG. 3 shows an example of an outline of the operation of the control system 150 that controls the operation of the unmanned aerial vehicle 100. The control system 150 of this example includes a fixed camera 12, a movable camera 32, a detection unit 80, a storage unit 95, an operation control unit 85, a communication unit 90, a discharge unit 60, and a propulsion unit 20. ..

The detection unit 80 of this example is provided in the main body unit 10. However, the detection unit 80 may be provided at different positions, or may be provided integrally with other components in the control system 150 such as the fixed camera 12 or the motion control unit 85. As an example, the detection unit 80 includes a sensor device such as a gyroscope, an accelerometer, a proximity sensor, or an inertial sensor. Further, the detection unit 80 may include a 3D microphone, an acoustic sensor, a radar, or the like for detecting the unmanned aerial vehicle 200. In another example, the detection unit 80 may have a mechanism for intercepting the communication of the unmanned aerial vehicle 200 in order to detect the unmanned aerial vehicle 200. The detection unit 80 is electrically connected to the fixed camera 12 and the movable camera 32, and receives data from the fixed camera 12 and the movable camera 32. The detection unit 80 may integrate the data of the sensor device, the data received from the fixed camera 12 and the movable camera 32, and the like to detect the posture of the unmanned aerial vehicle 100 itself, and may detect an obstacle around the unmanned aerial vehicle 100 or the unmanned aerial vehicle 200. Etc. may be detected.

The detection unit 80 may perform various data processing such as image filtering and acoustic filtering on the data in order to efficiently extract information from the detected data. The detection unit 80 may perform a process of transmitting / receiving data to / from the communication unit 90 and integrating the received data and the detected data. Further, the detection unit 80 may read / write data to / from the storage unit 95. As an example, the data stored in the storage unit 95 is read out, machine learning is performed, and the accuracy of detection of the unmanned aerial vehicle 200 is improved. The detection unit 80 may transmit the detection data to the operation control unit 85.

The motion control unit 85 controls each mechanism provided in the unmanned aerial vehicle 100. The motion control unit 85 may send and receive data to and from the communication unit 90. As an example, the motion control unit 85 controls the unmanned aerial vehicle 100 based on the data transmitted from the detection unit 80 and the data received from the communication unit 90. The operation control unit 85 may receive control data from the communication unit 90.

The motion control unit 85 of this example controls each of the propulsion unit 20, the support unit 30, the discharge unit 60, the fixed camera 12, the movable camera 32, the detection unit 80, and the communication unit 90. For example, the motion control unit 85 adjusts the attitude of the unmanned aerial vehicle 100 by operating the propulsion unit 20 based on the attitude detection data of the unmanned aerial vehicle 100 received from the detection unit 80, and automatically stabilizes the attitude. May be done. The operation control unit 85 operates the support unit 30 based on the control data received from the communication unit 90, performs control such as rotating the support unit 30 with respect to the main body unit 10, and controls the movable camera 32 and the discharge unit. The angle of 60 may be changed. Further, the motion control unit 85 may adjust the imaging functions such as zoom, focus, and iris of the fixed camera 12 and the movable camera 32, and operate the discharge unit 60 to discharge the contents to the discharge target. May be controlled. The motion control unit 85 may integrately manage the functions of the control system 150 of the unmanned aerial vehicle 100 from the main body 10, or may be provided in each part of the unmanned aerial vehicle 100 in a decentralized manner and control each function in a decentralized manner.

The communication unit 90 may communicate with the control system 400 of the unmanned aerial vehicle 100 described later, an external server, or the like. As an example, the detection data of the detection unit 80 may be communicated with an external server. Further, the communication unit 90 may detect the presence of the unmanned aerial vehicle 200 by communicating with the unmanned aerial vehicle 100 or a monitoring facility such as a radar provided around the operator of the unmanned aerial vehicle 100 or a 3D directional microphone. .. The communication unit 90 may have a function of reading data stored from the storage unit 95 and a function of writing communication data to the storage unit 95.

FIG. 4 shows an example of the maneuvering system 400 of the unmanned aerial vehicle 100. The maneuvering system 400 of this example includes an unmanned aerial vehicle 100 and a terminal device 410. The terminal device 410 includes a display unit 415 and a remote controller 420.

The display unit 415 displays an image taken by a camera mounted on the unmanned aerial vehicle 100. The display unit 415 may display images captured by the fixed camera 12 and the movable camera 32, respectively. As an example, the display unit 415 displays the images of the fixed camera 12 and the movable camera 32 on divided screens. The display unit 415 may directly communicate with the unmanned aerial vehicle 100, or may indirectly communicate with the unmanned aerial vehicle 100 via the remote controller 420. The display unit 415 may communicate with an external server.

The display unit 415 displays the traveling direction of the unmanned aerial vehicle 100 captured by the fixed camera 12. The display unit 415 can grasp the surrounding situation of the unmanned aerial vehicle 100. The unmanned aerial vehicle 200 is displayed on the display unit 415 of this example. Based on the information displayed on the display unit 415, the user may operate the unmanned aerial vehicle 100 by the remote controller 420.

The remote controller 420 is operated by the user to operate the unmanned aerial vehicle 100. In addition to the flight of the unmanned aerial vehicle 100, the remote controller 420 may instruct the discharge unit 60 to discharge the contents. The remote controller 420 may be connected to the display unit 415 by wire or wirelessly. The number of remote controllers 420 provided is not limited to one. For example, a plurality of remote controllers 420 may be provided and used properly for maneuvering the unmanned aerial vehicle 100 and for controlling the discharge of the discharge unit 60.

FIG. 5 shows an example of a flow chart of an operation limiting method 300 in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200. The operation restriction method 300 is a method of restricting the operation of the unmanned aerial vehicle 200 by using the unmanned aerial vehicle 100.

In step S302, the unmanned aerial vehicle 100 detects the unmanned aerial vehicle 200. The unmanned aerial vehicle 100 of this example detects the presence, position, speed, acceleration, and the like of the unmanned aerial vehicle 200 through the operation of the detection unit 80 in the control system 150. When the unmanned aerial vehicle 100 detects the unmanned aerial vehicle 200, the unmanned aerial vehicle 100 is tracked by the user's operation or autonomous operation.

In step S304, the unmanned aerial vehicle 100 provides the motion limiting means 120. By operating the discharge unit 60, the contents are discharged from the container 70. In step S304 of providing the motion limiting means 120 from the unmanned aerial vehicle 100, the motion limiting means may be provided to the power of the unmanned aerial vehicle 200. Thereby, the operation of the unmanned aerial vehicle 200 can be restricted.

The step S304 of giving the motion limiting means may be a step in which the unmanned aerial vehicle 100 gives the motion limiting means 120 to the unmanned aerial vehicle 200 from an altitude higher than that of the unmanned aerial vehicle 200. The discharge can be guided to the unmanned aerial vehicle 200 using gravity. Since the antenna or rotor blade of the unmanned aerial vehicle 200 is often provided on the upper part of the unmanned aerial vehicle 200, it becomes easy to aim and discharge a specific member of the unmanned aerial vehicle 200.

In step S306, the motion limiting means 120 limits the motion of the unmanned aerial vehicle 200. As an example, when the operation limiting means 120 is an adhesive or the like, it takes a certain period of time for the adhesive to adhere. The adhesive provided to the unmanned aerial vehicle 200 sticks after a certain period of time, limiting the operation of the unmanned aerial vehicle 200.

In step S306, in which the operation of the unmanned aerial vehicle 200 is restricted by the motion limiting means 120, the motion limiting means 120 may limit the motion performance of the unmanned aerial vehicle 200. The unmanned aerial vehicle 100 may act on an operation limiting means 120 such as an adhesive, a ferromagnet, or a string spray to reduce the operation of the drive mechanism of the unmanned aerial vehicle 200, and thus reduce the kinetic performance of the unmanned aerial vehicle 200.

FIG. 6 shows another example 1 of a conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200. In this example, the step S304 of giving the motion limiting means 120 from the unmanned aerial vehicle 100 includes a step of giving the motion limiting means 120 to the fixed wing or the rotary wing of the unmanned aerial vehicle 200.

The contents may contain a solvent. The operation limiting means 120 can melt the drive mechanism of the unmanned aerial vehicle 200 with a solvent to limit the operation. Alternatively, the content may be a solid containing metal or the like and may be fixed to a fixed blade or a rotary blade. As a result, the fixed wing or the rotary wing of the unmanned aerial vehicle 200 may be changed to a shape that is difficult to rotate.

That is, the motion limiting means 120 may change the wing shape of the fixed wing or the rotary wing of the unmanned aerial vehicle 200. The motion limiting means 120 can change the wing cross-sectional shape of the fixed wing or the rotary wing, making it difficult to obtain the lift of the unmanned aerial vehicle 200.

The operation limiting means 120 may contain a chemical substance for eroding the material of the fixed blade or the rotary blade, particularly when the content contains a solvent or the like. The container 70 may be provided with a corrosion resistant material and may contain contents that strongly corrode metals such as strong acids. Alternatively, the container 70 may be provided with metal, and an organic solvent may be discharged to the rotary blade made of resin to erode and soften the rotary blade, thereby changing the rotary blade into a shape that is difficult to rotate. The softened rotor is deformed by the centrifugal force of the rotor itself or the stress for obtaining lift.

Fixed or rotary wings have a direct impact on the unmanned aerial vehicle 200 to maintain its attitude in the air or in the air. Therefore, the operation limiting means 120 of this example can reduce the function of the fixed wing or the rotary wing of the unmanned aerial vehicle 200 and make the flight of the unmanned aerial vehicle 200 difficult.

FIG. 7 shows another example 2 of the conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200. In this example, the step S304 of giving the motion limiting means 120 from the unmanned aerial vehicle 100 includes the step of giving the motion limiting means 120 to the main body of the unmanned aerial vehicle 200.

The step of providing the motion limiting means 120 may include a step of attaching the motion limiting means to the second unmanned aerial vehicle to increase the weight. The operation limiting means 120 may be the contents of a liquid, sol, or gel of grease or sticky substance containing a metal filler such as iron powder. When the operation limiting means 120 adheres to the unmanned aerial vehicle 200, the unmanned aerial vehicle 200 becomes heavy and the operation of the unmanned aerial vehicle 200 is restricted.

FIG. 8 shows another example 3 of the conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200. In this example, the step S306 for limiting the operation of the unmanned aerial vehicle 200 by the motion limiting means 120 includes a step of providing the motion limiting means 120 to the sensor of the unmanned aerial vehicle 200.

The sensor of the unmanned aerial vehicle 200 is, for example, a stereo camera or an optical sensor such as LiDAR. By acting the motion limiting means 120 on the sensor of the unmanned aerial vehicle 200, it becomes difficult for the unmanned aerial vehicle 200 to detect the surrounding situation. As a result, autonomous control of the unmanned aerial vehicle 200 becomes difficult, and operation by the user of the unmanned aerial vehicle 200 becomes difficult. Therefore, the operation of the unmanned aerial vehicle 200 can be effectively restricted.

The motion limiting means 120 may include a covering material that covers the sensor of the unmanned aerial vehicle 200. As an example, the function of the optical sensor is deteriorated by discharging the contents of the paint to the optical sensor of the unmanned aerial vehicle 200. In another example, the container holding portion may have a heating portion of the Pertier element around the container 70. The operation limiting means 120 discharges the heated contents to a temperature-sensitive sensor such as an infrared camera of the unmanned aerial vehicle 200. This disturbs the function of the sensor provided in the unmanned aerial vehicle 200, reduces the ability of the unmanned aerial vehicle 200 to grasp the surrounding situation, and makes it difficult to autonomously control the unmanned aerial vehicle 200.

FIG. 9 shows another example 4 of the conceptual diagram in which the unmanned aerial vehicle 100 limits the operation of the unmanned aerial vehicle 200. The step of giving the operation limiting means 120 from the unmanned aerial vehicle 100 of this example includes a step of giving the operation limiting means 120 to the wireless communication antenna of the unmanned aerial vehicle 200.

As an example, the operation limiting means 120 may contain a solvent. The unmanned aerial vehicle 100 can reduce the operating performance of the GPS antenna by spraying a solvent on a wireless communication antenna such as the GPS antenna of the unmanned aerial vehicle 200. As a result, the self-position recognition performance of the unmanned aerial vehicle 200 can be reduced, and the autonomous control of the unmanned aerial vehicle 200 can be made difficult.

In another example, the unmanned aerial vehicle 100 may spray a solvent on the control antenna or the like of the unmanned aerial vehicle 200. This makes it difficult for the user of the unmanned aerial vehicle 200 to communicate for operating the unmanned aerial vehicle 200. That is, the step S306 for limiting the operation of the unmanned aerial vehicle 200 by the motion limiting means 120 may include a step of reducing the remote control performance of the unmanned aerial vehicle 200.

In another example, the operation limiting means 120 may include a shielding material that shields electromagnetic waves. As an example, the content is a sol-like or gel-like substance containing a large amount of metal filler. By spraying a large amount of metal filler, electromagnetic waves for communication can be shielded. By including the content in combination with a shielding material for shielding electromagnetic waves and a solvent, the operating performance of the antenna of the unmanned aerial vehicle 200 can be effectively reduced.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of operations, procedures, steps, steps, etc. in the devices, systems, programs, and methods shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 ... Main body, 12 ... Fixed camera, 15 ... Legs, 20 ... Propulsion, 21 ... Rotor, 22 ... Rotor drive, 24 ... Arms, 30 ... Support part, 32 ... Movable camera, 60 ... Discharge part, 62 ... Discharge port, 64 ... Pipe part, 70 ... Container, 72 ... Flow path, 80 ...・ ・ Detection unit, 85 ・ ・ ・ Motion control unit, 90 ・ ・ ・ Communication unit, 95 ・ ・ ・ Storage unit, 100 ・ ・ ・ Unmanned aerial vehicle, 120 ・ ・ ・ Operation limiting means, 150 ・ ・ ・ Control system, 200・ ・ ・ Unmanned aerial vehicle, 300 ・ ・ ・ Operation restriction method, 400 ・ ・ ・ Control system, 410 ・ ・ ・ Terminal device, 415 ・ ・ ・ Display unit, 420 ・ ・ ・ Remote controller

Claims (16)

It is an operation limiting method that limits the operation of the second unmanned aerial vehicle using the first unmanned aerial vehicle.
The stage of detecting the second unmanned aerial vehicle and
The stage of providing the operation limiting means from the first unmanned aerial vehicle to the second unmanned aerial vehicle, and
An operation limiting method including a step of limiting the operation of the second unmanned aerial vehicle by the operation limiting means. The operation limiting method according to claim 1, wherein the step of limiting the operation of the second unmanned aerial vehicle includes a step of reducing the kinetic performance of the second unmanned aerial vehicle. The motion restriction according to claim 1 or 2, wherein the step of giving the motion limiting means includes a step of giving the motion limiting means to the second unmanned aerial vehicle from a higher altitude than the second unmanned aerial vehicle. Method. The operation limiting method according to any one of claims 1 to 3, wherein the step of giving the motion limiting means includes a step of giving the motion limiting means to the power of the second unmanned aerial vehicle. The operation limiting method according to claim 4, wherein the operation limiting means serves as a resistance to the power. The operation limiting method according to claim 4 or 5, wherein the operation limiting means includes a magnetic material that changes the magnetic field of the motor used for the power. The operation limiting method according to any one of claims 1 to 3, wherein the step of giving the motion limiting means includes a step of giving the motion limiting means to the fixed wing or the rotary wing of the second unmanned aerial vehicle. The motion limiting method according to claim 7, wherein the motion limiting means changes the blade shape of the fixed blade or the rotary blade. The operation limiting method according to claim 8, wherein the movement limiting means includes a chemical substance for eroding the material of the fixed wing or the rotary wing. The operation limiting method according to any one of claims 1 to 3, wherein the step of giving the motion limiting means includes a step of giving the motion limiting means to the main body of the second unmanned aerial vehicle. The operation limiting method according to claim 10, wherein the step of giving the motion limiting means includes a step of attaching the motion limiting means to the second unmanned aerial vehicle to increase the weight. The operation limiting method according to any one of claims 1 to 3, wherein the step of limiting the operation of the second unmanned aerial vehicle includes a step of lowering the remote control performance of the second unmanned aerial vehicle. The operation limiting method according to claim 12, wherein the step of giving the motion limiting means includes a step of giving the motion limiting means to the sensor of the second unmanned aerial vehicle. The operation limiting method according to claim 13, wherein the operation limiting means includes a covering material for covering the sensor. The operation limiting method according to claim 12, wherein the step of giving the motion limiting means includes a step of giving the motion limiting means to the wireless communication antenna of the second unmanned aerial vehicle. The operation limiting method according to claim 15, wherein the operation limiting means includes a shielding material that shields electromagnetic waves.

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