JP2023087239A - Unmanned flight vehicle, and unmanned flight vehicle group constituted of plurality of unmanned flight vehicles as well as aerial image display system - Google Patents

Abstract

To achieve a first-ever use form of an unmanned flight vehicle, in which an image is aerially displayed.SOLUTION: A plurality of unmanned flight vehicles 20 and 20 are configured so that image display devices 220 are turnably supported on flight vehicle main bodies equipped with a plurality of rotors through turning mechanisms having servo motors. Display devices comprising high-brightness LEDs are arranged in matrix in the image display devices 220. The unmanned flight vehicles 20 and 20 and a management server 30 constitute the aerial image display system 10. The image display devices 220 and 220 are aerially arranged by collaboratively controlling flight of the unmanned flight vehicles 20 and 20, and image display in the air is achieved by the unmanned flight vehicle group constituted of the unmanned flight vehicles 20 and 20, by controlling image display by the image display devices 220.SELECTED DRAWING: Figure 8

Description

The present invention relates to an unmanned flying object, an unmanned flying object group consisting of a plurality of unmanned flying objects, and an aerial image display system. In particular, the present invention relates to a technique for realizing unprecedented forms of utilization of unmanned air vehicles.

2. Description of the Related Art Conventionally, unmanned flying objects (generally called drones) used for ground observation, cargo transportation, etc. are known. Patent Document 1 discloses capturing an image of a survey target area on the ground with a camera mounted on an unmanned air vehicle, and calculating terrain data of the survey target area based on the captured image. In addition, Patent Document 2 discloses an unmanned air vehicle capable of airborne transport of lightweight objects.

In addition, as other forms of use of the unmanned aerial vehicle, it is possible to confirm the damage situation and victims in the event of a disaster by photographing from the air with a camera, and to carry out pesticide spraying on farms by installing a pesticide tank. Are known.

JP 2021-117047 A JP 2021-151847 A

By the way, the inventors of the present invention considered how to use unmanned air vehicles in an unprecedented manner. The inventor of the present invention came up with the idea of using the unmanned flying object as a device for displaying an image in the air by displaying an image on the unmanned flying object itself. In addition, when displaying an image in the air using an unmanned aerial vehicle in this way, in order to improve its practicality, it is necessary to ensure that the visibility of the image (for example, the visibility from the ground) is good. I also paid attention to what is necessary. In view of these points, the inventors of the present invention improved the configuration of the unmanned air vehicle, resulting in the present invention.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and an object of the present invention is to realize an unprecedented usage form of an unmanned flying object, such as displaying an image in the air.

The solution of the present invention for achieving the above object is based on an unmanned flying object that has a flying object main body that has rotary wings and that flies with the rotation of the rotary wings. The unmanned flying object includes an image display device that is rotatably attached to the flying object main body and has a display surface for displaying an image; and a rotational position adjusting actuator that can change the orientation of the display surface by adjusting its position.

By displaying an image on the display surface of the image display device of the unmanned air vehicle in flight, it is possible to display an image in the air. In addition, since the image display device is rotatably attached to the aircraft main body, the orientation of the display surface can be changed by adjusting the rotation position of the image display device with the rotation position adjustment actuator. Also, it is possible to adjust the rotation position of the image display device so that the display surface is oriented in an easy-to-view direction (for example, in an easy-to-view direction from the ground). For this reason, it is possible to realize an unprecedented utilization form of the unmanned air vehicle, such as being able to display an image in the air with high visibility.

Further, the image display device includes a self-luminous display device, and is configured to display an image on the display surface by self-luminescence of the display device.

According to this, since the image display device itself can be provided with the image display function, the configuration of the unmanned air vehicle can be simplified without requiring a separate image projection device or the like.

A plurality of the display devices are arranged in a matrix.

According to this, it is possible to adopt a relatively small display device, so that it is possible to reduce the cost. Since it is only necessary to replace the parts, maintenance work can be simplified and maintenance costs can be reduced.

Further, an image projection device is mounted, and an image projected from the image projection device is displayed on the display surface.

According to this, it is possible to display one image projected from the image projection device on the entire display surface of the unmanned flying object. Therefore, compared to the case of dividing the display surface into a plurality of areas and synchronizing the images displayed individually in each area, the processing load for this image synchronization can be eliminated, and the control for image display can be performed. can be simplified, and the load on the control system can be reduced.

Further, the image display device includes a transmissive screen, and the image projection device is arranged to project an image from the rear side of the transmissive screen toward the transmissive screen.

Further, the transmissive screen is a mesh screen in which a plurality of wire rods are arranged in a grid pattern.

Since the mesh screen (sometimes called an amid screen) allows wind (air) to pass through, the unmanned air vehicle in flight is less affected by the wind, and as the flight stabilizes, The image to be displayed can be stabilized (suppression of shaking of the image in the air, etc.), and the image can be displayed in the air with high visibility.

Further, a communication unit for receiving image information from an image information transmission source that transmits image information, and an image display control unit for controlling image display on the display surface of the image display device according to the image information received by the communication unit. and

This relates to an unmanned aerial vehicle applied to an aerial image display system in which an image information source (management server, etc.) is installed separately from the unmanned aerial vehicle. The display control section controls image display on the display surface of the image display device. In this case, since the unmanned flying object does not need to store all the information of the images displayed on the display surface in advance, there is no need to install an image storage device, etc., and the configuration of the unmanned flying object is simplified. be able to.

and an image display control unit for controlling image display on the display surface of the image display device according to the image information stored in the image information storage unit. there is

This is to read out the image information stored in the image information storage section mounted on the unmanned air vehicle, and the image display control section controls the image display on the display surface of the image display device. According to this, it is possible to perform image display in the air by displaying an image on the display surface of the image display device without the need to install an image information transmission source separate from the unmanned flying object. . Therefore, it is possible to simplify the configuration of the entire system for displaying images in the air.

Further, the image display device is attached to the aircraft main body so as to be rotatable about a horizontal axis in the flight state of the unmanned aircraft, and the rotation position of the image display device according to the flight position is determined. a communication unit for receiving rotation position information from a rotation position information transmission source that transmits information; and a rotation position control section for controlling the movement position.

This relates to an unmanned flying object applied to an aerial image display system in which a turning position information transmission source (management server, etc.) is installed separately from the unmanned flying object. According to the rotational position information, the rotational position control section operates the rotational position adjustment actuator to control the rotational position of the image display device according to the flight position. For example, it is controlled to a rotational position at which good visibility from the ground can be obtained. In this case, since the unmanned flying object does not need to store in advance information on the rotational position of the image display device corresponding to the flight position, it is not necessary to mount a rotational position information storage device or the like. simplification of the configuration can be achieved.

Further, the image display device is mounted rotatably about a horizontal axis with respect to the body of the unmanned air vehicle in a flight state of the unmanned air vehicle. and the rotational position adjustment actuator is operated according to the rotational position information stored in the rotational position information storage section to control the rotational position of the image display device. and a rotation position control unit.

This is done by reading out the rotational position information (information on the rotational position of the image display device corresponding to the flight position) stored in the rotational position information storage section mounted on the unmanned flying object, and controlling the rotational position. actuates a rotational position adjusting actuator to control the rotational position of the image display device according to the flight position. Also in this case, for example, the rotation position is controlled so as to obtain good visibility from the ground. According to this, it is possible to control the rotation position of the image display device according to the flight position without the necessity of installing a rotation position information transmission source separate from the unmanned flying object. Therefore, it is possible to simplify the configuration of the entire system for displaying images in the air.

Further, a group of unmanned aerial vehicles composed of a plurality of unmanned aerial vehicles is also within the scope of the technical concept of the present invention. That is, each unmanned flying object is cooperatively controlled and flies so that the display surfaces of the image display devices of the respective unmanned flying objects are adjacent to each other.

As a result, an image is displayed on each display surface in a state in which the display surfaces of the image display devices of the respective unmanned air vehicles that fly under cooperative control are adjacent to each other, thereby producing a series of images across the plurality of display surfaces. image can be displayed. For this reason, it becomes possible to display a large image in the air, which was difficult to display with one (one) unmanned air vehicle, and it is possible to display an image with high visibility in the air.

Further, an aerial image display system comprising the unmanned flying object and an image information transmission source is also within the scope of the technical idea of the present invention. That is, the unmanned flying object and the image information transmission source are provided, the image information transmission source is provided with a communication unit that transmits image information, and the unmanned flight object is the image information transmission source. An aerial image display comprising: a communication section for receiving image information transmitted from a communication section; and an image display control section for controlling image display on the display surface of the image display device according to the image information received by the communication section. System.

According to this, as described above, the unmanned flying object does not need to store information of all images to be displayed on the display surface in advance, so that it is not necessary to install an image storage device or the like. simplification of the configuration can be achieved.

Further, an aerial image display system comprising the unmanned flying object and a rotation position information transmission source is also within the scope of the technical idea of the present invention. That is, the unmanned flying object and a rotation position information transmission source are provided, and the rotation position information of the image display device corresponding to the flight position of the unmanned flight object is transmitted to the rotation position information transmission source. A communication unit is provided, and the unmanned flying object includes a communication unit for receiving rotation position information transmitted from the communication unit of the rotation position information transmission source, and a rotation position information received by the communication unit. and a rotation position control section that controls the rotation position of the image display device by operating the rotation position adjustment actuator according to position information.

According to this, as described above, the unmanned flying object does not need to store in advance the information on the rotation position of the image display device according to the flight position, so it is equipped with a rotation position information storage device or the like. It is not necessary, and the configuration of the unmanned air vehicle can be simplified.

Further, an aerial image display system comprising the unmanned flying object and an image illuminator capable of illuminating an image is also within the scope of the technical idea of the present invention. That is, the image display device of the unmanned flying object has a screen, and an image is displayed on the display surface by irradiating the image from the image illuminator toward the screen of the unmanned flying object in flight. It is an aerial image display system configured to perform

According to this, since only the screen needs to be mounted on the image display device of the unmanned flying object, the configuration of the unmanned flying object can be simplified.

In the present invention, an image display device attached to an unmanned flying object so as to be rotatable with respect to the flying object body and having a display surface for displaying an image, and a rotation position of the image display device with respect to the flying object body are set. A rotational position adjusting actuator is provided which can change the orientation of the display surface by adjustment. As a result, it is possible to realize an unprecedented use of the unmanned air vehicle, such as displaying an image in the air with high visibility.

1 is a diagram showing a schematic configuration of an aerial image display system including a plurality of unmanned air vehicles and a management server according to an embodiment; FIG. 1 is a perspective view showing an example of a flight state of an unmanned air vehicle; FIG. 1 is a perspective view showing a state in which an image display device of an unmanned air vehicle is in a horizontal posture; FIG. 1 is a perspective view showing a state in which an image display device of an unmanned air vehicle is in a vertical posture; FIG. FIG. 4 is a side view showing a stack state of a plurality of unmanned air vehicles; 1 is a block diagram showing a control system of an unmanned air vehicle; FIG. 3 is a block diagram showing a control system of a management server; FIG. FIG. 4 is an image diagram showing an example of an aerial image display state by a group of unmanned air vehicles; 2 equivalent view in modification 1. FIG. FIG. 3 is a view corresponding to FIG. 3 in modification 1; FIG. 5 is a view corresponding to FIG. 4 in modification 1; FIG. 8 is a view corresponding to FIG. 8 in modification 2; FIG. 7 is a view corresponding to FIG. 6 in modification 3;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. In the present embodiment, an example will be described in which images are displayed in the air by a group of unmanned aerial vehicles each having a display surface formed of LEDs (light emitting diodes).

First, the configuration of an aerial image display system for displaying images in the air by a group of unmanned flying objects will be described.

<System configuration>
FIG. 1 is a diagram showing a schematic configuration of an aerial image display system 10 according to this embodiment.

The aerial image display system 10 is a system including a plurality of unmanned flying objects (also called drones or autonomous flying robots) 20, 20, . It is configured.

These unmanned aerial vehicles 20, 20, . Communication by communication is possible. Through this communication, control of the flight state of each unmanned flying object 20, 20, . image display control), and information transmission/reception for controlling the rotation position of the image display device 220 provided in each unmanned flying object 20, 20, . . . . In this embodiment, each piece of information is transmitted from the management server 30 to each of the unmanned flying objects 20, 20, . . . 20, . It may be configured as a system stored in each of the flying bodies 20, 20, .

－Configuration of Unmanned Aerial Vehicle－
Each unmanned air vehicle 20, 20, . . . has the same configuration. Therefore, one (one) unmanned flying object 20 will be described as a representative here.

The unmanned air vehicle 20 is a multicopter in which a plurality of rotors (rotary wings) 212, 212, . . . Specifically, it is configured as a quadcopter having four rotors 212, 212, . An unmanned flying object such as a hexacopter having six rotors or an optocopter having eight rotors may be used. Alternatively, the rotor may be a single-rotor type small unmanned helicopter. The configuration of the unmanned flying object 20 according to this embodiment will be described below.

FIG. 2 is a perspective view showing an example of the flight state of the unmanned air vehicle 20. As shown in FIG. In the following description, the X direction in FIG. 2 is called the left-right direction of the unmanned air vehicle 20, the X1 direction side in the drawing is called the left side, and the X2 direction side is called the right side. Also, the Y direction in FIG. 2 is called the front-rear direction of the unmanned air vehicle 20, the Y1 direction side in the drawing is called the front side, and the Y2 direction side is called the rear side. Also, the Z direction in FIG. 2 is called the vertical direction of the unmanned flying object 20, the Z1 direction side in the drawing is called the upper side, and the Z2 direction side is called the lower side.

As shown in FIG. 2 , the unmanned flying vehicle 20 includes a flying body main body 210 , an image display device 220 and a rotation mechanism 230 .

The aircraft main body 210 is configured in a frame shape by connecting four frame members 210a, 210b, 210c, and 210d in a rectangular shape in plan view. Of the four frame members 210a, 210b, 210c, and 210d, the front frame member 210a is located on the front side (Y1 direction side) of the unmanned aircraft 20 and extends in the left-right direction (X direction). A rear frame member 210b is located on the rear side (Y2 direction side) of the body 20 and extends in the left-right direction (X direction). A left frame member 210c is positioned on the left side (X1 direction side) of the unmanned flying object 20 and extends in the front-rear direction (Y direction), and is positioned on the right side (X2 direction side) of the unmanned flying object 20. The light frame member 210d extends in the front-rear direction (Y direction).

Motors 211, 211, . Rotors 212, 212, . . . are attached to the rotating shafts of the motors 211, 211, . The rotors 212, 212 adjacent to each other via the frame members 210a, 210b, 210c, 210d are rotatable in opposite directions. As a result, the rotors 212, 212, . . . rotate with the operation of the motors 211, 211, . Also, by individually controlling the rotation speed of each motor 211, 211, .

The image display device 220 is rotatably attached to the aircraft main body 210 via a rotation mechanism 230 . In the following description, the H direction in FIG. 2 is called the first direction of the image display device 220, the H1 direction side in the drawing is called the left side, and the H2 direction side is called the right side. 2 is called the second direction of the image display device 220, the L1 direction side in the drawing is called the proximal end side, and the L2 direction side is called the distal end side.

The image display device 220 includes a device frame 221 and a plurality of display devices (self-luminous display devices) 222, 222, ... (only some of the display devices 222, 222, ... are shown in FIG. 2). there is

The device frame 221 includes an outer frame 223, a plurality of vertical frames 224, 224, . . . and link frames 225L, 225R. The outer frame 223 has a frame shape in which four frame members 223a, 223b, 223c, and 223d are connected in a rectangular shape. Of the four frame members 223a, 223b, 223c, and 223d, the first frame member 223a is located on the base end side (L1 direction side) of the image display device 220 and extends in the first direction (H direction). A second frame member 223b is located on the tip side (L2 direction side) of the image display device 220 and extends in the first direction (H direction). A third frame member 223c is located on the left side (H1 direction side) of the image display device 220 and extends in the second direction (L direction), and is positioned on the right side (H2 direction side) of the image display device 220. The fourth frame member 223d is located and extends in the second direction (L direction). The dimension in the first direction (H direction) and the dimension in the second direction (L direction) of the outer frame 223 are set to substantially the same dimension. For example, it is set to 3000 mm. This value is not limited to this. In addition, the dimension of the image display device 220 in the first direction (H direction) is set to be longer than the dimension of the aircraft main body 210 in the horizontal direction (X direction) by a predetermined dimension, and the image display device 220 in the second direction ( L direction) is set longer than the longitudinal direction (Y direction) of the aircraft main body 210 by a predetermined dimension. In other words, the outer shape of the image display device 220 is set larger than the outer shape of the aircraft body 210 . As a result, even an unmanned flying object 20 having a small flying object main body 210 can be equipped with a large image display device 220 . When displaying an image in the air, while avoiding interference (contact) between the flying body bodies 210, 210, ... of the unmanned flying bodies 20, 20, ..., the image display devices 220, 220, ... It makes it possible to reduce the gap between The outer frame 223 may have different dimensions in the first direction (H direction) and the second direction (L direction).

Seven vertical frames 224, 224, . These vertical frames 224, 224, . . . function as fixing portions for respective display devices 222, 222, . The number of vertical frames 224 is not limited to this, and is appropriately set according to the strength required for the image display device 220 and the number of display devices 222, 222, .

The link frames 225L and 225R are portions that become connecting portions of link mechanisms 232L and 232R, which will be described later, and are located on the left side (H1 direction side) and the left side link frame 225L and the right side (H2 direction side). and a frame 225R for the right link. The left link frame 225L includes a first portion 225La extending along the second direction (L direction) and extending leftward (H1 direction side) from both ends (both ends in the L direction) of the first portion 225La. and second portions 225Lb, 225Lb connected to the third frame member 223c. Similarly, the right link frame 225R includes a first portion 225Ra that extends in the second direction (L direction), and both ends (both ends in the L direction) of the first portion 225Ra to the right (H2 direction side). and second portions 225Rb, 225Rb extending to the fourth frame member 223d and connected to the fourth frame member 223d.

Each display device 222, 222, . . . is attached to each vertical frame 224, 224, . It is said that That is, the image display device 220 is provided with a total of 49 display devices 222, 222, . The number of display devices 222 is not limited to this and can be set arbitrarily. Also, the number arranged in the first direction (H direction) and the number arranged in the second direction (L direction) may be different from each other.

Also, the respective display devices 222, 222, . This allows wind (air) to pass between the display devices 222, 222 while the unmanned flying object 20 is in flight, or allows the unmanned flying object 20 to ascend (when ascending in the state shown in FIG. 3). This is because the wind (wind for generating lift) from the rotors 212, 212, . . . can pass through.

Each display device 222 includes a display panel mounted with a plurality of LED elements (hereinafter sometimes simply referred to as LEDs) (not shown), a circuit board for controlling light emission of each LED element, and the like. In other words, each of the display devices 222 , 222 , . . . displays images according to image information (image information to be displayed on the display panel) transmitted from the management server 30 and received by the unmanned air vehicle 20 . In this embodiment, a high-brightness LED is used as the LED, and the displayed image can be viewed not only at night but also during the day (for example, viewed from the ground). Also, the brightness may be changed according to the brightness of the surroundings. It is also possible to employ organic EL (organic electro-luminescence) instead of LEDs.

The rotation mechanism 230 rotatably attaches the image display device 220 to the aircraft body 210, and includes two rotation arms 231L and 231R that connect the image display device 220 and the aircraft body 210. and a pair of link mechanisms 232L, 232R.

Each of the rotating arms 231L and 231R connects the first frame member 223a of the image display device 220 and the front frame member 210a of the aircraft main body 210. As shown in FIG. Servomotors (rotating position adjusting actuators according to the present invention) 233L and 233R are built in the connecting portions of the rotating arms 231L and 231R with the front frame member 210a. The image display device 220 is rotatable with respect to the aircraft main body 210 by relatively rotating the moving arms 231L and 231R with respect to the front frame member 210a. For example, the stators of the servo motors 233L and 233R are connected to the front frame member 210a, and the rotors are connected to the rotating arms 231L and 231R. Further, by adjusting the rotational positions of the servo motors 233L and 233R, the rotational position of the image display device 220 with respect to the aircraft main body 210 (the rotational posture of the image display device 220 with respect to the aircraft main body 210) can be changed to an arbitrary position. It is possible to set to

Each link mechanism 232L, 232R consists of a left link mechanism 232L and a right link mechanism 232R. The left link mechanism 232L includes a first link 232La whose one end is rotatably connected to the left frame member 210c of the aircraft main body 210, and a first portion 225La of the frame 225L for the left link of the image display device 220. The other ends of the second links 232Lb rotatably connected to each other are relatively rotatably connected to each other. Similarly, the right link mechanism 232R includes a first link 232Ra whose one end is rotatably connected to the light frame member 210d of the aircraft main body 210, and a first link 232Ra of the right link frame 225R of the image display device 220. The other ends of the second links 232Rb rotatably connected to the first part 225Ra are relatively rotatably connected to each other. When the image display device 220 rotates with respect to the aircraft main body 210 by the operation of the servomotors 233L and 233R, the first link 232La (232Ra) and the second link 232Lb (232Rb) of the link mechanisms 232L and 232R are By rotating relatively, the rotation operation of the image display device 220 can be stabilized. FIG. 3 is a perspective view showing a state in which the image display device 220 is rotated with respect to the aircraft main body 210 and assumes a horizontal posture. In this case, the image display device 220 is positioned below the aircraft main body 210, the extending direction of the image display device 220 and the extending direction of the aircraft main body 210 are parallel to each other, and the link mechanisms 232L and 232R are aligned. The angle formed by the extending direction of the first link 232La (232Ra) and the extending direction of the second link 232Lb (232Rb) is the smallest. 4 is a perspective view showing a state in which the image display device 220 is rotated with respect to the aircraft main body 210 and assumes a vertical posture. In this case, the extending direction of the image display device 220 and the extending direction of the aircraft main body 210 are orthogonal to each other, and the extending direction of the first link 232La (232Ra) of each link mechanism 232L, 232R and the second link. It is on the same straight line as the extending direction of 232Lb (232Rb).

As described above, the aerial image display system 10 according to the present embodiment performs image display in the air using a group of unmanned aerial vehicles 20, 20, . . . For this reason, when these unmanned air vehicles 20, 20, . A stack structure is provided for stacking a plurality of unmanned flying bodies 20, 20, . FIG. 5 is a side view showing a stack state of a plurality of unmanned air vehicles 20, 20, . As shown in FIG. 5, in the stuck state, the image display device 220 rotates with respect to the flying object main body 210 and assumes a horizontal posture (the posture shown in FIG. 3). They will be superimposed on top of each other. This stack structure will be described below.

As shown in FIG. 3, the stack structure includes a plurality of cradles 226, 226, . . . ing.

The cradles 226, 226, . . . It is disposed so as to protrude upward in this state: upward perpendicular to each of the first direction H and the second direction L). Each of the cradles 226, 226, . . . includes a column portion 226a extending vertically in the state shown in FIG. 3, and a receiving portion 226b provided on top of the column portion 226a. The receiving portion 226b is formed in a V shape by a pair of wire rods 226c, 226c that are inclined upward in opposite directions in the state shown in FIG.

An LED 226d that emits near-infrared rays upward is provided at the connecting portion (bottom portion of the receiving portion 226b) between the column portion 226a and the receiving portion 226b. Specifically, the LED 226d is accommodated in a recess provided in the central portion of the receiving portion 226b. The arrangement form of the LED 226d is not limited to this, and may be arranged in a state of protruding from the central portion of the receiving portion 226b.

On the other hand, the near-infrared cameras 227, 227, . is positioned downward in a horizontal position). That is, it is arranged to detect near-infrared rays in the lower part. Specifically, the near-infrared camera 227 is accommodated in a concave portion provided on the lower surface of each of the frame members 223a to 223d. The arrangement form of the near-infrared camera 227 is not limited to this, and may be arranged so as to protrude from the lower surface of each of the frame members 223a to 223d. In this way, the placement position of the cradle 226 and the placement position of the near-infrared camera 227 on each of the frame members 223a to 223d are the same, and the cradle 226 is located at the position of another unmanned flying object 20 descending from above. The near-infrared camera 227 has a function of receiving the outer frame 223 and a function of emitting near-infrared rays upward, and a near-infrared camera 227 has a function of detecting near-infrared rays from below.

Therefore, when the unmanned flying object 20 in flight is landed on the upper side of the unmanned flying object 20 already parked on the tarmac and the unmanned flying objects 20, 20 are superimposed on each other, the unmanned flying object in flight 20 mounted on the unmanned flying object 20 detect the near infrared rays emitted from the LEDs 226d, 226d, . . . By descending the unmanned flying object 20 while maintaining the state in which the near-infrared rays are detected by , . can be superimposed on each other). That is, the outer frame 223 of the image display device 220 of the descending unmanned flying object 20 can be received by the receiving portion 226b of the receiving base 226 of the parked unmanned flying object 20 so that they can be superimposed. By lowering the unmanned flying bodies 20 one after another in this manner, a plurality of unmanned flying bodies 20, 20, . . . It has become possible, and it is possible to reduce the area required for the parking apron.

－Unmanned Aerial Vehicle Control System－
Next, the control system of the unmanned air vehicle 20 will be explained. The control system of the unmanned flying object 20 described below is an example, and the control system of the unmanned flying object 20 according to the present invention is not limited to the following. The unmanned flying object 20 receives from the management server 30 information related to the flight path, information for image display, and information for controlling the rotation attitude of the image display device 220, and flies along a predetermined flight path. At the same time, the image display on the image display device 220 and the rotational posture of the image display device 220 are controlled.

FIG. 6 is a block diagram showing the control system of the unmanned flying object 20 according to this embodiment. As shown in FIG. 6, the control system of the unmanned air vehicle 20 includes a position/orientation sensor 21, a communication section 22, a storage section 23, and a control section 24. FIG.

(position/orientation sensor)
The position/orientation sensor 21 is a sensor for acquiring the current position and orientation of the unmanned air vehicle 20 . The position/orientation sensor 21 includes, for example, a receiver that receives radio waves (navigation signals) transmitted from a navigation satellite (artificial satellite) such as a GNSS (Global Navigation Satellite System), an acceleration sensor that measures acceleration, and an azimuth measurement. It is equipped with an electronic compass and a gyro sensor that measures angular velocity. Specifically, in the position/orientation sensor 21, the receiver receives navigation signals transmitted from a plurality of navigation satellites and outputs them to the control unit 24, and also outputs measurement signals from the electronic compass and the gyro sensor to the control unit 24. do. Based on these signals, the control unit 24 calculates the current position and attitude of the unmanned flying object 20 . In particular, in this embodiment, RTK (Real Time Kinematic) positioning is performed in order to increase the detection accuracy of the current position of the unmanned flying object 20 . A laser scanner and an atmospheric pressure sensor may be used instead of the receiver as means for acquiring information for obtaining the current position and attitude.

(communication department)
The communication unit 22 is a communication module for communicating with the management server 30 . As described above, the management server 30 transmits information related to the flight route, information for image display, and information for controlling the rotational attitude of the image display device 220 . receives and outputs to the control unit 24 . Further, the communication unit 22 outputs each information of the current position and attitude of the unmanned flying object 20 calculated as described above to the management server 30 .

(storage unit)
The storage unit 23 is an information storage device such as an HDD (Hard Disk Drive). The storage unit 23 stores various programs and various data, and inputs/outputs such information to/from the control unit 24 . The various data include information used for each process of the control unit 24, such as position/orientation information and route information.

The position/orientation information is a history of the current position and orientation of the unmanned flying object 20 acquired by the position/orientation sensor 21 and stored cyclically at predetermined time intervals. The route information is information received from the management server 30 and stored in the storage unit 23, and is information related to the flight route along which the unmanned air vehicle 20 is scheduled to move. Specifically, it is information that associates a coordinate sequence (x, y, z) on the flight path with time, velocity, and acceleration at each position (coordinate).

(control part)
The control unit 24 is a computer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and reads programs and data from the storage unit 23 . The control unit 24 includes a position/attitude calculation unit 241, a flight control unit 242, an image display control unit 243, and a rotation position control unit 244 as functional units according to this program.

The position/orientation calculator 241 calculates the current position and orientation of the unmanned air vehicle 20 in flight space from the output of the position/orientation sensor 21, and stores them as position/orientation information. In addition, the position/attitude calculation unit 241 obtains latitude/longitude/altitude from the navigation signal output from the position/attitude sensor 21, for example, and converts it into a position in the flight space coordinate system using a conversion rule stored in advance. do. Further, the position/orientation calculator 241 obtains the current attitude in the coordinate system of the flight space from the measurement signals of the acceleration sensor and the gyro sensor output from the position/orientation sensor 21 . Even if the azimuth in the coordinate system of the flight space is obtained from the measurement signal of the electronic compass output from the position/orientation sensor 21, and the current attitude is calculated using the measurement signals from other sensors. good. Note that the position/orientation calculation unit 241 transmits the current position to the management server 30 via the communication unit 22 every time it calculates the current position.

The flight control unit 242 refers to the route information (information related to the flight route received from the management server 30) and the position/attitude information, and controls the unmanned air vehicle 20 to follow the flight route described in the route information. to control the rotational speed of each motor 211, 211, . . . Specifically, the flight control unit 242 controls the motors 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, 211, and to control the rotation speed of . Further, the flight control unit 242 calculates the current velocity and acceleration of the unmanned air vehicle 20 based on the position/attitude information, and the error between these values and the velocity and acceleration at the current time described in the route information is small. The rotational speed of each motor 211, 211, . . .

The image display control unit 243 controls image display on the display surface of the image display device 220 according to image information received by the communication unit 22 from the management server 30 . In other words, the management server 30 manages the images corresponding to the position and time of the unmanned flying object 20 corresponding to the respective display devices 222, 222, . Information that associates the position and time with image information is transmitted to each of the unmanned flying objects 20, 20, . . . Then, the image display control unit 243 causes the images synchronized based on the accurate PPS (Pulse Per Second) signal of the GNSS to be displayed on the respective display devices 222, 222, . Image display control is performed as follows.

The rotation position control unit 244 operates the servo motors 233L and 233R according to the information on the rotation position of the image display device 220 corresponding to the flight position, which the communication unit 22 received from the management server 30, to rotate the image display device 220. control the motion position. In other words, the management server 30 grasps the flight positions of the unmanned flying objects 20, 20, . . . , and the information on the rotational position is transmitted from the communication unit 31 to each of the unmanned flying objects 20, 20, . . . For example, when each unmanned flying object 20, 20, . Information (rotational position information) for controlling the rotational position of the image display device 220 so that the display surface of the device 220 faces downward at 45° to the horizontal direction is transmitted to each of the unmanned flying objects 20, 20, . , operates the servo motors 233L and 233R according to the received rotation position information to control the rotation position of the image display device 220. . Also, when the unmanned flying objects 20, 20, . is transmitted to each unmanned flying object 20, 20, . The position control unit 244 operates the servo motors 233L and 233R according to the received rotation position information to control the rotation position of the image display device 220. FIG.

- Control system of the management server -
Next, the control system of the management server 30 will be explained. The control system of the management server 30 described below is an example, and the control system of the management server 30 according to the present invention is not limited to the following. This management server 30 determines the target position, which is the flight destination of each unmanned flying object 20, 20, . A flight path to the target position is obtained, and information on the flight path is transmitted to each unmanned air vehicle 20, 20, . . . Further, as described above, the management server 30 also transmits information for image display and information for controlling the rotational attitude of the image display device 220 to each of the unmanned flying objects 20, 20, . FIG. 7 is a block diagram showing the control system of the management server 30. As shown in FIG. As shown in FIG. 7 , the control system of the management server 30 includes a communication section 31 , a storage section 32 and a control section 33 .

(communication department)
The communication unit 31 is a communication module for communicating with the unmanned air vehicle 20 . This communication unit 31 transmits information related to the flight path, information for image display, and information for controlling the rotational attitude of the image display device 220 to each unmanned flying object 20, 20, .

(storage unit)
The storage unit 32 is an information storage device such as an HDD. The storage unit 32 stores various programs and various data, and inputs/outputs such information to/from the control unit 33 . The various data include information used for each process of the control unit 33, such as position information, spatial information, aircraft information, route information, image information, and rotational position information.

The position information is information indicating the current position and target position of the unmanned air vehicle 20 . When the information of the current position is received from the unmanned flying object 20, it is stored in association with the identifier (body ID) of the unmanned flying object 20.例文帳に追加Also, when the target position of a certain unmanned flying object 20 is set, the target position is stored in association with the body ID of the unmanned flying object 20 .

Spatial information is information representing the three-dimensional structure of the flight space. The space information in the present embodiment is information representing the structure of obstacles in the flight space by dividing the flight space into a plurality of voxels (unit spaces) as a voxel space. Spatial information is preset and stored by a system administrator.

The aircraft information is information indicating the characteristics (performance) of each unmanned air vehicle 20, 20, . The machine information is preset and stored by the system administrator. Specifically, the aircraft information is information that associates the aircraft ID of each unmanned air vehicle 20, 20, . .

The route information is information relating to the flight routes of the unmanned air vehicles 20, 20, . Specifically, the route information includes the body ID of the unmanned air vehicle 20, the coordinate values (x, y, z) on the route, the passage time at the coordinate values, the speed, the acceleration, the jerk, and the amount of change in the jerk. are stored in association with the value of

The image information is image information to be displayed on each display device 222, 222, . . . mounted on each unmanned air vehicle 20, 20, . is information associated with

The rotation position information is information for controlling the rotation position of the image display device 220 in each unmanned flying object 20, 20, . This information is associated with the rotational angular positions of the motors 233L and 233R.

(control part)
The control unit 33 is a computer having a CPU, ROM, RAM, etc., and reads programs and data from the storage unit 32 . The control unit 33 includes a target position setting unit 331, a path calculation unit 332, an image information extraction unit 333, and a rotation position calculation unit 334 as functional units according to this program.

The target position setting unit 331 sets the target positions of the unmanned air vehicles 20, 20, . The target position is set so that, for example, when the image is displayed while moving in the air, the flight position will reach the predetermined target position at a predetermined time.

The route calculation unit 332 performs individual route calculation processing to calculate flight routes from the current positions of the unmanned air vehicles 20, 20, . . . The stored route information is transmitted from the communication unit 31 to each unmanned flying object 20, 20, . . . , and the flight of each unmanned flying object 20, 20, . will be

The image information extraction unit 333 extracts from the storage unit 32 the information of the image to be displayed on the image display device 220 of each of the unmanned air vehicles 20, 20, . to the communication unit 31. The communication unit 31 will transmit this image information to each of the unmanned flying objects 20, 20, .

The rotation position calculation unit 334 calculates the positions and attitudes of the unmanned flying objects 20, 20, . is extracted from the storage unit 32 and transmitted to the communication unit 31 . The communication unit 31 transmits this rotation position information to each unmanned flying object 20, 20, .

<Aerial image display operation>
Next, the aerial image display operation by the aerial image display system 10 composed of the unmanned aerial vehicle group, which is a group of unmanned aerial vehicles 20 configured as described above, and the management server 30 will be described.

First, in a state where a plurality of unmanned flying objects 20, 20, . It is For example, when 60 unmanned flying objects 20, 20, . will exist.

Then, when a flight instruction signal is transmitted from the management server 30, the communication unit 22 of each unmanned flying object 20, 20, . . . receives this signal. Upon receiving this flight instruction signal, each unmanned flying object 20, 20, . The unmanned flying object 20 located on the upper side of the three planes starts to fly (ascend) in order.

Each of the unmanned air vehicles 20, 20, . Then, the flight control unit 242 controls the rotational speed of each motor 211 according to this flight path information, and each unmanned flying object 20, 20, . . . stops (hover) at a predetermined flight position. Then, as shown in FIG. 8, each unmanned flying object 20, 20, . , and information for image display and information for controlling the rotational attitude of the image display device 220 from the management server 30 to each of the unmanned flying objects 20, 20, . . . sent to each. Each unmanned flying object 20, 20, . . . performs image display control for displaying an image on each display device 222, 222, . Controls the pivot position. As a result, images are displayed on the respective display surfaces of the image display devices 220, 220, . . . , a series of images will be displayed across these multiple display planes (see FIG. 8). Therefore, a large image can be displayed in the air, and an image with high visibility can be displayed in the air.

In the above description, information for image display is received from the management server 30 and the image is displayed on the image display device 220. , a handwritten picture, etc.) may be transmitted to the unmanned air vehicle 20 and the image may be displayed on the image display device 220 .

<Effects of Embodiment>
As described above, in this embodiment, an image is displayed in the air by displaying an image on the display surface of the image display devices 220, 220, . can be done. Further, the image display device 220 is rotatably attached to the aircraft main body 210, and the orientation of the display surface is changed by adjusting the rotational position of the image display device 220 by operating the servo motors 233L and 233R. Therefore, it is possible to adjust the rotation position of the image display device 220 so that the display surface is oriented in a direction that is easy to see (for example, in a direction that is easy to see from the ground). Therefore, it is possible to realize an unprecedented usage pattern of the unmanned flying object 20, such as displaying an image in the air with high visibility.

Further, in this embodiment, the display devices 222, 222, . That is, since the image display device 220 itself can be provided with an image display function, a separate image projection device or the like is not required, and the configuration of the unmanned flying object 20 can be simplified.

Further, in this embodiment, a plurality of display devices 222, 222, . . . are arranged in a matrix. For this reason, relatively small display devices 222 can be adopted, and the cost can be reduced. Since it is only necessary to replace the parts, maintenance work can be simplified and maintenance costs can be reduced.

Further, in this embodiment, image information is received from the management server 30, and image display on the display surface of the image display device 220 is controlled according to the image information. Therefore, since the unmanned flying object 20 does not need to store in advance all the information of the images to be displayed on the display surface, there is no need to install an image storage device or the like, and the configuration of the unmanned flying object 20 can be simplified. can be improved.

Further, in this embodiment, the rotation position information is received from the management server 30, and the servo motors 233L and 233R are operated according to the rotation position information to control the rotation position of the image display device 220. . For this reason, the unmanned flying object 20 does not need to store in advance information about the rotational position of the image display device 220 corresponding to the flight position. This also makes it possible to simplify the configuration of the unmanned flying object 20 .

Further, in the present embodiment, images are displayed on the display surfaces of the image display devices 220, 220, . . . By doing so, a series of images can be displayed over the plurality of display surfaces. Therefore, it becomes possible to display a large image in the air, which is difficult to display with a single unmanned flying object, and to display an image with high visibility in the air.

<Modification 1>
Next, modification 1 will be described. In this modification, the configuration of the image display device 220 is different from that of the above-described embodiment. Therefore, differences from the above-described embodiment will be mainly described here.

FIG. 9 is a view corresponding to FIG. 2 in this modified example. FIG. 10 is a view corresponding to FIG. 3 in this modified example. FIG. 11 is a view corresponding to FIG. 4 in this modified example. As shown in these figures, the image display device 220 in the unmanned air vehicle 20 according to this modified example includes a transmissive screen 228 and an image projection device (projector) 229 .

The transmissive screen 228 is made of a mesh material (mesh screen; so-called amid screen) in which a plurality of wires (resin or metal wires) are arranged in a grid pattern, and is attached to the frame-like device frame 221 of the image display device 220. affixed to. The vertical frame 224 is not provided as the device frame 221 in this example. As the transmissive screen 228, a transparent screen made of transparent resin may be employed. Further, the image display device 220 having the transmissive screen 228 is rotatably attached to the aircraft main body 210 via the rotation mechanism 230, as in the above-described embodiment.

The image projection device 229 is for projecting an image from the back side of the transmissive screen 228 , and projects an image toward the back of the transmissive screen 228 while being supported by the device frame 221 of the image display device 220 . Irradiation is performed. Therefore, even if the image projection device 229 is rotated by the operation of the rotation mechanism 230 (the operation of the servomotors 233L and 233R) and the transmission screen 228 is also rotated with respect to the aircraft main body 210, The positional relationship between the pattern screen 228 and the image projection device 229 is unchanged, and the image projection device 229 can irradiate the rear surface of the transmissive screen 228 with an image. In this embodiment, the image projection device 229 is supported by the cradle 226, but the structure for supporting the image projection device 229 is not limited to this, and includes a plurality of arms (not shown). ) to the device frame 221 of the image display device 220 . As a device for irradiating an image onto the transmissive screen 228, instead of the image projection device 229, a color image is displayed on the transmissive screen 228 by scanning an RGB laser beam (scanning laser irradiator). may be

Other configurations are substantially the same as those of the above-described embodiment.

The control operation of each unmanned flying object 20, 20, . That is, information related to the flight route, information for image display, and information for controlling the rotational attitude of the image display device 220 are received from the management server 30, and control is performed to fly along a predetermined flight route. At the same time, the image display on the image display device 220 and the rotational posture of the image display device 220 are controlled. When displaying an image, an image projected from the image projection device 229 toward the rear surface of the transmissive screen 228 is displayed on the display surface of the transmissive screen 228, thereby performing image display in the air.

In addition, since the transmissive screen 228 is a mesh screen, it is possible for wind (air) to pass through. The image to be displayed can be stabilized (suppression of shaking of the image in the air, etc.), and the image can be displayed in the air with high visibility.

Further, in this example, it is possible to display one image projected from the image projection device 229 on the entire display surface of the image display device 220 . Therefore, compared to the case where the display surface is divided into a plurality of regions and the images displayed individually in each region are synchronized, the processing load for this image synchronization can be eliminated. can be simplified, and the load on the control system can be reduced.

<Modification 2>
Next, modification 2 will be described. In the above-described embodiment and modified example 1, the unmanned flying object 20 itself has an image light source. This modified example relates to an aerial image display system 10 in which an external light source is installed instead.

FIG. 12 is a view corresponding to FIG. 8 in this modified example. The unmanned air vehicle 20 in this modified example is not equipped with the display device 222 in the above-described embodiment or the image projection device 229 in the above-described modified example as an image display device 220, and a screen (for example, a reflective screen, etc.) 228' only.

On the other hand, a scanning laser irradiator (image irradiator) 40 is installed on the ground. Image display devices 220, 220, . The image is displayed in the air by projecting the image toward the screen 228'.

As an example of a usage form of the aerial image display system 10 according to this modification, an image (photograph, handwritten picture, etc.) on the screen of a smartphone, tablet terminal, etc. on the ground is sent from the scanning laser irradiation device 40 to a group of unmanned aircraft For example, by irradiating, an enlarged image is displayed in the air.

According to this modified example, only the screen 228' needs to be mounted on the image display device 220 of the unmanned flying object 20, and the display device 222 and the image projection device 229 described above need not be mounted. simplification of the configuration can be achieved.

<Modification 3>
Next, modification 3 will be described. In this modified example, the configuration of the unmanned flying object 20 is different from that of the above-described embodiment. Therefore, differences from the above-described embodiment will be mainly described here.

FIG. 13 is a diagram equivalent to FIG. 6 (a block diagram showing the control system of the unmanned flying object 20) in this modified example. The storage unit 23 of the unmanned flying object 20 according to the present embodiment includes an image information storage unit 23a and a rotation position information storage unit 23b. Information of an image to be displayed on the image display device 220 is stored in advance in the image information storage unit 23a. Further, information on the rotational position of the image display device 220 corresponding to the flight position and flight attitude of the unmanned air vehicle 20 is stored in advance in the rotational position information storage unit 23b.

In the aerial image display operation, the image display control section 243 reads image information from the image information storage section 23a and controls image display on the display surface of the image display device 220. FIG. The configuration for performing this image display may be that of the above embodiment or that of Modification 1 above. Further, the rotation position control unit 244 reads the rotation position information of the image display device 220 corresponding to the current flight position and flight attitude of the unmanned flying object 20 from the rotation position information storage unit 23b, and controls the servo motors 233L and 233R. is operated to control the rotational position of the image display device 220 .

When each of the unmanned flying objects 20, 20, . , GNSS accurate PPS signals are displayed on the respective display devices 222, 222, .

Therefore, in this modified example, image information and rotation position information are not transmitted and received between the management server 30 and the unmanned flying object 20 . Therefore, it is possible to simplify the configuration of the entire system for displaying images in the air. In addition, since the amount of communication information between the management server 30 and the unmanned air vehicle 20 can be reduced, the communication can be stabilized. In other words, when only information related to flight paths, for example, is communicated between the management server 30 and the unmanned air vehicle 20, the information communication can be stabilized.

<Other embodiments>
It should be noted that the present invention is not limited to the above-described embodiments and modifications, and all modifications and applications within the scope of the claims and their equivalents are possible.

For example, in the above-described embodiment and each of the modified examples, a series of images are displayed in the air by a group of unmanned aerial vehicles 20, 20, . The present invention is not limited to this, and an image may be displayed in the air by only one unmanned flying object 20. FIG.

Further, in Modification 1, the image projection device 229 projects an image from the rear side of the transmissive screen 228 . The present invention is not limited to this, and the image projection device 229 may project an image from the front side of a screen (for example, a reflective screen or the like).

Further, in the above embodiment and each of the modifications, the rotation mechanism 230 is configured such that the image display device 220 is rotated by a pair of servomotors 233L and 233R. The present invention is not limited to this, and various actuators for rotating the image display device 220 can be applied.

Further, in the above-described embodiment and Modification 1, the information related to the flight path, the information for image display, and the information for controlling the rotational attitude of the image display device 220 are sent from the management server 30 to each unmanned flying object 20. , 20, . . . to control each unmanned flying object 20, 20, . Not limited to this, part of the information related to the flight path, the information for image display, and the information for controlling the rotational attitude of the image display device 220 is sent from the management server 30 to each of the unmanned flying objects 20, 20. , and other information is stored in each of the unmanned air vehicles 20, 20, .

Further, in the above-described embodiment and each of the modified examples, both the aircraft body 210 and the image display device 220 of the unmanned aircraft 20 are rectangular. The present invention is not limited to this, and polygonal shapes other than circular, elliptical, and rectangular shapes may be used.

Further, in the above-described embodiment, the plurality of display devices 222, 222, . You may do so. This makes it possible to reduce the gap between the display devices 222, 222 of the adjacent unmanned flying objects 20, 20 and display a clearer image in the air.

INDUSTRIAL APPLICABILITY The present invention is applicable to unmanned flying objects capable of displaying images in the air.

10 aerial image display system 20 unmanned flying object 22 communication unit 23a image information storage unit 23b rotation position information storage unit 210 aircraft main body 212 rotor (rotary wing)
220 image display device 222 display device 228 transmissive screen 229 image projection device 233L, 233R servo motor (rotational position adjustment actuator)
243 Image display control unit 244 Rotation position control unit 30 Management server (image information transmission source, rotation position information transmission source)
31 communication unit 40 scanning laser irradiation device (image irradiation device)

Claims (14)

An unmanned flying object comprising an aircraft main body having rotary wings and flying with the rotation of the rotary wings,
an image display device rotatably attached to the aircraft body and having a display surface for displaying an image;
a rotational position adjustment actuator that can change the orientation of the display surface by adjusting the rotational position of the image display device with respect to the aircraft main body;
An unmanned flying object comprising: In the unmanned air vehicle according to claim 1,
The unmanned flying object, wherein the image display device includes a self-luminous display device, and is configured to display an image on the display surface by the self-luminescence of the display device. In the unmanned air vehicle according to claim 2,
An unmanned flying object, wherein a plurality of said display devices are arranged in a matrix. In the unmanned air vehicle according to claim 1,
An unmanned flying object, comprising: an image projection device; and configured to display an image projected from the image projection device on the display surface. In the unmanned air vehicle according to claim 4,
The image display device has a transmissive screen,
The unmanned flying object, wherein the image projection device is arranged so as to project an image from the rear side of the transmissive screen toward the transmissive screen. In the unmanned air vehicle according to claim 5,
The unmanned flying object, wherein the transmissive screen is a mesh screen in which a plurality of wires are arranged in a grid pattern. In the unmanned air vehicle according to any one of claims 1 to 6,
a communication unit that receives image information from an image information transmission source that transmits image information;
and an image display control section for controlling image display on the display surface of the image display device in accordance with image information received by the communication section. In the unmanned air vehicle according to any one of claims 1 to 6,
an image information storage unit storing image information in advance;
an image display control section for controlling image display on the display surface of the image display device according to the image information stored in the image information storage section. In the unmanned air vehicle according to any one of claims 1 to 8,
The image display device is attached to the aircraft main body so as to be rotatable about a horizontal axis in a flight state of the unmanned aircraft,
a communication unit that receives rotation position information from a rotation position information transmission source that transmits information on the rotation position of the image display device according to the flight position;
an unmanned flying object, comprising: a rotation position control unit that controls the rotation position of the image display device by operating the rotation position adjustment actuator according to the rotation position information received by the communication unit. . In the unmanned air vehicle according to any one of claims 1 to 8,
The image display device is attached to the aircraft main body so as to be rotatable about a horizontal axis in a flight state of the unmanned aircraft,
a rotation position information storage unit that stores in advance information on the rotation position of the image display device according to the flight position;
a rotation position control section for controlling the rotation position of the image display device by operating the rotation position adjustment actuator according to the rotation position information stored in the rotation position information storage section. An unmanned aerial vehicle characterized by An unmanned flying object group comprising a plurality of aggregates of the unmanned flying objects according to any one of claims 1 to 10,
A group of unmanned aerial vehicles, wherein the unmanned aerial vehicles fly under coordinated control such that the display surfaces of the image display devices of the unmanned aerial vehicles are adjacent to each other. An unmanned flying object according to any one of claims 1 to 6 and an image information transmission source,
The image information transmission source is provided with a communication unit for transmitting image information,
The unmanned flying object includes a communication unit that receives image information transmitted from the communication unit of the image information transmission source, and displays an image on the display surface of the image display device according to the image information received by the communication unit. An aerial image display system, comprising: an image display control unit for controlling. An unmanned flying object according to any one of claims 1 to 6 and a rotation position information transmission source,
The rotation position information transmission source is provided with a communication unit that transmits information on the rotation position of the image display device according to the flight position of the unmanned air vehicle,
The unmanned flying object includes: a communication unit for receiving rotation position information transmitted from the communication unit of the rotation position information transmission source; an aerial image display system, comprising: a rotation position control section that operates an adjustment actuator to control the rotation position of the image display device. An aerial image display system comprising the unmanned flying object according to claim 1 and an image illuminator capable of illuminating an image,
The image display device of the unmanned aerial vehicle includes a screen, and an image is displayed on the display surface by irradiating an image from the image illuminator toward the screen of the unmanned aerial vehicle in flight. An aerial image display system characterized by:

Images