JP2023087240A - Unmanned flight vehicle, and unmanned flight vehicle pair as well as unmanned flight vehicle group - Google Patents

Abstract

To enable an aircraft parking space required for parking a plurality of unmanned flight vehicles to be reduced.SOLUTION: Outer frames 223 of image display devices 220 turnably mounted on flight vehicle main bodies 210 are provided with receiving tables 226 on which the outer frames 223 of other unmanned flight vehicles which are ready to land can be placed. This enables the unmanned flight vehicles 20 and 20 to stand-by while being lapped on each other, which enables the plurality of unmanned flight vehicles 20 and 20 to be parked in a parking space for one flight vehicle. This can reduce a flight vehicle parking space that is required for parking the plurality of unmanned flight vehicles 20 and 20.SELECTED DRAWING: Figure 5

Description

The present invention relates to an unmanned air vehicle, an unmanned air vehicle pair consisting of two unmanned air vehicles, and an unmanned air vehicle group consisting of three or more unmanned air vehicles. In particular, the present invention relates to a structure for improving the parking conditions of a plurality 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. Cooperative control of a plurality of unmanned air vehicles is also known as one of the forms of utilization of unmanned air vehicles.

Japanese Patent Laid-Open No. 2002-200000 discloses that a plurality of unmanned air vehicles equipped with cameras are cooperatively controlled to generate a multi-viewpoint video image of a subject at the same time from different viewpoints.

JP 2020-147105 A

By the way, when using multiple unmanned air vehicles as described above, there is a parking space (site for parking aircraft) for landing (waiting) for multiple unmanned air vehicles before the start of the flight and after the end of the flight. necessary. In the conventional technology, each unmanned air vehicle is parked in a state of landing on the ground. Therefore, for one unmanned flying object, a parking space (site area) corresponding to the size of the unmanned flying object in plan view is required. In other words, as the number of unmanned air vehicles increases, a large parking space (large site area) for the number of unmanned air vehicles is required. Since it requires a large parking space, there was a big problem in terms of practicality.

This issue applies not only to parking multiple unmanned air vehicles under coordinated control in a parking space, but also to multiple unmanned air vehicles that are not premised on coordinated control (multiple unmanned air vehicles that are premised on individual flight). The same occurs when parking the aircraft in the parking space.

The present invention has been made in view of the above points, and its object is to provide an unmanned aerial vehicle capable of reducing the required parking space when parking a plurality of unmanned aerial vehicles. is to provide

The solution of the present invention for achieving the above object is based on the premise of an unmanned aerial vehicle that includes an aircraft main body and rotor blades and flies with the rotation of the rotor blades. Further, this unmanned flying object is characterized in that it is equipped with overlapping support means that allows another unmanned flying object to be mounted in the landing state.

Due to this specific matter, another unmanned flying object can be placed on the upper side of the overlapping support means of the unmanned flying object that is landing, and the unmanned flying objects can be parked in a state where they are stacked up and down. can be done. In other words, it becomes possible to park a plurality of unmanned air vehicles in a single parking space. Therefore, it is possible to reduce the parking space required for parking the plurality of unmanned air vehicles.

In addition, the stacking support means has a contact support point with which the other unmanned flying object abuts when the other unmanned flying object is placed above the upper end position of the flying object main body. .

As a result, when another unmanned flying object is placed on the overlapping support means for the unmanned flying object, the upper unmanned flying object is positioned above the upper end position of the body of the lower unmanned flying object. (the other unmanned aerial vehicle), interference between the bodies of the unmanned aerial vehicles can be suppressed, and the unmanned aerial vehicles can be stably stacked one on top of the other. be.

Further, a frame-like frame is provided, and the stacking support means are arranged at a plurality of locations along the extending direction of the outer edge of the frame, and each of the stacking support means is provided for the other unmanned air vehicle. It has a configuration in which a frame-shaped frame is placed.

According to this, the unmanned flying object superimposed on the upper side can be supported at a plurality of positions (a plurality of overlapping support means), and a stable support state can be obtained. Therefore, it is possible to increase the number of unmanned flying objects that can be superimposed.

In addition, a V-shaped receiving portion composed of a pair of wire rods slanted upward in opposite directions is provided at the upper end portion of the overlapping support means in the landing state of the aircraft.

When the unmanned flying object in flight (the other unmanned flying object) is lowered and placed on the overlapping support means of the unmanned flying object that has already landed, this unmanned flying object (the descending unmanned flying object) Even if the positional accuracy (horizontal positional accuracy) of the unmanned aircraft is not sufficiently obtained, the unmanned air vehicle will be placed between the upper ends of the pair of wire rods of the receiving part (between the upper ends of the V shape). If the portion (the portion to be placed on the overlapping support means) enters, the unmanned flying object can be placed on the overlapping supporting means. Therefore, high positional accuracy of the descending unmanned flying object is not required, and the burden of information processing in the control system for controlling the descent can be reduced.

Further, an image display device which is rotatably attached to the aircraft main body and has a display surface for displaying an image, and by adjusting the rotation position of the image display device with respect to the aircraft main body a rotational position adjusting actuator capable of changing the orientation of the display surface, and the overlapping support means is provided so as to extend in a direction perpendicular to the extending direction of the image display device; In the body landing state, the image display device is brought into a parallel state with respect to the aircraft main body by the operation of the rotation position adjusting actuator, and the overlapping support means extends upward from the image display device. It has become.

This is the overlap support according to the present invention for the unmanned flying object that can display an image in the air by displaying an image on the display surface of the image display device of the unmanned flying object in flight. means applied. That is, in the landing state of the unmanned flying object, the rotation position adjusting actuator is actuated to bring the image display device into a parallel state with respect to the body of the flying object, and the overlapping support means extends upward from the image display device. As a result, another unmanned flying object can be placed on the upper side of the stacking support means so that the unmanned flying objects can be placed on standby in a vertically stacked state.

The overlapping support means has a gripping mechanism that grips the other unmanned flying object in a state where the other unmanned flying object is placed.

Simply stacking multiple unmanned air vehicles makes it difficult to transport these unmanned air vehicles at the same time. For example, it is difficult to simultaneously transport multiple unmanned air vehicles onto trucks for transportation to other locations. In view of this point, in the present solution, the stacking support means is provided with a gripping mechanism, and the gripping mechanism enables the plurality of unmanned air vehicles that are stacked to be integrally connected. This facilitates simultaneous transport of multiple unmanned air vehicles.

An unmanned flying object pair consisting of two unmanned flying objects is also within the scope of the technical idea of the present invention. In other words, a pair of unmanned flying bodies comprising a lower unmanned flying body and an upper unmanned flying body, each having a flying body and a rotor, and being vertically superimposed in a landing state, wherein the lower unmanned flying body is provided with a stacking support means that enables the upper unmanned flying object to be placed in a landing state, and the upper unmanned flying object is provided with a mounting portion that can be placed on the stacking support means. An unmanned air vehicle pair.

Also by this, the upper unmanned flying object is placed on the upper side of the stacking support means of the lower unmanned flying object (an unmanned flying object that has already landed), and the unmanned flying objects are put on standby in a vertically overlapping state. be able to. Therefore, it is possible to reduce the parking space required for parking these unmanned flying objects.

In addition, at a plurality of locations on the lower unmanned air vehicle, light projectors are provided to irradiate light vertically upward in a landing state, so that the upper unmanned air vehicle is positioned above the lower unmanned air vehicle without any deviation. Light detecting means capable of detecting light from the light projectors is provided at each position of the upper unmanned flying object facing the arrangement position of each light projector when it is assumed that the upper unmanned flying object is mounted. The flying object is provided with rotating blades of the upper unmanned flying object so that it descends toward the lower unmanned flying object while maintaining the state in which the light detection means detect the light from the projector. A stack control unit is provided to control the .

In order to place the upper unmanned flying object above the lower unmanned flying object without any deviation, it is necessary to lower the upper unmanned flying object while recognizing the position of the lower unmanned flying object. In this solution, a plurality of light projectors and light detection means are provided in order to realize it. That is, the stack control unit controls the descent of the upper unmanned flying object while each light detection means provided on the upper unmanned flying object maintains the state of detecting the light from the projector of the lower unmanned flying object. Since each light projector is arranged at a position facing the arrangement position of each light projector when it is assumed that the upper unmanned air vehicle is placed on the upper side of the lower unmanned air vehicle without any deviation, the detection state described above is obtained. When the upper unmanned flying object is placed on top of the lower unmanned flying object while maintaining the alignment, these unmanned flying objects are superimposed without any deviation. As a result, the unmanned flying objects can be stably stacked one on top of the other.

Also, an unmanned flying object group consisting of three or more unmanned flying objects is also within the scope of the technical idea of the present invention. That is, each unmanned air vehicle is provided with the stacking support means and mounting portions that can be placed on the stacking support means of the lower unmanned air vehicle. a light projector that emits light toward the light, a light detection means that is provided vertically below each of the light projectors and is capable of detecting the light emitted from the light projector of the unmanned air vehicle positioned below, and each of the light detection means controls the rotation of the rotor so that it descends toward the lower unmanned flying object while maintaining the state of detecting the light from the projector of the lower unmanned flying object. A group of unmanned air vehicles provided with a stack control unit.

This specific matter also allows the unmanned flying objects to be superimposed without deviation, as in the case described above. In other words, it is possible to superimpose each unmanned flying object without deviation even in an unmanned flying object group consisting of three or more unmanned flying objects.

In the present invention, the unmanned flying object is provided with overlapping support means that allows another unmanned flying object to be mounted in the landing state. Therefore, the unmanned flying objects can be put on standby in a state of being superimposed one on top of the other, and a plurality of unmanned flying objects can be parked in a single parking space. As a result, it is possible to reduce the space required for parking a plurality of unmanned air vehicles.

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; FIG. 4 is a flow chart diagram showing the procedure of stacking operation of the unmanned air vehicle; FIG. 4 is a diagram for explaining the stacking operation of the unmanned air vehicle; 10 equivalent view in modification 1. FIG. FIG. 2 is a view corresponding to FIG. 2 in modification 2; FIG. 3 is a view corresponding to FIG. 3 in modification 2; FIG. 5 is a view corresponding to FIG. 4 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. This embodiment comprises an unmanned flying object according to the present invention (an unmanned flying object configured to be able to be mounted on another unmanned flying object) having an image display device and a plurality of other unmanned flying objects. An example will be described in which a group of unmanned air vehicles is used to display images in the air.

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, . . . Therefore, a parking space is required for landing (standby) the plurality of unmanned air vehicles 20, 20, . In the conventional technology, each unmanned air vehicle is parked in a state of landing on the ground. For this reason, parking space corresponding to the size of the unmanned flying object in plan view is required for one unmanned flying object. In other words, as the number of unmanned aerial vehicles increases, a large parking space is required for the number of unmanned aerial vehicles. There was a big problem in terms of practicality due to the need for machine space.

In this embodiment, a stack structure is provided that enables reduction of the required parking space when parking a plurality of unmanned air vehicles 20, 20, . . . .

This stack structure is a structure for stacking a plurality of unmanned air vehicles 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 pedestals (overlapping support means) 226, 226, . . . 227, . . .

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 height dimension of the pillar 226a is such that the upper end of the pillar 226a is located above the upper end of the aircraft main body 210 in the state shown in FIG. is set to

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. Specifically, the wire rods 226c, 226c of the cradles 226, 226 provided on the first frame member 223a and the second frame member 223b are arranged in opposite directions upward in the second direction (L direction). sloping towards. Further, the wire rods 226c, 226c of the cradles 226, 226 provided on the third frame member 223c and the fourth frame member 223d are inclined upward in opposite directions in the first direction (H direction). are doing.

An LED (projector) 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 housed 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. In the present invention, it is assumed that the upper unmanned flying object is placed on the upper side of the lower unmanned flying object without any deviation. It corresponds to a configuration in which a light detection means capable of detecting light from the is provided.

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 , . It is possible to superimpose without That is, by receiving the outer frame 223 (mounting portion in the present invention) of the image display device 220 of the unmanned flying object 20 descending by the receiving portion 226b of the receiving base 226 of the parked unmanned flying object 20, It is possible to superimpose them. 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, a rotation position control unit 244, and a stack control unit 245 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.

The stack control unit 245 controls the operation of the in-flight unmanned aircraft 20 when landing the unmanned aircraft 20 in flight on the upper side of the unmanned aircraft 20 already parked on the tarmac and stacking the unmanned aircraft 20 , 20 on top of each other. It controls the flight state of the aircraft 20 . Near-infrared cameras 227, 227, . . . are connected to the stack control unit 245 by signal lines. A detection signal of emitted near-infrared rays is input. Then, the stack control unit 245 controls each motor 211, 211, . By doing so, it is possible to superimpose the unmanned flying object 20 in flight on the unmanned flying object 20 parked (overlapping the unmanned flying object 20 without positional deviation in plan view).

- 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, . Each unmanned flying object 20 receives information for image display and information for controlling the rotational posture of the image display device 220 from the management server 30 in a state in which a plurality of aircraft (a plurality of units) are lined up in the vertical direction. , 20, . . . 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.

<Stack operation>
Next, the stack operation using the stack structure described above will be described with reference to the flow chart of FIG. 9 and the stack operation explanatory diagram of FIG. This stacking operation is performed by stacking the device frame 221 (more specifically, the device frame 221 (more specifically, the unmanned flying object in flight) 20 of another unmanned flying object (unmanned flying object in flight) above the cradles 226, 226, ... of the unmanned flying object 20 already landed. This is an operation for placing the outer frame 223).

First, in step ST1, when the aerial image display operation is completed and return route information to the parking space is input from the management server 30, the unmanned aircraft 20 returns to a predetermined return position (already landed) in the parking space. The unmanned flying object 20 flies toward the upper position of the unmanned flying object 20, and in step ST2, it hovers once above this return position. FIG. 10(a) shows an example of the positional relationship between the outer frame 223 and the near-infrared camera 227 of the unmanned flying object 20 in flight in this hovering state and the cradle 226 of the unmanned flying object 20 that has already landed. is shown. In this state, in step ST3, it is determined whether or not all the near-infrared cameras 227, 227, . . . have detected near-infrared rays. This determination is made by determining whether near-infrared detection signals have been transmitted from all the near-infrared cameras 227, 227, . . . When the unmanned flying object 20 in flight is positioned directly above the unmanned flying object 20 that has already landed and the positions in the rotational direction around the vertical axis are the same, all the near-infrared cameras 227, 227 , . . . are in the state of detecting near infrared rays.

When all the near-infrared cameras 227, 227, . , the descent control for lowering the unmanned flying object 20 is started in step ST4.

On the other hand, if at least some of the near-infrared cameras 227, 227, . Since it is not in a possible position, a NO determination is made in step ST3, and the process proceeds to step ST5. FIG. 10B shows an example of the positional relationship between the outer frame 223 and the near-infrared camera 227 of the unmanned flying object 20 in flight and the cradle 226 of the unmanned flying object 20 that has already landed in this case. ing. In the state shown in FIG. 10(b), the outer frame 223 of the unmanned air vehicle 20 during flight and the near-infrared camera 227 are displaced to the left, so that the near-infrared camera 227 emits near-infrared rays. Not detected.

At step ST5, the motors 211, 211, . This operation is continued until a YES determination is made in step ST3 (until all the near-infrared cameras 227, 227, .

When the descent control (ST4) is started with all the near-infrared cameras 227, 227, . . . It is determined whether or not the outer frame 223 has been placed (the outer frame 223 has been placed on the cradle 226). This determination can be made using a means for measuring the distance between the unmanned flying objects 20, a switch that is pushed when the unmanned flying objects 20, 20 come into contact with each other, or the like.

If the unmanned flying object 20 in flight has not yet been placed on the lower unmanned flying object 20 and NO is determined in step ST6, the process returns to step ST3, and the operations of steps ST3 to ST6 described above are repeated. .

Then, as shown in FIG. 10(c), the unmanned flying object 20 in flight is placed on the lower unmanned flying object 20, and when the determination in step ST6 is YES, the stacking operation of the unmanned flying object 20 is completed. do. After that, when stacking another unmanned flying object 20 , the above-described operation is repeated for this unmanned flying object 20 .

As described above, the wire rods 226c, 226c of the receiving portion 226b are inclined upward in opposite directions. Even if sufficient (horizontal positional accuracy) is not obtained, the outer frame 223 is positioned between the upper ends of the pair of wire rods 226c, 226c of the receiving portion 226b (between the upper ends of the V shape). 10(d), the unmanned air vehicles 20 can be placed without any deviation by the guide of the wire rod 226c (the guide by the inclined surface) (see the arrow in FIG. 10(d)). Therefore, high positional accuracy of the descending unmanned flying object 20 is not required, and the burden of information processing in the control system for controlling the descent can be reduced.

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, the cradle 226 is provided on which another unmanned flying object (descending unmanned flying object) 20 can be placed in the landing state. Therefore, the unmanned flying bodies 20, 20 can be put on standby in a vertically overlapping state, and a plurality of unmanned flying bodies 20, 20, . . . can be parked in a single parking space. Become. As a result, it is possible to reduce the space required for parking the unmanned flying objects 20, 20, . . .

Further, in this embodiment, each of the near-infrared cameras 227, 227, . The descent of the unmanned flying object 20 is controlled by the stack control unit 245 while maintaining the state of detecting the near-infrared rays. Therefore, the unmanned flying objects 20, 20 can be superimposed without deviation, and the unmanned flying objects 20, 20 can be stably superimposed vertically.

Further, in the present embodiment, the receiving portion 226b of the receiving table 226 has a contact support point that the unmanned flying object 20 abuts when the upper unmanned flying object 20 is placed. (main body) 210 is located above the upper end position. Therefore, interference between the flying body bodies 210, 210 of the unmanned flying bodies 20, 20 can be suppressed, and the unmanned flying bodies 20, 20 can be stably stacked vertically.

<Modification 1>
Next, modification 1 will be described. This modified example differs from the above-described embodiment in the configuration of the cradle 226 . Therefore, the configuration of the cradle 226 will be mainly described here.

FIG. 11 is a diagram for explaining the stacking operation of the unmanned flying object 20 in this modified example. As shown in FIG. 11(a), in the cradle 226 in this example, the wires 226c, 226c are rotatable about the horizontal axis with respect to the column portion 226a. The wires 226c, 226c in this embodiment are composed of inclined portions 226e, 226e inclined upward in opposite directions in the state shown in FIG. It has vertical portions 226f, 226f extending in the vertical direction. A rotation shaft of a motor (not shown) is connected to the rotation shaft of each of the wire rods 226c, 226c. (see arrows in FIG. 11(a)). This constitutes the gripping mechanism of the present invention (a gripping mechanism that grips another unmanned flying object in a state where the other unmanned flying object is placed).

Then, in the stacking operation in this example, as shown in FIG. 226), the motor operates, and the wires 226c, 226c rotate in a direction in which they approach each other. As a result, the cradle 226 of the unmanned flying object 20 on the lower side holds the unmanned flying object 20 on the upper side.

The effects of this example will be described. Simultaneously transporting a plurality of unmanned flying objects 20, 20, . . . For example, it is difficult to simultaneously transfer a plurality of unmanned air vehicles 20, 20, . . . to trucks for transportation to other locations. On the other hand, according to the configuration of this example, by rotating the wires 226c, 226c, it is possible to integrally connect the plurality of superimposed unmanned flying objects 20, 20, and the plurality of unmanned flying objects 20, 20 20 at the same time is facilitated.

<Modification 2>
Next, modification 2 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. 12 is a view corresponding to FIG. 2 in this modified example. FIG. 13 is a view corresponding to FIG. 3 in this modified example. FIG. 14 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 projecting an image onto the transmissive screen 228, instead of the image projection device 229, a device that displays a color image on the transmissive screen 228 by scanning RGB laser beams may be used.

Further, the unmanned flying object 20 according to this example also has a stack structure like the one in the above-described embodiment. That is, the configuration includes a plurality of pedestals (superimposed support means) 226, 226, . ing. Since these configurations and stacking operations are the same as in the above-described embodiment, descriptions thereof are omitted here. Further, as the configuration of the cradle 226, it is possible to employ the configuration of the first modified example described above.

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 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. 15 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 2 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, the V-shaped receiving portion 226b is provided at the upper end portion of the receiving table 226 so that the upper unmanned flying object 20 can be placed thereon. The present invention is not limited to this, and it is also possible to employ a U-shaped or arc-shaped receiving portion with an open top. In other words, various configurations can be adopted as a configuration that allows the unmanned flying object 20 on the upper side to be mounted.

Further, in the above-described embodiment and each of the modified examples, all the unmanned flying objects 20, 20, . In other words, all the unmanned flying objects 20, 20, . . . The present invention is not limited to this, but a set of unmanned flying objects 20, 20, . The unmanned flying object 20 to be positioned and the unmanned flying object 20 positioned on the uppermost side are specified in advance (identified by identification by the aircraft ID or the like), and the unmanned flying object positioned on the lowest side is identified in advance. 20 may not be equipped with the near-infrared camera 227 and the uppermost unmanned flying object 20 may not be equipped with the cradle 226 .

Further, in the above-described embodiment and each of the modified examples, the case where the present invention is applied to the unmanned flying object 20 that has the image display device 220 and displays an image in the air has been described. The present invention is not limited to this, but can also be applied to unmanned air vehicles 20 used for other uses (eg, ground observation, cargo transportation, pesticide spraying, etc.).

Further, 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 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.

Also, as the image display device 220 of the unmanned air vehicle 20, the display device 222 in the above-described embodiment and the image projection device 229 in the above-described modified example are not mounted, and only a screen (for example, a reflective screen, etc.) is mounted. A scanning laser irradiator (image irradiator) is installed on the ground, and from this scanning laser irradiator to the screens of the image display devices 220, 220, . The image may be displayed in mid-air by directing the image toward it. As an example of usage of such an aerial image display system 10, an image (photograph, handwritten picture, etc.) on the screen of a smartphone, tablet terminal, etc. is irradiated from a scanning laser irradiation device to a group of unmanned air vehicles on the ground. For example, an enlarged image can be displayed in the air.

INDUSTRIAL APPLICABILITY The present invention is applicable to an unmanned flying object that can stand by in a state where a plurality of units are superimposed.

20 unmanned flying object 210 flying object main body 212 rotor (rotary wing)
220 image display device 221 device frame 223 outer frame (mounting portion)
226 cradle (overlapping support means)
226b receiving part 226c wire 226d LED (projector)
227 near-infrared camera (light detection means)
233L, 233R servo motors (rotation position adjustment actuators)
245 stack controller

Claims (9)

An unmanned flying object comprising an aircraft main body and rotor blades and flying as the rotor blades rotate,
1. An unmanned aerial vehicle, characterized in that it has overlapping support means that allows another unmanned aerial vehicle to be placed thereon in a landing state. In the unmanned air vehicle according to claim 1,
The stacking support means is configured such that a contact support point with which the other unmanned flying object abuts when the other unmanned flying object is placed is located above an upper end position of the flying object main body. An unmanned aerial vehicle characterized by In the unmanned air vehicle according to claim 1 or 2,
Equipped with a frame-shaped frame,
The overlapping support means are arranged at a plurality of locations along the extending direction of the outer edge of the frame,
The unmanned flying object according to claim 1, wherein each of the stacking support means is constructed so that a frame-like frame provided for the other unmanned flying object is placed thereon. In the unmanned air vehicle according to claim 1, 2 or 3,
An unmanned flight characterized in that a V-shaped receiving portion comprising a pair of wire rods inclined upward in opposite directions is provided at the upper end of the overlapping support means when the aircraft is in a landing state. body. In the unmanned air vehicle according to any one of claims 1 to 4,
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 body;
The overlapping support means is provided so as to extend in a direction orthogonal to the extending direction of the image display device,
When the aircraft is in the landing state, the image display device becomes parallel to the body of the aircraft by the operation of the rotational position adjustment actuator, and the overlapping support means extends upward from the image display device. An unmanned flying object characterized by: In the unmanned air vehicle according to any one of claims 1 to 5,
The unmanned aerial vehicle, wherein the overlapping support means includes a gripping mechanism that grips the other unmanned aerial vehicle in a state where the other unmanned aerial vehicle is placed. An unmanned flying object pair composed of a lower unmanned flying object and an upper unmanned flying object, each having a flying object main body and a rotor, and being vertically superimposed in a landing state,
The lower unmanned air vehicle is provided with overlapping support means that enables the upper unmanned air vehicle to be mounted in a landing state,
A pair of unmanned flying bodies, wherein the upper unmanned flying body is provided with a mounting portion that can be mounted on the overlapping support means. In the unmanned air vehicle pair according to claim 7,
A plurality of locations of the lower unmanned air vehicle are provided with light projectors that irradiate light vertically upward in a landing state,
Assuming that the upper unmanned flying object is mounted on the upper side of the lower unmanned flying object without any deviation, each position of the upper unmanned flying object facing the arrangement position of each of the light projectors has a light beam from the light projector. A light detection means capable of detecting light is provided,
The upper unmanned flying object is provided with the rotation of the upper unmanned flying object so that the upper unmanned flying object descends toward the lower unmanned flying object while each of the light detecting means maintains the state of detecting the light from the light projector. An unmanned aerial vehicle pair comprising a stack control unit for controlling rotation of wings. An unmanned flying object group comprising a plurality of aggregates of the unmanned flying objects according to any one of claims 1 to 6,
Each unmanned air vehicle includes:
the overlapping support means;
a mounting portion that can be mounted on the overlapping support means for the unmanned flying object located on the lower side;
A floodlight that is provided at a plurality of locations and emits light vertically upward in the landing state;
light detection means provided vertically below each of the light projectors and capable of detecting light emitted from the light projectors of the unmanned flying object positioned below;
The rotor blades are descended toward the lower unmanned flying object while each of the light detecting means maintains the state of detecting the light from the projector of the lower unmanned flying object. and a stack control unit for controlling the rotation of the unmanned aircraft group.

Images