JP6371988B2 - 飛行体 - Google Patents
飛行体 Download PDFInfo
- Publication number
- JP6371988B2 JP6371988B2 JP2017504592A JP2017504592A JP6371988B2 JP 6371988 B2 JP6371988 B2 JP 6371988B2 JP 2017504592 A JP2017504592 A JP 2017504592A JP 2017504592 A JP2017504592 A JP 2017504592A JP 6371988 B2 JP6371988 B2 JP 6371988B2
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- JP
- Japan
- Prior art keywords
- flying object
- flying
- light spot
- controller
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 239000000284 extract Substances 0.000 claims description 4
- 230000001141 propulsive effect Effects 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 2
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001795 light effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
- B64D47/06—Arrangements or adaptations of signal or lighting devices for indicating aircraft presence
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0027—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0078—Surveillance aids for monitoring traffic from the aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Description
以下、添付の図面を用いて、実施の形態1を説明する。
図1は、本開示における空中映像表示システムの構成を示す図である。図1において、空中映像表示システム100は、複数の無人の飛行体10と遠隔制御装置60とで構成される。
図2は、本実施の形態の飛行体10の外観図である。図3は、本実施の形態の飛行体10の機能的な構成を示すブロック図である。飛行体10は、本体11と、飛行体10の推進力を発生させる推進器15とを備える。推進器15は、本体11の四角の各々から延在する支持部13の先端に取り付けられる。本体11の下側には、カメラ21と、電池25と、レーザ光源23とが取り付けられている。また、本体11の上側には、慣性計測装置17と、測位装置19とが取り付けられている。また、本体11の内部にはコントローラ16と通信装置20が収納されている。
以上のように構成される飛行体10の自律的な衝突回避動作について説明する。図4は、実施の形態1における飛行体から照射されるレーザ光による光スポットを用いて他の飛行体の位置を認識する方法を説明する図である。
以上のように本実施の形態の飛行体10は、空中を飛行可能な飛行体であって、空中を飛行するための推進力を発生する推進器15(推進部の一例)と、レーザ光を照射するレーザ光源23と、飛行中に、飛行体10の鉛直下方を撮影して撮影画像を生成するカメラ21(撮影部の一例)と、推進部の動作を制御するコントローラ16と、を備える。コントローラ16は、撮影画像を解析し、レーザ光による光スポットを抽出し、抽出した光スポットに基づき他の飛行体との位置関係を特定し、特定した位置関係に基づき、他の飛行体に対する衝突回避動作を実行する。
11 本体
13 支持部
15 推進器
16 コントローラ
17 慣性計測装置
19 測位装置
21 カメラ
23 レーザ光源
24 発光器
25 電池
50,50b 光スポット
60 遠隔制御装置
100 空中映像表示システム
Claims (4)
- 空中を飛行可能な飛行体であって
空中を飛行するための推進力を発生する推進部と、
レーザ光を照射するレーザ光源と、
飛行中に、前記飛行体の鉛直下方を撮影して撮影画像を生成する撮影部と、
前記推進部の動作を制御するコントローラと、を備え、
前記コントローラは、前記撮影画像を解析し、前記レーザ光による光スポットを抽出し、前記光スポットに基づき他の飛行体との位置関係を特定し、前記位置関係に基づき、前記他の飛行体に対する衝突回避動作を実行する、
飛行体。 - 前記コントローラは、前記レーザ光を用いて自機を識別するための識別情報を伝送する、請求項1に記載の飛行体。
- 前記コントローラは、前記撮影画像の中心にある光スポットを自機のレーザ光による光スポットとし、他の光スポットを他の飛行体のレーザ光による光スポットであると判定する、請求項1に記載の飛行体。
- 前記コントローラは、前記自機のレーザ光による光スポットを中心とした所定範囲内に、前記他の光スポットが進入したときに前記衝突回避動作を実行する、請求項3に記載の飛行体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015050023 | 2015-03-12 | ||
JP2015050023 | 2015-03-12 | ||
PCT/JP2016/000684 WO2016143256A1 (ja) | 2015-03-12 | 2016-02-10 | 飛行体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2016143256A1 JPWO2016143256A1 (ja) | 2017-12-21 |
JP6371988B2 true JP6371988B2 (ja) | 2018-08-15 |
Family
ID=56879437
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017504592A Expired - Fee Related JP6371988B2 (ja) | 2015-03-12 | 2016-02-10 | 飛行体 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10304345B2 (ja) |
JP (1) | JP6371988B2 (ja) |
WO (1) | WO2016143256A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9807996B1 (en) * | 2016-05-28 | 2017-11-07 | Simon Siu-Chi Yu | Bug eater |
JP2018084955A (ja) * | 2016-11-24 | 2018-05-31 | 株式会社小糸製作所 | 無人航空機 |
CN106896828B (zh) * | 2017-04-18 | 2019-09-06 | 厦门领夏智能科技有限公司 | 一种无人机自动无线充电方法及系统 |
CN106950989B (zh) * | 2017-04-18 | 2019-09-10 | 厦门领夏智能科技有限公司 | 一种无人机定点定位方法及系统 |
KR102019335B1 (ko) * | 2017-04-25 | 2019-09-09 | 육상조 | 광고용 드론. |
JP6972790B2 (ja) * | 2017-08-31 | 2021-11-24 | サクサ株式会社 | 無人飛行装置 |
WO2019189370A1 (ja) * | 2018-03-30 | 2019-10-03 | 株式会社ニコン | 撮像システムおよび移動体 |
JP6974247B2 (ja) * | 2018-04-27 | 2021-12-01 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co., Ltd | 情報処理装置、情報提示指示方法、プログラム、及び記録媒体 |
JP7162800B2 (ja) * | 2018-05-08 | 2022-10-31 | 株式会社eロボティクス | ドローン群および大気環境測定方法 |
US11754708B1 (en) * | 2018-12-10 | 2023-09-12 | Amazon Technologies, Inc. | Object detection using propeller noise |
JPWO2020170502A1 (ja) * | 2019-02-19 | 2021-11-25 | 日本電気株式会社 | ロボット、ロボットの動作方法、及びプログラム |
US20220245380A1 (en) * | 2021-02-04 | 2022-08-04 | Skyway Technologies Corp. | Light identification system for unmanned aerial vehicles |
KR102299840B1 (ko) * | 2021-03-31 | 2021-09-10 | 주식회사 드론고 | 홀로그램 재현 가능한 공연용 드론 |
KR102347339B1 (ko) * | 2021-06-10 | 2022-01-06 | 주식회사 코코드론 | 드론을 이용한 입체영상제공방법 |
Family Cites Families (23)
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JPH09325245A (ja) | 1996-05-31 | 1997-12-16 | Kyocera Corp | 光通信用モジュール |
JPH11139396A (ja) | 1997-11-10 | 1999-05-25 | Makoto Toyama | 編隊飛行制御装置 |
JP2000159194A (ja) * | 1998-11-30 | 2000-06-13 | Mitsubishi Agricult Mach Co Ltd | 無人ヘリコプタ |
JP2002006784A (ja) | 2000-06-20 | 2002-01-11 | Mitsubishi Electric Corp | 浮遊型ロボット |
JP2002082720A (ja) | 2000-06-29 | 2002-03-22 | Inst Of Physical & Chemical Res | 移動体の目標位置教示方法、移動制御方法、光誘導方法および光誘導システム |
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JP2009223632A (ja) * | 2008-03-17 | 2009-10-01 | Hitachi Ltd | 自律移動装置、及び、自律移動装置システム |
JP5595074B2 (ja) * | 2010-03-04 | 2014-09-24 | 中国電力株式会社 | 空中撮影システム |
JP5690539B2 (ja) | 2010-09-28 | 2015-03-25 | 株式会社トプコン | 自動離着陸システム |
EP2511781A1 (de) * | 2011-04-14 | 2012-10-17 | Hexagon Technology Center GmbH | System und Verfahren zur Steuerung eines unbemannten Fluggeräts |
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JP6379575B2 (ja) * | 2014-03-27 | 2018-08-29 | 日本電気株式会社 | 無人航空機、無人航空機の制御方法、および、管制システム |
US9812021B2 (en) * | 2014-06-25 | 2017-11-07 | Amazon Technologies, Inc. | Object avoidance for automated aerial vehicles |
US11968022B2 (en) * | 2014-08-18 | 2024-04-23 | Sunlight Aerospace Inc. | Distributed airborne wireless communication services |
CN104309803B (zh) * | 2014-10-27 | 2017-07-21 | 广州极飞科技有限公司 | 旋翼飞行器自动降落系统及方法 |
-
2016
- 2016-02-10 WO PCT/JP2016/000684 patent/WO2016143256A1/ja active Application Filing
- 2016-02-10 JP JP2017504592A patent/JP6371988B2/ja not_active Expired - Fee Related
-
2017
- 2017-09-08 US US15/699,410 patent/US10304345B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2016143256A1 (ja) | 2016-09-15 |
JPWO2016143256A1 (ja) | 2017-12-21 |
US10304345B2 (en) | 2019-05-28 |
US20170372625A1 (en) | 2017-12-28 |
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