JP6514973B2 - 現場管理システム、飛行検出方法およびプログラム - Google Patents
現場管理システム、飛行検出方法およびプログラム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0033—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being tiltable relative to the fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/12—Canard-type aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
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- 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
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
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- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/295—Rotors arranged in the wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/37—Charging when not in flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- G—PHYSICS
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- G06V20/176—Urban or other man-made structures
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
-
- 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
- B64U2101/32—UAVs specially adapted for particular uses or applications for imaging, photography or videography for cartography or topography
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- 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
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- 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
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2054—Fleet management
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
11 外部制御装置
12(12a、12b、12c) 作業車両
13 無人飛行機
44 形状検出センサ
52 本体部
53 主翼
54 (可動翼の一例としての)可動前翼
56 (推進器(プロペラ)の一例としての)第1プロペラ
Ai 視察領域
CS 土木建設現場
Mv VTOLモード
Mp 飛行機モード
Claims (11)
- 高速飛行する飛行機モードと低速飛行するVTOLモードとの切り替えが可能とされた無人飛行機と、
土木建設現場で作業する作業車両と、
前記無人飛行機に設けられ、前記土木建設現場の形状を検出すべく駆動される形状検出センサと、
前記無人飛行機の飛行と前記作業車両の駆動と前記形状検出センサの駆動とを制御する外部制御装置と、を備え、
前記外部制御装置は、前記無人飛行機を前記飛行機モードで高速飛行させて前記土木建設現場における視察領域まで移動させ、前記無人飛行機を前記飛行機モードで高速飛行させつつ前記形状検出センサを駆動するまたは前記無人飛行機を前記飛行機モードから前記VTOLモードに切り替えて低速飛行させつつ前記形状検出センサを駆動することで前記視察領域の形状の検出を行うことを特徴とする現場管理システム。 - 前記外部制御装置は、前記視察領域の少なくとも一部で、前記無人飛行機を前記VTOLモードで低速飛行させつつ前記形状検出センサを駆動して形状の検出を行うことを特徴とする請求項1に記載の現場管理システム。
- 前記無人飛行機は、本体部と姿勢の変化が可能に前記本体部に設けられた推進器とを有し、前記本体部に対する前記推進器の姿勢を変化させることで前記飛行機モードと前記VTOLモードとの切り替えが可能であることを特徴とする請求項1または請求項2に記載の現場管理システム。
- 前記無人飛行機は、姿勢の変化が可能に前記本体部に設けられた可動翼を有し、
前記推進器は、前記可動翼に設けられたプロペラであることを特徴とする請求項3に記載の現場管理システム。 - 前記無人飛行機は、前記本体部に設けられた主翼を有し、
前記可動翼は、前記本体部において前記主翼よりも前方に設けられ、前記本体部から水平方向に伸びる回転軸回りに回転可能であることを特徴とする請求項4に記載の現場管理システム。 - 前記外部制御装置は、前記作業車両から作業の進捗情報を取得可能であり、前記作業車両が作業を終了する毎に終了した作業で施工した箇所を前記視察領域として、前記無人飛行機による前記視察領域の形状の検出を行うことを特徴とする請求項1から請求項5のいずれか1項に記載の現場管理システム。
- 前記外部制御装置は、前記土木建設現場における所定の範囲を前記視察領域とし、前記無人飛行機による前記視察領域の形状の検出を定期的に行うことを特徴とする請求項1から請求項6のいずれか1項に記載の現場管理システム。
- 高速飛行する飛行機モードと低速飛行するVTOLモードとの切り替えが可能とされた無人飛行機と、
土木建設現場で作業する作業車両と、
前記無人飛行機に設けられ、前記土木建設現場の形状を検出すべく駆動される形状検出センサと、を用いる飛行検出方法であって、
前記無人飛行機を前記飛行機モードで高速飛行させて前記土木建設現場における視察領域まで移動させる工程と、
前記無人飛行機の前記形状検出センサを駆動する工程と、
前記無人飛行機を、前記形状検出センサを駆動しつつ前記飛行機モードで高速飛行させてまたは前記形状検出センサを駆動しつつ前記VTOLモードで低速飛行させて前記視察領域の形状の検出を行う工程と、
を含むことを特徴とする飛行検出方法。 - 前記視察領域の少なくとも一部で、前記形状検出センサを駆動しつつ前記無人飛行機を前記VTOLモードで低速飛行させて形状の検出を行う工程を含むことを特徴とする請求項8に記載の飛行検出方法。
- 高速飛行する飛行機モードと低速飛行するVTOLモードとの切り替えが可能とされた無人飛行機と、
土木建設現場で作業する作業車両と、
前記無人飛行機に設けられ、前記土木建設現場の形状を検出すべく駆動される形状検出センサと、を備え、前記無人飛行機の飛行と前記作業車両の駆動と前記形状検出センサの駆動とを制御する外部制御装置に、
前記無人飛行機を前記飛行機モードで高速飛行させて前記土木建設現場における視察領域まで移動させる機能と、
前記無人飛行機の前記形状検出センサを駆動する機能と、
前記無人飛行機を、前記形状検出センサを駆動しつつ前記飛行機モードで高速飛行させてまたは前記形状検出センサを駆動しつつ前記VTOLモードで低速飛行させて前記視察領域の形状の検出を行う機能と、
を実現させることを特徴とするプログラム。 - 前記視察領域の少なくとも一部で、前記形状検出センサを駆動しつつ前記無人飛行機を前記VTOLモードで低速飛行させて形状の検出を行う機能を実現させることを特徴とする請求項10に記載のプログラム。
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JP2015131668A JP6514973B2 (ja) | 2015-06-30 | 2015-06-30 | 現場管理システム、飛行検出方法およびプログラム |
US14/860,072 US9849977B2 (en) | 2015-06-30 | 2015-09-21 | Site management system, in-flight detection method, and non-transitory computer readable medium storing program of site management system |
EP15186256.2A EP3112967B1 (en) | 2015-06-30 | 2015-09-22 | Site management system, in-flight detection method, and nontransitory computer readable medium storing program of site management system |
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US20180186472A1 (en) * | 2016-12-30 | 2018-07-05 | Airmada Technology Inc. | Method and apparatus for an unmanned aerial vehicle with a 360-degree camera system |
JP6544659B2 (ja) * | 2017-03-22 | 2019-07-17 | 株式会社プロドローン | 無人航空機およびそのエアバッグ装置 |
DE102017208333A1 (de) * | 2017-05-17 | 2018-11-22 | Jenoptik Robot Gmbh | Verfahren zum Überwachen eines Fahrzeugs mittels zumindest eines unbemannten Luftfahrzeugs, Steuergerät und unbemanntes Luftfahrzeug |
US20180346112A1 (en) * | 2017-05-31 | 2018-12-06 | Hsun-Yin Chiang | Simple pitch control device for dual-mode aircraft with vtol and fixed-wing flight |
US10395509B2 (en) | 2017-06-08 | 2019-08-27 | Total Sa | Method of preparing and/or carrying out a ground survey in a region of interest and related apparatus |
CN109426273A (zh) * | 2017-08-29 | 2019-03-05 | 深圳市道通智能航空技术有限公司 | 一种飞行器控制方法及装置 |
KR102415768B1 (ko) | 2017-12-08 | 2022-06-30 | 아시아코소쿠 가부시키가이샤 | 지물 지반 높이별 컬러 화상 생성 장치 및 지물 높이별 컬러 화상 생성 프로그램 |
JP7137509B2 (ja) * | 2019-03-28 | 2022-09-14 | 五洋建設株式会社 | 船舶の積載物の数量検収システム |
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CN110615097A (zh) * | 2019-10-23 | 2019-12-27 | 深圳市道通智能航空技术有限公司 | 一种无人飞行器 |
CA3162813A1 (en) * | 2019-12-31 | 2021-07-08 | Jonathan Christian RUSS | Aircraft with wingtip positioned propellers |
JP2023009892A (ja) * | 2021-07-08 | 2023-01-20 | 国立研究開発法人宇宙航空研究開発機構 | 飛行機具及び運営方法 |
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JP2968207B2 (ja) * | 1996-06-20 | 1999-10-25 | 鹿島建設株式会社 | 遠隔施工用重機の逸脱監視方法 |
JP3218456B2 (ja) * | 1996-09-13 | 2001-10-15 | 大成建設株式会社 | 基盤面仕上げ管理システム |
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JP2012111475A (ja) * | 2010-11-28 | 2012-06-14 | Kenta Yasuda | Wing−Rotorによる垂直離着陸無人航空機 |
JP6055274B2 (ja) * | 2012-10-31 | 2016-12-27 | 株式会社トプコン | 航空写真測定方法及び航空写真測定システム |
US9798928B2 (en) * | 2013-07-17 | 2017-10-24 | James L Carr | System for collecting and processing aerial imagery with enhanced 3D and NIR imaging capability |
JP6145024B2 (ja) * | 2013-10-25 | 2017-06-07 | 日立建機株式会社 | ダンプトラックの運行管理システム |
US9581443B2 (en) * | 2014-03-17 | 2017-02-28 | Ronald D. Shaw | Surveying system |
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2015
- 2015-06-30 JP JP2015131668A patent/JP6514973B2/ja active Active
- 2015-09-21 US US14/860,072 patent/US9849977B2/en active Active
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JP2017015528A (ja) | 2017-01-19 |
US9849977B2 (en) | 2017-12-26 |
EP3112967B1 (en) | 2018-01-03 |
EP3112967A1 (en) | 2017-01-04 |
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