JP6525145B2 - Emitting point figure pattern display system using a flying object, a method of displaying a light emitting point figure pattern, and a flying object used for the system and method - Google Patents

Description

  The present invention is a display system that displays a figure pattern as a set of points in the sky using a flying object, and more specifically, by observing the brightness of a light emitter mounted on the flying object as a starry sky or constellation. The present invention relates to a light emitting point graphic pattern display system, a method of displaying a light emitting point graphic pattern, and a projectile used for the system and method, in which characters and figures and three-dimensional objects can be observed by a light emitter mounted on the projectile.

In the conventional planetarium, a dome-shaped screen is prepared, a dedicated projection planetarium apparatus is installed at the center of the screen, and the starry sky and objects are projected onto the screen, so that the audience in the dome can observe the starry sky. It was
In recent digital planetariums, a single or multiple liquid crystal projectors or DLP projectors are arranged at the center or periphery of a dome-shaped screen, and a computer-generated image of the starry sky is projected onto the dome-shaped screen. It became possible to reproduce the situation of the flight.

In addition, in stage rendition and television programs, a large number of small light bulbs called stars are arranged on the wall against the background of singing and playing music, and effects have been performed as if it looks like a starry sky.
In the exhibitions of recent museums, light emitters using light emitting diodes at coordinate positions based on three-dimensional space coordinates preset according to the actual coordinates of the star in the space, in a predetermined exhibition room, It arranges by the method of hanging with a wire from a ceiling, and it sees from a predetermined viewing position. In this way, each star can be observed in the same arrangement as when looking at the starry sky from the earth, and observation of constellations is also possible. Further, when the observer changes the position, the constellation looks deformed as if it were flying between the stars, and the observer feels like floating in space, and the stars. It also had the educational effect of being able to realize that it was at various distances from the earth on a three-dimensional space.

“Drone will change not only logistics but also expression and advertisement-Possibility and risk to ask Mr. Masanori Mori, one of Japan's leading“ Dronists ”, [online], published on January 15, 2015, Engineer type“ Interview with technical technicians in season・ Sites >>, [April 15, 2015 search], Internet <URL: http://engineer.typemag.jp/article/doronist>

However, the conventional planetarium using a dome-shaped screen has the following problems. That is, in the dome-like screen, the size which can form a screen is very limited, and at present, only a few hundred people can view at the same time. The cost-effectiveness of building a larger dome-like screen is enormous, as it is very expensive.
Moreover, in the method of projecting stars on the screen, the brightness of the stars is limited, and it is impossible to observe the starry sky unless sufficient light blocking is performed.
On the other hand, with the stars on the stage, the brightness of the stars can be secured sufficiently, but the arrangement of the stars can not be fixed and changed, and even if there is an effect as an auxiliary effect, the observation itself You get bored.

In the method of hanging the light-emitting diode in accordance with the preset three-dimensional space coordinates, a three-dimensional space experience can be enjoyed, but hanging wires and wires for hanging the stars are often easily visually found by the observer, which is unnatural Give an impressive impression and can not change the arrangement of the stars themselves.
And since these are all limited to a room of limited size, the number of people who can watch at the same time is limited, the scale is poor, and it is impossible to reproduce the magnificent starry sky as it is.

  In addition, as for expressing the light pattern using the projectile, for example, in the final paragraph of the interview article of Non-Patent Document 1, it is described that it can be realized using a drone (“enterprise digital marketing If you want to use it, I would like to let the drone form a flight, control the movement of thousands of units extremely closely, make the sign of three-dimensional light float up in the air, or make a light show like a launch fireworks. In smoke, drawing letters and pictures in the sky, etc. It seems that a patent for moving a huge puppet with multiple drone seems to have been applied overseas, and various usages will be invented. ), But it does not cover the description of the specific configuration or its details.

  The present invention has been made to solve the problems of the prior art described above, and its object is to realize a display of starry sky and constellations, and to display characters and figures that can be viewed from a wide range. It is an object of the present invention to provide a light emitting point graphic pattern display system, a light emitting point graphic pattern display method, and a projectile used for the system and method.

The present invention is configured such that each can be disposed at an arbitrary coordinate position in space by using small-sized projectiles, and by providing each with a light emitting function, when observed from a predetermined observation position, it looks as if it were a real starry sky. Not only can you observe it, but by changing the arrangement of the projectiles and the color and brightness of each light, you can display any character or figure as a collection of points, for example, advertising display means or an advertising display means that can be observed from a very wide range It is characterized in that it can present information transmission means.
In order to achieve the above object, the luminous point figure pattern display system using the projectile according to claim 1 of the present invention comprises a projectile having a luminous body which emits light at a visually observable intensity from an observation point. Having the above, the projectile detects the position of the propulsion means for moving its coordinates with respect to the target coordinates in the air specified in advance, the levitation means for holding itself in the air against gravity, and its own position comprising a position detecting means, wherein the using a plurality of projectiles, by controlling so as to hold the coordinates in space of each projectile to a predetermined coordinate, ground, viewed from the building Butsujo, sea or aircraft At the time, each projectile is arranged to be visible as a set of light spots at a predetermined position, and the propulsion means performs propulsion control and control of each direction and vertical movement by rotation of a plurality of rotating bodies, The levitation means is By stopping the air by rotating the number of revolutions, using each star's coordinates and brightness data, assign each projectile to one star, and for each projectile, the coordinates and brightness of the star The space coordinates of the projectile and the brightness of the light emitter are controlled in accordance with the above, and a plurality of projectiles are arranged so that they can be observed from the observation point like a starry sky or a constellation .
The luminous point graphic pattern display system using the projectile according to claim 2 of the present invention is configured to be capable of individually controlling the brightness and flicker of the light emitter mounted on each projectile in the invention according to claim 1 characterized in that it was.
In the invention of claim 1 or 2, the luminous point graphic pattern display system using the projectile according to claim 3 of the present invention incorporates light sources of a plurality of colors in the luminous body and emits light by changing the brightness of each. It is characterized in that the color of the body can be changed .
According to a fourth aspect of the present invention, there is provided a light emitting point graphic pattern display system using the projectile according to the fourth aspect of the present invention, wherein in the invention according to the first, second or third aspect , each flight is performed based on data of preset characters, figures or three-dimensional objects. It is characterized in that space coordinates of the body are set, and a plurality of projectiles are arranged so that they can be observed as characters, figures, and three-dimensional objects from a predetermined observation point .
In the light emitting point figure pattern display system using the projectile according to claim 5 of the present invention, in the invention according to any one of claims 1 to 4, the coordinates on the space of each projectile are the space space of the star. When arranged at a position based on the upper coordinates and the observer changes the viewpoint position, the light emission from the plurality of projectiles is characterized in that the observer obtains a view as if it moved between stars .

According to the light emitting point figure pattern display method using the projectile according to claim 6 of the present invention, a plurality of projectiles charging the built-in battery are made to stand by and start moving to the instructed air position. An instruction step of transmitting a takeoff instruction to all the flying objects together with the instruction coordinates, and an error calculating step of calculating an error by comparing the current coordinates received from the GPS with the instruction coordinates, The projectile controls the number of revolutions of the propeller inside the aircraft with reference to the error, and determines whether or not the projectile has come within the allowable range of the command coordinates by controlling the number of revolutions of the propeller And the tolerance confirmation step of transmitting to the ground station that the position error of the own aircraft is within the tolerance range, and the ground station instructs each of the flight vehicles of their respective commands. If it is confirmed that falls within the allowable range of target, the light emission command transmitting the emission command emitters on all the flying object, to induce the flying object multiple airborne position of each command coordinates Stopping the air and emitting light from the light emitters mounted on each of the projectiles to display a constellation or a starry sky, and allowing an observer at a predetermined position to observe the constellation or the starry sky .
In the light emitting point figure pattern display method using the projectile according to claim 7 according to the present invention, in the invention according to claim 6 , the commanded coordinates are transmitted after the projectile starts flight by issuing a takeoff command. It is characterized by
The luminous point figure pattern display method using the projectile according to claim 8 according to the present invention is the invention according to claim 6 or 7 , wherein route information for the projectile to pass along with the commanded coordinates is in the form of an array of commanded coordinates. It is characterized in that it transmits and follows a specified route.
In the method for displaying a light emitting point figure pattern using the projectile according to claim 9 according to the present invention, in the invention according to claim 8 , the route information is stored in advance in the memory unit of the projectile before takeoff. Is characterized by flying a specified route while taking out commanded coordinates in time series using a clock built in a control device such as a central control unit and heading to the specified coordinates.

The projectile according to claim 10 of the present invention is a projectile used for the light emitting point graphic pattern display system or the light emitting point graphic pattern display method, wherein the projectile has a plurality of propellers, and each of the propellers Control circuit for controlling the rotation of the vehicle, a GPS module for grasping the position of each projectile, a gyro sensor and accelerometer for detecting changes in inclination angle and attitude angle with respect to the ground plane, and detection of own position Position detection device, a wireless communication device for exchanging command signals and the like to control its behavior from a remote place, an LED light emitting element, and an LED control device for controlling the brightness or color of the LED light emitting element If, with the movement is stopped in the predetermined coordinate position in the air, in its rest position, to control the brightness or color change of the LED light emitting element, Displays seat or starry sky, characterized in that to observe the observer at a predetermined position.
The projectile according to claim 11 of the present invention is characterized in that, in the invention according to claim 10 , the predetermined coordinate position in the air is determined based on the coordinate position of a star.
The flying object according to claim 12 of the present invention is the invention according to claim 10 or 11 , wherein the predetermined coordinate position in the air is a horizontal coordinate of any star, and the horizontal coordinate is an azimuth angle and a horizontal altitude. It is characterized in that it is calculated.
In the flying object according to claim 13 of the present invention, in the invention according to claim 11 or 12 , the coordinate positions of the star are given by equatorial coordinates of right ascension and declination, and the right ascension and declination are expressed as horizon coordinates. It transforms and it matches with the predetermined coordinate position of the air.
In the invention according to claim 10 , according to the invention, in the invention according to claims 10, 11, 12, or 13 , the predetermined coordinate position in the air has an X axis which indicates the north-south direction calculated by the azimuth and the horizon height. And Y axis indicating the east-west direction calculated by the horizon height and Z axis indicating the zenith direction calculated by the horizon height.

  According to the present invention, any star or constellation can be displayed in a large outdoor space, and observed by a large number of people simultaneously, instead of looking at the starry sky with a small number of people in a narrow dome like a conventional planetarium can do. In addition, since characters and figures other than stars can also be displayed, company logos can be displayed to provide a large number of appealing and topical advertising means. In addition, at the time of disaster etc., it is also possible to communicate the intention for rescue to a distant place.

It is a block diagram which shows embodiment of the light emission point figure pattern display system using the flying object by this invention, and is a figure which shows the detail of the flying object used for this display system. It is a figure for demonstrating the example which reproduces and displays a North Star seven stars in the air using seven flight bodies. It is a figure for demonstrating the example which designated the coordinate on space of a star directly, and enabled it to observe from an observer. It is a figure showing an example which arranged a plurality of flight objects in the shape of a character, and made it look in the air by which a character floats. It is a flowchart for demonstrating the procedure which guidance-controls the position which forms a predetermined constellation respectively several flight bodies.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram showing an embodiment of a light emitting point graphic pattern display system using a projectile according to the present invention, and is a view showing the details of the projectile used in the display system.
In the projectile 1, the propeller 13 is rotated by the rotation of the motor 2, and lift is generated to fly the entire projectile 1. Although two propellers 13 and two motors 2 are illustrated in this figure, actually four combinations are used. The motor 2 is driven by the motor driver 3, but the motor driver 3 can control the number of revolutions of the motor by PWM (pulse width control) or the like.

The central control unit 4 that controls the entire projectile 1 (hereinafter referred to as “airframe 1”) sends a command value of the number of rotations to the motor 2 to the motor driver 3. In order to raise the airframe 1, the rotational speed of the motor 2 is increased, and in order to lower it, the rotational speed of the motor 2 is decreased. Further, in order to move the airframe 1 horizontally, the entire airframe 1 is inclined to change the lift vector. Such attitude control of the airframe 1 can be performed by balancing the rotational speeds of the four propellers.
A position detection device 5 for the airframe 1 receives a signal of a GPS satellite (not shown) from the antenna 6 and measures the current position by the GPS module. Further, a gyro sensor and an accelerometer are incorporated in the position detection device 5, and the gyro sensor and the accelerometer detect changes in the inclination angle and the attitude angle with respect to the ground plane. The detection signal is inputted to the central control unit 4, and based on the detection signal, the central control unit 4 controls the number of revolutions of the propeller so as to stably control the attitude and the position of the airframe 1.

The configuration for performing the above operation and control has almost the same function as the configuration of the projectile known as a so-called drone or quadcopter, which is commercially available.
Furthermore, a red LED 11R2, a green LED 11G2 and a blue LED 11B2 are attached as light emitters under the body 1, and the LEDs are driven by the respective LED drive circuits 11R1, 11G1 and 11B1, and their brightness is It is individually controlled and freely variable. The brightness control is performed via the LED control device 10 under the command of the central control device 4.
The R, G, and B LEDs are disposed in close proximity to each other, or are mixed by installing a diffusion plate or the like in which light of three colors is mixed. The lights emitted from the R, G and B LEDs appear as mixed lights from a distant observer. By controlling the brightness of each of the R, G, and B colors, it is possible to freely control the overall brightness and the entire luminescent color.

The command value from the ground station 12 is conveyed to the wireless communication device 7 via the antenna 8 by wireless communication. The wireless communication device 7 demodulates the command value from the carrier wave, and the demodulated command value is sent to the central control device 4. The command value is, for example, the target X, Y, Z coordinates in the air, and the central control device 4 compares the current space coordinates measured by the position detection device 5 with the command value to calculate an error. The rotation of the propeller 13 is controlled to reduce the error. By repeating such an operation, the position of the airframe 1 can be maintained at the target coordinates.
The aircraft 1 is assigned to each star one by one, and can be individually controlled from the ground station 12. A unique ID is assigned to the aircraft 1, and the command value is transmitted from the ground station 12 together with the ID number of the aircraft 1 for identifying each of them, so that each aircraft 1 can be controlled individually.

FIG. 2 is a view for explaining an example of reproducing and displaying the North Star seven stars in the air by using seven flying objects.
The celestial sphere 20 is drawn for explanation and does not exist in practice. Like the planetarium, it is a virtual depiction of the celestial sphere 20 centered on the observer 29. When the light spots 21 to 27 are arranged at predetermined coordinates on the celestial sphere 20 based on the coordinates of real stars, they are observed by the observer 29 as real stars. As with the planetarium, when a certain date and time and place are set, the horizon coordinates of each star can be calculated as the azimuth angle and the horizon altitude.

Assuming that the distance of all stars from the observer 29 is a constant value (R) and the display method of a specific star is described, the coordinates of the star are given as right ascension and declination in equatorial coordinates.
A method of converting the right ascension and the declination to the horizontal coordinate is known and thus the description is omitted.
The horizon coordinates of the star obtained here are taken as altitude and azimuth.
The space coordinates where the light spots 21 to 27 corresponding to this star are to be arranged are, for example, when the north-south direction is the X axis, the east-west direction is the Y axis, and the zenith direction is the Z axis
X = R x cos (azimuth) x cos (horizontal altitude)
Y = R x sin (azimuth) x cos (horizontal altitude)
Z = R x sin (horizon altitude)
Given as
If the projectile is stopped at the coordinates of the light spots 21 to 27, the light spot can be observed at a desired position. If this is done for each star, it can be observed from the observer as a starry sky.

You also need to control the brightness to make it look like a star.
Assuming that the grade of a star is ^M , the brightness of the light spot for making the brightness equivalent to that grade star can be calculated as F × 2.51 ^M.
Here, F is a reference value indicating the brightness of a star of 0, which is a value common to all light spots.
The brightness of the LED of the projectile may be controlled to this brightness.
Since each star has a unique color, the color of the star can be expressed freely by changing the color balance of R, G and B.

FIG. 3 is a diagram for describing an example in which the coordinates in the space of the star are directly designated and can be observed from the observer.
For example, as space coordinates of a star, there are equatorial orthogonal coordinates with the earth as the origin, the equatorial coordinates X with the vergence point direction, the equatorial coordinates X with the declination 0, the direction with the right longitude 90 with Y, and the north polar direction with Z as Z. If the equator orthogonal coordinates of a certain star are left unchanged or after desired coordinate rotation, X, Y, Z coordinates with the observer as the origin at a predetermined scale, and the projectile is made to rest at this coordinate, It can be observed from the observer 30 in the direction in which the star is originally visible. If the main stars are selected from known star data and the above processing is performed, the observer can observe the starry sky seen from the earth. Then, when the observer 30 moves, it is possible to artificially experience a view as if flying between stars.

  If this method is expanded, for example, a predetermined position on the bridge is set as the origin, and observation is made from a car traveling on the bridge, or a predetermined position in the air is set as the origin. By placing the body in place and passing it through an aircraft with the observer in it, you can provide a simulated experience as if it were viewed from an interstellar spacecraft. Furthermore, the observer can experience the interstellar flight in a similar manner by moving each flying object by moving the origin coordinates after being stationary.

FIG. 4 is an example in which a plurality of flying objects are arranged in the form of characters so that characters float and can be seen in the air, and an example is shown in which “A, B” characters are displayed in the air.
After selecting pixels constituting a character to be displayed on a computer and calculating the coordinates of each pixel, coordinates to be arranged in the air are obtained according to a predetermined scale.
For example, the array of pixels that make up a character is
x [0], y [0] to x [n], y [n]
The coordinates for placing the projectile are most simply X = x * C when
Y = y * C
Z = z
It can be calculated as C is a predetermined magnification, and z is a display height.
In this formula, since the characters are displayed directly below, they are best viewed by the observer 31 directly below, but in practice, they are rotated so as to facilitate observation from diagonally downward by adding a predetermined coordinate rotation. It is also good.

Colorful characters can also be displayed by changing the color of the light emitter on each projectile.
By using this method, for example, the logo of a company can be displayed and used for advertisement, or it can be used for a sign for disaster relief, an information transmission means for visually transmitting information at a distance in an emergency, and the like.

FIG. 5 is a flowchart for explaining a procedure for guiding and controlling a plurality of projectiles to positions where predetermined constellations are respectively formed.
The plurality of projectiles are in a state of waiting on land while being charged by the internal battery (step (hereinafter referred to as "S") 1). Each flight vehicle is configured to be able to detect its own spatial position by the built-in GPS sensor. A unique ID number is assigned to each projectile, and the ground station 12 can transmit commands individually or collectively to each projectile.
Next, the ground station 12 wirelessly transmits individual command coordinates to each of the projectiles, and the control system of the projectile receives it and stores it as its own command coordinates (built-in central control unit 4 Store in the memory section).
For example, when displaying a starry sky, a central control unit (not shown) at the ground station side assigns a star to be displayed to each of the flying objects, and calculates the space coordinates of the flying object from the equatorial coordinates of the stars, Send it to the aircraft as commanded coordinates. Subsequently, a takeoff command is sent to the aircraft (S2).

The projectile takes off by rotating the propeller. The central control unit 4 of the projectile compares the coordinates in the space detected by the GPS sensor with the commanded coordinates, controls the rotational speed of the propeller so as to minimize the errors EX, EY, EZ, and the commanded coordinates. Head to (S3, S4). Raising the rotational speed of the propeller raises it, and lowering it lowers it, but it is possible to change the attitude of the projectile by the balance of the rotational speeds of the multiple propellers, and to lift the lift vector by the attitude of the projectile, It is also possible to move horizontally by this. By changing the rotational speed and the balance of these propellers, the projectile can move its position in any direction, up, down, left or right.
Next, the central control unit 4 of the projectile determines whether or not the error between the commanded coordinates and the coordinates of the projectile itself in space falls within a predetermined range set in advance (S5). If it is determined that the command coordinate has reached a predetermined range, the ground station 12 is wirelessly transmitted and transmitted that the command coordinate has been reached (S6).

If it is determined that the command has not reached within the predetermined range of the command coordinates despite the control of S4, the aircraft again refers to the error of EX, EY, EZ, Control the number of revolutions of the propeller inside and aim at the commanded coordinates of the target. Thereafter, until the next commanded coordinate is transmitted, the control continues to control the number of revolutions of the propeller so as to keep the position of the projectile itself coincident with the commanded coordinate.
The ground station 12 determines whether the errors (EX, EY, EZ) of all the projectiles are within the allowable range (S7). If at least one aircraft is out of the allowable range, the operation shifts to S4 for that aircraft. If the errors (EX, EY, EZ) of all the projectiles fall within the allowable range, it is confirmed that the arrival signals to the commanded coordinates from all the projectiles are received (S8).
By this confirmation, the ground station 12 transmits the lightness command value of the light emitter and the light emission command to the respective projectiles so as to obtain the predetermined brightness (S9). As a result, the light emitter of the projectile emits light at a predetermined brightness. Looking up from the ground, it becomes possible to observe like a constellation.

  In this embodiment, in order to simplify the explanation, only one commanded coordinate is sent to each projectile before takeoff, but it may actually be sent after takeoff. In addition, when the commanded coordinates are merely sent, the route information may be sent not only in the form of an array of commanded coordinates, but also in the form of an array of commanded coordinates to fly along a specified route. Furthermore, before takeoff, the route information that the flight vehicle should pass through may be pre-sent by wire instead of wirelessly, or it may be pre-recorded in the form of flash memory in the control device, and each flight object is a clock built in the control device It is also possible to fly a specified route while taking out commanded coordinates in a time series by using the above, or to head to specified commanded coordinates.

  A luminous point that enables observation like a starry sky or constellation by controlling the brightness of a luminous body mounted on a flying object, and enables observation of characters, figures, and three-dimensional objects by a luminous body mounted on a flying object A graphical pattern display system and method.

Reference Signs List 1 flight 2 motor 3 motor driver 4 central control unit 5 position detection device 6, 8 antenna 7 wireless communication device
9 Battery 10 LED Controller 11R1, 11G1, 11B1 LED Driving Circuit 11R2 Red LED
11G2 green LED
11B2 Blue LED
12 ground station 13 propeller 20 celestial sphere 21-27 light spot 29, 30, 31 observer

Claims (14)

Have one or more projectiles equipped with a luminous body that emits light at a visually observable intensity from the observation point,
The flight vehicle is
A propulsion means for moving one's coordinates relative to a predetermined target coordinate in the air;
Flotation means to hold itself in the air against gravity
And position detection means for detecting its own position;
By using a plurality of the above-mentioned projectiles and controlling the space coordinates of each projectile to be held at predetermined coordinates,
When observing from the ground, on a building, on the sea or in an aircraft, arrange each projectile so that it looks like a collection of light spots at a predetermined position ,
The propulsion means is
Propulsion force control and control of each direction and vertical movement are performed by rotation of multiple rotating bodies,
The levitation means is
Air stop control is performed by rotation of multiple rotating bodies,
Assign each flying object to one star using the coordinates and brightness data of the star,
For each projectile, control the coordinate of the projectile in space and the brightness of the luminous body according to the coordinate value and brightness of the star,
A light emitting point figure pattern display system using a projectile characterized in that a plurality of projectiles are arranged so that observation can be performed like a starry sky or constellation from an observation point . The luminous point figure pattern display system using the projectile according to claim 1 , characterized in that the brightness and flickering of the light emitter mounted on each projectile can be individually controlled. The luminous point figure pattern using the projectile according to claim 1 or 2, wherein the luminous body contains light sources of a plurality of colors, and the color of the luminous body can be varied by changing the brightness of each. Display system. Set the space coordinates of each projectile based on data of characters, figures or solid objects set in advance,
4. A light emitting point figure pattern display using the projectile according to claim 1, 2 or 3 , wherein a plurality of projectiles are arranged so that they can be observed like characters, figures and three-dimensional objects from a predetermined observation point. system. Place the space coordinates of each projectile at a position based on the space coordinates of the star,
5. The flight according to any one of claims 1 to 4, wherein when the observer changes the viewpoint position, the light emission from the plurality of projectiles gives the observer a view as if it had moved between the stars. A luminous point figure pattern display system using a body. A command step of transmitting a takeoff command to all the flying objects from the ground station together with the command coordinates from the ground station in order to make the plurality of flying objects charged with the built-in battery stand by and start moving to the instructed air position;
Each of the flying objects is an error calculating step of calculating an error by comparing the current coordinates received from the GPS with the commanded coordinates;
Each flying object controls the number of revolutions of the propeller in its own aircraft with reference to the above-mentioned error, and determines whether or not the flying object is within the allowable range of the command coordinates by controlling the number of revolutions of the propeller Step and
An acceptable range confirmation step of transmitting to the ground station that the flight error of the aircraft within the allowable range falls within the allowable range of the position error of the aircraft.
If the ground station is that all the projectile it was confirmed that falls within the allowable range of each command coordinate, and light emission command transmitting the emission command emitters on all the projectile,
Aerial stopped by inducing flying object multiple airborne position of each command coordinates, comprising the steps of: a light emitter that each projectile is mounted emit light to display a constellation or stars, the,
A light emitting point figure pattern display method using a projectile, characterized by having an observer at a predetermined position observe a constellation or a starry sky . 7. The method according to claim 6, wherein the commanded coordinates are transmitted after a takeoff command is issued and the projectile starts to fly. The light emitting point figure using the projectile according to claim 6 or 7, wherein the route information for the projectile to travel along with the commanded coordinates is transmitted in the form of an array of commanded coordinates, and the flight is performed following a specified route. Pattern display method. The route information is stored in advance in the memory unit of the projectile before takeoff, and the projectile is specified while taking out command coordinates in time series using a clock built in a control device such as a central control device. 9. A method of displaying a light emission point figure pattern using a projectile according to claim 8 , wherein the route is made to fly to a designated coordinate. A projectile used in the light emitting point graphic pattern display system or the light emitting point graphic pattern display method,
The projectile has a plurality of propellers,
A control circuit that controls the rotation of each of the propellers;
GPS module for grasping the position of each projectile,
Gyro sensors and accelerometers for detecting changes in inclination angle and attitude angle with respect to the ground plane;
A position detection device that detects its own position;
A wireless communication device that exchanges command signals and the like to control its behavior from a remote location;
LED light emitting element,
An LED controller for controlling the brightness or color of the LED light emitting element;
The movement is stopped at a predetermined coordinate position in the air, and the change in brightness or color of the LED light emitter element is controlled at the stopped position to display a constellation or a starry sky and to be observed by an observer at a predetermined position. An aircraft characterized by The projectile according to claim 10, wherein the predetermined coordinate position in the air is determined based on a coordinate position of a star. The predetermined coordinate position in the air is the horizontal coordinate of any star.
The projectile according to claim 10 or 11 , wherein the horizon coordinate is calculated by an azimuth angle and a horizon altitude. Coordinate positions of stars are given by equatorial coordinates of right ascension and declination,
The projectile according to claim 11 or 12, wherein the right ascension and the declination are converted into horizon coordinates and are associated with predetermined coordinates in the air. The predetermined coordinate position in the air is the X axis showing the north-south direction calculated by the azimuth and the horizon height, the Y axis showing the east and west direction calculated by the orientation and the horizon height, and the Z axis showing the zenith direction calculated at the horizon height The projectile according to any one of claims 10, 11, 12 or 13 , characterized in that

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