JP6809131B2 - Propagation path line-of-sight test system and propagation path line-of-sight test method using this - Google Patents

Description

The present invention relates to a propagation path visibility test system and a propagation path visibility test method using the same.

In microwave wireless communication, antennas are installed between transmission / reception points with mutual visibility for communication. In microwave wireless communication, when the distance between transmission and reception points is long, long-distance transmission is possible by installing a large number of relay points with mutual visibility and repeating relaying.

When constructing a new relay point, it is necessary to confirm that there is mutual visibility between the relay points. There is a mirror test as a method of confirming the outlook. In the mirror test, a mirror is installed at one relay point to reflect sunlight toward the other relay point, and the visibility is judged by whether or not the reflected light can be confirmed at the other relay point. How to do it.

Patent Document 1 describes a radio wave propagation path test system including a reflection means adjusting means. In the invention described in Patent Document 1, the visibility of the propagation path can be easily tested by adjusting the direction of the mirror based on the position between the two points and the position of the sun by the reflecting means adjusting means.

JP 2015-144360

Propagation path visibility tests are required to further reduce the burden on workers.

An object of the present invention is to provide a propagation path line-of-sight test system that can reduce the burden on an operator and a propagation path line-of-sight test method using the same.

In order to solve the above-mentioned problems and achieve the object, the propagation path prospect test system according to the present invention includes an irradiation unit that irradiates light, an irradiation direction adjustment unit that adjusts the irradiation direction of the light, and a first control. A first unmanned aerial vehicle including a device, a detection unit for detecting the light, a direction adjusting unit for adjusting the direction of the detection unit, a second control device, and the first unmanned aerial vehicle. The first control device includes a storage unit for storing the position information of the unmanned aerial vehicle and the position where the second unmanned aerial vehicle moves, and the first control device is based on the current positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle. The irradiation direction adjusting unit is controlled so that the light irradiates the detection unit, and the second control device adjusts the orientation so that the detection unit faces the irradiation unit based on the current position. The second control device controls the unit, and the second control device is characterized in that the storage unit stores that the light is detected at the current position.

According to this, the first unmanned aerial vehicle and the second unmanned aerial vehicle can move and carry out a visibility test. As a result, the worker can carry out the prospect test without moving to the site. Therefore, it is possible to reduce the burden on the worker on the field survey.

As a desirable aspect of the present invention, in the first control device, after controlling the irradiation direction adjusting unit so that the light irradiates the detection unit, the elevation angle and the azimuth angle of the irradiation direction reciprocate within a predetermined angle range. It is preferable to control the irradiation direction adjusting unit so as to change.

As a result, even when the position and attitude of the first unmanned aerial vehicle are changed by the wind and the irradiation direction is not stable, the light can easily irradiate the detection unit. Therefore, the prospect test can be carried out more reliably.

As a preferred embodiment of the present invention, the first unmanned aerial vehicle includes a first photographing unit that photographs at least the lower side in the vertical direction of the first unmanned aerial vehicle when the light is detected, and the second unmanned aerial vehicle includes the second unmanned aerial vehicle. It is preferable to include a second photographing unit that photographs at least the lower side in the vertical direction of the second unmanned aerial vehicle when the light is detected.

As a result, the worker can visually know the state of the line-of-sight test position without moving to the site. Furthermore, the worker can know an appropriate place as a candidate construction site without moving to the site. As a result, the propagation path prospect test system can reduce the burden on the worker on the field survey.

As a desirable aspect of the present invention, a database creation unit is provided, and the database creation unit includes information indicating that the light has been detected and the positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle in which the light has been detected. It is preferable to create a database that associates information with.

As a result, the worker can know the altitude with a line of sight and the altitude without a line of sight. Therefore, the worker can grasp the position where the altitude is the lowest and there is a line of sight.

As a desirable aspect of the present invention, a database creation unit is provided, and the database creation unit includes image information captured by the first imaging unit and the second imaging unit, position information of each image captured, and the light. It is preferable to create a database that is associated with information indicating that has been detected.

As a result, the operator can visually know the state of the test position without moving to the site. Therefore, the propagation path prospect test system can reduce the burden on the worker on the field survey.

As a desirable aspect of the present invention, when the determination information for determining whether or not each of the positions where the video information is captured corresponds to the construction candidate site is input, the database creation unit and the determination information It is preferable to create a database associated with the information in the database.

As a result, the worker can know an appropriate place as a candidate construction site without moving to the site. Therefore, the propagation path prospect test system can reduce the burden on the worker on the field survey.

As a desirable aspect of the present invention, the test order determination unit is provided, and the test order determination unit is described when the position information stored in the storage unit includes positions having the same latitude and longitude and different altitudes. It is preferable that the order in which at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle moves is determined in order from a position having a high altitude to a position having a low altitude.

As a result, the first unmanned aerial vehicle and the second unmanned aerial vehicle do not move on the same route in duplicate. As a result, the moving distance of the first unmanned aerial vehicle and the second unmanned aerial vehicle can be shortened. Therefore, the time required for the prospect test can be shortened.

As a desirable aspect of the present invention, a time information acquisition unit for acquiring the current time is provided, and the first control device refers to the position of the first unmanned aerial vehicle based on the position of the first unmanned aerial vehicle and the time. The sun position calculation unit for calculating the elevation angle and the azimuth angle of the sun is provided, the irradiation unit is a mirror that reflects sunlight, and the light is the reflected light that the mirror reflects the sunlight. The first control device irradiates the detection unit with the reflected light based on the elevation angle and the azimuth in addition to the current positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle. It is preferable to control the direction adjusting unit.

As a result, the first unmanned aerial vehicle can reflect sunlight toward the detection unit. Therefore, the worker can carry out the prospect test without moving to the site.

As a desirable aspect of the present invention, the irradiation unit is a laser output unit that modulates and outputs a laser, the light is the laser, and in the second control device, the light detected by the detection unit is the light. It is preferable to determine whether or not it is a laser.

As a result, when the detection unit is irradiated with light other than the laser, the possibility of erroneously determining that the detection is present can be reduced. Therefore, the reliability of the prospect test result can be improved.

As a desirable aspect of the present invention, the second unmanned aircraft includes a second irradiation unit that irradiates light and a second irradiation direction adjusting unit that adjusts the irradiation direction of the second irradiation unit, and the first unmanned aircraft. The aircraft includes a second detection unit that detects the light emitted by the second irradiation unit and a second orientation adjustment unit that adjusts the orientation of the second detection unit, and the second control device has the orientation. If the detection unit cannot detect the light emitted from the irradiation unit even if the direction of the adjustment unit is adjusted more than a predetermined number of times, the light emitted from the second irradiation unit is emitted based on the current position. The second irradiation direction adjusting unit is controlled so as to irradiate the second detection unit, and the first control device adjusts the irradiation direction of the irradiation direction adjusting unit a predetermined number of times or more, but the detection unit still irradiates the irradiation. When the light emitted from the unit cannot be detected, the second direction adjusting unit is controlled so that the second detecting unit faces the direction of the second irradiation unit based on the current position, and the second direction adjusting unit is controlled. It is preferable that at least one of the 1 control device and the second control device stores in the storage unit that the light emitted by the irradiation unit or the second irradiation unit is detected at the current position.

As a result, even if at least one of the irradiation unit and the detection unit fails, the line-of-sight test can be performed using the second irradiation unit and the second detection unit. Further, even if at least one of the second irradiation unit and the second detection unit fails, the line-of-sight test can be performed using the irradiation unit and the detection unit. As a result, the propagation path line-of-sight test system can be made redundant.

The propagation path line-of-sight test method according to one aspect of the present invention includes a test position setting step for setting a plurality of position information for performing a line-of-sight test, a test order determination step for determining a test order for the plurality of position information, and the test. The first unmanned aerial vehicle and the second unmanned aerial vehicle and the second unmanned aerial vehicle at the test position moving step for moving the first unmanned aerial vehicle and the second unmanned aerial vehicle to the line-of-sight test position and the line-of-sight test position moved in the test position moving step based on the order. The test sequence determination step includes a line-of-sight test step in which a line-of-sight test is performed by an unmanned aerial vehicle, and the test sequence determination step has an altitude when the plurality of position information includes position information having the same latitude and longitude and different altitudes. It is preferable to determine the order in which the line-of-sight test is performed in order from the high position to the low altitude position.

As a result, the first unmanned aerial vehicle and the second unmanned aerial vehicle do not move on the same route in duplicate. As a result, the moving distance of the first unmanned aerial vehicle and the second unmanned aerial vehicle can be shortened. Therefore, the time required for the prospect test can be shortened.

According to the present invention, it is possible to provide a propagation path visibility test system that can reduce the burden on the operator and a propagation path visibility test method using the same.

FIG. 1 is an explanatory diagram for explaining an example of a microwave wireless communication line. FIG. 2 is a schematic diagram showing an example of a propagation path line-of-sight test system according to the first embodiment. FIG. 3 is a block diagram showing a main configuration of the propagation path prospect test system according to the first embodiment. FIG. 4 is an explanatory diagram for explaining an angle adjusting method in the elevation angle direction of the propagation path line-of-sight test system according to the first embodiment. FIG. 5 is an explanatory diagram for explaining an angle adjusting method in the azimuth direction of the propagation path line-of-sight test system according to the first embodiment. FIG. 6 is a table showing a display example of a database created by the propagation path prospect test system according to the first embodiment. FIG. 7 is a flowchart showing a test procedure of the propagation path prospect test method according to the first embodiment. FIG. 8 is a schematic diagram showing an example of the propagation path prospect test system according to the second embodiment. FIG. 9 is a block diagram showing a main configuration of the propagation path prospect test system according to the second embodiment. FIG. 10 is an explanatory diagram for explaining an angle adjusting method in the elevation angle direction of the propagation path line-of-sight test system according to the second embodiment. FIG. 11 is an explanatory diagram for explaining an angle adjusting method in the azimuth direction of the propagation path line-of-sight test system according to the second embodiment. FIG. 12 is a table showing a display example of the database created by the propagation path prospect test system according to the second embodiment. FIG. 13 is a flowchart showing a test procedure of the propagation path prospect test method according to the second embodiment. FIG. 14 is a schematic diagram showing an example of the propagation path prospect test system according to the third embodiment. FIG. 15 is a block diagram showing a main configuration of the propagation path prospect test system according to the third embodiment. FIG. 16 is a flowchart showing a test procedure of the propagation path prospect test method according to the third embodiment.

Hereinafter, the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments for carrying out the following inventions (hereinafter referred to as embodiments). In addition, the components in the following embodiments include those that can be easily assumed by those skilled in the art, those that are substantially the same, that is, those in a so-called equal range. Further, the components disclosed in the following embodiments can be appropriately combined.

FIG. 1 is an explanatory diagram for explaining an example of a microwave wireless communication line. The outline of the propagation path prospect test will be described with reference to FIG. As shown in FIG. 1, the microwave wireless communication line 10 includes terminal stations 14, 40, a first relay station 20, and a second relay station 30. The terminal stations 14 and 40 are station buildings that transmit and receive signals in microwave wireless communication. The terminal station 14 is, for example, a power supply station. At the terminal station 14, the first parabolic antenna 18 is installed at the first antenna position 16. The terminal station 40 is, for example, a power plant. At the terminal station 40, a sixth parabolic antenna 44 is installed at the sixth antenna position 42.

The first relay station 20 is a relay station located between the end station 14 and the second relay station 30. In the first relay station 20, the second parabolic antenna 24 is installed at the second antenna position 22. In the first relay station 20, the third parabolic antenna 28 is installed at the third antenna position 26.

The second relay station 30 is a relay station located between the first relay station 20 and the terminal station 40. In the second relay station 30, the fourth parabolic antenna 34 is installed at the fourth antenna position 32. In the second relay station 30, the fifth parabolic antenna 38 is installed at the fifth antenna position 36.

The terminal station 14 irradiates the microwave 46 from the first parabolic antenna 18 toward the second parabolic antenna 24 of the first relay station 20. The first relay station 20 receives the microwave 46 irradiated from the end station 14 by the second parabolic antenna 24. The first relay station 20 amplifies the received microwave 46 by an amplifier circuit (not shown), and irradiates the amplified microwave 48 from the third parabolic antenna 28 toward the fourth parabolic antenna 34.

The second relay station 30 receives the microwave 48 irradiated from the first relay station 20 by the fourth parabolic antenna 34. The second relay station 30 amplifies the received microwave 48 by an amplifier circuit (not shown), and irradiates the amplified microwave 50 from the fifth parabolic antenna 38 toward the sixth parabolic antenna 44. The terminal station 40 receives the microwave 50 irradiated from the second relay station 30 by the sixth parabolic antenna 44.

For example, a first obstacle 52 exists between the terminal station 14 and the first relay station 20. The first obstacle 52 is, for example, a high-rise building. For example, a second obstacle 54 and a third obstacle 56 exist between the first relay station 20 and the second relay station 30. The second obstacle 54 is, for example, a mountain. The third obstacle 56 is, for example, a steel tower. As described above, various obstacles exist between the terminal stations 14, 40, the first relay station 20, and the second relay station 30. If an obstacle is located on the propagation path of the microwaves 46, 48, 50, microwave wireless communication may not be possible. For example, when the second obstacle 54 is present on the propagation path of the microwave 48, the microwave 48 is blocked, so that microwave communication can be performed between the first relay station 20 and the second relay station 30. Can not. In general, the microwave wireless communication line 10 is often installed in a rural area from an urban area via a mountainous area. Therefore, in urban areas, it is necessary to install relay stations so that obstacles such as skyscrapers are not located on the propagation path. In addition, in mountainous areas and rural areas, it is necessary to install relay stations so that obstacles such as mountains, trees and steel towers are not located on the propagation path.

When the microwave wireless communication line 10 is newly installed, a line-of-sight test is performed to confirm whether or not an obstacle exists on the microwave propagation path. The line-of-sight test is, for example, a test for confirming whether or not there is an obstacle between the third antenna position 26 and the fourth antenna position 32. In the line-of-sight test, workers have traditionally moved to a candidate site for a relay station and a relay station, and the workers use a mirror to reflect sunlight in each direction, and the reflected sunlight is visually confirmed by each other. It was done in a way that

In the present embodiment, in order to reduce the burden on the operator required for the propagation path visibility test, a propagation path visibility test system using two unmanned aerial vehicles is provided.

(First Embodiment)
FIG. 2 is a schematic diagram showing an example of a propagation path line-of-sight test system according to the first embodiment. FIG. 3 is a block diagram showing a main configuration of the propagation path prospect test system according to the first embodiment. The propagation path line-of-sight test system 100 according to the first embodiment is applied, for example, when newly installing an antenna at each relay point of microwave wireless communication and confirming whether or not there is line-of-sight between the relay points. .. As shown in FIGS. 2 and 3, the propagation path line-of-sight test system 100 includes a first unmanned aerial vehicle 102, a second unmanned aerial vehicle 150, and a controller 200. The first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 are also referred to as a multicopter and a drone. A multicopter is an unmanned aerial vehicle equipped with multiple rotors. In the first embodiment, the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 are quadcopter multicopters, but are not limited thereto. A quadcopter is a multicopter equipped with four rotor blades.

As shown in FIGS. 2 and 3, the first unmanned aerial vehicle 102 includes a housing 104, a rotary wing 106, a driving unit 108, a mirror 110, an irradiation direction adjusting unit 116, an imaging unit 124, and a sensor unit. It includes 126, a communication unit 134, a power supply unit 136, and a first control device 138.

As shown in FIG. 2, the housing 104 is a case that houses the sensor unit 126, the communication unit 134, the power supply unit 136, and the first control device 138. The housing 104 has a substantially cubic shape, but the shape of the housing 104 is not limited to this.

As shown in FIG. 2, the rotor 106 is a propeller having two blades. The number of blades of the rotor 106 is not limited, and the rotor 106 may have four or six blades. The first unmanned aerial vehicle 102 includes four rotor blades 106.

The drive unit 108 is, for example, four motors. The motor is connected to each of the four rotors 106. The drive unit 108 is fixed to the housing 104. The drive unit 108 rotationally drives the rotary blade 106. As a result, the first unmanned aerial vehicle 102 can obtain lift. As shown in FIG. 3, the drive unit 108 is connected to the first control device 138.

As shown in FIG. 2, the mirror 110 is a mirror that reflects the sunlight 114 emitted from the sun 112. The mirror 110 is fixed to the housing 104 via the irradiation direction adjusting unit 116. The mirror 110 is an irradiation unit that reflects sunlight 114 and irradiates the second unmanned aerial vehicle 150 with the reflected reflected light 118. The mirror 110 is, for example, a resin mirror in which metal is vapor-deposited on a plastic film. According to this, as compared with the case where the glass mirror is applied to the mirror 110, it does not break. As a result, while the first unmanned aerial vehicle 102 is in flight, the mirror 110 does not break and debris does not fall. Further, according to this, the mass of the mirror 110 can be reduced as compared with the case where a glass mirror is applied to the mirror 110. As a result, the mass of the first unmanned aerial vehicle 102 can be reduced.

The irradiation direction adjusting unit 116 includes an azimuth angle adjusting unit 120 and an elevation angle adjusting unit 122. As shown in FIG. 2, the azimuth angle adjusting unit 120 is fixed to the housing 104. The azimuth adjustment unit 120 is, for example, a stepping motor that rotates the mirror 110 in the azimuth angle direction via the elevation angle adjustment unit 122.

The elevation angle adjusting unit 122 is fixed to the housing 104 via the azimuth angle adjusting unit 120. The elevation angle adjusting unit 122 is, for example, a stepping motor that rotates the mirror 110 in the elevation angle direction. The azimuth angle adjusting unit 120 and the elevation angle adjusting unit 122 are assumed to be stepping motors, but the present invention is not limited thereto. The azimuth adjustment unit 120 and the elevation angle adjustment unit 122 may be any as long as they can adjust the orientation of the mirror 110.

The photographing unit 124 is an optical device that photographs the lower side of the first unmanned aerial vehicle 102 in the vertical direction. The optical device is, for example, a camera provided with an image sensor. The photographing unit 124 takes a photograph of the lower side in the vertical direction of the first unmanned aerial vehicle 102 in response to the command of the first control device 138. The photographing unit 124 outputs the photographed image data to the first control device 138. The data captured by the photographing unit 124 may be a moving image.

The sensor unit 126 includes a GPS sensor 128, a direction sensor 130, and a gyro sensor 132. The GPS sensor 128 is a GPS receiver that receives a positioning signal from a positioning satellite. The GPS sensor 128 calculates the current position information (longitude, latitude, and altitude information) of the first unmanned aerial vehicle 102 based on the positioning signal. The GPS sensor 128 calculates time information based on the positioning signal. The time information is information obtained by calculating the current date and time from the GPS information included in the positioning signal. That is, the GPS sensor 128 is also a time information acquisition unit that acquires the current time information. The GPS sensor 128 outputs the current position information and time information to the first control device 138. In the present embodiment, the GPS sensor 128 calculates the position information, but the GPS sensor 128 outputs the positioning information to the first control device 138, and the first control device 138 outputs the current position based on the positioning signal. It may be configured to calculate information.

The azimuth sensor 130 is a sensor that measures the geomagnetism. The azimuth sensor 130 outputs the measured geomagnetic data to the first control device 138. The first control device 138 calculates the direction of the first unmanned aerial vehicle 102 based on the geomagnetic data. The direction of the first unmanned aerial vehicle 102 is the direction of the normal line of the mirror 110 in the reference direction. The reference orientation is the orientation when the azimuth angle adjusting unit 120 is not rotated clockwise and counterclockwise. The azimuth sensor 130 is, for example, a three-axis magnetic sensor that measures the geomagnetism. The three-axis magnetic sensor is a sensor including two magnetic sensors in the front-rear direction and the left-right direction of the magnetic sensor, and a magnetic sensor for detecting the geomagnetism in the vertical direction. According to this, even if the orientation sensor 130 is tilted in an arbitrary direction, the magnetic sensor that detects the geomagnetism in the vertical direction can detect the tilt. As a result, the first control device 138 can correct the direction of the first unmanned aerial vehicle 102 based on the detected inclination. As a result, an accurate direction can be calculated.

The gyro sensor 132 is, for example, a sensor that measures the angular velocity of three axes. The three axes are a roll axis, a pitch axis, and a yaw axis. The roll axis is an axis in the front-back direction of the object. The pitch axis is the axis in the left-right direction of the object. The yaw axis is the vertical axis of the object. The gyro sensor 132 detects the angular velocity of the first unmanned aerial vehicle 102 in the three axial directions. The gyro sensor 132 outputs a signal including the detected angular velocity to the first control device 138. The first control device 138 controls the drive unit 108 so that the first unmanned aerial vehicle 102 is hovering based on the change in the angular velocity. Hovering is a state of flight that is stationary at a point in the air.

As shown in FIG. 3, the communication unit 134 is a transmitter / receiver that transmits / receives information to / from the second unmanned aerial vehicle 150 and the controller 200 via the communication line NW. The communication unit 134 has a network interface controller (NIC: Network Interface Controller) for connecting to the communication line NW, and various processes related to communication performed with the terminal connected via the communication line NW. I do. The communication line NW is, for example, a mobile phone line. The communication unit 134 transmits the information output from the first control device 138 to at least one of the second unmanned aerial vehicle 150 or the controller 200 via the communication line NW. The communication unit 134 outputs information transmitted from at least one of the second unmanned aerial vehicle 150 or the controller 200 to the first control device 138 via the communication line NW.

The power supply unit 136 is a storage battery. The storage battery is, for example, a lithium ion battery. The power supply unit 136 supplies electric power to the drive unit 108, the irradiation direction adjustment unit 116, the photographing unit 124, the sensor unit 126, the communication unit 134, and the first control device 138.

The first control device 138 includes a drive control unit 140, a sun position calculation unit 142, an irradiation direction control unit 144, and a storage unit 148.

The drive control unit 140 controls the drive unit 108 to fly the first unmanned aerial vehicle 102 so that the first unmanned aerial vehicle 102 moves to a predetermined position. When the first unmanned aerial vehicle 102 is flown, the drive control unit 140 controls the drive unit 108 so as to rotate the adjacent rotors 106 in the reverse direction. According to this, the anti-torque of the adjacent rotary blades 106 can be offset. As a result, the attitude of the first unmanned aerial vehicle 102 can be stabilized. The drive control unit 140 sets the drive unit 108 so that the first unmanned aerial vehicle 102 will hover based on the angular velocity signal output from the gyro sensor 132 when the first unmanned aerial vehicle 102 moves to a predetermined position. Control.

FIG. 4 is an explanatory diagram for explaining an angle adjusting method in the elevation angle direction of the propagation path line-of-sight test system according to the first embodiment. FIG. 5 is an explanatory diagram for explaining an angle adjusting method in the azimuth direction of the propagation path line-of-sight test system according to the first embodiment. FIG. 4 schematically shows an elevational view of the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 as viewed from the horizontal direction. FIG. 5 schematically shows a plan view of the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 as viewed from above in the vertical direction.

The first position P1 shown in FIGS. 4 and 5 indicates the current position of the first unmanned aerial vehicle 102. The second position P2 shown in FIGS. 4 and 5 indicates the current position of the second unmanned aerial vehicle 150. The sun position calculation unit 142 acquires the current position information (longitude, latitude, and altitude information) and time information of the first unmanned aerial vehicle 102 from the GPS sensor 128. The sun position calculation unit 142 calculates the sun elevation angle θes and the sun azimuth angle θas with respect to the first position P1 based on the current position information (longitude, latitude, and altitude information) and time information. Since the method of calculating the solar elevation angle θes and the solar azimuth angle θas at an arbitrary position and at an arbitrary time is known, the description thereof will be omitted. The solar position calculation unit 142 outputs the calculated solar elevation angle θes and solar azimuth angle θas to the irradiation direction control unit 144.

As shown in FIGS. 2, 3 and 4, the irradiation direction control unit 144 controls the azimuth adjustment unit 120 and the elevation angle adjustment unit 122 so that the reflected light 118 irradiates the second unmanned aerial vehicle 150. Adjust the orientation of the mirror 110. A method of adjusting the mirror elevation angle θem by the irradiation direction control unit 144 will be described with reference to FIG. As shown in FIG. 4, the mirror elevation angle θem is an angle formed by the normal line 143 of the mirror surface of the mirror 110 and the horizontal plane 145. The altitude difference h shown in FIG. 4 is the altitude difference between the first position P1 and the second position P2. The distance d shown in FIG. 4 is the distance between the first position P1 and the second position P2. The irradiation direction control unit 144 acquires test position information from the storage unit 148. The test position information is the position information (latitude, longitude and altitude) of the first position P1 and the second position P2. The test position information is preset by the operator, but is not limited to this. The test position information may be the current position information acquired by the GPS sensors 128 and 170.

The irradiation direction control unit 144 calculates the altitude difference h from the difference between the altitude of the first position P1 and the altitude of the second position P2. The irradiation direction control unit 144 calculates the distance d from the position information of the first position P1 and the second position P2. Since the method of calculating the distance d between any two points is known, the description thereof will be omitted. The irradiation direction control unit 144 calculates, for example, the elevation angle θe between the first position P1 and the second position P2 shown in FIG. 4 by the equation (1).

θe = arctan {h / d} ... (1)

Next, the irradiation direction control unit 144 controls the elevation angle adjusting unit 122 so that the mirror elevation angle θem matches the value obtained by dividing the sum of the sun elevation angle θes and the elevation angle θe output from the sun position calculation unit 142 by 2. To do.

Next, a method in which the irradiation direction control unit 144 adjusts the mirror azimuth angle θam will be described with reference to FIG. The azimuth is based on the north. The azimuth is clockwise in the positive direction. As shown in FIG. 5, the mirror azimuth θam is the azimuth of the mirror surface normal 143 of the mirror 110.

The azimuth angle θa shown in FIG. 5 is the azimuth angle of the second position P2 as seen from the first position P1. The solar azimuth angle θas shown in FIG. 5 is the azimuth angle of the sun as seen from the first position P1. The irradiation direction control unit 144 calculates, for example, the azimuth angle θa by the equation (2) based on the position information of the first position P1 and the second position P2.

θa = 90-atan2 (sin (Xb-Xa),
cos (Ya) tan (Yb) -sin (Ya) cos (Xb-Xa)) ... (2)

The longitude Xa indicates the longitude of the first position P1. Latitude Ya indicates the latitude of the first position P1. The longitude Xb indicates the longitude of the second position P2. Latitude Yb indicates the latitude of the second position P2.

Next, the irradiation direction control unit 144 adjusts the azimuth angle so that the mirror azimuth angle θam matches the value obtained by dividing the sum of the solar azimuth angle θas and the azimuth angle θa output from the sun position calculation unit 142 by 2. The unit 120 is controlled.

The storage unit 148 stores information related to the prospect test. The information related to the line-of-sight test is, for example, information on the test position (latitude, longitude and altitude) where the line-of-sight test is performed, information on the test order of the test position, information indicating whether or not there is a line-of-sight at each test position, and imaging. The image data taken by the unit 124, the repetition upper limit value N, and the like.

When the function of the first control device 138 is realized by software, the first control device 138 includes a processor and a memory. The functions of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144 of the first control device 138 are realized by the processor. The processor is also referred to as a CPU (Central Processing Unit), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor).

In this case, the functions of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144 are realized by software, firmware, or a combination of software and firmware. Software and firmware are written as programs and stored in memory. The processor realizes the functions of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144 by reading and executing the program stored in the memory. It can be said that these programs cause the computer to execute the procedures executed by the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144.

The memory realizes the function of the storage unit 148. The memory is a volatile or non-volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory), and magnetic. This includes discs, flexible discs, optical discs, compact discs, mini discs, and DVDs (Digital Versatile Discs).

The functions of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144 of the first control device 138 may be realized by a processing circuit. The processing circuit is dedicated hardware for realizing the functions of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144. The processing circuit corresponds to a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Different processing circuits may realize the functions of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144, or a single processing circuit may be realized by combining the functions.

Each function of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144 may be partially realized by dedicated hardware and partly realized by software or firmware. In this way, the first control device 138 can realize the functions of the drive control unit 140, the sun position calculation unit 142, and the irradiation direction control unit 144 by means of hardware, software, firmware, or a combination thereof.

As shown in FIGS. 2 and 3, the second unmanned aerial vehicle 150 includes a housing 152, a rotor wing 154, a drive unit 156, a detection unit 158, an orientation adjustment unit 160, a photographing unit 166, and a sensor unit. 168, a communication unit 176, a power supply unit 178, and a second control device 180 are provided.

As shown in FIG. 2, the housing 152 is a case that houses the sensor unit 168, the communication unit 176, the power supply unit 178, and the second control device 180. The housing 152 has a substantially cubic shape, but the shape of the housing 152 is not limited to this.

Since the rotary blade 154 has the same configuration as the rotary blade 106, the description thereof will be omitted. Since the drive unit 156 has the same configuration as the drive unit 108, the description thereof will be omitted.

As shown in FIG. 2, the detection unit 158 is a detection unit that detects the reflected light 118 emitted from the mirror 110. The detection unit 158 is, for example, a camera including an image sensor. The detection unit 158 is fixed to the housing 152 via the orientation adjustment unit 160. As shown in FIG. 3, the detection unit 158 outputs the video information detected by the image sensor to the detection determination unit 186.

As shown in FIG. 2, the orientation adjusting unit 160 includes an azimuth adjusting unit 162 and an elevation angle adjusting unit 164. The azimuth adjustment unit 162 is fixed to the housing 152. The azimuth adjustment unit 162 is, for example, a stepping motor that rotates the detection unit 158 in the azimuth angle direction via the elevation angle adjustment unit 164.

As shown in FIG. 2, the elevation angle adjusting unit 164 is fixed to the housing 152 via the azimuth angle adjusting unit 162. The elevation angle adjusting unit 164 is, for example, a stepping motor that rotates the detection unit 158 in the elevation angle direction. The azimuth adjustment unit 162 and the elevation angle adjustment unit 164 are assumed to be stepping motors, but the present invention is not limited thereto. The azimuth adjustment unit 162 and the elevation angle adjustment unit 164 may be any as long as they can adjust the orientation of the detection unit 158.

The photographing unit 166 is an optical device that photographs the lower side of the second unmanned aerial vehicle 150 in the vertical direction. The optical device is, for example, a camera provided with an image sensor. The photographing unit 166 takes a photograph of the lower side of the second unmanned aerial vehicle 150 in the vertical direction in response to the command of the second control device 180. The photographing unit 166 outputs the photographed image data to the second control device 180. The data captured by the photographing unit 166 may be a moving image.

The sensor unit 168 includes a GPS sensor 170, a direction sensor 172, and a gyro sensor 174. The GPS sensor 170 is the same as the GPS sensor 128 except that it outputs the position information and the time information of the second unmanned aerial vehicle 150 to the second control device 180.

The directional sensor 172 has the same configuration as the directional sensor 130 except that the measured geomagnetic data is output to the second control device 180. The gyro sensor 174 is the same as the gyro sensor 132 except that it detects a change in the angular velocity of the second unmanned aerial vehicle 150 in the three axial directions and outputs the detected change in the angular velocity to the second control device 180.

As shown in FIG. 3, the communication unit 176 is a transmitter / receiver that transmits / receives information to / from the first unmanned aerial vehicle 102 and the controller 200 via the communication line NW. The communication unit 176 has a network interface controller (NIC: Network Interface Controller) for connecting to the communication line NW, and various processes related to communication performed with the terminal connected via the communication line NW. I do. The communication unit 176 transmits the information output from the second control device 180 to at least one of the first unmanned aerial vehicle 102 or the controller 200 via the communication line NW. The communication unit 176 receives information transmitted from at least one of the first unmanned aerial vehicle 102 or the controller 200 via the communication line NW. The communication unit 176 outputs the received information to the second control device 180.

The power supply unit 178 is a storage battery. The storage battery is, for example, a lithium ion battery. The power supply unit 178 supplies electric power to the drive unit 156, the orientation adjustment unit 160, the photographing unit 166, the sensor unit 168, the communication unit 176, and the second control device 180.

The second control device 180 includes a drive control unit 182, an orientation control unit 184, a detection determination unit 186, a repetition determination unit 188, and a storage unit 190.

The drive control unit 182 controls the drive unit 156 to fly the second unmanned aerial vehicle 150 so that the second unmanned aerial vehicle 150 moves to a predetermined position. When the second unmanned aerial vehicle 150 is flown, the drive control unit 182 controls the drive unit 156 so as to rotate the adjacent rotor blades 154 in the reverse direction. According to this, the anti-torque of the adjacent rotary blades 154 can be offset. As a result, the attitude of the second unmanned aerial vehicle 150 can be stabilized. The drive control unit 182 sets the drive unit 156 so that the second unmanned aerial vehicle 150 will hover based on the angular velocity signal output from the gyro sensor 174 when the second unmanned aerial vehicle 150 moves to a predetermined position. Control.

The orientation control unit 184 controls the orientation adjustment unit 160 so that the detection unit 158 faces the direction of the first unmanned aerial vehicle 102. Specifically, the orientation control unit 184 calculates the azimuth angle and elevation angle of the first unmanned aerial vehicle 102 with reference to the position of the second unmanned aerial vehicle 150. The method by which the orientation control unit 184 calculates the azimuth angle and elevation angle of the first unmanned aerial vehicle 102 based on the position of the second unmanned aerial vehicle 150 is the same as that of the irradiation direction control unit 144, and thus the description thereof will be omitted. The orientation control unit 184 controls the orientation adjustment unit 160 so that the detection unit 158 faces the direction of the first unmanned aerial vehicle 102 based on the calculated azimuth and elevation angles.

The detection determination unit 186 is input with the video information output from the detection unit 158. The detection determination unit 186 analyzes the video information. As a result of analyzing the image information, the detection determination unit 186 determines whether or not the image information includes the reflected light 118 emitted from the mirror 110. The detection determination unit 186 stores in the storage unit 190 that the reflected light 118 has been detected. Specifically, the detection determination unit 186 determines, for example, that the image information includes the reflected light 118 and that the image information does not include the reflected light 118. Is stored in the storage unit 190. When the detection determination unit 186 determines that the reflected light 118 is not included in the video information, the detection determination unit 186 outputs the detection determination signal to the repetition determination unit 188. Note that the detection determination unit 186 may store in the storage unit 190 that the reflected light 118 is not included only when it is determined that the video information does not include the reflected light 118. Alternatively, the detection determination unit 186 may store in the storage unit 190 that the reflected light 118 is detected only when it is determined that the video information includes the reflected light 118.

The repetition determination unit 188 counts the number of repetitions i of the line-of-sight test conducted by the second unmanned aerial vehicle 150 at each test position. The number of repetitions i is a variable stored in the storage unit 190. The repetition determination unit 188 adds 1 to the number of repetitions i and stores it in the storage unit 190 each time the line-of-sight test is performed. When the test position changes, the repetition determination unit 188 substitutes 0 for the number of repetitions i and stores it in the storage unit 190. When the detection determination signal is input from the detection determination unit 186, the repetition determination unit 188 determines whether or not the repetition number i is equal to or greater than a predetermined repetition upper limit value N. The repeat upper limit value N is an upper limit value of the number of times the line-of-sight test is repeated at the same test position. The repeat upper limit value N is a value predetermined by the operator. The repetition determination unit 188 outputs information for determining whether or not the repetition number i is equal to or greater than a predetermined repetition upper limit value N to the second control device 180. When the number of repetitions i is less than the upper limit value N of repetitions, the second control device 180 performs the line-of-sight test again at the test position.

The storage unit 190 stores information related to the prospect test. The information related to the line-of-sight test is, for example, information on the test position (latitude, longitude and altitude) where the line-of-sight test is performed, information on the test order of the test position, information indicating whether or not there is a line-of-sight at each test position, and imaging. The image data taken by the unit 166, the repetition upper limit value N, and the like.

When the function of the second control device 180 is realized by software, the second control device 180 includes a processor and a memory. The functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188 included in the second control device 180 are realized by the processor. The processor is also referred to as a CPU (Central Processing Unit), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor).

In this case, the functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188 are realized by software, firmware, or a combination of software and firmware. Software and firmware are written as programs and stored in memory. The processor realizes the functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188 by reading and executing the program stored in the memory. It can be said that these programs cause the computer to execute the procedures executed by the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188.

The memory realizes the function of the storage unit 190. The memory is a volatile or non-volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory), and magnetic. This includes discs, flexible discs, optical discs, compact discs, mini discs, and DVDs (Digital Versatile Discs).

The functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188 included in the second control device 180 may be realized by a processing circuit. The processing circuit is dedicated hardware for realizing the functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188. The processing circuit corresponds to a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Different processing circuits may realize the functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188, or a single processing circuit can be realized by combining the functions. May be good.

The functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188 may be partially realized by dedicated hardware and partly realized by software or firmware. In this way, the first control device 138 realizes the functions of the drive control unit 182, the orientation control unit 184, the detection determination unit 186, and the repetition determination unit 188 by means of hardware, software, firmware, or a combination thereof. Can be done.

As shown in FIG. 2, the controller 200 includes a display unit 202, an input unit 204, a controller communication unit 206, and a controller control device 208.

The display unit 202 is, for example, a liquid crystal display. The display unit 202 displays the information output from the controller control device 208. The input unit 204 is, for example, a keyboard. The input unit 204 receives an input operation from the operator. The input unit 204 outputs the information input from the operator to the controller control device 208.

As shown in FIG. 3, the controller communication unit 206 is a transmitter / receiver that transmits / receives information to / from the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 via the communication line NW. The controller communication unit 206 has a network interface controller (NIC: Network Interface Controller) or the like for connecting to the communication line NW, and various types of communication related to communication with terminals connected via the communication line NW. Perform processing. The controller communication unit 206 transmits the information output from the controller control device 208 to at least one of the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 via the communication line NW. The controller communication unit 206 receives information transmitted from at least one of the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 via the communication line NW. The controller communication unit 206 outputs the received information to the controller control device 208.

The controller control device 208 includes a storage unit 210, a test order determination unit 212, and a database creation unit 214. The controller control device 208 downloads the information stored in the storage unit 148. The information stored in the storage unit 148 is image data captured by the photographing unit 124. Specifically, the controller control device 208 acquires image data stored in the storage unit 148 from the first control device 138 via the controller communication unit 206, the communication line NW, and the communication unit 134. The controller control device 208 stores the image data acquired from the first control device 138 in the storage unit 210. Note that the download may be performed via a wired connection instead of the communication line NW.

The controller control device 208 downloads the information stored in the storage unit 190. The information stored in the storage unit 190 is image data captured by the photographing unit 166 and information indicating that the detection determination unit 186 has detected the reflected light 118. Specifically, the controller control device 208 acquires the information stored in the storage unit 190 from the second control device 180 via the controller communication unit 206, the communication line NW, and the communication unit 176. The controller control device 208 stores the information acquired from the second control device 180 in the storage unit 210. Note that the download may be performed via a wired connection instead of the communication line NW.

The controller control device 208 displays the image data captured by the photographing units 124 and 166 on the display unit 202. The worker determines whether or not the image data displayed on the display unit 202 is suitable as a candidate construction site. The worker inputs the result of determining whether or not it is suitable as a construction candidate site to the input unit 204. The input unit 204 outputs the information input by the operator to the controller control device 208. The controller control device 208 stores the input information in the storage unit 210.

The storage unit 210 stores information related to the prospect test. The information related to the line-of-sight test includes, for example, information on the test position (latitude, longitude and altitude) at which the line-of-sight test is performed, information on the test order of the test position, and the detection determination unit 186 detected the reflected light 118 at each test position. Information indicating that, image data photographed by the photographing units 124 and 166, a repetition upper limit value N, and the like. Information on the test position where the line-of-sight test is performed, the repeat upper limit value N, and the like are input by the operator using the input unit 204, but are not limited thereto. The storage unit 210 may be configured to download and store information related to the prospect test from a terminal connected to the communication line NW, for example.

The test order determination unit 212 determines the test order based on the test position information stored in the storage unit 210. The test order is the test order of the test position where the line-of-sight test is performed. The method for determining the test order will be described later.

FIG. 6 is a table showing a display example of a database created by the propagation path prospect test system according to the first embodiment. As shown in FIG. 6, the database creation unit 214 creates the database 215 from the information stored in the storage unit 210. The information stored in the storage unit 210 includes, for example, information on the test position (latitude, longitude and altitude) at which the line-of-sight test is performed, image data captured by the imaging unit 124 and 166, and reflected light by the detection determination unit 186 at each test position. It is the information indicating that 118 has been detected, and the information of the determination result of determining whether or not the worker is suitable as a construction candidate site for the image data of each test position. The database 215 is, for example, a relational database. The database creation unit 214 creates a record at each test position by associating the information stored in the storage unit 210. A record is an association of data obtained at one test location in database 215. The record corresponds to each row of the database 215. The database creation unit 214 associates each information stored in the storage unit 210 with each test position, for example, based on the order in which the information stored in the storage unit 210 is stored. Note that the database creation unit 214 may associate the information stored in the storage unit 210 with the information stored in the storage unit 210, for example, based on the time when the information stored in the storage unit 210 is stored.

As shown in FIG. 6, the fields of database 215 include, for example, record names. The field is an input item of the database 215. The fields correspond to each column of the database 215. The record name is the name of the record defined for each record by the database creation unit 214. The database creation unit 214 defines the name of each record in the order of the test order, but the name is not limited to this.

As shown in FIG. 6, the fields of database 215 include, for example, first position latitude, first position longitude, first position altitude, and first position image. The field is an input item of the database 215. The fields correspond to each column of the database 215. The first position latitude is the latitude of the test position of the first unmanned aerial vehicle 102. The first position longitude is the longitude of the test position of the first unmanned aerial vehicle 102. The first position altitude is the altitude of the test position of the first unmanned aerial vehicle 102. The first position image is image data taken by the photographing unit 124.

The fields of database 215 include, for example, second position latitude, second position longitude, second position altitude, and second position image. The second position latitude is the latitude of the test position of the second unmanned aerial vehicle 150. The second position longitude is the longitude of the test position of the second unmanned aerial vehicle 150. The second position altitude is the altitude of the test position of the second unmanned aerial vehicle 150. The second position image is image data taken by the photographing unit 166. The database creation unit 214 stores empty character information in the field of the second position image for the test position that does not include the information of the second position image. That is, the empty text information written in the field of the second position image indicates that the image was not taken at the test position.

The fields of database 215 include, for example, outlook determination. The line-of-sight determination is information indicating whether or not there is a line-of-sight between the first position and the second position. The database creation unit 214 converts the information memorizing that the detection determination unit 186 has detected the reflected light 118 into ◯ and × and stores it in the line-of-sight determination field. More specifically, the database creation unit 214 converts the information determined by the detection determination unit 186 that the reflected light 118 is included in the video information into ◯. In other words, ○ described in the field of prospect judgment indicates that there is a prospect at that point. The database creation unit 214 converts the information determined by the detection determination unit 186 that the reflected light 118 is not included in the video information into x. The x in the field of visibility judgment indicates that there is no visibility at that point.

The fields of database 215 include, for example, image determination. The image determination is information indicating whether or not each test position is appropriate as a candidate construction site. The database creation unit 214 converts the information that the worker has determined whether or not it is appropriate as a construction candidate site into ◯ and × and stores it in the image determination field. More specifically, the database creation unit 214 converts the information determined by the worker to be suitable as a candidate construction site into ◯. That is, ◯ described in the field of image judgment indicates that the test position was judged to be appropriate as a candidate construction site. The database creation unit 214 converts the information determined by the worker to be inappropriate as a candidate construction site into x. That is, the x described in the field of image judgment indicates that the test position was judged to be inappropriate as a candidate construction site. The database creation unit 214 stores-in the image determination field when the information for determining whether or not the worker is suitable as a construction candidate site is not included. That is,-in the field of image judgment indicates that it is not judged whether or not it is suitable as a candidate construction site.

As shown in FIG. 6, the database creation unit 214 displays, for example, the information of the database 215 on the display unit 202 so that the record names are in ascending order. According to this, the records can be displayed in the order in which the prospect test is performed. As a result, records at test positions having the same latitude and longitude can be displayed in descending order of altitude. As a result, when the worker looks at the field of visibility determination, he / she can intuitively understand the boundary between the altitude with visibility and the altitude without visibility. Specifically, since the field of view of the first record and the second record is ○ and the field of line of sight of the third record is ×, the worker has an altitude of 1216.55 m or more at the first position. If so, it can be intuitively understood that the outlook can be secured. That is, the operator can easily grasp the combination of the first position and the second position with a line of sight, which has the lowest altitude. Generally, the lower the installation height of the antenna, the less the construction load can be. The construction load is the time required for construction, the cost required for construction, and the like. From the above, the database creation unit 214 can provide the worker with the construction candidate site having the lowest construction load.

The order in which the database creation unit 214 displays the information in the database 215 is not limited to this. The database creation unit 214 may display the database 215 on the display unit 202 so that, for example, the fields of the first position latitude are in descending order and the fields of the first position altitude are in ascending order. Further, the operator may set the display order of the database 215.

The database creation unit 214 causes the display unit 202 to display information including the first position image, the second position image, and the image determination. According to this, it is possible to confirm at once the information that determines whether or not the test position is appropriate as a candidate site for construction and the photograph of the site. As a result, it is possible to simultaneously confirm the information that determines whether or not the site is suitable as a candidate site for construction and the photograph of the test position that serves as the basis for the determination. As a result, for example, by checking the first record shown in FIG. 6, it can be easily understood that there is a river at the first position, and as a result, it is determined that the site is not suitable as a candidate site for construction.

FIG. 7 is a flowchart showing a test procedure of the propagation path prospect test according to the first embodiment. Hereinafter, the line-of-sight test procedure of the propagation path line-of-sight test system 100 according to the first embodiment will be described with reference to FIG. 7.

First, the operator sets the test information (test information setting step ST10). The test information is the position information of the test position (latitude, longitude and altitude) at which the line-of-sight test is performed, the repeat upper limit value N, and the like. The operator inputs the test information into the input unit 204. The input unit 204 outputs the input information to the controller control device 208. The controller control device 208 stores the test information input by the operator in the storage unit 210.

Next, the test order determination unit 212 determines the test order of the test position where the prospect test is performed based on the test information stored in the storage unit 210 (test order determination step ST12). The test order determination unit 212 determines the test order in which the total travel distance of the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 to move each test position is the shortest, starting from the test start position and the end point. Specifically, the test order determination unit 212 calculates the distance between test positions having different latitudes and longitudes. Next, the test sequence determination unit 212 totals the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 for all routes when moving to test positions having different latitudes and longitudes starting from the test start position and ending at the test start position. Calculate the travel distance. Next, the test order determination unit 212 sets the test order so that the route has the smallest total travel distance. The test order determination unit 212 sets the test order in order from the high altitude position to the low altitude position for the test positions having the same latitude and longitude. According to this, the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 do not move on the same route in duplicate. As a result, the moving distance of the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 can be shortened. As a result, the time required for the prospect test can be shortened. The test order determination unit 212 may determine the test order in order from a position having a low altitude to a position having a high altitude with respect to a test position having the same latitude and longitude.

Next, the controller control device 208 uploads the information of the test order, the test position, and the repeat upper limit value N to the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 (upload step ST13). More specifically, the controller control device 208 outputs information on the test sequence, the test position, and the repeat upper limit value N to the controller communication unit 206. The controller communication unit 206 transmits information on the test order, the test position, and the repeat upper limit value N to the first control device 138 via the communication line NW and the communication unit 134. The first control device 138 stores information on the test sequence, the test position, and the repeat upper limit value N in the storage unit 148.

The controller communication unit 206 transmits information on the test sequence, test position, and repeat upper limit value N to the second control device 180 via the communication line NW and the communication unit 176. The second control device 180 stores information on the test sequence, the test position, and the repeat upper limit value N in the storage unit 190.

Next, the repetition determination unit 188 substitutes 0 for the number of repetitions i and stores it in the storage unit 190 (step ST15).

Next, the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 move to the test position where the line-of-sight test is performed next based on the test order (test position movement step ST16). More specifically, the drive control unit 140 controls the drive unit 108 to rotate the rotary blade 106 so that the first unmanned aerial vehicle 102 moves to the test position. The drive control unit 140 controls the drive unit 108 so that the first unmanned aerial vehicle 102 that has moved to the test position is hovering at the test position. The first control device 138 outputs a movement completion signal to the second control device 180 via the communication unit 134, the communication line NW, and the communication unit 176. The drive control unit 182 controls the drive unit 156 to rotate the rotor blade 154 so that the second unmanned aerial vehicle 150 moves to the test position. The drive control unit 182 controls the drive unit 156 so that the second unmanned aerial vehicle 150 that has moved to the test position is hovering at the test position. The second control device 180 outputs a movement completion signal to the first control device 138 via the communication unit 176, the communication line NW, and the communication unit 134.

Next, the repetition determination unit 188 adds 1 to the number of repetitions i and stores it in the storage unit 190 (step ST18).

Next, as shown in FIG. 2, the irradiation direction control unit 144 controls the irradiation direction adjustment unit 116 so that the reflected light 118 irradiates the detection unit 158 (direction adjustment step ST20). Next, the irradiation direction control unit 144 transmits a signal indicating that the irradiation direction has been adjusted to the second control device 180. Next, the orientation control unit 184 controls the orientation adjustment unit 160 so that the detection unit 158 faces the direction of the first unmanned aerial vehicle 102. Next, the orientation control unit 184 transmits a signal indicating that the orientation of the detection unit 158 has been adjusted to the first control device 138.

Next, the irradiation direction control unit 144 controls the irradiation direction adjustment unit 116 so that the elevation angle and the azimuth angle of the reflected light 118 reciprocate within a predetermined angle range (swing step ST22). According to this, the range in which the mirror 110 irradiates the reflected light 118 can be increased. As a result, even when the position and attitude of the first unmanned aerial vehicle 102 are changed by the wind and the irradiation direction is not stable, the reflected light 118 can easily irradiate the detection unit 158. As a result, it is possible to more reliably confirm the line-of-sight between the first position P1 and the second position P2.

Next, the detection determination unit 186 determines whether or not the detection unit 158 has detected the reflected light 118 (step ST24).

When it is determined in step ST24 that the detection determination unit 186 has detected the reflected light 118 (step ST24, Yes), the first control device 138 and the second control device 180 carry out the on-site photographing step ST26. First, the detection determination unit 186 outputs a signal for determining that the reflected light 118 has been detected to the first control device 138. Next, the first control device 138 controls the photographing unit 124 so as to photograph the lower side in the vertical direction of the first unmanned aerial vehicle 102. Next, the photographing unit 124 outputs the photographed image data to the first control device 138. The first control device 138 stores the image data photographed by the photographing unit 124 in the storage unit 148. Further, the second control device 180 controls the photographing unit 166 so as to photograph the lower side in the vertical direction of the second unmanned aerial vehicle 150. Next, the photographing unit 166 outputs the photographed image data to the second control device 180. The second control device 180 stores the image data captured by the photographing unit 166 in the storage unit 190.

When the detection determination unit 186 determines in step ST24 that the reflected light 118 has not been detected (step ST24, No), the repetition determination unit 188 performs step ST28. In step ST28, the repetition determination unit 188 determines whether or not the repetition number i is the repetition upper limit value N or more. When the repetition determination unit 188 determines in step ST28 that the number of repetitions i is not equal to or greater than the repetition upper limit value N (steps ST28, No), the propagation path prospect test system 100 repeats the steps from step ST18 to step ST24.

After the on-site photographing step ST26, or when it is determined that the number of repetitions i is equal to or greater than the repetition upper limit value N (steps ST28, Yes), the second control device 180 executes the line-of-sight result recording step ST30. In the line-of-sight result recording step ST30, the storage unit 190 stores that the detection determination unit 186 has detected the reflected light 118.

Next, the second control device 180 determines whether or not all the test positions have been confirmed for visibility (step ST32).

When the second control device 180 determines that all the test positions have not been confirmed for visibility (steps ST32, No), the propagation path line-of-sight test system 100 repeats the processes from step ST15 to step ST32. Hereinafter, the steps from the orientation adjustment step ST20 to the step ST32 are appropriately referred to as line-of-sight test steps.

When it is determined that all the test positions have confirmed the line-of-sight (steps ST32, Yes), the second control device 180 executes the return step ST34. First, the second control device 180 transmits a feedback command signal to the first control device 138 via the communication unit 176, the communication line NW, and the communication unit 134. Next, the first unmanned aerial vehicle 102 moves to the test start position by controlling the drive control unit 140. Next, the second unmanned aerial vehicle 150 moves to the test start position by controlling the drive control unit 182.

Next, the controller control device 208 executes the download step ST36. In the download step ST36, the controller control device 208 downloads the information in which the detection determination unit 186 stores the detection of the reflected light 118 in the line-of-sight result recording step ST30 and the image data captured in the on-site photography step ST26 from the storage units 148 and 190. Then, it is stored in the storage unit 210.

Next, the controller control device 208 executes the video determination step ST38. The controller control device 208 displays the image data taken in the on-site shooting step ST26 on the display unit 202. Next, the operator inputs to the input unit 204 whether or not the test position is appropriate as a construction candidate site from the image of the test position displayed on the display unit 202. To input whether or not it is appropriate as a construction candidate site to the input unit 204, for example, press the y key of the input unit 204 when it is determined to be appropriate, and when it is determined that it is not appropriate, the input unit 204 Press the n key. For example, the operator confirms that there is a river at the first position from the first position image of the first record shown in FIG. 6, and determines that it is not suitable as a candidate construction site. For example, the worker confirms that the relay station can be constructed by leveling the ground at the first position from the first position image of the sixth record shown in FIG. 6, and determines that the site is suitable as a candidate site for construction. .. Next, the controller control device 208 stores in the storage unit 210 information that determines whether or not the test position is appropriate as a construction candidate site.

Next, the database creation unit 214 executes the database creation step ST40. As shown in FIG. 6, the database creation unit 214 creates the database 215 shown in FIG. 6 from the information stored in the storage unit 210. The database creation unit 214 displays the database 215 on the display unit 202 in the ascending order of the test order determined in the test order determination step ST12, for example. According to this, it is possible to provide the operator with a database 215 including information indicating whether or not the test position is suitable as a candidate construction site in addition to the presence or absence of visibility at the test position. As a result, it is possible for the worker to omit the work of creating a database of information related to the candidate construction site. As a result, it is possible to reduce not only the burden on the worker related to the prospect confirmation test but also the burden on the worker related to the preparation of materials after the prospect confirmation test.

As described above, in the propagation path line-of-sight test system 100 according to the first embodiment, the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 move to the test position and perform the line-of-sight test. The first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 record image data of the test position where the line-of-sight is confirmed. The database creation unit 214 causes the display unit 202 to display information including the first position, the first position image, the second position, the second position image, the line-of-sight result, and the image determination result. The worker can know the position information of the first position and the second position where the line-of-sight is confirmed without moving to the site. Further, the operator can visually know the state of the test position without moving to the site. Furthermore, the worker can know an appropriate place as a candidate construction site without moving to the site. As a result, the propagation path prospect test system 100 can reduce the burden on the worker on the field survey.

The propagation path prospect test system 100 according to the first embodiment sets a plurality of test positions in the test information setting step ST10. The propagation path line-of-sight test system 100 confirms the line-of-sight test until it confirms the presence or absence of line-of-sight at all test positions. According to this, it is possible to confirm whether or not there is a line-of-sight at a plurality of test positions at one time. This makes it possible to confirm at more points whether or not it is suitable as a candidate construction site. As a result, it is possible to efficiently select a candidate construction site.

The propagation path line-of-sight test system 100 according to the first embodiment records the image data of the test position in the field photographing step ST26. According to this, the worker can investigate the local situation without moving to the test position. As a result, the cost of the field survey and the burden on the workers can be reduced.

In the propagation path prospect test system 100 according to the first embodiment, in the prospect result recording step ST30, the first control device 138 acquires the position information from the GPS sensor 128 and stores it in the storage unit 148, and further, the second control The device 180 may acquire the position information from the GPS sensor 170 and store it in the storage unit 190. According to this, the position where the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 are being tested can be recorded more accurately. As a result, it is possible to record a more accurate actual test position than the test position (target position) set in the test information setting step ST10. As a result, the candidate construction site can be selected with more reliable location information.

The propagation path visibility test system 100 according to the first embodiment may be configured to confirm the presence or absence of visibility by omitting the detection determination unit 186 and allowing the operator to confirm the video data captured by the detection unit 158. .. According to this, the device configuration of the second unmanned aerial vehicle 150 can be simplified. Further, since it is possible to confirm the presence or absence of the line-of-sight by directly checking the image by a human being, the determination result is erroneous as compared with the case where the detection determination unit 186 analyzes the image data output from the detection unit 158. It can be suppressed from becoming. As a result, the reliability of the prospect confirmation test can be improved.

The propagation path line-of-sight test system 100 according to the first embodiment continuously executes the line-of-sight test at each test position, but is not limited thereto. The propagation path line-of-sight test system 100 may be configured to return to the test start position each time the line-of-sight test is performed at the test position. Further, after the on-site photographing step ST26, or when it is determined that the number of repetitions i is equal to or greater than the repetition upper limit value N (steps ST28, Yes), the test order determination unit 212 refers to the test position having the same latitude and longitude. Therefore, other test positions with different altitudes may be automatically set. According to this, the first unmanned aerial vehicle 102 and the second unmanned aerial vehicle 150 do not move on the same route in duplicate, and the propagation route line-of-sight test system 100 can search for a test position having a line of sight.

The propagation path visibility test system 100 according to the first embodiment has a configuration in which the second unmanned aerial vehicle 150 includes a detection unit 158 and an imaging unit 166, but the present invention is not limited to this. The detection unit 158 may also have the function of the photographing unit 166. For example, when the detection determination unit 186 detects the reflected light 118, the detection unit 158 may photograph the lower side of the second unmanned aerial vehicle 150 in the vertical direction. According to this, the propagation path visibility test system 100 can omit the photographing unit 166. Thereby, the configuration of the second unmanned aerial vehicle 150 can be simplified. As a result, the mass of the second unmanned aerial vehicle 150 can be reduced.

(Second Embodiment)
FIG. 8 is a schematic diagram showing an example of the propagation path prospect test system according to the second embodiment. FIG. 9 is a block diagram showing a main configuration of the propagation path prospect test system according to the second embodiment. In the propagation path prospect test system 100a according to the second embodiment, the same components as those of the propagation path prospect test system 100 according to the first embodiment are designated by the same reference numerals, and duplicate description will be omitted. The propagation path visibility test system 100a includes a first unmanned aerial vehicle 102a, a second unmanned aerial vehicle 150a, and a controller 200a.

As shown in FIGS. 8 and 9, the first unmanned aerial vehicle 102a is provided with a laser output unit 216 instead of the mirror 110, and a first control device 138a instead of the first control device 138. It has the same configuration as the first unmanned aerial vehicle 102 according to the first embodiment.

As shown in FIGS. 8 and 9, the laser output unit 216 is a laser transmitter that outputs a laser beam 218. The laser output unit 216 is, for example, a YAG laser that outputs a second harmonic of 532 nm, but is not limited thereto. The laser output unit 216 may be any as long as it can output the laser light 218 that can be detected by the detection unit 158. The wavelength of the laser beam 218 irradiated by the laser output unit 216 is, for example, a UV laser (355 nm), a semiconductor laser (808 nm, 940 nm, 975 nm), a fiber laser (1060-1100 nm), a YAG laser (1064 nm, 2080 nm, 2940 nm) and the like. May be used. The laser output unit 216 is fixed to the housing 104 via the irradiation direction adjusting unit 116.

As shown in FIG. 9, the first control device 138a includes an irradiation direction control unit 144a instead of the irradiation direction control unit 144, a laser output control unit 220, and a sun position calculation unit 142. The configuration is the same as that of the first control device 138, except that the first control device 138 is not provided.

FIG. 10 is an explanatory diagram for explaining an angle adjusting method in the elevation angle direction of the propagation path line-of-sight test system according to the second embodiment. FIG. 11 is an explanatory diagram for explaining an angle adjusting method in the azimuth direction of the propagation path line-of-sight test system according to the second embodiment. FIG. 10 schematically shows an elevational view of the first unmanned aerial vehicle 102a and the second unmanned aerial vehicle 150a as viewed from the horizontal direction. FIG. 11 schematically shows a plan view of the first unmanned aerial vehicle 102a and the second unmanned aerial vehicle 150a as viewed from above in the vertical direction.

As shown in FIGS. 8 to 11, the irradiation direction control unit 144a controls the irradiation direction adjustment unit 116 to adjust the irradiation direction of the laser output unit 216 so that the laser beam 218 irradiates the second unmanned aerial vehicle 150a. adjust. A method in which the irradiation direction control unit 144a adjusts the laser elevation angle θel will be described with reference to FIG. The laser elevation angle θel shown in FIG. 10 is an angle formed by the irradiation direction of the laser beam 218 and the horizontal plane 145. The irradiation direction control unit 144a calculates the elevation angle θe. The method of calculating the elevation angle θe is the same as the method of calculating the elevation angle θe by the irradiation direction control unit 144, and thus the description thereof will be omitted. The irradiation direction control unit 144a controls the elevation angle adjusting unit 122 so that the laser elevation angle θel coincides with the elevation angle θe.

Next, a method in which the irradiation direction control unit 144a adjusts the laser azimuth angle θal will be described with reference to FIG. As shown in FIG. 11, the laser azimuth θal is the azimuth of the laser beam 218. The irradiation direction control unit 144a calculates the azimuth angle θa. Since the method of calculating the azimuth angle θa is the same as that of the irradiation direction control unit 144, the description thereof will be omitted. The irradiation direction control unit 144a controls the azimuth adjustment unit 120 so that the laser azimuth angle θal coincides with the azimuth angle θa.

As shown in FIG. 9, the laser output control unit 220 controls the irradiation timing of the laser beam 218 emitted from the laser output unit 216. More specifically, the laser output control unit 220 modulates the laser beam 218 by performing on / off control of the laser output unit 216. Modulating the laser light 218 means, for example, repeating the on / off of the laser light 218 at a predetermined period. The method by which the laser output control unit 220 modulates the laser beam 218 is not limited to this.

As shown in FIGS. 8 and 9, the second unmanned aerial vehicle 150a and the second unmanned aerial vehicle 150 according to the first embodiment, except that the second control device 180a is provided in place of the second control device 180. It has a similar configuration.

As shown in FIGS. 8 and 9, the second control device 180a has the same configuration as the second control device 180, except that the detection determination unit 186a is provided in place of the detection determination unit 186.

As shown in FIG. 9, the video information output from the detection unit 158 is input to the detection determination unit 186a. The detection determination unit 186a analyzes the video information. As a result of analyzing the video information, the detection determination unit 186a determines whether or not the video information includes the laser light 218 emitted from the laser output unit 216. More specifically, the detection determination unit 186a analyzes the video information and calculates the on / off period of the laser beam 218. The detection determination unit 186a determines whether or not the calculated on / off period and the predetermined period when the laser output control unit 220 modulates the laser beam 218 are the same. In this way, the detection determination unit 186a can identify the laser beam 218. The detection determination unit 186a stores in the storage unit 190 that the laser beam 218 has been detected.

As shown in FIG. 9, the controller 200a has the same configuration as the controller 200 except that the database creation unit 214a is provided in place of the database creation unit 214.

FIG. 12 is a table showing a display example of the database created by the propagation path prospect test system according to the second embodiment. As shown in FIG. 12, the database creation unit 214a is the same as the database creation unit 214 except that the database 215a is created in place of the database 215. The database 215a is the same as the database 215 except that the information for which the outlook has been confirmed in the high-altitude outlook confirmation step ST14 is input to the first record. The high-altitude outlook confirmation step ST14 will be described later.

FIG. 13 is a flowchart showing a test procedure of the propagation path prospect test method according to the second embodiment. Hereinafter, the line-of-sight test procedure of the propagation path line-of-sight test system 100a according to the second embodiment will be described with reference to FIGS. 12 and 13.

As shown in FIG. 13, the propagation path line-of-sight test method according to the second embodiment includes the high-altitude line-of-sight confirmation step ST14. The propagation path line-of-sight test method according to the second embodiment includes a swing step ST22a instead of the swing step ST22. The propagation path prospect test method according to the second embodiment includes a database creation step ST40a instead of the database creation step ST40. The propagation path prospect test method according to the second embodiment is the same as the propagation path prospect test method according to the first embodiment in steps ST10 to ST13, steps ST15 to ST20, and steps ST24 to ST38.

As shown in FIG. 13, the first control device 138a carries out the swing step ST22a after the orientation adjustment step ST20. First, the laser output control unit 220 controls the laser output unit 216 to output the laser light 218. Next, the laser output control unit 220 modulates the laser beam 218 by performing on / off control of the laser output unit 216. Next, the irradiation direction control unit 144a controls the irradiation direction adjustment unit 116 so that the elevation angle and the azimuth angle of the laser beam 218 reciprocate within a predetermined angle range. Next, the laser output control unit 220 controls the laser output unit 216 to stop the output of the laser beam 218.

In the high-altitude line-of-sight confirmation step ST14, the drive control unit 140 controls the drive unit 108 to move the first unmanned aerial vehicle 102a to a predetermined first confirmation position. Next, the drive control unit 182 controls the drive unit 156 to move the second unmanned aerial vehicle 150a to a predetermined second confirmation position. The predetermined first confirmation position is, for example, a position 10 m west of the test start position and an altitude of 50 m higher than the test start position, but is not limited thereto. The predetermined second confirmation position is, for example, a position 10 m east of the test start position and an altitude of 50 m higher than the test start position, but is not limited thereto. The first confirmation position and the second confirmation position may be positions at a sufficiently high altitude. A position where the altitude is sufficiently high is a position where there is no obstacle between the first confirmation position and the second confirmation position. The predetermined first confirmation position and the predetermined second confirmation position may be set by the operator in the test information setting step ST10.

Next, in the high-altitude outlook confirmation step ST14, the orientation adjustment step ST20, the swing step ST22a, and the outlook result recording step ST30 are carried out. That is, the second control device 180a determines and stores the presence / absence of a line of sight between the first confirmation position and the second confirmation position. Specifically, the detection determination unit 186a stores in the storage unit 190 that the detection unit 158 has detected the laser beam 218. According to this, it is possible to determine the presence or absence of visibility between the first confirmation position and the second confirmation position, which are sufficiently high in altitude, before determining the presence or absence of visibility at each test position. This makes it possible to confirm whether or not the propagation path prospect test system 100a is functioning normally. Specifically, when it is determined that there is no line-of-sight between the first confirmation position and the second confirmation position, which are sufficiently high in altitude, it can be confirmed that the propagation path line-of-sight test system 100a is out of order. ..

As shown in FIG. 12, the database creation step ST40a is the same as the database creation step ST40 except that the database creation unit 214a creates the database 215a. The database 215a is different from the database 215 except that the position information (latitude, longitude and altitude) of the position where the line-of-sight was confirmed in the high-altitude line-of-sight confirmation step ST14 and the information for determining the presence or absence of the line-of-sight are input to the first record. The same is true. The database creation unit 214a displays the database 215a on the display unit 202 so that the first record is displayed at the top. According to this, it is possible to easily compare the result of determining the presence or absence of visibility at a sufficiently high altitude position with the result of determining the presence or absence of visibility at a test position. This makes it possible to improve the reliability of the information indicating the presence or absence of visibility at the test position. Specifically, as shown in FIG. 12, it is determined that there is a line-of-sight at a position where the altitude is sufficiently high (first record), and that there is no line-of-sight at the test position (fourth record and fifth record). In that case, the reliability of the result determined to have no prospect can be guaranteed. Further, since the reliability of the result determined to have no prospect is guaranteed, the reliability of the test result (4th record and 5th record) determined to have a prospect can be further guaranteed. As a result, the reliability of the propagation path line-of-sight test system 100a can be improved.

Like the propagation path prospect test system 100, the propagation path prospect test system 100a according to the second embodiment intuitively understands the boundary between the altitude with a line of sight and the altitude without a line of sight when the operator sees the field of the line-of-sight determination. Can be understood. Specifically, the worker has an altitude of 1231.00 m or more at the first position because the line-of-sight field of the second record and the third record is ○ and the line-of-sight field of the third record is ×. If so, it can be intuitively understood that the outlook can be secured. That is, the operator can easily grasp the combination of the first position and the second position with a line of sight, which has the lowest altitude. Generally, the lower the installation height of the antenna, the less the construction load can be. The construction load is the time required for construction, the cost required for construction, and the like. From the above, the database creation unit 214a can provide the worker with the construction candidate site having the lowest construction load.

The database 215a shown in FIG. 12 is an example in which only the first position altitude is changed without changing the second position altitude. In such a test method, for example, the second relay station 30 shown in FIG. 1 corresponds to the first position, and the end station 40 shown in FIG. 1 corresponds to the second position. That is, the database 215a is an example in which the antenna position of the end station 40 is fixed and the candidate position of the antenna position of the second relay station 30 is tested. In this way, only the test position of either the first unmanned aerial vehicle 102a or the second unmanned aerial vehicle 150a may be changed.

In the propagation path line-of-sight test system 100a according to the second embodiment, the laser output unit 216 irradiates the laser beam 218. According to this, the line-of-sight test can be performed even on a sunny day and at night as compared with the case where the line-of-sight test is performed using a mirror. Further, the laser beam 218 has higher directivity than the microwave. That is, it is better to confirm the line-of-sight between the first position P1 and the second position P2 by using the laser beam 218 as compared with the case where the microwave wireless communication line 10 is communicated by using the microwave after the construction. The conditions are strict. According to this, when the line-of-sight is confirmed between the first position P1 and the second position P2, it is possible to further ensure that microwave wireless communication can be performed between the first position P1 and the second position P2. it can.

In the propagation path line-of-sight test system 100a according to the second embodiment, the laser output control unit 220 modulates the laser beam 218. The propagation path line-of-sight test system 100a identifies and detects the modulated laser beam 218 by the detection determination unit 186a. According to this, when the detection unit 158 is irradiated with light other than the laser light 218, the possibility that the detection determination unit 186a erroneously determines that the detection is present can be reduced. As a result, the reliability of the determination result of the detection determination unit 186a can be improved.

In the high-altitude line-of-sight confirmation step ST14 according to the second embodiment, the second control device 180a records in the storage unit 190 the information for determining the presence or absence of line-of-sight between the first confirmation position and the second confirmation position. Not limited to this. For example, when the second control device 180a determines that there is no line of sight between the first confirmation position and the second confirmation position, the propagation path line-of-sight confirmation test may be stopped and the device may return.

In step ST32 according to the second embodiment, when the line-of-sight is not confirmed at all the test positions (step ST32, No), the line-of-sight result recording step ST30 is repeated from step ST15, but the present invention is not limited to this. For example, when the line-of-sight is not confirmed at all the test positions (step ST32, No), the procedure may be a procedure in which the line-of-sight result recording step ST30 is repeated from the high-altitude line-of-sight confirmation step ST14. According to this, it is possible to confirm the line-of-sight at a position at a sufficiently high altitude for each test position. As a result, the line-of-sight results of each test position and the line-of-sight results at a position at a sufficiently high altitude can be stored in the storage units 148 and 190 together. As a result, when it is confirmed that there is a line-of-sight at a sufficiently high altitude position and the line-of-sight cannot be confirmed at the test position, the reliability of the determination result that the line-of-sight cannot be confirmed can be further ensured.

In the propagation path line-of-sight test system 100a according to the second embodiment, the detection unit 158 is a photodiode having sensitivity to the wavelength of the laser beam 218, and the detection determination unit 186a analyzes the output current of the photodiode to determine the presence or absence of line-of-sight. It may be configured to determine. According to this, the detection determination unit 186a can determine the presence or absence of the line-of-sight by analyzing only the change in the current value output from the photodiode. As a result, the load required for information processing of the detection and determination unit 186a can be reduced as compared with the case where the detection and determination unit 186a analyzes the video data. As a result, the device configuration and the determination algorithm of the detection determination unit 186a can be simplified.

In the propagation path line-of-sight test system 100a according to the second embodiment, the laser output control unit 220 modulates the laser beam 218 emitted from the laser output unit 216, but the present invention is not limited to this. The laser output unit 216 may be configured to modulate and output the laser beam 218.

(Third Embodiment)
FIG. 14 is a schematic diagram showing an example of the propagation path prospect test system according to the third embodiment. FIG. 15 is a block diagram showing a main configuration of the propagation path prospect test system according to the third embodiment. In the propagation path prospect test system 100b according to the third embodiment, the same components as those of the propagation path prospect test system 100a according to the second embodiment are designated by the same reference numerals, and duplicate description will be omitted. The propagation path visibility test system 100b includes a first unmanned aerial vehicle 102b, a second unmanned aerial vehicle 150b, and a controller 200a.

As shown in FIGS. 14 and 15, the second unmanned aerial vehicle 150b includes a laser output unit 230, an irradiation direction adjusting unit 232, and a second control device 180b instead of the second control device 180a. , The same configuration as the first unmanned aerial vehicle 102a according to the second embodiment.

As shown in FIGS. 14 and 15, the laser output unit 230 has the same configuration as the laser output unit 216 except that it is fixed to the housing 152 via the irradiation direction adjusting unit 232.

As shown in FIG. 14, the irradiation direction adjusting unit 232 includes an azimuth angle adjusting unit 234 and an elevation angle adjusting unit 236. The azimuth adjustment unit 234 has the same configuration as the azimuth adjustment unit 120 except that it is fixed to the housing 152.

The elevation angle adjusting unit 236 is the same as the elevation angle adjusting unit 122 except that it is fixed to the housing 152 via the azimuth angle adjusting unit 234.

As shown in FIG. 15, the second control device 180b has the same configuration as the second control device 180b except that it includes a laser output control unit 238 and an irradiation direction control unit 242.

The laser output control unit 238 is the same as the laser output control unit 220 except that it controls the irradiation timing of the laser beam 240 emitted from the laser output unit 230.

The irradiation direction control unit 242 controls the azimuth adjustment unit 234 and the elevation angle adjustment unit 236 to control the irradiation direction of the laser output unit 230 so that the laser beam 240 irradiates the first unmanned aerial vehicle 102b. The method in which the irradiation direction control unit 242 controls the irradiation direction of the laser beam 240 is the same as the method in which the irradiation direction control unit 144a controls the irradiation direction, and thus the description thereof will be omitted.

As shown in FIGS. 14 and 15, the first unmanned aerial vehicle 102b includes a detection unit 244, an orientation adjustment unit 246, and a first control device 138b in place of the first control device 138a. The configuration is the same as that of the first unmanned aerial vehicle 102a according to the second embodiment.

As shown in FIGS. 14 and 15, the detection unit 244 detects the laser beam 240 emitted from the laser output unit 230. The detection unit 244 is, for example, a camera including an image sensor. As shown in FIG. 14, the detection unit 244 is fixed to the housing 104 via the orientation adjustment unit 246. As shown in FIG. 15, the detection unit 244 outputs the information detected by the image sensor to the first control device 138b.

As shown in FIG. 14, the orientation adjusting unit 246 includes an azimuth angle adjusting unit 248 and an elevation angle adjusting unit 250. The azimuth adjustment unit 248 has the same configuration as the azimuth adjustment unit 162 except that it is fixed to the housing 104.

The elevation angle adjusting unit 250 has the same configuration as the elevation angle adjusting unit 164 except that it is fixed to the housing 104 via the azimuth angle adjusting unit 248.

The first control device 138b has the same configuration as the first control device 138a except that it includes a direction control unit 252 and a detection determination unit 254.

As shown in FIG. 15, the orientation control unit 252 controls the azimuth adjustment unit 248 and the elevation angle adjustment unit 250 so that the detection unit 244 faces the direction of the second unmanned aerial vehicle 150b. The method in which the orientation control unit 252 controls the orientation of the detection unit 244 is the same as the control method of the orientation control unit 184, and thus the description thereof will be omitted.

The detection determination unit 254 is the same as the detection determination unit 186a except that the video information output from the detection unit 244 is input, and thus the description thereof will be omitted.

FIG. 16 is a flowchart showing a test procedure of the propagation path prospect test method according to the third embodiment. As shown in FIG. 16, the propagation path line-of-sight test method according to the third embodiment is the same as the propagation path line-of-sight test method according to the second embodiment except that step ST281 and irradiation detection replacement step ST282 are included. .. Hereinafter, the propagation path prospect test procedure of the propagation path prospect test system 100b according to the third embodiment will be described with reference to FIG.

As shown in FIG. 16, when the number of repetitions i is equal to or greater than the repetition upper limit value N (step ST28, Yes), the first control device 138b and the second control device 180b execute step ST281. First, in step ST281, the first control device 138b and the second control device 180b determine whether or not the irradiation and the detection have been replaced at the current test position.

When it is determined that the irradiation and the detection have been replaced (steps ST281, Yes), the outlook result recording step ST30 is performed. When it is determined that the irradiation and the detection have not been replaced (steps ST281, No), the irradiation detection replacement step ST282 is executed. First, in the irradiation detection replacement step ST282, the laser output control unit 220 controls the laser output unit 216 to stop the output of the laser beam 218. Next, the laser output control unit 238 controls the laser output unit 230 to output the laser beam 240. According to this, even if at least one of the laser output unit 216 and the detection unit 158 fails, the line-of-sight test can be performed using the laser output unit 230 and the detection unit 244. Further, even if at least one of the laser output unit 230 or the detection unit 244 fails, the line-of-sight test can be performed using the laser output unit 216 and the detection unit 158. As a result, the propagation path line-of-sight test system 100b can be made redundant.

10 Microwave wireless communication line 100, 100a, 100b Propagation path line-of-sight test system 102, 102a, 102b First unmanned aerial vehicle 104, 152 Housing 106, 154 Rotating blade 108, 156 Drive 110 Mirror 112 Sun 114 Sun 116, 232 Irradiation direction adjustment unit 118 Reflected light 120, 162, 234, 248 Azimuth adjustment unit 122, 164, 236, 250 Elevation angle adjustment unit 124, 166 Imaging unit 126, 168 Sensor unit 134, 176 Communication unit 136, 178 Power supply unit 138, 138a, 138b First control device 140, 182 Drive control unit 142 Sun position calculation unit 144, 144a, 242 Irradiation direction control unit 188 Repeat determination unit 148, 190, 210 Storage unit 150, 150a, 150b Second unmanned aerial vehicle 158, 244 Detection unit 160, 246 Direction adjustment unit 180, 180a, 180b Second control device 184, 252 Direction control unit 186, 186a, 254 Detection judgment unit 200 Controller 202 Display unit 204 Input unit 206 Controller communication unit 208 Controller control device 212 Test order Decision unit 214, 214a Database creation unit 215, 215a Database 216, 230 Laser output unit 218, 240 Laser light 220, 238 Laser output control unit

Claims (11)

A first unmanned aerial vehicle including an irradiation unit that irradiates light, an irradiation direction adjusting unit that adjusts the irradiation direction of the light, and a first control device.
A second unmanned aerial vehicle including a detection unit that detects the light, an orientation adjustment unit that adjusts the direction of the detection unit, and a second control device.
A storage unit that stores position information of a position where the first unmanned aerial vehicle and the second unmanned aerial vehicle move is provided.
The first control device controls the irradiation direction adjusting unit so that the light irradiates the detection unit based on the current positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle.
Based on the current position, the second control device controls the orientation adjusting unit so that the detecting unit faces the irradiation unit.
The second control device is a propagation path line-of-sight test system characterized in that the storage unit stores the detection of the light at the current position. The first control device controls the irradiation direction adjusting unit so that the light irradiates the detection unit, and then reciprocates and changes the elevation angle and the azimuth angle in the irradiation direction within a predetermined angle range. The propagation path line-of-sight test system according to claim 1, wherein the irradiation direction adjusting unit is controlled. The first unmanned aerial vehicle includes a first photographing unit that photographs at least the lower side in the vertical direction of the first unmanned aerial vehicle when the light is detected.
The propagation according to claim 1 or 2, wherein the second unmanned aerial vehicle includes a second photographing unit that photographs at least the lower side in the vertical direction of the second unmanned aerial vehicle when the light is detected. Route visibility test system. Equipped with a database creation department
The database creation unit is characterized in that it creates a database in which information indicating that the light is detected and the position information of the first unmanned aerial vehicle and the second unmanned aerial vehicle in which the light is detected are associated with each other. The propagation path prospect test system according to any one of claims 1 to 3. Equipped with a database creation department
The database creation unit is a database that associates video information shot by the first shooting unit and the second shooting unit, position information of each shot of the video information, and information indicating that the light is detected. The propagation path prospect test system according to claim 3, wherein the system is created. The database creation unit associates the determination information with the information in the database when the determination information for determining whether or not each of the positions where the video information is captured corresponds to the construction candidate site is input. The propagation path prospect test system according to claim 5, wherein the database is created. Equipped with a test sequence determination unit
The test order determination unit is at least one of the first unmanned aerial vehicle and the second unmanned aerial vehicle when the position information stored in the storage unit includes positions having the same latitude and longitude and different altitudes. The propagation path line-of-sight test system according to any one of claims 1 to 6, wherein the order of movement is determined in order from a position having a high altitude to a position having a low altitude. Equipped with a time information acquisition unit to acquire the current time
The first control device includes a sun position calculation unit that calculates the elevation angle and the azimuth angle of the sun with reference to the position of the first unmanned aerial vehicle based on the position of the first unmanned aerial vehicle and the time.
The irradiation unit is a mirror that reflects sunlight.
The light is reflected light obtained by reflecting the sunlight by the mirror.
The first control device irradiates the detection unit with the reflected light based on the elevation angle and the azimuth in addition to the current positions of the first unmanned aerial vehicle and the second unmanned aerial vehicle. The propagation path line-of-sight test system according to any one of claims 1 to 7, wherein the direction adjusting unit is controlled. The irradiation unit is a laser output unit that modulates and outputs a laser.
The light is the laser
The propagation path line-of-sight test system according to any one of claims 1 to 7, wherein the second control device determines whether or not the light detected by the detection unit is the laser. The second unmanned aerial vehicle includes a second irradiation unit that irradiates light and a second irradiation direction adjustment unit that adjusts the irradiation direction of the second irradiation unit.
The first unmanned aerial vehicle includes a second detection unit that detects the light emitted by the second irradiation unit and a second orientation adjustment unit that adjusts the orientation of the second detection unit.
When the detection unit cannot detect the light emitted from the irradiation unit even if the orientation of the orientation adjustment unit is adjusted more than a predetermined number of times, the second control device is based on the current position. The second irradiation direction adjusting unit is controlled so that the light emitted from the second irradiation unit irradiates the second detection unit.
When the detection unit cannot detect the light emitted from the irradiation unit even if the irradiation direction of the irradiation direction adjusting unit is adjusted more than a predetermined number of times, the first control device is based on the current position. The second orientation adjusting unit is controlled so that the second detection unit faces the direction of the second irradiation unit.
At least one of the first control device and the second control device is characterized in that the storage unit stores that the light emitted by the irradiation unit or the second irradiation unit is detected at the current position. The propagation path prospect test system according to any one of claims 1 to 9. A test position setting step that sets multiple position information for a line-of-sight test,
A test order determination step for determining the test order of the plurality of position information, and
A test position movement step for moving the first unmanned aerial vehicle and the second unmanned aerial vehicle to the line-of-sight test position based on the test order,
Includes a line-of-sight test step in which the first unmanned aerial vehicle and the second unmanned aerial vehicle perform a line-of-sight test at the line-of-sight test position moved in the test position movement step.
In the test order determination step, when the plurality of position information include position information having the same latitude and longitude and different altitudes, the order of performing the line-of-sight test in order from the high altitude position to the low altitude position is set. A propagation path line-of-sight test method, characterized in that it is determined.

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