JP7039880B2 - Takeoff / landing device, control method of takeoff / landing device, and program - Google Patents

Description

The present invention relates to a takeoff / landing device, a control method for the takeoff / landing device, and a program, for example, a takeoff / landing device for an unmanned aerial vehicle.

Industrial forms of innovation are about to change the way small unmanned aerial vehicles (UAVs) (eg, multicopter unmanned aerial vehicles; so-called drones) are used. For example, industrial forms such as drone transportation may emerge. As a result, it is expected that the number of drones in operation will increase dramatically.

In the future, drones may fly in densely populated areas. Also, drones and manned aircraft may fly in a mixed manner.

In a related technology, the user remotely controls the unmanned aerial vehicle to guide the unmanned aerial vehicle to a landing target point (takeoff / landing site or takeoff / landing device).

Patent Document 1 describes a management device that provides a user with information on the difficulty level of landing at a target point when an unmanned aerial vehicle lands.

Japanese Unexamined Patent Publication No. 2009-223407

However, depending on the situation near the target point (for example, the degree of congestion of people, the presence or absence of obstacles) and the environment (for example, weather conditions, brightness), the user visually guides the unmanned aerial vehicle to the target point for landing. The difficulty of doing changes. For example, when the wind is strong, the unmanned aerial vehicle swings greatly, which makes it difficult for the user to accurately guide the unmanned aerial vehicle to the landing target point.

An object of the present invention is to provide a takeoff and landing device that guides an unmanned aerial vehicle so that it can land accurately at a target point.

The takeoff and landing device according to the uniformity of the present invention has a position measuring means for measuring the position of the unmanned aerial vehicle in flight and a target point for landing the unmanned aerial vehicle based on the position of the unmanned aerial vehicle measured by the position measuring means. The landing guiding means includes a landing guiding means for guiding the aircraft to, and a guiding light provided with one or more lights, and the landing guiding means causes the unmanned aerial vehicle to emit light by the light emission of the one or more lights provided with the guiding light. Present instructions to guide you to the target point.

The control method of the takeoff and landing device according to the present invention measures the position of the unmanned aerial vehicle in flight, guides the unmanned aerial vehicle to the landing target point based on the measured position of the unmanned aerial vehicle, and guides the unmanned aerial vehicle. It is characterized by including presenting an instruction for guiding the unmanned aerial vehicle to the target point by emitting light of one or more lights provided in the guide light.

The program relating to the uniformity of the present invention measures the position of the unmanned aerial vehicle in flight, guides the unmanned aerial vehicle to the target point of landing based on the measured position of the unmanned aerial vehicle, and uses a computer. In the guidance, the computer is made to present an instruction for guiding the unmanned aerial vehicle to the target point by emitting light of one or more lights provided in the guide light.

INDUSTRIAL APPLICABILITY According to the present invention, an unmanned aerial vehicle can be guided so that it can land accurately at a target point.

It is a block diagram which shows the structure of the takeoff / landing apparatus which concerns on Embodiments 1-5. It is a perspective view of the takeoff and landing apparatus which concerns on Embodiments 1-5. (A) is a diagram showing an example of a flightable area and an inflightable area of an unmanned aerial vehicle determined by the takeoff and landing device according to the first to fifth embodiments, and (b) is a flightable area above the takeoff and landing device. It is a figure which shows a certain vertical takeoff and landing area. It is a block diagram which shows the structure of the drone which concerns on Embodiments 1-5. It is a flowchart which shows the operation flow of the take-off and landing apparatus which concerns on Embodiments 1-5. It is a block diagram which shows the structure of the takeoff and landing apparatus which concerns on Embodiment 6. It is a block diagram which shows the hardware composition of the computer which concerns on Embodiment 7.

(Structure of takeoff / landing device 100)
FIG. 1 is a block diagram showing a configuration of an takeoff / landing device 100 according to the first embodiment. As shown in FIG. 1, the takeoff and landing device 100 includes an image pickup unit 2 (imaging means), a weather information acquisition unit 3, a risk determination unit 4, a landing route determination unit 5 (landing route determination means), and a terrain detection unit 6 (terrain). Detection means), obstacle detection unit 7 (obstacle detection means), landing guidance unit 8 (landing guidance means), landing route instruction unit 9, position measurement unit 10 (position measurement means), guide light 11, and charging unit 12. It is equipped with.

As shown in FIG. 1, the control unit 90 includes a danger level determination unit 4, a landing route determination unit 5, a terrain detection unit 6, an obstacle detection unit 7, a landing guidance unit 8, and a landing route instruction unit 9. The control unit 90 includes a CPU (Central Processing Device) and a memory. The CPU functions as each of the above parts by executing a program stored in the memory. Alternatively, each part of the control unit 90 may be realized as a hardware element by using an electronic circuit or the like.

The takeoff / landing device 100 may be portable. For example, the takeoff / landing device 100 may be transported by an automobile.

(Appearance of takeoff / landing device 100)
2 (a) and 2 (b) of the figure are perspective views of the takeoff and landing apparatus 100 according to the first embodiment. The takeoff / landing device 100 can take two forms. FIG. 2A shows the takeoff / landing device 100 which is the first embodiment. FIG. 2B shows the takeoff / landing device 100 which is the second embodiment.

The takeoff / landing device 100 becomes the first form shown in FIG. 2A when it is carried or housed in a warehouse or the like. On the other hand, when the takeoff and landing device 100 accepts the landing of an unmanned aerial vehicle (drone 25 in this embodiment), it becomes the second mode shown in FIG. 2 (b).

The takeoff / landing device 100 is deformable between the first form shown in FIG. 2A and the second form shown in FIG. 2B. An example of the deformation method of the takeoff / landing device 100 will be described below.

When the takeoff / landing device 100 is transformed from the second form to the first form, the portion 100b of the takeoff / landing device 100 is reduced, and the upper surface 100a of the takeoff / landing device 100 is folded downward like an umbrella. Next, the cover 100d shown in FIG. 2A is covered with the takeoff / landing device 100 so as to cover the position measuring unit 10, the guide light 11, and the charging unit 12 exposed on the folded upper surface 100a. .. As a result, the deformation of the takeoff / landing device 100 is completed.

When the takeoff / landing device 100 is transformed from the first form to the second form, each step of the above-mentioned deformation method proceeds in the reverse order.

As shown in FIG. 2A, when the takeoff / landing device 100 is in the first form, the position measuring unit 10, the guide light 11, and the charging unit 12 of the takeoff / landing device 100 are inside the case 100d of the takeoff / landing device 100. Since it is housed in, it is not exposed. This makes it possible to prevent the position measuring unit 10, the guide light 11, and the charging unit 12 from being damaged or soiled while the takeoff / landing device 100 is moving or is housed in the warehouse.

On the other hand, as shown in FIG. 2B, when the takeoff / landing device 100 is in the second form, the position measuring unit 10, the guide light 11, and the guide light 11 are placed on the upper surface of the takeoff / landing device 100 (the surface on which the drone 25 lands). The charging unit 12 appears. Further, the image pickup unit 2 and the weather information acquisition unit 3 appear on the side surface of the takeoff / landing device 100 (the “leg” portion 100b of the pedestal structure). This allows these sites to function as described below.

The control unit 90 may be housed inside, for example, the bottom portion 100c of the pedestal structure.

The takeoff / landing device 100 may be installed outdoors (for example, a convenience store roof, a lamp, a disaster prevention radio tower, a building in a park, a fire station, a police station, etc.).

(Area management device 1)
The area management device 1 manages the operation of an unmanned aerial vehicle (including the drone 25) within a predetermined management area (region).

The area management device 1 acquires aircraft information (for example, information such as the model, specifications, performance, and status of the drone 25) from the drone 25 by using a general-purpose communication means (for example, a mobile phone network). The status of the drone 25 is, for example, the remaining battery level, the error being generated, or the abnormality of the motor.

Further, the area management device 1 determines the flight route of the drone 25. Then, the area management device 1 transmits the aircraft information acquired from the drone 25 to the risk level determination unit 4 of the takeoff / landing device 100 (that is, the takeoff / landing device 100 at the arrival point of the drone 25) where the drone 25 is scheduled to land. do.

One or more takeoff and landing devices 100 may be arranged in the controlled area. The area management device 1 may acquire the position information of each takeoff / landing device 100 periodically or irregularly from each takeoff / landing device 100 in the controlled area.

(Image pickup unit 2)
The image pickup unit 2 photographs the surroundings and the sky of the takeoff / landing device 100. The image pickup unit 2 may include a plurality of cameras or image pickup elements. The image pickup unit 2 transmits the captured image (still image) or video (moving image) to the risk level determination unit 4.

In FIG. 2B, the image pickup unit 2 is arranged on the “leg” portion 100b (the portion supporting the upper surface 100a of the takeoff / landing device 100) of the pedestal structure on which the takeoff / landing device 100 lands. However, the image pickup unit 2 may also be arranged at another portion of the takeoff / landing device 100, for example, the upper surface 100a of the takeoff / landing device 100.

(Weather Information Acquisition Department 3)
The weather information acquisition unit 3 acquires weather information around the takeoff / landing device 100. For example, the meteorological information acquisition unit 3 measures the wind direction, rainfall, temperature, and / or atmospheric pressure around the takeoff / landing device 100, and acquires the measurement result as meteorological information. Alternatively, the weather information acquisition unit 3 identifies the position of the takeoff / landing device 100 by, for example, a GPS (Global Positioning System) signal receiving function, and obtains the weather information of the area where the takeoff / landing device 100 is located from the network server that provides the weather information. You may get it.

Further, the weather information acquisition unit 3 may share the weather information with the weather information acquisition unit 3 of the other takeoff / landing device 100. The weather information acquisition unit 3 may transmit and receive weather information to and from the weather information acquisition unit 3 of another takeoff / landing device 100 by wireless communication. As a result, the weather information acquisition unit 3 can acquire weather information over a wider area.

As shown in FIG. 2B, the weather information acquisition unit 3 is provided with a weather vane meter. The weather vane is located on the "leg" portion 100b of the pedestal structure on which the takeoff and landing device 100 lands. Although not shown, the weather information acquisition unit 3 may further include a rain gauge, a thermometer, and / or a barometer.

The weather information acquisition unit 3 transmits the weather measurement result or the acquired weather information to the risk level determination unit 4.

(Danger level determination unit 4)
The danger level determination unit 4 receives from the area management device 1 information on the aircraft of the drone 25 scheduled to land on the takeoff / landing device 100, that is, information such as the model, specifications, performance, and status of the drone 25. At this time, the risk level determination unit 4 determines the high risk of the drone 25 landing on the takeoff / landing device 100, as described below.

The danger level determination unit 4 acquires an image or a video image of the periphery of the takeoff / landing device 100 from the image pickup unit 2. More specifically, the risk determination unit 4 acquires an image or a video image taken in an arbitrary direction in the horizontal plane of the ground surface where the takeoff / landing device 100 is located from the image pickup unit 2.

Further, the risk level determination unit 4 acquires weather information around the takeoff / landing device 100 from the weather information acquisition unit 3.

The risk determination unit 4 analyzes the image or video captured by the image pickup unit 2 and identifies a person and other moving objects in the vicinity of the takeoff / landing device 100 based on the feature amount of the movement of the moving object. The distance from the takeoff / landing device 100 to the person and other moving objects of the risk determination unit 4 is not particularly limited. For example, the risk determination unit 4 identifies a person and other moving objects within a predetermined determination radius from the takeoff / landing device 100. The determination radius may be variable.

Next, the risk level determination unit 4 divides the periphery of the takeoff / landing device 100 into a plurality of two-dimensional regions. The size and angular range of the two-dimensional area is not limited. The risk level determination unit 4 calculates a numerical value representing the degree of congestion for each two-dimensional area.

The degree of congestion represents how many people and moving objects (for example, vehicles) are present in each area around the takeoff / landing device 100.

Further, the risk level determination unit 4 calculates a numerical value indicating the difficulty (risk level) of the drone 25 landing on the takeoff / landing device 100 based on the weather conditions (for example, wind speed, rainfall) around the takeoff / landing device 100. do. For example, the stronger the wind, the more likely the drone 25 will be blown by the wind and swing, thus increasing the risk of landing. The degree of danger also depends on the wind direction.

People move and the weather changes over time. Therefore, the degree of congestion and the degree of danger also change with time.

The risk level determination unit 4 may divide the sky above the takeoff / landing device 100 into a plurality of layers. This is because the weather generally changes depending on the altitude. In this configuration, the risk level determination unit 4 acquires information representing a change in the weather in the altitude direction from the weather information acquisition unit 3, and calculates the risk level for each layer based on the acquired information.

The degree of risk also depends on the performance and specifications of the drone 25. For example, the lower the wind resistance of the drone 25, the greater the swing of the drone 25 with respect to strong winds, and the higher the risk of landing. Further, the lighter the weight of the drone 25, the larger the swing of the drone 25 with respect to a strong wind, and therefore the higher the risk of landing.

For example, the risk determination unit 4 responds to the weather conditions and the specifications and performance of the drone 25 by referring to a table showing the correspondence relationship between the specifications and performance of the drone 25 and the weather conditions. You may calculate the degree of risk.

The risk level determination unit 4 transmits the calculated information indicating the congestion degree and the information indicating the risk level to the landing route determination unit 5.

(Landing route determination unit 5)
The landing route determination unit 5 acquires information indicating the degree of congestion for each area and information indicating the degree of danger for each area from the risk degree determination unit 4, respectively. Then, the landing route determination unit 5 determines the area around the takeoff / landing device 100 into an area where the drone 25 is allowed to pass and an area where the drone 25 is not allowed to pass, based on the acquired information. In the following, the former is referred to as a flightable area, and the latter is referred to as an inflightable area.

Specifically, when the numerical value indicating the degree of congestion and the numerical value indicating the degree of danger in a certain area are equal to or less than the respective reference values, the landing route determination unit 5 determines that the area is a flightable area. On the other hand, when at least one of the numerical value indicating the degree of congestion and the numerical value indicating the degree of danger in a certain area exceeds the reference value, the landing route determination unit 5 determines that the area is an inflightable area.

Further, the landing route determination unit 5 may determine the range of the vertical takeoff and landing area and the landing angle of the drone 25 based on the degree of danger for each layer. The vertical takeoff and landing area extends in a direction perpendicular to the plane including the flightable area and the non-flyable area. The vertical takeoff and landing area is large enough for the drone 25 to pass through the vertical takeoff and landing area.

That is, the flightable area is the area through which the drone 25 moves in the horizontal plane, while the vertical takeoff and landing area is the area through which the drone 25 moves in the vertical direction.

FIG. 3A is a diagram showing an example of a flightable area and a non-flyable area. The circle at the center of FIG. 3A represents the takeoff / landing device 100. The drone 25 is allowed to approach the takeoff and landing device 100 only through the flightable area.

Flyable and non-flyable areas vary depending on the situation (eg, congestion, number of vehicles) or environment (eg, wind speed, rainfall, brightness). For example, when the degree of congestion in a certain area increases and exceeds the reference value, the area changes to an inflightable area.

FIG. 3B is a diagram showing a vertical takeoff / landing area that the drone 25 passes through when landing on the takeoff / landing device 100. As shown in FIG. 3B, the vertical takeoff / landing area extends in the direction perpendicular to the upper surface 100a (the surface on which the drone 25 lands) of the takeoff / landing device 100. The vertical takeoff and landing area also changes depending on the situation and environment. For example, when the weather condition of a certain layer above the takeoff / landing device 100 deteriorates, the vertical takeoff / landing area is reduced to a length not including the layer.

Upon receiving the landing route information (described later) from the landing route instruction unit 9, the drone 25 first flies in the direction of latitude and longitude (up, down, left, and right in (a) of FIG. 3), passes through the flightable area, and then passes through the flightable area. It moves almost directly above the takeoff and landing device 100. After that, the drone 25 passes through the vertical takeoff and landing area and lands on the takeoff and landing device 100 while descending vertically downward.

The landing route determination unit 5 acquires terrain information from the terrain detection unit 6 described later, and also acquires obstacle information (more specifically, obstacle position information) from the obstacle detection unit 7. Then, the landing route determination unit 5 determines the landing route of the drone 25 based on the acquired topographical information and obstacle information. For example, the landing route determination unit 5 determines the landing route of the drone 25 so that the drone 25 passes through the route having the smallest undulation difference and avoids obstacles.

The landing route determination unit 5 transmits the determined landing route information to the landing guidance unit 8 and the landing route instruction unit 9, which will be described later. The landing route information includes at least information on the route point, that is, the flightable area through which the drone 25 passes before landing at the target point.

(Terrain detection unit 6)
The terrain detection unit 6 detects the terrain (for example, flat ground, slope, mountain, hill) around the takeoff / landing device 100 by using the image pickup unit 2. Specifically, the terrain detection unit 6 detects the terrain by acquiring an image of the ground surface taken from the image pickup unit 2 and analyzing the acquired image.

The terrain detection unit 6 transmits the detected terrain information to the landing route determination unit 5 described above.

(Obstacle detection unit 7)
The obstacle detection unit 7 uses the image pickup unit 2 and / or an optical sensor (not shown) to detect obstacles (for example, birds, trees, electric wires, utility poles, or other aircraft) around the takeoff / landing device 100. Detect.

For example, the obstacle detection unit 7 may detect an obstacle within a predetermined distance from the takeoff / landing device 100 by using an optical sensor (not shown). Alternatively, when there are a plurality of image pickup units 2, the obstacle detection unit 7 analyzes the images or videos taken by the plurality of image pickup units 2, respectively, and based on the analysis results, the takeoff / landing device 100 within a predetermined determination radius. An obstacle may be identified.

The obstacle detection unit 7 transmits the obstacle information including the position information of the obstacle to the landing route determination unit 5 described above.

(Landing Guidance Unit 8)
The landing guidance unit 8 guides the drone 25 so that the drone 25 can land at the target point based on the landing route information received from the landing route determination unit 5. Specifically, the landing guidance unit 8 turns on, off, and blinks the landing route determined by the landing route determination unit 5 from an LED (Light Emitting Diode) or other light provided in the guide light 11 described later. Presented by pattern, color, brightness, or a combination thereof.

For example, the landing guidance unit 8 determines in which direction (east, west, north, south) the position of the drone 25 is deviated from the landing target point based on the position information of the drone 25 acquired from the position measurement unit 10. do. Then, the landing guidance unit 8 presents the direction of deviation to the drone 25 according to the lighting, extinguishing, blinking patterns, colors, luminance, or a combination thereof of the light from the LED provided in the guide light 11.

Further, the landing guidance unit 8 may further measure the speed or the magnitude of the swing of the drone 25 by the position measuring unit 10. Then, if the measured speed or swing of the drone 25 is too large, the landing guidance unit 8 may instruct the drone 25 to stop or temporarily wait for landing.

The landing guidance unit 8 instructs the drone 25 to stop or temporarily wait for landing depending on the irradiation direction of the light from the LED provided in the guide light 11, the blinking pattern, the color, the brightness, or a combination thereof. May be good.

In addition, the landing guidance unit 8 may also present the status of the takeoff and landing device 100 (eg, standby, in use by another aircraft) to the drone 25.

Further, the landing guidance unit 8 visually (for example, blinking the LED) or audibly (for example, a warning sound from a speaker (not shown)) to a human being in the vicinity of the takeoff and landing device 100. You may note or warn that the drone 25 is approaching.

(Landing route instruction unit 9)
The landing route instruction unit 9 transmits the landing route information acquired from the landing route determination unit 5 to the drone 25. The drone 25 makes an autonomous flight according to the landing route information acquired from the landing route instruction unit 9, and lands on the takeoff / landing surface (upper surface 100a shown in FIG. 2B) of the takeoff / landing device 100.

Further, the landing route instruction unit 9 may transmit landing route information to the operator terminal 13.

For example, the landing route instruction unit 9 may output landing route information to a display unit (not shown) provided in the operator terminal 13 together with a map of the area around the takeoff / landing device 100. As a result, the operator can remotely control the drone 25, for example, according to the landing route displayed on the display unit of the operator terminal 13.

(Position measuring unit 10)
The position measuring unit 10 measures the position of the drone 25 in the three-dimensional space (direction of latitude and longitude and direction of altitude). Specifically, the position measuring unit 10 may measure the position of the drone 25 by a radar device, or capture an image including the drone 25 by an imaging means, and from the captured image, the drone 25 by shape recognition. You may measure the position of. Here, shape recognition refers to the size of an object in an image taken by photographing an object (drone 25 or an unmanned aerial vehicle in this embodiment) whose size is known at a constant angle of view, and the actual size of the object. This is a method of measuring the distance to an object from the ratio to the size of the object.

Alternatively, when the position measuring unit 10 includes a fisheye lens and an imaging means, the position measuring unit 10 can capture an image having an angle of view of approximately 180 degrees. In this configuration, the position measuring unit 10 can measure the direction of the drone 25 from the position of the drone 25 in the captured image.

Alternatively, when the position measuring unit 10 includes a gimbal mechanism and an imaging means, the position measuring unit 10 can maintain the orientation of the imaging means constant regardless of the terrain. In this configuration, the position measuring unit 10 can measure the direction of the drone 25 based on the position of the drone 25 measured from the center of the captured image.

By combining the plurality of configurations described above, the position measuring unit 10 can measure the distance from the takeoff / landing device 100 to the drone 25 and the direction of the drone 25 as seen from the takeoff / landing device 100. Then, the position measuring unit 10 can calculate the coordinates indicating the position of the drone 25 in the three-dimensional space, that is, the latitude, the longitude, and the altitude from these measured values.

The position measuring unit 10 may be capable of further measuring the speed of the drone 25.

As shown in FIG. 2B, the position measuring unit 10 is arranged near the center of the upper surface 100a of the takeoff / landing device 100.

The position measuring unit 10 transmits the measured position (and speed) information of the drone 25 to the landing guidance unit 8.

(Guide light 11)
The guide light 11 includes one or more lights such as LEDs. The guide light 11 presents support or information to the drone 25, for example, by turning on, off, blinking patterns, colors, luminance, or a combination thereof.

In FIG. 2B, the LEDs of the guide light 11 are arranged at a plurality of positions on the upper surface of the takeoff / landing device 100 (the surface on which the drone 25 lands). Light is emitted from each LED toward the sky. However, the LED may also be arranged on the side surface of the takeoff / landing device 100. Further, the LED is not limited to a circular shape, and may have an arbitrary shape such as a cross shape.

(Charging unit 12)
The charging unit 12 charges the drone 25 that has landed on the takeoff / landing device 100. The charging unit 12 includes a battery charged in advance (for example, by solar power generation) and a power supply terminal connected to the drone 25.

When the drone 25 lands on the takeoff / landing device 100, the drone 25 is automatically connected to the power supply terminal of the charging unit 12. Power is supplied from the battery included in the charging unit 12 to the battery included in the drone 25. Alternatively, the charging unit 12 may be automatically connected to the drone 25 by wireless (non-contact) power transmission technology.

This saves the operator the trouble of charging the drone 25. Therefore, the operator can operate the drone 25 without worrying about the remaining battery level.

(Operator terminal 13)
The operator terminal 13 is used by the operator to determine the operation plan of the drone 25 or to remotely control the operation of the drone 25. The operator terminal 13 may include a display unit for displaying the landing route of the drone 25. Further, the operator terminal 13 may be provided with a wireless communication function in order to remotely control the drone 25.

(Composition of drone 25)
FIG. 4 is a block diagram showing the configuration of the drone 25 according to the first embodiment. As shown in FIG. 4, the drone 25 includes a light receiving unit 251, an instruction determination unit 252, a drive control unit 253, a plurality of motors 254, a gyro sensor 255, and a plurality of propellers 256.

The light receiving unit 251 receives visible light or infrared light emitted from the guide light 11 provided in the takeoff / landing device 100. The light receiving unit 251 is specifically an optical sensor.

The instruction determination unit 252 determines the instruction or information presented by the lighting, extinguishing, blinking pattern, color, luminance, or a combination thereof of the light received by the light receiving unit 251. In other words, the instruction determination unit 252 interprets the light received by the light receiving unit 251 as a signal. For example, the instruction determination unit 252 may determine an instruction or information by referring to a table that is stored in the drone 25 in advance and shows a correspondence relationship between the optical signal and the instruction.

The instruction determination unit 252 transmits the determination result, that is, instruction information indicating what kind of instruction or information the light signal corresponds to, to the drive control unit 253.

The drive control unit 253 generates drive control information for driving each of the plurality of motors 254 based on the instruction information received from the instruction determination unit 252 and the attitude information of the drone 25 acquired from the gyro sensor 255. The drive information includes information for controlling the rotation speed of each motor 254.

Each of the plurality of motors 254 is connected to another propeller 256, and the power is transmitted to each propeller 256 to rotate each propeller 256. As a result, the drone 25 will fly.

(Operation flow)
FIG. 5 is a flowchart showing an operation flow of the takeoff / landing device 100. The operation flow described here is the same as the operation flow of the takeoff / landing device of each embodiment described later.

As a preliminary step, the area management device 1 determines the takeoff / landing device 100 as the landing point of the drone 25. The area management device 1 transmits information on the flight route including the position information of the landing point of the drone 25 to the drone 25. The drone 25 autonomously flies toward the landing point, that is, the takeoff / landing device 100, according to the flight route determined by the area management device 1.

As shown in FIG. 5, the danger level determination unit 4 receives the aircraft information of the drone 25 scheduled to land on the takeoff / landing device 100 from the area management device 1. At this time, the risk level determination unit 4 determines the degree of congestion around the takeoff / landing device 100 and the risk level of landing (S1).

Next, the landing route determination unit 5 discriminates each area of the controlled area into a flightable area and a non-flightable area based on the congestion degree and the risk degree determined by the danger degree determination unit 4 (S2). Further, the landing route determination unit 5 determines the optimum landing route of the drone 25 based on the terrain detected by the terrain detection unit 6 and the obstacle detected by the obstacle detection unit 7.

After discovering the drone 25 approaching the takeoff / landing device 100 by the radar device, the position measuring unit 10 starts measuring the position of the discovered drone 25 (S3). After that, the landing route instruction unit 9 transmits the landing route information acquired from the landing route determination unit 5 to the drone 25.

The landing guidance unit 8 reaches the landing target point based on the position information of the drone 25 measured by the position measurement unit 10 so that the drone 25 can fly according to the landing route determined by the landing route determination unit 5. Induce the drone 25 (S4).

At this time, the landing guidance unit 8 guides the drone 25 by the light emission of the light (including the LED) provided in the guide light 11, that is, the lighting, extinguishing, blinking pattern, color, brightness, or a combination thereof. do.

(Effect of Embodiment 1)
According to the configuration of the first embodiment, the takeoff / landing device 100 is a drone 25 (unmanned) depending on the lighting, extinguishing, blinking pattern, color, brightness, or a combination thereof of the lights (including LEDs) provided in the guide light 11. Guide the aircraft).

For example, if the position of the drone 25 and the landing target point are deviated, the takeoff and landing device 100 presents information indicating the magnitude and / or direction of the deviation between the position of the drone 25 and the target point. Help 25 land accurately at the target point.

As a result, the drone 25 can accurately land at the landing target point, that is, the takeoff and landing device 100.

[Embodiment 2]
In the second embodiment, the drone 25 approaching the takeoff / landing device 100 photographs the periphery of the takeoff / landing device 100. The takeoff / landing device 100 receives the image or video taken by the drone 25 via the area management device 1 or directly.

The terrain detection unit 6 acquires an image or video taken by the drone 25. The terrain detection unit 6 generates three-dimensional terrain information around the takeoff / landing device 100 by analyzing the images and videos taken by the drone 25. Then, the terrain detection unit 6 transmits the generated three-dimensional terrain information to the landing route determination unit 5.

Further, the obstacle detection unit 7 requests the area management device 1 for an image or a video image taken by the drone 25. The obstacle detection unit 7 generates three-dimensional obstacle information around the takeoff / landing device 100 by analyzing the images and videos taken by the drone 25. Then, the obstacle detection unit 7 transmits the generated three-dimensional obstacle information to the landing route determination unit 5.

Also in the second embodiment, as in the first embodiment, the landing route determination unit 5 has a landing route based on the terrain information generated by the terrain detection unit 6 and the obstacle information generated by the obstacle detection unit 7. To decide.

(Effect of Embodiment 2)
According to the configuration of the second embodiment, the landing route determination unit 5 can obtain more detailed and accurate terrain information from the three-dimensional terrain information provided by the terrain detection unit 6. Further, the landing route determination unit 5 can obtain more detailed and accurate obstacle information based on the three-dimensional obstacle information provided by the obstacle detection unit 7.

Therefore, the landing route determination unit 5 can determine a more appropriate landing route, that is, a safer or shorter landing route.

[Embodiment 3]
In the third embodiment, digital data including instructions to the drone 25 (for example, landing route) and information (for example, the magnitude and / or direction of the deviation between the position of the drone 25 and the target point of landing) is transmitted to the drone 25. do. Digital data may be generated, for example, by encoding the blinking pattern of an LED or other light included in the guide light 11, ie converting it into digital information of "0" or "1". Alternatively, the digital data may be generated by modulating the color or brightness of the LED or other light.

The configuration of the third embodiment is realized by using so-called visible light communication technology. However, infrared light can also be used instead of visible light.

(Effect of Embodiment 3)
According to the configuration of the third embodiment, digital data including instructions and information to the drone 25 is transmitted to the drone 25. The drone 25 can autonomously fly to the target point based on the digital data received from the landing guidance unit 8.

[Embodiment 4]
The takeoff / landing device 100 according to the fourth embodiment includes a mobile system including a battery, a motor (motor), wheels, and the like. The takeoff / landing device 100 can move autonomously or by remote control depending on the movement system.

(Effect of Embodiment 4)
According to the configuration of the fourth embodiment, the takeoff / landing device 100 is a more suitable place for the drone 25 to land, that is, the degree of congestion, depending on the situation (for example, the number of people and obstacles) and the environment (for example, weather conditions, terrain). And you can move to a less dangerous place.

Further, in the fourth embodiment, the landing guidance unit 8 may control the movement system to move the takeoff / landing device 100 to eliminate the deviation between the position of the drone 25 and the target point.

[Embodiment 5]
In the first embodiment, an example in which the takeoff / landing device 100 guides the landing of an unmanned aerial vehicle (drone 25) in the city has been described. However, the application example is not limited to landing guidance in the city. In the fifth embodiment, the takeoff and landing device 100 implements landing guidance of a plurality of unmanned aerial vehicles at various sites (for example, disaster sites, transportation bases, wide area searches, mountain rescues, marine accidents, etc.).

(Effect of the present embodiment 5)
According to the configuration of the fifth embodiment, the takeoff and landing device 100 guides the unmanned aerial vehicle to land at various sites. Therefore, it becomes possible for an unmanned aerial vehicle to carry out activities (for example, photography, food transportation, etc.), especially at a site where it is difficult to operate a manned aircraft. In particular, it allows unmanned aerial vehicles to land on takeoff and landing equipment 100 in small, narrow, or intricate structures.

[Embodiment 6]
The minimum configuration of the embodiment of the present invention will be described as the sixth embodiment.

(Takeoff / landing device 200)
FIG. 6 is a block diagram showing the configuration of the takeoff / landing device 200 according to the sixth embodiment. As shown in FIG. 6, the takeoff and landing device 200 includes a position measuring unit 201, a landing guidance unit 202, and a guide light 203.

The position measuring unit 201 measures the position of an unmanned aerial vehicle (for example, a drone) in flight.

The landing guidance unit 202 guides the unmanned aerial vehicle to the landing target point while acquiring the position information of the unmanned aerial vehicle measured by the position measurement unit 201.

The guide light 203 includes one or more lights.

The landing guidance unit 202 brings the unmanned aerial vehicle to the target point by emitting light (specifically, on, off, blinking pattern, color, brightness, or a combination thereof) of one or more lights provided by the guide light 203. Present instructions to guide.

(Effect of Embodiment 6)
According to the configuration of the sixth embodiment, the takeoff and landing device 200 guides an unmanned aerial vehicle by emitting light of one or more lights. This allows the unmanned aerial vehicle to land accurately at the landing target.

[Embodiment 7]
A program for realizing all or part of the control function (for example, the control unit 90) of the takeoff / landing device 100 according to the first to fifth embodiments is recorded on a computer-readable recording medium and recorded on the recording medium. The control function of the takeoff / landing device 100 may be realized by loading the program into a computer and executing the program. The term "computer" as used herein includes hardware such as an OS (Operating System) and peripheral devices.

Further, all or part of the control function of the takeoff / landing device 200 according to the sixth embodiment may be realized by the computer reading and executing the program recorded on the recording medium.

The "computer-readable recording medium" is a portable medium such as a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), a CD (Compact Disc) -ROM, or a storage device such as a hard disk built in a computer. It means that. Further, the program may be for realizing a part of the above-mentioned functions, and may be further realized by combining the above-mentioned functions with a program already recorded in the computer.

(Hardware configuration of computer 300)
FIG. 7 is a block diagram showing a hardware configuration of the computer 300 according to the seventh embodiment. As shown in FIG. 7, the computer 300 includes a CPU (Central Processing Unit) 301, a RAM 302, a storage device 303, and an input / output device 304. The computer 300 further includes a communication interface 305 for wirelessly communicating with the outside (eg, an aircraft).

The control function of the takeoff / landing device 100 according to the first to fifth embodiments is realized by the CPU 301 of the computer 300 executing the program read from the storage device 303 to the RAM (Random Access Memory) 302. Similarly, the control function of the takeoff / landing device 200 according to the sixth embodiment is also realized by each part of the computer 300.

The input / output device 304 performs an input from the outside of the computer 300 or an output from the computer 300 to the outside. The input / output device 304 corresponds to, for example, the landing route instruction unit 9 of the takeoff / landing device 100 according to the first to fifth embodiments.

(Effect of the present embodiment 7)
According to the configuration of the seventh embodiment, the configuration and operation of the takeoff and landing devices 100 and 200 described in the first to sixth embodiments can be realized by the computer 300.

[Example of the aspect of the present invention]
The mode of the present invention can be expressed as follows. However, the present invention is not limited to the modes described below.

(Appendix 1)
One or more position measuring means for measuring the position of the unmanned aerial vehicle in flight, and one or more landing guiding means for guiding the unmanned aerial vehicle to a landing target point based on the position of the unmanned aerial vehicle measured by the position measuring means. The landing guidance means includes a guide light provided with the light of the above, and the landing guidance means presents an instruction for guiding the unmanned aerial vehicle to the target point by emitting light of the one or more lights provided with the guide light. A takeoff and landing device characterized by that.

(Appendix 2)
Addendum 1 characterized in that the landing route determining means for determining the landing route of the unmanned aerial vehicle is further provided, and the landing guiding means guides the unmanned aerial vehicle according to the landing route determined by the landing route determining means. The takeoff and landing device described in.

(Appendix 3)
A terrain detection unit that detects the terrain around the landing target point is further provided, and the landing route determination unit determines the landing route based on the terrain detected by the terrain detection unit. The takeoff and landing device according to 2.

(Appendix 4)
The landing route determining means determines the landing route so as to avoid the obstacle detected by the obstacle detecting unit, further comprising an obstacle detecting unit that detects an obstacle in the vicinity of the landing target point. The takeoff and landing device according to Appendix 2 or 3, wherein the takeoff and landing device is described.

(Appendix 5)
The takeoff and landing device according to Appendix 3, wherein the terrain detection unit acquires an image or video image taken by the unmanned aerial vehicle and detects the terrain around the landing target point from the image or video. ..

(Appendix 6)
The description in Appendix 4, wherein the obstacle detection unit acquires an image or video image taken by the unmanned aerial vehicle and detects an obstacle in the vicinity of the landing target point from the image or video. Takeoff and landing device.

(Appendix 7)
The takeoff / landing apparatus according to any one of Supplementary Provisions 1 to 6, wherein the takeoff / landing surface including the landing target point is provided.

(Appendix 8)
The takeoff / landing device according to any one of Supplementary note 1 to 7, which is characterized by being portable or movable.

(Appendix 9)
The position of the unmanned aerial vehicle in flight is measured, and based on the measured position of the unmanned aerial vehicle, the unmanned aerial vehicle is guided to a target point for landing. A method for controlling a takeoff and landing device, comprising presenting an instruction for guiding the unmanned aerial vehicle to the target point.

(Appendix 10)
Measuring the position of the unmanned aerial vehicle in flight, guiding the unmanned aerial vehicle to the landing target point based on the measured position of the unmanned aerial vehicle, and letting the computer execute, in the guidance, the guide light is A program for causing a computer to present instructions for guiding the unmanned aerial vehicle to the target point by one or more light emission provided.

(Appendix 11)
The takeoff and landing apparatus according to any one of Supplementary Provisions 1 to 8, further comprising an imaging unit for photographing the vicinity of the landing target point.

(Appendix 12)
The landing route determining means further includes a risk determining means for determining the risk of the unmanned aerial vehicle landing on the takeoff and landing device, and the landing route determining means is based on the risk determined by the risk determining means. The takeoff and landing device according to any one of Supplementary Provisions 1 to 8, wherein the takeoff and landing apparatus is determined.

(Appendix 13)
The takeoff and landing device according to any one of Supplementary Provisions 1 to 8, wherein the landing guidance means transmits instructions or information to the unmanned aerial vehicle as digital data to the unmanned aerial vehicle.

(Appendix 14)
The landing guiding means is characterized in that information indicating the magnitude and / or direction of the deviation between the position of the unmanned aerial vehicle and the target point of landing is transmitted to the unmanned aerial vehicle as the digital data. The takeoff and landing device according to Appendix 13.

(Appendix 15)
The takeoff / landing device according to any one of Supplementary note 1 to 8, wherein the light emission of the one or more lights includes a pattern of turning on, off, blinking, a color, a luminance, or a combination thereof.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and the present invention includes design changes within a range not deviating from the gist of the present invention. Will be.

5 Landing route determination unit 6 Terrain detection unit 7 Obstacle detection unit 8 Landing guidance unit 10 Position measurement unit 11 Guide light 100 Takeoff and landing device 200 Takeoff and landing device 201 Position measurement unit 202 Landing guidance unit 203 Guide light

Claims (9)

Positioning means to measure the position of an unmanned aerial vehicle in flight,
A landing guidance means that guides the unmanned aerial vehicle to a landing target point based on the position of the unmanned aerial vehicle measured by the position measuring means.
An exit light with one or more lights and
Equipped with
The landing guidance means presents instructions for guiding the unmanned aerial vehicle to the target point by emitting light of the one or more lights provided by the guide light .
An image pickup means for photographing the surroundings and the sky of the takeoff and landing device, and
A risk determination means for determining the risk of the unmanned aerial vehicle landing on the takeoff and landing device, and a risk determination means.
Further equipped with a landing route determining means for determining the landing route of the unmanned aerial vehicle,
The risk determination means acquires an image or video image taken in an arbitrary direction in the horizontal plane of the ground surface on which the takeoff / landing device is located from the image pickup means, analyzes the image or the video, and analyzes the takeoff / landing device of the takeoff / landing device. Judging the degree of congestion in the surrounding area,
The landing route determining means discriminates each area of the controlled area into a flightable area and a non-flyable area based on the determined congestion degree and the risk degree.
The landing guidance means guides the unmanned aerial vehicle according to landing route information including information on the flightable area.
A takeoff and landing device characterized by that. Further equipped with a terrain detecting means for detecting the terrain around the target point of landing,
The takeoff and landing device according to claim 1 , wherein the landing route determining means determines the landing route based on the terrain detected by the terrain detecting means. Further equipped with obstacle detection means for detecting obstacles around the landing target point,
The takeoff and landing device according to claim 1 or 2 , wherein the landing route determining means determines the landing route so as to avoid an obstacle detected by the obstacle detecting means. The terrain detecting means is
The takeoff and landing device according to claim 2 , wherein an image or an image taken by the unmanned aerial vehicle is acquired and the terrain around the landing target point is detected from the image or the image. The obstacle detecting means is
The takeoff and landing device according to claim 3 , wherein an image or an image taken by the unmanned aerial vehicle is acquired and an obstacle in the vicinity of the landing target point is detected from the image or the image. The takeoff / landing apparatus according to any one of claims 1 to 5 , wherein the takeoff / landing surface including the landing target point is provided. The takeoff / landing device according to any one of claims 1 to 6 , wherein the takeoff / landing device is portable or movable. Measure the position of the unmanned aerial vehicle in flight and
Based on the measured position of the unmanned aerial vehicle, guide the unmanned aerial vehicle to the landing target point.
In the guidance, instructions for guiding the unmanned aerial vehicle to the target point are presented by the emission of one or more lights provided by the guide light.
Photograph the surroundings and sky of the takeoff and landing device,
The degree of danger that the unmanned aerial vehicle will land on the takeoff and landing device is determined.
An image or video taken in an arbitrary direction in the horizontal plane of the ground surface where the takeoff / landing device is located is acquired, and the image or the video is analyzed to determine the degree of congestion around the takeoff / landing device.
An image or video taken in an arbitrary direction in the horizontal plane of the ground surface where the takeoff / landing device is located is acquired, and the image or the video is analyzed to determine the degree of congestion around the takeoff / landing device.
Based on the determined congestion level and the risk level, each area of the controlled area is classified into a flightable area and a non-flyable area.
Guide the unmanned aerial vehicle according to the landing route information including the information on the flight area.
A method of controlling an takeoff and landing device, which comprises. Measuring the position of an unmanned aerial vehicle in flight and
To guide the unmanned aerial vehicle to the landing target point based on the measured position of the unmanned aerial vehicle.
Let the computer run
In the guidance, the computer is made to perform an instruction to guide the unmanned aerial vehicle to the target point by emitting light of one or more lights provided in the guide light .
Photograph the surroundings and sky of the takeoff and landing device,
The degree of danger that the unmanned aerial vehicle will land on the takeoff and landing device is determined.
Determine the landing route of the unmanned aerial vehicle
Guide the unmanned aerial vehicle according to the determined landing route,
Information indicating the magnitude and / or direction of the deviation between the position of the unmanned aerial vehicle and the target point of landing is transmitted to the unmanned aerial vehicle.
An image or video taken in an arbitrary direction in the horizontal plane of the ground surface where the takeoff / landing device is located is acquired, and the image or the video is analyzed to determine the degree of congestion around the takeoff / landing device.
An image or video taken in an arbitrary direction in the horizontal plane of the ground surface where the takeoff / landing device is located is acquired, and the image or the video is analyzed to determine the degree of congestion around the takeoff / landing device.
Based on the determined congestion level and the risk level, each area of the controlled area is classified into a flightable area and a non-flyable area.
To guide the unmanned aerial vehicle according to the landing route information including the information on the flight area.
A program to run on a computer .

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