TW202128500A - Method for limiting operation of unmanned air vehicle - Google Patents

Abstract

Provided is an operation-limiting method for limiting the operation of a second unmanned air vehicle using a first unmanned air vehicle. The operation-limiting method comprises the steps of detecting the second unmanned air vehicle, transferring an operation-limiting means from the first unmanned air vehicle to the second unmanned air vehicle, and controlling the operation of the second unmanned air vehicle using the operation-limiting means.

Description

Unmanned aircraft movement restriction method

The present invention relates to an unmanned aircraft movement restriction method.

An unmanned aircraft equipped with a fluid ejection nozzle is previously known (for example, refer to Patent Document 1). [Prior Technical Literature] (Patent Document) Patent Document 1: Japanese Patent Application Publication No. 2019-18589.

The present invention provides a movement restriction method that uses a first unmanned aircraft to restrict the movement of a second unmanned aircraft. The movement restriction method includes the following steps: the step of detecting the second drone; the step of applying movement restriction means from the first drone to the second drone; and the step of restricting the movement of the second drone by the movement restriction means.

The step of restricting the movement of the second unmanned aircraft may include a step of reducing the movement performance of the second unmanned aircraft.

The step of imposing movement restriction means may include the step of imposing movement restriction means on the second unmanned aircraft from a higher altitude than the second unmanned aircraft.

The step of applying movement restriction means may include the step of applying movement restriction means to the power of the second drone.

Movement restriction means can be a resistance to power.

The movement restriction means may include a magnetic body that changes the magnetic field of a motor used for power.

The step of applying movement restriction means may include the step of applying movement restriction means to the fixed wing or rotary wing of the second unmanned aircraft.

The movement restriction means can change the wing shape of the fixed wing or the rotating wing.

The movement restriction means may include chemicals used to corrode the material of the fixed or rotating wing.

The step of applying movement restriction means may include the step of applying movement restriction means to the body of the second drone.

The step of applying the movement restriction means may include the step of attaching the movement restriction means to the second drone to increase the weight.

The step of restricting the movement of the second unmanned aircraft may include a step of reducing the remote control performance of the second unmanned aircraft.

The step of applying movement restriction means may include the step of applying movement restriction means to the sensor of the second drone.

The motion restriction means may include a covering material, which covers the sensor.

The step of applying movement restriction means may include the step of applying movement restriction means to the wireless communication antenna of the second drone.

The action restricting means may include a shielding material that shields electromagnetic waves.

In addition, the above summary of the invention does not enumerate all the features of the present invention. In addition, sub-combinations of these feature groups can also become inventions.

Hereinafter, the present invention will be described through the embodiments of the invention, but the following embodiments do not limit the invention within the scope of the patent application. In addition, the solution of the invention does not necessarily require all combinations of the features described in the implementation modes.

FIG. 1 shows an example of a side view of unmanned aircraft 100. The drone 100 of this example includes a main body 10, a fixed camera 12, a leg 15, a propulsion unit 20, a wrist 24, a support unit 30, a movable camera 32, a discharge (discharge) unit 60, and a container 70.

The unmanned aircraft 100 is a flying body that flies in the air. The unmanned aircraft 100 discharges the content contained in the container 70 from the discharge port 62 via the flow path 72 and the tube portion 64.

The main body 10 houses various control circuits and power supplies of the unmanned aircraft 100. The unmanned aircraft 100 is provided with a control system 150, which will be described later with reference to FIG. 3. The main body 10 of this example includes a fixed camera 12, a detection unit 80, an action control unit 85, a communication unit 90, and a storage unit 95 in the control system 150. In addition, the main body 10 can function as a structure that connects the components of the unmanned aircraft 100. The main body 10 of this example is connected to the pusher 20 by the wrist 24. The operations of the detection unit 80, the operation control unit 85, the communication unit 90, and the storage unit 95 will be described in detail later with reference to FIG. 3.

The camera 12 is fixed to take an image of the surroundings of the unmanned aircraft 100. As an example, the fixed camera 12 is a CMOS (Complementary Metal Oxide Semiconductor) camera or a CCD (Charge Coupled Device) camera. However, the fixed camera 12 may be another photographing device as long as it can photograph surrounding images. The images captured by the fixed camera 12 are not limited to images of visible light (electromagnetic waves with a wavelength of about 360 nm to about 830 nm). The fixed camera 12 may also be an infrared camera or the like, which uses electromagnetic waves in a longer wavelength region (for example, about 830 nm to about 830 nm). About 15μm infrared region) to produce the image. In this example, one fixed camera 12 is provided, but a plurality of fixed cameras 12 may be provided corresponding to the type of image to be shot, the shooting range, and the like. Furthermore, in this example, the fixed camera 12 is provided on the main body 10, but the fixed camera 12 may also be provided at different positions of the drone 100. In other examples, the fixed camera 12 may not be provided on the front of the main body 10, but lighting equipment may be provided instead. In an example in which lighting equipment is provided on the front of the main body 10, the surrounding image of the drone 100 can be performed by a fixed camera 12 provided in another position, or only by a movable camera 32.

The movable camera 32 is an imaging device that photographs a discharge target, which is a target to which the contents of the container 70 are discharged. The movable camera 32 of this example is provided at the end of the support part 30. As an example, the movable camera 32 can be the same type of camera as the fixed camera 12. When the fixed camera 12 is provided on the main body 10, the movable camera 32 may be a lighter camera than the fixed camera 12. In order to improve the ejection accuracy of the ejection unit 60 in this example, the movable camera 32 uses the operation of the support unit 30 and the movable mechanism of the movable camera 32 to track the ejection target and perform photography. In other examples, when lighting equipment is provided instead of the fixed camera 12, the movable camera 32 may also be a camera used to photograph the surroundings of the drone 100. In another example, the movable camera 32 is not provided but a lighting fixture is provided, and the lighting fixture is used to track and illuminate the discharge object. The movable camera 32 can also be installed together with the lighting equipment.

The propulsion unit 20 generates propulsion force for propelling the unmanned aircraft 100. The propulsion unit 20 has a rotating wing 21 and a rotating drive device 22. The unmanned aircraft 100 of this example includes four propulsion units 20. The pusher 20 is attached to the main body 10 via the wrist 24. In addition, the unmanned aircraft 100 may also be a flying body provided with a fixed wing as the propulsion unit 20.

The rotating wing 21 generates propulsive force by rotating. There are four rotating wings 21 centered on the main body 10, but the arrangement of the rotating wings 21 is not limited to this example. The rotating wing 21 is provided at the tip of the wrist 24 via the rotation driving device 22.

The rotary drive device 22 has a power source such as a motor to drive the rotary wing 21. The rotating drive device 22 may have a braking mechanism for the rotating wing 21. As an example, the control of the rotation driving device 22 is performed by a control circuit provided in the main body 10. Among them, the control device of the rotation driving device 22 can be assembled into the rotation driving device 22 or additionally provided outside the rotation driving device 22. The rotating wing 21 and the rotating drive device 22 may be directly attached to the main body 10 without the wrist 24.

As an example, the wrist portion 24 extends from the main body portion 10 in a radial manner. The unmanned aircraft 100 of this example includes four arms 24 provided in correspondence with the four propulsion units 20, respectively. However, the number of the propulsion unit 20 and the wrist unit 24 is not limited to four as long as the number is sufficient to maintain the posture of the drone 100 in flight. As an example, when four wrists 24 are provided, they can be provided at a position having four-fold rotational symmetry with the main body 10 as the center. However, the extension direction of the wrist 24 may be a direction suitable for maintaining the posture of the unmanned aircraft 100, and may extend to a direction different from the rotationally symmetrical direction corresponding to the position of the center of gravity of the unmanned aircraft 100. The wrist 24 may be a fixed type or a movable type.

The feet 15 are connected to the main body 10 and are used to maintain the posture of the drone 100 during landing or in water. The leg 15 maintains the posture of the drone 100 in the state where the propulsion unit 20 is stopped. The unmanned aircraft 100 of this example has two legs 15, but the number and structure of the legs are not limited to this type.

The support unit 30 supports the movable camera 32 and the discharge unit 60. The support portion 30 can be provided by a rigid member such as metal or hard resin. The support part 30 may have a mechanism for tilting the direction in which the movable camera 32 and the ejection part 60 are supported, or may have a curved part for changing the angle.

The discharge part 60 has a discharge port 62 and a pipe part 64. The discharge part 60 is supported by the end of the support part 30.

The discharge port 62 is provided in the support part 30 at the end part of the pipe part 64 extended to the side opposite to the container 70 side. The discharge port 62 discharges the contents in the container 70 to the discharge target. As an example, the discharge port 62 includes a valve mechanism that adjusts the flow rate, flow velocity, pressure, etc. of the content to be discharged.

The tube portion 64 fluidly communicates the discharge port 62 to the container 70 via the flow path 72. As an example, the tube portion 64 is a rigid metal or resin tube. However, the tube portion 64 may also be a catheter composed of an elastic body provided with a telescopic mechanism. As an example, the cross section of the pipe portion 64 is circular, but it may also be polygonal. The content of the container 70 is injected from the flow path 72 to the discharge port 62 through the pipe portion 64.

In one example, the container 70 is an aerosol container in which the contents filled inside are discharged. The aerosol container ejects the contents by the gas pressure of the propellant such as liquefied gas or compressed gas filled inside. The container 70 in this example is a metal aerosol can, but it can also be a plastic container with pressure resistance. The container 70 of this example is housed in the container holding part and fixed to the foot 15. However, the place where the container 70 is fixed is not limited to the foot 15 and may be provided in other places of the drone 100.

The content of the container 70 may be any of liquid, gas, or solid, and may be in a state such as powder, granules, or gel. The content of the container 70 is an example of the operation restricting means 120 described later in FIG. 2. When the content is solid, as an example, the content may be a spinneret into which threads or filaments are sprayed. The spinneret is a spray can that uses a surfactant to make synthetic resin such as acrylic resin into a filament shape and discharge it toward the object to restrict the movement of the object. When the container 70 is an aerosol tank, the synthetic resin is discharged to the subject by a propellant such as hydrofluoroolefin.

As the propellant for the contents, liquefied gases such as hydrocarbons (liquefied petroleum gas) (LPG), dimethyl ether (DME), hydrofluoroolefin (HFO-1234ze), etc. can be used. However, compressed gases such as carbon dioxide (CO ₂ ), nitrogen (N ₂ ), nitrous oxide (N _{2 O), etc. may also be used.}

The flow path 72 connects the container 70 and the discharge unit 60. The flow path 72 is, as an example, a hose in which a reinforcing material is added to a flexible elastic body, but it may also be a tube composed of only an elastic body. As an example, the cross section of the flow path 72 is circular, but it may also be polygonal.

FIG. 1B shows an example of a front view of unmanned aircraft 100. In this example, a fixed camera 12 is provided in the central part of the front of the main body 10. In other examples, lighting equipment that illuminates the front of the UAV 100 can also be provided instead of the fixed camera 12.

In this example, the support unit 30 supports the movable camera 32 and the ejection unit 60 so that they face the front of the drone 100 and are side-by-side. Thereby, it is easy to associate the imaging direction of the movable camera 32 with the ejection direction of the content of the ejection section 60, so that the ejection section 60 can be easily aimed. However, the support of the support unit 30 for the movable camera 32 and the discharge unit 60 is not limited to this example, and the angles of the movable camera 32 and the discharge unit 60 may be independently changed to perform wide-area photography around the drone 100. Alternatively, it is also possible to track other unmanned aircraft to be the target of vomiting for photography.

FIG. 2 shows an example of a conceptual diagram in which the unmanned aircraft 100 restricts the operation of the unmanned aircraft 200. As shown in FIG. The unmanned aircraft 100 imposes restrictions on the actions of the unmanned aircraft 200. The unmanned aircraft 100 is an example of the first unmanned aircraft. The unmanned aircraft 200 is an example of the second unmanned aircraft.

The unmanned aircraft 100 restricts the movement of the unmanned aircraft 200 by imposing an action restriction means 120 on the unmanned aircraft 200. As an example, the unmanned aircraft 100 discharges to the unmanned aircraft 200 the content that will become the resistance of the power of the unmanned aircraft 200, such as sol, gel, or viscous fluid. For example, the unmanned aircraft 100 can blow the adhesive onto the unmanned aircraft 200. In another example, the action restricting means 120 is a filamentous synthetic resin discharged from a spinneret. By applying the movement restriction means 120 to the unmanned aircraft 200, the rotation load of the motor of the unmanned aircraft 200 is increased.

In yet another example, the motion restricting means 120 may include a magnetic body that changes the magnetic field of a motor used in the power of the drone 200. By blowing the magnetic body onto the UAV 200, the magnetic field generated inside the motor is disturbed to reduce the output of the UAV 200 motor. For example, the object of blowing the magnetic body is the permanent magnet of the motor. However, as long as it can interfere with the magnetic field generated in the motor of the UAV 200, it is not limited to be blown to the permanent magnet.

Such contents are very light and can be transported without reducing the motion performance of the drone 100 due to weight. Therefore, it is easy to design and manufacture the motion performance of the unmanned aircraft 100 to be better than that of the unmanned aircraft 200. In this way, the unmanned aircraft 100 is easier to track the unmanned aircraft 200, and it is easy to accurately hit the contents.

Moreover, such an operation restriction means 120 can restrict the operation without directly damaging or destroying the unmanned aircraft 200. Therefore, the movement restriction means 120 of this example is suitable for capturing purposes, that is, while restricting the movement of the unmanned aircraft 200, capturing is performed without damaging the main body of the unmanned aircraft 200 or the like.

FIG. 3 shows an example of the outline of the operation of the control system 150 that controls the operation of the unmanned aircraft 100. The control system 150 of this example includes a fixed camera 12, a movable camera 32, a detection unit 80, a storage unit 95, an operation control unit 85, a communication unit 90, a discharge unit 60, and a propulsion unit 20.

The detection unit 80 in this example is provided in the main body 10. However, the detection unit 80 may be provided in a different position, or may be integrated with other components in the control system 150 such as the fixed camera 12 or the motion control unit 85. As an example, the detection unit 80 includes sensor elements such as a gyroscope, an accelerometer, a proximity sensor, or an inertial sensor. Furthermore, the detection unit 80 may also include a 3D (three-dimensional) microphone, a sound sensor, a radar, or the like for detecting the unmanned aircraft 200. In other examples, the detection unit 80 may have a mechanism for monitoring the communication of the unmanned aircraft 200 in order to detect the unmanned aircraft 200. The detection unit 80 is electrically connected to the fixed camera 12 and the movable camera 32 to receive data from the fixed camera 12 and the movable camera 32. The detection unit 80 can integrate the data of the sensor components, the data received from the fixed camera 12 and the movable camera 32, etc., to detect the posture of the UAV 100 itself, and can also detect the surrounding obstacles of the UAV 100 or the UAV 200 And so on.

In order to efficiently extract information from the detected data, the detection unit 80 may perform various data processing such as image filtering processing and sound filtering processing on the data. The detection unit 80 can transfer data to the communication unit 90, and perform integrated processing of the received data and the detection data. In addition, the detection unit 80 can read and write data to and from the memory unit 95. As an example, the data stored in the memory unit 95 is read out, and mechanical learning is performed to improve the detection accuracy of the UAV 200. The detection unit 80 can send the detection data to the action control unit 85.

The operation control unit 85 performs control of each mechanism provided in the unmanned aircraft 100. The action control unit 85 can transmit data to and from the communication unit 90. As an example, the operation control unit 85 controls the drone 100 based on the data transmitted from the detection unit 85 and the data received from the communication unit 90. The action control unit 85 may also receive control data from the communication unit 90.

The action control unit 85 of this example controls the following: the propulsion unit 20, the support unit 30, the discharge unit 60, the fixed camera 12, the movable camera 32, the detection unit 80, and the communication unit 90. For example, the operation control unit 85 may perform the following control: based on the posture detection data of the drone 100 received from the detection unit 80, adjust the posture of the drone 100 by operating the propulsion unit 20 to automatically stabilize the posture. The operation control unit 85 may also operate the support unit 30 based on the control data received from the communication unit 80, and perform control such as the rotation of the support unit 30 with respect to the main body 10 to change the movable camera 32 and the discharge unit 60 Angle. Furthermore, the motion control unit 85 can also adjust the shooting functions of the fixed camera 12 and the movable camera 32, such as zooming, focus, and aperture control, and can also operate the ejection unit 60 to control the ejection operation of the content to be ejected. The action control unit 85 can integrate and manage the functions of the control system 150 of the unmanned aircraft 100 from the main unit 10, or may be distributed in various parts of the unmanned aircraft 100 and control various functions in a distributed manner.

The communication unit 90 can communicate with the control system 400 of the unmanned aircraft 100 described later, an external server, or the like. As an example, the detection data of the detection unit 80 may be communicated with an external server. In addition, the communication unit 90 may also communicate with surveillance equipment such as a radar or a 3D directional microphone provided around the unmanned aircraft 100 or the operator of the unmanned aircraft 100 to detect the presence of the unmanned aircraft 200. The communication part 90 may also have the function of reading out the memorized data from the memory part 95 and the function of writing the communication data into the memory part 95.

FIG. 4 shows an example of the control system 400 of the unmanned aircraft 100. As shown in FIG. The control system 400 of this example includes an unmanned aircraft 100 and a terminal device 410. The terminal device 410 includes a display unit 415 and a remote controller 420.

The display unit 415 displays the image taken by the camera mounted on the drone 100. The display unit 415 can display images taken by each of the fixed camera 12 and the movable camera 32. As an example, the display unit 415 displays the images of the fixed camera 12 and the movable camera 32 on a split screen. The display unit 415 can directly communicate with the unmanned aircraft 100 or indirectly communicate with the unmanned aircraft 100 via the remote controller 420. The display unit 415 can also communicate with an external server.

The display unit 415 displays the traveling direction of the drone 100 photographed by the fixed camera 12. The display unit 415 can grasp the surrounding conditions of the drone 100. On the display unit 415 of this example, the drone 200 is displayed. Based on the information displayed on the display portion 415, the user can control the drone 100 through the remote control 420.

The remote controller 420 is operated by the user to control the drone 100. The remote controller 420 may instruct the discharge unit 60 to discharge the contents in addition to the flight of the drone 100. The remote controller 420 can be connected to the display unit 415 in a wired or wireless manner. The number of the remote controller 420 is not limited to one. For example, a plurality of remote controllers 420 may be provided for the control of the drone 100 and the discharge control of the discharge unit 60, respectively.

FIG. 5 shows an example of a flowchart of an operation restriction method 300 in which the unmanned aircraft 100 restricts the operation of the unmanned aircraft 200. As shown in FIG. The operation restriction method 300 is a method of restricting the operation of the unmanned aircraft 200 by using the unmanned aircraft 100.

In step S302, the unmanned aircraft 100 detects the unmanned aircraft 200. The unmanned aircraft 100 of this example detects the presence, position, speed, acceleration, etc. of the unmanned aircraft 200 through the operation of the detection unit 80 in the control system 150. Once the UAV 100 detects the UAV 200, the UAV 200 is tracked by the user's operation or autonomous actions.

In step S304, the movement restriction means 120 is applied from the drone 100. By operating the discharge part 60, the content is discharged from the container 70. As shown in FIG. In step S304 of applying the movement restriction means 120 from the unmanned aircraft 100, the movement restriction means may be applied to the power of the unmanned aircraft 200. In this way, the operation of unmanned aircraft 200 can be restricted.

The step S304 of applying the movement restricting means 120 may also be a step of applying the movement restricting means 120 to the unmanned aircraft 200 from a higher altitude than the unmanned aircraft 200. Gravity can be used to induce the spit to the unmanned aircraft 200. Since the antenna or rotating wing of the unmanned aircraft 200 is often installed on the upper part of the unmanned aircraft 200, it is easy to aim at a specific component of the unmanned aircraft 200 and eject it.

In step S306, the movement of the UAV 200 is restricted by movement restriction means. As an example, when the movement restricting means 120 is an adhesive, it takes a certain amount of time to fix the adhesive. The adhesive provided on the UAV 200 will be fixed after a certain period of time, restricting the movement of the UAV 200.

In step S306 of restricting the movement of the unmanned aircraft 200 by the movement restriction means 120, a restriction that reduces the movement performance of the unmanned aircraft 200 by the movement restriction means 120 may be performed. In the UAV 100, the movement restriction means 120 such as an adhesive, a ferromagnetic body, or a spinneret can be used to reduce the movement of the driving mechanism of the UAV 100 and further reduce the movement performance of the UAV 200.

FIG. 6 shows another example 1 of a conceptual diagram in which the operation of the unmanned aircraft 200 is restricted by the unmanned aircraft 100. As shown in FIG. In this example, step S304 of applying the movement restricting means 120 from the unmanned aircraft 100 includes a step of applying the movement restricting means 120 to the fixed wing or the rotary wing of the unmanned aircraft 100.

The contents may contain solvents. The movement restriction means 120 can restrict movement by dissolving the driving mechanism of the drone 200 with a solvent. Alternatively, the content may be a solid containing metal or the like and fixed to a fixed wing or a rotating wing. It can also change the fixed wing or the rotary wing of the unmanned aircraft 200 into a shape that is not easy to rotate.

That is, the movement restriction means 120 can change the shape of the fixed wing or the rotary wing of the unmanned aircraft 200. The movement restriction means 120 can change the cross-sectional shape of the fixed wing or the rotary wing, making it difficult for the UAV 200 to obtain lift.

Especially when the content contains a solvent, the motion restricting means 120 may contain chemical substances used to corrode the materials of the fixed wing or the rotating wing. The container 70 may be provided with corrosion-resistant materials, and may contain contents that strongly corrode metals such as strong acids. Alternatively, the container 70 may be provided with metal, and the organic solvent may be discharged to the resin-made rotating blade, and the rotating blade may be corroded and softened, thereby changing the rotating blade into a shape that is not easy to rotate. The softened rotating wing will deform due to the centrifugal force of the rotating wing itself or the stress used to obtain the lift.

The fixed wing or the rotary wing will directly affect the unmanned aircraft 200 to hover or maintain its posture in the air. Therefore, with the movement restricting means 120 of this example, the function of the fixed wing or the rotary wing of the unmanned aircraft 200 can be reduced, making it difficult for the unmanned aircraft 200 to fly.

FIG. 7 shows another example 2 of the conceptual diagram in which the unmanned aircraft 100 restricts the operation of the unmanned aircraft 200. As shown in FIG. In this example, step S304 of applying the movement restricting means 120 from the drone 100 includes a step of applying the movement restricting means 120 to the main body of the drone 200.

The step of applying the movement restriction means 120 may include a step of attaching the movement restriction means to the second drone to increase its weight. The action restricting means 120 may be a liquid, sol or gel content containing ointment or adhesive of metal fillers such as iron powder. By attaching the movement restriction means 120 to the unmanned aircraft 200, the unmanned aircraft 200 is made heavier and the movement of the unmanned aircraft 200 is restricted.

FIG. 8 shows another example 3 of the conceptual diagram in which the unmanned aircraft 100 restricts the operation of the unmanned aircraft 200. As shown in FIG. In this example, the step S306 of restricting the movement of the UAV 200 by the movement restriction means 120 includes a step of applying the movement restriction means 120 to the sensor of the UAV 200.

The sensor of the UAV 200 is, for example, an optical sensor such as a stereo camera or LiDAR. By making the motion restricting means 120 act on the sensors of the drone 200, it becomes difficult for the drone 200 to detect surrounding conditions. As a result, the autonomous control of the drone 200 becomes difficult, and the operation from the user of the drone 200 also becomes difficult. Therefore, the operation of the unmanned aircraft 200 can be effectively restricted.

The movement restriction means 120 may include a coating material covering the sensor of the UAV 200. As an example, the function of the optical sensor is reduced by discharging paint, that is, the content to the optical sensor of the drone 200. In other examples, the container holding part may have a heating part of a Peltier element around the container 70. The action restricting means 120 discharges the heated content to a temperature sensitive sensor such as an infrared camera of the drone 200. In this way, the function of the sensor provided on the UAV 200 can be disturbed, the ability of the UAV 200 to grasp the surrounding conditions is reduced, and the autonomous control of the UAV 200 becomes more difficult.

FIG. 9 shows another example 4 of the conceptual diagram of the unmanned aircraft 100 restricting the operation of the unmanned aircraft 200. FIG. The step of applying the movement restricting means 120 from the drone 100 of this example includes the step of applying the movement restricting means 120 to the antenna for wireless communication of the drone 200.

As an example, the movement restricting means 120 may include a solvent. The unmanned aircraft 100 can reduce the operating performance of the GPS antenna by blowing a solvent onto a wireless communication antenna such as a GPS (Global Positioning System) antenna of the unmanned aircraft 200. Thereby, the self-position recognition performance of the unmanned aircraft 200 can be reduced, and the autonomous control of the unmanned aircraft 200 becomes difficult.

In other examples, the unmanned aircraft 100 may also blow the solvent onto the control antenna of the unmanned aircraft 200 or the like. Thereby, it is possible to make it difficult for the user of the unmanned aircraft 200 to use the communication for the operation of the unmanned aircraft 200. That is, step S306 of restricting the movement of the drone 200 by the movement restriction means 120 may include a step of reducing the remote control performance of the drone 200.

In other examples, the action restricting means 120 may include a shielding material that shields electromagnetic waves. As an example, the content is a sol-like or gel-like substance containing a large amount of metal filler. By blowing a large amount of metal filler, electromagnetic waves used for communication can be shielded. The content can effectively reduce the operating performance of the antenna of the unmanned aircraft 200 by combining two components including a shielding material for shielding electromagnetic waves and a solvent.

The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. Those with ordinary knowledge in the technical field to which this case belongs can clearly understand that various changes or improvements can be made to the above-mentioned implementation types. It can be clearly understood from the scope of the patent application that such changes or improvements are also included in the technical scope of the present invention.

It should be noted that the execution order of each process in the device, system, program and method in the scope of patent application, specification and drawings, as long as it does not specifically indicate "before", It can be implemented in any order without using the output of the previous processing in the subsequent processing. Regarding the scope of patent application, the description, and the flow of operations in the drawings, even if "first", "next", etc. are used for convenience, it does not necessarily mean that they must be implemented in this order.

10: Body part 12: Fixed camera 15: feet 20: Promotion Department 21: Rotating Wing 22: Rotary drive device 24: wrist 30: Support Department 32: movable camera 60: Discharge Department 62: spit out 64: Pipe Department 70: container 72: Flow Path 80: Inspection Department 85: Action Control Department 90: Ministry of Communications 95: Memory Department 100: unmanned aircraft 120: Movement Restriction Means 150: control system 200: unmanned aircraft 300: Action restriction method 400: control system 410: terminal device 415: Display 420: remote control S302~306: steps

FIG. 1A shows an example of a side view of unmanned aircraft 100. FIG. 1B shows an example of a front view of unmanned aircraft 100. FIG. 2 shows an example of a conceptual diagram in which the unmanned aircraft 100 restricts the operation of the unmanned aircraft 200. As shown in FIG. FIG. 3 shows an example of the outline of the operation of the control system 150 that controls the operation of the unmanned aircraft 100. FIG. 4 shows an example of the control system 400 of the unmanned aircraft 100. As shown in FIG. FIG. 5 shows the outline of the block diagram of the operation restriction method 300. As shown in FIG. FIG. 6 shows another example 1 of a conceptual diagram in which the operation of the unmanned aircraft 200 is restricted by the unmanned aircraft 100. As shown in FIG. FIG. 7 shows another example 2 of the conceptual diagram in which the unmanned aircraft 100 restricts the operation of the unmanned aircraft 200. As shown in FIG. FIG. 8 shows another example 3 of the conceptual diagram in which the unmanned aircraft 100 restricts the operation of the unmanned aircraft 200. As shown in FIG. FIG. 9 shows another example 4 of the conceptual diagram of the unmanned aircraft 100 restricting the operation of the unmanned aircraft 200. FIG.

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300: Action restriction method

S302~306: steps

Claims (16)

An action restriction method that uses a first unmanned aircraft to restrict the action of a second unmanned aircraft. The action restriction method has the following steps: Steps to detect the aforementioned second unmanned aircraft; Steps from the aforementioned first unmanned aircraft on the aforementioned second unmanned aircraft to impose movement restriction means; and, The steps of restricting the movement of the second unmanned aircraft by the aforementioned movement restriction means. The movement restriction method according to claim 1, wherein the step of restricting the movement of the second unmanned aircraft includes a step of reducing the movement performance of the second unmanned aircraft. The movement restriction method according to claim 1, wherein the step of applying the movement restriction means includes applying the movement restriction means to the second unmanned aircraft from a higher altitude than the second unmanned aircraft的步。 The steps. The movement restriction method according to any one of claims 1 to 3, wherein the step of applying the movement restriction means includes a step of applying the movement restriction means to the power of the second drone. The movement restriction method according to claim 4, wherein the movement restriction means acts as a resistance to the power. The operation restriction method according to claim 4, wherein the operation restriction means includes a magnetic body that changes the magnetic field of the motor used for the power. The movement restriction method according to any one of claims 1 to 3, wherein the step of applying the movement restriction means includes the step of applying the movement restriction means to the fixed or rotary wing of the second unmanned aircraft. The movement restriction method according to claim 7, wherein the movement restriction means changes the shape of the wing of the fixed wing or the rotating wing. The movement restriction method according to claim 8, wherein the movement restriction means includes a chemical substance used to corrode the material of the fixed wing or the rotating wing. The movement restriction method according to any one of claims 1 to 3, wherein the step of applying the movement restriction means includes the step of applying the movement restriction means to the main body of the second drone. The movement restriction method according to claim 10, wherein the step of applying the movement restriction means includes the step of attaching the movement restriction means to the second unmanned aircraft to increase the weight. The operation restriction method according to any one of claims 1 to 3, wherein the step of restricting the operation of the second unmanned aircraft includes a step of reducing the remote control performance of the second unmanned aircraft. The movement restriction method according to claim 12, wherein the step of applying the movement restriction means includes the step of applying the movement restriction means to the sensor of the second drone. The motion restriction method according to claim 13, wherein the motion restriction means includes a coating material, and the coating material covers the sensor. The movement restriction method according to claim 12, wherein the step of applying the movement restriction means includes the step of applying the movement restriction means to the wireless communication antenna of the second drone. The movement restriction method according to claim 15, wherein the movement restriction means includes a shielding material that shields electromagnetic waves.

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