WO2017138049A1

WO2017138049A1 - Flying body and control system therefor

Info

Publication number: WO2017138049A1
Application number: PCT/JP2016/004754
Authority: WO
Inventors: 堀ノ内　貴志; 俊典廣瀬
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2016-02-10
Filing date: 2016-10-28
Publication date: 2017-08-17

Abstract

The control system (100) includes a flying body (10) and a base station (50). The base station is equipped with a light source unit which irradiates guide light of a predetermined wavelength. The flying body is equipped with: a propulsion unit which generates propulsive force for flying in the air; a distance measuring unit which measures the distance between the flying body and an object within a predetermined space around the flying body; an imaging unit which captures an image of the object in the predetermined space, and generates image data; and a first controller which controls the movement of the flying body. The first controller determines the relative positional relationship of the flying body with respect to the base station on the basis of the image of the guide light included in the image data generated by the imaging unit and the information from the distance measuring unit.

Description

Aircraft and its control system

The present disclosure relates to an aircraft flying in the air and a control system thereof.

In automatic operation / remote operation of an outdoor work robot, a system that acquires a positioning signal from a satellite such as a GPS satellite and performs self-position acquisition and position / orientation control is useful (see Patent Document 1). However, under a large structure such as a bridge or indoor and in a narrow part, the working robot cannot capture a positioning signal from the satellite, and position and orientation control becomes difficult.

For example, Patent Document 2 discloses a technique related to position and orientation control. Patent Document 2 discloses an apparatus that obtains distance distribution information (distance image) on the lower surface by performing stereo processing on a captured image captured by a stereo camera, and calculates the attitude angle of the own device from distance information of a large number of measurement points. is doing. Patent Document 3 discloses a method of tracking a flying object including a light reflector with a surveying device.

JP 2006-001486 A JP 2002-188917 A JP2015-145784 A

The present disclosure provides a flying object control system that can stably control the attitude of a flying object even in a situation where a satellite positioning signal such as a GPS signal cannot be captured due to an obstacle.

In a first aspect of the present disclosure, a flying object control system including a flying object and a base station is provided. The base station includes a light source unit that emits guide light having a predetermined wavelength. The flying object includes a propulsion unit that generates a driving force for flying in the air, a distance measuring unit that measures a distance from the flying object to an object existing in a predetermined space around the flying object, and a predetermined measurement unit. An imaging unit that captures an image of a subject existing in space and generates image data, and a first controller that controls the operation of the flying object. The first controller obtains the relative positional relationship of the flying object with respect to the base station based on the guide light image included in the image data generated by the imaging unit and information from the distance measuring unit.

According to the control system of the present disclosure, the flying object can recognize the relative position with respect to the base station based on the guide light from the base station. For this reason, if the base station is arranged at a position where the flying object can receive the guide light from the base station, even if the satellite positioning signal such as a GPS signal cannot be captured by an obstacle, the flying object can be stably obtained. Attitude control can be performed.

The figure explaining the structure of the control system of the flying body in Embodiment 1 Figure showing the appearance of the flying object Block diagram showing the functional configuration of the aircraft Illustration for explaining the orientation of the flying object in flight Illustration explaining the angle of view of the omnidirectional distance measuring device Block diagram showing the functional configuration of the omnidirectional rangefinder of the flying object Diagram showing the appearance of the base station Block diagram showing the functional configuration of the base station Flowchart showing the process of the control system of the flying object in the first embodiment The figure which shows the example of the HSV image image | photographed with an omnidirectional ranging device The figure which shows the example of the distance image produced | generated by the omnidirectional ranging device The figure which shows the example of the filter in the omnidirectional distance measuring device The figure which shows the functional structure of the aircraft in Embodiment 2. The figure which shows the example of the filter in the omnidirectional ranging device in Embodiment 2. FIG. 4 is a block diagram showing a functional configuration of a base station in the second embodiment. Flowchart showing processing of the control system for an aircraft in the second embodiment The figure which shows the example of the image B image | photographed with the omnidirectional ranging device The figure which shows the example of the distance image based on the image A The figure which shows the functional structure of the flying body in Embodiment 3, The figure which shows the functional structure of the base station in the omnidirectional ranging device in Embodiment 3. Flowchart showing processing of the control system for an aircraft in the third embodiment Diagram showing irradiation timing of distance measuring light and guide light

Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.

The inventor (s) provides the accompanying drawings and the following description in order for those skilled in the art to fully understand the present disclosure, and is intended to limit the subject matter described in the claims. Not what you want.

(Embodiment 1)
The first embodiment will be described below with reference to the accompanying drawings.

[1. Constitution]
FIG. 1 is a diagram illustrating a configuration of an aircraft control system according to the present disclosure. The flying vehicle control system 100 includes an unmanned flying vehicle (a so-called “drone”) 10 that is automatically piloted, and a base station 50 that gives instructions to the flying vehicle. In the example illustrated in FIG. 1, the flying object 10 captures the state of the bridge floor slab 73 and the bridge girder 74 with a camera while moving under the bridge. The base station 50 is attached and fixed to a part of the bridge. Below the bridge, the GPS signal from the GPS satellite is shielded by the floor slab 73 and the bridge girder 74 and does not reach the flying object 10. For this reason, the flying object 10 cannot receive GPS signals, and position control becomes difficult.

Hereinafter, a control system for a flying object that enables the flying object to grasp the position of its own device even in a situation where a positioning signal from such a GPS satellite cannot be received will be disclosed. The flying object 10 of the present embodiment grasps the relative position with respect to the base station 50 based on the guide light (light indicating the position of the base station 50) emitted from the base station 50, and performs position and orientation control based on the relative position. (Details will be described later).

[1.1 Configuration of the flying object]
FIG. 2 is a view showing the appearance of the flying object 10. FIG. 3A is a block diagram showing a functional configuration of the flying object 10. The flying object 10 includes a main body 11 and a propulsion device 15 that generates a propulsive force of the flying object 10. The propulsion device 15 is attached to the tip of the support portion 13 extending from each of the squares of the main body 11. Further, a first camera 21 is attached to the side surface of the main body 11. An inertial measuring device 17, a GPS positioning device 18, an omnidirectional distance measuring device 19, and a second camera 21b are attached to the upper side of the main body 11. A communication unit 23 and a battery 25 are attached to the lower side of the main body 11. A controller 16 is accommodated in the main body 11.

The propulsion device 15 includes a propeller and a motor that rotates the propeller. In the example of FIG. 2, the flying object 10 includes four propulsion devices 15, but the number of propulsion devices is not limited to four, and may be five or more, for example. By appropriately controlling the rotation speed of each propeller 15, the moving direction and flight state of the flying object 10 can be controlled.

The first camera 21 captures a subject (inspection target) and generates high-definition (for example, 4K) image data for inspection. The first camera 21 includes an optical system and an image sensor such as a CCD or CMOS image sensor, and shoots a subject to generate image data. The first camera 21 captures visible light and generates image data. An image generated by imaging such visible light is hereinafter referred to as an “RGB image”. In the present embodiment, the first camera 21 is attached to the side surface of the flying object 10 toward the upper side of the flying object 10. The flying object 10 can take an image of a predetermined angle of view vertically above the flying object 10 during the flight. That is, the state of the lower side of the building can be photographed by causing the flying object 10 to fly under the building to be inspected.

The inertial measurement device 17 includes an acceleration sensor and a gyro sensor, and measures the acceleration and angular velocity of the flying object 10. Based on the output from the inertial measurement device 17, the behavior and attitude of the flying vehicle 10 are controlled.

The GPS positioning device 18 receives a signal from a GPS (Global Positioning System) satellite and measures the current position of the flying object 10. The battery 25 is a power source that supplies a power supply voltage to each element of the flying vehicle 10.

The omnidirectional distance measuring device 19 (hereinafter simply referred to as “ranging device”) captures a space around the distance measuring device 19 at a wide angle, and generates a distance image indicating a distance to an object existing in the space. Specifically, as shown in FIG. 4A, a substantially hemispherical space (hereinafter referred to as “measurement target space”) surrounding a portion where the light of the distance measuring device 19 enters and exits is photographed. The range in which the distance measuring device 19 can shoot covers all directions (360 °) in the horizontal direction and covers a range of 180 ° or more in the vertical direction. The distance measuring device 19 can be constituted by, for example, a TOF (Time） of Flight) sensor capable of photographing at a wide angle.

FIG. 4B is a diagram showing a functional configuration of the distance measuring device 19. The distance measuring device 19 includes a light receiving lens 192, a filter 193, a light receiving unit 194, a control unit 195 (an example of a second controller), a light source unit 197, and an irradiation lens 199. The light source unit 197 emits light for measuring the distance to the object in the measurement target space (hereinafter referred to as “ranging light”) at a predetermined timing in accordance with the control of the control unit 195. The distance measuring light is infrared light and has a predetermined wavelength (wavelength A). The light source unit 197 includes a plurality of (for example, eight or more) laser diodes that output laser light having a predetermined wavelength (wavelength A) and a diffusion plate. Laser light from a plurality of laser diodes is diffused by a diffusion plate to become uniform light, and is irradiated in all directions through the irradiation lens 199 as distance measurement light. The light receiving lens 192 is a wide-angle lens that can capture an image in a wide range (hemispherical range) as shown in FIG. 4A. The irradiation lens 199 is a lens for diffusing and irradiating the distance measuring light at a wide angle so that the distance measuring light is irradiated to an object in a wide range as shown in FIG. 4A.

The filter 193 is an optical filter configured to transmit light of a wavelength component having a predetermined width centered on the wavelength of the distance measuring light (wavelength A) in the light received through the light receiving lens 192. By filtering in this way, the light receiving unit 194 receives only the reflected light of the distance measuring light (wavelength A).

The light receiving unit 194 includes an image sensor such as a CMOS image sensor, and generates image data based on the received light. The light receiving unit 194 receives light through the filter 193 to generate image data of an image (hereinafter referred to as “IR image”) by reflected light of the distance measuring light (wavelength A).

In the distance measuring device 19 configured as described above, the light source unit 197 emits distance measuring light. The distance measuring light is reflected by an object existing in the measurement object space. The reflected light is received by the light receiving unit 194 through the filter 193, and an IR image is generated. The control unit 195 generates a distance image using information on the IR image generated by the light receiving unit 194.

The second camera 21b includes an optical system and an image sensor such as a CCD or a CMOS image sensor. The second camera 21b captures visible light and generates RGB image data. The RGB image data is image data used for ranging (hereinafter referred to as “ranging image data”). The distance measurement image data generated by the second camera 21b has a lower resolution than the image data generated by the first camera 21. The second camera 21b has the same angle of view as the distance measuring device 19, images the same measurement target space as the distance measuring device 19, and generates distance measurement image data. That is, in the present embodiment, distance measurement image data (RGB image data) by the second camera 21b and distance image data by the distance measuring device 19 are generated for the same measurement target space.

[1.2 Base station configuration]
FIG. 5 is a diagram illustrating an appearance of the base station 50. FIG. 6 is a block diagram showing a functional configuration of the base station 50. As shown in FIGS. 5 and 6, the base station 50 includes a light source unit 51 that emits guide light, a communication unit 53 that communicates with the flying object 10, a battery 55 that supplies power, and operations of the light source unit 51. And a GPS positioning device 58 that measures the current position of the base station 50.

Furthermore, as shown in FIG. 5, the base station 50 includes a reflecting plate 52 around the light emitting part of the light source part 51. The base station 50 includes a support member 59 for fixing to an inspection object such as a bridge. The reflector 52 reflects the distance measuring light from the flying object 10.

The communication unit 53 includes a communication module for performing wireless communication with the flying object 10. The controller 56 is configured by a programmable microcomputer or the like. The GPS positioning device 58 receives a signal from a GPS satellite and measures the current position (absolute position) of the base station 50. The GPS positioning device 58 includes an antenna 58a for receiving a signal from a GPS satellite. The antenna 58a is installed at a position protruding from the bridge 71 so that a signal from the GPS satellite is not shielded by the floor slab 73 or the bridge girder 74.

The light source unit 51 includes an LED (light emitting diode) that emits guide light, a lens for irradiating light emitted from the LED at a wide angle, and a drive circuit that drives the LED. Here, the color (wavelength) of the guide light emitted from the light source unit 51 is set to a specific color (wavelength) that can be photographed by the first camera 21.

[2. Operation]
The operation of the aircraft control system 100 configured as described above will be described. The flying object 10 flies in a posture in which the side to which the distance measuring device 19 is attached faces upward. The flying object 10 moves in a state in which it always faces a certain direction with respect to the inspection object. That is, as shown in FIG. 3B, when the flying object 10 moves in the direction of the arrow, the flying object 10 always moves while facing a certain direction.

The flying object 10 flies below the inspection object (for example, bridge floor slab 73 or bridge girder 74) in accordance with the instruction from the base station 50 or the pre-programmed instruction content, and is inspected by the first camera 21. An image of the surface of an object (for example, a bridge floor slab 73 or a bridge girder 74) is taken. The flying object 10 grasps the relative positional relationship (position and orientation) with respect to the base station 50 based on the guide light from the base station 50. The base station 50 measures its own absolute position by the GPS positioning device 58 and notifies the flying object 10 of the absolute position of the base station 50. Based on the absolute position of the base station 50 and the relative positional relationship with respect to the base station 50, the flying object 10 recognizes the absolute position of its own device and determines the flight path.

FIG. 7 is a flowchart showing processing in the flying object control system 100 according to the first embodiment. The operation of recognizing the relative positional relationship between the flying object 10 and the base station 50 in the flying object control system 100 will be described with reference to the flowchart of FIG.

The base station 50 emits guide light of a desired color from the light source unit 51 (S11). The second camera 21b of the flying object 10 takes a wide-angle image of the measurement target space and generates distance measurement image data (S12). Here, the distance measurement image data generated by the second camera 21b is image data represented by RGB signals. The controller 16 of the flying object 10 converts the ranging image represented by RGB into an HSV image represented by hue, saturation, and value (S13). The controller 16 extracts a light source having a color close to the guide light from the HSV image, and detects the position of the guide light (that is, the light source 51 or the reflection plate 52) in the HSV image (S14).

FIG. 8A is a diagram showing an example of an HSV image generated by performing color conversion from an RGB image for distance measurement generated by the second camera 21b. In the figure, the center P00 indicates the position of the flying object 10, and the star mark P01 indicates the position on the image that emits a color close to the guide light. The controller 16 detects the position of the guide light (that is, the light source 51 or the reflection plate 52) by extracting a pixel including a color close to the guide light from the HSV image 60.

Then, the controller 16 detects the orientation of the base station 50 from the position of the guide light detected on the HSV image (S15). For example, the azimuth D of the base station 50 is obtained from the position P01 of the guide light specified on the HSV image 60 shown in FIG. 8A. As described above, the flying object 10 moves in a fixed direction with respect to the inspection object (for example, attitude control in which one of the longitudinal directions of the bridge is always forward of the flying object). The azimuth indicated in the image does not change greatly depending on the flight status of the aircraft 10.

The laser light (ranging light) of wavelength A is emitted from the light source unit 197 of the distance measuring device 19 of the flying object 10 through the irradiation lens 199 at a wide angle (S16). Then, the distance measuring device 19 shoots the measurement target space and generates a distance image (S17). Specifically, the light receiving unit 194 of the distance measuring device 19 receives the reflected light of the distance measuring light through the filter 193, thereby photographing the measurement target space and generating image data. The control unit 195 generates image data indicating a distance image based on the image data generated by the light receiving unit 194.

The controller 16 of the flying object 10 determines the distance from the flying object 10 to the guide light (that is, the light source 51 or the reflecting plate 52) of the base station 50 based on the previously determined direction of the base station 50 and the position of the guide light. Measure (S18). Specifically, in the distance image, the controller 16 obtains a position corresponding to the position of the guide light (such as the light source unit 51) previously obtained from the HSV image, and obtains the distance to this position. FIG. 8B is a diagram showing an example of a distance image corresponding to the HSV image 60 shown in FIG. 8A. 8A and 8B, in the distance image 62, the pixel position P11 corresponding to the position P01 obtained from the HSV image 60 is obtained, and the distance to the pixel at this position P11 is obtained.

The controller 16 of the flying object 10 obtains a relative positional relationship (position and orientation) with respect to the base station 50 based on the azimuth of the base station 50 and the distance to the base station 50 obtained as described above (S19).

The flying object 10 acquires the absolute position of the base station 50 from the base station 50. Since the absolute position of the base station 50 is known, the flying object 10 can recognize the absolute position of the flying object 10 by recognizing the relative positional relationship of the flying object 10 with respect to the base station 50. Therefore, even in a situation where GPS signals or the like cannot be received due to an obstacle, the controller 16 of the flying object 10 can grasp the absolute position of the own device from the relative positional relationship with the base station 50 and control the flight path. it can.

In the above description, the image data of the RGB image for distance measurement is generated by the first camera 21b, and the image data of the distance image is generated by the distance measuring device 19, respectively. However, one ranging device 19 may generate image data of RGB images for distance measurement in addition to distance image data. In this case, in the distance measuring device 19, the filter 193 is configured to have characteristics as shown in FIG. FIG. 9 shows the transmission characteristics for four pixels for convenience of explanation, and the pattern shown in FIG. 9 is repeatedly applied to the entire pixel region of the light receiving unit 194. The filter 193 separates R, G, and B colors and infrared light (IR) for each pixel. The light receiving unit 194 receives light through a filter 193 having a pattern as shown in FIG. 9, whereby image data of a distance measurement image (RGB image) using R, G, and B light and distance measurement light (infrared) Image data of an image (IR image) by light is generated separately. As described above, the control unit 195 generates the image data of the distance image based on the image data of the IR image.

In this case, the controller 16 of the flying object 10 acquires the image data of the RGB image for distance measurement and the data of the distance image from the distance measuring device 19, and uses these image data to perform the same method as the above-described method. Thus, the relative positional relationship with respect to the base station 50 is recognized.

Further, the configuration of the distance measuring device 19 is not limited to the above-described one, and any other configuration may be used as long as it can capture a distance image in the infrared wavelength region and an image in the visible wavelength region. Good. For example, as a distance measuring device used in the flying object control system 100, a distance measuring device having a configuration disclosed in Japanese Patent Application Laid-Open No. 2008-70374 can be applied.

Note that the controller 56 of the base station 50 may transmit the guide light emitted from the light source unit 51 after modulating it with a modulation signal. At this time, the modulation signal may include, for example, identification information for identifying the base station. The flying object 10 is obtained by demodulating the signal extracted through the RGB image obtained by photographing the guide light to extract the identification information included in the modulation signal, and the guide light is emitted from the base station 50 based on the extracted identification information. I can confirm that there is. Thereby, disturbance light and guide light can be distinguished, and it can prevent misidentifying the position of the base station 50 by disturbance light.

[3. Effect, etc.]
As described above, the control system 100 according to the present embodiment is a control system including the flying object 10 and the base station 50. The base station 50 includes a light source unit 51 that emits guide light having a predetermined wavelength (specific color). The flying object 10 is a omnidirectional distance measuring device that measures a distance from a propulsion device 15 that generates a propulsive force for flying in the air and an object existing in a predetermined space around the flying object 10. A device 19 (an example of a distance measuring unit), a second camera 21b (an example of an imaging unit) that captures an image of a subject existing in a predetermined space and generates image data, and a controller 16 (which controls the operation of the flying object) An example of a first controller). The controller 16 obtains the relative positional relationship of the flying object with respect to the base station 50 based on the guide light image included in the image data generated by the second camera 21 b and the information from the omnidirectional distance measuring device 19.

Since the flying object 10 can grasp the relative positional relationship of its own device with the guide light from the base station 50, it can grasp the position of its own device even when the GPS signal or the like cannot be received due to an obstacle or the like. it can. In addition, the influence of multipath can be eliminated by using light instead of sound waves and radio waves as a communication medium.

(Embodiment 2)
In the first embodiment, the base station 50 includes an LED, and radiates light emitted from the LED as guide light. On the other hand, in this embodiment, a configuration example in the case where the base station emits laser light as guide light will be described.

FIG. 10A is a diagram showing a functional configuration of the flying object 10b in the second embodiment. The flying object 10b according to the second embodiment is different from the structure of the flying object 10 according to the first embodiment in that the second camera 21b is not provided. Further, the omnidirectional distance measuring device 19b is different from the configuration of the first embodiment in that it receives infrared light of two types of wavelengths (wavelength A and wavelength B) and generates a captured image for each wavelength. For this reason, the filter 193 of the omnidirectional distance measuring device 19b of Embodiment 2 has a transmission characteristic as shown in FIG. 10B. FIG. 10B shows the transmission characteristics for four pixels for convenience of explanation, and the pattern shown in FIG. 10B is repeatedly applied to the entire pixel region of the light receiving unit 194. FIG. 10B shows filter characteristics that transmit the wavelength A and the wavelength B for each pixel. By using a filter 193 as shown in FIG. 10B, the light receiving unit 194 of the omnidirectional distance measuring device 19b can receive light of wavelength A or light of wavelength B for each pixel. As a result, the light receiving unit 194 of the omnidirectional distance measuring device 19b can generate image data of an image based on light received at a wavelength A and image data of an image based on light received at a wavelength B. The control unit 195 generates distance image data based on a signal from a pixel that receives the wavelength A.

FIG. 11 is a diagram showing a configuration of the base station 50b in the second embodiment. In the first embodiment, the light source unit 51 includes an LED. In the second embodiment, the light source unit 51b includes a laser diode that emits a laser beam having a wavelength B different from the wavelength A of the ranging light. This is different from the first embodiment. That is, in the second embodiment, the distance measuring light and the guide light are the same laser light, but their wavelengths (wavelength A and wavelength B) are different.

FIG. 12 is a flowchart showing processing of the flying object control system 100 according to the second embodiment. The operation of the flying object control system 100 according to the second embodiment will be described with reference to the flowchart of FIG.

The base station 50b radiates guide light having a wavelength B from the light source unit 51b (S21). The distance measuring device 19b of the flying object 10 irradiates laser light (ranging light) having a wavelength A from the light source unit 197 at a wide angle (S22).

The distance measuring device 19b takes a wide-angle image of the measurement target space, and image data of an image based on light received at wavelength A (hereinafter referred to as “image A”) and an image based on light received at wavelength B (hereinafter referred to as “image B”). Is generated) (S23).

The controller 16 detects the position of the guide light (that is, the light source unit 51 or the reflection plate 52) from the image B (S24). FIG. 13A is a diagram illustrating an example of an image B. In the figure, the center P00 indicates the position of the flying object 10, and the star P02 indicates the position of the guide light. The controller 16 can detect the position of the guide light (that is, the light source unit 51 or the reflection plate 52) based on the luminance of each pixel of the image B (60b).

Then, the controller 16 detects the azimuth of the base station 50b from the position of the guide light detected on the image B (S25). For example, the direction D1 of the base station 50 is obtained from the position P02 of the guide light detected on the image B (60b) shown in FIG. 13A.

The control unit 195 of the distance measuring device 19 generates image data indicating a distance image based on the image data of the image A (S26).

The controller 16 of the flying object 10 determines the base station 50 (that is, the guide light, the light source unit 51, or the reflector 52) based on the orientation of the base station 50b obtained in step S25 and the position of the guide light obtained in step S24. Is measured (S27). FIG. 13B is a diagram illustrating an example of a distance image obtained from the image A. In the example of FIGS. 13A and 13B, in the distance image 62b, the pixel position P22 corresponding to the position P02 obtained from the image B (60b) is obtained, and the distance to the pixel at this position P22 is obtained.

Then, the controller 16 obtains a relative positional relationship (position and orientation) with respect to the base station 50 based on the orientation of the base station 50b and the distance to the base station 50b obtained as described above (S28).

As described above, even when the laser light is used for the guide light from the base station 50b and the distance measuring light from the flying object 10, the desired wavelength based on each light can be obtained by making the wavelengths different from each other. Can be controlled. Thereby, the flying body 10 can obtain a relative positional relationship with respect to the base station 50b based on the guide light.

(Embodiment 3)
In the second embodiment, the wavelength of the guide light from the base station and the distance measuring light from the distance measuring device are different. On the other hand, in the present embodiment, a configuration in the case where the wavelength of the guide light from the base station and the wavelength of the distance measuring light from the distance measuring device are the same will be described.

FIG. 14A is a diagram showing a functional configuration of the flying object 10c in the third embodiment. The flying object 10c of the third embodiment is different from the structure of the flying object 10b of the second embodiment in the filter of the omnidirectional distance measuring device. That is, in the third embodiment, as in the first embodiment, the filter 193 has a characteristic of transmitting light of wavelength A.

FIG. 14B is a diagram illustrating the configuration of the base station 50c according to the third embodiment. In the second embodiment, the light source unit 51b outputs guide light (laser light) having a wavelength different from the wavelength of the distance measuring light. On the other hand, the light source unit 51c according to the present embodiment outputs guide light (laser light) having the same wavelength as the distance measuring light (that is, wavelength A).

FIG. 15 is a flowchart showing processing of the flying object control system 100 according to the third embodiment. The operation of the flying object control system 100 according to the third embodiment will be described with reference to the flowchart of FIG.

The base station 50c irradiates guide light having a wavelength A from the light source unit 51c (S31). While the guide light is emitted from the light source unit 51c, as shown in FIG. 16, the flying object 10 stops the irradiation of the distance measuring light.

The distance measuring device 19c takes a wide-angle image of the measurement target space, and generates image data of an image (image A) based on the received light of wavelength A (S32).

The controller 16 detects the position of the guide light (that is, the light source unit 51) from the image A (S33). Further, the controller 16 detects the azimuth of the base station 50c from the position of the guide light detected on the image A (S34).

The ranging device 19c of the flying object 10 irradiates laser light (ranging light) having a wavelength A at a wide angle (S35). While the laser beam (ranging beam) is emitted from the distance measuring device 19c, the base station 50c stops the irradiation of the guide beam as shown in FIG. Then, the distance measuring device 19 performs wide-angle imaging of the measurement target space, generates image data of the image A based on the received light of wavelength A, and generates image data indicating the distance image based on the image data of the image A ( S36). In this manner, the irradiation timing of the ranging light from the flying object 10 is different from the irradiation timing of the guide light from the base station 50c (see FIG. 16). Thereby, even when the same wavelength is used for the distance measuring light and the guide light, it is possible to perform desired control based on each light without interfering with each other.

The controller 16 of the flying object 10 reaches the base station 50c (that is, the guide light, the light source 51, or the reflector 52) based on the direction of the base station 50c obtained in step S34 and the position of the guide light obtained in step S33. Is measured (S37).

Then, the controller 16 obtains a relative positional relationship (position and orientation) with respect to the base station 50c based on the orientation of the base station 50c and the distance to the base station 50c obtained as described above (S38).

In order to prevent interference between the irradiation timing of the guide light from the base station 50 in step S31 and the irradiation timing of the distance measuring light from the flying object 10 in step S35, the flying object 10 and the base station 50 are: It is necessary to accurately synchronize the time managed by them in advance. In this case, each of the flying object 10 and the base station 50 exclusively uses wavelength A light (ranging light or guide light) at a predetermined timing (see FIG. 16) so that the light irradiation timings do not overlap each other. Irradiate. Alternatively, the base station 50 and the flying object 10 may communicate to control each other's irradiation timing exclusively. In this case, when one device of the flying object 10 and the base station 50 stops emitting the light of the wavelength A (ranging light or guide light), the other device may be notified to that effect. When the other device receives the notification of the stop of irradiation from the one device, the other device may irradiate light of wavelength A for a certain period of time. By such a method, the ranging light from the flying object 10 and the guide light from the base station 50 can be exclusively irradiated.

As described above, in the present embodiment, the guide light and the distance measurement light are emitted exclusively by controlling the timing of the guide light irradiation and the distance measurement light irradiation, so that the guide light and the distance measurement light have the same wavelength. Light can be distinguished and detected. Therefore, the flying object 10 can obtain the relative positional relationship with respect to the base station 50c based on the guide light even if the wavelengths of the guide light and the distance measuring light are the same.

(Other embodiments)
As described above, Embodiments 1 to 3 have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to an embodiment in which changes, replacements, additions, omissions, and the like are appropriately performed. Also, it is possible to combine the components described in the first to third embodiments to form a new embodiment. Therefore, other embodiments will be exemplified below.

The configuration of the omnidirectional distance measuring device in the above embodiment is not limited to that described above. Other configurations can be applied to the omnidirectional distance measuring device as long as the distance to the object can be measured. For example, a configuration in which a distance to an object is measured using a stereo camera can be applied.

In the above-described embodiment, the example in which the flying object 10 and the base station 50 perform wireless communication has been described. However, the flying object 10 and the base station 50 may be connected by wire to perform communication by wired communication. .

In the above embodiment, the first camera 21 is mounted upward with respect to the flying object 10 so as to shoot a subject in the space above the flying object 10, but the orientation of the first camera 21 is this. It is not limited to. The direction of the first camera 21 may be set as appropriate according to the part to be inspected and the structure of the inspection object.

In the above embodiment, the omnidirectional distance measuring device 19 is also attached to the flying object 10 so as to photograph the hemispheric space above the flying object 10 and generate a distance image. However, the direction of the omnidirectional distance measuring device 19 is not limited to this. The orientation of the omnidirectional distance measuring device 19 may be set as appropriate according to the part or structure to be inspected of the inspection object. For example, when inspecting the upper surface of the inspection object, the omnidirectional distance measuring device 19 may be attached to the flying object 10 so as to photograph a hemispheric space below the flying object 10 and generate a distance image.

In the above embodiment, the controller 16 and the control unit 195 of the flying object 10 and the controller 56 in the base station can be constituted by an electronic circuit such as a CPU, MPU, DSP, microcomputer, FPGA, ASIC or the like.

As described above, the embodiments have been described as examples of the technology in the present disclosure. For this purpose, the accompanying drawings and detailed description are provided.

Accordingly, among the components described in the accompanying drawings and the detailed description, not only the components essential for solving the problem, but also the components not essential for solving the problem in order to illustrate the above technique. May also be included. Therefore, it should not be immediately recognized that these non-essential components are essential as those non-essential components are described in the accompanying drawings and detailed description.

In addition, since the above-described embodiment is for illustrating the technique in the present disclosure, various modifications, replacements, additions, omissions, and the like can be performed within the scope of the claims or an equivalent scope thereof.

The control system of the present disclosure is useful for a flying object control system because it enables stable attitude control of the flying object even in a situation where a satellite positioning signal such as a GPS signal cannot be captured by an obstacle.

Claims

A control system including an air vehicle and a base station,
The base station includes a light source unit that emits guide light having a predetermined wavelength.
The aircraft is
A propulsion unit that generates propulsive force for flying in the air,
A distance measuring unit for measuring a distance from the flying object to an object existing in a predetermined space around the flying object;
An imaging unit that captures an image of a subject existing in the predetermined space and generates image data;
A first controller for controlling the operation of the aircraft,
The first controller obtains a relative positional relationship of the flying object with respect to the base station based on an image of guide light included in image data generated by the imaging unit and information from the distance measuring unit. Control system.
The distance measuring unit is
A light emitting unit for emitting distance measuring light;
A light receiving unit that receives distance measuring light reflected by the object;
A second controller that generates distance image data indicating a distance from the flying object to an object existing in the predetermined space based on distance measuring light received by the light receiving unit;
The first controller includes:
From the image data generated by the imaging unit, detect the orientation of the base station relative to the flying object,
The position of the base station is specified from the image data based on the image of the guide light, and the distance of the base station is determined from the distance image data using the specified position.
The control system according to claim 1, wherein a relative positional relationship between the flying object and the base station is obtained based on an orientation of the base station and a distance of the base station.
The wavelength of the guide light from the base station is different from the wavelength of the ranging light emitted from the ranging unit of the flying object,
The control system according to claim 2.
The wavelength of the guide light from the base station and the wavelength of the ranging light emitted from the ranging unit of the flying object are the same,
The guide light and the distance measuring light are irradiated at mutually exclusive timings,
The control system according to claim 2.
The control system according to any one of claims 1 to 4, wherein the predetermined space is a space including a range of a hemisphere above the aircraft or a space including a range of a hemisphere below the aircraft.
The control system according to any one of claims 1 to 4, wherein the imaging unit and the distance measuring unit are formed as one element.
5. The control system according to claim 1, further comprising a camera that captures an image of a subject and generates image data having higher image quality than the image data.
The light source unit of the base station transmits guide light modulated with a predetermined modulation signal,
The first controller demodulates a signal obtained from the image of the guide light to obtain the modulated signal;
The control system according to claim 1.
A flying object capable of flying in the air while recognizing a relative positional relationship with respect to the base station based on guide light emitted from a base station arranged at a predetermined position;
A propulsion unit that generates propulsive force for flying in the air,
A distance measuring unit for measuring a distance from the flying object to an object existing in a predetermined space around the flying object;
An imaging unit that captures an image of a subject existing in the predetermined space and generates image data;
A first controller for controlling the operation of the aircraft,
The first controller obtains a relative positional relationship with respect to the base station based on the guide light image included in the image indicated by the image data generated by the imaging unit and information from the distance measuring unit. ,
Flying body.