WO2021079516A1 - Procédé de création d'itinéraire de vol pour corps volant et serveur de gestion - Google Patents

Procédé de création d'itinéraire de vol pour corps volant et serveur de gestion Download PDF

Info

Publication number
WO2021079516A1
WO2021079516A1 PCT/JP2019/042023 JP2019042023W WO2021079516A1 WO 2021079516 A1 WO2021079516 A1 WO 2021079516A1 JP 2019042023 W JP2019042023 W JP 2019042023W WO 2021079516 A1 WO2021079516 A1 WO 2021079516A1
Authority
WO
WIPO (PCT)
Prior art keywords
flight path
flight
generation method
parameters
coordinates
Prior art date
Application number
PCT/JP2019/042023
Other languages
English (en)
Japanese (ja)
Inventor
兼太郎 深見
剛 本田
Original Assignee
株式会社センシンロボティクス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社センシンロボティクス filed Critical 株式会社センシンロボティクス
Priority to PCT/JP2019/042023 priority Critical patent/WO2021079516A1/fr
Priority to JP2020500912A priority patent/JP6730763B1/ja
Publication of WO2021079516A1 publication Critical patent/WO2021079516A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Definitions

  • the present invention relates to a flight path creation method for an air vehicle and a management server.
  • Patent Document 1 discloses a system in which an air vehicle sequentially shoots an imaged object at a plurality of waypoints set in advance.
  • Patent Document 1 it is necessary to manually set and store all waypoints in order to create a flight path of an air vehicle. Therefore, when the flight path becomes long, it takes time and effort to set waypoints for the entire flight path, and it lacks speed, especially in situations where the work time is short and limited. It was.
  • the present invention has been made in view of such a background, and in the work of creating a flight path of an air vehicle, it is not necessary to manually set waypoints for at least a part of the flight path. It is an object of the present invention to provide a management server and a management system, and particularly to provide a flight route generation method and a management server that can be used even in an environment where it is not possible to go around the side of the structure.
  • the main invention of the present invention for solving the above problems is a method of generating a flight path of an air vehicle flying along the surface of a structure, wherein the coordinates related to the structure, the distance from the coordinates, and the like. Based on the step of setting parameters including the height or length associated with the structure and the parameters, the flying object reciprocates in the first direction along the surface of the structure and is perpendicular to the first direction. It is a flight path generation method including a step of generating a flight path traveling in a second direction.
  • a simple flight path generation method and management server that do not require manual input or the like to set waypoints for at least a part of the flight path are provided. It is possible to provide a flight route generation method and a management server that can be provided and can be used even in an environment in which it is not possible to go around the side of the structure.
  • FIG. 1 It is a figure which shows the structure of the management system which concerns on embodiment of this invention. It is a block diagram which shows the hardware configuration of the management server of FIG. It is a block diagram which shows the hardware configuration of the user terminal of FIG. It is a block diagram which shows the hardware composition of the flying object of FIG. It is a block diagram which shows the function of the management server of FIG. It is a block diagram which shows the structure of the parameter information storage part of FIG. It is a flowchart of the flight path generation method which concerns on embodiment of this invention.
  • This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention.
  • the flight management server and flight management system have the following configurations.
  • [Item 1] A method of generating a flight path for an air vehicle flying along the surface of a structure.
  • the step of generating the flight path is It is possible to generate a path that does not go around the side of the structure.
  • the flight path generation method according to item 1, wherein the flight path is generated.
  • the parameters further include at least one of flight speed, minimum flight altitude, and waypoint placement interval.
  • the flight path generation method according to item 1 or 2, wherein the flight path is generated.
  • the step of generating the flight path is Sequentially reciprocates in the vertical direction on the vertices of a polygon having a plurality of vertices guided by the coordinates and the distance.
  • the flight path generation method according to items 1 to 3, wherein the flight path is generated.
  • the flight path is a flight path for imaging by the flying object.
  • the parameters further include an overlap rate of at least one of the first and second directions of the captured image.
  • the flight path generation method according to items 1 to 4, wherein the flight path is generated.
  • the flight path is set as the first flight path. It further comprises the step of generating a second flight path for the flying object to fly around the structure based on the parameters.
  • the flight path generation method according to items 1 to 5, wherein the flight path is generated.
  • the parameters are corrected based on the information obtained by flying the second flight path, and the first flight path is generated based on the corrected parameters.
  • the flight path generation method according to item 6, wherein the flight path is generated.
  • a management server that generates flight paths for flying objects that fly along the surface of a structure.
  • a parameter setting unit that sets parameters including coordinates related to the structure, distance from the coordinates, and height or length related to the structure. Based on the parameters, a flight path generator that generates a flight path in which the flying object reciprocates in the first direction along the surface of the structure and travels in the second direction perpendicular to the first direction. Management server with.
  • the management system includes a management server 1, one or more user terminals 2, one or more flying objects 4, and one or more flying object storage devices 5. ing.
  • the management server 1, the user terminal 2, the flying object 4, and the flying object storage device 5 are connected to each other so as to be able to communicate with each other via a network.
  • the illustrated configuration is an example, and is not limited to this. For example, a configuration that is carried by the user without having the flying object storage device 5 may be used.
  • FIG. 2 is a diagram showing a hardware configuration of the management server 1.
  • the illustrated configuration is an example, and may have other configurations.
  • the management server 1 is connected to a plurality of user terminals 2, an air vehicle 4, and an air vehicle storage device 5 to form a part of this system.
  • the management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.
  • the management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, and these are electrically connected to each other through a bus 15.
  • the processor 10 is an arithmetic unit that controls the operation of the entire management server 1, controls the transmission and reception of data between each element, and performs information processing necessary for application execution and authentication processing.
  • the processor 10 is a CPU (Central Processing Unit) and / or a GPU (Graphics Processing Unit), and executes each information processing by executing a program or the like for the system stored in the storage 12 and expanded in the memory 11. ..
  • the memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary storage composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). ..
  • the memory 11 is used as a work area of the processor 10 and stores a BIOS (Basic Input / Output System) executed when the management server 1 is started, various setting information, and the like.
  • BIOS Basic Input / Output System
  • the storage 12 stores various programs such as application programs.
  • a database storing data used for each process may be built in the storage 12.
  • the transmission / reception unit 13 connects the management server 1 to the network and the blockchain network.
  • the transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
  • the input / output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.
  • the bus 15 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.
  • the user terminal 2 shown in FIG. 3 also includes a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, and the like, which are electrically connected to each other through a bus 25. Since the functions of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.
  • FIG. 4 is a block diagram showing a hardware configuration of the air vehicle 4.
  • the flight controller 41 can have one or more processors such as a programmable processor (eg, central processing unit (CPU)).
  • a programmable processor eg, central processing unit (CPU)
  • the flight controller 41 has a memory 411 and can access the memory.
  • Memory 411 stores logic, code, and / or program instructions that the flight controller can execute to perform one or more steps.
  • the flight controller 41 may include sensors 412 such as an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (for example, rider) and the like.
  • Memory 411 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
  • the data acquired from the cameras / sensors 42 may be directly transmitted and stored in the memory 411.
  • still image / moving image data taken by a camera or the like may be recorded in the built-in memory or an external memory, but the present invention is not limited to this, and at least the management server 1 or the management server 1 or the built-in memory may be recorded from the camera / sensor 42 or the built-in memory via the network NW. It may be recorded in one of the user terminal 2 and the air vehicle storage device 5.
  • the camera 42 is installed on the flying object 4 via the gimbal 43.
  • the flight controller 41 includes a control module (not shown) configured to control the state of the flying object.
  • the control module adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z).
  • ESC44 Electric Speed Controller
  • the propulsion mechanism (motor 45, etc.) of the flying object.
  • the propeller 46 is rotated by the motor 45 supplied from the battery 48 to generate lift of the flying object.
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the flight controller 41 is configured to transmit and / or receive data from one or more external devices (eg, transmitter / receiver (propo) 49, terminal, display device, or other remote controller). It is possible to communicate with the unit 47.
  • the transmitter / receiver 49 can use any suitable communication means such as wired communication or wireless communication.
  • the transmission / reception unit 47 uses one or more of a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, and cloud communication. can do.
  • LAN local area network
  • WAN wide area network
  • infrared rays wireless
  • WiFi wireless
  • P2P point-to-point
  • telecommunications network telecommunications network
  • cloud communication can do.
  • the transmission / reception unit 47 transmits and / or receives one or more of the data acquired by the sensors 42, the processing result generated by the flight controller 41, the predetermined control data, the user command from the terminal or the remote controller, and the like. be able to.
  • Sensors 42 may include an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
  • inertial sensor accelerelerometer, gyro sensor
  • GPS sensor GPS sensor
  • proximity sensor eg, rider
  • vision / image sensor eg, camera
  • FIG. 5 is a block diagram illustrating the functions implemented in the management server 1.
  • the management server 1 includes a communication unit 110, a flight mission generation unit 120, a past flight route calling unit 130, a report generation unit 140, and a storage unit 160.
  • the flight mission generation unit 120 includes a flight path generation unit 121.
  • the storage unit 160 includes various databases of the flight path information storage unit 162, the flight log storage unit 164, and the parameter information storage unit 166.
  • the parameter information storage unit 166 includes a structure coordinate storage unit 1621, a distance storage unit 1622, a structure height (length) storage unit 1623, a flight speed storage unit 1624, and a minimum flight altitude storage unit.
  • a unit 1625 and a waypoint interval storage unit 1626 are included.
  • the communication unit 110 communicates with the user terminal 2, the flying object 4, and the flying object storage device 5.
  • the communication unit 110 also functions as a reception unit that receives flight requests from the user terminal 2.
  • Flight mission generation unit 120 generates flight missions. Flight missions include at least the flight path.
  • the new flight path is generated by the flight path generation unit 121 with reference to the parameter information storage unit 166, and a specific example of flight path generation will be described later, but for example, parameter information as shown in FIGS. 10 and 11 is provided. Based on this, all flight paths may be automatically generated, a pre-registered flight path or a flight path set in the past may be called, or the complexity of the shape of the structure or the structure. Some waypoints may be manually set / edited according to the surrounding environment, the allowed working time and the amount of work.
  • the flight path may be, for example, a configuration in which the position where the aircraft is carried by the user is set as the flight start position or the user collects the aircraft at the flight end position without having the flight object storage device 5. Then, based on the information of the flight object storage device 5 managed by the management server 1 (for example, position information, storage state information, storage device information, etc.), the flight object storage device selected as the flight start position or flight end position.
  • the configuration may be generated as a flight path including the position of 5.
  • the past flight route calling unit 130 calls the past flight route as the current flight route with reference to the flight route information storage unit 162.
  • the flight paths generated in the past are manually or automatically stored in the flight path information storage unit 162.
  • a part of the flight route can be changed before or after the call.
  • the parameter information storage unit 166 stores parameter information used when a flight path is generated by the flight path generation unit 121.
  • specific parameters are the coordinates related to the structure, the distance from the coordinates, the height related to the structure, the flight speed, the minimum flight altitude, the distance between waypoints, and the number of angles of the polygon (for the structure).
  • the number of vertices derived from the relevant coordinates and the distance from the coordinates), and especially when the structure is imaged by the flying object 4, the overlap rate of at least one of the captured images in the vertical direction and the horizontal direction is set. Including further.
  • the report generation unit 140 generates report information to be transmitted to the user terminal 2 based on the flight log storage unit 164.
  • the information (still image, moving image, sound, and other information) acquired by the flying object 4 is stored in the flight log storage unit 164. Accumulate.
  • FIG. 7 illustrates a flowchart of the flight path generation method according to the present embodiment.
  • This flowchart illustrates a configuration in which an application is started on the user terminal 2, but the present invention is not limited to this, and for example, a processor and an input / output device in which the management server 1 and the aircraft storage device 5 can start the application It may have a configuration capable of various settings and the like.
  • FIG. 8-16 is an example of a display screen related to the flight path generation method according to the embodiment of the present invention.
  • the user starts, for example, an application of an air vehicle on the user terminal 2 (SQ101).
  • This application may be stored in, for example, a user terminal 2, or may be software (so-called SaaS) provided by a management server 1 or another server (not shown) connected via a network.
  • SaaS software
  • a login screen is displayed, and for example, a login ID or password may be required.
  • the user selects a flight plan (SQ102).
  • the display unit included in the input / output unit 24 of the user terminal 2 includes, for example, a past flight route (flight plan) called from flight route information 162 by the past flight route calling unit 130. Is displayed, and the user may select the current flight route from these past flight routes (SQ201).
  • the flight plan may be registered in advance, and further, it may be possible to set not to display the flight plan that has already been flown.
  • the user may select whether it is necessary to edit the past flight plan or the registered flight plan (SQ202), and use it as a new flight plan.
  • the description will proceed assuming that the user has selected to create a new flight plan.
  • the user creates a new flight plan (SQ103).
  • the "plan name”, "area name”, "address” and the like are set, and the creation of a new flight plan is started.
  • the map searched from the "address” entered here may be displayed by using API (Application Programming Interface) or application software on the user terminal 2, and zooming in / out may be possible. Good. This makes it easier to understand which point to create a flight plan for.
  • the user sets parameters related to flight path generation (SQ104). For example, as illustrated in FIG. 10, the user has coordinates associated with the structure (in the example, it is described as center coordinates, but is not limited to this), and the distance from the coordinates (in the example, the structure). It is described as the radius of the object, but is not limited to), and sets the height or length associated with the structure.
  • the flight path generation unit 121 sets the coordinates obtained by advancing the distance set by the user in a predetermined direction from the coordinates related to the structure as the first vertex of the preset polygon. To do.
  • the coordinates related to the structure may be, for example, the center coordinates of the structure, but are not limited to these, and may be any coordinates in the site where the structure is located or between a plurality of structures.
  • the coordinates are appropriately set according to the flight path desired by the user when flying along the surface of the structure (including along at least a part of the inner surface as well as the outer surface of the structure). is there.
  • the coordinates related to the structure may be, for example, coordinates on a plane (so-called x-axis coordinates and y-axis coordinates), latitude and longitude, and the like.
  • the flight path generation unit 121 further generates a final flight path by connecting each vertical flight path 101 with a horizontal flight path 102 so that the flight path 101 can be comprehensively flown in one flight.
  • the flight path is not limited to the example, and for example, the vertical direction does not have to be perpendicular to the ground, and the vertices of polygons forming the upper end or the lower end of the vertical flight path 101 are connected as a start point or an end point. It may be a flight path. In this case, if the vertical flight path 101 is oblique to the ground, at least a part of the horizontal flight path 102 may be omitted, if necessary.
  • the horizontal flight path 102 does not have to have the upper end or the lower end of the vertical flight path 101 as a start point or an end point, and may be formed in the middle. Further, for example, after the flying object 4 flies the flight path 101 in the vertical direction from one end to the other end, the flight path 101 is turned back from the other end by a predetermined distance (including the distance to one end), and the flight path 102 in the lateral direction 102. You may move to the next flight path 101 via.
  • the final flight path may not necessarily go around the side of the structure. That is, as illustrated in FIG. 15, even if the structure cannot fly on all sides, such as when the structure is close to another structure, the flight path 101 in the vertical direction and the horizontal direction of the target portion It becomes possible to fly by not generating the flight path 102 of. Further, by applying this, as illustrated in FIG. 16, when it is desired to fly along only one surface of the wall, for example, a quadrangular flight path is generated, and the flight path 201 of the alternate long and short dash line portion is set. It can be achieved by the flight path 202 in the dotted line portion by preventing it from being generated or by deleting it.
  • a flight path 101 when the flight path 101 is generated, a value obtained by adding a predetermined height to the height of the set structure so that the flying object 4 exceeds the top of the structure is added. You may use it.
  • a flight path may be generated by using a numerical value obtained by adding a predetermined distance to the set distance, particularly from the viewpoint of safety.
  • the structure model 103 may be selected from a prepared template, may be a model created in advance by a user, another business operator, or the like, or may be a flying object before the main flight path is generated. It may be a model created based on the information acquired in 4.
  • the coordinates related to the structure may be specified by selecting the map displayed on the user terminal 2 using API (Application Programming Interface), application software, or the like. Further, the distance from the coordinates of the structure and the height of the structure may be set by the slide bar as shown in the figure, and the flight paths 101 and 102 dynamically change accordingly. May be displayed.
  • the user may be able to set the flight speed, the minimum flight altitude, the number of vertices of the polygon, the arrangement interval of waypoints (not shown), and the like.
  • the purpose of generating the flight path is to capture an image of a structure, it may be possible to set at least one overlap rate in the vertical direction or the horizontal direction of the captured image.
  • the overlap ratio in the horizontal direction may be used to set the number of angles of the polygon, the zoom ratio of the camera, and the like.
  • waypoints may be displayed on the flight paths 101 and 102 displayed on the display screen of the user terminal 2.
  • the user instructs the aircraft 4 to start the flight (SQ105).
  • the current position information 104 received from the flying object 4 may be displayed on the user terminal 2. Further, the current position of the flying object 4 may be dynamically displayed on the flight paths 101 and 102.
  • the user instructs the management server 1 to generate a report (SQ106).
  • a report the route actually taken by the flying object 4 may be displayed.
  • the information acquired by the flying object 4 (for example, an captured image) may be displayed side by side.
  • the captured image may be surrounded by a color frame, marked, enlarged, etc.), or conversely, when the acquired information is selected, the waypoints are emphasized (eg, way). The color and size of the mark indicating the point may be changed).
  • an ID may be assigned to the waypoint, the ID may be displayed around the acquired information, and the waypoint and the acquired information may be associated with each other.
  • the present invention provides a simple flight path generation method and management server that do not require manual input or the like to set waypoints for at least a part of the flight path in the work of creating a flight path of an air vehicle. It is possible to provide a flight path generation method and a management server that can be provided, and in particular, can be used even in an environment where it is not possible to go around the side of the structure.
  • FIG. 17 is another example of a display screen related to the flight path generation method according to the embodiment of the present invention.
  • the flight path of the present embodiment is, for example, the state of the structure and the state around the structure (the surrounding environment such as the wind speed and the wind direction) before actually flying in the flight path generated by the above-mentioned flight path generation method. It may be provided for the purpose of confirmation (including).
  • the flight of the present embodiment the coordinates related to the structure, the distance from the coordinates, the height or the length related to the structure, etc. are confirmed in advance, and based on the information obtained at the time of confirmation. , The set parameters may be increased or decreased to correct or correct. This makes it possible to generate a more accurate final flight path.
  • the flight of the present embodiment is not limited to the route shown in FIG. 17, as long as the above-mentioned objectives and the like are achieved, and for example, the flight in a predetermined direction, which flies above or below the actual flight route, is restricted.
  • the flight path may be modified such as increasing or decreasing the flight speed, adding or omitting waypoints, increasing or decreasing the number of polygonal angles.
  • the flight path of the present embodiment may be generated independently for the above-mentioned purpose and the purpose of safety confirmation.
  • the configuration in which the vehicle advances in the horizontal direction while reciprocating in the vertical direction has been described, but the present invention is not limited to this, and the configuration may be such that the configuration advances in the vertical direction while reciprocating in the horizontal direction along the structure.
  • More specific examples may be, for example, the inside and / or the outside of a tubular structure extending in the vertical lateral direction, and the cross section of a tunnel, a vinyl house, or the like may be a semicircle (so-called kamaboko type). It may be inside and / or outside of the structure of.
  • the coordinates in the height direction are added to the coordinates related to the structure, and a polygon is generated based on the coordinates of the destination moved in the vertical direction from the coordinates, and the width of the structure is created.
  • it may be stretched laterally according to the coordinates related to the length.
  • the orientation of the flying object 4 may be acquired at least at the flight start position, and the orientation may be acquired by, for example, the above-mentioned sensors 42. More specifically, the situation inside the structure may be detected by LIDAR or the like. Further, for example, the orientation of the flying object 4 may be controlled by the flight controller 41 described above based on the acquired orientation.
  • the photographing of the structure by the flying object 4 is taken as a specific example, but for example, the inspection of the structure may be performed, and the presence or absence of a predetermined event on the inner wall and / or the outer wall of the structure is inspected. It may be equipped with a device, an apparatus, etc.
  • imaging devices visible light cameras, infrared cameras, metal detectors, ultrasonic measuring devices, etc.
  • keying devices detection devices (metal detectors), sound collectors, odor measuring devices, gas detection
  • detection devices metal detectors
  • sound collectors odor measuring devices
  • gas detection All the devices necessary for knowing the state of the structure to be inspected having an inner wall such as a device, an air pollution measuring device, and a detecting device (a device for detecting cosmic rays, radiation, electromagnetic waves, etc.) can be adopted.
  • the air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like.
  • Security field agriculture, infrastructure monitoring, surveying, sports venue inspection such as golf courses and tennis courts, roof and wall inspection of buildings such as factories and warehouses, disaster response, victim search response, etc. be able to.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne, dans le cadre de la tâche de création d'un itinéraire de vol pour un corps volant, un procédé de création d'itinéraire de vol simple et un serveur de gestion qui ne nécessitent pas l'établissement de points de cheminement par une entrée manuelle ou une technique analogue sur au moins une partie de l'itinéraire de vol, et en particulier, elle concerne un procédé de création d'itinéraire de vol et un serveur de gestion qui peuvent être utilisés même dans un environnement dans lequel il n'est pas possible de tourner autour des côtés d'une structure. A cet effet, l'invention concerne un procédé de génération d'itinéraire de vol pour un corps volant volant le long de la surface d'une structure selon la présente invention, le procédé comprenant : une étape de réglage de paramètres qui comprennent des coordonnées relatives à la structure, une distance par rapport aux coordonnées, et une hauteur ou une longueur relatives à la structure; et une étape de création, sur la base des paramètres, d'un itinéraire de vol sur lequel le corps volant, tout en réalisant un aller-retour, se déplace dans une première direction le long de la surface de la structure et avance dans une seconde direction perpendiculaire à la première direction.
PCT/JP2019/042023 2019-10-25 2019-10-25 Procédé de création d'itinéraire de vol pour corps volant et serveur de gestion WO2021079516A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2019/042023 WO2021079516A1 (fr) 2019-10-25 2019-10-25 Procédé de création d'itinéraire de vol pour corps volant et serveur de gestion
JP2020500912A JP6730763B1 (ja) 2019-10-25 2019-10-25 飛行体の飛行経路作成方法及び管理サーバ

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/042023 WO2021079516A1 (fr) 2019-10-25 2019-10-25 Procédé de création d'itinéraire de vol pour corps volant et serveur de gestion

Publications (1)

Publication Number Publication Date
WO2021079516A1 true WO2021079516A1 (fr) 2021-04-29

Family

ID=71738543

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/042023 WO2021079516A1 (fr) 2019-10-25 2019-10-25 Procédé de création d'itinéraire de vol pour corps volant et serveur de gestion

Country Status (2)

Country Link
JP (1) JP6730763B1 (fr)
WO (1) WO2021079516A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114777744A (zh) * 2022-04-25 2022-07-22 中国科学院古脊椎动物与古人类研究所 一种古生物领域的地质测量方法、装置及电子设备

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6940670B1 (ja) * 2020-08-26 2021-09-29 株式会社エネルギア・コミュニケーションズ 無人飛行体の飛行経路作成方法及びシステム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017065102A1 (fr) * 2015-10-15 2017-04-20 株式会社プロドローン Dispositif d'inspection volant et procédé d'inspection
GB2546564A (en) * 2016-01-25 2017-07-26 Above Surveying Ltd Utilising UAVs for detecting defects in solar panel arrays
JP2018156491A (ja) * 2017-03-17 2018-10-04 東京電力ホールディングス株式会社 設備点検システム
JP6441421B1 (ja) * 2017-07-28 2018-12-19 株式会社ＴｏｎＴｏｎ 外面材調査システム

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160307447A1 (en) * 2015-02-13 2016-10-20 Unmanned Innovation, Inc. Unmanned aerial vehicle remote flight planning system
US9508263B1 (en) * 2015-10-20 2016-11-29 Skycatch, Inc. Generating a mission plan for capturing aerial images with an unmanned aerial vehicle
US11181375B2 (en) * 2016-06-30 2021-11-23 Skydio, Inc. Dynamically adjusting UAV flight operations based on thermal sensor data
JP6675537B1 (ja) * 2019-03-12 2020-04-01 Ｔｅｒｒａ Ｄｒｏｎｅ株式会社 飛行経路生成装置、飛行経路生成方法とそのプログラム、構造物点検方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017065102A1 (fr) * 2015-10-15 2017-04-20 株式会社プロドローン Dispositif d'inspection volant et procédé d'inspection
GB2546564A (en) * 2016-01-25 2017-07-26 Above Surveying Ltd Utilising UAVs for detecting defects in solar panel arrays
JP2018156491A (ja) * 2017-03-17 2018-10-04 東京電力ホールディングス株式会社 設備点検システム
JP6441421B1 (ja) * 2017-07-28 2018-12-19 株式会社ＴｏｎＴｏｎ 外面材調査システム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114777744A (zh) * 2022-04-25 2022-07-22 中国科学院古脊椎动物与古人类研究所 一种古生物领域的地质测量方法、装置及电子设备
CN114777744B (zh) * 2022-04-25 2024-03-08 中国科学院古脊椎动物与古人类研究所 一种古生物领域的地质测量方法、装置及电子设备

Also Published As

Publication number Publication date
JP6730763B1 (ja) 2020-07-29
JPWO2021079516A1 (ja) 2021-11-18

Similar Documents

Publication Publication Date Title
JP6829513B1 (ja) 位置算出方法及び情報処理システム
WO2021079516A1 (fr) Procédé de création d'itinéraire de vol pour corps volant et serveur de gestion
JP6818379B1 (ja) 飛行体の飛行経路作成方法及び管理サーバ
WO2020225979A1 (fr) Dispositif de traitement d'informations, procédé de traitement d'informations, programme et système de traitement d'informations
JP6661187B1 (ja) 飛行体の管理サーバ及び管理システム
JP7004374B1 (ja) 移動体の移動経路生成方法及びプログラム、管理サーバ、管理システム
JP6810498B1 (ja) 飛行体の飛行経路作成方法及び管理サーバ
JP6810497B1 (ja) 飛行体の飛行経路作成方法及び管理サーバ
JP6678983B1 (ja) 飛行体の管理サーバ及び管理システム
JP6730764B1 (ja) 飛行体の飛行経路表示方法及び情報処理装置
JP2021067670A (ja) 飛行体の飛行経路作成方法及び管理サーバ
JP7031997B2 (ja) 飛行体システム、飛行体、位置測定方法、プログラム
WO2021064982A1 (fr) Dispositif et procédé de traitement d'informations
JP2021139876A (ja) 飛行体の管理サーバ及び管理システム
JP2021140388A (ja) 飛行体の管理サーバ及び管理システム
JP2021015603A (ja) 飛行体の管理サーバ及び管理システム
JPWO2021124579A1 (ja) 飛行体の撮像方法及び情報処理装置
JP7072311B1 (ja) 移動体の移動経路生成方法及びプログラム、管理サーバ、管理システム
JP6934646B1 (ja) 飛行制限領域設定方法、ウェイポイント設定方法及び管理サーバ、情報処理システム、プログラム
JP6876354B1 (ja) 飛行体の管理サーバ及び管理システム
JP6786140B1 (ja) 飛行体の管理サーバ及び管理システム
JP6777962B1 (ja) 飛行体の管理サーバ及び管理システム
JP7170369B1 (ja) 情報処理システム及び移動体、情報処理方法、プログラム
JP2021015602A (ja) 飛行体の管理サーバ及び管理システム
JP2021015601A (ja) 飛行体の管理サーバ及び管理システム

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2020500912

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19949775

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19949775

Country of ref document: EP

Kind code of ref document: A1