JPWO2020100945A1 - Mobile - Google Patents

Abstract

An object of the present invention is to provide an air vehicle and a method for performing a wall surface inspection that is easier and less costly than a conventional wall surface inspection. The drone 1, which is a moving body having a driving means such as a propeller for moving in space, includes a wire 101 that connects the upper part of a predetermined building B and the moving body and supports gravity with respect to the moving body. Further, the driving means generates a driving force for moving the moving body in the direction of the axis Z with respect to the direction in which the gravity acts on the moving body. This solves the above problem.

Description

The present invention relates to a mobile body.

In recent years, research and development of small unmanned aerial vehicles (typically drones) have been actively carried out (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-081246

The present application documents disclose the following inventions regarding control devices and control methods for unmanned aerial vehicles and unmanned vehicles among drones which are small mobile bodies. In this application document, "background technology" for each invention, "problems to be solved by the invention" in the outline of the invention, "means for solving the problems", "effects of the invention" and "for carrying out the invention" "Form" is described respectively.

The present invention has been made in view of such a situation, and an object of the present invention is to provide a novel control device and control method for a drone which is a small moving body.

[1st invention] Wall surface inspection [2nd invention] Identity verification [3rd invention] Takeoff and landing control [4th invention] Interpersonal position control

The moving body according to the embodiment of the present invention is
In a moving body having a driving means for moving in space
A gravity supporting means that connects the upper part of a predetermined structure and the moving body and supports gravity with respect to the moving body.
With
The driving means generates a driving force for moving the moving body in a direction perpendicular to the gravity of the moving body.

According to the present invention, it is possible to provide a novel control device and control method for a small unmanned aerial vehicle.

It is an image diagram which shows the outline of the flight control between a drone as a moving body included in the information processing system of this invention, and a pilot terminal. FIG. 3 is a block diagram showing a hardware configuration related to information processing of various control units related to flight control in the drone of FIG. 6 is a functional block diagram showing an example of a functional configuration for realizing various processes shown in FIGS. 4 to 18 executed by the drone of FIG. 1. It is a figure which shows the example of the wall surface inspection by the drone of FIG. 1 which concerns on 1st Embodiment. It is a figure which shows the example of the wall surface inspection of FIG. 4 from another direction. It is a figure which shows another example of the method of suspending a drone in the wall surface inspection of FIG. It is a figure which shows another further example of the method of suspending a drone in the wall surface inspection of FIG. It is a figure which showed the case where the building B has an overhanging portion BH in the situation of hanging the drone of FIG. It is a figure which showed the example of the case where the drone and the building take a predetermined distance in the situation of hanging the drone of FIG. It is a figure which shows the example of the auxiliary member in the case where the drone of FIG. 2 performs takeoff and landing using a takeoff and landing port. The drone of FIG. 2 is a diagram showing an example of a landing port used at the time of landing. It is a figure which shows the example of the control in cooperation with the relay drone R which is an example of an auxiliary member at the time of landing of the drone of FIG. It is a figure which showed the example which image | image | controlled the drone of FIG. 2 using the camera on the ground. It is a figure which showed the example which confirms and operates with the operator terminal based on the image of the drone imaged in FIG. It is a figure which showed the example of the function and the usage of the module for preventing the drone of FIG. 2 from coming into contact with an operator. It is a figure which shows an example which avoids a collision by a module in a state where a worker and a drone pass through a warehouse with a shelf, and the worker and the drone cannot visually recognize each other by the shelf. It is a figure concerning collision avoidance when a worker and a plurality of drones are moving in a warehouse. It is a figure which shows the example which a drone which is a traveling body moving in a plane which is a moving body of an industrial machine or the like stops in front of a passage formed by a wall. It is a figure which shows the example of docking using an auxiliary member in the position control of a drone which is a moving body which travels unmanned in a factory or the like. It is a figure which shows the example different from FIG. 11 among the example of the landing port used by the drone of FIG. 2 at the time of landing. It is a figure which shows the example different from FIG. 13 among the example which image | image | controlled the drone of FIG. 2 using the camera on the ground. It is a figure which shows the example different from FIG. 18 among the examples in which a drone which is a traveling body moving on a plane which is a moving body of an industrial machine or the like stops in front of a passage formed by a wall.

Hereinafter, the information processing system according to the present invention will be described with reference to the embodiment, and the information processing system including the small unmanned aerial vehicle (hereinafter referred to as “drone”) 1 capable of moving in three-dimensional space will be described with reference to the drawings. In the figure, the same reference numerals are given to the same elements, and duplicate description will be omitted. First, the overall image of the communication and control device of the drone 1 will be described, and then the first to fourth embodiments will be described in order. However, the subject of the term "drone" in the present invention is not limited to a small unmanned aerial vehicle that can move in three-dimensional space. That is, for example, a drone that is a traveling vehicle that can move in a two-dimensional space is also included.

In the following description, unless otherwise specified, the directions defined as follows are used.
That is, hereinafter, in the case of assuming a propeller type drone 1 in a state of flying alone as in Patent Document 1 described above, the direction is such that the main propeller rotates to generate a thrust against gravity. The axis passing through the center of gravity of the drone excluding cargo etc. is called the axis DZ. Here, when the rotation speed of the main propeller is increased from the state where the drone 1 is hovering at a certain position, the drone increases in altitude and rises. This direction is appropriately referred to as "the direction in which the axis DZ is positive" and the opposite is appropriately referred to as "the direction in which the axis DZ is negative". Therefore, according to the above definition, the axis DZ is fixed to the drone 1 regardless of the posture of the drone 1.

FIG. 1 is an image diagram showing an outline of flight control between the drone 1 and the operator terminal 2 of the present embodiment.
As shown in FIG. 1, the drone 1 acquires position information from the GPS (Global Positioning System) satellite G.
The drone 1 transmits this position information and the information obtained from various sensors mounted on the drone 1 together to the operator terminal 2. The information obtained from the various sensors is, for example, information on the posture of the drone 1, information on the rotational movement, and the like. The operator terminal 2 is a terminal composed of a smartphone or the like and used by the operator U to operate the drone 1.
The server 3 is a device composed of a personal computer or the like and used to acquire various information from the drone 1 and execute various processes.
The drone 1, the operator terminal 2, and the server 3 are each connected to each other via a predetermined network N such as the Internet. The network N includes not only the Internet and mobile carrier networks, but also short-range wireless communications such as NFC ((Near Field Communication) registered trademark) and Bluetooth (registered trademark).
Specifically, for example, the following examples are assumed as usage modes of such a network N.
That is, when the drone 1 flies in the area where the radio waves of the driver terminal 2 reach, the drone 1 and the driver terminal 2 can directly communicate with each other in real time. On the other hand, when the drone 1 flies outside the area where the radio waves of the driver terminal 2 reach, it is not possible to directly communicate between the drone 1 and the driver terminal 2, so that it is indirect. Communicate. Specifically, the operator terminal 2 acquires the position information, flight information, etc. of the drone 1 from the server 3 via the network N such as the Internet or the mobile carrier network, and while referring to these information, the drone 1 Send information to control flight. In this case, the server 3 exchanges information with the drone 1 via the drone 1 and the wireless device W of a predetermined wireless communication standard.
Further, the server 3 not only operates according to the instruction of the operator terminal 2 as described above, but also exchanges information regarding the destination instruction and control to the drone 1 based on the information exchanged with the drone 1. Can also be done.

Further, the drone 1 has the following hardware configuration for information processing related to the control of the drone in the first to fourth embodiments.
FIG. 2 is a block diagram showing a hardware configuration related to information processing of various control units related to flight control in the drone of FIG.

The drone 1 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a bus 14, an input / output interface 15, an output unit 16, and an input unit 17. , A storage unit 18, a communication unit 19, and a drive 20.

The CPU 11 executes various processes according to the program recorded in the ROM 12 or the program loaded from the storage unit 18 into the RAM 13.
Data and the like necessary for the CPU 11 to execute various processes are also appropriately stored in the RAM 13.

The CPU 11, ROM 12 and RAM 13 are connected to each other via the bus 14. An input / output interface 15 is also connected to the bus 14. An output unit 16, an input unit 17, a storage unit 18, a communication unit 19, and a drive 20 are connected to the input / output interface 15.

The output unit 16 is composed of a display, a speaker, and the like, and outputs various information as images and sounds.
The input unit 17 is composed of a keyboard, a mouse, and the like, and inputs various information.

The storage unit 18 is composed of a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various data.
The communication unit 19 communicates with another device (such as the operator terminal 2 in the example of FIG. 1) via the network N including the Internet.

A removable media 31 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately mounted on the drive 20. The program read from the removable media 31 by the drive 20 is installed in the storage unit 18 as needed.
Further, the removable media 31 can also store various data stored in the storage unit 18 in the same manner as the storage unit 18.

Although not shown, the operator terminal 2 and the server 3 in FIG. 1 have basically the same configuration as the hardware configuration shown in FIG.

The first to fourth embodiments described below can be realized under the above-mentioned information processing system.

[First Embodiment] Wall inspection When the outer wall of a tiled building becomes old, the tiles may peel off and cause harm to pedestrians. Therefore, it is legally obligatory to inspect the outer wall, which may cause harm to pedestrians or the like due to the fall of tiles or the like. In addition to the legally required inspection of the outer wall, there is a request to inspect the wall surface.
As a method of inspecting the outer wall, for example, there is a percussion survey in which an operator hits a tile on the outer wall and inspects the tile according to the difference in the sound of the hit portion. For this reason, the gondola for workers is hung from the roof and scaffolding is built around the building. Other methods include, for example, a method of visually or visually inspecting the presence or absence of cracks on the wall surface, and an investigation in which the wall surface is photographed with a camera sensitive to infrared rays.

However, the conventional wall surface inspection method requires a large-scale crane facility for suspending the passenger gondola from the roof, which requires a lot of man-hours and costs. Therefore, it is conceivable to image and inspect the wall surface using a relatively small drone or radio control, but for example, in the city where the building is located, it may be legally designated as an area where flight prohibition or permission is required. There were many, even if permitted, complicated and strong building winds, and there were concerns about the stability of the drone and ensuring the safety of the surroundings.
Therefore, an object of the first embodiment is to solve the above problem and provide a structure and a method for inspecting a wall surface using a drone. That is, the first embodiment provides a drone mechanism and its control means for inspecting the wall surface using the drone 1, so that the wall surface inspection can be performed easily and at a reduced cost as compared with the conventional wall surface inspection. The purpose is to.

The moving body according to the embodiment of the present invention is
In a moving body having a driving means for moving in space
A gravity supporting means that connects the upper part of a predetermined structure and the moving body and supports gravity with respect to the moving body.
With
The driving means generates a driving force for moving the moving body in a direction perpendicular to the gravity of the moving body.

According to the present invention, it is possible to perform a wall surface inspection that is easier and less costly than a conventional wall surface inspection.

The drone 1 of the first embodiment is a drone that fulfills such a demand. Such a functional configuration of the drone 1 will be described with reference to FIG. Here, the drone 1 in the present embodiment will be described as an example using a drone which is a small flying object that can move in a three-dimensional space.
FIG. 3 is a functional block diagram showing an example of a functional configuration for realizing various processes shown in FIGS. 4 to 18 executed by the drone 1 of FIG.

As shown in FIG. 3, the drone 1 includes a drive unit 41, a flight control unit 42, an image pickup unit 43, a wall surface inspection sensor unit 44, a suspension control unit 45, a cargo storage unit 46, and an authentication unit 47. And a mobile body including a communication unit 19.
The "moving body" in the present invention includes any object that moves in space by a driving unit, and the drone 1 in the first to fourth embodiments flies in space by being driven by a driving unit 41 as a driving means. This is an example of a moving "moving body".
In the drone 1 of the first embodiment, the drive unit 41 to the suspension control unit 45 function at least in the above configuration.

The drive unit 41 is driven by using the supplied energy. The drone 1 can move in space by driving the drive unit 41 or the like. A motor driven by using electric energy and an engine driven by using chemical energy such as gasoline are both examples of the driving unit 41.

The flight control unit 42 controls the flight of the drone 1. As a result, the drone 1 changes the output of the drive unit 41 and moves according to the direction of the wings and the like driven by the drive unit 41. Thereby, for example, the distance to the building can be changed as described later.
The flight control unit 42 may control the flight according to a signal related to the operation by the operator terminal 2 or the server 3 received by the communication unit 19, or control the flight by an autonomous control unit (not shown) possessed by the drone 1. You may go.

The image pickup unit 43 includes a lens, an optical element such as a CCD or CMOS, and a control unit thereof, and captures an image or video.
In the first embodiment, by directing the image pickup unit 43 toward the wall surface, it is possible to capture an image for the purpose of checking for cracks on the wall surface. Further, by using an image sensor that is sensitive to infrared rays and a filter that transmits only infrared rays, it can be used for infrared investigation of a wall surface.
However, the imaging unit 43 is not limited to the above purpose and configuration. That is, for example, by pointing the imaging unit 43 toward another object or by having a spherical camera or the like, it can be used for other purposes such as attitude control.

The wall surface inspection sensor unit 44 includes a sensor or the like for wall surface inspection.
For example, there is a method called the percussion survey described above for wall surface inspection. In the conventional percussion survey, an operator hits the wall surface with a stick called a percussion stick, and the sound generated by the hitting is detected as an abnormality of the wall surface due to the property of changing depending on the state of the wall surface. That is, for example, the wall surface inspection sensor unit 44 for the percussion investigation may include a microphone for detecting the sound and vibration from the wall surface hit by the percussion stick and the percussion stick. The configuration of the wall surface inspection sensor unit 44 may be any configuration corresponding to the method of wall surface inspection to be performed.

The suspension control unit 45 controls the suspension position of the drone 1 by autonomous control of the drone 1 or control by the operator terminal 2 or the server 3 via the communication unit 19 when the drone 1 is suspended. Further, the drone 1 may autonomously control the drone 1. Details of suspension control will be described later.

Next, an example of a wall surface inspection method using the drone 1 will be described with reference to FIGS. 4 to 9.
FIG. 4 is a diagram showing an example of wall surface inspection by the drone 1 of FIG. 1 according to the first embodiment.
FIG. 5 is a diagram showing an example of the wall surface inspection of FIG. 4 from another direction.
The situation A shown in FIG. 5 is a diagram showing an example of the wall surface inspection method of FIG. 4 from the direction in which the axis Z is positive.
The B situation shown in FIG. 5 is a diagram showing an example in which the drone 1 in the A situation shown in FIG. 5 inspects the wall surface of another place of the building B by rotating the motor 113.
When it is not necessary to distinguish between the situation A shown in FIG. 5 and the situation B shown in FIG. 5, they are collectively referred to as “FIG. 5”.

FIG. 4 is a side view of a drone arranged in a posture of being tilted 90 degrees sideways from a normal flight state.

Here, in the following description in the present embodiment, a three-dimensional Cartesian coordinate system including the following axes X, Y, and Z is used. That is, the axis Z of the three-dimensional coordinate system is taken in the direction of the axis DZ of the drone 1 arranged in a posture tilted 90 degrees from the normal flight state, and the axis Y is taken in the direction of gravity. At this time, the axis Y is positive in the direction in which the height increases. That is, the direction in which the height increases is called "the direction in which the axis Y is positive", and the opposite is called "the direction in which the axis Y is negative". Further, the direction of the axis X is defined so that the three-dimensional coordinate system using the axis Y and the axis Z is a right-handed system. Similarly, the directions of the axis X are referred to as "the direction in which the axis X is positive" and "the direction in which the axis X is negative", respectively.

In the example of the present embodiment, when the outer wall of the building B, which is a building built on the ground GR, is inspected by using the drone 1, the building B is arranged in the direction in which the axis Z is negative with respect to the drone 1. Further, in the drone 1, the axis Y is suspended from the positive direction by the wire 101, and the wire 101 supports the gravity with respect to the drone 1. That is, the drone 1 supports the gravity applied to the drone 1 not by the thrust of the propeller but by the tension of the wire 101 described later. FIG. 4 is a view showing this from the positive direction of the axis X, and FIG. 5 is a view showing this from the positive direction of the axis Z.

Looking at FIG. 4, the shaft Y of the building B is provided with an arm at the end in the positive direction, that is, the rooftop portion of the building B, and the wire 101 is hung from a position separated from the building B in the positive direction of the axis Z by a certain distance. Connect to the drone 1 and hang it. However, as will be described in detail later, since the drone 1 can generate thrust in the direction of the axis Z by the drive unit 41, an arm overhanging from the building is not necessary. The position and structure of the arm in this drawing are examples, and the installation location is not limited to the rooftop. Further, for example, a pulley or the like installed on the roof without using an arm may be used, or may be installed on a window or the like on an upper floor.

Looking at FIG. 5, the building B is provided with the above-mentioned arms at both ends of the rooftop portion. Each of the arms is provided with motors 111 and 112 at each end of the arm, and one wire 101 is connected to the motors 111 and 112.
Here, the motors 111 and 112 can wind the wire 101. Each of the motors 111 and 112 can wind or feed the hanging wire 101. That is, by controlling each of the motors 111 and 112, the length of the hanging wire 101 can be arbitrarily changed. Here, the motors 111 and 112 may have a function of accommodating the wound wire 101 like a motor reel. Alternatively, for example, although not shown, a motor capable of simply winding or sending out the wire 101 may have a mechanism for accommodating the wound wire 101.
Further, the drone 1 has a motor 113 shaped like a pulley. By hanging the wire 101 on the motor 113, the drone 1 can be in a state of being suspended from the wire 101.

Looking at FIG. 4, the drone 1 includes an imaging unit 43 in a direction in which the axis Z is negative. That is, the imaging unit 43 is directed toward the building B. That is, the image pickup unit 43 can inspect the wall surface with an image of the building B.

Hereinafter, the movement of the wall surface for the wall surface inspection of the drone 1 will be described using the situation B shown in FIG.
Here, assuming that there is no slip between the wire 101 and the motor 113, the suspension control unit 45 of the drone 1 moves to an arbitrary position in the wire 101 by controlling the rotation of the motor 113. be able to. That is, the drone 1 can inspect the wall surface from an arbitrary position on the curve determined by the length of the wire 101.
Further, as described above, the motors 111 and 112 can arbitrarily change the length of the wire 101. Therefore, for example, by winding the wire 101 with the motor 111, the length of the wire 101 can be shortened, so that the drone 1 can be moved to a position where the axis Y is in the positive direction from before the winding. Furthermore, in that state, the drone 1 moves the position on the wire 101 by the motor 113, so that the wall surface can be inspected at an arbitrary position on the curved line determined by the length of the short state of the wire 101. Similarly, when the wire 101 is stretched by the motor 111, the wall surface can be inspected at a position where the axis Y is in the negative direction before the wire 101 is stretched. That is, the drone 1 can inspect the wall surface at an arbitrary position on the axis Y by arbitrarily changing the length of the wire 101 by the motors 111 and 112.
That is, the drone 1 can inspect the wall surface from any point on the curve determined by the length of the wire 101 by the motor 113. Further, by arbitrarily changing the length of the wire 101 by the motors 111 and 112, the drone 1 can inspect the wall surface at an arbitrary position on the axis Y. That is, the suspension control unit 45 of the drone 1 can inspect the wall surface at an arbitrary position by controlling the motors 111 to 113.

Here, in FIG. 5, the cable 121 hangs down from the roof of the building B and is connected to the drone 1. The cable 121 is a cable for sending and receiving various electric signals and the like connected to the drone 1. That is, for example, the cable 121 is a power cable that supplies electric power or the like for generating a driving force to the drone, a signal cable for transferring an image or video captured by the imaging unit 43, or a flight control unit 42 of the drone 1. And a cable for sending and receiving signals for controlling the motor 113 and the like. Here, the power cable may supply other power as well as send electric power. That is, for example, the drone 1 may use a pressure such as air pressure to drive the drone 1 and may supply compressed air. Further, the cable 121 may be bundled with the wire 101, and the wire 101 may have the function of the cable 121.
As described above, an example of the method of suspending the drone has been described with reference to FIG.

Hereinafter, an example of another method of suspending the drone 1 will be described with reference to FIG.
FIG. 6 is a diagram showing another example of the method of suspending the drone 1 in the wall surface inspection of FIG.

Looking at FIG. 6, the building B is provided with the above-mentioned arms at both ends of the rooftop portion. Each of the arms is provided with motors 111 and 112 at each end of the arm, one wire 101 hanging from the motor 111, connected to a fixed point 131 of the drone 1, and one wire from the motor 112. 102 is hung and connected to the fixed point 132 of the drone 1. That is, unlike FIG. 5, the drone 1 does not have the motor 113, and the wires 101 and 102 are connected to the fixed points 131 and 132 of the drone 1, respectively.
In this example, the drone 1 can perform a wall surface inspection at a position determined by the lengths of the wire 101 and the wire 102. That is, the position of the wall surface inspection of the drone 1 can be controlled by controlling the motors 111 and 112 on the roof. As a result, the drone 1 does not need to have the motor 113, and the cost and the weight of the drone 1 can be reduced.
As described above, an example of the method of suspending the drone has been described with reference to FIG.

Hereinafter, an example of another hanging method of the drone 1 will be described with reference to FIG. 7.
FIG. 7 is a diagram showing another further example of the method of suspending the drone in the wall surface inspection of FIG.

Looking at FIG. 7, the building B is provided with the above-mentioned arms at both ends of the rooftop portion. Each of the arms is provided with motors 111 and 112 at each end of the arm, and one wire 101 is connected to the motors 111 and 112.
Further, the drone 1 has a roller 141 shaped like a pulley. By hanging the wire 101 on the roller 141, the drone 1 can be in a state of being suspended from the wire 101. Furthermore, the drone 1 hangs the wire 103 with respect to the ground GR. That is, unlike FIG. 5, the drone 1 does not have a motor 113, has a roller 141, and further hangs a wire 103.

In this example, the wire 103 can be moved in the direction of the axis X by an external force. That is, for example, the drone 1 can be moved to an arbitrary position on the curve of the wire 101 by applying an external force in the axis X direction to the wire 102 by a dolly traveling on the ground GR (not shown) in the axis X direction. can. However, the method of moving the wire 102 is not limited to the dolly. That is, for example, it may be carried out by a mechanism in which a motor or a wire (not shown) is combined, or further, the wire 103 may be directly pulled by a human hand.
That is, in this example, the drone 1 has a wire 103, and can move to an arbitrary point on the curve of the wire 101 by an external force applied to the wire 103 to perform a wall surface inspection. Further, as in the example of FIG. 5, by arbitrarily changing the length of the wire 101, it is possible to inspect the wall surface at an arbitrary position of the axis Y. Therefore, in the drone hanging method of the example of FIG. 6, the wall surface inspection at an arbitrary position of the building B can be performed.
As described above, an example of another drone hanging method has been described with reference to FIG. 7.

Hereinafter, with reference to FIG. 8, the effect exerted when investigating the wall surface of the building B by suspending the drone 1 having a driving force will be described.
FIG. 8 is a diagram showing a case where the building B has an overhanging portion BH in the situation where the drone 1 of FIG. 4 is suspended.
The situation A shown in FIG. 8 is a diagram showing a state in which the drone 1 is suspended when the building B has an overhanging portion BH.
The B situation shown in FIG. 8 is a diagram showing how the suspended drone 1 avoids the overhanging portion BH when the building B has the overhanging portion BH.
When it is not necessary to distinguish between the situation A shown in FIG. 8 and the situation B shown in FIG. 8, it will be referred to as “FIG. 8” below.

Looking at FIG. 8, the building B has an overhanging portion BH on the side surface where the wall surface is inspected by the drone 1. Here, it is assumed that the length of the overhanging portion BH in the Z direction is longer than the distance between the drone 1 and the building B.
Looking at the situation A shown in FIG. 8, in this case, the drone 1 is blocked by the overhanging portion BH, and the overhanging portion of the wall surface of the building B is simply increased by increasing the length of the wire 101 hanging from the roof of the building B. It is not possible to inspect the lower part of the BH (Y is in the negative direction).

Here, since the drone 1 has a driving force such as a propeller, by operating the driving unit 41, it is possible to generate a thrust for moving the drone 1 in the direction of the axis DZ. That is, in FIG. 8, the drone 1 can increase the distance from the building B by moving the axis Z in the positive direction.

Looking at the situation B shown in FIG. 8, the drone 1 extends the distance from the building B by exerting a driving force in the positive direction of the axis Z, and further extends the length of the wire 101 to extend the drone 1. The axis Y moves in the negative direction while avoiding the portion BH. That is, the drone 1 exerts a driving force in the direction away from the wall surface of the building B, and at the same time, by changing the length of the wire 101, the drone 1 can move to the lower part of the overhanging portion (Y is in the negative direction).

Further, although not shown, when the Z of the drone 1 does not apply a driving force in the positive direction from the state of the B situation shown in FIG. 8, the distance between the drone 1 and the building B depends on the length of the overhanging portion BH. It will be a fixed distance. Here, the drone 1 can adjust the distance of the drone 1 to the same distance as the wall surface inspection at another position by exerting a driving force in the negative direction of Z.

Summarizing the above, the drone 1 has the following effects by having a mechanism that supports gravity by a wire 101 hanging from the roof of building B and exerts thrust perpendicular to gravity. That is, when it is difficult to fly the drone, that is, when the building B has an overhanging portion HB, for example, the overhanging portion HB can be avoided by increasing the distance between the drone 1 and the building B. Further, the distance between the drone 1 and the building B can be shortened at the lower part of the overhanging portion HB (the axis Y is in the negative direction).
As described above, the effect of suspending the drone 1 having a driving force to investigate the wall surface of the building B has been described with reference to FIG.

Hereinafter, an example of a method for keeping the distance between the drone 1 and the building B constant will be described with reference to FIG.
FIG. 9 is a diagram showing an example in which the drone 1 and the building B take a predetermined distance in the situation where the drone 1 is suspended in FIG.
The situation A shown in FIG. 9 is an example in which the distance between the drone 1 and the building B is in close contact with each other.
The situation B shown in FIG. 9 is an example in which the distance between the drone 1 and the building B is in contact with each other at a long distance.
When it is not necessary to distinguish between the situation A shown in FIG. 9 and the situation B shown in FIG. 9, it is hereinafter referred to as “FIG. 9”.

Looking at the situation A shown in FIG. 9, the drone 1 is in contact with the building B. As described above, when the drone 1 is simply hung from the arm held by the building B on the roof via the wire 101, the drone does not touch the building B as shown in FIG. On the other hand, in the example of the situation A shown in FIG. 9, the flight control unit 42 of the drone 1 controls the drive unit 41 so that Z moves in the negative direction, and generates thrust. As a result, the drone 1 comes into contact with the building B.
By controlling the drone 1 so as to be in contact with the building B, when the wall surface inspection sensor unit 44 of the drone 1 performs a wall surface inspection, it becomes easy to control to maintain a constant distance. As a result, when the wall surface inspection sensor unit 44 inspects the wall surface, the wall surface inspection can be efficiently performed by keeping a certain distance between the drone 1 and the building B. That is, for example, when the wall surface inspection sensor unit 44 makes a diagnosis by imaging, when making a diagnosis at a certain position and then making a diagnosis at another position, by keeping the distance constant, the images taken can be separated from each other. Images that are easy to compare can be obtained, and it is easy to determine the position of overlap. In addition, for example, by pressing the drone 1 against the building B with a certain force or more, the wall surface inspection sensor unit 44 can stably percussion the percussion stick when making a diagnosis by percussion. It works. That is, when the drone 1 is not in contact with the building B, is not pressed with a certain force or more, or when the wall surface inspection sensor unit 44 hits the consultation rod against the building B, the drone 1 responds to the hit. Due to the reaction, it is possible to move away from the building B, but this can be prevented.

Looking at the situation B shown in FIG. 9, the drone 1 is in contact with the building B via the leg 151. Here, the leg 151 is wider than the drone at a position in contact with the building B. When the leg portion 151 is provided, the drone 1 and the building B can be in contact with the building B at a distant position as compared with the situation A shown in FIGS. 4 and 9. By touching the building B, the same effect as the situation A shown in FIG. 9 described above is obtained. Further, when the image pickup unit 43 is used for imaging, when the object is in contact with the building B at a distant place, the drone leg portion 151 can be used for a wider area by using a lens having a wide angle of view imaged by the image pickup unit 43. You can take an image without being disturbed by. This makes it possible to reduce the number of positions for imaging. By reducing the position where the image is taken, the working time can be reduced.
Here, the number of legs 151 may be any number. That is, for example, there may be three, and when there are three, they can stably contact the wall surface in the directions of the axis X, the axis Y, and the axis Z, respectively.
Further, the drone 1 moves the leg portion 151 in the directions of the axis X and the axis Y while generating thrust so that the axis Z moves in the negative direction. As a result, the drone 1 can move on the wall surface of the building B while having the legs 151.

As described above, an example of a method for keeping the distance between the drone 1 and the building B constant has been described with reference to FIG.
As described above, an example of the method of wall surface inspection using the drone 1 has been described with reference to FIGS. 4 to 9.

The method of wall surface inspection using the drone 1 is not limited to the above.
That is, for example, a drone 1 in which a propeller is attached to an airframe such as a balloon filled with air may be used. That is, it is possible to use the drone 1 which has elasticity or cushioning property like a balloon filled with air and further includes a driving unit 41. This makes it possible to soften the impact when hitting a window or the like.
Further, for example, the wire 101 is assumed to be hung from the arm on the roof of the building B, but the present invention is not particularly limited to this. That is, for example, the motor 111 provided on the rooftop arm of the building B can move its position on the rooftop of the building B. Further, the motor 111 may be moved on a rail attached to the roof by a trolley or the like. As a result, the drone 1 suspended from the motor 111 via the wire 101 can be controlled to be suspended at a predetermined angle rather than directly below the motor 111. As a result, the drone 1 can be hung stably. Furthermore, the motor 111 can be made to move automatically on the rail. As a result, it is possible to perform control for automatically inspecting the entire surface of the wall surface.

The drone 1 of the first embodiment has an effect that the wall surface inspection can be performed easily and at a reduced cost as compared with the conventional wall surface inspection.
The moving body capable of exerting such an effect is not limited to the drone 1 of the first embodiment, and the following moving body is sufficient.
That is, this moving body is
In a moving body (for example, the drone 1 in FIG. 4) having a driving means for moving in space (for example, the driving unit 41 in FIG. 3).
Gravity support means (eg, wire 101 in FIG. 4) that connects the upper part of a predetermined structure (for example, building B in FIG. 4) and the moving body to support gravity with respect to the moving body.
With
The driving means generates a driving force for moving the moving body in a direction perpendicular to the gravity with respect to the moving body (for example, the axis Z in FIG. 4 is in the positive direction and the axis Z is in the negative direction).
A mobile body is sufficient.

[Second Embodiment] Identity Verification In the case of physical distribution, that is, when delivering cargo such as parcels, it is necessary to confirm the identity of the recipient to confirm that the recipient is the person. Hereinafter, the recipient in the description of the present embodiment is not limited to the person designated as the delivery destination, but is used in a broad sense including the family of the person and acquaintances trusted by the person. In addition, the identity verification in the description of the second embodiment is a position that can be recognized by the person designated as the delivery destination, such as the above-mentioned confirmation that the person is the person in a broad sense and the delivery destination is the house where the person lives. It is used in a broad sense, including confirmation of whether or not.

However, in the conventional identity verification, the delivery person who delivers the product visits the delivery address. Therefore, if there is no person who can handle the delivery destination, the delivery person needs to take the cargo home and visit again to confirm the identity, which causes a problem that the delivery person's labor and cost are required. As a countermeasure, there is a method such as preparing a delivery box or the like. However, there were still problems such as a chronic shortage of delivery staff.
If the delivery person is a robot, although it is not absent, we will show a technology that replaces identity verification in order to automate delivery, or a method that can prove delivery in anticipation of deregulation. That is, it is conceivable to use a drone, which is an air vehicle, to carry cargo. However, in this case, since there is no person who is a delivery person, the conventional identity verification cannot be performed. Therefore, the object of the moving body of the second embodiment is to solve the above-mentioned problem so that the identity can be confirmed when transporting or delivering the cargo using the drone.

In order to achieve such an object, the drone 1 of the second embodiment can be adopted.

The drone 1 of the second embodiment is a drone that fulfills such a demand. Such a functional configuration of the drone 1 will be described with reference to FIG. Here, the drone 1 in the present embodiment will be described as an example using a drone which is a small flying object that can move in a three-dimensional space.
FIG. 3 is a functional block diagram showing an example of a functional configuration for realizing various processes shown in FIGS. 3 to 9 executed by the drone 1.

As shown in FIG. 3, the drone 1 includes a drive unit 41, a flight control unit 42, an image pickup unit 43, a wall surface inspection sensor unit 44, a suspension control unit 45, a cargo storage unit 46, and an authentication unit 47. And a mobile body including a communication unit 19.
In the drone 1 of the second embodiment, among the above configurations, the drive unit 41 to the image pickup unit 43, the cargo storage unit 46, and the authentication unit 47 function at least.

The functions of the drive unit 41 to the image pickup unit 43 are as described in the first embodiment.

The cargo storage unit 46 can store the cargo or the like to be delivered. As a result, the drone 1 can carry the cargo by flying with the cargo stored. However, storage does not mean that the cargo is completely enclosed and stored. That is, it suffices if the drone 1 can carry the cargo, for example, by fixing the cargo with an arm (not shown) of the drone 1. That is, as the storage method by the cargo storage unit 46, any cargo fixing method or the like can be adopted.

The authentication unit 47 authenticates the recipient of the delivery destination that delivers the delivered cargo. That is, the above-mentioned identity verification can be performed. As a result, the drone 1 can deliver the cargo carried to the destination whose identity has been confirmed and authenticated. Details of identity verification will be described later.

Hereinafter, the specific method of identity verification will be described in detail with an example.
For example, the authentication unit 47 can perform face authentication at the time of delivery. Specifically, for example, the imaging unit 43 images the face of a person who is a candidate for the recipient, and recognizes the imaged face. At this time, by collating the face registered in advance with the person, it is authenticated whether the person is the correct delivery destination. If the person can be authenticated as the correct delivery destination, the cargo is unloaded from the drone 1. That is, when the authentication is successful, the cargo storage unit 46 can deliver the cargo to the recipient by releasing the cargo.

When performing face recognition, the following methods can be combined or replaced. For example, both the cargo and the recipient may be imaged at the same time when the cargo is separated from the cargo after the identity is confirmed and the cargo is unloaded. This makes it possible to confirm that the cargo unloaded from the drone 1 has certainly fallen into the hands of the recipient. However, it is not always possible to image both the cargo and the recipient at the same time. That is, for example, both the cargo and the recipient do not have to be imaged at the same time. Further, for example, it may be shown that the recipient and the cargo are in close proximity by imaging each of the recipient and the cargo with a moving image.

Further, for example, although face authentication is used in the above example, the physical characteristics of the recipient used for authentication are not limited to the face. That is, it may be any physical feature such as a fingerprint or a voiceprint.
Further, for example, the fingerprint reading device in the case of performing identity verification by fingerprint may also serve as a button for indicating to the drone 1 that the cargo is to be received or that the robot may return because the cargo has been received. ..

Further, for example, in the above example, the identity is confirmed by the information of the face of the recipient who is registered in advance, but the present invention is not limited to this. That is, for example, the person may be linked to personal information such as a name by confirming the identity by another method such as location information at the time of the first delivery and recognizing and recording the face of the person at that time. As a result, it is possible to deliver by face recognition at the time of delivery from the next time onward, and it is possible to reduce the labor of the recipient related to the registration of the face for the first time.
Further, for example, by associating face information with an address or the like, it is possible to associate a plurality of persons associated with the delivery destination address with the authentication target in advance. Specifically, for example, a family living together may be linked so that the family can receive it as a recipient. This allows, for example, delivery of a trusted recipient other than the recipient's principal as a surrogate recipient.

For example, the authentication unit 47 can perform wireless authentication at the time of delivery. That is, for example, authentication may be performed using the wireless function of a terminal such as a recipient's smartphone or a stationary wireless communication device. Specifically, for example, a wireless communication ID unique to the terminal used for the wireless communication function mounted on the terminal is registered in advance by associating it with the recipient by using a web or a terminal application or the like. The authentication unit 47 of the drone 1 authenticates the existence of the wireless communication ID associated with the recipient of the delivered cargo to the communication unit 19 or the like by using the wireless communication function provided in the drone 1. That is, for example, when the drone 1 that delivers the cargo approaches the recipient's terminal, the wireless communication ID of the recipient's terminal can be confirmed and authenticated. As a result, the cargo can be delivered as if the identity was confirmed by authenticating that the drone 1 and the recipient were close to each other.

In the case of wireless authentication, the following methods can be combined or replaced. For example, by notifying the recipient's terminal of the unique ID of the wireless communication function of the drone 1 in an application or the like and connecting to each other by wireless communication, further unique IDs can be exchanged or only a specific ID is authenticated. You may not be able to do it. As a result, compared to the case where the authentication is performed only by the wireless communication ID of the recipient's terminal, for example, the authentication is performed by the terminal disguised as the wireless communication ID of the recipient's terminal prepared by a malicious person. It can be avoided.
Further, for example, the absence may be confirmed by the presence or absence of radio waves emitted by the wireless device. That is, for example, if the radio wave of wireless communication by the recipient's smartphone is not confirmed in the vicinity of the delivery address, it may be recognized that the recipient is absent. As a result, the cargo can be returned when the recipient is absent and cannot be delivered.
Further, for example, an accurate delivery point may be determined by using a radio wave emitted by a wireless device. That is, for example, the intensity distribution of radio waves emitted by a wireless device becomes stronger as the recipient terminal gets closer. That is, it can be recognized that the place where the strength is stronger is the more accurate delivery point. As a result, the recipient can be authenticated by radio waves, and a more accurate delivery point can be specified.
Further, for example, the delivery point may be indicated on the drone 1 in cooperation with GPS. That is, for example, wireless authentication is not limited to delivering an ID unique to the recipient's terminal to the home based on the fact that the drone 1 directly receives radio waves as described above. Specifically, for example, the drone 1 and the recipient's terminal may each specify their respective positions by GPS satellites, and may approach and deliver using the information. This allows more accurate delivery to the recipient's current location.
Further, for example, it may be confirmed via the web that the recipient's smartphone is near the pre-registered home delivery coordinates. Also, the recipient's smartphone does not have to be directly connected to the drone 1. That is, for example, the cargo may be delivered by authenticating that the coordinates are close to each other via the Internet.

For example, the authentication unit 47 can perform remote authentication at the time of delivery. Specifically, for example, the image pickup unit 43 captures the face of the delivery destination or the recipient, and the video or image is transmitted to a predetermined server or person in charge via the communication unit 19, and the server or person in charge sends the image or image. You may check the received video or image, remotely authenticate instead of the receipt sign, and unload the cargo. That is, for example, the authentication unit 47 does not authenticate by the authentication unit 47 itself as in the face authentication described above, but transmits the video or image captured by the image pickup unit 43 via the network, and the delivery company receives the image or image. The person in charge of the above may confirm and authenticate. As a result, the delivery company can perform authentication in a form in which a human being, which is close to the conventional one, can identify the face, while saving the trouble of delivering and transporting the cargo to the recipient.

The example of the method of identity verification using the drone 1 has been described above.
The above-mentioned identity verification is performed by the authentication unit 47 provided in the drone 1, but the identity verification is not particularly limited to this. That is, the authentication unit 47 may be provided with a box for storing luggage, a module which is an information processing device different from the drone, and the like, which are provided in the drone 1. That is, the drone 1 may be provided with an authentication means by including another module provided with the authentication means.

The drone 1 of the second embodiment can have the effect of being able to confirm the identity of the cargo when transporting or delivering the cargo using the drone.
The moving body capable of exerting such an effect is not limited to the drone 1 of the second embodiment, and the following moving body is sufficient.
That is, this moving body is
In a moving body having a driving means for moving in space (for example, a drone 1 in FIG. 1 etc.)
A storage means for storing a predetermined cargo to be carried (for example, a cargo storage unit 46 in FIG. 3) and
An authentication means (for example, the authentication unit 47 in FIG. 3) that authenticates the destination of carrying the cargo (for example, the above-mentioned recipient or the delivery destination).
It is enough if it is a mobile body equipped with.

[Third Embodiment] Takeoff and landing control When an air vehicle such as a drone takes off and landing, the wind flow and the like become complicated as compared with the sky because the structures on the ground and the ground approach each other, or depending on the structures on the ground. Since radio waves from GPS satellites are obstructed and it becomes difficult to acquire position information, precise control is required compared to the sky.

In the above cases, it is an object of the present invention to provide a takeoff and landing method with improved stability and safety when an air vehicle such as a drone takes off and landing.

The drone 1 and the auxiliary member of the third embodiment are the drone and the auxiliary member that realize such a request. Such a functional configuration of the drone 1 will be described with reference to FIG. Here, the drone 1 in the present embodiment will be described as an example using a drone which is a small flying object that can move in a three-dimensional space.
FIG. 3 is a functional block diagram showing an example of a functional configuration for realizing various processes shown in FIGS. 10 to 14 executed by the drone 1.

As shown in FIG. 3, the drone 1 includes a drive unit 41, a flight control unit 42, an image pickup unit 43, a wall surface inspection sensor unit 44, a suspension control unit 45, a cargo storage unit 46, and an authentication unit 47. And a mobile body including a communication unit 19.
In the drone 1 of the third embodiment, the driving unit 41 to the imaging unit 43 function at least in the above configuration.

The functions of the drive unit 41 to the image pickup unit 43 are as described in the first embodiment.

Hereinafter, specific methods of flight control such as takeoff and landing and auxiliary members will be described in detail with examples.

Hereinafter, an example of a takeoff / landing port, which is an example of an auxiliary member used at the time of takeoff and landing of the drone 1, will be described with reference to FIG.
FIG. 10 is a diagram showing an example of an auxiliary member when the drone 1 of FIG. 2 performs takeoff and landing using the takeoff and landing port 201.
The takeoff and landing port 201 of FIG. 10 is a port having a surface on which the axis Z is constant, that is, a surface parallel to the surface formed by the axis X and the axis Y. The drone 1 lands on the takeoff / landing port 201 by moving the axis Z in the negative direction. The takeoff and landing port 201 of FIG. 10 has a support pillar 211, which is two pillars that support the drone 1. The support column 211 has a columnar structure in which the length in the direction of the axis Z is longer than the length in the directions of the axis X and the axis Y, and the axis Z of the takeoff and landing port 201 is fixed in the positive direction. Will be installed. Here, in FIG. 10, two support columns 211 are shown as support columns. However, the takeoff and landing port 201 may include any number of support columns. That is, for example, the number of support columns may be a number according to the structure of the drone. However, it is preferable to provide three or more support columns so that the drive unit 41 of the drone 1 is stable in a stopped state.

In FIG. 10, the support column 211 has a distance D11 in the direction of the axis Z. Further, the drone 1 is flying a distance D12 from the takeoff / landing port 201 in the direction of the axis Z. Here, when the drone 1 is flying in the positive direction of the axis Z of the support pillar 211, the distance D12 is larger than the distance D11.

When the drone 1 flies, the drive unit 41 of the drone 1 supports the gravity with respect to the drone 1, so that the propeller is driven and the axis Z generates wind in the negative direction. When the drone 1 flies near the ground, the generated wind blows against the ground directly under the drone 1 and turbulence is generated. This turbulence hinders the stable flight of Drone 1.

Here, when the takeoff / landing port 201 of FIG. 10 is used at the time of takeoff, that is, when taking off and landing on the support pillar 211, the flight distance D12 of the drone 1 becomes the distance D11 of the support pillar 211 immediately before and after the takeoff and landing. .. That is, the flying height of the drone 1, that is, the distance from the takeoff and landing port 201 is the distance D11.
That is, when the drone 1 takes off and landing directly on the takeoff and landing port 201 that does not have the support pillar 211, the flight distance D11 of the drone 1 immediately before and after the takeoff and landing is zero, but the drone 1 takes off and land on the takeoff and landing port 201 using the support pillar 211. In this case, the flight distance D12 of 1 of the drone immediately before and after takeoff and landing is the distance D11. As a result, the wind generated by the drive unit 41 does not directly hit the takeoff / landing port 201. As a result, the occurrence of the above-mentioned turbulent flow is suppressed. As a result, the drone 1 has increased stability and can perform takeoff and landing with increased stability.

In addition, for example, the takeoff / landing port 201 at the time of takeoff / landing can have the following structure. Specifically, for example, the takeoff / landing port 201 may not be provided with the support pillar 211, and the plane of the takeoff / landing port 201 may be configured to allow air to pass therethrough. That is, for example, the takeoff and landing port 201 can have a mesh structure. As a result, the area of the takeoff and landing port 201 to which the wind blows becomes small, and the wind generated by the drive unit 41 can pass through the takeoff and landing port 201, and the generation of turbulent flow is suppressed. As a result, the drone 1 has increased stability and can perform takeoff and landing with increased stability. However, when the takeoff and landing port 201 has a mesh structure, when the flying altitude of the drone 1 is measured using a range finder using sound waves and electromagnetic waves mounted on the drone 1, that is, the distance from the drone 1 to the takeoff and landing port 201 is determined. When measuring, it may be difficult to measure. In this case, the mesh structure of the takeoff and landing port 201 may be improved by appropriately setting the wavelengths of sound waves and electromagnetic waves of the measuring device that measures the ratio and distance of the mesh.

Further, an auxiliary member in which the above-mentioned takeoff / landing port 201 is provided with a support pillar 211 to provide a distance from the takeoff / landing port 201 and an auxiliary member in which the takeoff / landing port 201 has a mesh structure may be used in combination. That is, the support pillar 211 may be fixedly used for the takeoff and landing port 201 having a mesh structure.
As described above, an example of control using the port used at the time of takeoff and landing of the drone 1 has been described with reference to FIG.

When such an auxiliary member of FIG. 10 is used, the drone 1 can have the effect of improving the stability and safety during takeoff and landing.
The moving body capable of exerting such an effect is not limited to the drone 1 using the auxiliary member of FIG. 10, and the following auxiliary means and moving body can be adopted.
That is, for example, as an auxiliary means at the time of landing, an auxiliary means can be adopted in which a support (for example, the support pillar 211 in FIG. 10) is provided from the platform side to take off from a place at a distance from the ground. As a result, the moving body using the takeoff / landing port (for example, the drone 1 in FIG. 3) can avoid instability at the time of takeoff, especially at the time of takeoff.
Further, for example, a mesh port floor surface (takeoff / landing port 201 in FIG. 10) can be adopted as an auxiliary means at the time of landing. As a result, an escape route for air is created, so that the effect of making the ground far away can be obtained equivalently. As a result, the takeoff and landing ports allow the moving body to avoid instability during takeoff, especially during takeoff.

Hereinafter, an example of a landing port, which is an auxiliary member used at the time of landing of the drone 1, will be described with reference to FIG.
FIG. 11 is a diagram showing an example of a landing port 221 used by the drone 1 of FIG. 2 at the time of landing.
The landing port 221 of FIG. 11 includes a bottom plate 231 whose axis Z is rectangular in the negative direction. In FIG. 11, the bottom plate 231 of the landing port 221 is shown parallel to the axes X and Y of the three-dimensional Cartesian coordinate system. Here, the bottom plate 231 has a structure in which the bottom frame 232 is provided with the bottom net 233.
The landing port 221 is provided with each of the three faces having sides parallel to each of the three sides of the rectangular bottom plate 231 in the direction in which the axis Z is positive. That is, the rectangular side plate 241 has a side in which the axis Y of the bottom plate 231 is parallel to the side in the negative direction, and the axis Z is provided in the positive direction with respect to the bottom plate 231. Further, the rectangular side plate 242 has a side in which the axis X of the bottom plate 231 is parallel to the side in the negative direction, and the axis Z is provided in the positive direction with respect to the bottom plate 231. Further, the rectangular side plate 243 has a side in which the axis Y of the bottom plate 231 is parallel to the side in the positive direction, and the axis Z is provided in the positive direction with respect to the bottom plate 231.
Here, the bottom plate 231 and the side plate 241 are fixed side by side. Further, the side plate 241 and the side plate 242 are connected by a hinge 251 having a hinge structure, and are movable while sharing the sides. Further, the side plate 242 and the side plate 243 are connected by a hinge 252 having a hinge structure, and are movable while sharing the sides. Further, each of the side plates 241 and 243 has rope attachment portions 261 and 262 on opposite sides of the sides having hinges 251 and 252, respectively. The rope 271 is attached to each of the rope attachment portions 261 and 262. The rope 271 is controlled so that the length of the rope is shortened by winding the rope 271 with a reel or the like (not shown) provided on the rope attachment portions 261 and 262. As a result, the side plates 241 and the side plates 243 approach each other and are closed by the side plates 241 to 243 in the direction of forming a triangular prism.

The landing port 221 is a port used for the above-mentioned landing. Specifically, at the time of landing, the drone 1 flies in the area surrounded by the bottom plate 231 and the side plates 241 to 243. Next, reels and the like (not shown) are controlled so that the rope 271 is shortened. As a result, as described above, the area surrounded by the bottom plate 231 and the side plates 241 to 243 is narrowed. When the area surrounded by the bottom plate 231 and the side plates 241 to 243 becomes sufficiently narrow, one or more of the side plates 241 to 243 come into contact with the drone 1. When any surface of the landing port 221 comes into contact with the drone 1, the drone 1 tilts from the normal flight attitude. Here, the flight control unit 42 of the drone 1 controls to stop the operation of the drive unit 41 of the drone 1 when it senses a predetermined inclination. As a result, when the drone 1 comes into contact with the landing port 221, the operation of the drive unit 41 is stopped, so that the drone 1 falls and lands on the bottom net 233 of the bottom plate 231. The bottom net 233 of the bottom plate 231 can absorb the impact caused by the fall of the drone 1 and land safely.

The structure of the landing port 221 is not limited to the above.
For example, the side plates 241 and 243 are closed by a rope 271, but the present invention is not particularly limited thereto. That is, for example, the side plates 241 and 243 may be closed by the impact of the drone 1 colliding with the side plate 242.
Further, for example, the landing port 221 has a structure composed of a bottom plate 231 and side plates 241 to 243, but the structure is not limited to this. That is, for example, the number of side plates may be increased to form a polygonal structure. Furthermore, the number of side plates may be reduced. Specifically, for example, one side plate may be used. As a result, the distance between the drone 1 and the landing port 221 can be measured, and by performing control according to the distance, landing can be performed more accurately. Further, for example, the number of side plates may be two. As a result, the distances between the drone 1 and the side plates can be measured, and the coordinates of the surface of the drone 1 including the axes X and Y can be accurately measured. In this case, for example, the landing port 221 is provided with a charging port (not shown), and by landing accurately at the charging port, charging can be started automatically.
Further, for example, the positions of the rope attachment portions 261 and 262 are opposite sides of the hinges 251 and 252, but the position is not limited to this. That is, for example, it may be provided at any place as long as it is to achieve the above object. Furthermore, the drone 1 may fly so as to come into direct contact with any of the side plates 241 to 243 and land on the bottom plate 231 without providing a rope.
Further, for example, only the bottom plate 231 has a net structure, but the present invention is not limited to this. A net may be provided on a plate having an arbitrary surface such as the side plates 241 to 243 to absorb the impact. Furthermore, the structure that absorbs impact is not limited to the net. That is, for example, a material such as a sponge that can absorb the impact may be provided.
Further, for example, the bottom plate 231 and the side plates 241 to 243 are each made flat, but the present invention is not limited to this. That is, for example, any shape such as a curved surface may be used as long as the above object is achieved.

As described above, an example of control using the landing port of the drone 1 has been described with reference to FIG.

When such an auxiliary member of FIG. 11 is used, the drone 1 can have the effect of improving the stability and safety at the time of landing.
The moving body capable of exerting such an effect is not limited to the drone 1 using the auxiliary member shown in FIG. 11, and the following auxiliary means and moving body can be adopted.
That is, for example, as an auxiliary means at the time of landing, an auxiliary means for closing and catching the net (for example, the side plates 241 and 243 in FIG. 11) (for example, the landing port 221 in FIG. 11) can be adopted. As a result, the moving body using the landing port (for example, the drone 1 in FIG. 3) can avoid instability at the time of takeoff, especially at the time of takeoff.
Further, for example, when the airframe (for example, the drone 1 in FIG. 3) is tilted, a safety measure for stopping the motor (for example, the drive unit 41 in FIG. 3) can be adopted as an abnormality detection. As a result, the moving body using the landing port can land safely at the time of landing.
Also, for example, one or more side surfaces (eg, side plates 241 to 243 in FIG. 11) can be walls or nets. As a result, the stability of takeoff and landing can be further improved.

Hereinafter, an example of control at the time of landing of the drone 1 will be described with reference to FIG.

Conventionally, when a drone flies outdoors, a GPS function is used as a method of acquiring its own position information. As a feature of the GPS function, the accuracy of the estimated self-confidence position information depends on the strength of the signal of the radio wave transmitted from the GPS satellite, whether the route through which the radio wave propagated is linear, or the radio wave from multiple GPS satellites. It depends on whether it was received or not. That is, for example, when there is a building or the like in the vicinity of the drone 1, the accuracy of the position estimation is lowered or the position cannot be estimated because the radio waves from the GPS satellites are blocked by the building. Sometimes.

In the above cases, when the accuracy of self-position estimation is reduced due to the fact that the radio waves of GPS satellites are blocked by a flying object such as a drone, the accuracy of self-position estimation is improved and flight stability is improved. And the purpose is to improve safety.

FIG. 12 is a diagram showing an example of control in cooperation with the relay drone R, which is an example of the auxiliary member, at the time of landing of the drone 1 of FIG.
In FIG. 12, the drone 1 and the relay drone R (hereinafter, appropriately referred to as “drone R”) are flying outdoors.

As shown in FIG. 3, the drone R is a mobile body including a position acquisition unit 601, a communication unit 602, and an image pickup unit 603.

The position acquisition unit 601 acquires the self-position of the drone R. Specifically, for example, the self-position is calculated and acquired based on the information carried on the radio waves emitted from the GPS satellite G.

The communication unit 602 has the same function as the communication unit 19 of the drone 1.

The imaging unit 603 has the same function as the imaging unit 43 of the drone 1.

In the control of the drone 1 in FIG. 12, among the radio waves emitted from the GPS satellites G1 to G3, only the radio waves from the GPS satellites G1 reach the drone 1, and the drone R is reached from each of the GPS satellites G1 to G3. Radio waves are reaching. When the position information is acquired by using the GPS function, the position is specified by receiving and calculating the signal carried on the radio wave transmitted from three or more GPS satellites. Therefore, the drone 1 has not been able to calculate its own position estimation by GPS satellites. On the other hand, since the radio waves from the GPS satellites G1 to G3 reach the drone R, the self-position can be estimated. That is, the position acquisition unit of the drone R can estimate and acquire the self-position of the drone R from the radio waves emitted by the GPS satellites G1 to G3, respectively.
In this way, when the number of signals that can be received is small, that is, when the drone 1 exists in a place where it is difficult to estimate the self-position, the drone 1 is imaged from the drone R whose self-position is estimated. In FIG. 12, the broken line indicates the range imaged by the imaging unit 603 of the drone R. That is, the drone 1 is imaged by the imaging unit of the drone R. Next, data on the angle of the drone 1 as seen from the drone R and the location of the drone R itself is exchanged with the drone 1 via the communication unit 29 of the drone R. As a result, the drone 1 can improve the accuracy of self-position estimation. As a result, the drone 1 can control the flight with improved stability and safety by increasing the accuracy of self-position estimation.
However, the method of estimating the self-position of the drone 1 by the drone R is not limited to the above. That is, for example, not only the information such as the angle imaged by the imaging unit 603 but also the information obtained by photographing the drone R from the drone 1 may be used. Moreover, the above method is not limited to the time of takeoff and landing. That is, for example, the accuracy of self-position estimation may be improved by using them together regardless of the accuracy of self-position estimation.

As described above, an example of control at the time of landing of the drone 1 has been described with reference to FIG.

When such a drone 1 of FIG. 12 is used, the drone 1 can achieve the effect that the stability can be improved even when the estimation accuracy of the self-position is lowered by the conventional method.
The moving body capable of exerting such an effect is not limited to the drone 1 using the auxiliary member shown in FIG. 11, and the following auxiliary means and moving body can be adopted.
That is, for example, when the drone (for example, the drone 1 in FIG. 11) is in a place where it is difficult to estimate the self-position, such as when the GPS (for example, the GPS satellites G1 to G3 in FIG. 11) has few signals, the drone has a clear self-position. When a drone (for example, drone 1 in FIG. 11) is photographed from (for example, drone R in FIG. 11) (self-position estimation is difficult), the drone (for example, drone 1 in FIG. 11) is complemented by communicating the angle and location data by communication. The accuracy of estimating the position of the drone 1) in FIG. 11 can be improved. As a result, the stability can be improved even when the estimation accuracy of the self-position is lowered by the conventional method.
Further, for example, in the above example, the shooting may be from a drone (which is difficult to estimate the self-position) to a drone (whose self-position is clear). As a result, by imaging a drone with a clear self-position from each of a plurality of drones whose self-position is difficult to estimate, the accuracy of self-position estimation of each drone can be improved and the stability can be improved.

Hereinafter, an example of control using a camera, which is an example of an auxiliary member used at the time of landing of the drone 1, will be described with reference to FIGS. 13 and 14.

For example, in order to steer a drone, which is an air vehicle capable of three-dimensional movement, and perform stable and safe flight and takeoff and landing, the operator U needs a certain degree of skill. On the other hand, even a skilled operator U may have difficulty in maneuvering due to various factors such as the drone moving due to the wind.

In the above cases, the purpose is to improve the flight stability of the drone, improve the flight stability and safety, and reduce the difficulty of maneuvering by assisting the maneuvering of the flying object such as the drone. And.

13 and 14 are diagrams showing an example in which the drone 1 of FIG. 2 is controlled by the operator terminal 2 by using the image captured by the ground camera C which is an example of the auxiliary member.
FIG. 13 is a diagram showing an example in which the drone 1 of FIG. 2 is imaged and controlled by using the ground camera C.
FIG. 14 is a diagram showing an example of confirming and maneuvering with the operator terminal 2 based on the image of the drone 1 captured in FIG. 13.

Looking at FIG. 13, the camera C fixed on the ground captures the drone 1 as an image. The captured image is transferred to the operator terminal 2 of the operator U who operates the drone 1 by wireless communication. The transferred video is displayed on the operator terminal 2 in real time. The drone 1 is displayed on the operator terminal 2.
Here, the operator U can operate the drone 1 at the operator terminal 2 by the operation of the following example. Specifically, for example, the operator U taps a predetermined position in the image captured by the camera C displayed on the operator terminal. The information on the tapped position of the operator terminal 2 is transferred to the flight control unit 42 via the server 2 and further via the communication unit 19 of the drone 1. Next, the flight control unit 42 of the drone 1 controls the flight so that the drone is imaged at the tapped position. That is, the operator U may touch the place where the drone 1 wants to come. That is, the drone 1 can be operated at the position where the operator U is tapped on the two-dimensional image captured by the camera C.

FIG. 14 is a diagram showing an example of a driver terminal 2 in a state where the drone 1 is guided to a touch-operated position of the driver terminal 2 in the case of performing the above-mentioned operation and control.
Here, the operator U can operate the drone 1. Specifically, for example, the drone 1 can be operated while being maintained at a predetermined position on a two-dimensional image. That is, for example, it is possible to control the distance to the camera without changing the position on the image. As a result, the operator U can operate the drone 1 stably and easily only on a straight line.

As a method for identifying the drone 1 on the image, various methods can be used. Specifically, for example, a method of detecting features such as the shape of the drone 1 by image recognition may be used. Further, for example, the drone 1 may be provided with an LED or the like and used as a characteristic point of the drone 1 in image recognition. Further, a filter matching the frequency of the LED described above may be used separately from the camera. As a result, the identification rate in image recognition can be increased.
Further, for example, the camera C is an imaging device, but the present invention is not limited to this. Specifically, for example, a compound eye camera in which two cameras are arranged side by side may be used. Alternatively, for example, Light Detection and Ringing (hereinafter referred to as “LiDAR”), wireless communication, or the like may be used. As a result, in the two-dimensional image captured by the camera C, not only the drone 1 is controlled at the position where the operator U is tapped, but also the distance between the drone and the camera is constant, that is, three-dimensional. It is possible to control a predetermined position. As a result, the drone 1 can be operated more stably in three dimensions, and can be operated by designating a three-dimensional position.
Further, for example, the above-mentioned compound eye camera, a sensor for measuring a distance such as LiDAR, or the like may be installed at a predetermined position different from the camera C. Specifically, for example, by installing the drone on the opposite side of the camera, it is possible to prevent the drone 1 from colliding with another drone, or to prevent a collision with other structures or the like. That is, when the image is taken by the camera C, the structure of the region that cannot be imaged by the drone 1 can be complemented or estimated. As a result, it is possible to prevent the drone 1 from colliding.
Further, for example, the position of the drone 1 is controlled based on the image captured by the camera C fixed on the ground, but the position is not limited to this. Specifically, for example, an arbitrary target may be imaged from the image capturing unit 33 of the drone 1 and controlled based on the captured image or image.
Further, for example, the camera C is fixed to the ground, but the present invention is not limited to this. That is, for example, the camera C is not fixed and may be a driver terminal 2 or the like provided with an imaging unit such as a smartphone. Specifically, for example, it is assumed that the operator terminal 2 has an image pickup unit, a 3-axis acceleration sensor, and a 3-axis gyro sensor. As a result, the operator terminal 2 can calculate in real time how the area imaged by the imaging unit is changing. Thereby, it is possible to calculate at which position the drone 1 is controlled in the two-dimensional image captured by the operator terminal 2 to stabilize the drone 1 in the actual space. That is, the drone 1 can be controlled to a predetermined position by correcting the change in the imaged region.

As described above, with reference to FIG. 13, an example in which the operator terminal 2 controls the image using the image captured by the ground camera C, which is an example of the auxiliary member, has been described.

When the drone 1 and the auxiliary member shown in FIG. 13 are used, the drone 1 improves flight stability and safety and reduces the difficulty of maneuvering even when the difficulty of maneuvering is high by the conventional method. It can have the effect of being able to.
The moving body capable of exerting such an effect is not limited to the drone 1 using the auxiliary member shown in FIG. 12, and the following auxiliary means and moving body can be adopted.
That is, for example, when a drone (for example, drone 1 in FIG. 13) is captured from a fixed camera on the ground (for example, camera C in FIG. 13), a moving image displayed on a real-time moving image (for example, a moving image displayed on the operator terminal in FIG. 14). If you touch the coordinates with (above), you can fix the drone to that location two-dimensionally. It is possible to improve the flight stability of the drone, improve the flight stability and safety, and reduce the difficulty of maneuvering.
Further, for example, by issuing a communication instruction to stay at the same place on the screen (for example, on the screen of the operator terminal 2 in FIG. 14), the maneuvering of a person is only a one-dimensional operation of approaching or leaving the camera. Can be improved. This makes maneuvering very easy.
Further, for example, the identification of the drone (for example, the drone 1 in FIG. 13) may be performed by using image processing, or may be easily identified when performing image processing by providing (the drone 1) with an LED or the like, and the camera may be used. Even if the identification rate (in the image processing of Drone 1) is increased by using an infrared camera that matches the frequency of the (infrared) LED or a camera that uses an infrared filter, etc., in addition to (for example, camera C in FIG. 13). good. This makes it possible to improve the performance of image processing for identifying the drone.
Further, for example, the distance between the drone (for example, the drone 1 in FIG. 13) and the camera (for example, the camera C in FIG. 13) is measured in three dimensions by using a compound eye camera in which two cameras are arranged side by side, LiDAR, wireless communication, or the like. It may be fixed. This makes the maneuver more stable.
Further, for example, a sensor such as a distance sensor may be installed on the side opposite to the camera (for example, camera C in FIG. 13) of the drone (for example, the drone 1 in FIG. 13) (for example, the surface of the drone 1 in FIG. 13 that is not reflected by the camera). Therefore, collision prevention can be performed. In addition, collision prevention can be prevented by estimating the shape of the back of the drone in combination with a compound eye camera or LiDAR. This makes it possible to improve flight safety.
Also, for example, a camera (eg, camera C in FIG. 13 or other fixed target) is imaged from a drone (eg, drone 1 in FIG. 13) (not limited to capturing the drone 1 from the camera C described above). , The position and control of the drone may be determined. This makes it unnecessary to fix and provide the camera C on the ground.
Further, for example, the camera (for example, the camera C in FIG. 13) does not have to be fixed, and (the position and direction of the non-fixed camera C) can be complemented by calculation. As a result, not only a fixed camera but also an imaging device such as a smartphone can be used to improve flight stability and safety and reduce the difficulty of maneuvering.

[Fourth Embodiment] There is a case where it is desired to introduce a drone or the like indoors such as a warehouse where an interpersonal control worker performs work to improve work efficiency. In such a case, the worker and the drone may be distracted because they work, or the visibility may be poor due to the shelves in the warehouse and the drone may not be noticed. There is a high possibility that an accident will occur.

Not only in the above cases, but also in the usage situation where there is a high possibility that the drone and the worker will come into contact with each other, the risk of contact accidents will be reduced, and mutual approach detection, notification, and avoidance will be achieved. The purpose is to provide a method of controlling for.

The drone 1 of the fourth embodiment is a drone that fulfills such a demand. Such a functional configuration of the drone 1 will be described with reference to FIG.
FIG. 3 is a functional block diagram showing an example of a functional configuration for realizing various processes executed by the drone 1.

As shown in FIG. 3, the drone 1 includes a drive unit 41, a flight control unit 42, an image pickup unit 43, a wall surface inspection sensor unit 44, a suspension control unit 45, a cargo storage unit 46, and an authentication unit 47. And a mobile body including a communication unit 19.
In the drone 1 of the third embodiment, the driving unit 41 to the imaging unit 43 function at least in the above configuration.

The functions of the drive unit 41 to the image pickup unit 43 are as described in the first embodiment.

The module 4 of the fourth embodiment is provided in the drone 1 that realizes such a demand. Such a functional configuration of the module 4 will be described with reference to FIG.
FIG. 3 is a functional block diagram showing an example of a functional configuration for realizing various processes executed by the drone 1.

As shown in FIG. 3, the contact prevention module 4 (hereinafter, appropriately referred to as a “module”) is a module including a distance estimation unit 401, a ringing unit 402, and a communication unit 403.

The distance estimation unit 401 estimates the distance to the other module 4. An example of a specific configuration and an example of a method for estimating a distance will be described later.

The ringing unit 402 has a blinking Light Emitting Diode (hereinafter referred to as "LED"), a speaker that emits a warning sound, a vibrator that provides a vibration function, and the like, and warns the operator possessing the module by ringing. Can be emitted.

The communication unit 403 has a wireless function corresponding to a predetermined wireless communication standard, and can perform wireless communication with a drone 1, a server 3, another module 4, etc. introduced in a warehouse or the like.

Hereinafter, an example of control for preventing the drone 1 from coming into contact with the worker S will be described with reference to FIGS. 15 to 17.
FIG. 15 is a diagram showing an example of the function and usage of the module 4 for preventing the drone 1 of FIG. 2 from coming into contact with the worker S.

Hereinafter, an example in which the module 4A included in the worker S and the module 4B included in the drone 1 approach each other and issue a warning will be described with reference to FIG.
FIG. 15 is an example in which the module 4A included in the worker S and the module 4B included in the drone 1 in FIG. 2 measure their respective distances and issue a warning according to the distances.
The situation A shown in FIG. 15 is a diagram showing a situation when the modules 4A and 4B are separated from each other and have a sufficient distance.
The B situation shown in FIG. 15 is a diagram showing a situation when the modules 4A and 4B are close to each other and there is not a sufficient distance.
When it is not necessary to distinguish between the situation A shown in FIG. 15 and the situation B shown in FIG. 15, it is hereinafter referred to as “FIG. 15”.

In FIG. 15, each of the worker S and the drone 1 includes a module 4. Hereinafter, the module 4 provided by the worker S will be referred to as a module 4A, and the module 4 provided by the drone 1 will be referred to as a module 4B. When it is not necessary to distinguish between the module 4A and the module 4B individually, it is simply referred to as "module 4".
Modules 4A and 4B in this embodiment can measure distances from each other. The details of the method of estimating the distance of the module 4 will be described later. In addition, the module 4 can ring. Here, the ringing means issuing a warning to a person such as an operator S by an arbitrary operation such as blinking of an LED included in the module 4, a warning sound from a speaker, or a vibration function of a vibrator. By ringing the module 4A, the existence of the drone 1 side can be notified to the worker S side. The worker S can recognize the ringing of the module 4 by hanging the module 4 from his neck, putting it in his pocket, or putting it in his ear as an intercom. Further, the module 4B can convey the existence of the worker S to the drone 1 side by ringing, an electric signal, wireless communication, or the like.

Looking at the situation A shown in FIG. 15, the worker S is equipped with the module 4A, and the drone 1 is equipped with the module 4B. Here, the worker S and the drone 1 are separated by a distance D21. Modules 4A and 4B are not ringing because the distance D21 is long enough.
Looking at the situation B shown in FIG. 15, the worker S is equipped with the module 4A, and the drone 1 is equipped with the module 4B. Here, the worker S and the drone 1 are separated by a distance D22. Since the distance D21 is short with respect to a predetermined distance, the modules 4A and 4B make sounds such as making a sound and trembling due to the vibration function.

That is, when the module 4 rings, the module 4 can notify or warn the worker S of the approach of the drone 1. As a result, the worker S can notice the approach of the drone 1 and can take an action to avoid contact with the drone 1.
Further, the module 4B can be controlled or stopped so as to avoid the worker S by interlocking with the flight control unit 42 of the drone 1. As a result, the probability of collision with the worker S can be reduced, and the damage at the time of collision can be reduced.

Specifically, for example, the distance estimation unit 401 of the module 4 includes an antenna for transmitting and receiving radio waves, a speaker and a microphone for transmitting and receiving sound waves. As a result, the distance estimation unit 401 can detect the approach of the other module 4 by changing the intensity of the radio wave or the sound wave. That is, the module 4 estimates the distance from the other modules 4 by the distance estimation unit 401. Here, when it is determined that the module 4B included in the drone 1 is closer than a predetermined distance to the module 4A provided by the worker S, if the distance is within a certain distance to the worker S, both LEDs are red or the like. The color changes and the machine can operate at a slower speed.

Further, for example, when the proximity cannot be detected by communication and the proximity is approached, the worker S can issue an emergency signal by pressing a button (not shown) provided in the module 4A. A peripheral module that has received an emergency signal, for example, module 4B, controls the movement of the drone 1 including the module 4B, and can be set to a mode of moving at a low speed for a certain period of time. Further, for example, when the drone 1 including the module 4B is in the low speed mode, the ringing unit 402 of the module 4B rings, so that the worker S can easily notice the existence of the drone 1.

Further, for example, the plurality of modules 4 may not be able to communicate with each other. Each of the plurality of modules 4 can have a beacon function of transmitting a radio signal carrying information which is an identifier that can identify each module 4. As a result, the approach of another module can be detected by the signal strength of the beacon or the like, and which of the other modules is approaching can be detected. When the module 4A included in the worker S detects the approach of another module 4, the signal corresponding to the identifier of the detected module can be transmitted as a wireless signal. Furthermore, at the same time, it is possible to notify the worker S side by sound or the like. As a result, when the approach of another module 4 is detected by the module 4A provided by the worker S, it is possible to notify the other module 4 that the worker S is approaching. As a result, it is possible to perform control in consideration of mutual safety, such as stopping the operation of the drone 1 provided with the other module 4.
In the above example, for the sake of simplicity, one drone 1 and one worker S are working in a warehouse or the like, but the present invention is not particularly limited to this. That is, the number of the drone 1 and the number of workers S may be plural. That is, there may be a plurality of modules 4A and 4B, respectively.
Further, in the above example, the distance estimation unit 401 of the module 4 can detect the approach of another module 4 by changing the intensity of the radio wave or the sound wave, but the radio wave for detecting the approach or the radio wave for detecting the approach A plurality of frequencies may be handled in sound waves.

As described above, an example of a method in which the module 4A measures the distance from the other module 4B and controls the ringing and the drone 1 has been described with reference to FIG.

Alternatively, for example, the module 4 can control for collision avoidance at the encounter.
Hereinafter, an example of control for avoiding a collision at the encounter using the module 4 will be described with reference to FIG.
At the encounter, a worker S and another worker S, that is, human beings, cannot visually confirm each other, and an accident may occur in which they come into contact with each other without noticing. Further, when the inside of the warehouse is noisy, even if the machine emits a driving sound such as a drone, there is a concern that the worker S may not notice the approach of the drone or the like and a contact accident may occur. As described above, when estimating the distance from radio signals by radio waves or sound waves, the dedicated signal is identified by utilizing the sound and radio waves of a frequency with less noise in the warehouse and embedding a check digit etc. in the signal. By taking advantage of the fact that radio waves and sounds are diffracted, it is possible to prevent difficult encounter collisions between workers S in advance.

As described above, such a module 4 can be used without distinguishing between the worker S and the drone 1. That is, the module 4 can handle the worker S and the drone 1 which are the moving subjects in the same manner. That is, the same configuration may be adopted for each of the module 4 used by the worker S and the module 4 used by the drone 1. Therefore, when the module 4 is mass-produced, the module 4 having the same configuration is mass-produced, so that the production cost can be reduced. Further, the drone 1 on which the module 4 is mounted may be a moving body such as an air vehicle capable of three-dimensional movement, or may be a moving body such as a vehicle capable of two-dimensional movement.

In FIG. 16, the module 4 avoids a collision when the worker S and the drone 1 pass through the warehouse where the shelf T is located and the positions of the worker S and the drone 1 cannot be visually recognized by the shelf T. It is a figure which shows the example. In FIG. 16, each of the worker S and the drone 1 includes modules 4A and 4B, respectively. At this time, the worker S and the drone 1 are moving in the directions shown by the arrows in the figure, and there is a possibility of a collision in the future. In this case, for example, the speaker of the module 4A provided by the worker S generates a sound having a frequency having less noise in the warehouse. The straight line L1 in FIG. 16 indicates one of the directions in which the sound propagates. The straight component of the sound indicated by the straight line L1 propagates in the direction indicated by the broken line L2. However, since the sound wave has a diffracting property, a part of the diffracted sound wave propagates in the direction indicated by the straight line L3 and the arc due to the angle of the shelf T. As a result, the sound wave emitted by the module 4A reaches the module 4B included in the drone 1. The microphone included in module 4B receives the reached sound. As a result, the module 4B can detect the approach of the worker S including the module 4A, which exists in an invisible range. As a result, the flight control unit 42 of the drone 1 can be controlled so as to avoid a collision.
Further, in the above example, the module 4 uses sound waves when detecting the approach of another module 4, but the present invention is not particularly limited to this. That is, not only sound waves but also diffracted radio waves may be used.
That is, when the worker S and another worker S, that is, human beings cannot visually confirm each other, or when the inside of the warehouse is noisy, there is a concern that the worker S and the machine may come into contact with each other. By utilizing sound waves and radio waves with low noise frequencies and embedding check digits in the signals to identify dedicated signals, the diffraction of radio waves and sounds can be utilized to utilize the fact that the workers S can interact with each other. However, it is possible to prevent difficult encounter conflicts in advance.
This may be done not only by the worker S but also by the machines. Further, the workers S may perform the work together.

As described above, an example of control for avoiding a collision at the encounter using the module 4 has been described with reference to FIG.
Up to this point, a method of preventing contact accidents between the worker S and the drone 1 using the module 4 or each other has been described.
Hereinafter, with reference to FIG. 17, a method of avoiding a collision via a server that shares the position information of the worker S and the drone 1 without relying only on mutual direct communication between the worker S and the drone 1 will be described. do.
FIG. 17 is a diagram relating to collision avoidance when the worker S and the plurality of drones 1-1 and 1-2 are moving in the warehouse.

In FIG. 17, the worker S and the drones 1-1 and 1-2 come and go in the warehouse having the shelf T. Here, the worker S includes a module 4A, the drone 1-1 includes a module 4B-1, and the drone 1-2 includes a module 4B-2. Here, by the method described above, each of the modules 4 can measure the distance from the other modules 4, for example, the module 4B-1 can measure the distance from the module 4A and the distance D31. Here, the module 4B-1 transmits information including the position of the drone 1-1 and the distance D31 to the worker S to a server (not shown). Similarly, the module 4B-2 measures the distance D31 between the module 4B-2 and the module 4A, and transmits information including the position of the drone 1-2 and the distance D32 to the worker S to a server (not shown). The server that receives the information including the respective positions and distances D31 and D32 from each of the drones 1-1 and 1-2 integrates the results. At this time, the accuracy can be improved by integrating the information from the plurality of modules 4.
That is, if the self-location is shared within the local network, even if there is a problem in direct communication, it is possible to prevent mutual collisions on the server side, and a safer system can be obtained.
The machine side can recognize the distance to the worker S. However, since we do not know the state such as whether it is moving or not, we do not know the exact position. However, if the distance can be recognized from the plurality of machines, the position of the worker S with high accuracy can be known. Therefore, by sharing the position data of the worker S from the machine side in real time, the position information of the worker S can be grasped with high accuracy, and the safety can be improved. As a result, more advanced collision prediction can be performed.

Further, for example, the module 4 may be such that the current position and the distance are specified as follows. Specifically, for example, the device corresponding to the above-mentioned module 4 is fixed to the wall surface, floor, ceiling, or the like of equipment such as a warehouse or a shelf. As a result, the position of the worker S can be estimated with reference to the fixed module 4. In this case, if the fixed module 4 is arranged so that there is almost no blind spot, the position of the worker S can always be estimated, which is preferable. Further, also in the module 4B included in the drone 1, the self-position can be estimated with higher accuracy by measuring the distance from the fixed module 4.

As described above, an example of control for preventing the drone 1 from coming into contact with the worker S has been described with reference to FIGS. 15 to 17.

Drone 1 and module 4 are not limited to the above examples.
That is, for example, the module 4 is supposed to avoid the danger of contact by estimating the distance, but the present invention is not particularly limited to this. That is, for example, the distance between the modules 4, the relative speed between the modules 4, the actual arrangement such as the arrangement of the shelves, etc. are comprehensively judged to estimate the danger of contact and avoid the danger of contact. It may be there.
Further, for example, the module 4 estimates the distance from radio waves and sound waves, but the radio waves and sound waves are not limited to a specific single frequency. That is, for example, a plurality of frequencies may be handled.
Further, for example, the module 4 has been described as having no particular difference in function or configuration between the worker S and the drone 1, but the present invention is not particularly limited to this. That is, for example, the module 4A included in the worker S and the module 4B included in the drone 1 may have different functions and configurations. That is, the module 4B may have a function of transmitting an electric signal notifying the approach of another module 4 to the flight control unit 42 of the drone 1. Further, the vibration function for notifying the operator S of the danger by ringing may be excluded from the module 4B on the drone 1 side. That is, for example, the human module and the drone module may be different.

When the drone 1 and the module 4 shown in FIGS. 15 to 17 are used, the risk of contact accidents is reduced and mutual contact is reduced even in a usage situation where there is a high possibility that the drone and the worker come into contact with each other. It can have the effect of being able to detect proximity, notify it, and control it for avoidance.
The moving body capable of exerting such an effect is not limited to the drones 1 and the module 4 of FIGS. 15 to 17, and the following moving bodies and modules can be adopted.
That is, this module (for example, the contact prevention module 4 in FIG. 3 and the module 4A in FIG. 15) is
An approach estimation means (for example, the distance estimation unit 401 in FIG. 3) for estimating the approach to another module (for example, module 4B in FIG. 15) and
A notification means for notifying the approach to another module (for example, the ringing unit 402 in FIG. 3) and
Any module with

Hereinafter, with reference to FIG. 18, an example of moving a drone, which is an autonomous vehicle type mobile body, in a factory or the like in the position control of the drone will be described.

In order to move industrial machines in factories, etc., it is necessary to stop at an accurate position. When stopping an industrial machine or the like at an accurate position, there is a method of using a moving distance estimated from the number of rotations of a tire or a range finder using a laser or the like.
However, in the conventional distance estimation method as described above, there are errors due to tire slippage and errors due to the target to be irradiated with the laser and its position. Therefore, the moving body and distance estimation method in the example of FIG. 18 can be used in addition to the distance estimation method and the like described above, and the moving body such as an industrial machine stops at a more accurate position in a factory or the like. The purpose is to be able to do.
FIG. 18 is a diagram showing an example in which a drone 1 which is a traveling body moving on a plane which is a moving body of an industrial machine or the like stops before a passage formed by a wall WA.
In FIG. 18, the drone 1 is advancing to the intersection CR inside the factory or the like. The drone 1 needs to be stopped at an accurate position, such as when accommodating the passage of the intersection CR with another drone or when performing work.
In such a case, the bamil 301 can be provided at a place where it is desired to stop at an accurate position. Here, the bamil is a mark indicating a position accurately affixed or engraved on the floor, wall surface, or the like. That is, for example, the bamil 301 can be provided with a mark such as a tape corresponding to a stop line indicating a place where the user wants to stop accurately with respect to the stop position.
The drone 1 can be stopped at a highly accurate position by recognizing an image of the Bamil 301 that is accurately affixed or engraved on the floor, wall surface, or the like. That is, for example, by recognizing the image of the Bamil 301 stretched on the road surface based on the image captured by the image capturing unit 43 of the drone 1, the Bamil 301 is stopped at the position corresponding to the Bamil 301, thereby stopping at a highly accurate and accurate position. can do.

Bamil 301 is not particularly limited to the above example.
For example, the bamil 301 is provided at the intersection CR, but the present invention is not particularly limited thereto. That is, for example, it is not limited to the intersection CR, and may be provided at any purpose or place such as the vicinity of an object on which a moving body such as an industrial machine works, or a storage place for the moving body.
Further, for example, the bamil 301 is marked with a tape or the like, but the present invention is not particularly limited thereto. That is, for example, a mark that can include information that can identify the bamil, such as a two-dimensional bar code, may be used.

When the drone 1 and the bamil 301 of FIG. 18 are used, the drone 1 can have the effect of being able to stop at a more accurate position.
The moving body capable of exerting such an effect is not limited to the drone 1 using the bamil 301 of FIG. 18, and the following bamil and moving body can be adopted.
That is, for example, when it is necessary to stop an industrial machine (for example, drone 1 in FIG. 18) at an accurate position in a factory or the like, in addition to the number of rotations of tires and a range finder using a laser, the floor or the like By recognizing an image of a bamil (for example, bamil 301 in FIG. 18) that is accurately affixed or engraved on a wall surface or the like, it is possible to stop at a highly accurate position.
As described above, in the position control of the drone, an example of moving the drone, which is an autonomous vehicle type mobile body, in a factory or the like has been described with reference to FIG.

Hereinafter, with reference to FIG. 19, an example of docking using an auxiliary member in position control of a drone, which is a moving body that travels unmanned in a factory or the like, will be described.
Automatic machines such as AGVs that operate in factories may need to be docked between equipment and machines. That is, when an unmanned transport vehicle such as an AGV is active in a factory or the like, it is coupled (docked) with a transport destination facility for storing luggage, a charge facility for the transport vehicle, or a plurality of transport vehicles. It may be necessary.
However, in the case of docking, a highly accurate sensor and control are required in order to approach and dock from an appropriate position or direction. Therefore, by a docking method using the drone 1 which is the moving body of the example of FIG. 19 and the auxiliary member, it is possible to accurately dock the drone which is a moving body that runs unmanned in a factory or the like. With the goal.

FIG. 19 is a diagram showing an example of docking using an auxiliary member in position control of a drone 1 which is a moving body that travels unmanned in a factory or the like.
In FIG. 19, the drone 1 is about to dock to the equipment E. That is, for example, each of the drone 1 and the equipment E is provided with a connector for charging, and needs to be docked for charging.

In the example of docking using the auxiliary member of the example of FIG. 19, the drone 1 includes a positioning shape 311. Further, the equipment E includes a positioning shape 312.
Here, the positioning shape is a positioning shape such as a hemisphere processed on the equipment side or the machine side. That is, it is a pair of hemispherical bulges and dents provided in the equipment E and the drone 1.
Here, the drone 1 can be accurately docked by pressing it with the force of a motor. That is, the drone 1 can accurately dock the positioning shape 311 which is a bulge by pressing the positioning shape 311 which is a bulge against the positioning shape 312 which is a dent provided in the equipment E by the force of a motor. Specifically, since the positioning shapes 311 and 312 have a shape in which the positions to be fitted are one when pressed against each other, even if the positions are displaced at the time of starting the pressing, they are fitted as they are pressed. It is guided to the position, and as a result, it fits. That is, since the positioning shapes 311 and 312, which are auxiliary members, are fitted at only one place by pressing, the positions may be displaced at the time when the pressing starts.

After that, it can be fixed with a cam or the like so that the position does not shift even if the motor is stopped. That is, when they are fitted, a pressing force such as a cam can be generated. That is, after docking, the position can be prevented from shifting in a state where the pressing force is not exerted, such as turning off the power of the motor such as the wheel that generated the pressing force.

The positioning shape 311 is not particularly limited to the example of docking using the auxiliary member in the example of FIG.
For example, the positioning shape is hemispherical, but the positioning shape is not particularly limited to this. That is, for example, a shape such as a cone or a pyramid that fits at one position when pressed against each other is sufficient.

Further, for example, the positioning shapes 312 and 311 can include electrodes related to charging the drone 1.
Conventionally, the electrode for charging has a so-called electrical connector shape. The electrical connector could not be plugged in without the correct orientation and position. That is, when docked to the electrode involved in charging, the drone 1 had to perform accurate orientation and position movement control.
Furthermore, although not shown, a normal electrical connector has a structure on the side where the electrode is inserted and the side where the electrode is inserted. Among such connectors, a connector that can be inserted without accurately aligning the orientation and position as compared with other connectors often has a built-in spring structure. In such a connector, the electrode on the side to be inserted is pressed against the inserted electrode. The portion where the electrode is pressed is a point contact. When an electric current is passed between the electrodes, the electric current flows at the point of contact, so that the organic matter adhering to the point of contact may be seized. That is, when a large current is passed through the contact electrodes at such a point, poor contact may occur.

However, the positioning shapes 312 and 311 including the electrodes for charging the drone 1 can solve such a problem. That is, as described above, such positioning shapes 312 and 311 can be pressed to accurately dock the drone. Further, the positioning shapes 312 and 311 come into contact with each other face to face. That is, as described above, since the positioning shapes 312 and 311 are not in contact with each other at points, the possibility of poor contact is reduced even when a large current is passed between the electrodes.

When such an auxiliary member of FIG. 19 is used, the drone 1 has the effect of being able to accurately dock the drone, which is a moving body that travels unmanned in a factory or the like. Can be done.
The auxiliary member and the moving body capable of exerting such an effect are not limited to the auxiliary member and the drone 1 of FIG. 19, and the following auxiliary means and the moving body can be adopted.
That is, for example, an automatic machine (for example, the drone 1 in FIG. 19) operating in a factory such as an AGV is equipped with equipment (for example, equipment E in FIG. 19) or machines (for example, another drone 1 not shown in FIG. 19). When it is necessary to dock, the positioning shape such as a hemisphere processed on the equipment side or the machine side (for example, the positioning shape 312 or 311 in FIG. 19) is driven by the force of a motor (for example, the motor of the wheel of the drone in FIG. 19). It can be docked accurately by pressing it.
Further, for example, by fixing with a cam or the like (in the docked state), the position can be prevented from shifting even if the motor is stopped.

Although the present invention and other embodiments have been described above, the present invention and other embodiments are not limited to the above-described embodiments, and modifications, improvements, etc. within the range in which the object can be achieved are described in the present invention. It is included.
For example, in the above-described embodiment, the drone is adopted as an example of the moving body related to the wall surface inspection, but the drone is not limited to the drone, and any moving body can be adopted. For example, various moving bodies such as flying bodies and automobiles, and manipulators and the like are all examples of moving bodies. Therefore, the wall surface can be inspected by using any moving body other than the drone, which is a conventional small mobile flying body.

Further, in the above-described embodiment, FIG. 11 has been described as an example of a landing port which is an auxiliary member used at the time of landing of the drone 1, but the present invention is not particularly limited thereto. That is, for example, it may be the following landing port.
FIG. 20 is a diagram showing an example of a landing port used by the drone of FIG. 2 at the time of landing, which is different from that of FIG.
The landing port 321 of FIG. 20 includes a bottom plate 321A and a side plate 321B.
The bottom plate 321A is a surface of the landing port 321 having a rectangular shape in which the axis Z is provided in the negative direction. Further, the side plate 321B is a surface of the landing port 321 having a rectangular shape in which the axis Y is provided in the negative direction.

Here, the bottom plate 321A has a side 321L1 in the direction in which the axis Y is negative. The bottom plate 321A and the side plate 321B are detachably connected to each other via the side 321L1.
Further, the bottom plate 321A has a side 321L2 in the direction in which the axis X is negative. Here, a wall W parallel to the YY plane is shown in the direction in which the axis X of the landing port 321 is negative. The bottom plate 321A and the wall W are in contact with each other via the side 321L2.
As described above, when viewed from the bottom plate 321A of the landing port 321, the side plate 321B of the landing port 321 is arranged in the direction in which the axis Y is negative, and the wall W is arranged in the direction in which the axis X is negative.

Here, the drone 1 includes a range finder. That is, when the distance between the drone 1 and the bottom plate 321A becomes short, the drone 1 measures the distance between the drone 1 and the wall W or the side plate 321B using a range finder. The drone 1 executes position control based on the distance between the drone 1 and the wall W or the side plate 321B. The drone 1 can land on the bottom plate 321A by landing so that the distance from the wall W and the side plate 321B is constant.

Further, the bottom plate 321A of FIG. 20 includes a charging port 331, a charging port connector 332, and a marker tape 333.
The charging port 331 is a port used for charging the drone 1, and is arranged at a position separated from the side plate 321B and the wall W by a predetermined distance. The charging port 331 of FIG. 20 is arranged substantially in the center of the bottom plate 321A of the landing port 321.
The charging port 331 includes charging electrodes 331A and 331B and an electrode marker 331C.
The charging electrodes 331A and 331B are electrodes for supplying electric power to the drone 1 to charge the drone 1 when the drone 1 lands on the landing port 321. The electrode marker 331C is printed with an arrow pointing in the positive direction of the axis X.

The drone 1 identifies the direction of the electrode marker 331C by analyzing the image data of the electrode marker 331C as an imaging target by a predetermined algorithm. The drone 1 controls the position and direction of the drone 1 based on the direction of the electrode marker 331C so that the charging electrodes 331A and 331B come into contact with the terminals related to the charging of the drone 1 itself. As a result, the drone 1 can charge the drone 1 itself after landing on the landing port 321.

The charging port connector 332 is a power cable or connector that supplies electric power to the charging electrodes 331A and 331B of the charging port 331. The charging port connector 332 is taken out from the side 321L2 of the bottom plate 321A. That is, although not shown, the charging port connector 332 is connected to the charging electrodes 331A and 331B of the charging port 331, the axis Z of the bottom plate 321A is wired in the negative direction, and is pulled out from the side 321L2.
Usually, the equipment for supplying electric power is arranged on the wall W as a so-called outlet, or is wired along the wall W. The charging port connector 332 described above has a structure that makes it easy to connect to equipment that supplies such power.

The marker tape 333 is arranged so that the axis Z of the bottom plate 321A is in contact with the surface in the positive direction. Further, the marker tape 333 is arranged so that the axis X extends in the positive direction beyond the bottom plate 321A.
Here, the markers 333A and 333B are repeatedly printed on the marker tape 333. The drone 1 can analyze the markers 333A, 333B, etc. printed on the marker tape 333 by a predetermined algorithm based on the data of the image captured by the marker tape 333 as the imaging target. Here, the markers 333A and 333B are asymmetric in the direction of the axis Y. That is, the drone 1 can distinguish between the positive direction of the axis Y and the negative direction of the axis Y by analyzing the markers 333A and 333B. Further, the drone 1 stores in which direction of the marker tape 333 the bottom plate 321A of the charging port 331 exists. As a result, the drone 1 existing at a position where the marker tape 333 can be imaged as an imaging target can land at the landing port 321 by following the marker tape 333 and controlling the position and direction of the drone 1.

Such a landing port 321 is effective in a place such as a warehouse where the drone 1 often moves in one straight line direction. Therefore, in the following, when the marker tape 333 is arranged between the shelves of the warehouse, how the drone 1 executes the control of movement such as the position and the direction will be described with an example.

The drone 1 flies between shelves to perform tasks such as the status and transportation of luggage placed on the shelves. At this time, the camera included in the drone 1 is photographing the marker tape 333 in which the axis Z exists in the negative direction. That is, the drone 1 can grasp the position on the shelf based on the data of the image captured by the marker tape 333.

Here, when the remaining battery level of the drone 1 is low, the drone 1 lands on the landing port 321 to perform control for landing on the landing port 321 in order to charge at the charging port 331. Specifically, the drone 1 moves in the direction of the landing port 321 (charging port 331) existing at the end point of the marker tape 333 based on the data of the image captured by the marker tape 333. Specifically, in the example of FIG. 20, the drone 1 moves from the direction in which the axis X is positive to the direction in which the axis X is negative.

When the drone 1 moves to a position substantially directly above the landing port 321 (the axis Z is in the positive direction), the camera included in the drone 1 is photographing the electrode marker 331C in which the axis Z is in the negative direction. Therefore, the drone 1 faces the direction grasped by the electrode marker 331C or moves so as to approach the electrode marker 331C based on the data of the image captured by the electrode marker 331C.

When the drone 1 moves to a position less than or equal to a predetermined distance from the landing port 321, the camera included in the drone 1 may not be able to capture the entire electrode marker 331C in which the axis Z is in the negative direction. In addition, the drone 1 becomes unstable due to the influence of the ground effect. Therefore, the drone 1 measures the distance between the drone 1 and the wall W or the side plate 321B by using a range finder. Further, the drone 1 executes movement control based on the distance between the drone 1 and the wall W or the side plate 321B. Specifically, for example, the movement is controlled so that the distance between the drone 1 and the wall W or the side plate 321B becomes a predetermined distance. The drone 1 further executes control that the axis Z moves in the negative direction. As a result, the drone 1 can stably land on the charging port 331.

That is, such a landing port 321 can solve the following problems.
That is, when the drone 1 executes the movement control based on the marker imaged by the camera provided with the axis Z in the negative direction, the marker is imaged when the drone 1 moves to a height below a certain level. It may extend beyond the image. Also, if the drone 1 is blown by the wind, the markers may also protrude from the captured image. Also, if the drone 1 is affected by the ground effect, the drone 1 becomes unstable. Furthermore, the image analysis process is usually computationally intensive and time consuming. That is, when the drone 1 relies only on the marker to control the movement, the drone 1 may not be able to cope with a sudden change in posture due to the ground effect or the like.

Therefore, as described above, the drone 1 executes the movement control based on the distance between the drone 1 and the wall W or the side plate 321B. Thereby, the drone 1 can execute the movement control based on the distance between the drone 1 acquired by the range finder and the wall W or the side plate 321B instead of the image processing. That is, the drone 1 can execute the movement control without depending on the image analysis process, which requires a large amount of calculation and takes a long time. As a result, the drone 1 can respond to a sudden change in posture due to the ground effect or the like.

When the drone 1 executes movement control based on the distance between the drone 1 and the wall W or the side plate 321B, the drone 1 may be in a posture that is not parallel to the XY plane. In this case, the drone 1 can correct the distance measured by the range finder based on the information on the inclination of the drone 1 itself. That is, the drone 1 can perform movement control based on the corrected distance.

Further, by using such a landing port 321, the following effects can be obtained.
That is, for example, the bottom plate 321A and the side plate 321B are detachably connected to each other. As a result, the manager of the landing port 321 arranges the bottom plate 321A having no side plate 321B at a position where the wall W is arranged in two directions, one in which the axis Y is in the negative direction and the other in which the axis X is in the negative direction. be able to. Furthermore, the manager of the landing port 321 can easily carry out the work of stacking and transporting the bottom plates 321A of the plurality of landing ports 321 and arranging them at the installation location (for example, a position where the shelves of the warehouse can be seen). be able to.

Here, many of the conventional landing ports have low portability. Specifically, for example, the conventional landing port has a structure that sandwiches the drone when the drone approaches a predetermined distance. That is, in the conventional control related to landing at the landing port, the drone could not accurately control the landing. For this reason, the conventional landing port has a structure in which a drone approaching a predetermined distance is sandwiched, landed, and fixed. Since such a landing port has a movable part, it is large and has low portability.
However, the landing port 321 in the above-described embodiment is highly portable as described above. Further, when such a landing port 321 is used, as described above, it is possible to cope with a sudden change in attitude due to the ground effect or the like in the control related to the landing of the drone 1.
Further, for example, by providing the side plate 321B, it is possible to prevent or mitigate the crosswind from hitting the drone 1 that is about to land on the landing port 321.

Further, in the above-described embodiment, an example of control using a camera, which is an example of an auxiliary member used at the time of landing of the drone 1, has been described with reference to FIGS. 13 and 14, but the present invention is not particularly limited thereto. That is, for example, control using a camera, which is an example of an auxiliary member used at the time of landing of the drone 1, can be used as follows.

FIG. 21 is a diagram showing an example different from that of FIG. 13 among the examples in which the drone of FIG. 2 is imaged and controlled by using a camera on the ground.
FIG. 21 illustrates a dam and a drone 1 flying near the dam. The technique related to the wall surface inspection described in the first embodiment is also useful on the wall surface of the dam. However, the wall surface of the dam is extremely large, and it is difficult to accurately grasp the position of the drone 1 flying on the wall surface of the dam.

Therefore, for example, the manager who inspects the wall surface of the dam can install the beacons B1 to B4 on the wall surface of the dam. The drone 1 measures each of the distances to each of the beacons B1 to B4. As a result, the drone 1 can improve the accuracy of identifying the position of the drone 1 in the region surrounded by the beacons B1 to B4.
However, it is difficult to arrange a plurality of beacons on the wall surface of a vast dam so as to improve the accuracy of identifying the position of the drone 1 from the viewpoint of the position of the dam and the ease of work.

Therefore, the manager who inspects the wall surface of the dam can use the control using a camera, which is an example of the auxiliary member used at the time of landing of the drone 1 described with reference to FIGS. 13 and 14.
FIG. 21 shows a camera C on the ground, which is an example of an auxiliary member. The camera C captures an area of the wall surface of the dam surrounded by the beacons B1 to B4 shown by the dotted line. That is, such a camera C captures a predetermined region of the wall surface of the dam and the drone 1 flying in the region.
The operator terminal 2 that controls the drone 1 can grasp which position on the wall surface of the dam the drone 1 is flying by analyzing the data of the image captured by the camera C.
Specifically, for example, the operator terminal 2 can analyze which position of the wall surface of the dam is captured in the image captured by the camera C. That is, the operator terminal 2 can acquire which coordinates (pixels) of the image captured by the camera C correspond to which position on the wall surface of the dam. In addition, the operator terminal 2 can analyze which coordinates (pixels) of the image captured by the camera C the drone 1 is located. That is, the operator terminal 2 can acquire which coordinates (pixels) of the image captured by the camera C the drone 1 is located.

In this way, the operator terminal 2 can acquire an image for accurately grasping which position of the wall surface of the dam the drone 1 is flying by using the camera C.
That is, the manager who inspects the wall surface of the dam can use such a camera C without installing the beacons B1 to B4 and the like on the wall surface of the dam. As a result, the manager who inspects the wall surface of the dam can inspect the wall surface of the dam at low cost.
Further, also in the wall surface inspection of the dam, various methods can be used as the method of identifying the drone 1 on the image in FIGS. 13 and 14 described above. That is, for example, the drone 1 can be equipped with an LED having a predetermined frequency. In this case, since the camera C is provided with a filter that transmits the frequency, the operator terminal 2 can easily analyze at which coordinates (pixels) the drone 1 is located on the captured image. Can be done.

Further, in the above-described embodiment, an example in which a drone, which is a traveling body that moves on a plane, which is a moving body such as an industrial machine, stops before a passage formed by a wall has been described with reference to FIG. It is not particularly limited to this. That is, for example, when the drone 1 which is a traveling body moving on a plane which is a moving body of an industrial machine or the like stops in front of a passage, the following bamil can be used.

FIG. 22 is a diagram showing an example different from that of FIG. 18 among examples in which a drone, which is a traveling body that moves on a plane, which is a moving body of an industrial machine or the like, stops in front of a passage formed by a wall.
FIG. 22 shows a drone 1 moving in the passage. Here, although not shown, the drone 1 includes a camera for photographing the bamils 341 to 343. That is, the camera provided in the drone 1 is moving while capturing a predetermined area PR.
Further, FIG. 22 shows an intersection composed of a plurality of wall WAs and bamils 341 to 343 installed in the passage to the intersection. The bamil 341 has an L-shape similar to the bamil 301 of FIG. As described with reference to FIG. 18, by stopping at a position corresponding to the bamil 341, it is possible to stop at a highly accurate and accurate position.

Further, the bamil 342 has one more square shape than the bamil 341.
The bamil 343 also has two more square shapes on the bamil 341.
The number of each square shape of the bamils 341 to 343 corresponds to the distance to the intersection composed of the plurality of wall WAs. That is, as shown in FIG. 22, the bamils 341 to 343 installed in the passage to the intersection can have a number of predetermined shapes corresponding to the distance from the intersection.

In this way, the bamil can be provided with a bar code or the like that can specify the position of the bamil.
As a result, when the drone 1 moving based on the bamil detects a bamil (for example, the bamil 342 in FIG. 22) that is close to the intersection, the drone 1 gradually decelerates and the bamil at the position of the intersection (for example, FIG. 22). It is possible to execute a control such as stopping at the Bamil 341).

The bamils 341 to 343 are preferably made of a phosphorescent member such as a fluorescent paint.
That is, for example, in FIG. 22, the bamil 342 is arranged between the drone 1 and the floor surface on which the drone 1 travels. Here, the light source (for example, a ceiling lamp if indoors, or the sun if outdoors) is usually present on the drone 1. In such a case, the drone 1 casts a shadow on the floor surface.
In such an environment, while the drone 1 is present at a position different from that shown in FIG. 22, the bamil 342 glows. Next, when the drone 1 is present at the same position as in FIG. 22, it emits light in the shadow created by the drone 1. That is, the bamil 342 of FIG. 22 emits light between the drone 1 and the floor surface.

In this way, the drone 1 can image the bamil 342 in the shadow created by the drone 1 itself. By adopting such a Bamil 342, the following effects can be obtained.

The drone 1 grasps the bamil (mark) and the object arranged on the floor surface in front of the drone 1 based on the image data acquired by the camera that images the front, and executes the movement control. be able to. However, when the positional relationship between the drone 1 and the bamil and the light source satisfies a predetermined condition, the bamil itself and the floor surface around the bamil may reflect the light source on the upper part of the drone 1 in a substantially mirror manner. That is, the camera may receive strong reflection of light from the light source, and the drone 1 may not be able to identify the bamil.
However, by using a bamil made of a phosphorescent member such as a fluorescent paint as described above, it is possible to obtain an effect that the drone 1 does not cause the bamil to be indistinguishable. That is, in such a case, it is sufficient for the drone 1 to image the light emitting Bamil in the shadow of the drone 1 itself. As a result, the camera included in the drone 1 can capture the shape of the bamil that emits light on the black background of the shadow of the drone 1 itself.

Further, the functional block diagram shown in FIG. 3 is merely an example and is not particularly limited. That is, it suffices if the drone 1 or the like is provided with a function capable of executing the above-mentioned series of processes as a whole, and what kind of functional block is used to realize this function is not particularly limited to the example of FIG. ..

Further, one functional block may be configured by a single hardware or a combination of a single software.

When the processing of each functional block is executed by software, the programs constituting the software are installed on a computer or the like from a network or a recording medium.
The computer may be a computer embedded in dedicated hardware. Further, the computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose smartphone or a personal computer in addition to a server.

The recording medium containing such a program is not only composed of removable media, which is distributed separately from the device main body in order to provide the program to each user, but also is preliminarily incorporated in the device main body to each user. It is composed of the provided recording medium and the like.

In the present specification, the steps for describing a program recorded on a recording medium are not necessarily processed in chronological order according to the order, but are not necessarily processed in chronological order, but are arranged in parallel or individually. It also includes the processing to be executed.

1 ... Drone, 2 ... Operator terminal, 3 ... Server, U ... Operator, G ... GPS satellite, N ... Network, W ... Radio device, 41 ...・ Drive unit, 42 ・ ・ ・ Flight control unit, 43 ・ ・ ・ Imaging unit, 44 ・ ・ ・ Wall inspection sensor unit, 45 ・ ・ ・ Suspension control unit, 46 ・ ・ ・ Cargo storage unit, 47 ・ ・ ・ Certification Unit, 4 ... contact prevention module, 401 ... distance estimation unit, 402 ... ringing unit, 403 ... communication unit, R ... relay drone, 601 ... position acquisition unit, 602 ...・ ・ Communication unit, 603 ・ ・ ・ Imaging unit, GR ・ ・ ・ Ground, B ・ ・ ・ Building, 101 ・ ・ ・ Wire, 102 ・ ・ ・ Wire, 103 ・ ・ ・ Wire, 111 ・ ・ ・ Motor, 112 ・・ ・ Motor, 113 ・ ・ ・ Motor, 121 ・ ・ ・ Cable, 131 ・ ・ ・ Fixed point, 132 ・ ・ ・ Fixed point, 141 ・ ・ ・ Roller, BH ・ ・ ・ Overhang part, 151 ・ ・ ・ Leg part, 201 ... takeoff and landing port, 211 ... support pillar, 221 ... landing port, 231 ... bottom plate, 232 ... bottom frame, 233 ... bottom net, 241 ... side plate, 242 ... Side plate, 243 ... Side plate, 251 ... Hinge, 252 ... Hinge, 261 ... Rope mounting part, 262 ... Rope mounting part, 271 ... Rope, C ... -Camera, S ... worker, T ... shelf, 301 ... bamil, F ... equipment, 311 ... positioning shape, 312 ... positioning shape, 321 ... landing port, 331 ... Charging port, 332 ... Charging port connector, 333 ... Marker tape, 341 to 343 ... Bamil

Claims (1)

In a moving body having a driving means for moving in space
A gravity supporting means that connects the upper part of a predetermined structure and the moving body and supports gravity with respect to the moving body.
With
The driving means generates a driving force for moving the moving body in a direction perpendicular to the gravity of the moving body.
Mobile body.

Images