127results about "Position/course control in three dimensions" patented technology

The invention relates to a remote-control system of a stratospheric airship and a control method thereof. The control system is divided to four levels: a decision-making level for executing the selection and switch of a remote-control flight mode according to the actual working state data, and sending a corresponding mode command; a planning level for dynamically planning and generating an airship motor drive command according to the mode command sent by the decision-making level; an executing level for realizing the drive control to an airship motor according to the motor drive command of the planning level; and a perceiving level for finishing the real-time monitoring and data collection of the airship working state, and providing the original data of the airship working state to the decision-making level. The four-level control system architecture design of the control system is capable of simplifying the control device, improving the control efficiency, and fundamentally solving the problems of the function, efficiency and reliability of the near space airship ground and airborne control system.

Provided is a machine room inspection robot, comprising a robot body, propellers, supporting rods, a top protection plate, a protection ring, elastic pieces, a control part, distance sensors, connecting rods, walking wheels and rotating shafts. The robot body is an unmanned aerial vehicle of a circular structure when overlooked. Propellers are respectively arranged on two sides of the top of the robot body. A supporting rod is arranged at the top of the robot body. A top protection plate is arranged at the tops of the supporting rods. A protective ring is arranged on the periphery of the robotbody. The protection ring is connected with the robot body through an elastic piece, a distance sensor is arranged on the periphery of the top of the robot body, a control part is arranged in the robot body, the distance sensor is electrically connected with the control part through a cable, connecting rods are symmetrically arranged at the bottom of the robot body relative to the center line, and walking wheels are arranged at the bottom ends of the connecting rods. The robot has the advantages that the inspection mode that a traditional inspection robot can only shuttle and walk on the ground for inspection is changed, the moving range of the robot is not limited by ground obstacles, and certain flexibility is achieved.

To provide an acoustic positioning method and a system that enable simultaneously position locations of a plurality of objects while eliminating cumbersome pre-processing as much as possible on the basis of an acoustic pulse a pinger transmits.SOLUTION: An acoustic positioning system 1 includes: a plurality of pingers 10 that transmits an acoustic pulse; a receiver 20 that positions a location of each pinger 10 on the basis of the acoustic pulse of the pinger. A cycle of a time slot transmitting the acoustic pulse is registered in a cycle setting part 101 of the pinger 10. The time slot cycle to be set to each pinger 10 is different from each other. Each pinger 10 is configured to transmit the acoustic pulse every time slot cycle. The receiver 20 mainly consists of a pulse reception unit 202, and a positioning unit 203, which are provided with at least three hydrophones 201. The positioning unit 203 is configured to calculate a direction and depth of each pinger 10 on the basis of the acoustic pulse each hydrophone 201 receives; and position the location of each pinger 10 on the basis of a calculation result.SELECTED DRAWING: Figure 1

An aircraft includes a flight plan and contingency data including a plurality of contingency landing sites. An aircraft communication system communicates with a ground control station via a communication link and detects a lost communication scenario in response to degradation in the communication link. An aircraft flight control system controls the aircraft en route according to the flight plan. In response to detecting the lost communication scenario, the flight control system routes the aircraft back to a last known location in which the communication link was not degraded. In response to failure to re-establish the communication link, the flight control system selects a landing site based on a current aircraft location relative to a plurality of potential landing sites including an origin airport, a destination airport, and a first continency landing site. The flight control system controls the aircraft to approach and land at the selected landing site.

An aircraft includes a flight plan and contingency data including a plurality of contingency landing sites. An aircraft communication system communicates with a ground control station via a communication link and detects a lost communication scenario in response to degradation in the communication link. An aircraft flight control system controls the aircraft en route according to the flight plan. In response to detecting the lost communication scenario, the flight control system routes the aircraft back to a last known location in which the communication link was not degraded. In response to failure to re-establish the communication link, the flight control system selects a landing site based on a current aircraft location relative to a plurality of potential landing sites including an origin airport, a destination airport, and a first continency landing site. The flight control system controls the aircraft to approach and land at the selected landing site.

Systems, apparatus and methods are provided for securing firmware and mission data in memory of an unmanned aerial vehicle. The unmanned aerial vehicle may include a central body and at least one electric motor. The central body may include a flight controller with a processor, a firmware memory configured to receive and store firmware, and circuit board with a fixed portion and a removable portion with a programming interface connector providing access through a signal connection to a firmware memory operatively connected to the flight controller. The central body may further include a volatile mission memory configured to receive mission data and automatically be erased upon power interruption.

Method for performing tasks in infrastructure, which is implemented with a system of unmanned vehicles, preferably unmanned airplanes, comprising a base vehicle (1) and at least a guest vehicle (1). The base vehicle (1) moves (5) to a first intermediate stationing point (6) located in an infrastructure, the at least one guest vehicle (2) departing therefrom to perform the programmed task and returning to the base vehicle (1), which has the capacity to process the information received from the at least one guest vehicle (2) and to communicate with a control station (3).

To provide a flying object control device and a flying object control method that achieve high-precision self-position estimation with a simple configuration.SOLUTION: A flying object control device according to an embodiment comprises: a first storage unit that stores three-dimensional 3D map information consisting of point group data; a first photographing unit that generates an omnidirectional image by photographing all directions of a flying object; a first self-position estimation unit that generates first estimated position information indicating an absolute position of the flying object based on the omnidirectional image and the 3D map information; a second photographing unit that generates a moving image by photographing a predetermined direction from the flying object; a second self-position estimation unit that generates second estimated position information indicating a relative position of the flying object on the basis of a predetermined position based on the moving image; and a position monitoring unit that generates self-estimated position information indicating an estimated position of the flying object based on at least one of the first estimated position information and the second estimated position information.SELECTED DRAWING: Figure 2

A system, device, and method for three or more unmanned aerial vehicles (UAVs) (101A-E), wherein each UAV in a fleet of UAVs includes a respective Flight Control Computer (FCC) (110) and at least one computing device (108) at a ground control station (104), each computing device in communication with a respective FCC, each computing device associated with at least one operator (106A-C), and wherein a fleet of UAVs above a threshold altitude (118) communicate with a first computing device monitored by the at least one operator to ensure that the ratio of UAVs above the threshold altitude exceeds a 1:1 ratio, and a first UAV below the threshold altitude communicates with a second computing device monitored by the at least one operator to ensure that the ratio of UAVs below the threshold altitude does not exceed a 1:1 ratio.

A method of measuring level deviation in an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, at least one container handling vehicle configured to operate on the rail system, wherein the at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system, a central control unit configured to receive, transmit and process data signals of the container handling vehicle and to receive and process data signals of the sensor, wherein the method comprises the steps of: arranging the container handling vehicle in a predetermined position on the grid, transmitting a data signal from the central control unit to the container handling vehicle commanding the container handling vehicle to move a distance in one direction (X, Y) along the grid, measuring at predetermined intervals, using the orientation sensor, at least one orientation parameter to produce orientation measurements that are indicative of the container handling vehicle's orientation within the three-dimensional cartesian reference system, transmitting data concerning the orientation measurements to the central control unit, and processing the orientation measurements using the central control unit in order to identify portions of the rail system that deviate from predetermined values.

Provided are an information processing device, an information processing method, a program, and an information processing system which can assist in specifying an un-photographed house when photographing an investigation range. The information processing device, which comprises a processor and memory that stores a program to be executed by the processor: acquires position and orientation information that indicates the position and orientation of a camera mounted on a flying body; acquires camera configuration information including an optical configuration of the camera; calculates a photographing range of the camera on the basis of the position and orientation information and the camera configuration information; acquires an investigation range map that indicates the investigation range; acquires house-to-be-investigated information including the position of a house to be investigated from the investigation range map; determines whether the house to be investigated is included in the photographing range; specifies the un-photographed house which has never been determined to be included in the photographing range; and overlaps information about the un-photographed house with the investigation range map.

Provided are a device and method which realize movement according to a predefined path even when absolute position information from the exterior, such as a GPS signal, cannot be input. Using a keyframe database that associates, and registers, a feature of a keyframe selected from images shot by a camera of a movement space for a mobile body such as a drone and a position and attitude of the keyframe in a coordinate system defining the movement space, verifies a feature of an image captured by a camera of the mobile body is verified against a keyframe feature. The position and attitude of the mobile body are then calculated on the basis of the position and attitude of the keyframe in the coordinate system defining the movement space, registered in the database in association with the keyframe for which the verification is successful. Then, the movement of the mobile body is controlled on the basis of the position and attitude calculated.

The objective of the present invention is to determine a preferred flight route for a multi-purpose flying object. A flight route determining system S comprising a battery-driven drone 300 and a server 100 for managing the drone 300 is provided with: a selecting means 111 for selecting a target parking place 400 from among a plurality of parking places 400 corresponding to a plurality of destinations; a first setting means and a second setting means 112, 113 for setting a direct route for causing a drone 300a parked in the target parking place 400 to fly between a first destination and a second destination without passing through any parking places 400, and a detour route for causing the drone 300a to fly between the first destination and the second destination via a parking place 400; a first calculating means 114 for calculating a flyable distance on the basis of a load weight and a remaining battery capacity; and a first determining means 116 for determining, on the basis of the flyable distance, one of the direct route and the detour route as a flight route for the drone 300a.

An inspection system (1) according to the present invention comprises a patterned sign (10) installed in a cable tunnel (40) and a flight device (20) that flies autonomously in the cable tunnel (40), the flight device (20) comprising: a sensing unit (21) that recognizes an image of the sign (10); a first control unit (22) that uses the result of recognizing the image by the sensing unit (21) to process the image and generate a control signal for controlling the flight position; a second control unit (23) that converts the control signal into a drive signal for driving the flight device (20); and an inspection image photographing unit (24) that photographs an image for inspecting communication equipment (30) installed in the cable tunnel (40).

There is provided a mobile body that includes an imaging unit to capture an image of an environment around the mobile body, an estimation unit to estimate a position of the mobile body on the basis of the image captured by the imaging unit, a calculation unit to calculate the position of the mobile body on the basis of a control command for controlling movement of the mobile body, and a wind information calculation unit to calculate information regarding wind acting on the mobile body on the basis of a first position that is the position of the mobile body, which is estimated by the estimation unit, and a second position that is the position of the mobile body, which is calculated by the calculation unit.

To provide a defense system capable of photographing an intruder who enters a working area in a factory, a warehouse or the like.SOLUTION: A defense system 1 comprises a first unmanned flying body 100-1, a second unmanned flying body 100-2, a moving body 200, and a management device 300, with the first unmanned flying body 100-1 comprising a detection part for detecting an intruder X who enters a working area 10, the second unmanned flying body 100-2 comprising a photographing part for photographing the intruder X, and the moving body 200 comprising an illumination part for outputting a dazzling light for obstructing a visual field of the intruder X. When the first unmanned flying body 100-1 detects the intruder X, the management device 300 makes the moving body 200 output the dazzling light until the second unmanned flying body 100-2 photographs the intruder X.SELECTED DRAWING: Figure 1

A movable object control method includes obtaining attitude information of a handheld control device, determining control information of a movable object according to the attitude information of the handheld control device, and sending the control information of the movable object to a head-mounted device to enable the head-mounted device to display a mark on a display device of the head-mounted device according to the control information of the movable object. The mark indicates a moving direction of the movable object.

Indoors positioning and navigation systems and methods are described herein. In one embodiment, a system for inspecting or maintaining a storage tank includes a vehicle having: at least one sensor for determining properties of a storage tank and a navigation system. The navigation system includes an acoustic transmitter carried by the vehicle and an inertial measurement unit (IMU) sensor configured to at least partially determine a location of the vehicle with respect to the storage tank. The vehicle also includes a propulsion unit configured to move the vehicle within the storage tank, and an acoustic receiver fixed with respect to the storage tank. The vehicle moves inside the storage tank in concentric arcs with respect to the acoustic receiver.

To provide a cooling system that can cool a cargo handling worker and an environment around the cargo handling worker while restraining an increase in cost.SOLUTION: A cooling system comprises: a data collection unit 33 for collecting temperature data and data other than temperature in an environment where cargo handling work has been performed, as teacher data; a learning model generation unit 34 for generating a learning model by performing machine learning from the teacher data collected by the data collection unit 33; an information acquisition unit 35 for acquiring environmental information related to an environment where cargo handling work is performed; an environmental temperature prediction unit 36 for predicting temperature in the environment where the cargo handling work is performed, on the basis of the learning model generated by the learning model generation unit 34, and the environmental information acquired by the information acquisition unit 35; a spray plan unit 37 for making a spay plan on the basis of the temperature predicted by the environmental temperature prediction unit 36; and a drone 2 that is an unmanned flying object constituted so as to be capable of autonomously flying, and for spraying in accordance with the spray plan made by the spray plan unit 37.SELECTED DRAWING: Figure 3

To make it possible to stably image and inspect the same position on a shaking object.SOLUTION: An inspection apparatus includes: a drone 12 that flies about a blade 6 of a shaking ocean windmill 1; a stationary camera 13 and gimbal camera 14 mounted in the drone 12; and a drone / gimbal camera motion control unit that is incorporated in the drone 12 and controls the motion of at least one of the drone 12 and gimbal camera 14 so that the drone or gimbal camera follows a displacement derived from a shake of the blade 6 detected based on images of the blade 6 taken by the stationary camera 13 and gimbal camera 14.SELECTED DRAWING: Figure 2

To provide a system for estimating the position of a flying vehicle and a method for estimating the position of a flying vehicle, with which the estimation accuracy of a current position of a flying vehicle is improved so that the flying vehicle can fly stably for a long time.SOLUTION: A system 20 for estimating the position of a flying vehicle estimates a current position of a current flying vehicle 10 by executing a machine learning algorithm N, using time series data related to the flying vehicle 10 flying in a predetermined flight zone as input values. The machine learning algorithm N is composed of an input cross-attention layer C1, a self-attention layer S, and an output cross-attention layer C2, and uses first array data D1 as time series data being the input values. Further, the machine learning algorithm has a function for generating second array data D2 by reconstructing the first array data D1 based on a prescribed weighting factor.SELECTED DRAWING: Figure 1

A control system capable of generating route information about a movement route of a mobile object in a three-dimensional space defined according to a predetermined coordinate system formats spatial information about a type of physical object capable of existing in or entering a three-dimensional space in association with a unique identifier and generates the route information about the movement route of the mobile object on the basis of the spatial information and type information of the mobile object, thereby generating the route information about the movement route of the mobile object in the three-dimensional space.

The article transportation system S acquires first sensing information obtained by sensing a peripheral area around a user including a release candidate place with an optical sensor 23 of a user terminal 2 and the position information of the user terminal 2. Then, the article transportation system S determines whether the release candidate place satisfies one or more application conditions on the basis of the first sensing information, and in a case where it is determined that the release candidate place satisfies the one or more application conditions, sets a release place suitable for releasing an article from an UAV 1 on the basis of the release candidate place and the position information of the user terminal 2.

To provide a system, method and program for supporting construction allowed to acquire an image in a point of view a user desires.SOLUTION: A system for supporting construction includes a control device for controlling a movable imaging device allowed to three-dimensionally move in a construction site. The control device prepares a 3D map of a construction site, presents a user an option for a photographic mode by the movable imaging device, determines on the 3D map a position the movable imaging device should stay to perform imaging in a photographic mode selected by the user based on a position of a construction appliance on the 3D map, and allows the movable imaging device to move to a position determined.SELECTED DRAWING: Figure 1

To extract a portion subjected to inspection from the image of a building.SOLUTION: A control unit 52 includes: a calculating unit 52a that calculates the width of a portion subjected to inspection displayed on the screen of a display unit 53 in accordance with the actual width of the portion subjected to inspection and with a distance from a flying imaging device 30 to an imaging object; a display control unit 52c that displays, on the display unit 53, a guide line G with the calculated width by the calculating unit 52a so as to be laid over on the picked-up image by the flying imaging device 30; and a first extracting unit 52d that extracts a partial image within the width of the guide line G from the picked-up image with the position of the guide line G and the display position of the portion subjected to inspection being aligned with each other on the screen of the display unit 53.SELECTED DRAWING: Figure 1

To realize a transport system with a high transport efficiency.SOLUTION: A transport system comprises a control device that controls an unmanned aircraft 20 and a transport vehicle 40. The control device outputs a move command for designating a destination T1 of the unmanned aircraft 20 to both the transport vehicle 40 and the unmanned aircraft 20 held in the transport vehicle 40. Upon receiving the move command, the transport vehicle 40 travels to a corresponding stop position P1, which is a stop position set correspondingly to the destination T1, on a travel route R, and then stops at the corresponding stop position P1, and the unmanned aircraft 20 takes off from an aircraft holding unit and moves to the destination T1 under the condition that the transport vehicle 40 stops at the corresponding stop position P1.SELECTED DRAWING: Figure 1

A method for determining a correction value of a state of an object in an association with a plurality of objects. The method includes: each object in the association recording its own absolute state in an existing coordinate system; a first object in the association recording a relative state of the first object in relation to one or more other objects in the association; the first object transmitting the recorded relative state and its own recorded absolute state via a data connection to one or more of the other objects in the association; exchanging recorded relative states and recorded absolute states in the association of objects so that all objects have the same uniform information status; each object calculating a correction value for all objects in the association based on the uniform information status; an object applying its own correction value to its own recorded absolute state.

To enable information for moving a moving object to be generated intuitively.SOLUTION: An information processing system is provided with: a display control unit for controlling display, on a display screen, of a virtual object based on an object being present in a real space; and a movement information generation unit for generating movement information for controlling the movement of a moving object. Thus, the information for moving the moving object can be generated intuitively.SELECTED DRAWING: Figure 2

A kind of unmanned plane control method, comprising: display map model on the display interface of control terminal, identify the operation area of unmanned plane on map model (S202);According to the operation of user in other area outside operation area, the region corresponding to the created obstacle is identified on map model (S204);According to the first position outside operation area, the second position in operation area and the region corresponding to obstacle, target route is generated (S206), and unmanned plane is controlled to fly according to target route (S208).Unmanned plane control method solves the technical problem that unmanned plane cannot reach destination smoothly when flying between the first position outside operation area and the second position in operation area due to the obstruction of obstacle.