Method for automatically taking off and landing drone

Abstract

To automatically take off and land drone flight and make tracking flight by using external materials without performing the flight operation of a flying object of the drone.SOLUTION: A flying object 1 which rises by rotating propellers connected with a motor by means of electric power energized mainly from outside, the flying object 1 being made to fly by using buoyancy on rising and the tension of a string 4 to keep the same moored to stay in the air with a predetermined length of the string 4. The string 4 connected with the flying object 1 flying in the air with the length of the string 4 is drawn closer, thereby landing the flying object 1 going to fly at a position for drawing closer. In order to continuously capture the same place for connecting the string 4 on a television camera 2, from above the length of the string 4, to measure the distance, to illuminate, and to collect sound, the flying object 1 is made to automatically fly for a long time in the preset air to make automatic taking off and landing.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] Drone flight. [Background technology]

[0002] Automatic take-off, landing and automatic tracking flight replace manual operation of drone flight. Automatic television camera filming from a flying drone and automatic laser distance measurement from the sky. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6719494 [Patent Document 2] Patent No. 7195093 Summary of the Invention

[0004] In a drone flying object that rises from a take-off and landing position by being powered by an electric wire embedded in a string that connects the flying object, the drone is tethered to the string and caused to rise and fly in the air the length of the string. By winding up the string that connects the flying drone, the drone attempting to rise is forced to land in its landing position. Without operating the drone, when power is supplied to the drone and the buoyancy of the rotating propellers causes the drone to rise, the drone can be automatically taken off and landed by winding and rewinding the string connecting the drone. Electrical wires built into the string will be used to power the drone while it flies, allowing the drone to stay in the air for longer periods of time. A television camera attached to a drone tethered to the sky is used to identify images that appear on a television screen of the surrounding area taken from the air for long periods of time, thereby ensuring the safety of the surrounding area. Using a television camera attached to a drone tethered to the sky, the operator can watch the television screen that captures images from the sky for long periods of time and remotely operate work equipment. Detailed distance measurements of the surrounding area are continued from the sky using a lidar distance measuring device attached to a drone tethered in the sky. A directional microphone attached to a drone tethered to the sky continues to collect individual sounds from the sky. The drone is tethered to the sky and flying, and the power supplied to it via an electric wire attached to a string turns on LED lights attached to the flying drone, continuously illuminating the surrounding area. Flying a drone on a tether makes it exempt from some regulations. [Problem to be solved by the invention]

[0005] To automatically take off, land and track a drone using external equipment without operating the drone itself. [Means for solving the problem]

[0006] The drone automatically takes off from the ground by supplying power via an electric wire attached to a string that connects the drone to the ground. The drone then ascends by rewinding a preset length of string on a winding machine on the ground, and flies while tethered to the drone at a distance equal to the preset length of the string above the ground. The flight of the drone is automated by winding up the string to a preset length using a winding machine on the ground, and by supplying power to the drone, which attempts to rise, it is forced to land at the winding position on the ground. Effect of the Invention

[0007] To make a drone of an air vehicle easier to use by flying the drone automatically. Drone flying is not tethered or regulated. The drone automatically takes off from a work vehicle on the ground, automatically flies above the work vehicle in pursuit of it, and is able to fly for long periods of time using power from the work vehicle. The system automatically identifies images captured on a television screen using a television camera attached to a drone that flies for long periods of time, automatically ensuring the safe operation of work vehicles for long periods of time. Work operations can be performed remotely for long periods of time by viewing an approximately identical television screen of a work vehicle photographed by a television camera attached to a drone flying in approximately the same sky for a long period of time. Work operations can be performed remotely for long periods of time by viewing a television screen of an enlarged image of the work position taken using a numerically controlled television camera attached to a drone that flies in roughly the same area for long periods of time. A numerically controlled laser distance measuring device attached to a drone flying in roughly the same area for a long period of time is used to measure the distance to the work location, and remote work operations are performed over long periods of time. A drone flies in roughly the same area above for a long period of time and uses a numerically controlled directional microphone to listen to audio from the work position, allowing remote work operations to be performed over a long period of time. The LED lights attached to the drones flying in roughly the same area for long periods of time provide night lighting, allowing operators to watch the television screen footage captured by the television camera, making it possible to carry out remote work operations 24 hours a day. It will be possible to remotely operate excavators in disaster areas where humans cannot enter, bulldozers at construction sites, tractors for agricultural work, and trailers for mining work 24 hours a day via the Internet. [Brief description of the drawings]

[0008] [Figure 1] An explanatory diagram showing how a drone is tethered to a vehicle with a predetermined length of string and kept in roughly the same position above the vehicle for a long period of time, while a television camera attached to the drone is used to photograph the area around the vehicle. [Diagram 2] An explanatory diagram of a television screen showing the area around the vehicle taken from the air using a television camera attached to a flying drone that was tethered above the vehicle with a string of a predetermined length and maintained at approximately the same altitude for a long period of time. [Diagram 3]An explanatory diagram showing how the driving values ​​of a numerically controlled television camera are obtained using an interpolation formula to position the image of a subject on a television screen captured by a television camera attached to a drone. [Figure 4] An explanatory diagram showing how a laser distance measuring device is attached to the drive mechanism of the numerically controlled television camera so as to emit a distance measuring laser light in the direction of the center of the numerically controlled television camera's field of vision, thereby measuring the distance to a subject in the direction of the center of the numerically controlled television camera's field of vision. [Diagram 5] An explanatory diagram showing how the driving values ​​of a numerically controlled laser distance measuring device are obtained using an interpolation formula to position the image of a subject on a television screen captured by a television camera attached to a drone. [Figure 6] An explanatory diagram showing how the drive values ​​of a numerically controlled directional microphone are obtained using an interpolation formula to position the image of a subject on a television screen captured by a television camera attached to a drone. [Figure 7] A television screen shot taken with a television camera attached to a flying drone tethered to a leash and maintained at roughly the same altitude above a vehicle for a long period of time, and an explanatory diagram showing continuous, detailed measurements of the vertical direction of the ground from the sky using a LIDAR distance measuring device attached to a horizontally rotating tripod head attached to the drone. [Figure 8] An explanatory diagram showing how a thin wire rope that tethers a drone attempting to rise is released from a winding machine installed on top of the vehicle, causing it to rise into the air above the vehicle, and then being wound up by the winding machine and placed on top of the vehicle. [Figure 9] A safe work area is set on a TV screen that photographs the construction site using a TV camera attached to a drone that is connected to a construction vehicle and flies in the same space for a long time, and the TV screen showing the work position photographed by a numerically controlled TV camera associated with the TV screen is pasted and displayed on the work position on the TV screen showing the construction site. An explanatory diagram showing how a laser distance measuring device attached to the drone is used to measure the distance to the work position, how the elevation difference between the work position and the image of the work position shown on the TV screen is marked, and how a construction vehicle is operated while looking at the screen showing the work position from above. [Figure 10]An explanatory diagram showing how a work range is set for each construction vehicle based on the position where the image of the construction vehicle appears on a television screen, which is taken with a television camera attached to a drone that flies above a construction site at roughly the same altitude for a long period of time, and how the position of each construction vehicle as it appears on each television screen is measured using a laser distance measuring device attached to the drone, and how each construction vehicle is operated using the measured distance. [Figure 11] An explanatory diagram showing how, when necessary, a thin wire rope that tethers a drone attempting to rise is automatically released from a winding machine installed on top of the construction vehicle, causing it to rise into the air above the vehicle, where it is wound up and placed on top of the construction vehicle, allowing the drone to fly in pursuit of the construction vehicle's movements. [Figure 12] An explanatory diagram showing how a sensor is installed to detect the inclination of the string that tethers the flying drone, and how the inclination of the string is detected, allowing the flying drone to track and fly above the moving vehicle in the direction of travel at the set inclination, in line with the direction of travel of the moving vehicle. [Figure 13] An explanatory diagram showing how a drone tethered to a construction vehicle and flying in roughly the same position in the sky for long periods of time can be fitted with LED lights to illuminate the area around the construction vehicle from above, and how night-time work can be carried out while watching a television screen shot from the sky taken by a television camera attached to the flying drone. [Figure 14] An explanatory diagram of how a ship approaches the waters around it while watching a television screen shot by a television camera attached to a drone attached to a rope of a set length from the ship. [Figure 15] An explanatory diagram showing how the string connected to the drone is wound up and the drone is placed in a storage rack. An obstacle detection sensor attached to the top of the drone checks the sky above the drone as it attempts to rise, and the winding machine unwinds the string connected to the drone, sending the drone flying into the sky and keeping it in the sky using the string connected to the drone. [Figure 16] An explanatory diagram showing how a flying drone is tethered to multiple strings to stabilize it above a construction site. [Figure 17]An explanatory diagram showing how the string connected to the drone is wound up using a winding machine and the drone is placed in the storage rack as it ascends. [Figure 18] Two television cameras that shoot 3D images attached to a flying drone tethered to a string are attached to the left and right at a distance where human parallax can be distinguished, with the same direction and angle of view, and the work position is shot in sync from above. The screens from the two television cameras that shoot the 3D image are projected onto each other's television screens, and a 3D glass that is synchronized with each other is used to view the 3D television screen that shows the work position shot from above. [Figure 19] An explanatory diagram showing how a pixel-emitting distance measuring TV camera attached to a drone flying on a leash can be used to display the position of the work position shown on the TV screen at the parallax position of the left and right eyes using a signal indicating the distance between the photographed TV screen and the work position shown on the TV screen, which opens and closes in sync with each other. By viewing the work position on the TV screen through 3D glasses, the user can perform work operations as if they were actually at the work position. [Figure 20] A drone flying on a leash is fixed above the work position, and a pixel-detecting distance measuring TV camera is attached to the drone. The signal representing the distance between the photographed TV screen and the work position shown on the TV screen is used to view the position of the work position shown on the left and right TV screens of the VR goggles as a 3D TV screen displayed at the parallax position of the left and right eyes, allowing the user to perform work operations as if they were actually at the work position. [Figure 21] An explanatory diagram showing how an image of the children's soccer field captured by a television camera attached to a drone flying above a children's soccer field using a string is displayed on a television screen by changing the flight direction of the flying drone so that the image is in the center of the television screen. [Figure 22]An explanatory diagram showing how the direction of the numerically controlled television camera is changed so that the central image that has been recognized and displayed on a television screen captured by a television camera attached to a drone flying on a leash and held above a children's soccer field is always displayed in the center of the television screen captured by the numerically controlled television camera, by performing image recognition on the central image that appears on the television screen captured by the numerically controlled television camera. [Diagram 23] An explanatory diagram showing how the drone is kept stationary above a children's soccer field using strings wound around multiple winders connected to the flying drone, and how the multiple winders that wind up the strings are driven to capture the position of the image of a soccer ball using the drive values ​​of a numerically controlled television camera linked to the position of the image of a soccer ball shown on a television screen captured by a television camera attached to the drone. [Figure 24] An explanatory diagram showing how a vertical drive mechanism attached to a flying drone can be used to point the television camera downward. EXAMPLES

[0009] In order to operate the drone completely automatically, the drone receives power from an electric wire attached to the string that tethers it, and the drone takes off and ascends from the position of the work vehicle while being tethered to the string. The drone is then tethered to the work vehicle with the string and allowed to fly at a flight position that is set in advance by the length of the string. A drone flying at a flight position the length of the string is forced to land by pulling on the string to which it is tethered. A drone that flies automatically into the sky is powered by an electric wire built into the tethering string, and when the drone tries to rise strongly, the string is used to forcibly hold it back, so that the flying drone continues to fly stably in the sky along the length of the string that holds it in place. An electric wire attached to the tether of the drone provides power for the drone to fly, allowing the drone to fly for long periods of time in the air above the length of the tether. An electric wire built into the string tethering the drone is used to power an LED light attached to the drone, allowing long-term illumination in the direction of the ground from above the length of the string tethering the drone. The drone automatically flies stably above a pre-set length of string and automatically takes pictures of the ground using a television camera attached to it. By identifying the images captured by the television camera and displayed on the television screen, dangers around the work vehicle can be detected in advance, and the work vehicle can be automatically stopped from operating to prevent accidents from occurring.

[0010] The work position of an image shown on a television screen photographed by a television camera attached to a flying drone is enlarged and photographed by using a drive numerical value that drives a drive mechanism of a numerically controlled television camera associated with the work position of the image, and the image is visually recognized. A driving numerical value for driving a numerically controlled laser distance measuring device, which is associated with the work position of the image shown on the television screen, is used to irradiate the work position of the image with a distance measuring laser light, thereby measuring the distance to the work position of the image and grasping the topography of the work position. The working condition is grasped by listening to the voice from the working position of the image displayed on the television screen using a drive numerical value that drives a drive mechanism of a numerically controlled directional microphone associated with the working position of the image displayed on the television screen. The length of the winding strings of the multiple winders is adjusted so that the position of the image of the subject shown on a television screen photographed by a television camera attached to a flying drone connected to the strings wound around multiple winders is in the center of the television screen, and the subject is photographed from the drone flying while tracking the subject. The subject is tracked and photographed using a numerically controlled television camera associated with the position of the subject's image on the television screen. The construction site is captured on a television screen by a television camera from above, and the image recognized on the television screen is used to calculate the distance and direction of the recognized image's position, and the construction site is visualized as a three-dimensional space by a computer. Work at the construction site is then carried out using work vehicles driven by drive values ​​in the three-dimensional space.

[0011] Example: The drone 1 is raised from above the moving vehicle 5 in Figure 1 and tethered to the drone 1 at a predetermined length in the air above the moving vehicle 5 by a thin wire rope 4 tied to the drone 1. The drone 1 is pulled by the thin wire rope 4 and flies in the air above the moving vehicle 5, following it in the direction of travel of the moving vehicle 5, at a position along the length of the thin wire rope 4 from the winding machine 9 built into the moving vehicle 5. The drone 1, which flies at a preset height above the position of the winding machine 9 connected to the thin wire rope 4, is raised in a flying state, and the drone 1 is pulled by the winding machine 9 of the thin wire rope 4 and placed at the position of the winding machine 9 on top of the traveling vehicle 5. A television camera 2 attached to drone 1 is used to take photographs of the ground from the sky as it flies above the location where it is connected to a thin wire rope 4.

[0012] Example: A thin wire rope 4 is wound from a winding machine 9 for the thin wire rope 4 installed on the traveling vehicle 5 in Figure 2 with a preset length, and the drone 1 is flies in the air above the traveling vehicle 5 while being connected to the thin wire rope 4 to track it. A drone 1 connected to a thin wire rope 4 is made to fly in a tracking manner in a direction in which the thin wire rope 4 is pulled to a length set in advance in accordance with the traveling direction of a traveling vehicle 5. The inclination of the thin wire rope 4 being pulled is detected, and the drone 1 is flown in a direction to correct the inclination, so that the drone 1 is flown directly above the moving vehicle 5 or in the direction of a set inclination. The relative positions of the parent and child 6, the vehicle 7 behind, and the roadside tree 8 in front of the moving vehicle 5 can be accurately grasped from the television screen photographed by the television camera 2 attached to the drone 1 flying in line with the moving vehicle 5.

[0013] Example: In order to better view the subject 12 in Figure 3 , who is gazing at the image of the subject 15 shown on the television screen 13 that takes pictures in the direction of the ground, the subject 12 is photographed using a television camera 2 attached to the flying drone 1, and an enlarged image 26 of the subject is photographed so that it can be better viewed on the numerically controlled television screen 14 by operating a control console 33 of a drive mechanism that changes the shooting direction of the numerically controlled television camera 3 attached to the flying drone 1. The position of the image of the subject 15 shown on the television screen 13 is associated with the drive numerical value of the drive position at which the operation console 33 of the drive mechanism of the numerically controlled television camera 3 that photographed the enlarged image 26 of the subject so as to be visible on the numerically controlled television screen 3 is operated, and using the positions of the several different images of the subject 15 shown on the television screen 13 photographed using the television camera 2 of the subject 12 at several different positions and the drive numerical value of the several different drive positions at which the operation console 33 of the drive mechanism of the numerically controlled television camera 3 that photographs the enlarged image 26 of the subject so as to be visible on the numerically controlled television screen 14, the positions of all of the images of the subject 15 shown on the television screen 13 photographed using the television camera 2 of the subject 12 at all different positions and the drive numerical value of all of the drive positions that operate the operation console 33 of the drive mechanism of the numerically controlled television camera 3 that photographs the enlarged image 26 of the subject so as to be visible on the numerically controlled television screen 14 are obtained using an interpolation calculation formula.

[0014] A television camera 2 attached to a flying drone 1 is used to photograph a subject 12 in all different positions. In order to make the images of the subject 12 appearing in the images 15 of all the subjects on a television screen 13 more visible, the drive mechanism is driven using the associated drive numerical value of the numerically controlled television camera 3 to the position of the image 15 of the subject on the television screen 13 or to the position of a specified image on the television screen 13, and the numerically controlled television camera 3 photographs an enlarged image 26 that appears on the numerically controlled television screen 14 so that the subject 12 can be more clearly seen. Example: A laser distance measuring device 35 is attached to the drive mechanism of the numerically controlled television camera 3 in Figure 4 so as to measure the distance to a subject appearing in the direction of the center of the television screen photographed by the numerically controlled television camera 3. The distance measuring laser light 34 is emitted from the laser distance measuring device 35 to measure the distance to a subject appearing in the center of the television screen. Using the drive numerical value associated with the position 15 of the image on the television screen 13, the distance to the subject 12 in the enlarged image 26 of the subject shown in the center of the numerically controlled television screen 14, photographed by driving the drive mechanism of the numerically controlled television camera 3, can be measured.

[0015] Example: In order to measure the distance to the subject 12 in Figure 5, which is gazing at the image of the subject 15 displayed on a television screen 13 captured by a television camera 2 attached to the flying drone 1, the numerically controlled laser distance measuring device 20 attached to the flying drone 1 is driven using an operation console 33 of a drive mechanism that changes the direction of irradiation of the measurement laser light 34, and the measurement laser light 34 is irradiated onto the subject 12, thereby measuring the distance from the flying drone 1 to the subject 12. The position of the image 15 of the subject displayed on the television screen 13 is associated with the drive numerical value of the drive position operated to operate the drive mechanism of the numerically controlled laser distance measuring device 20, which irradiates the subject 12 with the measurement laser light 34 of the numerically controlled laser distance measuring device 20, and in order to measure the distance to the subject 12 at several different positions, the drive mechanism is driven using an operation console 33 that changes the irradiation direction of the measurement laser light 34 of the numerically controlled laser distance measuring device 20, and the measurement laser light 34 is irradiated to the subject 12 at several different positions, thereby measuring the distance from the flying drone 1 to the subject 12.

[0016] Using the positions of the images 15 of the several different subjects displayed on the television screen 13 and the several different drive values ​​of the drive positions driven using the operation console 33 of the drive mechanism of the numerically controlled laser distance measuring device 20 that irradiates the measurement laser light 34 of the numerically controlled laser distance measuring device 20 to the subjects 12 at the several different positions, the positions of all of the images of the subjects 15 displayed on the television screen 13 photographed using the television camera 2 of the subjects 12 at all different positions and all of the drive values ​​of the drive positions that drive the drive mechanism of the numerically controlled laser distance measuring device 20 that irradiates the measurement laser light 34 of the numerically controlled laser distance measuring device 20 to the subjects 12 at all of the positions are obtained using an interpolation calculation formula. The distance to the subject 12 can be measured by using the drive numerical value associated with the numerically controlled laser distance measuring device 20 to drive the drive mechanism and irradiate the subject 12 with measurement laser light 34, thereby measuring the distance to the subject 12 as it appears in images 15 of all of the subjects on a television screen 13 that has been photographed at all different positions using a television camera 2 attached to a flying drone 1, or by using the drive numerical value associated with the numerically controlled laser distance measuring device 20 to measure the distance to the subject 12 at a specified image position on the television screen 13. The image of the subject is enlarged and photographed by using a zoom function provided in the numerically controlled television camera 3 in accordance with the measured distance, and is displayed on the numerically controlled television screen 14.

[0017] Example: In Figure 6, a subject 12 is photographed using a television camera 2 attached to a flying drone 1. In order to listen to the voice of the subject 12 gazing at the image of the subject 15 displayed on a television screen 13, a control console 33 of a drive mechanism that changes the sound pickup direction 81 of a numerically controlled directional microphone 80 attached to the flying drone 1 is used to operate the sound pickup direction 81 of the numerically controlled directional microphone 80 toward the subject 12, thereby picking up the voice of the subject 12. The position of the image 15 of the subject displayed on the television screen 13 is associated with the drive numerical value of the drive position operated to direct the drive mechanism of the numerically controlled directional microphone 80 in a sound pickup direction 81 toward the subject 12, and in order to listen to the voice of the subject 12 at several different positions, the drive mechanism that changes the sound pickup direction 81 of the numerically controlled directional microphone 80 is operated using an operation console 33, thereby changing the sound pickup direction 81 to pick up the voice of the subject 12 at several different positions.

[0018] Using the positions of the images 15 of the several different subjects displayed on the television screen 13 and the several different drive values ​​of the drive positions operated using an operation console 33 of the drive mechanism of the numerically controlled directional microphone 80 that directs the numerically controlled directional microphone 80 to the subjects 12 at the several different positions, the positions of all of the images of the subjects 15 displayed on the television screen 13 photographed using the television camera 2 of the subjects 12 at all different positions and all of the drive values ​​of the drive positions that operate the drive mechanism of the numerically controlled directional microphone 80 that directs the sound pickup direction 81 of the numerically controlled directional microphone 80 to the subjects 12 at all of the positions are obtained using an interpolation calculation formula. A television camera 2 attached to a flying drone 1 is used to photograph a subject 12 in all different positions, and the position of the subject 12 shown in an image 15 of all the subjects on a television screen 13, or the position of an image indicated on the television screen 13, is driven by the drive mechanism using the drive numerical value associated with a numerically controlled directional microphone 80, so that the sound pickup direction 81 is directed toward the subject 12, and the voice of the subject 12 can be heard. By listening to the sounds generated from work at the workplace, the work situation can be recognized. By acquiring the situation of the work site via the Internet using the television screens 13 and 14 photographed from above the work site, the distance measured from the sky, and the sound collected from the sky, remote operation of work equipment at the work site becomes easier.

[0019] Example: A drone 1 tied to a thin wire rope 4 of a predetermined length is continuously flown at a predetermined height above the construction site in Figure 7, and the construction site is continuously photographed from above using a television camera 2 attached to the underside of the drone 1. A LIDAR distance measuring device 85 is attached to a horizontally rotating pan head 96 on the underside of the drone 1, and while the pan head 96 is rotating horizontally, the entire vertical circumference of the drone 1 is scanned downward to measure the distance on the ground. The shooting range of the television camera 2 and the range of the measurement position of the scan of the LIDAR distance measuring instrument 85 are adjusted so that the position of the subject reflected at the position of the measurement reference point set in advance on the television screen 13 photographed by the television camera is aligned with the direction of the measurement reference point where the measurement laser light is emitted in the vertical direction of the scan of the LIDAR distance measuring instrument 85. The direction of the scanning lines N, N+1, N+2, N+3, and N+4 for distance measurement on the measurement screen 89 of the LIDAR distance measuring device 85 is scanned and measured by shifting the direction of the scanning lines by rotating the pan head 96 each time, and the distances obtained are used to measure and update the distances of the subjects appearing in all images displayed on the television screen 13, and the memory is updated according to the position of the images on the television screen 13 captured by the television camera 2.

[0020] By continuously shifting the vertical rotation from approximately the same position above the construction site and scanning the distance measuring laser of the LIDAR distance measuring device 85, it is possible to continuously measure measurement points where the distance between the scans is narrowed by rotating several times. A lidar distance measuring device 85 is attached to a horizontally rotating drive mechanism at the bottom of the drone 1 and rotated, and the lidar distance measuring device 85 is continuously scanned vertically to measure distance, and by slightly shifting the scanning position while measuring, the number of scanning points to be measured is increased. This is a method to eliminate the drawbacks of the rough measurement points of the LIDAR distance measuring device 85. Using a lidar distance measuring device 85 attached to a drone 1 that is tied to a thin wire rope 4 and flies continuously above the construction site, the locations of all parts of the construction site are measured in detail and stored. The distance from the drone 1, which flies continuously above the construction site, to the image captured by the television camera 2 and shown on the television screen 13 can be known as the latest updated distance. The distance that is converged upon through repeated updating and learning becomes a highly accurate and detailed measured distance.

[0021] Example The takeoff of drone 1 in Figure 8 begins when power begins to be supplied to drone 1, which is attached to the ceiling of a construction vehicle by being tied to a string wound around a reel 9 installed on the ceiling of vehicle 5, from an electric wire attached to the string, causing the motor that rotates the propeller of drone 1 to start rotating. The rotation of the propeller generates buoyancy, causing the drone to rise. By winding up a set length of the thin wire rope 4 that is wound around a winding machine 9 installed on the top of a vehicle 5 to tether the ascending drone 1, the drone 1 can be raised to a previously set position above the vehicle 5, and the drone 1 attempting to rise to the position above the vehicle 5 can be automatically tethered to the air above the set length of the released wire rope 4. The drone 1 flies in accordance with the movement of the vehicle 5, being pulled by a thin wire rope 4 tethered to a winding machine 9 and flying at a set height. A thin wire rope 4 that fastens the drone 1 rising in the air above the vehicle 5 is pulled by a set length using a winding machine 9 installed on the top of the vehicle 5, so that the drone 1 in a flying state attempting to rise is automatically placed at the position of the vehicle 5. By tethering the ascending drone 1 with a thin wire rope 4, the drone 1 can be automatically flown in a stable manner above the vehicle 5 using the tension of the thin wire rope 4 from the winding machine 9.

[0022] Example: The drone 1 is tethered above the construction vehicle 17 in Figure 9 using a thin wire rope 4 of a predetermined length and flies at a predetermined height, and the thin wire rope 4 that tethers it is tilted in the working direction of the construction vehicle 17 according to the direction of the work position 21 of the construction vehicle 17. A wide range of the work position 21 is photographed by using a television camera 2 attached to a vertical mechanism 76 installed so as to face directly below from directly above the work position 21 of the construction vehicle 17. The distance of the work range 83 from the position of the image 23 of the construction vehicle on the television screen 13 photographed by the television camera 2 is set on the television screen 13. An image of a construction vehicle 23A at an adjacent work position displayed on a television screen 13 is identified, and when the identified image enters a work range 83, the work of the construction vehicle 17 is automatically stopped using the television screen 13, or the construction vehicle 17 is operated so as to move out of the work range 83 of the construction vehicle 17 and avoid contact with the construction vehicle 17A. Construction work can be performed while viewing a numerically controlled television screen 14 that is captured by using a television camera 2 to take an image from above the work position 21 of the construction vehicle 17 and recognizing the image on the television screen 13, or by driving the drive mechanism of the numerically controlled television camera 3 using the drive numerical value of the associated numerically controlled television camera 3 using the method of complementary calculation described above at the position of an image 22 of the work position indicated on the television screen 13.

[0023] In addition, an image is recognized on a television screen 13 obtained by taking a picture using a television camera 2 from the sky above where the construction vehicle 17 is working, or the position of the image 22 of the work position indicated on the television screen 13 is indicated using the complementary calculation method described above, and the drive numerical value of the associated numerically controlled laser distance measuring device 20 is used to drive the drive mechanism of the numerically controlled laser distance measuring device 20 to measure the distance to the work position 21, and the construction vehicle 17 can be operated while measuring the elevation difference of the work position 21. The construction vehicle 17 is made to learn many work operations of the construction vehicle 17 performed by a skilled worker using the measured distances and shapes of the images 22 of the work positions and the images 23 of the construction work displayed on the television screen 13. By quantifying the work of the construction vehicle 17 from the image of the work position 22 shown on the television screen 13 and the measured distance, the work of the construction vehicle 17 can be performed using the learned work method. A television screen 14A photographed by a numerically controlled television camera 3 at a work position 21 is pasted on the position of an image 22 of construction work on a television screen 13A, and the construction vehicle 17 can be remotely operated by looking at the numerically controlled television screen 14A pasted on the large television screen 13A without shifting one's line of sight to view the work position of an image 23 of the construction vehicle on the television screen 13A. Also, a television image captured by the numerically controlled television camera 3 at the work position 21 can be displayed on the television screen 14B from the direction of remote control operation, allowing remote control operation. The elevation difference in the vicinity of the work position image 22 shown on the television screen 13, which captures a wide range of the work position 21, is measured using the associated numerically controlled laser distance measuring device 20, and the elevation difference in the vicinity of the measured work position is displayed on an image 24 of the work location shown on a television screen 14C, which is captured by intensively tracking the image 22 of the work position shown on the television screen 13. While viewing this via the Internet, the construction vehicle 17 can be operated remotely via the Internet.

[0024] Example: A drone 1 is tethered to a thin wire rope 4 of a predetermined length and flown in the sky at a height where the construction area will be photographed using a television camera 2 in Figure 10. An electric wire embedded in a thin wire rope 4 is used to power the flying drone 1, allowing it to fly at a pre-set height for an extended period of time. A television camera 2 attached to the flying drone 1 is used to photograph construction vehicles 17, 17A, 17B, 17C, and 17D operating in the construction area below the flying drone 1. A working range 83 is set around the positions of the images 23, 23A, 23B, 23C, and 23D of the construction vehicles shown on the television screen 13, and the images 23, 23A, 23B, 23C, and 23D of the construction vehicles shown on the television screen 13 are identified, and the television screen 13 in which the identified image has entered the working range 83 is used to automatically stop the work of the construction vehicles 17, 17A, 17B, 17C, and 17D, or to operate each of the construction vehicles 17, 17A, 17B, 17C, and 17D so as to move outside the working range 83 of the construction vehicles 17, 17A, 17B, 17C, and 17D to avoid contact with each other.

[0025] A numerically controlled television camera 3 associated with the positions of the images 23A, 23B, 23C, 23D, and 23E of the construction vehicles shown on the television screen 13 in the manner described above is used to photograph the construction vehicles 17, 17A, 17B, 17C, and 17D, and the working status is identified using an image recognition method. The elevation difference in the construction area can be measured using a numerically controlled laser distance measuring device 20 associated with the method described above, and the construction situation can be grasped using a numerically controlled television screen captured by a numerically controlled television camera 3. The measured distances of the construction area measured using a numerically controlled laser distance measuring device 20 are used to create a three-dimensional map of the construction area. Construction work is managed by arranging construction vehicles 17, 17A, 17B, 17C, and 17D that have been measured on a three-dimensional map. Example: The drone 1, which automatically takes off and lands from a position on the ceiling using the winding machine 9 attached to the ceiling above the construction vehicle 17 in Figure 11, is tethered to the winding machine 9 of the construction vehicle 17 in the air a set length above a thin wire rope 4, and power is supplied from the construction vehicle 17 to the motor that turns the propeller using an electric cable built into the thin wire rope 4, causing the propeller to start rotating and the drone 1 to rise by being tethered to the thin wire rope 4 wound up by the winding machine 9 in accordance with the buoyancy of the drone 1 which tries to rise, and the drone 1 is caused to fly tethered to the air a set length above the thin wire rope 4 that has been released.

[0026] The flying drone 1 receives motor power for the flying drone 1 and image signals captured by a television camera attached to the drone 1 via an electric wire cable and an optical cable incorporated in a thin wire rope 4. The flying drone 1 rises using power supplied from an electric wire connected to the drone 1, and can fly for long periods of time in the air above the length of the thin wire rope 4 connected to the drone 1 by receiving power from a construction vehicle 17. The drone 1, which receives power from the construction vehicle 17 and flies above the construction vehicle 17, is pulled down from the sky above the flying construction vehicle 17 by winding up the thin wire rope 4 of the winding machine 9, and is landed at the position of the winding machine 9 attached to the ceiling of the construction vehicle 17. The flying drone 1 begins flying when power is supplied from a construction vehicle 17, without relying on the operating functions of the drone 1, and is placed in place by winding up a thin wire rope 4, without relying on the operating functions of the drone 1.

[0027] Therefore, instead of manual operation of the drone 1, the drone can take off, land, and fly to a flight position by automatically supplying power and winding and unwinding the winder 9. The thin wire rope 4 can be a lighter, weaker string such as carbon fiber. Example The drone 1 in Figure 12 is equipped with a sensor 25 that detects the tension of the thin wire rope 4 that tethers the drone 1 and the inclination of the thin wire rope 4, thereby preventing the drone 1 from ascending and enabling stable flight. The drone 1 flies at a position where the upward buoyancy of the flying drone 1 and the tension of the thin wire rope 4 are balanced, allowing the drone 1 to maintain a stable flight. A sensor 25 detects the inclination of the string that ties down the drone 1 in the direction of tension of the wire rope 4, and the drone 1 is flown in a direction that corrects the inclination, or in a direction that corrects the inclination to match a set inclination. The television screen attached to the top of drone 1 shows the sky as filmed by a television camera, and it can detect images that would hinder drone 1's ascent, and fly in a way that avoids the ascent.

[0028] Example: In Figure 13, a drone 1 is connected to a thin wire rope 4 of a predetermined length from a construction vehicle 17 traveling at night. The thin wire rope 4 is tilted in the direction of travel of the construction vehicle 17, and the drone 1 flies in a predetermined area above the construction vehicle 17, following the movement of the construction vehicle 17. Drone 1 is made to track construction vehicle 17 using a compass attached to it so as to align its heading with the direction of travel of construction vehicle 17. Power is supplied from the construction vehicle 17 via an electric wire attached to a thin wire rope 4, which lights up LED lights attached to the drone 1 flying in the sky above, illuminating the direction in which the construction vehicle 17 is traveling. A television camera 1 attached to a flying drone 1 is used to photograph the illuminated area ahead of the construction vehicle 17 from above in the direction of travel. Using lighting from the same direction as during the day, the operator operates the construction vehicle 17 for nighttime driving by viewing the same image 23 of the construction vehicle's destination as during the day, which is captured on the television screen 13. Using a television camera attached to a flying drone 1, the location of the construction vehicle 17 at night is determined via the Internet, and the construction vehicle 17 performing construction work is remotely controlled from a location with a different time difference.

[0029] Example: The drone 1 in Figure 14 is connected to a thin wire rope 4 of a predetermined length from a winding machine 9 attached to a ship 38, and is flown above the ship 38 at a predetermined height. The ship 38 is navigated while watching a television screen 13 that shows an image of the sea around the ship 38 using a television camera 2 attached to the drone 1. The subject of the image is confirmed by looking at the screen of the numerically controlled television camera 3 which has been photographed using the drive numerical values ​​of the numerically controlled television camera 3 associated with the position of the image shown on the television screen 13. Using said numerically controlled laser distance measuring device 20, linked to the position of the image shown on the television screen 13, the ship 38 can be docked at a measured distance from the quay 39 from above. It is possible to accurately and quickly measure the distance to a nearby subject, which is difficult to measure using ship radar. By sharing the captured screen and measured distances with those involved in docking and undocking, docking and undocking times can be shortened and safe docking can be ensured. Example: When power transmission begins from an electric wire woven into a thin wire rope 4 connected to the drone 1 in Figure 15, the drone 1 attempts to rise due to the buoyancy of the flopeller rotating by the motor built into the drone 1. The string connected to the drone is forcibly wound up using a winding machine 44 that winds up the string, thereby pulling the flying drone directly above the storage rack 47 and landing it in the center of the storage rack 47. The flying drone is made to fly to the center according to the distance measured by the distance sensor 77 installed around the storage rack 47, and by further winding up the string, the flying drone can be landed in the center position of the storage rack 47.

[0030] By energizing a motor built into drone 1, the drone rises from the position of the storage rack 47 where it is placed by releasing the string connecting the drone, and by pulling the string, the drone is placed in the position of the storage rack 47 where it is attracted. Example 1 In FIG. 16, the drone flies at a preset height in the sky. In strong winds, the drone is tethered to a storage rack 47 built into a generator 84 and multiple mooring points 90 by a rope to fly stably in the sky above a construction site. Example In Figure 17, the drone 1 is placed inside a storage rack 47 installed on a transportable battery 44. Power is transmitted from the battery 44 using an electric wire woven into a thin wire rope 4 connected to the drone 1. The drone 1 rises due to the buoyancy of the propeller rotated by a motor built into the drone 1. The ascending drone is launched and landed inside the storage rack 47 by releasing the string of the winding machine 9 connected to the drone. The drone rises by releasing the string connected to it, and remains tethered in the air above the storage rack 47 at a position corresponding to the length of the string wound around the winding machine 9 on which the string being released is wound. The flying drone 1 automatically flies to a position corresponding to the length of the number of turns of the winding machine 9 and remains at a position corresponding to the length of the number of turns that the winding machine 9 has released.

[0031] The string connected to the drone is wound up, and the obstacle detection sensor 43 attached to the top of the drone placed inside the storage rack 47 is used to check the sky above the drone 1 attempting to rise, the winding machine 9 unwinds the string connected to the drone attempting to rise, and the drone attempting to rise is allowed to fly into the sky, and the string connected to the drone attempting to rise is used to keep it in the sky and keep it flying, the winding machine 9 winds up the string connected to the drone 1 attempting to rise in the sky, and lowers it directly above the storage rack 47, and the flying position of the drone 1 as measured by the distance sensor 77 attached to the periphery of the storage rack 47 is checked, and the winding machine 9 further winds up the string connected to the drone 1, and places it inside the storage rack 47. Without operating the drone 1 to be placed, the drone can be placed accurately in the desired position simply by pulling it to the position of the string connected to the flying drone 1. The flying drone 1 can be accurately placed and stored in the narrow storage rack 47. Example: A drone 1 flying using a string as shown in Figure 18 is fixed in the sky above the work position. Two television cameras 48, 49 for photographing a three-dimensional television screen are attached to the drone 1 and are attached to the left and right at a distance where human binocular parallax can be distinguished, with the same direction and the same angle of view, to photograph the work position 21 from above. The left and right image signals 63 of the television screens of the two television cameras 48, 49 which capture the stereoscopic image are projected on the television screen 13 as a right eye image 53 and a left eye image 54, respectively, and using stereoscopic glasses 55 to look through a right eye light blocking filter 56 and a left eye light blocking filter 57 which open and close in sync with each other, the stereoscopic images captured of the work position 21 from above can be viewed, allowing remote work related to the work position 21 to be performed.

[0032] Images of left and right image signals 63 on the television screens of two television cameras 48, 49 are displayed on left and right television screens 56, 57 of a VR coggle 55, and the work position 21 of the work vehicle 17 is viewed as a stereoscopic image, allowing the worker to work with a field of view facing the work position 21. Two television cameras 48, 49 are attached to the numerically controlled drive mechanism, and the drive mechanism to which the television cameras 48, 49 are attached is driven using the drive numerical values ​​of the drive mechanism associated with the position of the image 15 on the television screen 13, so that the image of the subject 12 reflected in the image 15 can be projected onto the television screen 13 and viewed as a three-dimensional television screen. Example: An image signal of the image of the work position 21 displayed on a television screen, taken using a pixel-emitting distance measuring television camera 52 attached to a drone 1 parked above the work position 21 in Figure 19, is derived from the measurement light emitted by an LED light-emitting element incorporated in the image element position of the image element unit of the pixel-emitting distance measuring television camera 52 where the real image of the work position 21 is displayed. The measurement light passes through the optical lens of the pixel-emitting distance measuring television camera 52 and is focused on the work position 21. The reflected light of the measurement light is received by a photoreceiver 78 attached to the drone 1, and the time difference between the time when the measurement light was emitted and the time when the light was received can be used to measure the distance between the position of the work position 21 and the position of the distance LED light-emitting element corresponding to the position of the image element at the position where the image of the work position 21 is displayed.

[0033] The position of the image of the working position 21 on the television screen 13 captured by the pixel light-emitting distance measurement television camera 52 is calculated using an image calculation circuit 51 as the human binocular parallax corresponding to the distance from the working position 21 measured by the pixel light-emitting distance measurement television camera 52, and the position of the image element displaying the image of the working position 21 is corrected, and the stereoscopic television screen 13 which mutually displays the corrected right eye image 53 and left eye image 54 of the working position 21 on the television screen 13 can be viewed through stereoscopic glasses 55 which open and close in synchronization with each other. Furthermore, by using the measured distance to correct all image signals that display the image of the working position 21 captured by the pixel light-emitting distance measurement television camera 52 to the parallax position of the display pixels on the television screen, the working position 21 can be viewed as an actual three-dimensional television image. The work position 21 where the work vehicle 17 works can be viewed on a stereoscopic television screen obtained by a pixel light emission distance measuring television camera 52 photographing the work position 21 from the sky where the work situation can be easily seen, making the work of the work vehicle 17 easier and enabling remote on-site work.

[0034] Example 20 A pixel-receiving distance measuring television camera 65 attached to a drone 1 parked in the sky above the work position 21 in FIG. 20 is used to derive an image signal of the image of the work position 21 shown on a television screen that captures the work position 21. By limiting the light receiving element incorporated in the position of the image element that captures the image of the work position 21 in the image element unit of the pixel-receiving distance measuring television camera 65, the reflected light from the work position 21 of the measurement light emitted by the light emitter 79 attached to the drone 1 parked in the sky is the light of the pixel-receiving distance measuring television camera 65. The reflected light from the work position 21 is collected through an optical lens and received and measured only by the light receiving element incorporated in the image element position of the image element unit where the image of the work position 21 is displayed, and the distance from the drone 1 stopped in the sky to the work position 21 is calculated and measured using the difference between the time of emission and the time of reception of the light, and the distance from the work position 21 is calculated and measured only by the light receiving element corresponding to the position of the image element at the position where the image of the work position 21 is displayed, using the difference in the time of reception of the light. The position of the image of the working position 21 on the television screen captured by the pixel-receiving distance measurement television camera 65, and the human binocular parallax at the distance from the working position 21 measured by the pixel-receiving distance measurement television camera 65 are corrected using a stereoscopic image parallax corrector 74, and the stereoscopic television screen displayed on the corrected right and left television screen images 72, 73 can be viewed using the television screen's VR goggles 69.

[0035] By correcting the positions of the pixels that display all the image signals that display the image of the work position 21 captured by the pixel-receiving distance measuring television camera 65, the work position 21 can be viewed as an actual image. The work position 21 where the work vehicle 17 works is photographed from the sky above the work position 21 where the work situation can be easily seen, and a three-dimensional television screen obtained from a pixel light receiving distance measuring television camera 65 is viewed using a television screen VR goggles 69, making it possible to easily perform the work of the work vehicle 17 and to perform on-site work remotely. Example: Using a television camera 2 attached to a drone 1 that is attached using the string and flown above the children's soccer field 75 in Figure 21, the sender position 92 at the children's soccer field 75 is photographed by changing the flying direction of the drone 1 so that the position of the image 93 of the sender position displayed on the television screen 13 that photographs the sender position 92 is displayed in the center of the television screen 13. Example: The drone 1 flying using the string in Figure 22 is kept at a set height above the children's soccer stadium 75, and an image 93 of the sender position displayed on the television screen captured by the television camera 2 attached to the drone 1 flying above a center position 92 is image-recognized, and the numerically controlled television screen 14 is photographed using the numerically controlled television camera 3 by driving the drive mechanism of the numerically controlled television camera 3 to change the shooting direction so that the image 93 of the sender position recognized at the center position displayed on the television screen is displayed in the center of the numerically controlled television screen 14 captured using the drive numerical value of the numerically controlled television camera 3 associated using the method described above. In this way, the numerically controlled television screen 14 is photographed using the numerically controlled television camera 3 so that the image 93 of the center position recognized at the image recognized at the center position is always displayed in the center of the numerically controlled television screen 14.

[0036] Example: The flying drone 1 in FIG. 23 is attached to a string wound around winding machines 9A, 9B, 9C, and 9D and is flown in the air above a children's soccer field 75. The string that ties down the flying drone 1 is driven by the winders 9A, 9B, 9C, and 9D to track and fly near the sender position 92, soccer ball 94, or the specified position, so that the sky above a sender position 92 of a children's soccer field 75 photographed using a television camera 2 attached to the flying drone 1, or the position of a center position image 93 displayed on a television screen 13 photographed using the television camera 2, or the position of an image 95 of a soccer ball displayed on the television screen 13, or a specified position 96 on the television screen 13 is displayed in the center of the television screen 13 photographed by the television camera 2. At the position of the center position image 93 on the television screen 13 taken using the television camera 2 attached to the drone 1 flying in pursuit, or at the position of the soccer ball image 95, or at the position of the specified position 96, the center position image 93, the soccer ball image 95, or the image of the subject at the specified position 96 is displayed on the television screen 14 using the numerically controlled television camera 3 so as to align the direction in which the screen of the numerically controlled television screen 14 is photographed using the driving numerical values ​​of the numerically controlled television camera 3 associated in the above-described manner with the previously set orientation and the previously set angle of view. In addition, using the drive values ​​of the numerically controlled directional microphone 80 associated in the manner described above, the numerically controlled directional microphone 80 is directed in the direction of the athletes shown on the television screen 13 to pick up audio, thereby picking up audio from the images of the athletes to create a sense of presence when they are competing. Example: A television camera attached to a vertical mechanism 76 facing directly below the flying drone 1 in FIG. 24 is used to photograph the underside of the flying drone. [Explanation of symbols]

[0037] 1. Drone 2. Television Camera 3. Numerically controlled television camera 4. Thin Wire Rope 5. Vehicles 6 Parents and Children 7 Rear vehicle 8. Roadside trees ahead 9 Winder 9A Winder A 9B Winder B 9C Winder C 9D Winder D 10. Television camera range 11. Shooting range of numerically controlled television cameras 12 Subject 13. Television Screen 13A TV Screen A 14 Numerical Control Television Screen 14A Numerical Control TV Screen A 14B Numerical Control Television Screen B 14C Numerical Control Television ScreenC 15 Images of the subject 16 Parents and Children 17 Construction vehicles 17A Construction vehicle A 17B Construction vehicle B 17C Construction Vehicle C 17D Construction vehicle D 18 Parent and child images 19 Enlarged image of parent and child 20. Numerical control laser distance measuring device 21 Working position 22 Work position images 23 Images of construction vehicles 23A Construction vehicle image A 23B Construction vehicle image B 23C Image of construction vehicle C 23D Construction vehicle image D 24 Workplace images 25 Sensors 26 Enlarged image of the subject 27 Television camera image signal 28 Numerical control television camera image signal 29 Drive Signal 30 Drive position signal 31 Tracking System 32 Computers 33 Control console 34 Laser light for distance measurement 35 Laser distance measuring device 36 Composite TV Screen 37 Lighting Range 38 Ship 39 Quay 40 Ship Images 41 Images of Quay 42 LED lights 43 Obstacle Sensor 44 Battery 45 Power supply circuit 46 Slip Ring 47 Storage Rack 47A Storage Rack A 47B Storage Rack B 47C Storage rack C 47D Storage Rack D 48 Right-eye TV camera 49 Left-eye TV camera 50 Image processing circuit 51 Image Calculation Circuit 52-pixel light-emitting distance measuring TV camera 53 Right eye image 54 Left eye image 55 Stereo glasses 56 Right Eye Shading Filter 57 Left Eye Shading Filter 58 Right Eye 59 Left Eye 60 Right eye image signal 61 Left eye image signal 62 Image switching signal 63 Left and right image signals 64 Left and right light blocking signals 65-pixel distance measuring TV camera 66 Image Distance Signal 67 Distance Signal 68 Image Signal 69 VR Goggles 70 Right TV screen 71 Left TV screen 72 Right TV screen image 73 Left TV screen image 74 Stereo image parallax corrector 75 Children's Soccer Stadium 76 Vertical mechanism 77 Distance Sensor 78 Receiver 79 Light emitter 80 Numerically controlled directional microphone 81 Sound pickup direction 82 Audio Signals 83 Scope of Work 84 Generator 85 Lidar Distance Meter 86 Lidar measurement range 87A Laser Search Light N 87B Laser Search Light N+1 87C Laser Search Light N+2 87D Laser Search Light N+3 88 Measurement Reference Position 89 Measurement screen 90 Moorings 91 Working position on the TV screen 92 Center Position 93 Center position image 94 Soccer ball position 95 soccer ball position images 96 Supported Positions 96 Pan head [Industrial Applicability]

[0038] In a drone, an air vehicle in which propellers connected to a motor begin to rotate when electricity is applied from an external source, the drone is tethered to a rope and flies above a work site using the buoyancy of the rotating propellers without the need for flight control. A television camera attached to the drone photographs the work site from above, and the safety of the work site is ensured automatically or visually by using images displayed on a television screen. To operate a work vehicle at a work site using an easily visible television screen photographed from above the work site. The drone flies overhead and can be landed by pulling on a string attached to the drone, without the need to control the drone's flight. A work vehicle at the work site is operated via the Internet while watching a stereoscopic television screen via the Internet, the screen being photographed by a stereoscopic television camera from above the work site. LED lights attached to a drone flying on a tether will illuminate the work site from above, enabling work vehicles to work at night. By supplying power to the flying drone using an electric wire woven into the string that connects the drone, it becomes possible to control the flying drone simply by turning the power on and off. By supplying power to a flying drone via an electric wire, there is no need for batteries on the drone, making it possible for it to fly for long periods of time above work sites.

[0039] The range photographed by the drone, which is tethered to a moving work vehicle by a leash, and the range illuminated by the drone using LED lighting, move in tandem with the work vehicle. A wide-angle television camera attached to a flying drone captures a wide range of images, and the subject of the image being viewed is displayed on an enlarged television screen for confirmation using the driving values ​​of a numerically controlled television camera that is associated with the position of the image being viewed on the television screen. A numerically controlled laser distance measuring device associated with the position of the image on the television screen that is being gazed upon is used to measure and confirm the distance between the location on the television screen that is being gazed upon and the image. A drone tethered to a string can be automatically operated without the user having to fly it; it can take off by releasing the string's winding device, fly while remaining stationary along the length of the string, and land by winding the device, making it possible to install it on many work vehicles.

Claims

1. A method for an aircraft attached to a string wound around a winding machine that flies by the buoyancy of a rotating propeller, the method comprising unwinding the string wound around the winding machine to cause the aircraft to rise from its landing position at the winding machine, keeping the aircraft flying in the air above where a predetermined length of string has been unwound from the winding machine, and winding up the set length of string using the winding machine to land the aircraft at the position of the winding machine.

2. 2. The method of claim 1, wherein the flying object is elevated by the buoyancy of a propeller that rotates using a motor that receives power from an electric wire attached to the string that ties the flying object.

3. 2. The method of claim 1, wherein the flying object begins to rise due to the buoyancy of a propeller that rotates using a motor that receives power from an electric wire attached to the string that connects the flying object.

4. 2. The method according to claim 1, characterized in that the string connected to the flying object is attached to a vehicle moving the winding machine, and the flying object is caused to fly in pursuit of the vehicle using the set length of string.

5. 2. The method according to claim 1, further comprising attaching an LED-emitting light fixture to the bottom of the flying object to illuminate the downward direction of the flying object.

6. 2. The method of claim 1, wherein the power for illuminating the LED is provided from the electrical wire.

7. 2. The method of claim 1, wherein the power is provided from one of a battery and a generator.

8. 8. A method according to claim 1, further comprising: a position of an image of the subject on a television screen obtained by photographing the subject using a television camera attached to the underside of the flying object; and The image of the subject is captured using a numerically controlled television camera that changes the shooting direction of a drive mechanism attached to the underside of the flying object, and the drive numerical value of the drive position of the drive mechanism is associated with the image of the subject. a television screen obtained by photographing the subject at several different positions using the television camera, a television screen obtained by photographing the subject at all positions using the television camera using several different drive values ​​of the drive positions of the drive mechanism which photographed the images of the subject at the several different positions using the numerically controlled television camera, and a television screen obtained by driving the drive mechanism of the television camera using the associated drive value obtained using the method described above at the position of the image of the subject on the television screen obtained by photographing the subject at several different positions using the television camera, and a television screen obtained by photographing the subject at all positions using the numerically controlled television camera, the television screen obtained by photographing the subject at all positions using the television camera using several different drive values ​​of the drive positions of the drive mechanism which photographed the images of the subject at all positions using the numerically controlled television camera, the television screen obtained by photographing the subject at all positions using the numerically controlled television camera, the television screen obtained by photographing the subject by driving the drive mechanism of the television camera using the associated drive value obtained using the method described above.

9. A method according to any one of claims 1 to 7, characterized in that the distance to a subject appearing in the direction of the center of a television screen photographed by the numerically controlled television camera is measured using a laser distance measuring device attached to the driving mechanism so as to irradiate a distance measuring laser light of the laser distance measuring device in the direction of the center of the television screen photographed by the numerically controlled television camera.

10. 8. A method according to claim 1, further comprising: associating a drive value of a drive position of a numerically controlled laser distance measuring device that irradiates the subject with a measurement laser light of a numerically controlled laser distance measuring device that changes a direction of distance measurement of a numerically controlled drive mechanism attached to the underside of the flying object with a position of an image of the subject that appears on a television screen obtained by photographing the subject using the television camera; and associating a drive value of a drive position of the numerically controlled laser distance measuring device that irradiates the subject with a measurement laser light of the laser distance measuring device that changes a direction of distance measurement of a numerically controlled drive mechanism attached to the underside of the flying object with a position of an image of the subject that appears on a television screen obtained by photographing the subject using the television camera with a drive value of a drive position of the numerically controlled laser distance measuring device that irradiates the subject with the measurement laser light of the laser distance measuring device. A method characterized by using a drive value for a position to calculate and obtain, using an interpolation method, the positions of the images of the subject at all positions that are displayed on the television screen obtained by photographing the subject at all positions using the television camera, and the drive values ​​for all drive positions of the drive mechanism of the laser distance measuring device that irradiates the subject at all positions with the measurement laser light of the laser distance measuring device, and measuring the distance to the subject by driving the drive mechanism of the laser distance measuring device using the associated drive value obtained using the method described above to the position of the image of the subject that is displayed on the television screen obtained by photographing the subject using the television camera, or the specified position on the television screen.

11. A method according to any one of claims 1 to 7, comprising: associating a position of an image of the subject that appears on a television screen obtained by photographing the subject using the television camera attached to the underside of the flying object with a drive numerical value of a drive position of the directional microphone that changes the sound pickup direction of a drive mechanism attached to the underside of the flying object and directs the sound pickup direction of a numerically controlled directional microphone that changes the sound pickup direction of a drive mechanism attached to the underside of the flying object toward the subject; and associating the positions of the images of the several different subjects that appear on the television screen obtained by photographing the subject at several different positions using the television camera with a drive numerical value of the several drive numerical values ​​of the drive mechanism that directs the sound pickup direction of the directional microphone toward the subjects at the several different positions. A method characterized by using an interpolation method to calculate and obtain drive values ​​for all drive positions of the drive mechanism that directs the sound pickup direction of the directional microphone toward the subject at all positions, and using drive values ​​for different drive positions to obtain the positions of the images of the subject that appear on the television screen obtained by photographing the subject at all positions using the television camera, and then driving the drive mechanism of the directional microphone using the associated drive value obtained using the method described above to the positions of the images of the subject that appear on the television screen obtained by photographing the subject using the television camera, or a specified position on the television screen, to pick up the sound of the subject.

12. A method according to any one of claims 1 to 7, characterized in that two television cameras, which take pictures in the same direction with the same angle of view, are installed on the bottom of the flying object at positions on the left and right at a distance that allows humans to distinguish binocular parallax, and the two television cameras are used to take pictures of the downward direction of the flying object.

13. The method according to claim 12, characterized in that the left and right television screens captured by the two television cameras are viewed as a stereoscopic image displayed on the left and right television screens of a VR goggle.

14. 13. A method according to claim 12, characterized in that the left and right television images captured by the two television cameras are displayed on a television screen in a mutually synchronized manner, and the stereoscopic television images captured by the two television cameras are viewed using stereoscopic glasses that open and close the left and right glasses in synchronization with each other.

15. A method according to claims 1 to 7, characterized in that a LIDAR distance measuring device is attached to a horizontally rotating pan head attached to the bottom of the aircraft tethered to the sky so as to scan vertically, and the LIDAR distance measuring device is used to scan toward the ground while rotating the pan head in the horizontal direction, thereby continuously measuring the distance to the ground.

16. 8. The method according to claim 1, further comprising: measuring a convergent distance using several distance measurements obtained by scanning the same direction of the lidar range finder.

17. A method according to any one of claims 1 to 7, comprising the steps of: attaching a pixel light emitting distance measuring television camera to a bottom of the flying object; emitting light from an LED element disposed at a position of an image element of an image element unit of the pixel light emitting distance measuring television camera, the image signal of the image of the subject appearing on a television screen photographed by the pixel light emitting distance measuring television camera being derived; The method comprises measuring the reflected light that falls on the subject after the emitted measurement light passes through the optical lens of the pixel-emitting distance measuring television camera using a photoreceiver attached to the bottom of the flying vehicle, and calculating and measuring the distance to the subject as seen in an image of the subject consisting of an image signal at the position of an image element corresponding to the position of the LED element that emitted the measurement light, using the difference between the time when the measurement light was emitted and the time when the light was received.

18. A method according to any one of claims 1 to 7, characterized in that a distance measuring LED attached to the bottom of the flying body is illuminated by a measuring element installed at the position of an image element of an image sensor unit of the pixel receiving distance measuring television camera that derives an image signal showing an image of the subject that appears on a television screen photographed using the pixel receiving distance measuring television camera attached to the bottom of the flying body, and the reflected light of the distance measuring LED light reflected from the subject that passes through an optical lens of the pixel receiving distance measuring television camera and is focused on the subject and hits the subject is measured only by the measuring element, and the distance to the subject is calculated and measured using the difference between the time when the measurement light was emitted by the LED attached to the bottom of the flying body and the time when the light was received and measured only by the measuring element, limited to the subject shown in the image of the subject.

19. A method according to any one of claims 1 to 7, characterized in that the position of the image of the subject displayed on the television screen photographed by either the pixel receiving distance measurement television camera or the pixel receiving distance measurement television camera is corrected to the left and right positions of binocular parallax corresponding to the position of the distance from the subject measured by either the pixel receiving distance measurement television camera or the pixel receiving distance measurement television camera, and the left and right television screens displayed at the corrected position of the subject are viewed on a stereoscopic television screen displayed on the left and right television screens of VR goggles.

20. A method according to any one of claims 1 to 7, characterized in that the position of the image of the subject displayed on the television screen photographed by the pixel reception distance measurement television camera or any one of the pixel reception distance measurement television cameras is corrected to the left and right positions of binocular parallax corresponding to the position of the distance from the subject measured by the pixel reception distance measurement television camera or any one of the pixel reception distance measurement television cameras, the left and right corrected television screens displayed at the corrected positions of the subject are displayed one after the other, and the stereoscopic television screen photographed by the pixel reception distance measurement television camera or any one of the pixel reception distance measurement television cameras is viewed using stereoscopic glasses which open and close the left and right glasses in synchronization with each other.

21. A method according to any one of claims 1 to 7, characterized in that the television camera, the pixel receiving distance measurement television camera that measures the distance, and the pixel receiving distance measurement television camera that measures the distance are attached to the numerically controlled drive mechanism, and the drive mechanism is driven using the drive numerical value of the drive mechanism that is related to the position of the subject of the image on the television screen in the manner described above, thereby photographing the subject of the image using the two left and right television cameras, the pixel receiving distance measurement television camera, and the pixel receiving distance measurement television camera.

22. A method according to any one of claims 1 to 7, characterized in that a television image captured by said numerically controlled television camera is displayed at the position of the image of the subject shown on said television screen or at a specified position on said television screen.

23. A method according to any one of claims 1 to 7, characterized in that the television screen captured by the numerically controlled television camera is displayed so that the television screen captured by the numerically controlled television camera is viewed from a set direction or a specified direction.

24. A method according to any one of claims 1 to 7, characterized in that a distance measured by irradiating the subject or the subject appearing at the indicated position with a measurement laser light of the numerically controlled laser distance measuring device using a drive numerical value of the numerically controlled laser distance measuring device attached to the aircraft and associated using the method described above to the position of the image of the subject on the television screen photographed using the television camera attached to the aircraft or the indicated position on the television screen, is written or marked on either the position of the image of the subject on the television screen or the indicated position on the television screen, and the position of the image of the subject appearing on the television screen photographed by driving the drive mechanism of the numerically controlled television camera using the drive numerical value of the numerically controlled television camera attached to the aircraft and associated using the method described above, or on the television screen at the indicated position on the numerically controlled television screen.

25. A method according to any one of claims 1 to 7, characterized in that monitoring is performed from the flying object using a television screen captured by any one of the television camera, the numerically controlled television camera, the pixel light emitting distance measuring television camera, and the pixel light receiving distance measuring television camera attached to the flying object.

26. A method according to any one of claims 1 to 7, characterized in that the flying direction of the aircraft is changed so that the position of the image of the subject shown on a television screen captured by the television camera attached to the aircraft, which is fastened to the aircraft using the string, is displayed in the center of the television screen.

27. A method according to any one of claims 1 to 7, characterized in that the multiple winders are driven so that the position of an image of a set subject that is captured by the television camera and attached to the flying vehicle, which is tied to the string wound around the multiple winders, and appears on the television screen is in the center of the television screen.

28. A method according to any one of claims 1 to 7, characterized in that the numerically controlled television camera photographs the subject using the drive values ​​of the numerically controlled television camera, which are associated in the manner described above with the position of an image of the subject that appears on a television screen photographed by the television camera, which is attached to the flying object that is flying tied to the string wound around a plurality of the winders.

29. A method according to any one of claims 1 to 7, characterized in that a television screen captured using any one of the television camera, the numerically controlled television camera, the three-dimensional television camera, the pixel light emitting distance measuring television camera, and the pixel light receiving distance measuring television camera is displayed on a television screen or a television screen of a smartphone via the Internet.

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