Unmanned Aerial Vehicle Swarm and Aerial Image Display System

Abstract

To achieve a first-ever use form of an unmanned flight vehicle, in which an image is aerially displayed.SOLUTION: A plurality of unmanned flight vehicles 20 and 20 are configured so that image display devices 220 are turnably supported on flight vehicle main bodies equipped with a plurality of rotors through turning mechanisms having servo motors. Display devices comprising high-brightness LEDs are arranged in matrix in the image display devices 220. The unmanned flight vehicles 20 and 20 and a management server 30 constitute the aerial image display system 10. The image display devices 220 and 220 are aerially arranged by collaboratively controlling flight of the unmanned flight vehicles 20 and 20, and image display in the air is achieved by the unmanned flight vehicle group constituted of the unmanned flight vehicles 20 and 20, by controlling image display by the image display devices 220.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention , multiple A fleet of unmanned aerial vehicles consisting of a number of unmanned aerial vehicles and The present invention relates to an aerial image display system, and in particular to a technology for realizing a new form of utilization of unmanned aerial vehicles. [Background technology]

[0002] Conventionally, unmanned aerial vehicles (generally called drones) used for ground observation, cargo transportation, etc. are known. Patent Document 1 discloses that an image of a survey target area on the ground is taken by a camera mounted on the unmanned aerial vehicle, and topographical data of the survey target area is calculated based on the taken image. Patent Document 2 discloses an unmanned aerial vehicle capable of aerial transportation of lightweight objects.

[0003] Other known uses for unmanned aerial vehicles include using aerial cameras to take pictures of the damage and identify victims during disasters, and carrying pesticide tanks to spray pesticides on farms. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-117047 [Patent Document 2] Patent Publication No. 2021-151847 Summary of the Invention [Problem to be solved by the invention]

[0005] Meanwhile, the inventor of the present invention has considered how to realize a new form of use of an unmanned aerial vehicle. The inventor of the present invention then came up with the idea of ​​using the unmanned aerial vehicle as a device for displaying images in the air by displaying images on the unmanned aerial vehicle itself. The inventor also noted that when using an unmanned aerial vehicle to display images in the air in this way, in order to increase the practicality of the display, it is necessary to ensure that the visibility of the image (for example, visibility from the ground) is good. In consideration of these points, the inventor of the present invention has improved the configuration of the unmanned aerial vehicle and arrived at the present invention.

[0006] The present invention has been made in consideration of the above points, and its purpose is to realize a new form of utilization of unmanned aerial vehicles, such as displaying images in the air. [Means for solving the problem]

[0007] The solution of the present invention for achieving the above object is to provide an aircraft body having rotors. hand An unmanned aerial vehicle that flies with the rotation of the rotor blades A group of unmanned aerial vehicles consisting of multiple assemblies of This is the premise. Unmanned aerial vehicles The present invention provides an image display device that is rotatably attached to the aircraft body and has a display surface for displaying an image, and a rotation position adjustment actuator that adjusts the rotation position of the image display device relative to the aircraft body to change the orientation of the display surface. The outer shape of the image display device is set to be larger than the outer shape of the aircraft body, and the unmanned aircraft are controlled in a coordinated manner so that the display surfaces of the image display devices of each of the unmanned aircraft are adjacent to each other, and a series of images are displayed across the display surfaces of the image display devices of each of the unmanned aircraft. It is characterized by:

[0008] This specification allows an image to be displayed in the air by displaying an image on the display screen of the image display device of the unmanned aerial vehicle in flight. In addition, the image display device is rotatably attached to the air vehicle body, and the orientation of the display screen can be changed by adjusting the rotation position of the image display device with a rotation position adjustment actuator, so that the rotation position of the image display device can be adjusted so that the display screen is in an orientation that is easy to view (for example, an orientation that is easy to view from the ground). This allows an unprecedented form of use of the unmanned aerial vehicle to be realized, such as displaying an image in the air with high visibility. In addition, by displaying images on the display screens of the image display devices of each of the unmanned aerial vehicles flying under coordinated control, with the display screens of the image display devices being adjacent to each other, a series of images can be displayed across these multiple display screens. This makes it possible to display large images in the air that would be difficult to display on a single unmanned aerial vehicle, and to display images with high visibility in the air.

[0009] Also, In each of the unmanned aerial vehicles The image display device includes a self-luminous display device, and is configured to display an image on the display surface by the self-luminescence of the display device.

[0010] According to this, the image display device itself can be equipped with an image display function, eliminating the need for a separate image projection device, etc., thereby simplifying the configuration of the unmanned aerial vehicle.

[0011] Also, In each of the unmanned aerial vehicles A plurality of the display devices are arranged in a matrix.

[0012] This allows relatively small display devices to be adopted, thereby reducing costs; and if one display device becomes damaged or malfunctions, only that display device needs to be replaced, thereby simplifying maintenance work and reducing maintenance costs.

[0013] Also, Each of the unmanned aerial vehicles is The display device is equipped with an image projection device, and an image projected from the image projection device is displayed on the display surface.

[0014] This makes it possible to display one image projected from an image projection device on the entire display surface of the unmanned aerial vehicle. Therefore, compared to dividing the display surface into multiple regions and synchronizing the images displayed individually in each region, the processing load for this image synchronization can be eliminated, the control for image display can be simplified, and the load on the control system can be reduced.

[0015] Also, In each of the unmanned aerial vehicles The image display device includes a rear projection screen, and the image projection device is disposed so as to project an image onto the rear projection screen from the rear side of the rear projection screen.

[0016] Also, In each of the unmanned aerial vehicles The rear projection screen is a mesh screen in which a plurality of wires are arranged in a lattice pattern.

[0017] Because the mesh screen (sometimes called an amid screen) allows wind (air) to pass through, the unmanned aerial vehicle is less affected by wind during flight. As flight becomes more stable, the images displayed in the air can be stabilized (reducing image shaking in the air), allowing images to be displayed in the air with high visibility.

[0018] Also, Each of the unmanned aerial vehicles is The image display device includes a communication unit that receives image information from an image information source that transmits image information, and an image display control unit that controls image display on the display screen of the image display device in accordance with the image information received by the communication unit.

[0019] This relates to an unmanned aerial vehicle that is applied to an aerial image display system in which an image information source (such as a management server) is installed separately from the unmanned aerial vehicle, and an image display control unit controls the image display on the display surface of the image display device according to the image information received from the image information source. In this case, the unmanned aerial vehicle does not need to store in advance information on all images to be displayed on the display surface, so there is no need to mount an image storage device or the like, and the configuration of the unmanned aerial vehicle can be simplified.

[0020] Also, Each of the unmanned aerial vehicles is The image display device includes an image information storage section that stores image information in advance, and an image display control section that controls image display on the display screen of the image display device in accordance with the image information stored in the image information storage section.

[0021] This system reads out image information stored in an image information storage unit mounted on the unmanned aerial vehicle, and an image display control unit controls the image display on the display screen of the image display device. This makes it possible to display images in the air by displaying images on the display screen of the image display device without the need to install an image information source separate from the unmanned aerial vehicle. This simplifies the overall configuration of the system for displaying images in the air.

[0022] Also, Each of the unmanned aerial vehicles is The image display device but The unmanned aerial vehicle is attached to the main body of the aerial vehicle so as to be rotatable around a horizontal axis when the unmanned aerial vehicle is in a flying state, and is equipped with a communication unit that receives rotational position information from a rotational position information source that transmits information on the rotational position of the image display device according to the flight position, and a rotational position control unit that operates the rotational position adjustment actuator in accordance with the rotational position information received by the communication unit to control the rotational position of the image display device.

[0023] This relates to an unmanned aerial vehicle applied to an aerial image display system in which a rotation position information source (such as a management server) is installed separately from the unmanned aerial vehicle, and a rotation position control unit operates a rotation position adjustment actuator according to rotation position information received from the rotation position information source to control the rotation position of the image display device according to the flight position. For example, the rotation position is controlled to a rotation position that provides good visibility from the ground. In this case, the unmanned aerial vehicle does not need to store information on the rotation position of the image display device according to the flight position in advance, and therefore does not need to be equipped with a rotation position information storage device or the like, which simplifies the configuration of the unmanned aerial vehicle.

[0024] Also, Each of the unmanned aerial vehicles is The image display device but The image display device is attached so as to be rotatable around a horizontal axis relative to the main body of the unmanned aerial vehicle when the vehicle is in flight, and is equipped with a rotational position information memory unit that pre-stores information on the rotational position of the image display device according to the flight position, and a rotational position control unit that operates the rotational position adjustment actuator in accordance with the rotational position information stored in the rotational position information memory unit to control the rotational position of the image display device.

[0025] This involves reading out rotational position information (information on the rotational position of the image display device according to the flight position) stored in a rotational position information storage unit mounted on the unmanned aerial vehicle, and having a rotational position control unit operate a rotational position adjustment actuator to control the rotational position of the image display device according to the flight position. In this case too, the rotational position is controlled to a rotational position that provides good visibility from the ground, for example. This makes it possible to control the rotational position of the image display device according to the flight position without the need to install a rotational position information source separate from the unmanned aerial vehicle. This makes it possible to simplify the overall configuration of the system for displaying images in the air.

[0028] In addition, The multiple drones that make up the unmanned aerial vehicle fleet An aerial image display system comprising an unmanned flying vehicle and an image information source is also within the scope of the technical concept of the present invention. The multiple drones that make up the unmanned aerial vehicle fleet The present invention includes an unmanned aerial vehicle and an image information source, the image information source being provided with a communication unit for transmitting image information, each The unmanned aerial vehicle is an aerial image display system that is equipped with a communication unit that receives image information transmitted from the communication unit of the image information source, and an image display control unit that controls the image display on the display surface of the image display device in accordance with the image information received by the communication unit.

[0029] As a result, as mentioned above, the unmanned aerial vehicle does not need to store in advance information for all images to be displayed on the display screen, so there is no need to install an image storage device, etc., which simplifies the configuration of the unmanned aerial vehicle.

[0030] In addition, The multiple drones that make up the unmanned aerial vehicle fleet An aerial image display system comprising an unmanned flying vehicle and a rotational position information source is also within the scope of the technical concept of the present invention. The multiple drones that make up the unmanned aerial vehicle fleet An aerial image display system comprising an unmanned aerial vehicle and a rotational position information source, wherein the rotational position information source is provided with a communication unit that transmits information on the rotational position of the image display device according to the flight position of the unmanned aerial vehicle, and the unmanned aerial vehicle is provided with a communication unit that receives the rotational position information transmitted from the communication unit of the rotational position information source, and a rotational position control unit that operates the rotational position adjustment actuator in accordance with the rotational position information received by the communication unit to control the rotational position of the image display device.

[0031] As a result, as mentioned above, the unmanned aerial vehicle does not need to pre-store information on the rotational position of the image display device according to the flight position, so there is no need to install a rotational position information storage device, etc., which simplifies the configuration of the unmanned aerial vehicle.

[0032] In addition, The multiple drones that make up the unmanned aerial vehicle fleet An aerial image display system comprising an unmanned flying vehicle and an image projection device capable of projecting an image is also within the scope of the technical concept of the present invention. each The image display device of the unmanned aerial vehicle is equipped with a screen, and the aerial image display system is configured to display an image on the display surface by projecting an image from the image illuminator toward the screen of the unmanned aerial vehicle in flight.

[0033] This allows the unmanned aerial vehicle's image display device to be equipped with only a screen, thereby simplifying the configuration of the unmanned aerial vehicle. Effect of the Invention

[0034] In the present invention, an unmanned aerial vehicle is provided with an image display device that is rotatably attached to the main body of the vehicle and has a display surface for displaying an image, and a rotation position adjustment actuator that can change the orientation of the display surface by adjusting the rotation position of the image display device relative to the main body of the vehicle. This allows an unprecedented form of use of an unmanned aerial vehicle to be realized, such as displaying images in the air with high visibility. [Brief description of the drawings]

[0035] [Figure 1] A diagram showing the general configuration of an aerial image display system including multiple unmanned aerial vehicles and a management server according to an embodiment. [Diagram 2] An oblique view showing an example of a flying state of an unmanned aerial vehicle. [Diagram 3] 2 is an oblique view showing the image display device of the unmanned aerial vehicle in a horizontal position. FIG. [Figure 4] 2 is a perspective view showing the image display device of the unmanned aerial vehicle in a vertical position. FIG. [Diagram 5] A side view showing a stacked state of multiple unmanned aerial vehicles. [Figure 6] FIG. 2 is a block diagram showing a control system of an unmanned aerial vehicle. [Figure 7] FIG. 2 is a block diagram showing a control system of the management server. [Figure 8] This is an image diagram showing an example of an aerial image display state by a group of unmanned aerial vehicles. [Figure 9] FIG. 3 is a view equivalent to FIG. 2 in modified example 1. [Figure 10] FIG. 4 is a view equivalent to FIG. 3 in modified example 1. [Figure 11] FIG. 5 is a view equivalent to FIG. 4 in modified example 1. [Figure 12] FIG. 10 is a view equivalent to FIG. 8 in a second modified example. [Figure 13] FIG. 7 is a view equivalent to FIG. 6 in a third modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, an image display in the air is performed by a group of unmanned aerial vehicles each having a display surface formed of LEDs (light emitting diodes).

[0037] First, the configuration of an aerial image display system for displaying images in the air using a group of unmanned flying vehicles will be described.

[0038] <System configuration> FIG. 1 is a diagram showing a schematic configuration of an aerial image display system 10 according to this embodiment.

[0039] The aerial image display system 10 is configured as a system including a plurality of unmanned aerial vehicles (also called drones or autonomous flying robots) 20, 20, ..., and a management server 30 that manages these unmanned aerial vehicles 20, 20, ....

[0040] Each of these unmanned aerial vehicles 20, 20, ... and the management server 30 can communicate by wireless communication via a multi-carrier base station such as LTE (Long Term Evolution), 4G (fourth generation), 5G (fifth generation), etc. This communication transmits and receives various information for controlling the flight state of each of the unmanned aerial vehicles 20, 20, ..., controlling the image display in the air (controlling the image display on the display surface of the image display device 220 provided on each of the unmanned aerial vehicles 20, 20, ...) described later, and controlling the rotational position of the image display device 220 provided on each of the unmanned aerial vehicles 20, 20, .... In this embodiment, each piece of information is transmitted from the management server 30 to each unmanned aerial vehicle 20, 20, ...; however, the present invention is not limited to this, and the system may be configured in such a way that each piece of information is stored in each unmanned aerial vehicle 20, 20, ..., or a system may be configured in which some of this information is transmitted from the management server 30 to each unmanned aerial vehicle 20, 20, ... and other information is stored in each unmanned aerial vehicle 20, 20, ....

[0041] -Unmanned aerial vehicle configuration- The unmanned aerial vehicles 20, 20, ... each have the same configuration. Therefore, one (single) unmanned aerial vehicle 20 will be described here as a representative.

[0042] The unmanned aerial vehicle 20 is a multicopter with multiple rotors (rotating wings) 212, 212, ... evenly arranged around the aircraft body 210. Specifically, it is configured as a quadcopter with four rotors 212, 212, .... Note that the unmanned aerial vehicle may also be a hexacopter with six rotors, an optocopter with eight rotors, or the like. It may also be a small unmanned aerial vehicle of a single rotor type. The configuration of the unmanned aerial vehicle 20 according to this embodiment will be described below.

[0043] FIG. 2 is a perspective view showing an example of a flight state of the unmanned aerial vehicle 20. In the following description, the X direction in FIG. 2 is referred to as the left-right direction of the unmanned aerial vehicle 20, the X1 direction side in the figure is referred to as the left side, and the X2 direction side in the figure is referred to as the right side. The Y direction in FIG. 2 is referred to as the front-rear direction of the unmanned aerial vehicle 20, the Y1 direction side in the figure is referred to as the front side, and the Y2 direction side in the figure is referred to as the rear side. The Z direction in FIG. 2 is referred to as the up-down direction of the unmanned aerial vehicle 20, the Z1 direction side in the figure is referred to as the upper side, and the Z2 direction side in the figure is referred to as the lower side.

[0044] As shown in FIG. 2, the unmanned aerial vehicle 20 includes an air vehicle main body 210, an image display device 220, and a rotation mechanism 230.

[0045] The aircraft body 210 is configured in a frame shape in which four frame members 210a, 210b, 210c, and 210d are connected in a rectangular shape in a plan view. Of the four frame members 210a, 210b, 210c, and 210d, the one located on the front side (Y1 direction side) of the unmanned aerial vehicle 20 and extending in the left-right direction (X direction) is the front frame member 210a, and the one located on the rear side (Y2 direction side) of the unmanned aerial vehicle 20 and extending in the left-right direction (X direction) is the rear frame member 210b. In addition, the one located on the left side (X1 direction side) of the unmanned aerial vehicle 20 and extending in the front-rear direction (Y direction) is the left frame member 210c, and the one located on the right side (X2 direction side) of the unmanned aerial vehicle 20 and extending in the front-rear direction (Y direction) is the right frame member 210d.

[0046] Motors 211, 211, ... having a rotating shaft that can rotate around a vertical axis are provided at the connection parts (at each corner part of the aircraft body 210) between each of the frame members 210a, 210b, 210c, 210d, and rotors 212, 212, ... are attached to the rotating shafts of these motors 211, 211, .... The rotors 212, 212 adjacent to each other via the frame members 210a, 210b, 210c, 210d can rotate in opposite directions. As a result, the rotors 212, 212, ... rotate in accordance with the operation of the motors 211, 211, ..., generating lift, and enabling the unmanned aircraft 20 to fly. In addition, the rotation speed of each motor 211, 211, ... can be individually controlled to move the unmanned aircraft 20 in the horizontal direction and change its attitude.

[0047] The image display device 220 is rotatably attached to the aircraft body 210 via a rotation mechanism 230. In the following description, the H direction in Fig. 2 is referred to as the first direction of the image display device 220, the H1 direction side in the figure is referred to as the left side, and the H2 direction side in the figure is referred to as the right side. The L direction in Fig. 2 is referred to as the second direction of the image display device 220, the L1 direction side in the figure is referred to as the base end side, and the L2 direction side in the figure is referred to as the tip end side.

[0048] The image display device 220 includes a device frame 221 and a plurality of display devices (self-luminous display devices) 222, 222, . . . (only some of the display devices 222, 222, . . . are shown in FIG. 2).

[0049] The device frame 221 includes an outer frame 223, a plurality of vertical frames 224, 224, ..., and link frames 225L, 225R. The outer frame 223 is configured in a frame shape in which four frame members 223a, 223b, 223c, 223d are connected in a rectangular shape. Of the four frame members 223a, 223b, 223c, 223d, the one located on the base end side (L1 direction side) of the image display device 220 and extending in the first direction (H direction) is the first frame member 223a, and the one located on the tip end side (L2 direction side) of the image display device 220 and extending in the first direction (H direction) is the second frame member 223b. Moreover, the third frame member 223c is located on the left side (H1 direction side) of the image display device 220 and extends in the second direction (L direction), and the fourth frame member 223d is located on the right side (H2 direction side) of the image display device 220 and extends in the second direction (L direction). The dimensions of the first direction (H direction) and the second direction (L direction) of this outer frame 223 are set to be approximately the same. For example, they are set to 3000 mm. This value is not limited to this. The dimension of the image display device 220 in the first direction (H direction) is set to be longer than the dimension of the aircraft body 210 in the left-right direction (X direction) by a predetermined dimension, and the dimension of the image display device 220 in the second direction (L direction) is set to be longer than the dimension of the aircraft body 210 in the front-rear direction (Y direction) by a predetermined dimension. In other words, the outer shape of the image display device 220 is set to be larger than the outer shape of the aircraft body 210. This configuration allows even an unmanned aerial vehicle 20 having a small aerial vehicle body 210 to be equipped with a large image display device 220, and when multiple unmanned aerial vehicles 20, 20, ... perform image display in the air, it makes it possible to reduce the gap between each of the image display devices 220, 220, ... while avoiding interference (contact) between the aerial vehicle bodies 210, 210, ... of each of the unmanned aerial vehicles 20, 20, .... Note that the outer frame 223 may have dimensions in the first direction (H direction) and the second direction (L direction) that are different from each other.

[0050] Seven of the vertical frames 224, 224, ... are installed at predetermined intervals in the first direction (H direction) between the first frame member 223a and the second frame member 223b. These vertical frames 224, 224, ... function as fixing parts for the display devices 222, 222, ... described later. The number of vertical frames 224 is not limited to this, and is appropriately set depending on the strength required for the image display device 220 and the number of display devices 222, 222, ... to be attached.

[0051] The link frames 225L, 225R are portions that become the connecting portions of the link mechanisms 232L, 232R described later, and include a left link frame 225L located on the left side (H1 direction side) and a right link frame 225R located on the right side (H2 direction side). The left link frame 225L has a first portion 225La extending along the second direction (L direction), and second portions 225Lb, 225Lb extending from both ends (both ends in the L direction) of the first portion 225La to the left side (H1 direction side) and connected to the third frame member 223c. Similarly, the right link frame 225R has a first portion 225Ra extending along the second direction (L direction), and second portions 225Rb, 225Rb extending from both ends (both ends in the L direction) of the first portion 225Ra to the right side (H2 direction side) and connected to the fourth frame member 223d.

[0052] The display devices 222, 222, ... are attached to the vertical frames 224, 224, ... and are arranged in a matrix with seven display devices arranged in each of the first direction (H direction) and the second direction (L direction). In other words, the image display device 220 is provided with a total of 49 display devices 222, 222, .... The number of display devices 222 is not limited to this and can be set arbitrarily. In addition, the number of display devices arranged in the first direction (H direction) and the number of display devices arranged in the second direction (L direction) may be different from each other.

[0053] In addition, each display device 222, 222, ... is arranged so that a predetermined gap is created between adjacent display devices 222, 222. This is to allow wind (air) to pass between the display devices 222, 222 while the unmanned aerial vehicle 20 is flying, and to allow wind (wind for generating lift) from the rotors 212, 212, ... to pass when the unmanned aerial vehicle 20 is ascending (ascending in the state shown in FIG. 3).

[0054] Each display device 222 includes a display panel equipped with a plurality of LED elements (hereinafter, sometimes simply referred to as LEDs), not shown, a circuit board for controlling the light emission of each LED element, and the like. That is, each display device 222, 222, ... is configured to display an image according to image information (image information to be displayed on the display panel) transmitted from the management server 30 and received by the unmanned aerial vehicle 20. In this embodiment, high-brightness LEDs are used as the LEDs, and the displayed image can be viewed (for example, viewed from the ground) not only at night but also during the day. In addition, the brightness may be changed according to the surrounding brightness. In addition, organic EL (organic electro-luminescence) can be used instead of LEDs.

[0055] The rotation mechanism 230 rotatably mounts the image display device 220 to the aircraft body 210, and includes two rotation arms 231L, 231R that connect the image display device 220 and the aircraft body 210, and a pair of link mechanisms 232L, 232R.

[0056] Each of the rotating arms 231L, 231R connects the first frame member 223a of the image display device 220 to the front frame member 210a of the aircraft main body 210. Servo motors (rotation position adjustment actuators in the present invention) 233L, 233R are built into the connecting portions of the rotating arms 231L, 231R with the front frame member 210a, and the image display device 220 can be rotated with respect to the aircraft main body 210 by the operation of the servo motors 233L, 233R to rotate the rotating arms 231L, 231R relatively to the front frame member 210a. For example, the stators of the servo motors 233L, 233R are connected to the front frame member 210a, and the rotors are connected to the rotating arms 231L, 231R, respectively. In addition, by adjusting the rotational positions of the servo motors 233L, 233R, it is possible to set the rotational position of the image display device 220 relative to the aircraft body 210 (the rotational attitude of the image display device 220 relative to the aircraft body 210) to any position.

[0057] Each of the link mechanisms 232L, 232R is composed of a left link mechanism 232L and a right link mechanism 232R. The left link mechanism 232L has one end of a first link 232La rotatably connected to the left frame member 210c of the aircraft body 210, and one end of a second link 232Lb rotatably connected to a first part 225La of a frame 225L for a left link of the image display device 220, and the other ends of these links are connected to each other so as to be able to rotate relative to each other. Similarly, the right link mechanism 232R has one end of a first link 232Ra rotatably connected to the right frame member 210d of the aircraft body 210, and the other ends of the second link 232Rb rotatably connected to a first part 225Ra of a frame 225R for a right link of the image display device 220, and the other ends of these links are connected to each other so as to be able to rotate relative to each other. When the image display device 220 rotates relative to the aircraft body 210 by the operation of the servo motors 233L, 233R, the first link 232La (232Ra) and the second link 232Lb (232Rb) of each link mechanism 232L, 232R rotate relatively to stabilize the rotational movement of the image display device 220. FIG. 3 is a perspective view showing a state in which the image display device 220 rotates relative to the aircraft body 210 and assumes a horizontal position. In this case, the image display device 220 is located below the aircraft body 210, the extension direction of the image display device 220 and the extension direction of the aircraft body 210 are parallel to each other, and the angle formed between the extension direction of the first link 232La (232Ra) and the extension direction of the second link 232Lb (232Rb) of each link mechanism 232L, 232R is the smallest. 4 is a perspective view showing a state in which the image display device 220 has rotated relative to the aircraft body 210 and is in a vertical position. In this case, the extension direction of the image display device 220 and the extension direction of the aircraft body 210 are perpendicular to each other, and the extension direction of the first link 232La (232Ra) and the extension direction of the second link 232Lb (232Rb) of each link mechanism 232L, 232R are on the same straight line.

[0058] As described above, the aerial image display system 10 according to this embodiment displays images in the air using a group of unmanned aerial vehicles consisting of a plurality of unmanned aerial vehicles 20, 20, .... For this reason, when these unmanned aerial vehicles 20, 20, ... are not flying and are waiting (parked) at an aircraft parking area, a stack structure is provided for stacking the plurality of unmanned aerial vehicles 20, 20, ... vertically so as to reduce the area (site area) required for the aircraft parking area. FIG. 5 is a side view showing the stacked state of the plurality of unmanned aerial vehicles 20, 20, .... In the stacked state as shown in FIG. 5, the image display device 220 rotates relative to the aircraft body 210 to assume a horizontal position (the position shown in FIG. 3), and in this state the unmanned aerial vehicles 20, 20, ... are stacked vertically. Hereinafter, this stack structure will be described.

[0059] As shown in FIG. 3, the stack structure includes a plurality of receiving tables 226, 226, . . . and near-infrared cameras 227, 227, .

[0060] The receiving pedestals 226, 226, ... are arranged at the middle of the longitudinal direction of each of the frame members 223a to 223d of the outer frame 223 so as to protrude in a direction perpendicular to the longitudinal direction (upward when the image display device 220 is in a horizontal position as shown in FIG. 3: upward perpendicular to each of the first direction H and the second direction L). Each of the receiving pedestals 226, 226, ... includes a pillar portion 226a extending vertically in the state shown in FIG. 3, and a receiving portion 226b provided on the upper portion of the pillar portion 226a. The receiving portion 226b is configured in a V-shape by a pair of wire members 226c, 226c inclined in opposite directions toward the upper side in the state shown in FIG. 3.

[0061] Furthermore, an LED 226d that radiates near infrared rays upward is provided at the connection portion (bottom portion of receiver 226b) between column portion 226a and receiver 226b. Specifically, LED 226d is housed in a recess provided in the center of receiver 226b. The arrangement of LED 226d is not limited to this, and LED 226d may be arranged to protrude from the center of receiver 226b.

[0062] On the other hand, the near-infrared cameras 227, 227, ... are disposed in the middle of the longitudinal direction of each of the frame members 223a to 223d of the outer frame 223, facing in a direction perpendicular to the longitudinal direction (downward when the image display device 220 is in a horizontal position as shown in FIG. 3). That is, they are disposed so as to detect near-infrared rays downward. Specifically, the near-infrared cameras 227 are housed in recesses provided on the lower surfaces of the frame members 223a to 223d. The arrangement of the near-infrared cameras 227 is not limited to this, and they may be disposed so as to protrude from the lower surfaces of the frame members 223a to 223d. In this way, the position of the receiving stand 226 and the position of the near-infrared camera 227 on each frame member 223a to 223d are the same, and the receiving stand 226 has the function of receiving the outer frame 223 of another unmanned aerial vehicle 20 descending from above and the function of emitting near-infrared rays upward, and the near-infrared camera 227 has the function of detecting near-infrared rays below.

[0063] Therefore, when the unmanned aerial vehicle 20 in flight lands above the unmanned aerial vehicle 20 already parked at the parking area to overlap the unmanned aerial vehicles 20, 20, the near-infrared cameras 227, 227, ... mounted on the unmanned aerial vehicle 20 in flight detect the near-infrared rays emitted from the LEDs 226d, 226d, ... of the parked unmanned aerial vehicle 20, and the unmanned aerial vehicle 20 is descended while maintaining the state in which all the near-infrared cameras 227, 227, ... detect the near-infrared rays, so that the descending unmanned aerial vehicle 20 can be superimposed on the parked unmanned aerial vehicle 20 (superimposed without positional deviation in plan view). In other words, the outer frame 223 of the image display device 220 of the descending unmanned aerial vehicle 20 is received by the receiving portion 226b of the receiving stand 226 of the parked unmanned aerial vehicle 20, so that the two unmanned aerial vehicles can be superimposed. By descending the unmanned aerial vehicles 20 sequentially in this manner so that they overlap each other, it is possible to stack multiple unmanned aerial vehicles 20, 20, ... one on top of the other, as shown in Figure 5, making it possible to reduce the area required for a parking area.

[0064] -Unmanned aerial vehicle control system- Next, the control system of the unmanned aerial vehicle 20 will be described. The control system of the unmanned aerial vehicle 20 described below is one example, and the control system of the unmanned aerial vehicle 20 according to the present invention is not limited to the following. The unmanned aerial vehicle 20 receives information related to the flight path, information for image display, and information for controlling the rotational attitude of the image display device 220 from the management server 30, and is controlled to fly along a predetermined flight path, and the image display on the image display device 220 and the rotational attitude of the image display device 220 are controlled.

[0065] 6 is a block diagram showing a control system of the unmanned aerial vehicle 20 according to this embodiment. As shown in this Fig. 6, the control system of the unmanned aerial vehicle 20 includes a position and attitude sensor 21, a communication unit 22, a storage unit 23, and a control unit 24.

[0066] (Position and orientation sensor) The position and attitude sensor 21 is a sensor for acquiring the current position and attitude of the unmanned aerial vehicle 20. The position and attitude sensor 21 includes, for example, a receiver for receiving radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as GNSS (Global Navigation Satellite System), an acceleration sensor for measuring acceleration, an electronic compass for measuring orientation, and a gyro sensor for measuring angular velocity. Specifically, in the position and attitude sensor 21, the receiver receives navigation signals transmitted from multiple navigation satellites and outputs them to the control unit 24, and also outputs measurement signals by the electronic compass and the gyro sensor to the control unit 24. Based on these signals, the control unit 24 calculates the current position and attitude of the unmanned aerial vehicle 20. In particular, in this embodiment, positioning is performed by RTK (Real Time Kinematic) to improve the detection accuracy of the current position of the unmanned aerial vehicle 20. Note that, as a means for acquiring information for obtaining the current position and attitude, a laser scanner and an air pressure sensor may be used instead of the receiver.

[0067] (Communications Department) The communication unit 22 is a communication module for communicating with the management server 30. As described above, information related to the flight path, information for image display, and information for controlling the rotational attitude of the image display device 220 are transmitted from the management server 30, and the communication unit 22 receives this information and outputs it to the control unit 24. In addition, the communication unit 22 outputs each piece of information on the current position and attitude of the unmanned aerial vehicle 20 calculated as described above to the management server 30.

[0068] (Storage part) The storage unit 23 is an information storage device such as an HDD (Hard Disk Drive). The storage unit 23 stores various programs and various data, and inputs and outputs the information to and from the control unit 24. The various data includes information used in each process of the control unit 24, such as position and orientation information, route information, etc.

[0069] The position and attitude information is a history of the current position and attitude of the unmanned aerial vehicle 20 acquired by the position and attitude sensor 21, which is cyclically stored at predetermined time intervals. The route information is information received from the management server 30 and stored in the memory unit 23, and is information regarding the flight route along which the unmanned aerial vehicle 20 is scheduled to move. Specifically, the information associates a coordinate sequence (x, y, z) on the flight route with the time, speed, and acceleration at each position (coordinate).

[0070] (Control unit) The control unit 24 is a computer equipped with a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and reads out programs and data from the storage unit 23. The control unit 24 is equipped with a position and attitude calculation unit 241, a flight control unit 242, an image display control unit 243, and a rotation position control unit 244 as functional units in accordance with the programs.

[0071] The position / attitude calculation unit 241 calculates the current position and attitude of the unmanned aerial vehicle 20 in the flight space from the output of the position / attitude sensor 21, and stores it as position / attitude information. In addition, the position / attitude calculation unit 241, for example, obtains latitude, longitude, and altitude from the navigation signal output from the position / attitude sensor 21, and converts it into a position in the coordinate system of the flight space using a conversion rule stored in advance. Furthermore, the position / attitude calculation unit 241 obtains the current attitude in the coordinate system of the flight space from the measurement signals of the acceleration sensor and gyro sensor output from the position / attitude sensor 21. Note that the position / attitude calculation unit 241 may obtain the direction in the coordinate system of the flight space from the measurement signal of the electronic compass output from the position / attitude sensor 21, and calculate the current attitude by further using measurement signals from other sensors. Note that the position / attitude calculation unit 241 transmits the current position to the management server 30 via the communication unit 22 every time it calculates the current position.

[0072] The flight control unit 242 refers to the route information (information related to the flight route received from the management server 30) and the position and attitude information, and controls the rotation speed of each of the motors 211, 211, ... so that the unmanned aerial vehicle 20 moves following the flight route described in the route information. Specifically, the flight control unit 242 controls the rotation speed of each of the motors 211, 211, ... so that the error between the position (coordinates) at the current time described in the route information and the current position described in the position and attitude information is reduced. In addition, the flight control unit 242 calculates the current speed and acceleration of the unmanned aerial vehicle 20 based on the position and attitude information, and controls the rotation speed of each of the motors 211, 211, ... so that the error between these values ​​and the speed and acceleration at the current time described in the route information is reduced.

[0073] The image display control unit 243 controls the image display on the display surface of the image display device 220 according to the image information received by the communication unit 22 from the management server 30. In other words, the management server 30 manages images corresponding to the position and time of the unmanned aerial vehicle 20 in correspondence with each of the display devices 222, 222, ... of the multiple unmanned aerial vehicles 20, 20, ..., and transmits information associating the position and time with the image information to each of the unmanned aerial vehicles 20, 20, .... The image display control unit 243 then performs image display control so that images synchronized based on an accurate PPS (Pulse Per Second) signal of the GNSS are displayed on each of the display devices 222, 222, ... of the unmanned aerial vehicles 20, 20, ....

[0074] The rotation position control unit 244 operates the servo motors 233L, 233R according to information on the rotation position of the image display device 220 corresponding to the flight position received by the communication unit 22 from the management server 30, to control the rotation position of the image display device 220. In other words, the management server 30 is aware of the flight positions of each unmanned aerial vehicle 20, 20, ... during flight, calculates the rotation position of the image display device 220 that provides the highest visibility from the ground at this flight position, and transmits information on this rotation position from the communication unit 31 to each unmanned aerial vehicle 20, 20, .... For example, when each unmanned aerial vehicle 20, 20, ... is flying at a position where the elevation angle is 45° as seen by people (spectators) on the ground at an event, information (rotation position information) for controlling the rotation position of the image display device 220 so that the display surface of the image display device 220 is facing 45° downward from the horizontal as shown in Figure 2 is transmitted to each unmanned aerial vehicle 20, 20, ..., and the rotation position control unit 244 in each unmanned aerial vehicle 20, 20, ... will operate the servo motors 233L, 233R in accordance with the received rotation position information to control the rotation position of the image display device 220. In addition, when each unmanned aerial vehicle 20, 20, ... is flying at a relatively low position relatively far from people on the ground, information for controlling the rotational position of the image display device 220 so that the display surface of the image display device 220 is vertical, as shown in Figure 4, is transmitted to each unmanned aerial vehicle 20, 20, ..., and the rotational position control unit 244 in each unmanned aerial vehicle 20, 20, ... operates the servo motors 233L, 233R in accordance with the received rotational position information to control the rotational position of the image display device 220.

[0075] -Control system of management server- Next, the control system of the management server 30 will be described. The control system of the management server 30 described below is an example, and the control system of the management server 30 according to the present invention is not limited to the following. The management server 30 determines the target position to which each of the unmanned aerial vehicles 20, 20, ... flies, and obtains a flight path from the current position to the target position based on the information of the current position received from each of the unmanned aerial vehicles 20, 20, ..., and transmits the information of the flight path to each of the unmanned aerial vehicles 20, 20, .... As described above, the management server 30 also transmits information for image display and information for controlling the rotational attitude of the image display device 220 to each of the unmanned aerial vehicles 20, 20, .... FIG. 7 is a block diagram showing the control system of the management server 30. As shown in FIG. 7, the control system of the management server 30 includes a communication unit 31, a memory unit 32, and a control unit 33.

[0076] (Communications Department) The communication unit 31 is a communication module for communicating with the unmanned aerial vehicle 20. This communication unit 31 transmits information related to the flight path, information for image display, and information for controlling the rotational attitude of the image display device 220 to each of the unmanned aerial vehicles 20, 20, ...

[0077] (Storage part) The storage unit 32 is an information storage device such as a HDD. The storage unit 32 stores various programs and various data, and inputs and outputs the information between the storage unit 32 and the control unit 33. The various data include information used for each process of the control unit 33, such as position information, spatial information, machine information, route information, image information, and rotation position information.

[0078] The position information is information indicating the current position and the target position of the unmanned aerial vehicle 20. When information on the current position is received from the unmanned aerial vehicle 20, it is stored in association with the identifier (aircraft ID) of the unmanned aerial vehicle 20. In addition, when the target position of a certain unmanned aerial vehicle 20 is set, the target position is stored in association with the aircraft ID of the unmanned aerial vehicle 20.

[0079] The spatial information is information that represents the three-dimensional structure of the flight space. In this embodiment, the spatial information is information that represents the structure of obstacles in the flight space by dividing the flight space into a plurality of voxels (unit spaces) as a voxel space. The spatial information is set and stored in advance by the system administrator.

[0080] The aircraft information is information indicating the characteristics (performance) of each unmanned aerial vehicle 20, 20, .... The aircraft information is set and stored in advance by a system administrator. Specifically, the aircraft information is information that associates the aircraft ID of each unmanned aerial vehicle 20, 20, ... with characteristic values ​​(aircraft weight, size, maximum speed, maximum acceleration, and maximum jerk).

[0081] The route information is information about the flight route of each unmanned aerial vehicle 20, 20, .... Specifically, the route information is stored in association with the aircraft ID of the unmanned aerial vehicle 20, coordinate values ​​(x, y, z) on the route, and values ​​of the passing time, speed, acceleration, jerk, and amount of change in jerk at the coordinate values.

[0082] The image information is information about an image to be displayed on each display device 222, 222, ... mounted on each unmanned aerial vehicle 20, 20, ..., and is information associated with the position and time of each unmanned aerial vehicle 20, 20, ....

[0083] The rotational position information is information for controlling the rotational position of the image display device 220 in each unmanned aerial vehicle 20, 20, ..., and is information that associates the position and attitude of each unmanned aerial vehicle 20, 20, ... with the rotational angle positions of the servo motors 233L, 233R.

[0084] (Control unit) The control unit 33 is a computer equipped with a CPU, a ROM, a RAM, etc., and reads out programs and data from the storage unit 32. The control unit 33 is equipped with a target position setting unit 331, a path calculation unit 332, an image information extraction unit 333, and a rotation position calculation unit 334 as functional units in accordance with the programs.

[0085] The target position setting unit 331 sets the target position of each unmanned aerial vehicle 20, 20, ..., and stores it as position information in the storage unit 32 in association with the vehicle ID. For example, when an image is displayed while moving through the air, the target position is set so that the flight position becomes a predetermined target position at a predetermined time.

[0086] The route calculation unit 332 performs an individual route calculation process that calculates a flight route from the current position of each unmanned aerial vehicle 20, 20, ... to the target position, and stores the calculated route as route information in the memory unit 32. This stored route information is transmitted from the communication unit 31 to each unmanned aerial vehicle 20, 20, ..., and the flight of each unmanned aerial vehicle 20, 20, ... is controlled (controlled by the flight control unit 242) in accordance with this information.

[0087] The image information extraction unit 333 extracts, from the storage unit 32, image information to be displayed on the image display device 220 of each of the unmanned aerial vehicles 20, 20, ... from the multiple image information stored in the storage unit 32, and transmits it to the communication unit 31. The communication unit 31 transmits this image information to each of the unmanned aerial vehicles 20, 20, ...

[0088] The rotation position calculation unit 334 extracts from the storage unit 32 rotation position information corresponding to the position and attitude of each of the unmanned aerial vehicles 20, 20, ... from the multiple rotation position information (information on the rotation position of the image display device 220) stored in the storage unit 32, and transmits it to the communication unit 31. The communication unit 31 transmits this rotation position information to each of the unmanned aerial vehicles 20, 20, ...

[0089] <Aerial image display operation> Next, the aerial image display operation of the aerial image display system 10, which is composed of a group of unmanned aerial vehicles, which is a collection of unmanned aerial vehicles 20 configured as described above, and a management server 30, will be described.

[0090] First, when multiple unmanned aerial vehicles 20, 20, ... are waiting (parked) at an aircraft apron, the above-mentioned stack structure is used to stack the multiple unmanned aerial vehicles 20, 20, ... vertically. For example, when 60 unmanned aerial vehicles 20, 20, ... are waiting, if six vehicles are stacked as a group, there will be 10 groups of stacked unmanned aerial vehicles 20, 20, ... at the aircraft apron.

[0091] Then, when a flight instruction signal is transmitted from the management server 30, this signal is received by the communication unit 22 of each of the unmanned aerial vehicles 20, 20, .... When each of the unmanned aerial vehicles 20, 20, ... receives this flight instruction signal, lift is generated as the rotor 212 rotates with the operation of the motor 211, and the unmanned aerial vehicles 20 located at the top of the stacked unmanned aerial vehicles 20, 20, ... begin flying (ascending) in order.

[0092] Each unmanned aerial vehicle 20, 20, ... in flight receives information related to the flight path transmitted from the management server 30. Then, according to the information related to the flight path, the flight control unit 242 controls the rotation speed of each motor 211, and each unmanned aerial vehicle 20, 20, ... stops (hover) at a predetermined flight position. Then, as shown in FIG. 8, when each unmanned aerial vehicle 20, 20, ... flies with the image display devices 220, 220, ... adjacent to each other (each unmanned aerial vehicle 20, 20, ... is lined up in the horizontal and vertical directions), information for image display and information for controlling the rotational attitude of the image display device 220 are transmitted from the management server 30 to each unmanned aerial vehicle 20, 20, .... Each unmanned aerial vehicle 20, 20, ... performs image display control to display images on each display device 222, 222, ... according to this information, and also operates servo motors 233L, 233R to control the rotational position of the image display device 220. As a result, images are displayed on each display surface with the display surfaces of the image display devices 220, 220, ... of each unmanned aerial vehicle 20, 20, ... flying in a coordinated manner being adjacent to each other, so that a series of images are displayed across these multiple display surfaces (see FIG. 8). This makes it possible to display large images in the air, and images with high visibility are displayed in the air.

[0093] In the above description, information for image display is received from the management server 30 and the image is displayed on the image display device 220, but it is also possible to transmit an image (such as a photograph or a hand-drawn drawing) on ​​the screen of a smartphone, tablet terminal, etc. on the ground to the unmanned aerial vehicle 20 and display the image on the image display device 220.

[0094] <Effects of the embodiment> As described above, in this embodiment, images can be displayed in the air by displaying images on the display surfaces of the image display devices 220, 220, ... of the unmanned aerial vehicle 20, 20, ... in flight. In addition, the image display device 220 is rotatably attached to the air vehicle body 210, and the orientation of the display surface can be changed by adjusting the rotation position of the image display device 220 by operating the servo motors 233L, 233R, so that the rotation position of the image display device 220 can be adjusted so that the display surface is in an orientation that is easy to view (for example, an orientation that is easy to view from the ground). This makes it possible to realize a usage form of the unmanned aerial vehicle 20 that has never been seen before, such as displaying images in the air with high visibility.

[0095] In addition, in this embodiment, images are displayed on the display surface by the self-luminescence of the display devices 222, 222, .... In other words, since the image display device 220 itself can be provided with an image display function, there is no need for a separate image projection device or the like, and the configuration of the unmanned aerial vehicle 20 can be simplified.

[0096] Furthermore, in this embodiment, the multiple display devices 222, 222, ... are arranged in a matrix. Therefore, a relatively small display device 222 can be employed, which reduces costs, and if one of the display devices 222 is damaged or broken, it is only necessary to replace that display device 222, which simplifies the maintenance work and reduces the maintenance costs.

[0097] Furthermore, in this embodiment, image information is received from the management server 30, and the image display on the display screen of the image display device 220 is controlled in accordance with the image information. Therefore, the unmanned aerial vehicle 20 does not need to store in advance information on all images to be displayed on the display screen, and therefore does not need to be equipped with an image storage device or the like, and the configuration of the unmanned aerial vehicle 20 can be simplified.

[0098] Furthermore, in this embodiment, rotational position information is received from the management server 30, and the servo motors 233L, 233R are operated in accordance with the rotational position information to control the rotational position of the image display device 220. Therefore, the unmanned aerial vehicle 20 does not need to store in advance information on the rotational position of the image display device 220 according to the flight position, and therefore does not need to be equipped with a rotational position information storage device or the like, which also simplifies the configuration of the unmanned aerial vehicle 20.

[0099] In addition, in this embodiment, the display surfaces of the image display devices 220, 220, ... of each of the unmanned aerial vehicles 20, 20, ... flying under coordinated control are adjacent to each other, and an image is displayed on each display surface, so that a series of images can be displayed across these multiple display surfaces. This makes it possible to display large images in the air that would be difficult to display on a single unmanned aerial vehicle, and to display images with high visibility in the air.

[0100] <Variation 1> Next, a description will be given of Modification 1. This modification differs from the embodiment described above in the configuration of the image display device 220. Therefore, the differences from the embodiment described above will be mainly described here.

[0101] Fig. 9 is a view of this modified example corresponding to Fig. 2. Fig. 10 is a view of this modified example corresponding to Fig. 3. Fig. 11 is a view of this modified example corresponding to Fig. 4. As shown in these figures, the image display device 220 in the unmanned aerial vehicle 20 according to this modified example is equipped with a transmissive screen 228 and an image projection device (projector) 229.

[0102] The translucent screen 228 is made of a mesh material (mesh screen; so-called amid screen) in which a plurality of wires (resin or metal wires) are arranged in a lattice pattern, and is attached to a frame-shaped device frame 221 of the image display device 220. The device frame 221 in this example does not include the vertical frame 224. A transparent screen made of transparent resin may be used as the translucent screen 228. The image display device 220 equipped with this translucent screen 228 is rotatably attached to the aircraft body 210 via a rotation mechanism 230, similar to the embodiment described above.

[0103] The image projection device 229 is for projecting an image from the rear side of the transmissive screen 228, and is configured to project an image toward the rear side of the transmissive screen 228 while being supported by the device frame 221 of the image display device 220. Therefore, even if the image projection device 229 rotates by the operation of the rotation mechanism 230 (operation of the servo motors 233L and 233R) and the transmissive screen 228 also rotates relative to the aircraft body 210, the positional relationship between the transmissive screen 228 and the image projection device 229 remains unchanged, and an image can be projected from the image projection device 229 toward the rear side of the transmissive screen 228. In this embodiment, the image projection device 229 is supported by the pedestal 226, but the support structure of the image projection device 229 is not limited to this, and the image projection device 229 may be supported by the device frame 221 of the image display device 220 by a plurality of arms (not shown). As a device for projecting an image onto the transmissive screen 228, instead of the image projection device 229, a device for displaying a color image on the transmissive screen 228 by scanning with an RGB laser beam (scanning laser irradiator) may be used.

[0104] The other configurations are substantially the same as those of the above-described embodiment.

[0105] The control operation of each unmanned aerial vehicle 20, 20, ... during the aerial image display operation in the unmanned aerial vehicle 20 according to this embodiment is the same as that in the above-mentioned embodiment. That is, information related to the flight path, information for image display, and information for controlling the rotational attitude of the image display device 220 are received from the management server 30, and the unmanned aerial vehicle is controlled to fly along a predetermined flight path, and the image display on the image display device 220 and the rotational attitude of the image display device 220 are controlled. Then, when displaying an image, an image projected from the image projection device 229 toward the back surface of the transmissive screen 228 is displayed on the display surface of the transmissive screen 228, and an image is displayed in the air.

[0106] Furthermore, since the translucent screen 228 is a mesh screen, wind (air) can pass through, and the unmanned aerial vehicle 20 is less affected by wind during flight. As flight becomes more stable, the image displayed in the air can be stabilized (reducing shaking of the image in the air, etc.), and the image can be displayed in the air with high visibility.

[0107] In this example, it is possible to display one image projected from the image projection device 229 on the entire display surface of the image display device 220. Therefore, compared to the case where the display surface is divided into a plurality of regions and images individually displayed in each region are synchronized with each other, the processing load for this image synchronization can be eliminated, the control for image display can be simplified, and the load on the control system can be reduced.

[0108] <Variation 2> Next, we will explain Modification 2. In the above-described embodiment and Modification 1, the unmanned aerial vehicle 20 itself is equipped with a light source for emitting images. This modification relates to an aerial image display system 10 in which a light source is installed externally instead.

[0109] Figure 12 is a diagram of this modified example corresponding to Figure 8. The unmanned aerial vehicle 20 of this modified example is not equipped with the display device 222 in the above-mentioned embodiment or the image projection device 229 in the above-mentioned modified example as the image display device 220, but is equipped with only a screen (e.g., a reflective screen, etc.) 228'.

[0110] Meanwhile, a scanning laser illuminator (image illuminator) 40 is installed on the ground, and an image is displayed in the air by projecting an image from this scanning laser illuminator 40 toward the screen 228' of each image display device 220, 220, ... of each unmanned aerial vehicle 20, 20, ....

[0111] One example of a usage form of the aerial image display system 10 of this variant is to project an image (such as a photograph or a hand-drawn drawing) on ​​the screen of a smartphone, tablet device, etc. on the ground from a scanning laser projector 40 onto a group of unmanned aerial vehicles, and display an enlarged image in the air.

[0112] According to this modified example, the image display device 220 of the unmanned aerial vehicle 20 only needs to be equipped with a screen 228', and there is no need to equip it with the aforementioned display device 222 or image projection device 229, thereby simplifying the configuration of the unmanned aerial vehicle 20.

[0113] <Variation 3> Next, a description will be given of Modification 3. In this modification, the configuration of the unmanned aerial vehicle 20 is different from that of the above-described embodiment. Therefore, the differences from the above-described embodiment will be mainly described here.

[0114] FIG. 13 is a diagram equivalent to FIG. 6 in this modified example (a block diagram showing the control system of the unmanned aerial vehicle 20). The unmanned aerial vehicle 20 according to this embodiment is provided with an image information storage unit 23a and a rotational position information storage unit 23b in the storage unit 23. The image information storage unit 23a stores information on images to be displayed on the image display device 220 in advance. The rotational position information storage unit 23b stores information on the rotational position of the image display device 220 corresponding to the flight position and flight attitude of the unmanned aerial vehicle 20 in advance.

[0115] In the aerial image display operation, the image display control unit 243 reads out image information from the image information storage unit 23a and controls the image display on the display surface of the image display device 220. The configuration for performing this image display may be that of the above-described embodiment or that of the above-described modified example 1. In addition, the rotation position control unit 244 reads out information on the rotation position of the image display device 220 corresponding to the current flight position and flight attitude of the unmanned aerial vehicle 20 from the rotation position information storage unit 23b, and operates the servo motors 233L, 233R to control the rotation position of the image display device 220.

[0116] Furthermore, when each unmanned aerial vehicle 20, 20, ... stores image information in this manner and controls the image display on the display surface of each image display device 220, 220, ..., the image display control unit 243 will perform image display control so that images synchronized based on the accurate PPS signal of the GNSS are displayed on each display device 222, 222, ... of each unmanned aerial vehicle 20, 20, ....

[0117] For this reason, in this modified example, image information and rotation position information are not transmitted or received between the management server 30 and the unmanned aerial vehicle 20. Therefore, the overall configuration of the system for displaying images in the air can be simplified. In addition, the amount of information communicated between the management server 30 and the unmanned aerial vehicle 20 can be reduced, so that communication can be stabilized. In other words, when only information related to the flight path is communicated between the management server 30 and the unmanned aerial vehicle 20, for example, communication of information can be stabilized.

[0118] <Other embodiments> The present invention is not limited to the above-described embodiment and each of the modifications, and all modifications and applications encompassed within the scope of the claims and equivalents thereto are possible.

[0120] In the first modification, the image projection device 229 projects an image from the rear side of the transmissive screen 228. However, the present invention is not limited to this, and the image projection device 229 may project an image from the front side of a screen (e.g., a reflective screen).

[0121] In the embodiment and each of the modified examples, the rotation mechanism 230 is configured to rotate the image display device 220 by a pair of servo motors 233L, 233R. However, the present invention is not limited to this, and various actuators for rotating the image display device 220 can be applied.

[0122] Furthermore, in the embodiment and the first modified example, each of the information related to the flight path, the information for image display, and the information for controlling the rotational attitude of the image display device 220 is transmitted from the management server 30 to each unmanned aerial vehicle 20, 20, ... to control each unmanned aerial vehicle 20, 20, .... However, without being limited to this, a system may be configured in which some of the information related to the flight path, the information for image display, and the information for controlling the rotational attitude of the image display device 220 is transmitted from the management server 30 to each unmanned aerial vehicle 20, 20, ..., and other information is stored in each of the unmanned aerial vehicles 20, 20, ....

[0123] In addition, in the above embodiment and each of the above modified examples, the air vehicle body 210 and the image display device 220 of the unmanned air vehicle 20 are both rectangular. However, the present invention is not limited to this, and the air vehicle body 210 and the image display device 220 may be circular, elliptical, or any other polygonal shape other than rectangular.

[0124] In addition, in the above embodiment, the multiple display devices 222, 222, ... are arranged inside the outer frame 223, but the display devices 222, 222, ... may also be arranged outside the outer frame 223. This makes it possible to reduce the gap between the display devices 222, 222 of adjacent unmanned aerial vehicles 20, 20 and display clearer images in the air. [Industrial Applicability]

[0125] The present invention is applicable to unmanned aerial vehicles capable of displaying images in the air. [Explanation of symbols]

[0126] 10. Aerial Image Display System 20 Unmanned Aerial Vehicles 22 Communications Department 23a Image information storage unit 23b Rotation position information storage unit 210 Aircraft body 212 Rotor (rotor blade) 220 Image display device 222 Display Device 228 Transparent Screen 229 Image Projection Device 233L, 233R Servo motor (rotation position adjustment actuator) 243 Image display control unit 244 Rotation position control section 30 Management server (image information source, rotation position information source) 31 Communications Department 40 Scanning laser irradiator (image irradiator)

Claims

1. A group of unmanned aerial vehicles comprising a plurality of unmanned aerial vehicles each having an aerial vehicle body with a rotor and flying with the rotation of the rotor, Each of the unmanned aerial vehicles is an image display device that is rotatably attached to the aircraft body and has a display surface that displays an image; a rotation position adjustment actuator that adjusts a rotation position of the image display device relative to the aircraft body to change an orientation of the display screen; The outer shape of the image display device is set to be larger than the outer shape of the aircraft body, A group of unmanned aerial vehicles, characterized in that each of the unmanned aerial vehicles flies under coordinated control so that the display surfaces of the image display devices of each of the unmanned aerial vehicles are adjacent to each other, and a series of images are displayed across the display surfaces of each of the image display devices of each of the unmanned aerial vehicles.

2. 2. The unmanned aerial vehicle fleet of claim 1, A group of unmanned aerial vehicles, characterized in that the image display device in each of the unmanned aerial vehicles is equipped with a self-luminous display device, and images are displayed on the display surface by the self-luminescence of the display device.

3. 3. The unmanned aerial vehicle group according to claim 2, A group of unmanned aerial vehicles, characterized in that each of the unmanned aerial vehicles has multiple display devices arranged in a matrix.

4. 2. The unmanned aerial vehicle fleet of claim 1, A group of unmanned aerial vehicles, each of which is equipped with an image projection device and is configured to display an image projected from the image projection device on the display surface.

5. 5. The unmanned aerial vehicle group according to claim 4, The image display device in each of the unmanned aerial vehicles is equipped with a transmissive screen, A group of unmanned aerial vehicles, characterized in that the image projection device is arranged to project an image from the rear side of the transmissive screen toward the transmissive screen.

6. 6. The unmanned aerial vehicle group according to claim 5, A group of unmanned aerial vehicles, wherein the transmissive screen in each of the unmanned aerial vehicles is a mesh screen in which a plurality of wires are arranged in a lattice pattern.

7. In the group of unmanned aerial vehicles according to any one of claims 1 to 6, Each of the unmanned aerial vehicles is a communication unit that receives image information from an image information source that transmits image information; A group of unmanned aerial vehicles characterized by comprising an image display control unit that controls image display on the display surface of the image display device in accordance with image information received by the communication unit.

8. In the group of unmanned aerial vehicles according to any one of claims 1 to 6, Each of the unmanned aerial vehicles is an image information storage unit that stores image information in advance; A group of unmanned aerial vehicles, characterized in that it is equipped with an image display control unit that controls image display on the display screen of the image display device in accordance with image information stored in the image information storage unit.

9. In the group of unmanned aerial vehicles according to any one of claims 1 to 8, Each of the unmanned aerial vehicles is The image display device is attached to the unmanned aerial vehicle body so as to be rotatable around a horizontal axis when the unmanned aerial vehicle is in flight, A communication unit that receives rotation position information from a rotation position information source that transmits information on the rotation position of the image display device according to a flight position; A group of unmanned aerial vehicles characterized by comprising a rotation position control unit that operates the rotation position adjustment actuator in accordance with the rotation position information received by the communication unit to control the rotation position of the image display device.

10. In the group of unmanned aerial vehicles according to any one of claims 1 to 8, Each of the unmanned aerial vehicles is The image display device is attached to the unmanned aerial vehicle body so as to be rotatable around a horizontal axis when the unmanned aerial vehicle is in flight, A rotation position information storage unit that stores information on the rotation position of the image display device according to the flight position in advance; A group of unmanned aerial vehicles characterized by being equipped with a rotational position control unit that operates the rotational position adjustment actuator in accordance with the rotational position information stored in the rotational position information memory unit to control the rotational position of the image display device.

11. A system comprising a plurality of unmanned aerial vehicles constituting a group of unmanned aerial vehicles according to any one of claims 1 to 6, and an image information transmission source, the image information source is provided with a communication unit that transmits image information; An aerial image display system characterized in that each unmanned aerial vehicle is equipped with a communication unit that receives image information transmitted from the communication unit of the image information source, and an image display control unit that controls the image display on the display surface of the image display device in accordance with the image information received by the communication unit.

12. A system comprising a plurality of unmanned aerial vehicles constituting a group of unmanned aerial vehicles according to any one of claims 1 to 6, and a rotation position information transmission source, The rotation position information source is provided with a communication unit that transmits information on the rotation position of the image display device according to the flight position of the unmanned aerial vehicle, An aerial image display system characterized in that each of the unmanned aerial vehicles is equipped with a communication unit that receives rotational position information transmitted from the communication unit of the rotational position information source, and a rotational position control unit that operates the rotational position adjustment actuator in accordance with the rotational position information received by the communication unit to control the rotational position of the image display device.

13. An aerial image display system comprising a plurality of unmanned aerial vehicles constituting the group of unmanned aerial vehicles according to claim 1 and an image illuminator capable of illuminating an image, An aerial image display system characterized in that the image display device of each of the unmanned aerial vehicles is equipped with a screen, and an image is displayed on the display surface by projecting an image from the image illuminator toward the screen of each of the unmanned aerial vehicles in a flying state.

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