Control device, drone, control method, and program

Abstract

To enable a drone to navigate autonomously using a corridor, this control device comprises: a detection unit that detects, from an image captured by a camera mounted in a drone, a guide light to be used for forming a corridor used by the drone and identifies the position of the detected guide light; a calculation unit that, in accordance with the positions of the drone and the guide light, calculates a predicted arrival position of the drone and a control target position, which depends on a positional relationship between the drone and the guide light, at a control timing subsequent to the timing of capturing the image; a control condition generation unit that generates control conditions for motors, which drive the respective propellers of the drone, according to the predicted arrival position and the control target position; and a control condition setting unit that sets the control conditions for the motors of the drone.

Description

[Technical field]

[0001] The present disclosure relates to a control device and the like that controls a drone that uses airspace dedicated to drones. [Background technology]

[0002] There is a growing need to operate drones in densely populated areas such as cities. In order to ensure safe and stable operation, the development of airspace (also called corridors) for the safe flight of drones is being considered.

[0003] Patent Document 1 discloses a drone navigation system. Patent Document 1 discloses a drone highway configured to navigate a drone using existing infrastructure such as power lines, roads, and pipelines. In the method of Patent Document 1, a drone collects environmental data related to the infrastructure's heat and spectrum such as infrared and visible light. The drone determines its position on the drone highway by comparing the collected environmental data to a data signature associated with the drone highway.

[0004] Patent Document 2 discloses a lighting system for a moving body in which the front part facing the traveling direction is configured to be selectable from multiple locations. The system in Patent Document 2 includes multiple light units capable of changing the color of the light, and a control unit that controls the multiple light units based on the traveling direction of the moving body. When the moving body is an unmanned aircraft, the control unit controls the multiple light units to make the light unit located at the right end of the unmanned aircraft shine in a first color, and the light unit located at the left end of the unmanned aircraft shine in a second color. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2020-513122 [Patent Document 2] JP 2020-093763 A Summary of the Invention [Problem to be solved by the invention]

[0006] According to the method of Patent Document 1, the drone can be navigated over a long distance by controlling the drone's navigation according to the drone's position on the drone highway. Patent Document 1 does not assume that multiple drones will use the same drone highway at the same time. For example, if multiple drones use the same drone highway at the same time, there is a possibility that the drones will fall off the drone highway depending on the relative positions of the drones.

[0007] According to the method of Patent Document 2, even if the front part of the unmanned aircraft changes, the traveling direction of the unmanned aircraft can be identified according to the combination of the colors of the lights. With the method of Patent Document 2, for example, if the entire unmanned aircraft can be visually confirmed, the traveling direction of the unmanned aircraft can be identified. However, with the method of Patent Document 2, if only a part of the unmanned aircraft can be confirmed, the traveling direction of the unmanned aircraft may not be identified. Therefore, with the method of Patent Document 2, when multiple unmanned aircraft use the same corridor at the same time, the multiple unmanned aircraft may not be able to continue safe navigation unless they can confirm each other's lights.

[0008] An object of the present disclosure is to provide a control device, etc. that can realize autonomous navigation of drones using corridors. [Means for solving the problem]

[0009] A control device of one embodiment of the present disclosure includes a detection unit that detects emergency lights used to form a corridor used by the drone from an image captured by a camera mounted on the drone and identifies the position of the detected emergency light, a calculation unit that calculates a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency light according to the positions of the drone and the emergency light, a control condition generation unit that generates control conditions for a motor that drives the drone's propellers according to the predicted arrival position and the control target position, and a control condition setting unit that sets control conditions for the drone's motor.

[0010] In a control method of one embodiment of the present disclosure, an emergency light used to form a corridor used by the drone is detected from an image captured by a camera mounted on the drone, the position of the detected emergency light is identified, and a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency light are calculated according to the predicted arrival position and the control target position, and control conditions for a motor that drives the drone's propellers are generated and the control conditions are set for the drone's motor.

[0011] A program of one embodiment of the present disclosure causes a computer to perform the following processes: detect emergency lights used to form a corridor used by the drone from an image captured by a camera mounted on the drone, and identify the position of the detected emergency lights; calculate a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency lights, depending on the positions of the drone and the emergency lights; generate control conditions for a motor that drives the drone's propellers, depending on the predicted arrival position and the control target position; and set control conditions for the drone's motor. Effect of the Invention

[0012] According to the present disclosure, it is possible to provide a control device etc. that can realize autonomous navigation of drones using corridors. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a block diagram showing an example of the configuration of a drone according to a first embodiment. [Diagram 2] 1 is a conceptual diagram showing an example of the appearance of a drone according to a first embodiment. FIG. [Diagram 3] FIG. 2 is a conceptual diagram showing another example of the appearance of the drone according to the first embodiment. [Figure 4] FIG. 2 is a conceptual diagram showing an example of a corridor used by a drone according to the first embodiment. [Diagram 5] FIG. 2 is a conceptual diagram showing an example of a corridor used by a drone according to the first embodiment. [Figure 6] A block diagram showing an example of the configuration of a control unit provided in the drone according to the first embodiment. [Figure 7] FIG. 2 is a conceptual diagram for explaining an example of control of a drone according to the first embodiment. [Figure 8] FIG. 2 is a conceptual diagram for explaining an example of control of a drone according to the first embodiment. [Figure 9] FIG. 2 is a conceptual diagram for explaining an example of control of a drone according to the first embodiment. [Figure 10] FIG. 2 is a conceptual diagram showing an example of a corridor used by a drone according to the first embodiment. [Figure 11] FIG. 2 is a conceptual diagram showing an example of a corridor used by a drone according to the first embodiment. [Figure 12] 11 is a flowchart for explaining an example of the operation of a control unit provided in the drone according to the first embodiment. [Figure 13] FIG. 11 is a block diagram showing an example of the configuration of a drone according to a second embodiment. [Figure 14] A block diagram showing an example of the configuration of a control unit provided in a drone according to a second embodiment. [Figure 15] FIG. 11 is a conceptual diagram for explaining an example of control of a drone according to the second embodiment. [Figure 16] FIG. 11 is a conceptual diagram for explaining an example of control of a drone according to the second embodiment. [Figure 17] 13 is a flowchart for explaining an example of the operation of a control unit provided in a drone according to a second embodiment. [Figure 18] FIG. 13 is a block diagram showing an example of the configuration of a drone according to a third embodiment. [Figure 19] A block diagram showing an example of the configuration of a control unit provided in a drone according to a third embodiment. [Figure 20] FIG. 13 is a conceptual diagram for explaining an example of control of a drone according to the third embodiment. [Figure 21] FIG. 13 is a conceptual diagram for explaining an example of control of a drone according to the third embodiment. [Figure 22] 13 is a flowchart for explaining an example of the operation of a control unit provided in a drone according to a third embodiment. [Figure 23] FIG. 13 is a block diagram showing an example of the configuration of a drone according to a fourth embodiment. [Figure 24] FIG. 13 is a conceptual diagram showing an example of the appearance of a drone according to a fourth embodiment. [Diagram 25] A block diagram showing an example of the configuration of a control unit provided in a drone according to a fourth embodiment. [Figure 26] FIG. 13 is a conceptual diagram for explaining an example of control of a drone according to the fourth embodiment. [Figure 27] 13 is a flowchart for explaining an example of the operation of a control unit provided in a drone according to a fourth embodiment. [Figure 28] FIG. 13 is a block diagram showing an example of a configuration of a management device according to a fifth embodiment. [Figure 29] A block diagram showing an example of the configuration of a drone that uses a corridor that is managed by a management device in the fifth embodiment. [Diagram 30] A block diagram showing an example of the configuration of a control unit provided in a drone that uses a corridor that is managed by a management device in the fifth embodiment. [Diagram 31] FIG. 13 is a conceptual diagram for explaining an example of guiding a drone according to the fifth embodiment. [Diagram 32] FIG. 13 is a conceptual diagram for explaining an example of guiding a drone according to the fifth embodiment. [Diagram 33] FIG. 13 is a conceptual diagram for explaining an example of guiding a drone according to the fifth embodiment. [Diagram 34] 13 is a flowchart illustrating an example of an operation of a management device according to a fifth embodiment. [Diagram 35] 13 is a flowchart illustrating an example of the operation of a drone that uses a corridor that is managed by a management device according to the fifth embodiment. [Diagram 36] FIG. 13 is a block diagram showing an example of the configuration of a control device according to a sixth embodiment. [Figure 37] FIG. 2 is a block diagram showing an example of a hardware configuration for executing control and processing in each embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments for carrying out the present invention will be described with reference to the drawings. However, the embodiments described below are limited in a manner that is technically preferable for carrying out the present invention, but the scope of the invention is not limited to the following. In addition, in all the drawings used to explain the following embodiments, the same reference numerals are used for similar parts unless otherwise specified. In addition, in the following embodiments, repeated explanations of similar configurations and operations may be omitted.

[0015] (First embodiment) First, a drone according to a first embodiment will be described with reference to the drawings. The drone of this embodiment autonomously navigates a corridor, which is an airspace (corridor) in which the drone flies exclusively (also referred to as autonomous navigation). In the following, an example will be given in which a flying drone navigates a corridor formed above a river. The corridor may be formed not only above a river but also above a power line, a railroad track, a road, etc. As long as the drone can navigate, there is no particular limitation on the area in which the corridor is formed. Furthermore, the drone is not limited to a flying drone, but may be one that travels on the ground or one that navigates on the surface or underwater. The drone is not limited to an unmanned aerial vehicle, but may be a flying vehicle that a person can board. The corridor may be a drone highway. The drone highway is an airspace that is developed so that the drone can fly safely and is exclusively for the drone to fly. The drone highway is managed by an administrator who has the right to control the drones that use the drone highway. The drone highway is an area in which comprehensive services are provided by the administrator of the drone highway. For example, the flight of a drone using the drone highway is automated under the management of the administrator. For example, a drone highway may be an airspace where ancillary services for the safe navigation of drones are provided by facilities surrounding the drone highway.

[0016] (composition) 1 to 3 are conceptual diagrams showing an example of the configuration of a drone 10 according to this embodiment. FIG. 1 is a block diagram for explaining the functional configuration of the drone 10. FIG. 2 is a plan view of the drone 10. FIG. 3 is a bottom view of the drone 10. Note that side views, rear views, oblique views, etc. of the drone 10 are omitted. The drone 10 is equipped with an RID (Remote Identification) device that transmits transmission information including a registration number, a serial number, location information, time, and authentication information.

[0017] The drone 10 includes a main body 11, a propeller 12, a control unit 13, a motor 14, a camera 15, a communication unit 16, a transmission information generating unit 17, and a rechargeable battery 19. The control unit 13, the communication unit 16, the transmission information generating unit 17, and the rechargeable battery 19 are stored inside the main body 11. Most of the camera 15, except for the lens, is stored inside the main body 11. FIG. 3 shows the lens portion of the camera 15. The drone 10 also has a luggage transport function (not shown). For example, the drone 10 transports luggage by storing luggage inside the main body 11, hanging luggage from the main body 11, or placing luggage on the main body 11. When luggage is hung from the main body 11, the camera 15 may be attached under the luggage to capture an image below the drone 10.

[0018] The main body 11 is a housing that houses the control unit 13, the camera 15, the communication unit 16, the transmission information generation unit 17, the rechargeable battery 19, etc. At least one propeller 12 for flying the drone 10 is attached to the main body 11. For example, the main body 11 may be provided with a space for storing luggage inside, a mechanism for hanging luggage, a place for placing luggage, etc., depending on the application. There are no particular limitations on the shape or material of the main body 11.

[0019] The propeller 12 is a mechanism for flying the drone 10. The propeller 12 is also called a rotor or a rotating blade. The propeller 12 is fixed to the main body 11 by an arm 120. The propeller 12 is a blade for lifting the main body 11 by rotating. A motor 14 for rotating the propeller 12 is installed on the propeller 12. The size and mounting position of the propeller 12 in Figs. 2 to 3 are not fully designed for flying the drone 10, but are conceptual. In the example of Figs. 2 to 3, four propellers 12 are installed on the main body 11 of the drone 10. The rotation speeds of the multiple propellers 12 are controlled independently of each other.

[0020] 2 and 3 show a quadcopter equipped with four propellers 12 as an example. The drone 10 may be equipped with a single propeller 12, or may be a multicopter equipped with multiple propellers 12. In consideration of attitude stability in the air and flight performance, the drone 10 is preferably a multicopter equipped with multiple propellers 12. When the drone 10 is provided with multiple propellers 12, the propellers 12 may be different in size. Furthermore, the rotation planes of the multiple propellers 12 may be different from one another.

[0021] A motor 14 is provided for each of the multiple propellers 12. The motor 14 is a drive mechanism for rotating the propellers 12. The motor 14 rotates the propellers 12 in response to the control of the control unit 13.

[0022] The control unit 13 is a control device that controls the drone 10. For example, the control unit 13 is realized by a control device such as a microcomputer or a microcontroller. The control unit 13 controls the rotation of the propeller 12. The control unit 13 controls the number of rotations of each propeller 12 by controlling the drive of the motor 14 for each propeller 12. For example, the control unit 13 controls the navigation of the drone 10 by controlling the number of rotations of each propeller 12 according to the features included in the image captured by the camera 15. For example, the control unit 13 navigates the drone 10 by controlling the rotation of the propeller 12 according to a preset navigation route. For example, the control unit 13 navigates the drone 10 by controlling the rotation of the propeller 12 according to preset flight conditions. For example, the flight conditions are conditions in which the operations performed by the drone 10 are summarized in a table format. The navigation route and flight conditions may be stored in a storage unit (not shown).

[0023] The control unit 13 controls the camera 15 to capture an image. The control unit 13 causes the camera 15 to capture an image at a predetermined timing. The control unit 13 acquires the image captured by the camera 15. The control unit 13 may be configured to acquire the image captured by the camera 15 without controlling the camera 15 to capture an image. When providing the image to the corridor management side, the control unit 13 outputs the acquired image to the communication unit 16.

[0024] While the drone 10 is navigating inside the corridor, the control unit 13 controls the rotation of the propeller 12 based on the position of the emergency light included in the image captured by the camera 15. The control unit 13 controls the rotation of the propeller 12 so that the drone 10 navigates at an appropriate position according to the position of the emergency light that emits light in a color to be referenced. For example, the control unit 13 controls the rotation of the propeller 12 so as to maintain a predetermined positional relationship with the emergency light.

[0025] The camera 15 is disposed to capture the surroundings of the drone 10. In the case of FIG. 3, the camera 15 captures the area below the drone 10. A plurality of cameras 15 may be mounted on the drone 10 to capture the areas in front of, to the sides of, and above the drone 10. For example, the camera 15 may be disposed so that the drone 10 can capture images in multiple directions by changing its attitude in the air. The camera 15 captures images in accordance with the control of the control unit 13. The camera 15 may be configured to capture images at a predetermined timing without being controlled by the control unit 13. The camera 15 outputs captured image data (also called images) to the communication unit 16. The camera 15 incorporates a lens for capturing images. The lens is preferably a zoom lens capable of changing the focal length. The lens may be provided with a protective member such as a protective film or protective glass. The camera 15 is preferably equipped with an autofocus function that automatically adjusts the focus. In addition, the camera 15 is preferably equipped with a function that is applied to a general digital camera, such as a function to prevent camera shake. A description of the specific structure of the camera 15 is omitted.

[0026] The communication unit 16 receives a wireless signal transmitted from the management tower 190. The communication unit 16 also transmits a signal including transmission information generated by the transmission information generation unit 17 and an image captured by the camera 15. The transmission information includes the registration information, serial number, location information, time, authentication information (also called identification information), etc. of the drone 10. The registration information, serial number, authentication information, etc. of the drone 10 are information that do not change while the corridor is in use (also called immutable information). The location information and time are information that are updated from time to time (also called variable information). For example, the communication unit 16 transmits a signal at a transmission cycle of at least once per second using a communication method such as Bluetooth (registered trademark).

[0027] The transmission information generating unit 17 generates transmission information unique to the drone 10. The transmission information includes unchanging information and variable information. The transmission information generating unit 17 generates transmission information including unchanging information and variable information at a predetermined cycle. For example, the transmission information generating unit 17 generates transmission information at a predetermined cycle of about three times per second. The unchanging information includes registration information, a manufacturing number, authentication information, and the like of the drone 10. The unchanging information may be stored in a storage unit (not shown). The variable information includes position information and time. For example, the transmission information generating unit 17 generates position information using data collected by a positioning system such as a GPS (Global Positioning System). The transmission information generating unit 17 may acquire position information of a position measuring device (not shown) installed around the corridor from the position measuring device. When the drone 10 is equipped with sensors capable of identifying the flight position, the transmission information generating unit 17 may generate position information using data collected by the sensors. Such sensors include, for example, a geomagnetic sensor, an acceleration sensor, a speed sensor, an altitude sensor, a distance measurement sensor, etc. The transmission information generation unit 17 outputs the generated transmission information to the communication unit 16.

[0028] The rechargeable battery 19 is a general secondary battery with a charging function. The rechargeable battery 19 is a power source for the drone 10. There are no particular limitations on the rechargeable battery 19, as long as the drone 10 can navigate the corridor. For example, it is preferable that the rechargeable battery 19 is capable of controlling charging of the rechargeable battery 19 and monitoring the charge level of the rechargeable battery 19.

[0029] [Corridor] Next, the corridor along which the drone 10 travels will be described with reference to the drawings. Figs. 4 and 5 are conceptual diagrams showing an example of a corridor 1 formed above a river. Fig. 4 is a conceptual diagram of the corridor 1 viewed from diagonally above. Fig. 5 is a conceptual diagram of the corridor 1 viewed from above. Figs. 4 and 5 show a state in which multiple drones 10 travel inside the corridor 1.

[0030] For example, corridor 1 is formed at an altitude of 150 m (meters) or less above the water surface of the river. In the examples of Figures 4 to 5, the left side is the upstream and the right side is the downstream. In the figures below, the flow direction of the river is indicated by an arrow. Looking at the river from upstream (left side) to downstream (right side), the bank on the right side is called the right bank and the bank on the left side is called the left bank.

[0031] The position where the corridor 1 is formed is determined by a plurality of guide lights 140 arranged on both banks of the river. In Figs. 4 to 5, the guide light 140 arranged on the left bank is indicated as guide light 140L, and the guide light 140 arranged on the right bank is indicated as guide light 140R. The guide light 140L arranged on the left bank and the guide light 140R arranged on the right bank emit light in different colors. For example, the guide light 140L arranged on the left bank emits light in green, and the guide light 140R arranged on the right bank emits light in red. As long as the guide lights 140 arranged on the same bank emit light in the same color, there is no particular limitation on the color of the light emitted by the guide lights 140. In addition to the guide lights 140, warning lights indicating that the drone 10 is prohibited from entering may be installed. The warning lights are installed at positions farther away from the river than the guide lights 140. For example, the warning lights emit light in yellow.

[0032] The direction of travel within the corridor 1 is from left to right on the paper of Figs. 4 and 5. For example, multiple drones 10 are equipped with cameras 15 that capture images of the downward direction. The drones 10 navigate within the corridor 1 according to the light emission color of emergency lights 140 included in the image of the downward direction captured by the cameras 15. For example, the drones 10 navigate according to emergency lights 140 arranged on one bank of a river. For example, the drones 10 may navigate according to emergency lights 140 arranged on both banks of a river.

[0033] 4 and 5 show a waiting space WS, an elevation path EL, multiple corridor areas C, an entry area E, and an exit area O. The waiting space WS is a space where drones 10 using corridor 1 wait. The elevation path EL is an airspace for heading from the ground to corridor 1. The multiple corridor areas C are airspaces that are the main lines of corridor 1. The entry area E is an airspace for drones 10 to enter corridor 1. The exit area O is an airspace for drones 10 to exit corridor 1.

[0034] A management tower 190 is placed beside the river. The management tower 190 is equipped with a communication function and a camera. The management tower 190 receives signals transmitted from the drones 10 navigating inside the corridor 1. The signals transmitted from the drones 10 include transmission information for identifying each drone 10. For example, the transmission information is transmitted from a remote identification (RID) device mounted on the drone 10. The transmission information includes registration information, serial number, location information, time, authentication information, and the like of each drone 10. For example, the drones 10 navigating inside the corridor 1 transmit transmission information at a transmission cycle of at least once per second by a communication method such as Bluetooth (registered trademark). In addition, the management tower 190 photographs the drones 10 using the corridor 1. The management tower 190 transmits the transmission information and the captured images contained in the signals transmitted from the multiple drones 10 to a management device (not shown) that manages the corridor 1. The transmission information transmitted from the management tower 190 is used to manage the drones 10 using the corridor 1. For example, any one of a number of emergency lights 140 arranged on both sides of a river may be given the function of a control tower 190.

[0035] [Control Unit] Next, a detailed description will be given of the configuration of the control unit 13 mounted on the drone 10. Fig. 6 is a block diagram showing an example of the configuration of the control unit 13. The control unit 13 has an imaging control unit 131, a detection unit 132, a calculation unit 133, a control condition generation unit 134, and a control condition setting unit 135.

[0036] The imaging control unit 131 controls the camera 15 to capture an image. The imaging control unit 131 causes the camera 15 to capture an image at a predetermined timing. The imaging control unit 131 acquires an image captured by the camera 15. The imaging control unit 131 outputs the acquired image to the detection unit 132. When providing an image to the corridor management side, the imaging control unit 131 outputs the acquired image to the communication unit 16. The imaging conditions of the image used by the imaging control unit 131 and the imaging conditions of the image output to the communication unit 16 may be set to different conditions. For example, the imaging conditions of the image used by the imaging control unit 131 are set to a condition in which the image is captured at a low resolution to a degree that allows the position of the guide light 140 to be detected, and is captured frequently. For example, the imaging conditions of the image output to the communication unit 16 are set to a condition in which the image is captured at a high resolution to a degree that allows the surrounding situation of the drone 10 to be verified, and is captured infrequently. By setting the imaging conditions in this way, it is possible to separate information required for navigation control from information required for verifying the surrounding situation.

[0037] The detection unit 132 acquires an image captured by the camera 15 from the imaging control unit 131. The detection unit 132 detects the emission of the emergency light 140 from the acquired image. The detection unit 132 extracts the emission color of the emergency light 140 to be referred to from the detected emission of the emergency light 140. For example, the emergency light 140L on the left bank emits green light, and the emergency light 140R on the right bank emits red light. The detection unit 132 specifies the positions of the emergency light 140 and the drone 10 in the area where the corridor 1 is formed, based on the emission of the emergency light 140 extracted from the image. The detection unit 132 outputs the positions of the emergency light 140 and the drone 10 extracted from the image to the calculation unit 133.

[0038] For example, when the drone 10 navigates from upstream to downstream, the detection unit 132 locates the position of the drone 10 in the corridor 1 according to the light color (green) of the emergency light 140L on the left bank. For example, when the drone 10 navigates from downstream to upstream, the detection unit 132 locates the position of the drone 10 in the corridor 1 according to the light color (red) of the emergency light 140R on the right bank. The detection unit 132 may locate the position of the drone 10 in the corridor 1 according to the light colors (green, red) of the emergency lights 140 on both banks.

[0039] The detection unit 132 may specify the position of the drone 10 according to not only the color of the guide light 140 but also the characteristics extracted from the image. For example, the detection unit 132 may specify the position of the drone 10 according to the characteristics of the water surface of a river extracted from the image. For example, the detection unit 132 may specify the position of the drone 10 according to the characteristics of a riverbed or a bank extracted from the image. For example, the detection unit 132 may specify the position of the drone 10 based on structures such as bridges and power lines extracted from the image. For example, the detection unit 132 may specify the position of the drone 10 based on the shapes and symbols of signs installed on or around the river, which are extracted from the image.

[0040] The calculation unit 133 acquires the positions of the emergency light 140 and the drone 10 from the detection unit 132. If the drone 10 has a function of receiving a global positioning system (GPS) signal, the calculation unit 133 may acquire position information included in the GPS signal. The calculation unit 133 calculates the positional relationship between the emergency light 140 and the drone 10 according to the acquired positions of the emergency light 140 and the drone 10. The positional relationship calculated by the calculation unit 133 includes the distance between the emergency light 140 and the drone 10. The calculation unit 133 calculates the distance between the emergency light 140 and the drone 10 identified by the detection unit 132. For example, the control timing of the drone 10 is set at a time interval that allows the drone 10 to autonomously navigate the corridor 1 safely. The control timing of the drone 10 may be common to all drones 10 navigating the corridor 1, or may be different for each drone 10.

[0041] For example, the calculation unit 133 calculates the distance between the drone 10 and the emergency exit light 140 closest to the drone 10. For example, the calculation unit 133 calculates the distance between a straight line passing through two emergency exit lights 140 close to the drone 10 and the drone 10. For example, the calculation unit 133 calculates the distance between a curve that smoothly connects multiple emergency exit lights 140 identified from the image and the drone 10. There are no particular limitations on the method of calculating the distance between the emergency exit light 140 and the drone 10, as long as the drone 10 can navigate the corridor 1.

[0042] The distance (also called the designated distance) of the drone 10 from the emergency light 140 is set in advance for each drone 10 using the corridor 1. The designated distance may be changed depending on the usage status of the corridor 1. For example, the designated distance is defined as a minimum designated distance and a maximum designated distance. The drone 10 navigates within a range (also called a designated range) inside the minimum designated distance and the maximum designated distance set for each drone 10. For example, the minimum designated distance is set to the part closest to the emergency light 140 for each drone 10. For example, the maximum designated distance is set to the part farthest from the emergency light 140 for each drone 10. For example, the minimum designated distance and the maximum designated distance may be set to the center of the drone 10 or other parts.

[0043] The calculation unit 133 calculates the position (also called the predicted arrival position) of the drone 10 at the next control timing (also called the next control timing) for the drone 10 following the image capture timing. For example, the calculation unit 133 calculates the position of the drone 10 when it continues to fly in the direction / speed of the image capture timing as the predicted arrival position. The calculation unit 133 also calculates the target position (also called the control target position) of the drone 10 at the next control timing. The control target position is set within the specified range. For example, the control target position is set along the middle line between the boundary line of the minimum specified distance and the boundary line of the maximum specified distance. The calculation unit 133 outputs the calculated predicted arrival position and control target position to the control condition generation unit 134.

[0044] The control condition generation unit 134 acquires the predicted arrival position and the control target position calculated by the calculation unit 133. The control condition generation unit 134 generates control conditions for controlling the drone 10 from the predicted arrival position toward the control target position. The control conditions are conditions for rotating the propellers 12 that fly the drone 10. The control condition generation unit 134 calculates the traveling direction / speed of the drone 10 according to the control target position from the predicted arrival position. The control condition generation unit 134 sets the number of rotations of the multiple propellers 12 according to the traveling direction / speed. The control condition generation unit 134 outputs the generated control conditions to the control condition setting unit 135.

[0045] 7 to 9 are conceptual diagrams for explaining an example of the control of the drone 10. In FIG. 7 to FIG. 9, the river flows from the bottom (upstream) to the top (downstream) of the paper. The drone 10 navigates inside the corridor 1 according to the illumination of the guide light 140L installed on the left bank of the river (left side of the paper). The drone 10 may navigate inside the corridor 1 according to the illumination of the guide light 140R installed on the right bank of the river (right side of the paper). In FIG. 7, the corridor 1 is omitted. A first designated line L1 that specifies the minimum designated distance and a second designated line L2 that specifies the maximum designated distance are set for the drone 10 with respect to the guide light 140L. The drone 10 is permitted to navigate the designated range S between the first designated line L1 and the second designated line L2.

[0046] In the example of FIG. 7, the predicted arrival position P p and the control target position P T are both within the designated range S. The drone 10 is located within the designated range S. Therefore, the control condition generation unit 134 does not change the traveling direction of the drone 10 at the next control timing. The control condition generation unit 134 does not change the traveling direction and sets the arrival predicted position P p to the control target position P T Generate control conditions toward

[0047] In the example of FIG. 8, the predicted arrival position P p and the control target position P T are both within the designated range S. However, a part of the drone 10 crosses the first designated line L1 and is outside the designated range S. Therefore, the control condition generation unit 134 changes the traveling direction of the drone 10 at the next control timing toward the control target position. p to the control target position P T Generate control conditions toward

[0048] In the example of FIG. 9, the predicted arrival position P p and the control target position P Tare both within the designated range S. However, a part of the drone 10 crosses the second designated line L2 and is outside the designated range S. Therefore, the control condition generation unit 134 changes the traveling direction of the drone 10 at the next control timing toward the control target position. p to the control target position P T Generate control conditions toward

[0049] The control condition setting unit 135 acquires the control conditions from the control condition generating unit 134. The control condition setting unit 135 sets the control conditions to the motor 14 at the next control timing. The motor 14 is driven according to the control conditions, thereby controlling the number of rotations of each propeller 12. As a result, the drone 10 travels in a direction / speed according to the control conditions.

[0050] Fig. 10 is a conceptual diagram for explaining another example of the corridor 1. Fig. 10 shows an example in which a corridor 1-1, which is a downward route from upstream to downstream, and a corridor 1-2, which is an upward route from downstream to upstream, are formed above a river. As shown in Fig. 10, a plurality of routes can be formed above a river. For example, the plurality of routes are formed according to altitude. For example, the plurality of routes may be formed within a plane parallel to the water surface of the river.

[0051] Fig. 11 is a conceptual diagram for explaining yet another example of the corridor 1. Fig. 11 shows an example in which a drone 10L traveling from the bottom (upstream) to the top (downstream) of the page and a drone 10R traveling from downstream to upstream travel above a river. Fig. 11 shows an example in which multiple light-emitting units are installed on an emergency exit light 140.

[0052] In FIG. 11, a first light-emitting unit 141L is installed on the top of an emergency light 140L for guiding a drone 10L. For example, the first light-emitting unit 141L emits green light. In addition, a second light-emitting unit 142L is installed on at least some of the emergency lights 140L. For example, the second light-emitting unit 142L emits yellow light. The drone 10L navigates while referring to the first light-emitting unit 141L and the second light-emitting unit 142L.

[0053] For example, the drone 10L navigates while referring to either the first light-emitting unit 141L or the second light-emitting unit 142L. Normally, the drone 10L navigates while referring to the first light-emitting unit 141L. The drone 10L switches to refer to the second light-emitting unit 142L in response to an instruction from the management side.

[0054] For example, the drone 10L navigates while referring to both the first light-emitting unit 141L and the second light-emitting unit 142L. The first light-emitting unit 141L and the second light-emitting unit 142L are installed at different heights. Therefore, by referring to both the first light-emitting unit 141L and the second light-emitting unit 142L, the designated range in which the drone 10 navigates can be set three-dimensionally.

[0055] In FIG. 11, a first light-emitting unit 141R is installed on the upper part of an emergency light 140R for guiding the drone 10R. For example, the first light-emitting unit 141R emits red light. In addition, a second light-emitting unit 142R is installed on at least some of the emergency lights 140R. For example, the second light-emitting unit 142R emits blue light. Like the drone 10L, the drone 10R navigates while referring to the first light-emitting unit 141R and the second light-emitting unit 142R.

[0056] As shown in FIG. 11, if multiple light-emitting units are installed on the emergency light 140, a designated range can be set three-dimensionally for the drone 10. In addition, when multiple light-emitting units are installed on the emergency light 140, a corridor according to the purpose of use can be formed by specifying the light-emitting unit to be referenced. For example, different corridors can be set to be used according to the weight and size of the luggage carried by the drone 10 and the speed of the drone 10. For example, a low-speed corridor for the drone 10 carrying heavy luggage is set in the lower second light-emitting unit 142L and the second light-emitting unit 142R. Then, a high-speed corridor for the drone 10 carrying light luggage is set in the upper first light-emitting unit 141L and the first light-emitting unit 141R. In this way, collisions that may occur between the drones 10 depending on the speed difference can be avoided. For example, the upper first light-emitting unit 141L and the first light-emitting unit 141R may be used as a reference for a normal corridor, and the lower second light-emitting unit 142L and the second light-emitting unit 142R may be used as a reference for an emergency corridor. In this way, emergency corridors can be created one after another when an emergency occurs.

[0057] (operation) Next, an example of the operation of the control unit 13 mounted on the drone 10 of this embodiment will be described with reference to the drawings. Fig. 12 is a flowchart for explaining an example of the operation of the control unit 13. In the following, the control unit 13 will be described as the subject of the operation.

[0058] 12, first, the control unit 13 controls the camera 15 mounted on the drone 10 to capture an image (step S11). The image captured by the camera 15 includes a guide light 140 installed on the bank of the river.

[0059] Next, the control unit 13 detects the light emitting unit of the reference target emergency exit light 140 from the image captured by the camera 15 by image recognition (step S12).

[0060] Next, the control unit 13 calculates the positional relationship between the drone 10 and the emergency light 140 (step S13). For example, the control unit 13 calculates the distance between the drone 10 and the emergency light 140 as the positional relationship between the emergency light 140 and the drone 10.

[0061] Next, the control unit 13 calculates the predicted arrival position / control target position based on the positional relationship between the drone 10 and the guide light 140 (step S14).

[0062] Next, the control unit 13 generates a control condition according to the calculated predicted arrival position / control target position (step S15). The control unit 13 generates the control condition for the drone 10 to move from the predicted arrival position to the control target position.

[0063] Next, the control unit 13 outputs the generated control conditions to the motor 14 (step S16). The motor 14 is driven according to the control conditions, so that the drone 10 can navigate within a designated range set within the corridor. If the use of the corridor is to be continued, the process returns to step S11 after step S16.

[0064] As described above, the drone of this embodiment includes a main body, propellers, a motor, a transmission information generation unit, a communication unit, a camera, a rechargeable battery, and a control unit (control device). The motor is driven and controlled by the control device. The propellers are rotatably installed on the main body via arms. The propellers rotate in response to the driving of the motor. The transmission information generation unit generates transmission information including identification information and position information of the drone itself. The communication unit communicates with a management device that manages the corridor. The communication unit transmits the transmission information to the management device. The camera is controlled to capture images by the control device. The rechargeable battery is the power source for the drone.

[0065] The control unit has an imaging control unit, a detection unit, a calculation unit, a control condition generation unit, and a control condition setting unit. The imaging control unit controls imaging of a camera mounted on the drone. The detection unit detects an emergency light used to form a corridor used by the drone from an image captured by the camera. The detection unit identifies the position of the detected emergency light. The calculation unit calculates a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency light, according to the positions of the drone and the emergency light. The control condition generation unit generates control conditions for a motor that drives a propeller of the drone, according to the predicted arrival position and the control target position. For example, the control condition generation unit generates control conditions for moving the drone from the predicted arrival position toward the control target position. The control condition setting unit sets control conditions for the motor of the drone.

[0066] The control unit of this embodiment sets control conditions for the drone's motor to move the drone from the predicted arrival position to the control target position according to the position of the emergency light detected from the image captured by the camera mounted on the drone. Therefore, according to this embodiment, autonomous navigation of the drone using the corridor can be realized.

[0067] In one aspect of the present embodiment, the detection unit detects a reference escape light to be referenced in using the corridor according to the emission color of the escape light. The detection unit identifies the position of the detected reference escape light. According to this aspect, by detecting the reference escape light according to the emission color, the drone using the corridor can reliably navigate.

[0068] In one aspect of this embodiment, the detection unit detects a reference escape light to be referenced when using a corridor, according to a plurality of emission colors of the escape light at different heights. The detection unit identifies the heightwise position of the drone in the corridor, according to the plurality of emission colors of the detected reference escape light. According to this aspect, the position of the drone in the corridor can be identified three-dimensionally, according to the plurality of emission colors of the escape light at different heights. Therefore, according to this aspect, a drone using a corridor can autonomously navigate the inside of the corridor in three dimensions.

[0069] In one aspect of this embodiment, the control condition generating unit generates a control condition to control the motor so that the drone moves away from the reference emergency light when the distance between the reference emergency light and the drone is smaller than the minimum designated distance set for the reference emergency light. Also, the control condition generating unit generates a control condition to control the motor so that the drone moves closer to the reference emergency light when the distance between the reference emergency light and the drone is larger than the maximum designated distance set for the reference emergency light. According to this aspect, the drone using the corridor can safely navigate autonomously inside the corridor depending on the distance to the reference emergency light.

[0070] Second embodiment Next, a drone according to a second embodiment will be described with reference to the drawings. The drone of this embodiment performs navigation control according to the charge level of a rechargeable battery mounted on the drone. In the following, configurations and functions similar to those of the first embodiment may be omitted.

[0071] (composition) Fig. 13 is a conceptual diagram showing an example of the configuration of the drone 20 according to this embodiment. Fig. 13 is a block diagram for explaining the functional configuration of the drone 20. The drone 20 has the same appearance as the drone 10 of the first embodiment.

[0072] The drone 20 includes a main body (not shown), a propeller 22, a control unit 23, a motor 24, a camera 25, a communication unit 26, a transmission information generation unit 27, and a rechargeable battery 29. The control unit 23, the communication unit 26, the transmission information generation unit 27, and the rechargeable battery 29 are stored inside the main body. Most of the camera 25, except for the lens, is stored inside the main body. Similarly to the drone 10 of the first embodiment, the drone 20 also has a luggage transport function (not shown).

[0073] The propeller 22 has the same configuration as the propeller 12 of the first embodiment. The propeller 22 is a mechanism that makes the drone 20 fly. The propeller 22 is fixed to the main body by an arm (not shown). A motor 24 for rotating the propeller 22 is installed in the propeller 22. Four propellers 22 are installed in the main body of the drone 20. The rotation speeds of the multiple propellers 22 are controlled independently of each other.

[0074] The motor 24 has a similar configuration to the motor 14 of the first embodiment. The motor 24 is installed in each of the multiple propellers 22. The motor 24 is a drive mechanism for rotating the propellers 22. The motor 24 rotates the propellers 22 in response to the control of the control unit 23.

[0075] The control unit 23 has the same configuration as the control unit 13 of the first embodiment. The control unit 23 is a control device that controls the drone 20. The control unit 23 controls the rotation of the propeller 22. The control unit 23 controls the driving of the motor 24 for each propeller 22 to control the rotation speed of each propeller 22. The control unit 23 also controls the imaging of the camera 25. The control unit 23 causes the camera 25 to capture an image at a predetermined timing. The control unit 23 acquires an image captured by the camera 25. While the drone 20 is navigating inside the corridor, the control unit 23 controls the rotation of the propeller 22 based on the position of the emergency light included in the image captured by the camera 25. The control unit 23 controls the rotation of the propeller 22 so that the drone 20 navigates in an appropriate position according to the position of the emergency light that emits light in a color to be referenced.

[0076] Furthermore, control unit 23 monitors the charge level of rechargeable battery 29. Control unit 23 executes control according to the charge level of rechargeable battery 29. For example, when the charge level of rechargeable battery 29 falls below a predetermined value, control unit 23 transitions to a preparation stage (charging standby stage) for charging rechargeable battery 29. In the charging standby stage, when a charging station is detected in an image captured by camera 25, control unit 23 controls the rotation of propeller 22 so as to move toward the charging station.

[0077] The camera 25 has the same configuration as the camera 15 of the first embodiment. The camera 25 is arranged to capture images of the periphery of the drone 20. A plurality of cameras 25 may be mounted on the drone 20 to capture images in front of, to the sides of, above, and below the drone 20. The camera 25 captures images under the control of the control unit 23. The camera 25 outputs captured image data (also called images) to the communication unit 26.

[0078] The communication unit 26 has the same configuration as the communication unit 16 of the first embodiment. The communication unit 26 receives a wireless signal transmitted from the control tower. The communication unit 26 also transmits a signal including transmission information generated by a transmission information generation unit 27 and an image captured by a camera 25.

[0079] The transmission information generation unit 27 has the same configuration as the transmission information generation unit 17 of the first embodiment. The transmission information generation unit 27 generates transmission information unique to the drone 20. The transmission information includes unchanging information and variable information. The transmission information generation unit 27 generates transmission information including unchanging information and variable information at a predetermined cycle. The unchanging information includes the registration information, manufacturing number, authentication information, etc. of the drone 20. The variable information includes location information and time. The transmission information generation unit 27 outputs the generated transmission information to the communication unit 26.

[0080] The rechargeable battery 29 is a general secondary battery with a charging function. The rechargeable battery 29 is a power source for the drone 20. The charge amount of the rechargeable battery 29 is monitored by the control unit 23. There are no particular limitations on the rechargeable battery 29 as long as the drone 20 can navigate the corridor. The rechargeable battery 29 is capable of controlling charging of the rechargeable battery 29 and monitoring the charge amount of the rechargeable battery 29.

[0081] [Control Unit] Next, a detailed description will be given of the configuration of the control unit 23 mounted on the drone 20. Fig. 14 is a block diagram showing an example of the configuration of the control unit 23. The control unit 23 has an imaging control unit 231, a detection unit 232, a calculation unit 233, a control condition generation unit 234, a control condition setting unit 235, and a charge management unit 239.

[0082] The imaging control unit 231 has the same configuration as the imaging control unit 131 of the first embodiment. The imaging control unit 231 controls the imaging of the camera 25. The imaging control unit 231 causes the camera 25 to capture an image at a predetermined timing. The imaging control unit 231 acquires an image captured by the camera 25. The imaging control unit 231 outputs the acquired image to the detection unit 232. When providing an image to the corridor management side, the imaging control unit 231 outputs the acquired image to the communication unit 26.

[0083] The charging management unit 239 monitors the charge amount of the rechargeable battery 29. When the charge amount of the rechargeable battery 29 falls below a reference value, the charging management unit 239 outputs to the detection unit 232 a signal indicating that the rechargeable battery 29 is in a charging standby state (also called a charging standby signal).

[0084] The detection unit 232 has the same configuration as the detection unit 132 of the first embodiment. The detection unit 232 acquires an image captured by the camera 25 from the image capture control unit 231. The detection unit 232 detects the emission of an emergency light (not shown) from the acquired image. The detection unit 232 extracts the emission color of the emergency light to be referred to from the detected emission of the emergency light. For example, the emergency light on the left bank emits green light, and the emergency light on the right bank emits red light. The detection unit 232 specifies the positions of the emergency light and the player's aircraft (drone 20) in the area where the corridor is formed based on the emission of the emergency light extracted from the image. The detection unit 232 outputs the positions of the emergency light and the player's aircraft (drone 20) extracted from the image to the calculation unit 233.

[0085] Upon receiving the charging standby signal, the detection unit 232 detects a charging station (not shown) from the acquired image. The detection unit 232 identifies the position of the detected charging station. The detection unit 232 outputs the position of the charging station, in addition to the positions of the emergency light and the drone itself (the drone 20), to the calculation unit 233. If a charging station is not detected from the image, the charging standby state is maintained. The detection unit 232 maintains the charging standby state until a charging station is detected from the image. For example, if a charging station is not detected from the image even after a predetermined time has passed, the detection unit 232 may output an emergency landing position to the calculation unit 233. With this configuration, the drone 20 can be safely landed even if the charge level of the rechargeable battery 29 becomes insufficient.

[0086] The calculation unit 233 has the same configuration as the calculation unit 133 of the first embodiment. The calculation unit 233 acquires the positions of the emergency light 240 and the drone 20 from the detection unit 232. If the drone 20 has a function of receiving a global positioning system (GPS) signal, the calculation unit 233 may acquire position information included in the GPS signal. The calculation unit 233 calculates the positional relationship between the emergency light 240 and the drone 20 according to the acquired positions of the emergency light 240 and the drone 20. The calculation unit 233 calculates the position of the drone 20 (also called the predicted arrival position) at the next control timing (also called the next control timing) for the drone 20 following the image capture timing. In addition, the calculation unit 233 calculates the target position of the drone 20 (also called the control target position) at the next control timing.

[0087] In the case of the charging standby state, the calculation unit 233 calculates the position of the charging station as the control target position. The calculation unit 233 outputs the calculated predicted arrival position and the control target position to the control condition generation unit 234.

[0088] The control condition generating unit 234 has the same configuration as the control condition generating unit 134 of the first embodiment. The control condition generating unit 234 acquires the predicted arrival position and the control target position calculated by the calculation unit 233. The control condition generating unit 234 generates control conditions for controlling the drone 20 from the predicted arrival position toward the control target position. The control condition generating unit 234 calculates the traveling direction / speed of the drone 20 according to the control target position from the predicted arrival position. The control condition generating unit 234 sets the rotation speed of the multiple propellers 22 according to the traveling direction / speed. The control condition generating unit 234 outputs the generated control conditions to the control condition setting unit 235.

[0089] The control condition setting unit 235 has the same configuration as the control condition setting unit 135 of the first embodiment. The control condition setting unit 235 acquires the control conditions from the control condition generating unit 234. The control condition setting unit 235 sets the control conditions to the motor 24 at the next control timing. The motor 24 is driven according to the control conditions, thereby controlling the number of rotations of each propeller 22. As a result, the drone 20 travels in a direction / speed according to the control conditions.

[0090] 15 to 16 are conceptual diagrams for explaining an example of control of the drone 20. In FIG. 15 to FIG. 16, a river flows from the bottom (upstream) to the top (downstream) of the paper. The drone 20 navigates inside the corridor according to the light emitted by an emergency light 240L installed on the left bank of the river (left side of the paper). The drone 20 may navigate inside the corridor according to the light emitted by an emergency light 240R installed on the right bank of the river (right side of the paper). The corridor is omitted in FIG. 15 to FIG. 16.

[0091] In the example of FIG. 15, the charging station CS is included in the image captured by the camera 25 mounted on the drone 20. For example, the charging station CS emits light in a color different from the emergency exit lights 240L and 240R. For example, the charging station CS may emit light depending on the availability. For example, if the charging station CS is not lit when there is no available charging port, the drone 20 can be prevented from heading to the charging station CS in a situation where the charging station CS cannot be used. For example, as shown in FIG. 16, if the upper part or the pillar of the emergency exit light 240 near the charging station CS can emit light in a different color, the light emitted by the emergency exit light 240 serves as a marker in the height direction, making it easier to control the drone 20 in three dimensions.

[0092] (operation) Next, an example of the operation of the control unit 23 mounted on the drone 20 of this embodiment will be described with reference to the drawings. Fig. 17 is a flowchart for explaining an example of the operation of the control unit 23. In the following, the control unit 23 will be described as the subject of the operation.

[0093] 17, first, the control unit 23 controls the camera 25 mounted on the drone 20 to capture an image (step S201). The image captured by the camera 25 includes an emergency light 240 installed on the bank of the river.

[0094] Next, the control unit 23 acquires the charge amount of the rechargeable battery 29 (step S202).

[0095] If the charge amount of the rechargeable battery 29 exceeds the predetermined value (Yes in step S203), the control unit 23 detects the light emitting unit of the reference target emergency light 240 by image recognition from the image captured by the camera 25 (step S204).

[0096] Next, the control unit 23 calculates the positional relationship between the drone 20 and the emergency light 240 (step S205). For example, the control unit 23 calculates the distance between the drone 20 and the emergency light 240 as the positional relationship between the drone 20 and the emergency light 240.

[0097] Next, the control unit 23 calculates the predicted arrival position / control target position according to the positional relationship between the drone 20 and the guide light 240 (step S206).

[0098] In step S203, if the charge amount of the rechargeable battery 29 is equal to or less than a predetermined value (No in step S203), the control unit 23 detects the charging station CS by image recognition from the image captured by the camera 25 (step S207). For example, the control unit 23 detects light emission of the charging station CS.

[0099] Next, the control unit 23 calculates the positional relationship between the charging station CS and the drone 20 (step S208). For example, the control unit 23 calculates the distance between the charging station CS and the drone 20 detected from the image as the positional relationship between the charging station CS and the drone 20.

[0100] Next, the control unit 23 calculates a predicted arrival position / control target position for parking the drone 20 at the charging station CS, based on the positional relationship between the charging station CS and the drone 20 (step S207).

[0101] After step S206 or step S209, the control unit 23 generates a control condition according to the calculated predicted arrival position / control target position (step S210). The control unit 23 generates the control condition for the drone 20 to move from the predicted arrival position to the control target position.

[0102] Next, the control unit 23 outputs the generated control conditions to the motor 24 (step S211). The motor 24 is driven according to the control conditions, so that the drone 20 can navigate within a designated range set within the corridor and park at the charging station CS. If the use of the corridor is to be continued, the process returns to step S201 after step S211.

[0103] As described above, the drone of this embodiment comprises a main body, propellers, a motor, a transmission information generation unit, a communication unit, a camera, a rechargeable battery, and a control unit (control device). The motor is driven and controlled by the control device. The propellers are rotatably mounted on the main body via arms. The propellers rotate in response to the driving of the motor. The transmission information generation unit generates transmission information including identification information and position information of the drone itself. The communication unit communicates with a management device that manages the corridor. The communication unit transmits the transmission information to the management device. The camera is image-controlled by the control device. The rechargeable battery is the power source for the drone. The charge level of the rechargeable battery can be monitored and controlled.

[0104] The control unit has an imaging control unit, a detection unit, a calculation unit, a control condition generation unit, a control condition setting unit, and a charge management unit. The imaging control unit controls imaging of the camera mounted on the drone. The charge management unit monitors the charge level of the rechargeable battery mounted on the drone. When the charge level of the rechargeable battery falls below a reference value, the charge management unit outputs a charge standby signal to the detection unit. The detection unit detects an emergency light used to form a corridor used by the drone from an image captured by the camera. The detection unit identifies the position of the detected emergency light. Furthermore, the detection unit detects a charging station capable of charging the rechargeable battery from an image captured by the camera in response to the charge standby signal. The detection unit identifies the position of the detected charging station. The calculation unit calculates a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency light according to the positions of the drone and the emergency light. Furthermore, the calculation unit calculates the position of the charging station as the control target position. The control condition generating unit generates control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position. For example, the control condition generating unit generates control conditions for moving the drone from the predicted arrival position toward the control target position. The control condition setting unit sets the control conditions for the motor of the drone.

[0105] The control unit of this embodiment detects a charging station from an image captured by the camera when the charge level of the rechargeable battery mounted on the drone falls below a reference value. The control unit sets control conditions for the drone's motor to move the drone toward the detected charging station (control target position). Therefore, according to this embodiment, safe autonomous navigation of the drone using the corridor can be realized according to the charge level of the rechargeable battery mounted on the drone.

[0106] (Third embodiment) Next, a drone according to a third embodiment will be described with reference to the drawings. The drone of this embodiment performs navigation control according to the positional relationship with other drones. In the following, an example will be given in which a function of performing navigation control according to the positional relationship with other drones is added to the first embodiment. The function of this embodiment may be added to the second embodiment. In the following, configurations and functions similar to those of the first and second embodiments may be omitted.

[0107] (composition) Fig. 18 is a conceptual diagram showing an example of the configuration of the drone 30 according to this embodiment. Fig. 18 is a block diagram for explaining the functional configuration of the drone 30. The drone 30 has the same appearance as the drone 10 of the first embodiment.

[0108] The drone 30 includes a main body (not shown), a propeller 32, a control unit 33, a motor 34, a camera 35, a communication unit 36, a transmission information generation unit 37, and a rechargeable battery 39. The control unit 33, the communication unit 36, the transmission information generation unit 37, and the rechargeable battery 39 are stored inside the main body. Most of the camera 35, except for the lens, is stored inside the main body. Similarly to the drone 10 of the first embodiment, the drone 30 also has a luggage transport function (not shown).

[0109] The propeller 32 has the same configuration as the propeller 12 of the first embodiment. The propeller 32 is a mechanism that makes the drone 30 fly. The propeller 32 is fixed to the main body by an arm (not shown). A motor 34 for rotating the propeller 32 is installed in the propeller 32. Four propellers 32 are installed in the main body of the drone 30. The rotation speeds of the multiple propellers 32 are controlled independently of each other.

[0110] The motor 34 has the same configuration as the motor 14 of the first embodiment. The motor 34 is installed in each of the multiple propellers 32. The motor 34 is a drive mechanism for rotating the propellers 32. The motor 34 rotates the propellers 32 in response to the control of the control unit 33.

[0111] The control unit 33 has the same configuration as the control unit 13 of the first embodiment. The control unit 33 is a control device that controls the drone 30. The control unit 33 controls the rotation of the propeller 32. The control unit 33 controls the driving of the motor 34 for each propeller 32 to control the rotation speed of each propeller 32. The control unit 33 also controls the image capture of the camera 35. The control unit 33 causes the camera 35 to capture an image at a predetermined timing. The control unit 33 acquires an image captured by the camera 35. While the drone 30 is navigating inside the corridor, the control unit 33 controls the rotation of the propeller 32 based on the position of the emergency light included in the image captured by the camera 35. The control unit 33 controls the rotation of the propeller 32 so that the drone 30 navigates in an appropriate position according to the position of the emergency light that emits light in a color to be referenced.

[0112] Furthermore, the control unit 33 acquires location information contained in information transmitted by other drones 30 navigating the corridor from the communication unit 36. The control unit 33 calculates the positional relationship with the other drones 30 according to the acquired location information. The control unit 33 executes control according to the positional relationship with the other drones 30. For example, when the distance to the other drones 30 becomes equal to or less than a predetermined value, the control unit 33 controls the rotation of the propellers 32 so as to move away from the drone 30.

[0113] The camera 35 has the same configuration as the camera 15 of the first embodiment. The camera 35 is arranged to capture images of the periphery of the drone 30. A plurality of cameras 35 may be mounted on the drone 30 to capture images in front of, to the sides of, above, and below the drone 30. The camera 35 captures images under the control of the control unit 33. The camera 35 outputs captured image data (also called images) to the communication unit 36.

[0114] The communication unit 36 ​​has the same configuration as the communication unit 16 of the first embodiment. The communication unit 36 ​​receives a wireless signal transmitted from the management tower. The communication unit 36 ​​also transmits a signal including transmission information generated by the transmission information generation unit 37 and an image captured by the camera 35. The communication unit 36 ​​also receives a signal transmitted by another drone 30 navigating the corridor. The signal transmitted by the other drone 30 includes transmission information unique to that drone 30. The transmission information includes location information of the drone 30 that is the source of the signal. The communication unit 36 ​​outputs the location information included in the received transmission information to the control unit 33.

[0115] The transmission information generation unit 37 has the same configuration as the transmission information generation unit 17 of the first embodiment. The transmission information generation unit 37 generates transmission information unique to the drone 30. The transmission information includes unchanging information and variable information. The transmission information generation unit 37 generates transmission information including unchanging information and variable information at a predetermined period. The unchanging information includes the registration information, manufacturing number, authentication information, etc. of the drone 30. The variable information includes location information and time. The transmission information generation unit 37 outputs the generated transmission information to the communication unit 36.

[0116] The rechargeable battery 39 has the same configuration as the rechargeable battery 19 in the first embodiment. The rechargeable battery 39 is a general secondary battery having a charging function. The rechargeable battery 39 is a power source for the drone 30.

[0117] [Control Unit] Next, a detailed description will be given of the configuration of the control unit 33 mounted on the drone 30. Fig. 19 is a block diagram showing an example of the configuration of the control unit 33. The control unit 33 has an imaging control unit 331, a detection unit 332, a calculation unit 333, a control condition generation unit 334, a control condition setting unit 335, and a other-machine information acquisition unit 336.

[0118] The imaging control unit 331 has the same configuration as the imaging control unit 131 of the first embodiment. The imaging control unit 331 controls the imaging of the camera 35. The imaging control unit 331 causes the camera 35 to capture an image at a predetermined timing. The imaging control unit 331 acquires an image captured by the camera 35. The imaging control unit 331 outputs the acquired image to the detection unit 332. When providing an image to the corridor management side, the imaging control unit 331 outputs the acquired image to the communication unit 36.

[0119] The detection unit 332 has the same configuration as the detection unit 132 of the first embodiment. The detection unit 332 acquires an image captured by the camera 35 from the image capture control unit 331. The detection unit 332 detects the emission of an emergency light (not shown) from the acquired image. The detection unit 332 extracts the emission color of the emergency light to be referred to from the detected emission of the emergency light. For example, the emergency light on the left bank emits green light, and the emergency light on the right bank emits red light. The detection unit 332 specifies the positions of the emergency light and the drone 30 in the area where the corridor is formed based on the emission of the emergency light extracted from the image. The detection unit 332 outputs the positions of the emergency light and the drone 30 extracted from the image to the calculation unit 333.

[0120] The other aircraft information acquisition unit 336 acquires position information of other drones 30 (other aircraft) from the communication unit 36. The other aircraft information acquisition unit 336 outputs the acquired position information of the other aircraft to the calculation unit 333.

[0121] The calculation unit 333 has the same configuration as the calculation unit 133 of the first embodiment. The calculation unit 333 acquires the positions of the emergency light 340 and the drone 30 from the detection unit 332. If the drone 30 has a function of receiving a GPS (Global Positioning System) signal, the calculation unit 333 may acquire position information included in the GPS signal. The calculation unit 333 calculates the positional relationship between the emergency light 340 and the drone 30 according to the acquired positions of the emergency light 340 and the drone 30. The calculation unit 333 calculates the position of the drone 30 (also called the predicted arrival position) at the next control timing (also called the next control timing) for the drone 30 following the image capture timing. The calculation unit 333 calculates the target position of the drone 30 (also called the control target position) at the next control timing. The calculation unit 333 outputs the calculated predicted arrival position and control target position to the control condition generation unit 334.

[0122] Furthermore, the calculation unit 333 acquires position information of other drones 30 (other drones) navigating the corridor from the other drone information acquisition unit 336. When the position information of the other drones is acquired, the calculation unit 333 calculates the positional relationship between the other drones and the drone itself using the position information of the other drones. For example, the calculation unit 333 calculates the distance between the other drones and the drone itself as the positional relationship between the other drones and the drone itself. When the distance between the other drones and the drone itself is less than a predetermined distance, the calculation unit 333 calculates a control target position so as to move away from the other drones. For example, the calculation unit 333 sets a control target position in a direction away from the position of the other drones. The calculation unit 333 outputs the calculated predicted arrival position and control target position to the control condition generation unit 334.

[0123] The control condition generating unit 334 has the same configuration as the control condition generating unit 134 of the first embodiment. The control condition generating unit 334 acquires the predicted arrival position and the control target position calculated by the calculation unit 333. The control condition generating unit 334 generates control conditions for controlling the drone 30 from the predicted arrival position toward the control target position. The control condition generating unit 334 calculates the traveling direction / speed of the drone 30 according to the control target position from the predicted arrival position. The control condition generating unit 334 sets the rotation speed of the multiple propellers 32 according to the traveling direction / speed. The control condition generating unit 334 outputs the generated control conditions to the control condition setting unit 335.

[0124] The control condition setting unit 335 has the same configuration as the control condition setting unit 135 of the first embodiment. The control condition setting unit 335 acquires the control conditions from the control condition generating unit 334. The control condition setting unit 335 sets the control conditions to the motor 34 at the next control timing. The motor 34 is driven according to the control conditions, thereby controlling the number of rotations of each propeller 32. As a result, the drone 30 travels in a direction / speed according to the control conditions.

[0125] 20 to 21 are conceptual diagrams for explaining an example of the control of the drone 30. In FIG. 20 to FIG. 21, the river flows from the bottom (upstream) to the top (downstream) of the paper. The drone 30 navigates inside the corridor according to the light emitted by the guide light 340L installed on the left bank of the river (left side of the paper). The drone 30 may navigate inside the corridor according to the light emitted by the guide light 340R installed on the right bank of the river (right side of the paper). The corridor is omitted in FIG. 20 to FIG. 21. An occupied range R is set around the drones 30-1 to 3. In FIG. 20 to FIG. 21, the occupied range R is indicated by a dashed circle. In the example of FIG. 20 to FIG. 21, the difference in speed of the drones 30-1 to 3 is indicated by the length of the arrow. The longer the arrow, the faster the speed, and the shorter the arrow, the slower the speed.

[0126] In the example of FIG. 20, three drones 30-1 to 3 are traveling in a corridor. The scene in FIG. 20 shows a situation in which a drone 30-2 traveling at a faster speed is traveling from behind the drones 30-1 and 30-3 traveling at normal speeds. The occupied ranges R of the drones 30-1 and 30-3 overlap with the occupied range R of the drone 30-2. In such a case, the drones 30-1 to 3 control their own propellers 32 so that their occupied ranges R do not overlap. That is, the drones 30-1 to 3 cooperatively control so that their occupied ranges R do not overlap.

[0127] The scene in FIG. 21 is a result of the drones 30-1 to 3 executing cooperative control after the scene in FIG. 20. The drone 30-1 moves forward and left at an increased speed so as to move away from the drone 30-2. The drone 30-2 reduces its speed so as not to get close to the drones 30-1 and 30-2. The drone 30-3 moves forward and right at an increased speed so as to move away from the drone 30-2. As a result of the above-described cooperative control, the occupancy ranges R of the drones 30-1 to 3 no longer overlap, as shown in FIG. 21.

[0128] (operation) Next, an example of the operation of the control unit 33 mounted on the drone 30 of this embodiment will be described with reference to the drawings. Fig. 22 is a flowchart for explaining an example of the operation of the control unit 33. In the following, the control unit 33 will be described as the subject of the operation.

[0129] 22, first, the control unit 33 controls the camera 35 mounted on the drone 30 to capture an image (step S301). The image captured by the camera 35 includes a guide light 340 installed on the bank of the river.

[0130] Next, the control unit 33 detects the light emitting unit of the reference target emergency exit light 340 from the image captured by the camera 35 by image recognition (step S302).

[0131] When receiving information transmitted from another drone (also called other drone information) (Yes in step S303), the control unit 33 determines whether the cooperative range overlaps with that of another drone 30 (other drone) (step S304).

[0132] If the cooperative range overlaps with another drone 30 (other drone) (Yes in step S304), the control unit 33 calculates the positional relationship between the drone 30 and the emergency light 340 and the other drone, and between the drone 30 and the emergency light 340 (step S305). For example, the control unit 33 calculates the distance between the drone 30 and the emergency light 340 as the positional relationship between the drone 30 and the emergency light 340. Furthermore, the control unit 33 uses position information of the other drone and the drone to calculate the distance between the drone 30 and the drone as the positional relationship between the drone 30 and the drone.

[0133] Next, the control unit 33 calculates a predicted arrival position / control target position according to the positional relationship between the self-vehicle and the emergency exit light 340 and other devices (step S306).

[0134] In step S303 No other device information is being received In this case (No in step S303), Or, in step S304, if the cooperative range does not overlap with that of another drone 30 (other drone) (No in step S304), The control unit 33 The positional relationship between the drone 30 and the emergency light 340 is calculated (step S307). For example, the control unit 33 calculates the distance between the drone 30 and the emergency light 340 as the positional relationship between the emergency light 340 and the drone 30.

[0135] Next, the control unit 33 determines the positional relationship between the drone 30 and the emergency light 340. Depending on the position, the predicted position to be reached / the target position to be controlled Calculate (step S308) 。

[0136] After step S306 or step S308, the control unit 33 generates a control condition according to the calculated predicted arrival position / control target position (step S309). The control unit 33 generates the control condition for the drone 30 to move from the predicted arrival position to the control target position.

[0137] Next, the control unit 33 outputs the generated control conditions to the motor 34 (step S310). The motor 34 is driven according to the control conditions, so that the drone 30 can navigate within a designated range set within the corridor. If the use of the corridor is to be continued, the process returns to step S301 after step S310.

[0138] As described above, the drone of this embodiment includes a main body, a propeller, a motor, a transmission information generation unit, a communication unit, a camera, a rechargeable battery, and a control unit (control device). The motor is driven and controlled by the control device. The propeller is rotatably installed on the main body via an arm. The propeller rotates in response to the driving of the motor. The transmission information generation unit generates transmission information including identification information and position information of the drone itself. The communication unit communicates with a management device that manages the corridor. The communication unit transmits the transmission information to the management device. The communication unit also receives transmission information of other drones (other aircraft). The camera is controlled to capture images by the control device. The rechargeable battery is the power source for the drone.

[0139] The control unit has an imaging control unit, a detection unit, a calculation unit, a control condition generation unit, a control condition setting unit, and an other-machine information acquisition unit. The imaging control unit performs imaging control of a camera mounted on the drone. The detection unit detects an emergency light used to form a corridor used by the drone from an image captured by the camera. The detection unit identifies the position of the detected emergency light. The other-machine information acquisition unit acquires position information of other drones using the corridor. The calculation unit calculates a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency light according to the positions of the drone and the emergency light. In addition, the calculation unit calculates a distance between the other drone and the drone itself. When the distance between the other drone and the drone itself is less than a predetermined distance, the calculation unit sets a control target position in a direction away from the other drone. The control condition generation unit generates control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position. For example, the control condition generation unit generates a control condition for moving the drone from the predicted arrival position toward the control target position. The control condition setting unit sets control conditions for the drone's motors.

[0140] The control unit of this embodiment sets the control target position according to the positional relationship between the drone itself and other drones. Therefore, according to this embodiment, multiple drones using the corridor can safely navigate autonomously according to their mutual positional relationships.

[0141] (Fourth embodiment) Next, a drone according to a fourth embodiment will be described with reference to the drawings. The drone of this embodiment performs navigation control according to sound waves emitted from an emergency light. The sound emitted from the emergency light may be ultrasonic or may be a sound in the audible range. It is preferable that the sound waves emitted from the emergency light are in a wavelength band different from the flying sound of the drone and the environmental sound. In addition, a directional speaker capable of emitting highly directional sound waves may be provided on the emergency light. If a directional speaker is used, highly directional sound waves can be irradiated to a drone using a corridor. In the following, an example is given in which a function of performing navigation control according to sound waves emitted from an emergency light is added to the first embodiment. The function of this embodiment may be added to the second to third embodiments. In the following, configurations and functions similar to those of the first to third embodiments may be omitted.

[0142] (composition) 23 and 24 are conceptual diagrams showing an example of the configuration of the drone 40 according to this embodiment. FIG. 23 is a block diagram for explaining the functional configuration of the drone 40. FIG. 24 is a bottom view of the drone 40. The top surface of the drone 40 is similar to that of the drone 10 of the first embodiment.

[0143] The drone 40 includes a main body 41, a propeller 42, a control unit 43, a motor 44, a camera 45, a communication unit 46, a transmission information generation unit 47, a microphone 48, and a rechargeable battery 49. The control unit 43, the communication unit 46, the transmission information generation unit 47, the microphone 48, and the rechargeable battery 49 are stored inside the main body. Most of the camera 45, except for the lens, is stored inside the main body. The drone 40 also has a luggage transport function (not shown) similar to the drone 10 of the first embodiment.

[0144] The main body 41 is a housing that houses the control unit 43, the camera 45, the communication unit 46, the transmission information generation unit 47, the microphone 48, and the rechargeable battery 49. At least one propeller 42 for flying the drone 40 is attached to the main body 41. For example, the main body 41 is provided with a space for storing luggage inside, a mechanism for hanging luggage, a place for placing luggage, and the like, depending on the application. There are no particular limitations on the shape or material of the main body 41.

[0145] The propeller 42 has the same configuration as the propeller 12 of the first embodiment. The propeller 42 is a mechanism for flying the drone 40. The propeller 42 is fixed to the main body by an arm 420. A motor 44 for rotating the propeller 42 is installed in the propeller 42. Four propellers 42 are installed in the main body of the drone 40. The rotation speeds of the multiple propellers 42 are controlled independently of each other. The propellers 42 may be designed to be quiet. For example, by widening the width of the propellers 42 or increasing the number of the propellers 42, sufficient thrust can be obtained with a low rotation speed, and the flying noise associated with the rotation of the propellers 42 can be reduced.

[0146] The motor 44 has the same configuration as the motor 14 of the first embodiment. The motor 44 is installed in each of the multiple propellers 42. The motor 44 is a drive mechanism for rotating the propellers 42. The motor 44 rotates the propellers 42 in accordance with the control of the control unit 43. The motor 44 may be designed to be quiet. For example, if a brushless motor is used as the motor 44, quietness can be improved. Also, a vibration-proof member such as a vibration-proof rubber may be interposed at the connection portion so that vibrations of the motor 44 are less likely to be transmitted to the main body (housing).

[0147] The microphone 48 receives sound waves emitted from the emergency light. The microphone 48 converts the received sound waves into an electric signal (also called a sound signal). The microphone 48 outputs the converted sound signal to the control unit 43. For example, the microphone 48 may be configured to selectively receive sound waves in a specific frequency band emitted from the emergency light. If the frequency band of the sound waves received by the microphone 48 is limited, it is possible to suppress the sound waves emitted from the emergency light from being difficult to receive due to the influence of the flying sound of the drone 40 and environmental sounds. For example, the microphone 48 may have directivity that selectively receives sound waves arriving from a specific direction. If the microphone 48 has directionality, it is possible to selectively receive sound waves arriving from the direction of the emergency light, thereby reducing the influence of the flying sound of the drone 40 and environmental sounds.

[0148] The control unit 43 has the same configuration as the control unit 13 of the first embodiment. The control unit 43 is a control device that controls the drone 40. The control unit 43 controls the rotation of the propeller 42. The control unit 43 controls the number of revolutions of each propeller 42 by controlling the drive of the motor 44 of each propeller 42. The control unit 43 also controls the image capture of the camera 45. The control unit 43 causes the camera 45 to capture an image at a predetermined timing. The control unit 43 acquires an image captured by the camera 45. Furthermore, the control unit 43 acquires a sound signal from the microphone 48. While the drone 40 is navigating inside the corridor, the control unit 43 calculates the positional relationship between the drone 40 and the emergency light based on the image captured by the camera 45 and the sound signal received by the microphone 48. The control unit 43 controls the rotation of the propeller 42 according to the calculated positional relationship. For example, the control unit 43 uses a sound signal as an auxiliary control based on the image captured by the camera 45. For example, the control unit 43 may control the rotation of the propeller 42 based only on the sound wave signal.

[0149] The camera 45 has the same configuration as the camera 15 of the first embodiment. The camera 45 is arranged to capture images of the periphery of the drone 40. A plurality of cameras 45 may be mounted on the drone 40 to capture images in front of, to the sides of, above, and below the drone 40. The camera 45 captures images under the control of the control unit 43. The camera 45 outputs captured image data (also called images) to the communication unit 46.

[0150] The communication unit 46 has the same configuration as the communication unit 16 of the first embodiment. The communication unit 46 receives a wireless signal transmitted from the management tower. The communication unit 46 also transmits a signal including transmission information generated by the transmission information generation unit 47 and an image captured by the camera 45. The communication unit 46 also receives a signal transmitted by another drone 40 navigating the corridor. The signal transmitted by the other drone 40 includes transmission information unique to that drone 40. The transmission information includes location information of the drone 40 that is the source of the signal. The communication unit 46 outputs the location information included in the received transmission information to the control unit 43.

[0151] The transmission information generation unit 47 has the same configuration as the transmission information generation unit 17 of the first embodiment. The transmission information generation unit 47 generates transmission information unique to the drone 40. The transmission information includes unchanging information and variable information. The transmission information generation unit 47 generates transmission information including unchanging information and variable information at a predetermined period. The unchanging information includes the registration information, manufacturing number, authentication information, etc. of the drone 40. The variable information includes location information and time. The transmission information generation unit 47 outputs the generated transmission information to the communication unit 46.

[0152] The rechargeable battery 49 has the same configuration as the rechargeable battery 19 in the first embodiment. The rechargeable battery 49 is a general secondary battery having a charging function. The rechargeable battery 49 is a power source for the drone 40.

[0153] [Control Unit] Next, a detailed description will be given of the configuration of the control unit 43 mounted on the drone 40. Fig. 25 is a block diagram showing an example of the configuration of the control unit 43. The control unit 43 has an imaging control unit 431, a detection unit 432, a calculation unit 433, a control condition generation unit 434, a control condition setting unit 435, and a sound wave signal acquisition unit 438.

[0154] The imaging control unit 431 has the same configuration as the imaging control unit 131 of the first embodiment. The imaging control unit 431 controls the imaging of the camera 45. The imaging control unit 431 causes the camera 45 to capture an image at a predetermined timing. The imaging control unit 431 acquires an image captured by the camera 45. The imaging control unit 431 outputs the acquired image to the detection unit 432. When providing an image to the corridor management side, the imaging control unit 431 outputs the acquired image to the communication unit 46.

[0155] The detection unit 432 has the same configuration as the detection unit 132 of the first embodiment. The detection unit 432 acquires an image captured by the camera 45 from the image capture control unit 431. The detection unit 432 detects the emission of an emergency light (not shown) from the acquired image. The detection unit 432 extracts the emission color of the emergency light to be referred to from the detected emission of the emergency light. For example, the emergency light on the left bank emits green light, and the emergency light on the right bank emits red light. The detection unit 432 specifies the positions of the emergency light and the player's aircraft (drone 40) in the area where the corridor is formed based on the emission of the emergency light extracted from the image. The detection unit 432 outputs the positions of the emergency light and the player's aircraft (drone 40) extracted from the image to the calculation unit 433.

[0156] The sonic signal acquisition unit 438 acquires a sonic signal based on the sound waves emitted from the emergency light from the microphone 48. The sonic signal acquisition unit 438 outputs the acquired sonic signal to the calculation unit 433. The sonic signal acquisition unit 438 may filter the sonic signal using a filter that selectively passes the frequency band of the sound waves emitted from the emergency light. By filtering the sonic signal, disturbances due to the influence of the flight sound of the drone 40 and environmental sounds can be reduced. In addition, the sonic signal acquisition unit 438 may cancel the flight sound of the drone 40 from the sonic signal. The flight sound of the drone 40 mainly includes the driving sound of the motor 44, the rotation sound of the propeller 42, and the resonance sound of the main body (housing), and has characteristics in frequency bands and regularity. Therefore, if the flight sound of the drone 40 is canceled from the sonic signal according to the characteristics of the flight sound of the drone 40, disturbances due to the influence of the flight sound of the drone 40 can be reduced.

[0157] The calculation unit 433 has the same configuration as the calculation unit 133 of the first embodiment. The calculation unit 433 acquires the positions of the emergency light 440 and the drone 40 from the detection unit 432. If the drone 40 has a function of receiving a GPS (Global Positioning System) signal, the calculation unit 433 may acquire position information included in the GPS signal. The calculation unit 433 calculates the positional relationship between the emergency light 440 and the drone 40 according to the acquired positions of the emergency light 440 and the drone 40. The calculation unit 433 calculates the position of the drone 40 (also called the predicted arrival position) at the next control timing (also called the next control timing) for the drone 40 following the image capture timing. The calculation unit 433 calculates the target position of the drone 40 (also called the control target position) at the next control timing. The calculation unit 433 outputs the calculated predicted arrival position and control target position to the control condition generation unit 434.

[0158] Furthermore, the calculation unit 433 acquires a sound wave signal corresponding to the sound wave emitted from the emergency light from the sound wave signal acquisition unit 438. The calculation unit 433 calculates the positional relationship with the emergency light according to the frequency and strength (acoustic intensity) of the acquired sound wave signal. The acoustic intensity is the amount of energy of a sound wave per unit area and unit time.

[0159] For example, when the emergency light referenced by the drone 40 continues to emit sound waves of the same frequency with the same intensity, the frequency of the sound waves received by the microphone 48 changes due to the Doppler effect. As the drone 40 approaches the emergency light, the microphone 48 receives sound waves of a higher frequency than the sound waves emitted by the emergency light. At the timing when the drone 40 approaches the emergency light closest to the emergency light, the microphone 48 receives sound waves of the same height as the sound waves emitted by the emergency light. As the drone 40 moves away from the emergency light, the microphone 48 receives sound waves of a lower frequency than the sound waves emitted by the emergency light. That is, the positional relationship with the emergency light can be grasped according to the frequency of the sound waves received by the microphone 48. The corridor on which the drone 40 navigates is formed by multiple emergency lights. Therefore, the drone 40 navigating the corridor can grasp the positional relationship of the emergency lights according to the change in the frequency of the sound waves emitted from the multiple emergency lights.

[0160] For example, when the emergency light referenced by the drone 40 continues to emit sound waves of the same frequency with the same intensity, the strength of the sound waves (sound intensity) received by the microphone 48 changes according to the distance from the emergency light. As the drone 40 approaches the emergency light, the acoustic intensity of the sound waves received by the microphone 48 gradually increases. At the timing when the drone 40 approaches the emergency light closest to the emergency light, the acoustic intensity of the sound waves received becomes maximum. As the drone 40 moves away from the emergency light, the acoustic intensity of the sound waves received gradually decreases. That is, the positional relationship with the emergency light can be grasped according to the acoustic intensity of the sound waves received by the microphone 48. The corridor along which the drone 40 navigates is formed by a plurality of emergency lights. Therefore, the drone 40 navigating the corridor can grasp the positional relationship of the emergency lights according to the change in the acoustic intensity emitted from the plurality of emergency lights. For example, by emitting highly directional sound waves from an emergency exit light toward a corridor, the drone 40 can be guided more accurately.

[0161] The calculation unit 433 calculates the positional relationship between the drone 40 and the emergency light according to changes in the frequency and acoustic intensity of the sound wave signal. For example, when the distance between the drone 40 and the emergency light is less than the minimum designated distance, the calculation unit 433 calculates the control target position in a direction away from the emergency light. For example, when the distance between the drone 40 and the emergency light is equal to or greater than the maximum designated distance, the calculation unit 433 calculates the control target position in a direction approaching the emergency light. The calculation unit 433 outputs the calculated predicted arrival position and control target position to the control condition generation unit 434.

[0162] The control condition generating unit 434 has the same configuration as the control condition generating unit 134 of the first embodiment. The control condition generating unit 434 acquires the predicted arrival position and the control target position calculated by the calculation unit 433. The control condition generating unit 434 generates control conditions for controlling the drone 40 from the predicted arrival position toward the control target position. The control condition generating unit 434 calculates the traveling direction / speed of the drone 40 according to the control target position from the predicted arrival position. The control condition generating unit 434 sets the rotation speed of the multiple propellers 42 according to the traveling direction / speed. The control condition generating unit 434 outputs the generated control conditions to the control condition setting unit 435.

[0163] The control condition setting unit 435 has the same configuration as the control condition setting unit 135 of the first embodiment. The control condition setting unit 435 acquires the control conditions from the control condition generating unit 434. The control condition setting unit 435 sets the control conditions to the motor 44 at the next control timing. The motor 44 is driven according to the control conditions, thereby controlling the number of rotations of each propeller 42. As a result, the drone 40 travels in a direction / speed according to the control conditions.

[0164] FIG. 26 is a conceptual diagram for explaining an example of the control of the drone 40. In FIG. 26, the river flows from the bottom (upstream) to the top (downstream) of the paper. The drone 40 navigates inside the corridor according to the light emission / sound waves of the emergency light 440L installed on the left bank of the river (left side of the paper). The drone 40 may navigate inside the corridor according to the light emission / sound waves of the emergency light 440R installed on the right bank of the river (right side of the paper). The corridor is omitted in FIG. 26. For example, the emergency light 440L and the emergency light 440R emit sound waves of different frequencies. For example, the emergency light 440L and the emergency light 440R emit sound waves of different tones. For example, the emergency light 440L and the emergency light 440R may receive the flight sound of the drone 40, and the management side of the corridor may specify the navigation state of the drone 40 navigating the corridor according to the received flight sound. For example, the management side receives the flying sound of the drone 40 and identifies the position of the drone 40. The management side can manage the drone 40 navigating the corridor according to the identified position of the drone.

[0165] (operation) Next, an example of the operation of the control unit 43 mounted on the drone 40 of this embodiment will be described with reference to the drawings. FIG. 27 is a flowchart for explaining an example of the operation of the control unit 43. In the following, an example will be given in which a normal mode in which control is performed using an image captured by the camera 45 and a sonic mode in which control is performed using sound waves received by the microphone 48 are performed separately. The normal mode and the sonic mode may be used together. In the following, the control unit 43 will be described as the main operator.

[0166] 27, when the sonic mode is not selected (Yes in step S41), the control unit 43 controls the camera 45 mounted on the drone 40 to capture an image (step S42). The image captured by the camera 45 includes guide lights installed on the bank of the river.

[0167] Next, the control unit 43 detects the light emitting unit of the reference target emergency exit light from the image captured by the camera 45 by image recognition (step S43).

[0168] In the case of the sonic mode in step S41 (Yes in step S41), the control unit 43 receives the sound waves emitted from the emergency light (step S44).

[0169] Next, the control unit 43 calculates the positional relationship between the drone 40 and the emergency light based on the received sound waves (step S45).

[0170] After step S43 or step S45, the control unit 43 calculates a predicted arrival position / control target position according to the positional relationship between the drone 40 and the guide light (step S46).

[0171] Next, the control unit 43 generates a control condition according to the calculated predicted arrival position / control target position (step S47). The control unit 43 generates the control condition for the drone 40 to move from the predicted arrival position to the control target position.

[0172] Next, the control unit 43 outputs the generated control conditions to the motor 44 (step S48). The motor 44 is driven according to the control conditions, so that the drone 40 can navigate within a designated range set within the corridor. If the use of the corridor is to be continued, the process returns to step S41 after step S48.

[0173] As described above, the drone of this embodiment includes a main body, a propeller, a motor, a transmission information generation unit, a communication unit, a camera, a rechargeable battery, a microphone, and a control unit (control device). The motor is driven and controlled by the control device. The propeller is rotatably installed on the main body via an arm. The propeller rotates in response to the driving of the motor. The transmission information generation unit generates transmission information including identification information and position information of the drone itself. The communication unit communicates with a management device that manages the corridor. The communication unit transmits the transmission information to the management device. The camera is image-controlled by the control device. The microphone receives sound waves emitted from emergency lights used to form the corridor. The rechargeable battery is the power source for the drone.

[0174] The control unit has an imaging control unit, a detection unit, a calculation unit, a control condition generation unit, a control condition setting unit, and a sound signal acquisition unit. The imaging control unit performs imaging control of a camera mounted on the drone. The detection unit detects an emergency light used to form a corridor used by the drone from an image captured by the camera. The detection unit identifies the position of the detected emergency light. The sound signal acquisition unit acquires a sound signal corresponding to a sound wave emitted from the emergency light. The calculation unit calculates a predicted arrival position of the drone at a control timing following the image capture timing and a control target position corresponding to the positional relationship between the drone and the emergency light according to the positions of the drone and the emergency light. In addition, the calculation unit calculates a positional relationship with the emergency light using the acquired sound signal. For example, the calculation unit calculates a distance to the emergency light according to the frequency of the acquired sound signal. For example, the calculation unit calculates a distance to the emergency light according to the acoustic intensity of the acquired sound signal. The control condition generation unit generates a control condition for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position. For example, the control condition generating unit generates a control condition for moving the drone from a predicted arrival position to a control target position. The control condition setting unit sets the control condition for a motor of the drone.

[0175] The control unit of this embodiment can control the navigation of the drone according to the sound waves received by the microphone mounted on the drone. Therefore, according to this embodiment, autonomous navigation of the drone can be realized even in a situation with poor visibility. In this embodiment, an example of guiding the drone using sound waves has been shown, but the drone may be guided using radio waves (radar) or light rays (laser). For example, a radar / laser can be irradiated toward the corridor from a bridge in the direction of the drone's travel, and the drone navigating inside the corridor can be guided to an appropriate navigation route in the same manner as guiding an aircraft to land. From a bridge over a river, it is easy to irradiate a radar / laser at the drone along the direction of the drone's travel. In that case, since a laser has higher directivity than a radar, it is easy to aim at the drone. For example, a guidance radio wave containing ID information (RID) of a specific drone may be irradiated from an emergency light or a management tower toward the corridor to guide a specific drone with a matching RID. By using a guidance radio wave containing an RID, the drone to be guided can be guided regardless of the directionality of the radio wave. For example, by using guided radio waves, drones that are likely to stray from a corridor can be guided inside the corridor or toward emergency lights / control towers. For example, by using guided radio waves, drones that are illegally using a corridor can be controlled to be guided outside the corridor or toward emergency lights / control towers, or to crash into a river.

[0176] Fifth embodiment Next, a management device according to a fifth embodiment will be described with reference to the drawings. The management device according to this embodiment transmits guidance information to drones navigating inside a corridor to guide the drones in an appropriate positional relationship. The management device according to this embodiment manages the navigation of the drones according to the first to fourth embodiments within the corridor to be managed.

[0177] [Management device] 28 is a block diagram showing an example of the configuration of the management device 500. The management device 500 has a transmission information acquisition unit 501, a position calculation unit 502, a guide position calculation unit 503, a guide information generation unit 505, and a guide information output unit 507. For example, the management device 500 is constructed in a cloud or a server (not shown). For example, the management device 500 may be placed in an emergency exit light or a management tower used to form a corridor.

[0178] The transmission information acquisition unit 501 acquires transmission information 560 of multiple drones using the corridor from a control tower (not shown) located near the corridor. The transmission information acquisition unit 501 extracts the time (transmission time) and location information included in the transmission information 560. The transmission information acquisition unit 501 outputs the extracted transmission time and location information to the location calculation unit 502. There are no particular limitations on the use of information other than the transmission time and location information.

[0179] The position calculation unit 502 acquires the transmission time and position information of the multiple drones using the corridor from the transmission information acquisition unit 501. The position calculation unit 502 calculates the positions of the multiple drones using the acquired position information. For example, the position calculation unit 502 calculates the positions of the multiple drones at the transmission time. For example, the position calculation unit 502 calculates the positions of the multiple drones at a time when a predetermined time has elapsed from the transmission time. For example, the position calculation unit 502 calculates the positions of the multiple drones at a time when the guidance information 570 generated based on the transmission time is received by the multiple drones navigating the corridor. For example, the position calculation unit 502 calculates the positions of the multiple drones at a time when the guidance information 570 is received based on the position changes and speeds of the multiple drones calculated up to that point. The position calculation unit 502 outputs the calculated positions of the multiple drones to the guidance position calculation unit 503.

[0180] The guidance position calculation unit 503 acquires the positions of the multiple drones calculated by the position calculation unit 502. The guidance position calculation unit 503 calculates the guidance positions of the multiple drones inside the corridor based on the acquired positional relationship of the multiple drones. For example, the guidance position calculation unit 503 calculates the positions to which the drones are guided according to the positions of the multiple drones at the time when the guidance information 570 is received. For example, when the ranges (also called the occupancy ranges) set for each of the multiple drones overlap with each other at the time when the guidance information 570 is received, the guidance position is calculated as a position where the occupancy ranges do not overlap with each other. For example, the occupancy range is set as a spherical or circular range centered on the drone. The guidance position calculation unit 503 outputs the calculated guidance positions of the multiple drones to the guidance information generation unit 505.

[0181] The guidance information generating unit 505 acquires the guidance position calculated by the guidance position calculating unit 503. The guidance information generating unit 505 generates guidance information 570 including control conditions for each drone using the acquired guidance positions of the multiple drones. The control conditions included in the guidance information 570 are information for controlling the direction and speed of the multiple drones. For drones whose occupancy ranges at the time of receiving the guidance information 570 overlap each other, the guidance information generating unit 505 generates guidance information 570 that controls the positions of the drones to move away from each other. If there are no drones whose occupancy ranges at the time of receiving the guidance information overlap each other, the guidance information generating unit 505 does not generate guidance information 570 for those drones. For example, even if there are no drones whose occupancy ranges at the time of receiving the guidance information overlap each other, the guidance information generating unit 505 may generate guidance information 570 that controls the positions of those drones not to approach each other.

[0182] The guidance information generating unit 505 may generate guidance information 570 for multiple drones using a machine learning technique. For example, a model is generated that outputs guidance information 570 for arranging multiple drones in an appropriate positional relationship in response to input of position information of multiple drones navigating inside a corridor. If such a model is used, the calculation by the guidance position calculating unit 503 can be omitted. Details of the model that outputs guidance information 570 in response to input of position information of multiple drones will not be described.

[0183] The guidance information output unit 507 outputs the guidance information 570 generated by the guidance information generation unit 505 to the management tower. When the management device 500 is placed near the corridor, the management device 500 may be configured to transmit the guidance information 570 to the drone traveling along the corridor. For example, the management device 500 may be placed in a management tower or an emergency exit light.

[0184] [Drone] Fig. 29 is a conceptual diagram showing an example of the configuration of a drone 50 that uses a corridor that is a management target of the management device 500 according to this embodiment. Fig. 29 is a block diagram for explaining the functional configuration of the drone 50. The drone 50 has an appearance similar to that of the drone 10 of the first embodiment. The drone 50 may have an appearance / function similar to that of the drone 40 of the fourth embodiment.

[0185] The drone 50 includes a main body (not shown), a propeller 52, a control unit 53, a motor 54, a camera 55, a communication unit 56, a transmission information generation unit 57, and a rechargeable battery 59. The control unit 53, the communication unit 56, the transmission information generation unit 57, and the rechargeable battery 59 are stored inside the main body. Most of the camera 55, except for the lens, is stored inside the main body. The drone 50 also has a luggage transport function (not shown), similar to the drone 10 of the first embodiment.

[0186] The propeller 52 has the same configuration as the propeller 12 of the first embodiment. The propeller 52 is a mechanism that makes the drone 50 fly. The propeller 52 is fixed to the main body by an arm (not shown). A motor 54 for rotating the propeller 52 is installed in the propeller 52. Four propellers 52 are installed in the main body of the drone 50. The rotation speeds of the multiple propellers 52 are controlled independently of each other.

[0187] The motor 54 has a similar configuration to the motor 14 of the first embodiment. The motor 54 is provided for each of the multiple propellers 52. The motor 54 is a drive mechanism for rotating the propellers 52. The motor 54 rotates the propellers 52 in response to the control of the control unit 53.

[0188] The control unit 53 has the same configuration as the control unit 13 of the first embodiment. The control unit 53 is a control device that controls the drone 50. The control unit 53 controls the rotation of the propeller 52. The control unit 53 controls the driving of the motor 54 for each propeller 52 to control the rotation speed of each propeller 52. The control unit 53 also controls the imaging of the camera 35. The control unit 53 causes the camera 55 to capture an image at a predetermined timing. The control unit 53 acquires an image captured by the camera 55. While the drone 50 is navigating inside the corridor, the control unit 53 controls the rotation of the propeller 52 based on the position of the emergency light included in the image captured by the camera 55. The control unit 53 controls the rotation of the propeller 52 so that the drone 50 navigates in an appropriate position according to the position of the emergency light that emits light in a color to be referenced.

[0189] Furthermore, the control unit 53 acquires, from the communication unit 56, the guidance information 570 transmitted from the management device 500. When the control unit 53 acquires the guidance information 570, the control unit 53 controls the rotation of the propeller 52 in accordance with the guidance information.

[0190] The camera 55 has the same configuration as the camera 15 of the first embodiment. The camera 55 is arranged to capture images of the periphery of the drone 50. A plurality of cameras 55 may be mounted on the drone 50 to capture images in front of, to the sides of, above, and below the drone 50. The camera 55 captures images under the control of the control unit 53. The camera 55 outputs captured image data (also called images) to the communication unit 56.

[0191] The communication unit 56 has the same configuration as the communication unit 16 of the first embodiment. The communication unit 56 receives a wireless signal transmitted from the management tower. The wireless signal transmitted from the management tower includes guidance information 570. The communication unit 56 also transmits a signal including transmission information generated by the transmission information generation unit 57 and an image captured by the camera 55. The communication unit 56 outputs the received guidance information 570 to the control unit 53.

[0192] The transmission information generation unit 57 has the same configuration as the transmission information generation unit 17 of the first embodiment. The transmission information generation unit 57 generates transmission information unique to the drone 50. The transmission information includes unchanging information and variable information. The transmission information generation unit 57 generates transmission information including unchanging information and variable information at a predetermined period. The unchanging information includes the registration information, manufacturing number, authentication information, etc. of the drone 50. The variable information includes location information and time. The transmission information generation unit 57 outputs the generated transmission information to the communication unit 56.

[0193] The rechargeable battery 59 has the same configuration as the rechargeable battery 19 in the first embodiment. The rechargeable battery 59 is a general secondary battery having a charging function. The rechargeable battery 59 is a power source for the drone 50.

[0194] [Control Unit] Next, a detailed description will be given of the configuration of the control unit 53 mounted on the drone 50. Fig. 30 is a block diagram showing an example of the configuration of the control unit 53. The control unit 53 has an imaging control unit 531, a detection unit 532, a calculation unit 533, a control condition generation unit 534, a control condition setting unit 535, and a guidance information acquisition unit 536.

[0195] The imaging control unit 531 has the same configuration as the imaging control unit 131 of the first embodiment. The imaging control unit 531 controls the imaging of the camera 55. The imaging control unit 531 causes the camera 55 to capture an image at a predetermined timing. The imaging control unit 531 acquires an image captured by the camera 55. The imaging control unit 531 outputs the acquired image to the detection unit 532. When providing an image to the corridor management side, the imaging control unit 531 outputs the acquired image to the communication unit 56.

[0196] The detection unit 532 has the same configuration as the detection unit 132 of the first embodiment. The detection unit 532 acquires an image captured by the camera 55 from the image capture control unit 531. The detection unit 532 detects the emission of an emergency light (not shown) from the acquired image. The detection unit 532 extracts the emission color of the emergency light to be referred to from the detected emission of the emergency light. For example, the emergency light on the left bank emits green light, and the emergency light on the right bank emits red light. The detection unit 532 specifies the positions of the emergency light and the drone 50 in the area where the corridor is formed based on the emission of the emergency light extracted from the image. The detection unit 532 outputs the positions of the emergency light and the drone 50 extracted from the image to the calculation unit 533.

[0197] The calculation unit 533 has the same configuration as the calculation unit 133 of the first embodiment. The calculation unit 533 acquires the positions of the emergency light 540 and the drone 50 from the detection unit 532. If the drone 50 has a function of receiving a GPS (Global Positioning System) signal, the calculation unit 533 may acquire position information included in the GPS signal. The calculation unit 533 calculates the positional relationship between the emergency light 540 and the drone 50 according to the acquired positions of the emergency light 540 and the drone 50. The calculation unit 533 calculates the position of the drone 50 (also called the predicted arrival position) at the next control timing (also called the next control timing) for the drone 50 following the image capture timing. The calculation unit 533 calculates the target position of the drone 50 (also called the control target position) at the next control timing. The calculation unit 533 outputs the calculated predicted arrival position and control target position to the control condition generation unit 534.

[0198] The guide information acquiring unit 536 acquires the guide information 570 transmitted from the management device 500 through the communication unit 56. The guide information acquiring unit 536 outputs the acquired guide information 570 to the control condition generating unit 534.

[0199] The control condition generating unit 534 has the same configuration as the control condition generating unit 134 of the first embodiment. The control condition generating unit 534 acquires the predicted arrival position and the control target position calculated by the calculation unit 533. The control condition generating unit 534 generates control conditions for controlling the drone 50 from the predicted arrival position toward the control target position. The control condition generating unit 534 calculates the traveling direction / speed of the drone 50 according to the control target position from the predicted arrival position. The control condition generating unit 534 sets the rotation speed of the multiple propellers 52 according to the traveling direction / speed. The control condition generating unit 534 outputs the generated control conditions to the control condition setting unit 535.

[0200] Furthermore, the control condition generating unit 534 acquires the guide information 570 transmitted from the management device 500 from the guide information acquiring unit 536. Upon acquiring the guide information 570, the control condition generating unit 534 outputs the control condition included in the acquired guide information 570 to the control condition setting unit 535.

[0201] The control condition setting unit 535 has the same configuration as the control condition setting unit 135 of the first embodiment. The control condition setting unit 535 acquires the control conditions from the control condition generating unit 534. The control condition setting unit 535 sets the control conditions to the motor 54 at the next control timing. The motor 54 is driven according to the control conditions, thereby controlling the number of rotations of each propeller 52. As a result, the drone 50 travels in a direction / speed according to the control conditions.

[0202] FIG. 31 is a conceptual diagram for explaining an example of control of the drone 50. In FIG. 31, the river flows from the bottom (upstream) to the top (downstream) of the paper. The drone 50 navigates inside the corridor 5 according to the light emitted by the guide light 540L installed on the left bank of the river (left side of the paper). The drone 50 may navigate inside the corridor 5 according to the light emitted by the guide light 540R installed on the right bank of the river (right side of the paper). FIG. 31 shows a management device 500 and a management tower 590. The management device 500 and the management tower 590 are connected via an Internet line or a wireless communication network. The management tower 590 receives information transmitted by the drone 50 navigating the corridor 5. In addition, the management tower 590 transmits the guidance information 570 received from the management device 500 to each of the multiple drones 50 via a wireless signal.

[0203] 32 to 33 are conceptual diagrams for explaining an example of control of the drone 50. FIG. 32 to FIG. 33 are diagrams of the corridor 5 viewed from above. The drones 50-1 to 50-6 using the corridor 5 move from the bottom to the top of the paper. An occupation range R is set around the drone 50. The occupation range R is a spherical or circular range centered on each of the multiple drones 50. The occupation range R is set to a size that makes it difficult for the multiple drones 50 navigating the corridor 5 to collide with each other. The occupation range R may be set to the same size for the multiple drones 50, or may be set to different sizes. For example, the occupation range R is set according to the size of the drone 50. For example, the occupation range R is set according to the importance of the luggage carried by the drone 50. For example, the occupation range R is set according to the speed of the drone 50. In FIG. 32 to FIG. 33, the occupation range R is shown by a solid circle. In the example of FIG. 32 to FIG. 33, the difference in speed of the drone 50 is shown by the length of the arrow. The longer the arrow, the faster the speed, and the shorter the arrow, the slower the speed.

[0204] In the example of FIG. 32, six drones 50-1 to 6 are navigating a corridor. In the scene of FIG. 32, the occupancy ranges R of the drones 50-1 to 3 overlap. Furthermore, the occupancy ranges R of the drones 50-4 to 5 also overlap. In such a case, the management device 500 generates guidance information 570 for the drones 50-1 to 5. The management device 500 does not generate guidance information 570 for the drone 50-6 whose occupancy range R does not overlap. The management device 500 generates guidance information 570 so that the occupancy ranges R of the drones 50-1 to 5 do not overlap.

[0205] In the example of FIG. 32, the management device 500 generates guidance information 570 for the drone 50-1 to increase speed. The management device 500 generates guidance information 570 for the drone 50-2 to move forward and to the left. The management device 500 generates guidance information 570 for the drone 50-3 to move forward and to the right. The management device 500 generates guidance information 570 for the drone 50-4 to move forward and to the left. The management device 500 generates guidance information 570 for the drone 50-5 to reduce speed. The management device 500 does not generate guidance information 570 for the drone 50-6.

[0206] In the example of FIG. 32, the drones 50-1 to 5 that receive the guidance information 570 generated by the management device 500 are controlled according to the guidance information 570. The drone 50-1 increases its speed according to the guidance information 570. The drone 50-2 moves left forward according to the guidance information 570. The drone 50-3 moves right forward according to the guidance information 570. The drone 50-4 moves left forward according to the guidance information 570. The drone 50-5 reduces its speed according to the guidance information 570. The drone 50-6 continues autonomous control.

[0207] The scene in Fig. 33 is a situation resulting from the drones 50-1 to 5 being guided through the scene in Fig. 32. As a result of the above-described guidance, the overlap of the occupancy ranges R of the drones 50-1 to 6 disappears, as shown in Fig. 33.

[0208] (operation) Next, an example of the operation of the management device 500 of this embodiment and the control unit 53 mounted on the drone 50 that uses the corridor managed by the management device 500 will be described with reference to the drawings. In the following, the operations of the management device 500 and the control unit 53 will be described individually.

[0209] [Management device] Fig. 34 is a flowchart for explaining an example of the operation of the management device 500. In the explanation following the flowchart of Fig. 34, the explanation will be given with the management device 500 as the subject of the operation.

[0210] 34, first, the management device 500 receives the transmission information of the drone 50 using the corridor 5 (step S511). The management device 500 receives the transmission information of the drone 50 using the corridor 5 via the management tower 590.

[0211] Next, the management device 500 uses the location information included in the transmitted information to calculate the location of the drone 50 using the corridor 5 (step S512).

[0212] If there is an overlap in the occupancy range R (Yes in step S513), the management device 500 generates guidance information 570 for the drones 50 with overlapping occupancy ranges R (step S514). If there is no overlap in the occupancy ranges R (No in step S513), the process returns to step S511.

[0213] Following step S514, guidance information 570 is output to the drones 50 whose occupancy ranges overlap (step S515). If management of the corridor 5 is to be continued, the process returns to step S511.

[0214] [Control Unit] Fig. 35 is a flowchart for explaining an example of the operation of control unit 53. In the explanation following the flowchart of Fig. 35, control unit 53 will be described as the subject of the operation.

[0215] 35, when the guidance information 570 has not been received (No in step S521), the control unit 53 controls the camera 55 mounted on the drone 50 to capture an image (step S521). The image captured by the camera 55 includes the guidance light 540 installed on the bank of the river.

[0216] Next, the control unit 53 detects the light emitting unit of the reference target emergency exit light 540 from the image captured by the camera 55 by image recognition (step S523).

[0217] Next, the control unit 53 calculates the positional relationship between the drone 50 and the emergency light 540 (step S524). For example, the control unit 53 calculates the distance between the drone 50 and the emergency light 540 as the positional relationship between the emergency light 540 and the drone 50.

[0218] Next, the control unit 53 calculates the predicted arrival position / control target position according to the positional relationship between the drone 50 and the guide light 540 (step S524).

[0219] Next, the control unit 53 generates a control condition according to the calculated predicted arrival position / control target position (step S525). The control unit 53 generates the control condition for the drone 50 to move from the predicted arrival position to the control target position.

[0220] When the guide information 570 is received in step S521 (Yes in step S521), the control unit 53 extracts the control condition included in the guide information 570 (step S526).

[0221] Following step S525 or step S526, the control unit 53 outputs the generated control conditions to the motor 54 (step S527. The motor 54 is driven in accordance with the control conditions, thereby enabling the drone 50 to navigate within a designated range set within the corridor 5. If use of the corridor is to be continued, the process returns to step S521 after step S527.

[0222] As described above, the management device of this embodiment includes a transmission information acquisition unit, a position calculation unit, a guidance position calculation unit, a guidance information generation unit, and a guidance information output unit. The transmission information acquisition unit acquires transmission information transmitted by a drone using the corridor. The position calculation unit calculates the position of the drone using the position information included in the transmission information. The guidance position calculation unit calculates the guidance positions of multiple drones within the corridor based on the positional relationship between the multiple drones. The guidance information generation unit generates guidance information including control conditions for each drone using the guidance positions of the multiple drones. The guidance information output unit outputs the generated guidance information.

[0223] A drone that uses a corridor that is managed by the management device in this embodiment includes a main body, a propeller, a motor, a transmission information generation unit, a communication unit, a camera, a rechargeable battery, and a control unit (control device). The motor is driven and controlled by the control device. The propeller is rotatably installed on the main body via an arm. The propeller rotates in response to the drive of the motor. The transmission information generation unit generates transmission information that includes the drone's identification information and location information. The communication unit communicates with the management device that manages the corridor. The communication unit transmits the transmission information to the management device. The camera is controlled to capture images by the control device. The rechargeable battery is the power source for the drone.

[0224] The control unit has an imaging control unit, a detection unit, a calculation unit, a control condition generation unit, a control condition setting unit, and a guidance information acquisition unit. The imaging control unit performs imaging control of the camera mounted on the drone. The detection unit detects an emergency light used to form a corridor used by the drone from an image captured by the camera. The detection unit identifies the position of the detected emergency light. The calculation unit calculates a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency light, according to the positions of the drone and the emergency light. The guidance information acquisition unit acquires guidance information including a control condition generated by a management device that manages the corridor. The control condition generation unit generates control conditions for a motor that drives a propeller of the drone, according to the predicted arrival position and the control target position. Furthermore, the control condition generation unit outputs the control conditions included in the guidance information to the control condition setting unit, according to the acquisition of the guidance information. The control condition setting unit sets control conditions for the motor of the drone.

[0225] The management device of this embodiment generates guidance information for guiding a drone using a corridor. A drone using a corridor normally navigates autonomously according to the position of the guide light. Furthermore, when a drone using a corridor acquires guidance information, the drone is guided according to the guidance information. Therefore, according to this embodiment, it is possible to achieve both autonomous navigation of a drone using a corridor and externally guided navigation.

[0226] Sixth embodiment Next, a control device according to a sixth embodiment will be described with reference to the drawings. The control device according to this embodiment has a simplified configuration of the control unit mounted on the drones according to the first to fifth embodiments. FIG. 36 is a block diagram showing an example of the configuration of the control device 63 according to this embodiment. The control device 63 includes a detection unit 632, a calculation unit 633, a control condition generation unit 634, and a control condition setting unit 635.

[0227] The detection unit 632 detects emergency lights used to form a corridor used by the drone from an image captured by a camera mounted on the drone. The detection unit 632 identifies the position of the detected emergency light. The calculation unit 633 calculates a predicted arrival position of the drone at a control timing following the image capture timing and a control target position according to the positional relationship between the drone and the emergency light, according to the positions of the drone and the emergency light. The control condition generation unit 634 generates control conditions for a motor that drives the drone's propeller, according to the predicted arrival position and the control target position. The control condition setting unit 635 sets control conditions for the drone's motor.

[0228] As described above, according to this embodiment, autonomous navigation of a drone using a corridor can be realized by setting control conditions for the drone's motor according to the position of a guide light detected from an image captured by a camera mounted on the drone.

[0229] (Hardware) Here, a hardware configuration for executing the control and processing according to each embodiment of the present disclosure will be described using an information processing device 90 in Fig. 37 as an example. Note that the information processing device 90 in Fig. 37 is an example configuration for executing the control and processing according to each embodiment, and does not limit the scope of the present disclosure.

[0230] As shown in Fig. 37, an information processing device 90 includes a processor 91, a main storage device 92, an auxiliary storage device 93, an input / output interface 95, and a communication interface 96. In Fig. 37, the interface is abbreviated as I / F (Interface). The processor 91, the main storage device 92, the auxiliary storage device 93, the input / output interface 95, and the communication interface 96 are connected to each other via a bus 98 so as to be able to communicate data with each other. In addition, the processor 91, the main storage device 92, the auxiliary storage device 93, and the input / output interface 95 are connected to a network such as the Internet or an intranet via the communication interface 96.

[0231] The processor 91 loads a program stored in an auxiliary storage device 93 or the like into a main storage device 92. The processor 91 executes the program loaded into the main storage device 92. In this embodiment, a software program installed in the information processing device 90 may be used. The processor 91 executes control and processing according to each embodiment.

[0232] The main memory device 92 has an area in which a program is loaded. The processor 91 loads a program stored in the auxiliary memory device 93 or the like in the main memory device 92. The main memory device 92 is realized by a volatile memory such as a dynamic random access memory (DRAM). Furthermore, a non-volatile memory such as a magnetoresistive random access memory (MRAM) may be configured / added to the main memory device 92.

[0233] The auxiliary storage device 93 stores various data such as programs. The auxiliary storage device 93 is realized by a local disk such as a hard disk or a flash memory. Note that it is also possible to configure the main storage device 92 to store various data and omit the auxiliary storage device 93.

[0234] The input / output interface 95 is an interface for connecting the information processing device 90 to peripheral devices based on standards and specifications. The communication interface 96 is an interface for connecting to external systems and devices through a network such as the Internet or an intranet based on standards and specifications. The input / output interface 95 and the communication interface 96 may be a common interface for connecting to external devices.

[0235] Input devices such as a keyboard, a mouse, and a touch panel may be connected to the information processing device 90 as necessary. These input devices are used to input information and settings. When a touch panel is used as an input device, the display screen of the display device may also serve as an interface for the input device. Data communication between the processor 91 and the input devices may be mediated by an input / output interface 95.

[0236] The information processing device 90 may be equipped with a display device for displaying information. When the display device is equipped, the information processing device 90 is preferably equipped with a display control device (not shown) for controlling the display of the display device. The display device may be connected to the information processing device 90 via the input / output interface 95.

[0237] The information processing device 90 may also be provided with a drive device. The drive device mediates between the processor 91 and a recording medium (program recording medium) for reading data and programs from the recording medium, writing the processing results of the information processing device 90 to the recording medium, and the like. The drive device may be connected to the information processing device 90 via an input / output interface 95.

[0238] The above is an example of a hardware configuration for enabling the control and processing according to each embodiment of the present invention. The hardware configuration in FIG. 37 is an example of a hardware configuration for executing the control and processing according to each embodiment, and does not limit the scope of the present invention. In addition, a program for causing a computer to execute the control and processing according to each embodiment is also included in the scope of the present invention. Furthermore, a program recording medium on which a program according to each embodiment is recorded is also included in the scope of the present invention. The recording medium can be realized, for example, by an optical recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc). The recording medium may be realized by a semiconductor recording medium such as a USB (Universal Serial Bus) memory or an SD (Secure Digital) card. In addition, the recording medium may be realized by a magnetic recording medium such as a flexible disk or other recording medium. When a program executed by a processor is recorded on a recording medium, the recording medium corresponds to a program recording medium.

[0239] The components of each embodiment may be combined in any manner. Furthermore, the components of each embodiment may be realized by software or by a circuit.

[0240] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-mentioned embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0241] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes. (Appendix 1) A detection unit that detects an emergency exit light used to form a corridor used by the drone from an image captured by a camera mounted on the drone and identifies a position of the detected emergency exit light; A calculation unit that calculates a predicted arrival position of the drone at a control timing subsequent to the image capturing timing according to the positions of the drone and the emergency light, and a control target position according to a positional relationship between the drone and the emergency light; a control condition generation unit that generates control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position; A control device comprising: a control condition setting unit that sets the control conditions for the motor of the drone. (Appendix 2) The control condition generating unit A control device as described in Appendix 1, which generates the control conditions to move the drone from the predicted arrival position toward the control target position. (Appendix 3) The detection unit is A reference escape light to be referred to in using the corridor is detected according to a light emission color of the escape light; The control device according to claim 1 or 2, which identifies a position of the detected reference guide light. (Appendix 4) The detection unit is Detecting the reference escape light to be referenced in the use of the corridor according to a plurality of emission colors at different heights of the escape light; A control device as described in Appendix 3, which determines the vertical position of the drone in the corridor according to the multiple light colors of the detected reference guide lights. (Appendix 5) The control condition generating unit When a distance between the reference guide light and the drone is smaller than a minimum designated distance set for the reference guide light, the control condition is generated to control the motor so that the drone moves away from the reference guide light; The control device according to claim 3 or 4, which generates the control condition to control the motor so that the drone approaches the reference guide light when a distance between the reference guide light and the drone is greater than a maximum designated distance set for the reference guide light. (Appendix 6) A charge management unit that monitors the charge amount of a rechargeable battery mounted on the drone, The charge management unit is When the charge amount of the rechargeable battery falls below a reference value, a charge standby signal is output to the detection unit; The detection unit is detecting a charging station capable of charging the rechargeable battery from the image captured by the camera in response to the charging standby signal, and identifying a position of the detected charging station; The calculation unit is 6. The control device according to claim 1, further comprising: a control unit configured to calculate a position of the charging station as the control target position. (Appendix 7) An other drone information acquisition unit that acquires position information of other drones using the corridor, The calculation unit is Calculate the distance between the other drone and the drone itself; A control device described in any one of Appendix 1 to 6, wherein when the distance between the other drone and the own drone is less than a predetermined distance, the control target position is set in a direction away from the other drone. (Appendix 8) a sound wave signal acquisition unit that acquires a sound wave signal corresponding to a sound wave emitted from the emergency light; The calculation unit is 8. The control device according to claim 1, further comprising: a control unit for calculating a positional relationship with the emergency light by using the acquired sound wave signal. (Appendix 9) The calculation unit is A control device as described in appendix 8, which calculates a distance to the emergency light depending on the frequency of the acquired sound wave signal. (Appendix 10) The calculation unit is 10. The control device according to claim 8 or 9, which calculates a distance to the emergency light according to the acoustic intensity of the acquired sound wave signal. (Appendix 11) a guide information acquisition unit that acquires guide information including the control condition generated by a management device that manages the corridor; The control condition generating unit 11. The control device according to claim 1, wherein the control condition included in the guide information is output to a control condition setting unit in response to acquisition of the guide information. (Appendix 12) A control device according to any one of claims 1 to 11; A motor that is driven and controlled by the control device; A propeller that rotates in response to the driving of the motor; a transmission information generating unit that generates transmission information including identification information and location information of the own device; a communication unit that communicates with a management device that manages the corridor and transmits the transmission information to the management device; a camera whose image capturing is controlled by the control device; A drone equipped with a rechargeable battery. (Appendix 13) The drone of claim 12, further comprising a microphone for receiving sound waves emitted from an emergency exit light used to form the corridor. (Appendix 14) The computer Detecting an emergency exit light used to form a corridor used by the drone from an image captured by a camera mounted on the drone, and identifying a position of the detected emergency exit light; Calculating a predicted arrival position of the drone at a control timing subsequent to the image capturing timing according to the positions of the drone and the emergency exit light, and a control target position according to a positional relationship between the drone and the emergency exit light; generating control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position; A control method for setting the control conditions for the motor of the drone. (Appendix 15) A process of detecting an emergency exit light used to form a corridor used by the drone from an image captured by a camera mounted on the drone and identifying a position of the detected emergency exit light; A process of calculating a predicted arrival position of the drone at a control timing subsequent to the image capturing timing according to the positions of the drone and the emergency light, and a control target position according to a positional relationship between the drone and the emergency light; A process of generating control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position; A program that causes a computer to execute a process of setting the control conditions for the motor of the drone. [Explanation of symbols]

[0242] 10, 20, 30, 40, 50 Drones 11, 41 Main unit 12, 22, 32, 42, 52 Propellers 13, 23, 33, 43, 53 Control section 14, 24, 34, 44, 54 Motor 15, 25, 35, 45, 55 Camera 16, 26, 36, 46, 56 Communications Department 17, 27, 37, 47, 57 Information Generation Department 19, 29, 39, 49, 59 Rechargeable batteries 120, 420 Arm 131, 231, 331, 431 Imaging control unit 132, 232, 332, 432, 632 Detector 133, 233, 333, 433, 633 calculation section 134, 234, 334, 434, 634 Control condition generation section 135, 235, 335, 435, 635 Control condition setting section 239 Charging Management Department 336 Other machine information acquisition section 438 Sonic Signal Acquisition Unit 500 Management device 501 Information Acquisition Department 502 Position calculation section 503 Guidance position calculation section 505 Guidance information generation unit 507 Guidance information output unit

Claims

1. A detection means for detecting an emergency exit light used to form a corridor used by the drone from an image captured by a camera mounted on the drone and identifying a position of the detected emergency exit light; A calculation means for calculating a predicted arrival position of the drone at a control timing subsequent to the image capturing timing according to the positions of the drone and the emergency light, and a control target position according to the positional relationship between the drone and the emergency light; a control condition generating means for generating control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position; A control condition setting means for setting the control conditions for the motor of the drone, The detection means includes: Detecting a reference escape light to be referenced in the use of the corridor according to a plurality of emission colors at different heights of the escape light; A control device that determines the vertical position of the drone in the corridor according to the multiple light colors of the detected reference guide lights.

2. The control condition generating means The control device according to claim 1 , which generates the control condition for moving the drone from the predicted arrival position toward the control target position.

3. The control condition generating means When a distance between the reference guide light and the drone is smaller than a minimum designated distance set for the reference guide light, the control condition is generated to control the motor so that the drone moves away from the reference guide light; 3. The control device according to claim 1 or 2, wherein when a distance between the reference guide light and the drone is greater than a maximum designated distance set for the reference guide light, the control condition is generated to control the motor so that the drone approaches the reference guide light.

4. a sound wave signal acquiring means for acquiring a sound wave signal corresponding to the sound wave emitted from the emergency light; The calculation means is The control device according to claim 1 , further comprising: a control section configured to calculate a positional relationship with the emergency light by using the acquired sound wave signal.

5. The calculation means is The control device according to claim 4 , further comprising: a controller configured to calculate a distance to the emergency light in accordance with a frequency of the acquired sound wave signal.

6. The calculation means is The control device according to claim 4 or 5, wherein the control device calculates a distance to the emergency exit light in accordance with an acoustic intensity of the acquired sound wave signal.

7. A control device according to any one of claims 4 to 6; A motor that is driven and controlled by the control device; A propeller that rotates in response to the driving of the motor; a transmission information generating means for generating transmission information including identification information and location information of the own device; a communication means for communicating with a management device that manages a corridor and transmitting the transmission information to the management device; A camera that outputs a captured image to the control device; Rechargeable battery and A drone equipped with a microphone that receives sound waves emitted from an emergency light used to form the corridor.

8. The computer Detecting guide lights used to form a corridor used by the drone from an image captured by a camera mounted on the drone; Identifying the position of the detected emergency exit light; Calculating a predicted arrival position of the drone at a control timing subsequent to the image capturing timing according to the positions of the drone and the emergency exit light, and a control target position according to a positional relationship between the drone and the emergency exit light; generating control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position; Setting the control conditions for the motor of the drone; In the detection, Detecting a reference escape light to be referenced in the use of the corridor according to a plurality of emission colors at different heights of the escape light; A control method for determining the vertical position of the drone in the corridor according to the multiple light colors of the detected reference guide light.

9. A process of detecting, from an image captured by a camera mounted on a drone, an emergency exit light used to form a corridor used by the drone; A process of identifying a position of the detected emergency exit light; A process of calculating a predicted arrival position of the drone at a control timing subsequent to the image capturing timing according to the positions of the drone and the emergency light, and a control target position according to a positional relationship between the drone and the emergency light; A process of generating control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position; A process of setting the control conditions for the motor of the drone; In the detection process, A process of detecting a reference escape light to be referred to in the use of the corridor according to a plurality of emission colors at different heights of the escape light; A program that causes a computer to execute a process of identifying the vertical position of the drone in the corridor according to the multiple light colors of the detected reference guide light.

10. A detection means for detecting an emergency exit light used to form a corridor used by the drone from an image captured by a camera mounted on the drone and identifying a position of the detected emergency exit light; a sound wave signal acquiring means for acquiring a sound wave signal corresponding to a sound wave emitted from the emergency light; A calculation means for calculating a predicted arrival position of the drone at a control timing following the capture timing of the image according to the positions of the drone and the emergency light, and a control target position according to the positional relationship between the drone and the emergency light, and calculating a positional relationship with the emergency light using the acquired sound wave signal; a control condition generating means for generating control conditions for a motor that drives a propeller of the drone according to the predicted arrival position and the control target position; A control device comprising: a control condition setting means for setting the control conditions for the motor of the drone.

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