Landing assistance device

Abstract

To prevent landing accuracy using a marker from being reduced in a takeoff and landing support device provided with markers to identify a relative position between a flying object and a platform.SOLUTION: A platform 14 has a takeoff and landing surface 14a. The takeoff and landing surface 14a has an opening section 16 to load and unload cargo to and from a flying object 12. The takeoff and landing surface 14a also has a plurality of makers 36A, etc. Each marker is shaped to identify a relative position between the flying object 12 and the platform 14. The opening section 16 is positioned on the takeoff and landing surface 14a so that an edge line 16a of the opening section 16 does not intersect with any marker.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a device for assisting takeoff and landing of a flying object.

Background Art

[0002] Flying objects such as drones and unmanned aerial vehicles (UAVs) are known.

[0003] Patent Document 1 describes a drone port for landing a drone on the roof of a vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, markers for specifying the relative position between a flying object and a stage may be formed on the takeoff / landing surface of a stage such as a drone port. The flying object lands on the stage using the marker as a landmark. This improves the accuracy of landing.

[0006] In addition, an opening for loading / unloading with the flying object may be formed on the takeoff / landing surface. Generally, the opening is provided with a lid that can be opened and closed. If a marker is formed across the lid and other parts, the marker may be divided when the lid is open, and the marker may not function as a landmark. As a result, the marker is not correctly recognized by the flying object, and the landing accuracy of the flying object decreases.

[0007] An object of the present disclosure is to suppress a decrease in landing accuracy using a marker in a takeoff / landing assist device in which a marker for specifying a relative position between an aircraft and a stage is formed.

Means for Solving the Problems

[0008] One aspect of the present disclosure is a stage having a takeoff / landing surface where an aircraft takes off and lands, an opening formed in the takeoff / landing surface for performing a cargo handling operation between the aircraft and the stage, A lid provided at the opening and capable of opening and closing, and a marker for specifying a relative position between the aircraft and the stage is formed on the takeoff / landing surface, and the opening is formed on the takeoff / landing surface so that an edge of the opening does not cross the marker. and , a visual recognition assisting surface is provided along the edge of the lid. The thickness of the visual recognition assisting surface is thinner than the thickness of the lid body. The surface of the visual recognition assisting surface is located below the surface of the lid body in the vertical direction. A step is formed along the edge of the lid. When the lid body is arranged at the same height as the height of the stage and the opening is closed, the visual recognition assisting surface is located in the gap between the lid body and the edge of the opening of the stage , , characterized by a takeoff / landing assist device.

[0009] According to the above configuration, since the edge of the opening does not cross the marker, the marker is not divided by the opening. Therefore, it is possible to suppress the aircraft from misrecognizing the marker and suppress a decrease in the landing accuracy of the aircraft.

[0010] pre The color of the visual recognition assist surface may be a color different from the color of the marker and may be the same color as the color of a portion of the takeoff / landing surface where the marker is not formed.

Effects of the Invention

[0011] According to the present disclosure, in a takeoff / landing assist device in which a marker for specifying a relative position between an aircraft and a stage is formed, it is possible to suppress a decrease in landing accuracy using the marker.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

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Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0013] With reference to FIGS. 1 and 2, the takeoff / landing assist device 10 according to the embodiment will be described. FIGS. 1 and 2 are perspective views showing the takeoff / landing assist device 10 and the flying object 12.

[0014] The takeoff / landing assist device 10 is a device that assists the takeoff and landing of the flying object 12. The flying object 12 is a drone, an unmanned aerial vehicle, or the like. When a drone is used as the flying object 12, the takeoff / landing assist device 10 may be referred to as a drone port. In the takeoff / landing assist device 10, for example, loading and unloading of the flying object 12, power supply to the flying object 12, replacement of parts of the flying object 12, or storage of the flying object 12 is performed.

[0015] The takeoff / landing assist device 10 includes a stage 14, an opening 16, a lid 18, and a control device 20.

[0016] The stage 14 has a rectangular shape as a whole and is a stage on which the flying object 12 takes off and lands. Specifically, the stage 14 has a takeoff / landing surface 14a, and the flying object 12 lands on the takeoff / landing surface 14a and takes off from the takeoff / landing surface 14a.

[0017] As shown in FIG. 2, an opening 16 is formed in the takeoff / landing surface 14a. A mechanism for transferring the luggage 32 to and from the flying object 12 is provided below the stage 14. The luggage 32 is transferred between the mechanism and the flying object 12 through the opening 16. The luggage 32 mounted on the flying object 12 is conveyed below the stage 14 through the opening 16, or the luggage 32 is mounted on the flying object 12 through the opening 16. Also, power may be supplied to the flying object 12 through the opening 16.

[0018] A lid 18 that can be opened and closed is provided in the opening 16. The lid 18 forms part of the stage 14. The lid 18 opens when handling or power supply is performed, and closes at other times. The opening and closing of the lid 18 is performed under the control of the control device 20, for example, by a motor or the like. For example, the lid 18 is moved in a direction perpendicular to the takeoff / landing surface 14a (vertical direction) by the driving force of the motor. When the lid 18 is moved below the stage 14, the opening 16 is in an open state. When the lid 18 is moved to the same height as the takeoff / landing surface 14a, the opening 16 is closed by the lid 18.

[0019] A marker formation area 22 is defined on the takeoff / landing surface 14a. A plurality of markers are formed in the marker formation area 22. In FIGS. 1 and 2, the illustration of the markers is omitted. The marker is a figure or pattern for specifying the relative position between the flying object 12 and the stage 14. For example, the marker is a barcode, a two-dimensional code, or other figures or patterns. The markers will be described in detail later.

[0020] A camera or a radar may be provided on the stage 14, and the flying object 12 may be detected by the camera or the radar.

[0021] The control device 20 controls power supply to the flying object 12, opening and closing of the lid 18, etc. Further, the control device 20 has a communication device and communicates with other devices using wireless communication technology or wired communication technology. For example, the control device 20 may communicate with other devices via a communication path such as the Internet, a wireless line, or a LAN (Local Area Network), or may communicate with other devices using short-range wireless communication technology. For example, the control device 20 communicates with the flying object 12 using wireless communication technology.

[0022] The control device 20 is, for example, a computer having a processor such as a CPU (Central Processing Unit) and a memory. The functions of the control device 20 are realized by the processor executing a program stored in the memory. The control device 20 may be an electronic circuit, a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), or the like.

[0023] The flying object 12 includes a fuselage 24, a flying propeller 26, a pair of legs 28R and 28L, and a gripping mechanism 30. As the flying object 12, a known drone or unmanned aircraft can be used.

[0024] The flying object 12 includes a battery, a motor for driving the propeller 26, various sensors (gyro sensor, acceleration sensor, geomagnetic sensor, pressure sensor, GPS (Global Positioning System), etc.), a camera, a radar, a flight computer for controlling the flying object 12, various drivers, and a communication device using wireless communication technology or wired communication technology, etc.

[0025] The flight computer controls the flight (ascending, descending, horizontal movement, etc.) of the flying object 12 by controlling the motor, or controls the attitude of the flying object 12 based on the information acquired by the gyro sensor.

[0026] The legs 28R and 28L include rod-shaped support legs extending downward from the fuselage 24, and rod-shaped horizontal legs attached to the support legs and extending horizontally. The legs 28R and 28L support the flying object 12 when the flying object 12 lands on the stage 14.

[0027] The gripping mechanism 30 is installed at the lower part of the fuselage 24 and grips the luggage 32 by sandwiching it. The flying object 12 transports the luggage 32 while gripping the luggage 32 by the gripping mechanism 30.

[0028] As shown in FIG. 2, the flying object 12 performs cargo handling at the position of the opening 16 on the landing / takeoff surface 14a while gripping the luggage 32. The flying object 12 lands at a position other than the opening 16 on the landing / takeoff surface 14a and is moved to the position of the opening 16 by a moving mechanism (not shown).

[0029] The flying object 12 is controlled by, for example, a terminal device or a server. The terminal device is, for example, a drone controller, a smartphone, or a tablet terminal. The terminal device and the server control the flying object 12 by transmitting a control command signal indicating a flight command of the flying object 12 to the flying object 12. The communication device of the flying object 12 receives the control command signal transmitted from the terminal device or the server, and the flight computer of the flying object 12 controls the flight and attitude of the flying object 12 according to the control command signal. Note that the flying object 12 may be controlled by the control device 20.

[0030] FIG. 3 shows an example of the markers formed in the marker formation area 22. The markers 34A to 34H are two-dimensional codes such as QR codes (registered trademarks). The shape and size of the markers are not particularly limited.

[0031] FIGS. 4 to 6 show an example of the markers formed in the marker formation area 22. FIGS. 4 and 5 are perspective views showing the marker formation area 22. In the example shown in FIG. 4, the opening 16 is closed. In the example shown in FIG. 5, the lid 18 has moved to the lower side of the stage 14 and the opening 16 is open. FIG. 6 is a view when the lid 18 and its surroundings are viewed from above.

[0032] In the marker formation region 22, a plurality of markers are formed. Here, as an example, markers 36A, 36B, 36C, ···, 36I are formed in the marker formation region 22. Markers 36A, 36B, 36C, ···, 36I are two-dimensional codes having different patterns. One marker may be constituted by a plurality of small marker elements, such as marker 36E. Further, marker 36B is formed on the surface of the lid 18. Hereinafter, when it is not necessary to distinguish markers 36A, 36B, 36C, ···, 36I, these will be referred to as "marker 36".

[0033] Note that the size of marker 36B may be larger than the sizes of the other markers 36. Thereby, even when the lid 18 moves to the lower side of the stage 14, the flying object 12 can clearly read marker 36B, and as a result, marker 36B can be accurately recognized. Also, the border (frame) of marker 36B may be thicker than the borders of the other markers 36. Thereby, even when the lid 18 moves to the lower side of the stage 14, the flying object 12 can clearly read marker 36B.

[0034] Each marker 36 is associated with a position on the takeoff / landing surface 14a, and information indicating the association is pre-stored in the memory of the flying object 12.

[0035] For example, the marker 36 is photographed by a camera mounted on the flying object 12. The flight computer recognizes the marker 36 based on the photographed image, and refers to the information indicating the above association to specify the position associated with the marker 36. Thereby, the relative position of the flying object 12 with respect to the takeoff / landing surface 14a is specified. The flying object 12 controls its own position in the air based on the specified relative position and lands at the target position on the takeoff / landing surface 14a.

[0036] The marker 36 may be associated with a control command such as "forward" or "stop". The flying object 12 may adjust its position in the air according to the control command associated with the marker 36 photographed by the camera.

[0037] The opening 16 is formed in the takeoff / landing surface 14a so that the edge 16a of the opening 16 does not cross the marker. As shown in FIG. 6, for example, the marker 36B is not formed across the surface of the lid 18 and other parts of the marker formation region 22, but is formed only on the surface of the lid 18. That is, as shown in FIGS. 4 and 5, the edge 16a of the opening 16 is formed between the marker 36A and the marker 36B, between the marker 36B and the marker 36C, and between the marker 36B and the marker 36E, and does not cross the marker 36.

[0038] FIG. 7 shows the marker formation region 22 while the opening 16 is opening. The lid 18 has moved partway under the stage 14 and the opening 16 is open. Since the edge 16a of the opening 16 does not cross the marker 36, the marker 36 is not divided by the opening 16 even when the lid 18 moves under the stage 14 and the opening 16 opens. For example, since the marker 36B is formed only on the surface of the lid 18, even when the lid 18 moves under the stage 14, the edge 16a of the opening 16 does not cross the marker 36B and the marker 36B is not divided by the opening 16.

[0039] Since the marker 36 is not divided by the opening 16, it is possible to suppress the flying object 12 from misrecognizing the marker 36 when the opening 16 is open. As a result, it is possible to suppress a decrease in the landing accuracy of the flying object 12.

[0040] With reference to FIGS. 8 and 9, the structure near the edge of the lid 18 will be described. FIGS. 8 and 9 are perspective views showing a part of the lid 18 and a part of the marker formation region 22. In the example shown in FIG. 8, the opening 16 is closed, and in the example shown in FIG. 9, the opening 16 is open partway.

[0041] The lid 18 is composed of a lid body 18a and a visual recognition assisting surface 18b. A marker 36B is formed on the surface of the lid body 18a. The visual recognition assisting surface 18b is a member provided along the edge of the lid body 18a. The thickness of the visual recognition assisting surface 18b is thinner than the thickness of the lid body 18a, and the visual recognition assisting surface 18b is provided below the stage 14 relative to the surface of the lid body 18a. A step is formed along the edge of the lid 18 by the visual recognition assisting surface 18b. As shown in FIG. 8, when the lid 18 is arranged at the same height as the height of the landing / takeoff surface 14a and the opening 16 is closed, the visual recognition assisting surface 18b is arranged in the gap between the lid body 18a and the portion of the stage 14 other than the lid 18.

[0042] The color of the visual recognition assisting surface 18b is different from the color of the marker 36B formed on the surface of the lid body 18a, and is the same as the color of the portion where no marker is formed on the landing / takeoff surface 14a. Specifically, the color of the visual recognition assisting surface 18b is the same as the color of the portion where no marker 36 is formed in the marker formation region 22. For example, if the color of the marker 36B is black and the color of the portion where no marker 36 is formed in the marker formation region 22 is white, the color of the visual recognition assisting surface 18b is white.

[0043] Since the color of the visual recognition assisting surface 18b is different from the color of the marker 36B and is the same as the color of the portion where no marker 36 is formed in the marker formation region 22, it becomes easier for the flying object 12 to recognize the marker 36B. That is, since the difference in shading between the marker 36B and the other portions becomes clear, the marker 36B is recognized more accurately.

[0044] If the color of the visual recognition assisting surface 18b is the same as the color of the marker 36B (for example, black), the boundary between the marker 36B and the other portions becomes unclear, and thus the marker 36B is difficult to recognize. On the other hand, according to the present embodiment, since the boundary between the marker 36B and the other portions becomes clear, the marker 36B is recognized more accurately.

[0045] The takeoff / landing assistance device 10 may be provided on an object or a place where movement is not assumed, such as the ground, a road, a building, etc., or on an object or a place where movement is assumed, such as a moving body (a vehicle such as an automobile, a train, a ship, an airplane, etc.). For example, the takeoff / landing assistance device 10 is provided on the roof of a vehicle or the rooftop of a building.

Explanation of Signs

[0046] 10 Takeoff / landing assistance device, 14 Stage, 14a Takeoff / landing surface, 16 Opening, 18 Lid, 18a Lid body, 18b Visual recognition assistance surface, 22 Marker formation area, 36A~36I Marker.

Claims

1. A stage having a takeoff and landing surface where the aircraft takes off and lands, An opening formed on the takeoff and landing surface for performing cargo handling with the aircraft, A lid provided in the opening and capable of opening and closing, Characterized by having, On the takeoff and landing surface, markers are formed for specifying the relative position between the aircraft and the stage, The opening is formed on the takeoff and landing surface so that the edge of the opening does not cross the marker, A visual recognition assisting surface is provided along the edge of the lid, The thickness of the visual recognition assisting surface is thinner than the thickness of the lid body, the surface of the visual recognition assisting surface is located vertically below the surface of the lid body, a step is formed along the edge of the lid, and when the lid body is arranged at the same height as the stage and the opening is closed, the visual recognition assisting surface is located in the gap between the lid body and the edge of the opening of the stage, A takeoff and landing assisting device characterized by the above.

2. In the takeoff and landing assisting device according to Claim 1, The color of the visual recognition assisting surface is different from the color of the marker and the same as the color of the portion on the takeoff and landing surface where the marker is not formed, A takeoff and landing assisting device characterized by the above.

Images