Method for automatically taking off and landing a drone

Abstract

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

Description

Technical Field

[0001] Drone flight.

Background Art

[0002] Automatic takeoff and landing and automatic following flight to replace the manual operation of drone flight. Automatic shooting of a TV camera from a flying drone and automatic laser distance measurement from above.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

[0004] In a drone of a flying object that rises from a takeoff and landing position by supplying power using an electric wire incorporated in a string connecting the flying object, the drone is tied and held with a string and lifted to fly in the air at the length of the string. By winding the string connecting the flying drone, the drone attempting to rise is placed at a position where it is forced to land. Without operating the flying object of the drone, the drone that attempts to rise by the buoyancy of the rotating propeller by supplying power to the drone is automatically taken off and landed by winding and rewinding the string connecting the drone. Using the electric wire incorporated in the string, power is supplied to the flying drone to enable the drone to fly for a long time. An image reflected on a TV screen that is photographed for a long time from above using a TV camera attached to a drone that is tied and flying in the air is identified to ensure the safety of the surroundings. Using a TV camera attached to a drone that is tied and flying in the air, the TV screen photographed from above for a long time is viewed to remotely control the work equipment. Using a rider distance measuring device attached to a drone flying while tethered in the air, continue to measure the detailed distance of the surroundings from the air. Using a directional microphone attached to a drone flying while tethered in the air, continue to collect individual sounds of the surroundings from the air. Using the power supply supplied through the electric wire incorporated in the string attached to the drone flying while tethered in the air, light the LED lighting device attached to the flying drone to continue illuminating the surroundings. By tethering and flying the drone with a string, it is exempt from some regulations.

Problems to be Solved by the Invention

[0005] Without operating the flight of the drone body, automatically take off and land and perform follow-up flight of the drone using external equipment.

Means for Solving the Problems

[0006] By supplying power using the electric wire incorporated in the string connecting to the drone from the ground, the drone that automatically takes off from the ground is wound back the length of the string set in advance by the ground winch and raised, and tethered and flown at a distance of the length of the string set in advance above the ground. Automate the flight of the drone of the flying body by winding the string of the length set in advance by the ground winch and forcibly landing the drone that is about to rise by supplying power at the position where the ground is wound.

Effects of the Invention

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

[0008]

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Embodiment

[0009] To operate the drone completely automatically, the drone receives power supplied from an electric wire incorporated in the string that ties down the drone, and takes off and ascends from the position of the work vehicle while being connected to the string. The work vehicle holds and flies a drone that attempts to ascend to a pre-set flying position tied down by the string. The string to which the drone flying at the flying position of the string length is connected is pulled in to force the drone to land. A drone that automatically flies into the air is forcibly held using the string, and the flying position of the flying drone is made to continue stable flight in the air at the length of the string used to hold it, by supplying power to the flying drone using an electric wire incorporated in the string that ties down the drone and that attempts to strongly ascend. Using an electric wire incorporated in the string that ties down the drone, power is supplied for the flight of the drone, and the drone is made to fly for a long time in the air at the length of the string that ties down the drone. Power the LED lighting fixture attached to the drone using the electric wire incorporated in the string that secures the drone, and illuminate the area from above the ground in the direction of the ground for a long time along the length of the string that secures the drone. Automatically and stably fly over the pre-set length of the string, and automatically photograph the ground direction using a TV camera attached to the drone. By identifying the image reflected on the TV screen captured by the TV camera, it is possible to pre-sense the danger around the work vehicle, automatically stop the work of the work vehicle, and prevent the occurrence of accidents.

[0010] Enlarge and photograph the working position of the image for visual recognition using the driving value that drives the driving mechanism of the numerically controlled TV camera associated with the working position of the image reflected on the TV screen captured by the TV camera attached to the flying drone. Irradiate the working position of the image with laser light for distance measurement using the driving value that drives the numerically controlled laser rangefinder associated with the working position of the image reflected on the TV screen, measure the distance from the working position of the image, and grasp the terrain of the working position. Listen to the sound from the working position of the image using the driving value that drives the driving mechanism of the numerically controlled directional microphone associated with the working position of the image reflected on the TV screen, and grasp the working state. Adjust the length of the string wound by the plurality of winches so that the position of the image of the subject reflected on the TV screen captured by the TV camera attached to the flying drone connected to the string wound around the plurality of winches appears in the center of the TV screen, and photograph the subject from the drone flying while tracking the subject. Track and photograph the subject using a numerically controlled TV camera associated with the position of the image of the subject reflected on the TV screen for tracking and photographing. Using the TV screen captured from above the construction site using a TV camera, the image recognized on the TV screen, and the measured distance and direction of the position of the recognized image, make the construction site a three-dimensional space grasped by the computer, and perform the work at the construction site with a work vehicle driven by the driving value of the three-dimensional space.

[0011] Example: Raise the drone 1 flying from above the moving vehicle 5 in Fig. 1, tie it to a thin wire rope 4 attached to the drone 1, fasten it at a preset length in the air above the moving vehicle 5, and pull the drone 1 along the thin wire rope 4 in accordance with the traveling direction of the moving vehicle 5 and make it fly following behind. While the drone 1 is flying in a state of rising to a preset height above the position of the winch 9 where the thin wire rope 4 is connected, use the winch 9 of the thin wire rope 4 to pull the drone 1 and place it at the position of the winch 9 on the upper part of the moving vehicle 5. Shoot in the ground direction using the TV camera 2 attached to the drone 1 from the air where the drone 1 is flying above the position connected to the thin wire rope 4.

[0012] Example: With a preset length of the thin wire rope 4 from the winch 9 of the thin wire rope 4 installed on the moving vehicle 5 in Fig. 2, at a position in the air above the moving vehicle 5, connect the drone 1 to the thin wire rope 4 and make it fly following behind. In accordance with the traveling direction of the moving vehicle 5, make the drone 1 connected to the thin wire rope 4 fly in a direction of being pulled by the thin wire rope 4 to a preset length following behind. Detect the inclination of the pulled thin wire rope 4 and make the drone 1 fly in a direction to correct the inclination, so that the drone 1 flies directly above the moving vehicle 5 or in the direction of a set inclination. From the TV screen shot using the TV camera 2 attached to the drone 1 flying in accordance with the moving vehicle 5, accurately grasp the positional relationship among the parent-child 6, the vehicle 7 behind, and the street tree 8 in front around the moving vehicle 5.

[0013] In order to better recognize the subject 12 that observes the image of the subject 15 shown on the television screen 13 that captures the ground direction using the television camera 2 attached to the flying drone 1 for the subject 12 in FIG. 3 of the embodiment, the operation panel 33 of the drive mechanism for changing the shooting direction of the numerically controlled television camera 3 attached to the flying drone 1 is used for operation, and an enlarged image 26 of the subject is captured on the numerically controlled television screen 14 so that it can be better recognized. Associate the position of the image of the subject 15 shown on the television screen 13 with the drive numerical value of the drive position obtained by operating the operation panel 33 of the drive mechanism of the numerically controlled television camera 3 that captures the enlarged image 26 of the subject so that it can be better recognized on the numerically controlled television screen 3. Using the drive numerical values of the several different drive positions obtained by operating the operation panel 33 of the drive mechanism of the numerically controlled television camera 3 that captures the enlarged image 26 of the subject for the positions of the images of the several different subjects 15 shown on the television screen 13 captured using the television camera 2 of the subject 12 at several different positions, obtain the drive numerical values of all the drive positions for operating the operation panel 33 of the drive mechanism of the numerically controlled television camera 3 that captures the enlarged image 26 of the subject so that it can be better recognized on the numerically controlled television screen 14 for the positions of the images of all the subjects 15 shown on the television screen 13 captured using the television camera 2 of the subject 12 at all different positions using the calculation formula of the interpolation method.

[0014] In order to better recognize the image of the subject 12 shown in the images of all the subjects 15 on the television screen 13 captured using the television camera 2 of the subject 12 at all different positions attached to the flying drone 1, drive the drive mechanism using the associated drive numerical values of the numerically controlled television camera 3 at the position of the image of the subject 15 on the television screen 13 or at the position of the image indicated on the television screen 13, so that the numerically controlled television camera 3 captures an enlarged image 26 shown on the numerically controlled television screen 14 so that the subject 12 can be better recognized. In the driving mechanism of the numerically controlled television camera 3 shown in FIG. 4 of the embodiment, a laser distance measuring device 35 is attached so as to measure the distance to a subject reflected in the direction of the center of the television screen photographed by the numerically controlled television camera 3. The laser light 34 for distance measurement of the laser distance measuring device 35 is irradiated to measure the distance to the subject reflected in the center of the television screen of the television screen. Using the driving numerical value associated with the position 15 of the image reflected on the television screen 13, the distance between the subject 12 of the enlarged image 26 reflected in the center of the numerically controlled television screen 14, which is photographed by driving the driving mechanism of the numerically controlled television camera 3, can be measured.

[0015] In the embodiment, in order to measure the distance between the subject 12 and the subject 15 whose image is reflected on the television screen 13 photographed using the television camera 2 attached to the flying drone 1 of the subject 12 shown in FIG. 5, the operation panel 33 of the driving mechanism for changing the irradiation direction of the laser light 34 for measurement of the numerically controlled laser distance measuring device 20 attached to the flying drone 1 is used to drive the laser light 34 for measurement to irradiate the subject 12, and the distance from the flying drone 1 to the subject 12 is measured. The position of the image 15 of the subject reflected on the television screen 13 is associated with the driving numerical value of the driving position where the driving mechanism of the numerically controlled laser distance measuring device 20 that irradiates the laser light 34 for measurement of the numerically controlled laser distance measuring device 20 to the subject 12 is operated. In order to measure the distances to the subjects 12 at several different positions, the operation panel 33 of the driving mechanism for changing the irradiation direction of the laser light 34 for measurement of the numerically controlled laser distance measuring device 20 is used to drive the laser light 34 for measurement to irradiate the subjects 12 at the several different positions, and the distance from the flying drone 1 to the subjects 12 is measured.

[0016] Using the positions of the images 15 of the several different subjects reflected on the TV screen 13 and the several different drive numerical values at the drive positions driven using the operation console 33 of the drive mechanism of the numerically controlled laser rangefinder 20 that irradiated the measurement laser light 34 of the numerically controlled laser rangefinder 20 onto the subjects 12 at the several different positions, obtain all the drive numerical values at the drive positions for driving the drive mechanism of the numerically controlled laser rangefinder 20 that irradiates the measurement laser light 34 of the numerically controlled laser rangefinder 20 onto the subjects 12 at all the positions using the calculation formula of the interpolation method. The distance to the subject 12 reflected in the images 15 of all the subjects on the TV screen 13 photographed using the TV camera 2 attached to the flying drone 1 at all different positions, or at the position of the image indicated on the TV screen 13, drive the drive mechanism using the associated drive numerical values of the numerically controlled laser rangefinder 20 to irradiate the measurement laser light 34 onto the subject 12 and measure the distance to the subject 12. Display an image of the subject to be photographed magnified by the zoom function provided in the numerically controlled TV camera 3 corresponding to the measured distance on the numerically controlled TV screen 14.

[0017] In the example, to listen to the voice of the subject 12 that gazes at the image of the subject 15 reflected on the TV screen 13 photographed using the TV camera 2 attached to the flying drone 1 of the subject 12 in FIG. 6, operate using the operation console 33 of the drive mechanism that changes the sound collection direction 81 of the numerically controlled directional microphone 80 attached to the flying drone 1 to direct the sound collection direction 81 of the numerically controlled directional microphone 80 at the subject 12 and collect the voice of the subject 12. Associate the position of the image 15 of the subject shown on the TV screen 13 with the drive numerical values of the drive mechanism of the numerically controlled directional microphone 80 that directs the sound collection direction 81 towards the subject 12. To listen to the voices of the subject 12 at several different positions, operate using the operation console 33 of the drive mechanism that changes the sound collection direction 81 of the numerically controlled directional microphone 80, change the sound collection direction 81 towards the subject 12 at the several different positions, and collect the sound of the subject 12.

[0018] Using the positions of the images 15 of the several different subjects shown on the TV screen 13 and the several different drive numerical values of the drive positions operated using the operation console 33 of the drive mechanism of the numerically controlled directional microphone 80 that directs the numerically controlled directional microphone 80 towards the subject 12 at the several different positions, use all the drive numerical values of the drive positions for operating the drive mechanism of the numerically controlled directional microphone 80 that directs the sound collection direction 81 towards the subject 12 at all positions, and obtain them using the calculation formula of the interpolation method. Using the drive numerical values associated with the numerically controlled directional microphone 80, drive the drive mechanism towards the position of the subject 12 shown in the images 15 of all the subjects on the TV screen 13 taken using the TV camera 2 of all different positions of the subject 12 attached to the flying drone 1, or towards the position of the image indicated on the TV screen 13, so that the sound collection direction 81 is directed towards the subject 12 and the voice of the subject 12 can be heard. By listening to the sound derived from the work at the work site, the work situation can be recognized. By obtaining the work situation at the work site through the TV screen 13 taken from above the work site, the TV screen 14, the distance measured from above, and the sound collected from above via the Internet, the remote operation of the work equipment at the work site becomes easier.

[0019] Over the construction site shown in Fig. 7, the drone 1 tied to the thin wire rope 4 of a preset length is continuously flown to a preset height, and the construction site is continuously photographed from above using the TV camera 2 attached to the lower side of the drone 1. Attach the lidar distance measuring device 85 to the pan-tilt 96 that rotates horizontally on the lower side of the drone 1, and while rotating the pan-tilt 96 horizontally, scan the entire circumference in the vertical direction downward of the drone 1 to measure the distance to the ground. Adjust the shooting range of the TV camera 2 and the measurement position range of the scan of the lidar distance measuring device 85 so that the position of the subject reflected at the position of the preset measurement reference point on the TV screen 13 photographed by the TV camera coincides with the direction of the measurement reference point where the measurement laser light is irradiated in the vertical direction of the scan of the lidar distance measuring device 85. The distances obtained by measuring by scanning while shifting the scanning directions of the distance measurement laser scanning lines N, N+1, N+2, N+3, N+4 on the measurement screen 89 of the lidar distance measuring device 85 by the rotation of the pan-tilt 96 each time are used to measure and update the subjects reflected in all the images reflected on the TV screen 13. Update the memory according to the position of the image on the TV screen 13 photographed by the TV camera 2.

[0020] By continuously shifting the vertical rotation from approximately the same position above the construction site and laser-scanning the distance measurement of the lidar distance measuring device 85, it is possible to continuously measure the measurement locations where the width between scans is narrowed by rotating several times the distance between the rotational scans. Attach the lidar distance measuring device 85 to the drive mechanism that rotates horizontally at the bottom of the drone 1 and rotate it to continuously scan the lidar distance measuring device 85 in the vertical direction to measure the distance, and shift the scanning positions little by little to measure, thereby increasing the number of scanning locations to be measured. This is a method to eliminate the drawback of the rough measurement points of the lidar distance measuring device 85. Use the lidar distance measuring device 85 attached to the drone 1 that is tied to the thin wire rope 4 and continuously flies over the construction site to measure and store all positions of the construction site in detail. The distance of the image shown on the TV screen 13 captured by the TV camera 2 from the drone 1 continuously flying above the construction site can be known as the updated latest distance. The distance obtained by repeating the above update for learning and focusing will become a highly accurate detailed measurement distance.

[0021] Embodiment The takeoff of the drone 1 in FIG. 8 is achieved by tying it to a string wound around a winch 9 installed on the ceiling of the vehicle 5. When the power supply from the electric wire incorporated in the string to the drone 1 placed on the ceiling of the construction vehicle is started, the rotation of the motor that rotates the propellers of the drone 1 begins. The rotation of the propellers generates buoyancy, causing the drone to rise. By unwinding the thin wire rope 4 wound around the winch 9 installed on the upper part of the vehicle 5 to the set length, the drone 1 can be raised to the preset altitude above the vehicle 5 and automatically tied to the altitude corresponding to the set length of the released wire rope 4 while attempting to rise above the vehicle 5 using the thin wire rope 4. The drone 1 flying in accordance with the movement of the vehicle 5 is pulled by the thin wire rope 4 tied to the winch 9 and flies while tracking the set altitude. By pulling in the thin wire rope 4 that ties the drone 1 rising above the vehicle 5 to the set length using the winch 9 installed on the upper part of the vehicle 5, the drone 1 in the flying state attempting to rise can be automatically placed at the position of the vehicle 5. By tying the drone 1 attempting to rise with the thin wire rope 4, the drone 1 can be automatically flown stably above the vehicle 5 using the tension of the thin wire rope 4 from the winch 9.

[0022] Embodiment Using a thin wire rope 4 with a preset length, the drone 1 flying at a preset altitude and tied above the construction vehicle 17 in FIG. 9 is tilted and flown in the working direction of the construction vehicle 17 according to the orientation of the working position 21 of the construction vehicle 17 by tilting the thin wire rope 4 that ties it. Using the television camera 2 attached to the vertical mechanism 76 installed so as to face directly downward from directly above the working position 21 of the construction vehicle 17, a wide range of the working position 21 is photographed. Based on the position of the image 23 of the construction vehicle on the television screen 13 photographed using the television camera 2, the distance to the working range 83 is set on the television screen 13. Identify the image of the construction vehicle 23A at the adjacent working position shown on the television screen 13, and if the identified image intrudes into the working range 83, automatically stop the operation of the construction vehicle 17 using the television screen 13, or operate the construction vehicle 17 so as to move outside the working range 83 of the construction vehicle 17 to avoid contact with the construction vehicle 17A. Perform image recognition on the television screen 13 obtained by photographing from above the working position 21 of the construction vehicle 17 using the television camera 2, or at the position of the image 22 of the working position indicated on the television screen 13, and while looking at the numerically controlled television screen 14 photographed by driving the drive mechanism of the numerically controlled television camera 3 using the drive numerical values of the numerically controlled television camera 3 associated using the above-described complementary calculation method, construction work can be performed.

[0023] Also, perform image recognition on the television screen 13 obtained by photographing from above the working position of the construction vehicle 17 using the television camera 2, or at the position of the image 22 of the working position indicated on the television screen 13, and while measuring the distance to the working position 21 and the height difference of the working position 21 by driving the drive mechanism of the numerically controlled laser distance measuring instrument 20 using the drive numerical values of the numerically controlled laser distance measuring instrument 20 associated using the above-described complementary calculation method, the construction vehicle 17 can be operated. Let the construction vehicle 17 learn many work operations by a skilled worker using the measured distance and shape of the image 22 of the working position and the image 23 of the construction work shown on the television screen 13. By quantifying the work of the construction vehicle 17 from the image of the working position 22 shown on the television screen 13 and the measured distance, the work of the construction vehicle 17 can be performed using the learned work method. Attach the TV screen 14A captured using the numerically controlled TV camera 3 at the working position 21 to the position of the image 22 of the construction work on the TV screen 13A, and operate the remote control of the construction vehicle 17 while looking at the numerically controlled TV screen 14A attached to the large TV screen 13A without shifting the line of sight to view the working position of the image 23 of the construction vehicle on the TV screen 13A. Also, the TV screen captured using the numerically controlled TV camera 3 at the working position 21 can be displayed on the TV screen 14B from the direction of remote operation for remote operation. Measure the height difference using the associated numerically controlled laser rangefinder 20 at the working position near the image 22 of the working position shown on the TV screen 13 that widely captures the working position 21, and display the measured height difference near the working position on the image 24 of the working place shown on the TV screen 14C that intensively tracks and captures the image 22 of the working position shown on the TV screen 13. While viewing via the Internet, the construction vehicle 17 can work remotely via the Internet.

[0024] Example: Prior to flying, fix and hold the drone 1 with a thin wire rope 4 of a preset length at a height where the construction area is photographed using the TV camera 2 in FIG. 10. Supply power to the flying drone 1 using the electric wire incorporated in the thin wire rope 4 to fly at a preset height for a long time. Using the TV camera 2 attached to the flying drone 1, photograph the construction vehicles 17, 17A, 17B, 17C, 17D operating in the construction area below the flying drone 1. A working range 83 is provided around the positions of the images 23, 23A, 23B, 23C, 23D of the construction vehicle reflected on the photographed TV screen 13. The images 23, 23A, 23B, 23C, 23D of the construction vehicle reflected on the TV screen 13 are identified. Using the TV screen 13 on which the identified image has entered the working range 83, the operation of the construction vehicles 17, 17A, 17B, 17C, 17D is automatically stopped, or the construction vehicles 17, 17A, 17B, 17C, 17D are moved outside the working range 83 of the construction vehicles to avoid contact with each other's construction vehicles, and the construction vehicles 17, 17A, 17B, 17C, 17D are operated.

[0025] Using the numerically controlled TV camera 3 associated by the method described above, photograph the construction vehicles 17, 17A, 17B, 17C, 17D at the positions of the images 23A, 23B, 23C, 23D, 23E of the construction vehicle reflected on the TV screen 13, and identify the working state using the method of image recognition. Using the numerically controlled laser distance measuring instrument 20 associated by the method described above, measure the height difference of the construction range, and the construction situation can be grasped using the numerically controlled TV screen photographed by the numerically controlled TV camera 3. Create a three-dimensional map of the construction range using the measured distance of the construction range measured by the numerically controlled laser distance measuring instrument 20. Arrange the actually measured construction vehicles 17, 17A, 17B, 17C, 17D on the three-dimensional map to manage the construction work. The drone 1 that automatically takes off and lands from the ceiling position by the winch 9 attached to the ceiling of the construction vehicle 17 in Fig. 11 of the embodiment is connected to the sky at the set length of the thin wire rope 4 to the winch 9 of the construction vehicle 17. By supplying power to the motor that rotates the propeller from the construction vehicle 17 using the electric wire cable incorporated in the thin wire rope 4, the rotation of the propeller is started and the drone 1 is tied to the thin wire rope 4 released by the winch 9 according to the buoyancy of the drone 1 trying to rise, and the drone 1 is raised and tied to the sky at the set length of the released thin wire rope 4 to fly.

[0026] The flying drone 1 receives the power supply for the motor of the flying drone 1 and the image signals captured by the TV camera attached to the drone 1 through the power cable and the optical cable incorporated in the thin wire rope 4. The drone 1 to be flown rises by the power supply from the electric wire connected to the drone 1 and can fly for a long time by receiving the power supply from the construction vehicle 17 at an altitude corresponding to the length of the thin wire rope 4 connected to the drone 1. The drone 1 flying over the construction vehicle 17 while receiving the power supply from the construction vehicle 17 is lowered from above the flying construction vehicle 17 by winding up the thin wire rope 4 of the winch 9 and is landed at the position of the winch 9 attached to the ceiling of the construction vehicle 17. The flying drone 1 starts flying by being supplied with power from the construction vehicle 17 regardless of the operating function provided on the drone 1, and is landed by winding up the thin wire rope 4 regardless of the operating function provided on the drone 1.

[0027] Therefore, it is possible to take off, land, and fly to the flight position by automatic operations of power supply, winding, and rewinding of the winch 9 instead of manual operation of the drone 1. The thin wire rope 4 can be made of a string such as lighter and softer carbon fiber. In the drone 1 of FIG. 12 of the embodiment, a sensor 25 is provided, and it is possible to detect the tension of the thin wire rope 4 that ties down the drone 1 and the inclination of the thin wire rope 4, and perform stable flight to stop the ascent of the drone 1. The drone 1 flying at a position where the buoyancy for the ascent of the flying drone 1 and the tension of the thin wire rope 4 are balanced can maintain stable flight. The sensor 25 is provided to detect the inclination of the string that ties down the drone 1 in the direction of the tension of the wire rope 4, and fly the drone 1 in a direction to correct the inclination or in a direction to correct it to match a set inclination. An image that obstructs the ascent of the drone 1 can be detected from a TV screen showing the upward direction photographed by a TV camera attached to the upper part of the drone 1, and the drone 1 can fly to avoid ascending.

[0028] Example: The drone 1 connected to the thin wire rope 4 of a preset length from the construction vehicle 17 running at night in Fig. 13 is tilted in the advancing direction of the thin wire rope 4, and the drone 1 is made to fly in the preset sky in front of the construction vehicle 17 following the running of the construction vehicle 17. The drone 1 is made to fly in pursuit using a compass attached to the drone 1 so as to match the azimuth in the running direction of the construction vehicle 17. The LED lamp attached to the drone 1 flying in the sky ahead is lit with the power supplied by the electric wire incorporated in the thin wire rope 4 from the construction vehicle 17 to illuminate the running direction of the construction vehicle 17. Using the TV camera 1 attached to the flying drone 1, the front of the illuminated running direction of the construction vehicle 17 is photographed from above the sky. Using the illumination from the same direction as during the day, the operation of the construction vehicle 17 running at night is carried out by looking at the same image as during the day of the destination of the image 23 of the construction vehicle shown on the photographed TV screen 13. Using the TV camera attached to the flying drone 1, the construction vehicle 17 for construction work is remotely operated from locations with different time zones via the Internet, looking at the location of the construction vehicle 17 at night.

[0029] Example: The drone 1 in Fig. 14 is connected to a thin wire rope 4 of a preset length from a winch 9 attached to the ship 38, and is made to fly at a preset height above the ship 38. While looking at the TV screen 13 that photographs the sea around the ship 38 using the TV camera 2 attached to the drone 1, the ship 38 is made to sail. The subject of the image is confirmed by looking at the numerically controlled TV camera screen photographed using the drive numerical values of the numerically controlled TV camera 3 associated with the position of the image shown on the TV screen 13. Using the numerically controlled laser rangefinder 20 associated with the position of the image reflected on the TV screen 13, it is possible to approach the shore wall 39 from above the ship 38 at the measured distance. It is possible to accurately and quickly measure the distance to a nearby subject that is difficult to measure with a ship's radar. By sharing the captured screen and the measured distance with the relevant personnel involved in landing and departure, shortening of the landing and departure times and safe landing are ensured. Example By starting power transmission from the electric wire woven into the thin wire rope 4 connected to the drone 1 in FIG. 15, the drone 1 that attempts to rise by the buoyancy of the rotating propeller by the motor incorporated in the drone 1 is forced to wind up the string using the winder 44 that winds up the string connected to the drone, pulling the flying drone directly above the storage rack 47 and placing it in the center of the storage rack 47. In order to do this, the flying drone is flown to the center according to the distance measured by the distance sensor 77 installed around the storage rack 47, and by further winding up, the flying drone can be placed at the center position of the storage rack 47.

[0030] The drone that rises by energizing the motor incorporated in the drone 1 is raised from the position of the storage rack 47 where it is placed by releasing the string connected to the drone, and the drone that rises by pulling the string is placed at the position of the storage rack 47 that pulls it in. Example A drone flying at a height set in advance at a high altitude in FIG. 16 is tied to the storage rack 47 and a plurality of mooring points 90 incorporated in the generator 84 during strong winds and stably flown over the construction site. Example Using the electric wire woven into the thin wire rope 4 connected to the drone 1 placed in the storage rack 47 installed on the portable battery 44 in FIG. 17, the drone 1 that rises by the buoyancy of the rotating propeller by the motor incorporated in the drone 1 is made to take off and land from the storage rack 47 by releasing the string of the winder 9 connected to the drone. The drone that ascends by releasing the string connected to it is tied and stays above the storage rack 47 at the position of the length of the string of the winder 9 from which the string has been released. The flying drone 1 automatically flies to the position of the length of the number of windings of the winder 9 and stays at the position of the length of the number of windings released by the winder 9.

[0031] Using the obstacle detection sensor 43 attached to the upper part of the drone that is about to land and placed in the storage rack 47 by winding up the string connected to the drone, check the sky above the drone 1 that is about to ascend. The winder 9 unwinds the string connected to the drone that is about to ascend, flies the drone that is about to ascend into the sky, and uses the string connected to the drone that is about to ascend to hold it in the air and fly. The winder 9 winds up the string connected to the drone 1 that is about to ascend into the sky, descends it directly above the storage rack 47, and checks the flying position of the drone 1 measured by the distance sensor 77 attached around the storage rack 47. Then, the winder 9 further winds up the string connected to the drone 1 and places it in the storage rack 47. Without operating the drone 1 to be placed, just pull it towards the position of the string connected to the flying drone 1, and place it accurately at the pulled position. The flying drone 1 can be accurately placed and stored in the narrow storage rack 47. Example: Two TV cameras 48 and 49 that photograph the three-dimensional TV screen attached to the drone 1 that is kept above the working position using the string in Fig. 18 are attached to the left and right at the same distance that can distinguish the binocular parallax of a human at the same direction and the same angle of view to photograph the working position 21 from above. For the left and right image signals 63 of the TV screens of the two TV cameras 48 and 49 that photograph the three-dimensional screen, the right-eye image 53 and the left-eye image 54 are projected onto the TV screen 13 in opposite directions. Through the right-eye light-shielding filter 56 and the left-eye light-shielding filter 57 that are synchronously opened and closed using the stereoscopic glasses 55, the three-dimensional screen photographed from above the working position 21 can be viewed to perform remote work related to the working position 21.

[0032] The left and right image signals 63 of the TV screens of two TV cameras 48 and 49 are projected onto the left and right TV screens 56 and 57 of the VR goggles 55, and the working position 21 of the work vehicle 17 can be seen in a stereoscopic image, allowing work to be performed with a view facing the working position 21. Attach two TV cameras 48 and 49 to the drive mechanism of the numerical control, and use the drive numerical values of the drive mechanism associated with the position of the image 15 on the TV screen 13 to drive the drive mechanism to which the TV cameras 48 and 49 are attached, so that the image of the subject 12 reflected in the image 15 can be projected onto the TV screen 13 and viewed as a stereoscopic TV screen. Example: Using the pixel-emitting distance measurement TV camera 52 attached to the drone 1 stationary above the working position 21 in Fig. 19, the light of the measurement light emitted by the LED incorporated in the pixel element position of the real image of the working position 21 where the image signal of the image of the working position 21 projected on the TV screen is derived from the pixel element unit of the pixel-emitting distance measurement TV camera 52 passes through the optical lens of the pixel-emitting distance measurement TV camera 52 and converges on the working position 21. The reflected light of the measurement light is received by the light receiver 78 attached to the drone 1, and the time difference between the time of emission and the time of reception is used to measure the distance from the position of the LED emitting element for distance corresponding to the position of the pixel element where the image of the working position 21 is projected to the position of the working position 21.

[0033] The position of the image of the working position 21 on the TV screen 13 shown on the TV screen photographed by the pixel-emitting distance measurement TV camera 52 is calculated using the human binocular parallax corresponding to the distance from the working position 21 measured by the pixel-emitting distance measurement TV camera 52 through the image arithmetic circuit 51. The position of the pixel element for displaying the image of the working position 21 is corrected, and the stereoscopic TV screen 13 that alternately displays the screens on which the right-eye image 53 and the left-eye image 54 of the corrected working position 21 are projected on the TV screen 13 can be viewed through the alternately synchronized and opened / closed stereoscopic glasses 55. In addition, by correcting all the image signals that display the image of the working position 21 photographed by the pixel light-emitting distance measurement television camera 52 to the parallax position of the display pixels on the television screen using the measured distance, the working position 21 can be viewed as a real three-dimensional television image. By viewing the working position 21 where the construction vehicle 17 works on a three-dimensional television screen obtained from a pixel light-emitting distance measurement television camera 52 that photographs from above the working position 21 where the working condition is easy to see, the work of the construction vehicle 17 can be facilitated and remote on-site work can be enabled.

[0034] Example: By using the pixel light-receiving distance measurement television camera 65 attached to the drone 1 fixed above the working position 21 in FIG. 20 and limiting it to the light-receiving element incorporated in the position of the pixel element where the image of the working position 21 reflected on the television screen photographed by the pixel light-receiving distance measurement television camera 65 appears, the reflected light of the measurement light emitted by the light emitter 79 attached to the drone 1 fixed in the air from the working position 21 passes through the optical lens of the pixel light-receiving distance measurement television camera 65, and the reflected light from the working position 21 is collected and hits only the light-receiving element incorporated in the position of the pixel element where the image of the working position 21 appears in the pixel element unit of the pixel light-receiving distance measurement television camera 65. The reflected light is received and measured, and using the difference between the time of emission and the time of reception, the distance from the drone 1 fixed in the air to the working position 21 is calculated and measured only for the light-receiving element corresponding to the position of the pixel element where the image of the working position 21 appears using the difference in the time of reception. For the position of the image of the working position 21 on the television screen shown on the television screen photographed by the pixel light-receiving distance measurement television camera 65, the binocular parallax of a human at the position of the distance from the pixel light-receiving distance measurement television camera 65 to the measured working position 21 is corrected using the stereoscopic image parallax corrector 74 to correct the position of the pixel that displays the image of the working position 21, and a three-dimensional television screen can be viewed on the screens of the corrected right and left television screen images 72, 73 using the VR goggles 69 on the television screen.

[0035] Note that by correcting the positions of all the pixels that display the image of the working position 21 photographed by the pixel light-receiving distance measurement television camera 65, the working position 21 can be seen as an actual existing image. By viewing the three-dimensional TV screen obtained from the pixel light-receiving distance measurement television camera 65 that photographs the working position 21 where the construction vehicle 17 works from above the working position 21 where the working condition is easy to view using the VR goggles 69 of the TV screen, the work of the construction vehicle 17 can be facilitated and remote on-site work can be enabled. Example Using the television camera 2 attached to the drone 1 that is fastened and flown using the string above the children's soccer stadium 75 in FIG. 21, the position of the image 93 of the center position on the television screen 13 that photographs the center position 92 of the children's soccer stadium 75 is changed so that it is reflected in the center of the television screen 13. The center position is photographed by changing the flying direction of the drone 1. Example The drone 1 flying using the string in FIG. 22 is set at a height above the children's soccer stadium 75 and the image 93 of the center position reflected on the television screen photographed by the television camera 2 attached to the drone 1 flying over the center position 92 is subjected to image recognition. Using the driving values of the numerically controlled television camera 3 associated with the method described above, the driving mechanism of the numerically controlled television camera 3 is driven to change the shooting direction so that the image 93 of the center position recognized by image recognition is always reflected at the center position of the numerically controlled television screen 14. The numerically controlled television screen 14 is photographed using the numerically controlled television camera 3.

[0036] Example The flying drone 1 in FIG. 23 is connected to the strings wound around the winders 9A, 9B, 9C, and 9D and flown above the children's soccer stadium 75. Using the TV camera 2 attached to the flying drone 1, at the position above the center position 92 of the children's soccer stadium 75, or at the position of the image 93 of the center position reflected on the TV screen 13 photographed using the TV camera 2, or at the position of the image 95 of the soccer ball reflected on the TV screen 13, or at the instructed position 96, the winding machines 9A, 9B, 9C, 9D that drive by tracking the string that holds the flying drone 1 so that it is reflected in the center of the TV screen 13 photographed by the TV camera 2 are driven to fly in pursuit near the center position 92, or above the soccer ball 94, or near the instructed position. At the position of the image 93 of the center position on the TV screen 13 photographed using the TV camera 2 attached to the drone 1 flying in pursuit, or at the position of the image 95 of the soccer ball, or at the position of the instructed position 96, the screen of the numerically controlled TV screen 14 photographed using the driving numerical values of the numerically controlled TV camera 3 associated by the method described above is set to the azimuth set in advance and the set angle of view so that the direction of photographing the subject of the image of the center position 93, or the image of the soccer ball 95, or the instructed position 96 is displayed on the TV screen 14 using the numerically controlled TV camera 3. Also, using the driving numerical values of the numerically controlled directional microphone 80 associated by the method described above, the numerically controlled directional microphone 80 is directed toward the direction of the player reflected on the TV screen 13 to collect sound, and the sound of the image of the on-site feeling of the competing players is collected. Example Using a TV camera attached to the vertical mechanism 76 facing directly below the flying drone 1 in Fig. 24, the lower side of the flying drone is photographed.

Explanation of Signs

[0037] 1 Drone 2 TV Camera 3 Numerically Controlled TV Camera 4 Thin Wire Rope 5 Vehicle 6 Parent and Child 7 Rear Vehicle 8 Front Street Tree 9 Winding Machine 9A Winding Machine A Take-up Machine B of 9B Take-up Machine C of 9C Take-up Machine D of 9D Shooting Range of the 10 TV Camera Shooting Range of the 11 Numerically Controlled TV Camera Subject TV Screen TV Screen A Numerically Controlled TV Screen Numerically Controlled TV Screen A Numerically Controlled TV Screen B Numerically Controlled TV Screen C Image of the Subject Parent-Child Construction Vehicle Construction Vehicle A Construction Vehicle B Construction Vehicle C Construction Vehicle D Image of the Parent-Child Enlarged Image of the Parent-Child 20 Numerically Controlled Laser Rangefinder Working Position Image of the Working Position Image of the Construction Vehicle Image A of the Construction Vehicle Image B of the Construction Vehicle Image C of the Construction Vehicle Image D of the Construction Vehicle Image of the Working Place Sensor Enlarged Image of the Subject TV Camera Image Signal Numerically Controlled TV Camera Image Signal Drive Signal Drive Position Signal Tracking System Computer Control Desk Laser Light for Distance Measurement Laser Rangefinder Composite TV Screen Illumination Range 38 Ship 39 Quay wall 40 Image of ship 41 Image of quay wall 42 LED lamp 43 Obstacle sensor 44 Battery 45 Power supply circuit 46 Slip ring 47 Storage rack 47A Storage rack A 47B Storage rack B 47C Storage rack C 47D Storage rack D 48 Right-eye TV camera 49 Left-eye TV camera 50 Image processing circuit 51 Image arithmetic circuit 52 Pixel emission distance measurement TV camera 53 Right-eye image 54 Left-eye image 55 Stereoscopic glasses 56 Right-eye light-shielding filter 57 Left-eye light-shielding filter 58 Right eye 59 Left eye 60 Right-eye image signal 61 Left-eye image signal 62 Image switching signal 63 Left and right image signals 64 Left and right light-shielding signals 65 Pixel light-receiving distance measurement TV camera 66 Image distance signal 67 Distance signal 68 Image signal 69 VR goggles 70 Right TV screen 71 Left TV screen 72 Right TV screen image 73 Left TV screen image 74 Stereoscopic image parallax corrector 75 Children's soccer stadium 76 Vertical mechanism 77 Distance sensor 78 Receiver 79 Light emitter 80 Numerically controlled directional microphone 81 Sound collection direction 82 Audio signal 83 Working range 84 Generator 85 Rider distance measuring device 86 Rider measurement range 87A Laser search light N 87B Laser search light N+1 87Ⅽ Laser search light N+2 87D Laser search light N+3 88 Measurement reference position 89 Measurement screen 90 Mooring location 91 Working position on the TV screen 92 Center position 93 Image of the center position 94 Soccer ball position 95 Image of the soccer ball position 96 Supported position 96 Pan-tilt head

Industrial applicability

[0038] In a drone of an aircraft in which the rotation of a propeller connected to a motor is started by externally supplied power, without performing a flight operation of the drone, the drone connected by a string is flown above the work place by the buoyancy generated by the rotation of the propeller, and the safety of the work place is automatically or visually ensured using an image on a TV screen obtained by photographing the work place from above the work place using a TV camera attached to the drone. The operation of the work vehicle at the work place is performed using an easily visible TV screen photographed from above the work place. The flying drone in the sky is landed by pulling the string connected to the drone without performing a flight operation of the drone. The operation of the work vehicle at the work place is performed via the Internet while viewing a stereoscopic TV screen photographed using a stereoscopic TV camera photographed from above the work place via the Internet. Illuminate the work area from above using an LED lamp attached to a drone that flies while connected by a string, enabling night-time work for work vehicles. By supplying power to the flying drone using an electric wire woven into the string connecting the flying drone, the operation of the flying drone can be controlled only by turning the power on and off. By supplying power to the flying drone using an electric wire, the battery mounted on the drone becomes unnecessary, and long-duration flight above the work area becomes possible.

[0039] The range of shooting from a drone that flies while connected by a string to a moving work vehicle and the range of illumination using an LED lamp from the drone move following the work vehicle. Using the drive values of a numerically controlled television camera, associate the wide shooting range captured using a wide-angle television camera attached to the flying drone with the position of the image being watched on the television screen, and display and confirm the subject of the image being watched on an enlarged television screen. Measure and confirm the distance to the location being watched on the television screen using a numerically controlled laser rangefinder associated with the position of the image being watched on the television screen. The flying drone connected by a string can be automatically operated to take off by winding and unwinding the string of the string winder without flying the drone, stay flying at the altitude of the string length, and land by winding the winder, making it possible to install on many work vehicles.

Claims

1. A flying object tied to a string wound around a winch that flies by the buoyancy generated by the rotation of a propeller, which unwinds the string wound around the winch to rise from the landing position of the winch, and leaves the flying object to fly in the sky after unwinding the length of the string set in advance by the winch, and winds up the length of the string set by using the winch to place the flying object at the position of the winch. A method, which is to associate the position of an image of a subject reflected on a TV screen obtained by photographing using a TV camera attached to the lower side of the flying object with the drive numerical value of the position where the drive mechanism attached to the lower side of the flying object is driven to change the photographing direction to photograph the subject at the center position of the numerically controlled TV screen, and to associate the positions of images of the subject at several different positions reflected on the TV screen obtained by photographing the subject at several different positions using the TV camera with the several different drive numerical values of the positions where the drive mechanism is driven to photograph the subject at the center position of the numerically controlled TV screen at the several different positions, and to calculate and obtain all the drive numerical values of the positions where the drive mechanism is driven to photograph the subject at the center position of the numerically controlled TV screen at all positions using an interpolation method for the positions of images of all the subjects reflected on the TV screen obtained by photographing the subject at all positions using the TV camera, and to drive the drive mechanism using the obtained associated drive numerical values to the position of the image of the subject on the TV screen obtained by photographing the subject using the TV camera attached to the flying object, so as to photograph the image of the subject at the center position of the TV screen of the numerically controlled TV camera.

2. The method according to claim 1, characterized in that a laser distance measuring device attached to the drive mechanism is used to measure the distance to a subject reflected in the direction of the center of the TV screen photographed by the numerically controlled TV camera by irradiating laser light for distance measurement of the laser distance measuring device in the direction of the center of the TV screen photographed by the numerically controlled TV camera.

3. A flying object tied to a string wound around a winch that flies by the buoyancy generated by the rotation of a propeller, unwinding the string wound around the winch to rise from the position where the winch is placed, and flying the flying object to be lifted by leaving it in the air after unwinding the string set in advance by the winch, and winding the flying object to be lifted by winding the set string length using the winch to place the flying object at the position of the winch. A method, which associates the position of an image of a subject reflected on a TV screen obtained by photographing using a TV camera attached to the lower side of the flying object with the drive numerical value of the position where the drive mechanism of a numerically controlled laser rangefinder attached to the lower side of the flying object is driven to irradiate the subject with measurement laser light, and photographs the subject at several different positions using the TV camera. The positions of the images of the subject at the several different positions reflected on the TV screen obtained are associated with the drive numerical values of the positions where the drive mechanism is driven to irradiate the subject at the several different positions with measurement laser light using the numerically controlled laser rangefinder. Using the drive numerical values of the positions where the drive mechanism is driven to irradiate the subject at all positions with measurement laser light obtained by using the numerically controlled laser rangefinder, the positions of the images of the subject at all positions reflected on the TV screen obtained by photographing the subject at all positions using the TV camera are obtained by calculating using an interpolation calculation formula. Using the obtained associated drive numerical values at the position of the image of the subject reflected on the TV screen obtained by photographing the subject using the TV camera attached to the flying object or at the position of the image indicated on the TV screen, the numerically controlled laser rangefinder is driven to irradiate the subject at all positions or the position of the image indicated with measurement laser light, and the measurement laser light is irradiated onto the image of the subject or the image indicated on the TV screen of the TV camera to measure the distance.

4. A flying object tied to a string wound around a winch that flies by the buoyancy generated by the rotation of a propeller. The string wound around the winch is unwound to lift the flying object from the landing position of the winch, and the flying object to be lifted is left in the air after unwinding the string of a length set in advance by the winch and flown. A method of placing the flying object at the position of the winch by winding the string of the set length using the winch. The position of the image of the subject reflected on the TV screen obtained by photographing the subject using a TV camera attached to the lower side of the flying object is associated with the drive numerical value of the drive mechanism of the numerically controlled directional microphone attached to the lower side of the flying object, and the direction of sound collection is changed to collect the sound from the subject by driving the drive mechanism. The positions of the images of the subjects at several different positions reflected on the TV screen obtained by photographing the subjects at several different positions using the TV camera are associated with the drive numerical values of the drive mechanism that directs the sound collection direction of the directional microphone towards the subjects at the several different positions. Using these, the positions of the images of all the subjects reflected on the TV screen obtained by photographing all the subjects at all positions using the TV camera and the drive numerical values of all the drive positions of the drive mechanism that directs the sound collection direction of the directional microphone towards the subjects at all positions are calculated using an interpolation method and obtained. At the position of the image of the subject reflected on the TV screen obtained by photographing the subject using the TV camera, or at the position indicated on the TV screen, the drive mechanism of the directional microphone is driven using the drive numerical value for the association obtained using the described method to collect the sound of the subject or the sound at the position indicated on the TV screen. **Claim 5**: The method according to claim 1, wherein the image of the subject reflected on the TV screen photographed using the TV camera attached to the flying object is made to be reflected at the position of the image of the subject on the TV screen by driving the drive mechanism of the numerically controlled TV camera using the drive numerical value of the numerically controlled TV camera attached to the flying object that has been associated. **Claim 6**: The method according to claim 3, wherein the distance measured by irradiating the subject with the laser light for measurement of the numerically controlled laser rangefinder attached to the aircraft, using the drive numerical values of the numerically controlled laser rangefinder attached to the aircraft associated with the position of the image of the subject on the TV screen photographed using the TV camera attached to the aircraft, is marked at the position of the image of the subject on the TV screen. **Claim 7**: The method according to claim 1, wherein each of the plurality of winding machines is driven so that the numerically controlled TV camera photographs the subject, using the drive numerical values of the numerically controlled TV camera associated with the position of the image of the subject reflected on the TV screen photographed by the TV camera attached to the aircraft. **Claim 8** The method according to any one of claims 1 to 7, characterized in that the aircraft is tied to a traveling vehicle by a string. **Claim 9** The method according to any one of claims 1 to 7, characterized in that the aircraft is tied to a ship by a string. **Claim 10** The method according to any one of claims 1 to 7, characterized in that the position of the image of the subject on the TV screen photographed using the TV camera is the position indicated on the TV screen. **Claim 11** The method according to any one of claims 1 to 7, characterized in that the position of the image of the subject on the TV screen photographed using the TV camera is the image of the subject recognized by image recognition using a method of image recognition from the TV screen. **Claim 12** The method according to any one of claims 1 to 7, characterized in that the TV screen photographed using the TV camera and the numerically controlled TV camera is displayed on the TV screen or on the TV screen of a smartphone via the Internet.

Images