Aerial mooring buoy system and method for providing an aerial mooring buoy

Abstract

Provided are an air-moored buoy device, an air-moored buoy system, and an air-moored buoy providing method that can provide a marker using laser light while it is moored in the air. [Solution] An aerial mooring buoy device that provides a beacon moored in the air, comprising a ground unit 4 that is placed on the ground, and a buoy unit 20 that functions as a beacon while moored in the air, the ground unit comprising a mooring unit 10 that moor the buoy unit to the ground unit, the buoy unit 20 comprising a balloon section 22 that expands and generates buoyancy when a predetermined gas is introduced therein, the balloon section generating buoyancy due to the internal gas, the mooring unit being connected to the lower part of the balloon section, and a laser unit 24 that emits laser light used as a beacon, providing a beacon using laser light while moored in the air by the buoy unit.

Description

[Technical Field]

[0001] The present invention relates to a moored buoy device, a moored buoy system, and a method for providing a moored buoy. [Background technology]

[0002] Conventionally, as shown in Patent Document 1, a technique is known in which the flight path of an unmanned aerial vehicle such as a drone is set based on its relationship with a steel tower. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2023-2067 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology disclosed in Patent Document 1, the goal position of the flight path of the unmanned aerial vehicle is set, for example, at a position vertically above a certain steel tower and on the opposite side from another steel tower. In this way, the goal position of the unmanned aerial vehicle is set relative to a landmark that is a target on the ground. In recent years, competitions using aerial vehicles, such as drone races and air races, have become increasingly popular. In these races, aerial vehicles pass through checkpoints and gates, follow a predetermined course under predetermined rules, and compete for time or finishing order. However, in these races, gates and obstacles have traditionally been grounded. In these races, in addition to using ground landmarks and targets to determine the finish line, there has been a challenge in creating checkpoints, gates, and indicators using signs placed in the air, since the aerial vehicles fly in the air. Another challenge has been creating aerial checkpoints, gates, and indicators that, if possible, offer excellent visual impact.

[0005] The present invention has been made to solve such problems, and aims to provide an aerial mooring buoy device, an aerial mooring buoy system, and an aerial mooring buoy providing method that provide a marker using laser light while moored in the air. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, according to one embodiment of the present invention, there is provided an airborne mooring buoy device that provides a beacon moored in the air, comprising: a ground unit that is placed on the ground; and a buoy unit that functions as a beacon while moored in the air, wherein the ground unit comprises a mooring unit that moor the buoy unit to the ground unit, and the buoy unit comprises a balloon section that is inflated and generates buoyancy when a predetermined gas is introduced therein, the balloon section generates buoyancy due to the internal gas, and the mooring unit is connected to the lower part of the balloon section, and the balloon section comprises: and a laser unit that emits laser light to be used as a beacon, and a beacon using laser light is provided while moored in the air by the buoy unit. According to one embodiment of the present invention configured as described above, the buoyancy generated in the balloon portion of the buoy unit causes the laser unit of the buoy unit to rise, and the laser light emitted from the laser unit can be used as a marker. This allows a marker using laser light to be provided while the buoy unit is tethered in the air. For example, in races involving airborne flying vehicles, such as drone races and air races, the tethered buoy device can create gates or barriers in the air using laser light.

[0007] According to one embodiment of the present invention, preferably, an aerial mooring buoy system for providing a marker moored in the air is the aerial mooring buoy device as described in any one of the claims, wherein the aerial mooring buoy device comprises two or more aerial mooring buoy devices, and a control unit, and the control unit has a first irradiation mode in which laser light emitted from the laser unit of the aerial mooring buoy device is irradiated towards another aerial mooring buoy device. According to one embodiment of the present invention configured as described above, in the aerial mooring buoy system, the buoyant force generated in the balloon portion of the buoy unit can raise the laser unit of the buoy unit, allowing the laser light emitted from the laser unit to be used as a marker. Furthermore, the laser light emitted from the laser unit can be directed toward another aerial mooring buoy device in the first irradiation mode. This allows the buoy unit to emit laser light between two or more aerial mooring buoy devices while moored in the air, providing a marker using laser light. For example, in aerial vehicle races, such as drone races and air races, the aerial mooring buoy system can create gates or barriers in the air using laser light.

[0008] According to one embodiment of the present invention, a method for providing an airborne moored buoy, preferably for providing a marker moored in the air, comprises a ground unit placement step of placing a ground unit on the ground, a buoy unit expansion step of introducing a predetermined gas (a gas lighter than the surrounding air) into the interior to inflate the balloon portion of the buoy unit and generate buoyancy, and a buoy unit raising step of raising the buoy unit equipped with a laser unit while the buoy unit is moored to the ground unit by the mooring unit. According to one embodiment of the present invention configured as described above, the buoy unit inflation step generates buoyancy in the balloon portion of the buoy unit, and the buoy unit raising step raises the buoy unit equipped with the laser unit, allowing the laser light emitted from the laser unit to be used as a marker. This allows the buoy unit to provide a marker using laser light while tethered in the air. For example, in races involving aerial vehicles, such as drone races and air races, the tethered buoy device can create gates or barriers in the air using laser light. [Effects of the Invention]

[0009] According to the aerial mooring buoy device, aerial mooring buoy system, and aerial mooring buoy providing method of the present invention, a marker using laser light can be provided in a state where it is moored in the air. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing the configuration of an example of an airborne mooring buoy system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing the configuration of another example of an airborne mooring buoy system according to an embodiment of the present invention. [Figure 3] 1 is a block diagram showing the relationship between an air-moored buoy device and a system control unit in an air-moored buoy system according to one embodiment of the present invention. FIG. [Figure 4] 1 is a schematic diagram showing the configuration of an airborne mooring buoy according to one embodiment of the present invention; [Figure 5] FIG. 2 is a block diagram showing the configuration of a ground unit of an air-moored buoy according to one embodiment of the present invention. [Figure 6] 1 is a block diagram showing the configuration of a buoy unit of an air-moored buoy device according to one embodiment of the present invention. FIG. [Figure 7] FIG. 2 is a block diagram showing the configuration of a system control unit of the air-moored buoy device according to one embodiment of the present invention. [Figure 8] FIG. 1 illustrates a flowchart of a method for providing a tethered buoy in the air, in accordance with one embodiment of the present invention. [Figure 9] FIG. 10 is a diagram showing a state in which an uninflated balloon portion of an airborne mooring buoy system according to one embodiment of the present invention is positioned on a ground unit body. [Figure 10] FIG. 2 is a diagram showing a state in which the balloon portion is inflated in the air-moored buoy system according to one embodiment of the present invention. [Figure 11] 1 is a diagram showing a state in which the mooring member is let out from the reeling unit in an airborne mooring buoy system according to one embodiment of the present invention, and the buoy unit rises due to buoyancy. FIG. [Figure 12]1 is a diagram showing a state in which the mooring member is being reeled in by the reeling unit in an airborne mooring buoy system according to one embodiment of the present invention, and the buoy unit is in the middle of descending. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a moored buoy device 2 according to one embodiment of the present invention and a moored buoy system 1 using the moored buoy device 2 will be described with reference to the accompanying drawings. The embodiments of the present disclosure have been described as examples, and it will be apparent to those skilled in the art that many variations, modifications, and substitutions can be made within the spirit and scope of the present invention. Therefore, the present invention is not limited to the disclosed embodiments, and various variations, modifications, etc. can be made in form and details without departing from the scope of the claims. Furthermore, the components disclosed in the specification can be freely combined.

[0012] As shown in Figure 1, an air-tethered buoy system 1 according to one embodiment of the present invention includes an air-tethered buoy device 2. The air-tethered buoy system 1 uses the air-tethered buoy device 2 to provide a system using a beacon that floats in the air.

[0013] As shown in FIGS. 1 to 3, the air-mooring buoy system 1 includes one or more air-mooring buoy devices 2 and a system control unit 3. As shown in FIG. 1, the aerial mooring buoy system 1 projects a laser beam between two aerial mooring buoy devices 2 to create a laser-beam gate or other spatial effect. For example, the aerial mooring buoy system 1 can create a predetermined starting line, gate, checkpoint, or other spatial effect in the air (in space) at events using aerial vehicles, such as drone races or other aerial vehicle flight events. For example, in FIG. 1, a laser-beam line L1 is created in space between two aerial mooring buoy devices 2. For example, the line L1 in FIG. 1 can be configured to create a gate-like entrance to a checkpoint using a single light line L1 and light emission A1 from the balloon unit 22 (described later). Rules can be set so that drones pass through the space B inside this line. Thus, a starting line, gate, checkpoint, or other spatial effect can be created in space. Furthermore, as described later, the balloon unit 22 is illuminated or illuminated by an LED device, creating an effect of light emission as shown at A1. A1 is an example of the entire balloon unit brightly colored, as illustrated by a dashed line. Therefore, the starting line, gates, etc. are created in the space by the illumination of the balloon portion 22 as shown in A1. By performing such illumination at night or indoors, the dramatic effect can be further enhanced.

[0014] As a variant, as shown in FIG. 2, the aerial mooring buoy system 1 may project laser light between three or more aerial mooring buoy devices 2 to create a laser light effect in space. For example, in FIG. 2, a laser light line L2 appears in space between three aerial mooring buoy devices 2. A laser light line L2 appears in space between each pair of aerial mooring buoy devices 2. For example, the three lines L2 in FIG. 2 can create a gate in the air, similar to the entrance to a tunnel, and rules can be set so that drones pass through the spatial region C inside this gate. For example, a virtual gate in the shape of a triangular frame can be formed by the light line L2. In this way, two or more aerial mooring buoy devices 2 can be used to create a checkpoint in the air for an unmanned aerial vehicle race. Therefore, a starting line, gate, barrier, or spatial effect can be created in space. Furthermore, as described below, the balloon portion 22 may be illuminated or illuminated by an LED device, creating an illumination effect as shown in A1. A1 shows an example of the image of the entire balloon section being brightly colored, indicated by a broken line. Therefore, the illumination of the balloon section 22 as shown in A1 also creates a starting line, gate, etc. in the space. By performing this type of illumination at night or indoors, the dramatic effect can be further enhanced.

[0015] 3, in this embodiment, the air-moored buoy device 2 of the air-moored buoy system 1 and the system control unit 3 are electrically connected via the Internet 52. The electrical connection between the air-moored buoy device 2 and the system control unit 3 may be made entirely or partially via wireless communication such as infrared communication or other methods without going through the Internet 52.

[0016] As shown in Figures 1 and 4, the aerial mooring buoy device 2 is a device that provides a marker by using a buoy that is moored in the air. The aerial mooring buoy device 2 can be installed relatively easily as a buoy moored in the air without burying a structure in the ground, and can also be retrieved relatively easily. The aerial mooring buoy device 2 is also a portable marker device. As shown in FIG. 4, the airborne mooring buoy device 2 includes a ground unit 4 and a buoy unit 20.

[0017] The ground unit 4 is placed on the ground G. The ground unit 4 includes a ground unit main body 5, a weight unit 6 having a predetermined weight, a gas injection unit 8 that injects gas into the balloon unit 22 of the buoy unit 20, a mooring unit 10, an operation unit 13, and a ground unit control unit 18 that controls connected equipment in response to commands from the operation unit 13 or the system control unit 3.

[0018] The ground unit main body 5 is formed in a box shape that is rectangular when viewed from above. The ground unit main body 5 has other equipment installed inside the box-shaped main body. The ground unit main body 5 is formed to a size of, for example, 40 cm in length and 40 cm in width. The ground unit main body 5 is provided with a storage section 53 that can store the uninflated balloon section 22, the laser unit 24, etc. for portability.

[0019] The weight unit 6 has a predetermined weight and is formed so that the ground unit 4 does not move even when the buoy unit 20 generates a predetermined buoyancy or when the buoy unit 20 is exposed to a wind of a predetermined strength. The ground unit 4 may be firmly fixed to the ground with anchors, stakes, or the like in addition to or instead of the weight unit 6. The weight unit 6 is provided at the bottom of the ground unit 4 and is, for example, a weight. The weight unit 6 has a weight within a range of, for example, 7 kg to 10 kg.

[0020] The gas injection unit 8 injects gas into the balloon portion 22 of the buoy unit 20, which is attached to the ground unit 4 in an uninflated state. The gas injection unit 8 includes a replaceable cartridge gas cylinder 7, a cylinder attachment 9 for attaching the gas cylinder 7, and an injection port 11 to which a gas flow path from the cylinder attachment 9 is connected. The gas injection unit 8 can inject a predetermined gas into the balloon portion 22 of the buoy unit 20 while the balloon portion 22 is in contact with the ground unit 4. Thus, by injecting the predetermined gas into the balloon portion 22, buoyancy is generated in the balloon portion 22, and the buoy unit 20 can provide a marker using a laser light while moored in the air.

[0021] The replaceable cartridge gas cylinder 7 is filled with a gas, for example, helium gas, at high pressure. The ground unit control unit 18 controls the gas injection unit 8, thereby injecting the helium gas from the gas cylinder 7 into the balloon unit 22. The cylinder attachment fixture 9 is formed so that the gas cylinder 7 can be replaced. The cylinder attachment fixture 9 may be equipped with an electromagnetic valve or the like that can control the gas supply. The inlet port 11 is formed on the top of the ground unit 4. The inlet port 11 can introduce a gas, for example, helium gas, toward the balloon unit. Note that the gas injection unit 8 may inject the gas into the balloon unit 22 manually.

[0022] The mooring unit 10 moors the buoy unit 20 to the ground unit 4. The mooring unit 10 connects the ground unit 4 and the buoy unit 20 while keeping the distance between them variable or constant. The mooring unit 10 positions the buoy unit 20 at a specified height when the buoy unit 20 has a specified buoyancy. The mooring unit 10 includes a mooring member 12 formed of a string, filament, or wire that connects the ground unit 4 and the buoy unit 20, and a winding unit 14 that pays out or winds up the mooring member 12. In this way, the mooring unit 10 can position the buoy unit 20 at a specified height from the ground unit 4. This makes it easier to align the heights of multiple buoy units 20 and to construct gates or barriers in the air. The mooring member 12 is formed of a string, filament, or wire. This makes it possible to make the mooring members 12 of the mooring unit 10 less visible, and makes it possible for spectators to easily see the buoy unit 20 floating in the air and providing a sign using laser light. The height of the buoy unit 20 can be changed at any time using the mooring unit 10. This allows the height of the checkpoints and gates on the race course to be changed during the race. For example, the height can be set to a first height during the first lap of the flying object, and a second height higher than the first height during the second lap. This increases the complexity of the course, allowing for a more enjoyable performance for spectators.

[0023] The mooring members 12 are made of high-strength nylon or fluorocarbon transparent thread or wire. The mooring members 12 are preferably made of a transparent or translucent material. For example, fluorocarbon wire is generally transparent. By making the mooring members 12 out of a material that makes them less visible, the buoy unit 20 can be more easily seen floating above the ground G. Furthermore, the mooring member 12 has a cross-sectional radius within a range of 0.1 mm to 10 mm. By forming the mooring member 12 from a thin, inconspicuous material, the buoy unit 20 can be made to appear to be floating above the ground G. The mooring unit 10 may also be provided with an auxiliary mooring member to suppress rotation of the buoy unit 20 and to make it easier to maintain its position, and, if necessary, an auxiliary winding unit to pay out or wind up the auxiliary mooring member. For example, the auxiliary mooring member may be a mooring member extending from the outer periphery of the buoy unit 20 toward the outer edge of the ground unit main body 5.

[0024] The winding unit 14 includes a drum 15 formed in a drum shape and a motor 16 that rotates the drum 15.

[0025] The drum 15 has a reel shape. The drum 15 has a cylindrical central axis around which the anchoring member 12 is wound. When the drum 15 is rotated in a first rotation direction, the anchoring member 12 can be let out. When the drum 15 is rotated in a second rotation direction opposite to the first rotation direction, the anchoring member 12 can be rewound. The drum 15 may also be formed in another winding shape that can let out or rewind the anchoring member.

[0026] Motor 16 is an electric motor electrically connected to a power source (not shown). The motor is configured to be capable of rotating in either a first rotation direction or a second rotation direction opposite to the first rotation direction. The driving force of motor 16 rotates drum 15.

[0027] The operation unit 13 has a structure, such as a button, for accepting operation input from the user. The operation unit 13 is provided with a plurality of operation buttons, and can accept input of operation commands from the user, such as an operation command to inject gas from the gas cylinder 7 in step S2, an operation command to let out the buoy unit 20 by the reeling unit 14 in step S3, and an operation command to reel in the buoy unit 20 by the reeling unit 14 in step S5. Note that when a series of controls are controlled by the system control unit 3, the operation unit 13 can be omitted.

[0028] The ground unit control unit 18 is configured to be able to execute various modes, such as a gas injection control mode in which gas is injected from the gas cylinder 7 into the balloon unit 22 via the injection port unit 11, a feed-out control mode in which the winding unit 14 controls the operation and amount of feed-out of the mooring member 12, and a wind-up control mode in which the winding unit 14 controls the operation and amount of wind-up of the mooring member 12. The ground unit control unit 18 is provided in the ground unit main body 5. The ground unit control unit 18 is electrically connected to the gas injection unit 8, the mooring unit 10, the operation unit 13, the laser unit-side control unit 31, the system control unit 3, and the like. For example, the ground unit control unit 18 is electrically connected to the system control unit 3 and the laser unit-side control unit 31 via the Internet 52.

[0029] The ground unit control unit 18 includes a CPU 18a and a storage device 18b such as a memory, and controls connected devices based on a predetermined control program stored in the memory or the like. Therefore, the ground unit control unit 18 functions as a computer. The electrical connection between the ground unit control unit 18 and other devices is not limited to a wired connection; all or part of the connection may be via wireless communication, such as infrared communication or other methods. The ground unit control unit 18 has a predetermined program for executing a predetermined control function. The storage device 18b of the ground unit control unit 18 stores the predetermined program, but it is not necessary to store all of the program. Some or all of the program may be stored in multiple devices or on a server via the Internet. The ground unit control unit 18 is not limited to being provided within the ground unit main body 5, but may also be provided in an electronic device that functions as a computer, such as a smartphone or tablet. The ground unit 4 may also have an output device (not shown) such as a monitor that allows the user to check and set the control contents of the ground unit control unit 18, and an input device (not shown) that allows input operations. The ground unit control unit 18 may be physically or functionally integrated with the system control unit 3. Furthermore, the system control unit 3 may be configured to implement all or part of the control functions of the ground unit control unit 18.

[0030] As shown in Figures 4 and 9, the balloon portion 22 of the buoy unit 20 is inflated by gas therein. The buoy unit 20 forms a buoy with the balloon portion 22 floating in the air. As shown in Figure 9, the buoy unit 20 is attached to the ground unit 4 when it is not inflated. More specifically, the buoy unit 20 is placed on the top surface of the ground unit 4 when it is not inflated, and is pulled toward the drum 15 by the mooring member 12.

[0031] As shown in Figure 4, the buoy unit 20 comprises a balloon portion 22 that expands when gas enters it, a laser unit 24 that emits laser light L1 used as a marker, an adjustment device 26 that can adjust the direction of the laser light emitted from the laser unit 24, an LED device 27 that illuminates the balloon portion 22 or functions as a light, a UWB tag 30, a buoy unit side communication unit 32, a camera 33, and a laser unit side control unit 31.

[0032] When the balloon portion 22 is in an inflated state as shown in Fig. 4, the height (distance in the height direction) from the bottom to the top of the balloon portion 22 is H1. When the balloon portion 22 is in an uninflated state as shown in Fig. 9, the height (distance in the height direction) from the bottom to the top of the balloon portion 22 is H2. Height H1 is greater than height H2. In this way, the balloon portion 22 is configured to stretch (expand) mainly in the vertical direction when gas is introduced into the interior.

[0033] An upper pedestal 22a on which the laser unit 24 and the like can be placed is attached to the upper part of the balloon part 22, and a lower pedestal 22b to which the mooring member 12 of the mooring unit 10 is connected is attached to the lower part of the balloon part 22. The upper pedestal 22a is formed of a flat plate made of resin or the like. The laser unit 24 and the like are provided on the upper pedestal 22a. The lower pedestal 22b is formed of a flat plate made of resin or the like. The upper end of the mooring member 12 is fixed to the center of the lower pedestal 22b.

[0034] The balloon portion 22 forms the air bag body. The balloon portion 22 is formed in a generally cylindrical shape from bottom to top of the balloon portion 22. In its columnar state, the balloon portion 22 constitutes, for example, an air pole or an inflator pole. The balloon portion 22 is formed with a multilayer structure including a thermoplastic polyurethane elastomer (TPU) and an aluminum vapor-deposited film, and is lightweight and has relatively high gas retention. The balloon portion 22 has tension ribs inside to easily maintain its cylindrical shape after inflation. The balloon portion 22 may be formed from a rubber material, a vinyl material, or another resin, such as a polyurethane resin. The balloon portion 22 may have a bellows structure along its outer periphery to facilitate vertical extension. The balloon portion 22 is not limited to a cylindrical shape, and may be formed in a rectangular prism shape or other shape. The gas injected (introduced) into the balloon portion 22 is lighter than the surrounding air. Therefore, the gas in the balloon portion 22 has a lower specific gravity than the surrounding air and is subjected to a force from the surrounding air, generating upward buoyancy in the balloon portion 22. The balloon portion 22 may be provided with an exhaust plug or valve to facilitate retrieval after use as a marker has been completed.

[0035] The laser unit 24 is a device that emits laser light. For example, the wavelength of the laser light emitted by the laser unit 24 is, for example, a value within a range of 490 nm to 570 nm, e.g., 530 nm, and the color of the laser light is green. By making the color of the laser light green in this way, the visibility of the laser light from the perspective of people such as spectators is improved, and visibility is likely to be improved both day and night. Furthermore, when drone races are held indoors, for example, by making the color of the laser light green in the dark, the visibility of the laser light from the perspective of people such as spectators can be further improved. Furthermore, by displaying gates and signs with laser light, it is possible to create a futuristic effect. For example, the wavelength of the laser light emitted by laser unit 24 may be within a range of 640 nm to 750 nm, and the color of the laser light may be red. By making the color of the laser light red in this way, the visibility of the laser light from the perspective of people such as spectators can be more easily improved. The color, intensity, and beam pattern of the laser light emitted from laser unit 24 are not limited to those described above and can be changed as desired.

[0036] The adjustment device 26 forms, for example, a two-axis gimbal mechanism. The two-axis gimbal mechanism is incorporated into the upper base, and the laser unit 24 is placed on the two-axis gimbal mechanism. The system control unit 3 adjusts the orientation of the laser unit 24 by adjusting the rotation angle of the inner and outer rings of the two-axis gimbal mechanism. Thus, the system control unit 3 can change the direction of laser light emitted by the laser unit 24 to any direction. The system control unit 3 calculates the relative azimuth and elevation angles as seen from a certain buoy unit 20 based on the position of each buoy unit 20, and uses the adjustment device 26 to point the laser unit 24 toward this calculated direction. Thus, it is possible to run a laser light beam so as to connect the buoy units 20. The adjustment device 26 of the buoy unit 20 can adjust the direction of the laser light emitted from the laser unit 24. As a result, for example, the direction of the laser light from the laser unit 24 can be pointed toward another aerial-moored buoy device 2, thereby providing a laser-based marker combined with that other aerial-moored buoy device 2. Therefore, it is possible to create gates or barriers in the air using laser light, with more effective effects.

[0037] The LED device 27 can illuminate the entire or a portion of the balloon portion 22 brightly using light-emitting diodes (LEDs). The LED device 27 can be configured with light-emitting diodes (LEDs) disposed on the upper portion of the balloon portion 22 so that the balloon portion 22 emits light from within. As a variation, the LED device 27 may be a lightweight LED panel attached to the upper base 22a or the lower base 22b. The LED device 27 constitutes a display unit for displaying characters, images, videos, etc. By providing a diffusion cover on this LED panel (display unit), the visibility of characters, etc. can be further improved. For example, the system control unit 3 can control the content of the characters, etc. displayed on the LED device 27. For example, the system control unit 3 can switch information such as the number of laps, time, ranking, images, videos, etc., depending on the progress of the race. The LED device 27 can also be replaced with other display devices.

[0038] The UWB tag 30 is an ultra-wideband wireless tag that can measure the position of the buoy unit 20 with high accuracy. Therefore, the system control unit 3 can recognize the position of the UWB tag 30, i.e., the position of the buoy unit 20, with relatively high accuracy. The UWB tag 30 may be replaced with a GPS module or the like that can recognize coordinates.

[0039] The buoy unit side communication section 32 is provided so that the laser unit side control section 31 and the like on the buoy unit 20 side and the system control section 3 can perform wireless communication and the like.

[0040] The camera 33 is mounted on the upper base 20a of the buoy unit 20. The camera 33 can take photos, images, and videos of the surroundings and below. The camera 33 can, for example, determine whether a drone or the like has passed through a barrier by using an angle of view along the direction of laser light irradiation. The camera 33 can also check the surrounding conditions of each buoy unit 20 through images and videos.

[0041] The laser unit side control unit 31 is configured to be able to execute a first irradiation mode 42 and a second irradiation mode 46 (described later) for controlling the irradiation of laser light from the laser unit 24, an adjustment mode 44 using the adjustment device 26, an illumination mode 48 for operating the LED device 27, and the like. The laser unit side control unit 31 is provided, for example, on the upper pedestal 22a of the buoy unit 20. The laser unit side control unit 31 is electrically connected to the laser unit 24, the adjustment device 26, the LED device 27, the UWB tag 30, the buoy unit side communication unit 32, the camera 33, the ground unit control unit 18, the system control unit 3, and the like. For example, the laser unit side control unit 31 is electrically connected to the system control unit 3 and the ground unit control unit 18 via the Internet 52.

[0042] The laser unit controller 31 includes a CPU 31a and a storage device 31b such as a memory, and controls connected devices based on a predetermined control program stored in the memory. Therefore, the laser unit controller 31 functions as a computer. The electrical connection between the laser unit controller 31 and other devices is not limited to a wired connection; all or part of the connection may be via wireless communication, such as infrared communication or other methods. The laser unit controller 31 has a predetermined program for executing a predetermined control function. The storage device 31b of the laser unit controller 31 stores the predetermined program, but it is not necessary to store the entire program. Some or all of the program may be stored in multiple devices or on a server via the Internet. The laser unit controller 31 is not limited to being provided in the buoy unit 20, but may also be provided in an electronic device that functions as a computer, such as a smartphone or tablet. The buoy unit 20 may also be provided with an output device (not shown) such as a monitor that allows the user to check and set the control contents of the laser unit controller 31, and an input device (not shown) that allows input operations. The laser unit side control unit 31 may be formed as a physical or functional integral unit with the system control unit 3 or the ground unit control unit 18. The system control unit 3 may also be configured to implement all or part of the control functions of the laser unit side control unit 31. In other words, the laser unit side control unit 31 may be omitted, and the system control unit 3 may directly control the laser unit 24, adjustment device 26, LED device 27, UWB tag 30, etc.

[0043] The system control unit 3 is equipped with a position recognition mode 40 in which the system control unit 3 recognizes the positions of each other's moored buoy devices 2 and its own position via the laser unit-side control unit 31, a first irradiation mode 42 in which the laser light emitted from the laser unit 24 of the moored buoy device 2 is directed toward another moored buoy device 2, an adjustment mode 44 in which the direction of the laser light emitted from the laser unit 24 is adjusted, for example, by the adjustment device 26, a second irradiation mode 46 in which the laser unit 24 is operated to emit the laser light in any direction, and an illumination mode 48 in which the LED device 27 is operated. The system control unit 3 may be configured to be able to execute, via the ground unit control unit 18, a gas injection control mode 49 in which gas is injected from the gas cylinder 7 into the balloon unit 22 via the inlet 11, a feed-out control mode 50 in which the take-up unit 14 controls the operation and amount of the feed-out operation of the mooring member 12, a wind-up control mode 51 in which the take-up unit 14 controls the operation and amount of the wind-up operation of the mooring member 12, and the like.

[0044] As shown in FIG. 1, the system control unit 3 is provided at a distance from the ground unit 4. The system control unit 3 is electrically connected to each of the moored buoy devices 2. The system control unit 3 is also electrically connected to the ground unit control unit 18 and the laser unit side control unit 31 via the Internet 52. The system control unit 3 is provided in, for example, a personal computer. The system control unit 3 may also be provided in an electronic device that functions as a computer, such as a smartphone or tablet.

[0045] As shown in FIG. 1, the system control unit 3 includes a CPU 3a and a storage device 3b such as a memory, and controls connected devices based on a predetermined control program stored in the memory or the like. Therefore, the system control unit 3 functions as a computer. The electrical connection between the system control unit 3 and other devices is not limited to a wired connection; all or part of the connection may be via wireless communication, such as infrared communication or other methods. The system control unit 3 has a predetermined program for executing a predetermined control function. The storage device 3b of the system control unit 3 stores the predetermined program, but it is not necessarily required to store all of the program. Some or all of the program may be stored separately in multiple devices, or may be stored on a server via the Internet. The system control unit 3 may be equipped with an output device 3c such as a monitor that allows the user to check and set the control contents of the system control unit 3, and an input device 3d that allows input operations. The system control unit 3 may be formed as one unit, physically or functionally, with the ground unit control unit 18 and the laser unit side control unit 31. The system control unit 3 may also be configured to be able to realize all or part of the control functions of the ground unit control unit 18 and the laser unit side control unit 31. Conversely, the ground unit control unit 18 and the laser unit side control unit 31 may also be configured to be able to realize all or part of the control functions of the system control unit 3. For example, the system control unit 3 may directly control each device without going through the ground unit control unit 18 or the laser unit side control unit 31.

[0046] Next, as shown in FIG. 8, a series of operations of a method for providing a moored buoy in the air, in which the moored buoy system 1 provides a marker using a laser beam while moored in the air, will be described. As shown in FIG. 8, at the start, a method for providing a moored buoy in the air is started, in which a marker using a laser beam is provided in a state where the buoy is moored in the air. In S1, a ground unit placement step S1 is executed to place the ground unit 4 on the ground G. In the ground unit placement step S1, the ground unit 4 is placed on the ground G at a position where the buoy unit 20 is desired to be airborne, and the ground unit 4 is fixed to the ground. At this time, the balloon portion 22 of the buoy unit 20, which is not yet inflated, is located on the upper surface of the ground unit main body 5. After the placement and fixation of the ground unit 4 is completed, the system control unit 3 recognizes the coordinates of the ground unit 4. For example, in an indoor arena, the ground level is generally constant, but if correction of the ground level is necessary outdoors, adjustments are made. The system control unit 3 can calculate the rotation angle of the adjustment device 26, etc., based on the recognized coordinates of the buoy unit 20. If the system control unit 3 determines that the ground unit placement step S1 is completed, it proceeds to S2.

[0047] In step S2, as shown in Figure 9, the balloon portion 22 of the buoy unit 20 is positioned on the ground unit main body 5 in an uninflated state. The buoy unit inflation step S2 is executed via the ground unit control unit by control of the system control unit 3 or operation input to the operation unit 13. By control of the system control unit 3 or operation of the operation unit 13, the ground unit control unit injects a gas lighter than the ambient air, such as helium gas, from the gas cylinder 7 via the gas injection unit 8 into the balloon portion 22 of the buoy unit 20 as shown by arrow F1. The control flow can be executed mainly by control of a predetermined program in the system control unit 3, but even if execution is not possible for some reason, the flow can be advanced by the operation unit 13. Therefore, as shown in FIG. 10, the interior of the balloon portion 22 is filled with a gas that is lighter than the surrounding air, such as helium gas, and an upward buoyancy is generated in the balloon portion 22 of the buoy unit 20. 10, when the balloon portion 22 is inflated, the balloon portion 22 is still attached to the ground unit main body 5. The balloon portion 22 is gradually expanded (stretched) in the height direction as gas is injected. The balloon portion 22 is enlarged to an extent that it generates a buoyancy sufficient to lift the device mounted on the upper pedestal 22a, and the process proceeds to S3.

[0048] In step S3, the ground unit control unit 18 executes the buoy unit raising step S3 under the control of the system control unit 3 or the operation of the operation unit 13. As shown in FIG. 11 , the operation of the operation unit 13 causes the ground unit control unit 18 to operate the reeling unit 14 and send out the balloon portion 22 of the buoy unit 20 so that it can rise away from the ground unit 4. The buoy unit 20 rises upward due to the buoyancy of the balloon portion 22. The mooring member 12 is sent out from the reeling unit 14, allowing the buoy unit 20 to rise to a predetermined height. For example, the system control unit 3 can control the height to which the buoy unit 20 rises. Therefore, the system control unit 3 can grasp the coordinates (e.g., X, Y, and Z coordinates) of the buoy unit 20. In this way, the system control unit 3 can recognize and grasp the coordinates of each buoy unit 20. Therefore, the system control unit 3 can recognize the relative positional relationship of multiple buoy units 20. After raising the buoy unit 20 to a predetermined height, the system control unit 3 stops the operation of the winding unit 14. After executing step S3, the system control unit 3 proceeds to S4.

[0049] In step S4, the system control unit 3 executes the laser light irradiation step S4. The system control unit 3 recognizes the relative positional relationship between the multiple buoy units 20. Therefore, the system control unit 3 adjusts the direction of the laser light emitted from the laser unit 24 using the adjustment device 26. For example, the system control unit 3 uses the adjustment device 26 to direct the direction of the laser light emitted from the laser unit 24 toward the upper base 20a of another buoy unit 20. Because the system control unit 3 knows the position coordinates (including the height position in the Z direction) of all the buoy units 20, the system control unit 3 can adjust the direction of the laser light. Note that the buoy unit 20 may be provided with a receiving unit (not shown) that receives the laser light emitted from the laser unit 24 of another buoy unit. The receiving unit can receive irradiation for a long period of time or irradiation with a laser light with a relatively high output. As shown in FIG. 4 , the system control unit 3 can operate the laser unit 24 to emit laser light. This allows the system control unit 3 to draw a line of laser light in the air from one buoy unit 20 floating in the air toward another buoy unit 20. It can also create a barrier or a course in the air using the laser light. The system control unit 3 can also operate the LED device 27 to illuminate the balloon unit 22 as LED light. The system control unit 3 can control the operation of the LED device 27 and the laser unit 24 at any timing to turn the lights on and off. For example, by drawing a straight line of laser light between two buoy units 20, it is possible to create the illusion of a virtual gate or barrier being formed in the air between the two buoy units 20. After executing step S4, the system control unit 3 proceeds to S5.

[0050] In step S5, as shown in Figure 12, when the system control unit 3 has finished irradiating the laser light from the laser unit 24, it operates the reeling unit 14 to reel in the mooring member 12 and executes a buoy unit lowering step S5 in which the reeling unit 14 lowers the buoy unit 20 toward the ground unit 4. After the system control unit 3 has lowered the buoy unit 20 to the ground unit 4, it proceeds to END. After lowering the buoy unit 20 to the ground unit 4, the system control unit 3 may open the exhaust valve of the balloon unit 22 to release a predetermined gas and deflate the balloon unit 22. The system control unit 3 may also be configured to automatically store the buoy unit 20 in the storage unit 53.

[0051] Examples of an embodiment of the present invention may be provided in each aspect as described below.

[0052] (1) A moored buoy device that provides a beacon moored in the air, comprising: a ground unit that is placed on the ground; and a buoy unit that functions as a beacon while moored in the air, wherein the ground unit comprises a mooring unit that moor the buoy unit to the ground unit, and the buoy unit is a balloon unit that is inflated and generates buoyancy when a predetermined gas is introduced therein, the balloon unit generates buoyancy due to the internal gas, and the mooring unit is connected to the lower part of the balloon unit, and the balloon unit comprises: and a laser unit that emits laser light used as a beacon, wherein the buoy unit provides a beacon using laser light while moored in the air by the buoy unit.

[0053] (2) The buoy unit is equipped with an adjustment device that can adjust the direction of the laser light emitted from the laser unit, in the air-moored buoy device described in (1).

[0054] (3) The mooring unit has the function of positioning the buoy unit at a predetermined height from the ground unit, in the air-moored buoy device described in (1).

[0055] (4) The ground unit is provided with a gas injection section that injects a predetermined gas into the balloon section of the buoy unit while the balloon section is in contact with the ground unit, in the air-moored buoy device described in (1).

[0056] (5) The mooring unit is provided with a mooring member formed of a string, filament or wire, and the mooring member has a cross-sectional radius within the range of 0.1 mm to 10 mm.

[0057] (6) The air-moored buoy device described in (1) is equipped with a lighting device that illuminates the buoy unit.

[0058] (7) The air-moored buoy device described in (1), wherein the buoy unit is equipped with a display device that displays characters.

[0059] (8) An aerial mooring buoy system that provides a marker moored in the air, the aerial mooring buoy system being the aerial mooring buoy device described in any one of (1) to (7), comprising two or more aerial mooring buoys, and a control unit, the control unit comprising a position recognition unit that recognizes the positions of the aerial mooring buoys relative to each other, and the control unit comprising a first illumination mode that irradiates laser light emitted from the illumination device of one aerial mooring buoy toward another aerial mooring buoy.

[0060] (9) An aerial mooring buoy system as described in (8), in which two or more of the aerial mooring buoy devices form a gate in the air for a race of unmanned aerial vehicles.

[0061] (10) A method for providing a moored buoy in the air, which provides a marker that is moored in the air, comprising: a ground unit placement step for placing a ground unit on the ground; a buoy unit expansion step for introducing a predetermined gas (a gas lighter than the surrounding air) into the buoy unit to inflate the balloon portion of the buoy unit and generate buoyancy; and a buoy unit raising step for raising the buoy unit equipped with a laser unit while the buoy unit is moored to the ground unit by the mooring unit.

[0062] The embodiments for carrying out the present invention are not limited to the above, and other modifications may be applied. Various alternative embodiments and examples will be apparent to those skilled in the art based on the disclosed technology. Although the buoy unit of the air-tethered buoy in this embodiment is equipped with a laser unit, the buoy unit of the air-tethered buoy can also be configured without the laser unit. For example, the buoy unit 20 of the air-tethered buoy can be configured with the LED device 27 while omitting the laser unit 24. In this case, it is also possible to provide an air-tethered buoy that provides a beacon while moored in the air.

[0063] As another modification, although the buoy unit 20 in the air-moored buoy system 1 shown in Fig. 1 is equipped with one laser unit 24, the buoy unit 20 may be equipped with two or more laser units 24. For example, a laser unit 24 may be provided on the upper base 22a of the buoy unit 20, and another laser unit 24 may be provided on the lower base 22b. In this way, the laser light line on the upper edge of the gate and the laser light line on the lower edge of the gate can be displayed simultaneously.

[0064] As another modification, a plurality of moored buoy devices 2 may be arranged along the course, and the outer edge of the course may be indicated by laser light emitted from the laser unit 24 of the buoy unit 20. This makes it possible to draw the course in the air with light.

[0065] In another modified example, the laser light emitted from the laser unit 24 of the air-moored buoy 2 does not have to be directed at another air-moored buoy 2, but may be directed at a target or space other than the air-moored buoy 2. For example, the laser light emitted from the laser unit 24 may be used as a guiding light to indicate the direction of the course.

[0066] The position and number of laser units 24 can be changed, so they can be freely arranged to surround gates or checkpoints, indicate courses, or the like.

[0067] As yet another modification, the system control unit 3 may control the height of the buoy unit 20 set by the mooring unit 10 and the orientation of the laser unit 24 adjusted by the adjustment device 26 to change according to timing. For example, if the height of the buoy unit 20 is 30 cm and the orientation of the laser unit 24 is eastward at a first timing (time), the height of the buoy unit 20 may be 50 cm and the orientation of the laser unit 24 may be eastward at a second timing (time). Similar control may be performed on multiple airborne moored buoy devices 2 so that they can move horizontally up and down the barrier. Also, for example, if the height of the buoy unit 20 is 30 cm and the orientation of the laser unit 24 is eastward at a first timing (time), the height of the buoy unit 20 may be 50 cm and the orientation of the laser unit 24 may be southward at a second timing (time). For example, by changing the height of the buoy unit 20 and the orientation of the laser unit 24, it is possible to change the shape of the course or its meaning as a sign. Multiple aerial moored buoy devices 2 can be controlled to change the barriers and course depending on the purpose. In this way, the height of the buoy unit 20, the orientation of the laser unit 24, and other devices such as the LED device 27 can be controlled by the system control unit 3, so the position, orientation, etc. can be dynamically changed according to the timing. This increases the complexity of the course, enhances entertainment value, and creates a performance that is more enjoyable for spectators.

[0068] The aerial mooring buoy device 2 of the aerial mooring buoy system 1 is used in events using aerial vehicles, such as drone races and aerial vehicle flight events, but this technology can be implemented as an aerial sign or performance device in a variety of situations where aerial mooring buoys are used, such as signs at music festivals, signs at exhibition events, signs in temporary structures during disasters, signs for environmental monitoring, indoor signs, and signs for outdoor advertising. [Explanation of symbols]

[0069] 1: Aerial mooring buoy system 2: Aerial mooring buoy 4: Ground Unit 8: Gas injection section 10: Mooring unit 12: Mooring member 20: Buoy unit 22: Balloon section 24: Laser unit 26: Adjustment device 42: First irradiation mode

Claims

1. 1. A moored buoy system for providing a beacon moored in the air, comprising: a tethered buoy that provides a beacon moored in the air, comprising: a ground unit placed on the ground; and a buoy unit that functions as a beacon while moored in the air, the ground unit comprising a mooring unit that moor the buoy unit to the ground unit, the buoy unit being a balloon unit that is inflated and generates buoyancy when a predetermined gas is introduced therein, the balloon unit generating buoyancy due to the internal gas, and the mooring unit being connected to a lower part of the balloon unit; and a laser unit that emits laser light used as a beacon, the tethered buoyant provides a beacon using laser light while moored in the air by the buoy unit, and there are two or more tethered buoyant devices; a control unit; The control unit has a first irradiation mode in which the laser light emitted from the laser unit of the air-moored buoy device is irradiated toward another air-moored buoy device.

2. 2. The aerial mooring buoy system according to claim 1, wherein two or more of the aerial mooring buoy devices form a gate in the air for a race of unmanned aerial vehicles.

3. An aerial moored buoy system as described in claim 1, wherein the buoy unit is equipped with an adjustment device that can adjust the direction of the laser light emitted from the laser unit.

4. An aerial moored buoy system as described in claim 1, wherein the mooring unit has the function of positioning the buoy unit at a predetermined height from the ground unit.

5. An aerial mooring buoy system as described in claim 1, wherein the ground unit is provided with a gas injection section that injects a predetermined gas into the balloon section of the buoy unit when the balloon section is in contact with the ground unit.

6. An aerial mooring buoy system as described in claim 1, wherein the mooring unit comprises a mooring member formed by a string, filament or wire, and the mooring member has a cross-sectional radius within the range of 0.1 mm to 10 mm.

7. An aerial moored buoy system as described in claim 1, wherein the buoy unit is equipped with a lighting device that makes the buoy unit illuminate.

8. An aerial mooring buoy system as described in claim 1, wherein the buoy unit is equipped with a display device that displays characters.

9. A method for providing a marker moored in the air by a moored buoy system, comprising: The aerial mooring buoy system comprises: a tethered buoy that provides a beacon moored in the air, comprising: a ground unit placed on the ground; and a buoy unit that functions as a beacon while moored in the air, the ground unit comprising a mooring unit that moor the buoy unit to the ground unit, the buoy unit being a balloon unit that is inflated and generates buoyancy when a predetermined gas is introduced therein, the balloon unit generating buoyancy due to the internal gas, and the mooring unit being connected to a lower part of the balloon unit; and a laser unit that emits laser light used as a beacon, the tethered buoyant provides a beacon using laser light while moored in the air by the buoy unit, and there are two or more tethered buoyant devices; a control unit; The control unit has a first irradiation mode in which the laser light emitted from the laser unit of the aerial mooring buoy is irradiated toward another aerial mooring buoy, The method for providing a moored buoy includes: a ground unit placement step of placing ground units on the ground; a buoy unit expansion step of introducing a predetermined gas into the interior to expand the balloon portion of the buoy unit and generate buoyancy; a buoy unit raising step of raising the buoy unit equipped with a laser unit while the buoy unit is moored to the ground unit by a mooring unit; a step of irradiating the laser light emitted from the laser unit of the aerial-moored buoy device toward another aerial-moored buoy device using the first irradiation mode of the control unit.

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