Landing control method for unmanned aerial vehicle, takeoff control method for unmanned aerial vehicle, landing control program, takeoff control program, and station

Abstract

To stably perform takeoff and landing of an unmanned flight body in inspection at a narrow place.SOLUTION: A landing control method of an unmanned flight body 10 to a station 1 includes the steps of: landing the unmanned flight body 10 in a state of directing in a prescribed direction in an open state on a stage 3 movable in a horizontal direction between the open state and a closed state; starting the movement of the stage 3 from the open state to the closed state; moving the stage 3 while making the unmanned flight body 10 abut on a fixed abutting section 4 extending in a direction orthogonal to a moving direction of the stage 3 in the horizontal direction in a body 2; making a state in which a longitudinal direction of the unmanned flight body 10 is along an extending direction of the abutting section 4; stopping the movement of the stage 3 when the movement of the stage 3 by a prescribed distance is completed; holding the unmanned flight body 10 by a holding section 5 movable in the direction orthogonal to the moving direction of the stage 3 in the horizontal direction; and moving the unmanned flight body 10 up to a prescribed position along a moving direction of the holding section 5 in a state of stopping the stage 3.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a landing control method for an unmanned aerial vehicle, a takeoff control method for an unmanned aerial vehicle, a landing control program, a takeoff control program, and a station. [Background technology]

[0002] Demand for inspection work using unmanned aerial vehicles is increasing. For routine inspection work, to improve efficiency, it is required that unmanned aerial vehicles fly autonomously according to a routine to perform inspections. In order to fly unmanned aerial vehicles autonomously on a regular basis, a station is required for the unmanned aerial vehicles to take off and land.

[0003] For example, Patent Document 1 discloses a station for an unmanned aerial vehicle that performs autonomous flight. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6763592 Summary of the Invention [Problem to be solved by the invention]

[0005] When inspecting narrow spaces such as factories or piping, there are significant restrictions on where the unmanned aerial vehicle station can be set up.

[0006] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and its purpose is to provide a landing control method for an unmanned aerial vehicle, a takeoff control method for an unmanned aerial vehicle, a landing control program, a takeoff control program, and a station that enable unmanned aerial vehicles to take off and land stably during inspections in narrow spaces. [Means for solving the problem]

[0007] According to the present disclosure, there is provided a method for controlling the landing of an unmanned aerial vehicle at a station, the method comprising: landing the unmanned aerial vehicle in a state facing a predetermined direction on a stage provided in a housing of the station and movable horizontally between an open state and a closed state in the open state; starting movement of the stage from the open state to the closed state; and providing a fixed abutment portion on the housing that extends in a direction perpendicular to the horizontal direction of movement of the stage, and abutting the unmanned aerial vehicle against the fixed abutment portion by moving the stage toward the closed state. a landing control method is provided, which includes: moving the stage while the unmanned aerial vehicle is abutting against the abutment portion, so that the longitudinal direction of the unmanned aerial vehicle is aligned with the direction in which the abutment portion extends; stopping the movement of the stage when the movement of the stage by a predetermined distance is completed; holding the unmanned aerial vehicle with a holding portion different from the abutment portion and movable in a direction perpendicular to the horizontal direction of the movement of the stage, and moving the unmanned aerial vehicle to a predetermined position along the movement direction of the holding portion while the stage is stopped.

[0008] Furthermore, according to the present disclosure, there is provided a takeoff control method for an unmanned aerial vehicle from a station, which includes: holding the unmanned aerial vehicle with a holding unit at a predetermined position inside the station's housing; moving only a stage that is mounted on the station's housing and is movable horizontally between an open state and a closed state a predetermined distance toward the open state; after the stage has moved the predetermined distance, releasing the holding unit from holding the unmanned aerial vehicle; and placing the unmanned aerial vehicle on the stage and moving the stage toward the open state.

[0009] Also, according to the present disclosure, there is provided a landing control program for controlling the landing of an unmanned aerial vehicle at a station, the program causing a computer to function as a landing control unit, a stage movement control unit, a stage stop control unit, and a holding unit drive control unit, the landing control unit causing the unmanned aerial vehicle to land on a stage provided in a housing of the station and movable horizontally between an open state and a closed state in a state facing a predetermined direction in the open state, the stage movement control unit starting movement of the stage from the open state to the closed state, and during the movement of the stage, a fixed abutment unit extending in a direction perpendicular to the horizontal direction to the movement direction of the stage is provided on the housing. A landing control program is provided in which the unmanned aerial vehicle is brought into contact with the fixed abutment portion by moving the stage toward the closed state, and the stage is moved while the unmanned aerial vehicle is abutting the abutment portion, so that the longitudinal direction of the unmanned aerial vehicle is aligned with the direction in which the abutment portion extends, the stage stop control unit stops the movement of the stage when the stage has completed moving a predetermined distance, the holding unit drive control unit holds the unmanned aerial vehicle using a holding unit that is different from the abutment portion and is movable in a direction horizontally perpendicular to the movement direction of the stage, and the unmanned aerial vehicle is moved to a predetermined position along the movement direction of the holding unit while the stage is stopped.

[0010] Furthermore, according to the present disclosure, there is provided a takeoff control program for controlling the takeoff of an unmanned aerial vehicle from a station, which causes a computer to function as a stage movement control unit and a holder release control unit, wherein the stage movement control unit is a stage that is provided on a housing of the station at a predetermined position and is movable horizontally between an open state and a closed state, and moves the stage a predetermined distance in a direction toward the open state while holding the unmanned aerial vehicle with a holder that is movable in a direction perpendicular to the horizontal direction of movement of the stage on which the unmanned aerial vehicle is placed, the holder release control unit releases the hold of the unmanned aerial vehicle by the holder after the stage has moved the predetermined distance, and the stage movement control unit moves the stage in the direction toward the open state while the unmanned aerial vehicle is placed on the stage.

[0011] According to the present disclosure, there is also provided a station for launching and landing unmanned aerial vehicles, comprising: a box-shaped housing; a stage that is movable horizontally relative to the housing between an open state and a closed state; a fixed abutment portion that is provided inside the housing and extends in a direction perpendicular to the horizontal direction of movement of the stage; and a holding portion that is provided inside the housing and is movable in a direction perpendicular to the horizontal direction of movement of the stage, wherein the abutment portion abuts against the unmanned aerial vehicle that is positioned on the stage and facing a predetermined direction as the stage moves from the open state to the closed state, causing the longitudinal direction of the unmanned aerial vehicle to align with the extension direction of the abutment portion, and wherein the holding portion, when the stage is stopped, moves the unmanned aerial vehicle, with its longitudinal direction aligning with the extension direction of the abutment portion, to a predetermined position along the movement direction of the holding portion. [Effects of the Invention]

[0012] According to the present disclosure, unmanned aerial vehicles can be stably launched and landed during inspections in narrow spaces. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a perspective view showing a configuration of a station 1 according to an embodiment of the present disclosure. [Figure 2] 2 is a plan view showing the configuration of a station 1 according to the embodiment. FIG. [Figure 3] 2 is an example of a hardware configuration diagram for controlling a station 1 according to the embodiment. [Figure 4] 2 is a block diagram showing an example of a software configuration of the control device 100 according to the embodiment. FIG. [Figure 5] 10 is a flowchart showing an example of the processing flow when the unmanned aerial vehicle 10 lands on the station 1 according to the embodiment. [Figure 6] FIG. 1 is a first diagram for explaining the processing when the unmanned aerial vehicle 10 lands on the station 1 according to the embodiment. [Figure 7] This is the second diagram for explaining the processing when the unmanned aerial vehicle 10 lands on the station 1 according to the same embodiment. [Figure 8] This is the third diagram for explaining the processing when the unmanned aerial vehicle 10 lands on the station 1 according to the same embodiment. [Figure 9] FIG. 4 is a fourth diagram for explaining the processing when the unmanned aerial vehicle 10 lands on the station 1 according to the embodiment. [Figure 10] FIG. 5 is a fifth diagram for explaining the processing when the unmanned aerial vehicle 10 lands on the station 1 according to the embodiment. [Figure 11] 10 is a flowchart showing an example of the processing flow when the unmanned aerial vehicle 10 takes off to the station 1 according to the embodiment. [Figure 12] This is the first diagram for explaining the processing when the unmanned aerial vehicle 10 takes off to the station 1 according to the embodiment. [Figure 13] This is the second diagram for explaining the processing when the unmanned aerial vehicle 10 takes off to the station 1 according to the same embodiment. [Figure 14] This is the third diagram for explaining the processing when the unmanned aerial vehicle 10 takes off to the station 1 according to the same embodiment. [Figure 15] FIG. 4 is a fourth diagram for explaining the processing when the unmanned aerial vehicle 10 takes off to the station 1 according to the embodiment. [Figure 16] FIG. 10 is a perspective view showing an open state of a modified example of the station 1 according to an embodiment of the present disclosure. [Figure 17] FIG. 2 is a perspective view showing the configuration of the station 1 of the embodiment as viewed from another angle. [Figure 18] FIG. 2 is a perspective view showing a closed state of the station 1 of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0015] Fig. 1 is a perspective view showing the configuration of a station 1 according to an embodiment of the present disclosure. Fig. 2 is a plan view showing the configuration of the station 1 according to this embodiment. Note that the station 1 shown in Fig. 1 is in a closed state, and the station 1 shown in Fig. 2 is in an open state. The meanings of the closed state and the open state will be described later.

[0016] As shown in Figures 1 and 2, station 1 comprises a housing 2, a stage 3, a bar 4 (contact portion), a holder 5, a power supply terminal 6, an emergency stop button 7, a holder drive unit 50, and a power supply terminal drive unit 60. In Figure 1, unmanned aerial vehicle 10 is placed on stage 3. Unmanned aerial vehicle 10 is stored in station 1, and a charging terminal 10A of unmanned aerial vehicle 10 is connected to power supply terminal 6. Station 1 may also include devices and electronic circuits, etc. (not shown), for performing the functions of each of the above-mentioned components.

[0017] The housing 2 is a structure that constitutes the station 1. The housing 2 includes therein each component of the station 1 as shown in each drawing. Note that, in a closed state, the housing 2 according to the present embodiment has a structure that is surrounded by walls and separates the internal space of the station 1 from the external space, but the present technology is not limited to such an example. For example, some of the walls that constitute the housing 2 may not be provided. Note that in this specification, in the drawings that explain the configuration of the station 1, for the sake of explanation, the walls of the housing 2 may be omitted.

[0018] The housing 2 may have an elongated structure that extends horizontally (e.g., in the Y-axis direction). Such an elongated structure allows the station 1 to be relatively large in a structure that extends in at least one direction, such as a pipe. The housing 2 may be installed on the floor or ground of a structure, or may be installed on a side wall or the like of a structure, or may be suspended from an upper part, such as a ceiling, of a structure.

[0019] The stage 3 is provided at the bottom of the internal space of the housing 2 and serves as a base for takeoff and landing of the unmanned aerial vehicle 10. As shown in FIG. 2, the stage 3 is provided movably along the X-axis direction. The movement of the stage 3 can be performed by a drive unit 200, which will be described later. In conjunction with the movement of the stage 3, for example, the wall 2A of the housing 2 is also provided movably, and the movement of the wall 2A can open or close the station 1. In this embodiment, a state in which the wall 2A is closed by the housing 2 (for example, the state shown in FIG. 1) is defined as a closed state, and a state in which the wall 2A is separated from the housing 2 and the unmanned aerial vehicle 10 can take off and land (for example, the state shown in FIG. 2) is defined as an open state. Note that in the closed state, the housing 2 does not necessarily have to be completely closed by the wall 2A. The stage 3 can be moved in a direction toward either the open state or the closed state.

[0020] Note that an opening may be provided in the stage 3. For example, the stage 3 may be provided with a plurality of openings. Such openings may be realized by a regular or irregular distribution (here, distribution refers to the positions where the openings are provided and / or the size of the openings), such as a mesh structure. This makes it possible to reduce the ground effect that tends to affect the flight of the unmanned aerial vehicle 10 when the unmanned aerial vehicle 10 lands and takes off.

[0021] The landing surface of the stage 3 may be made of a material with relatively good slipperiness. Such a material may be, for example, a fluororesin such as PTFE (polytetrafluoroethylene) or a lubricating material such as DLC (diamond-like carbon). Such a material may constitute the entire landing surface, or may be formed as a thin film near the surface. The landing surface of the stage 3 may be processed by surface treatment to improve slipperiness compared to an untreated surface.

[0022] The bar 4 is an example of an abutment portion provided on the housing 2 and extending in a direction (Y-axis direction) perpendicular to the movement direction (X-axis direction) of the stage 3 in the horizontal direction. The shape of the abutment portion is not limited to a rod shape, and may be any structure extending in a direction (Y-axis direction) perpendicular to the movement direction (X-axis direction) of the stage 3 in the horizontal direction. The bar 4 may be fixed in the internal space of the housing 2. There are no particular restrictions on the material of the bar 4. The bar 4 abuts against the unmanned aerial vehicle 10 when the stage 3 carrying the unmanned aerial vehicle 10 is moving to the closed state, and serves to adjust the orientation of the unmanned aerial vehicle 10. This makes it easier to position the unmanned aerial vehicle 10 at the station 1.

[0023] The holders 5 (5A, 5B) are movable in a direction (Y-axis direction) horizontally perpendicular to the movement direction (X-axis direction) of the stage 3, and hold the unmanned aerial vehicle 10. As shown in Figures 1 and 2, the holders 5 protrude from the holder driver 50 in the X-axis direction and are movable in the Y-axis direction by the holder driver 50. The holders 5, for example, hold the unmanned aerial vehicle 10, which is mounted on the stage 3 and whose orientation is adjusted by the bar 4, in the movement direction toward the power supply terminal 6 of the holder 5 and / or the side opposite to that movement direction. The holders 5 may hold the unmanned aerial vehicle 10 on both sides in the movement direction. For example, the holders 5 may hold the unmanned aerial vehicle 10 while it is separated from the stage. Therefore, the holders 5 may be movable in the Z-axis direction, for example. Such movement may be performed by the holder driver 50. Note that although two holders 5 are provided in this specification, the number of holders 5 is not particularly limited as long as it is one or more. Furthermore, the unmanned aerial vehicle 10 may be held by at least one of the holding units 5.

[0024] The power supply terminal 6 is connectable to the charging terminal 10A of the unmanned aerial vehicle 10 and is a terminal for supplying power to the unmanned aerial vehicle 10 when connected. The power supply terminal 6 can be provided at a predetermined position. For example, as shown in Figures 1 and 2, the predetermined position may be the center of the housing 2 in the Y-axis direction in a plan view, or it may be provided near an end of the housing 2 in the Y-axis direction. Furthermore, although the connection direction of the terminal of the power supply terminal 6 is parallel to the X-axis direction in the example shown in Figure 2, this direction is not particularly limited. The position and connection direction of the power supply terminal 6 are determined appropriately depending on the positions to which the unmanned aerial vehicle 10 can be moved by the holding unit 5, the position of the charging terminal 10A of the unmanned aerial vehicle 10, etc.

[0025] The power feed terminal 6 may also be provided so as to be movable, for example, by the power feed terminal drive unit 60. The power feed terminal 6 according to this embodiment is movable in the direction along the X-axis by the power feed terminal drive unit 60. This makes it less likely that the power feed terminal 6 will be interfered with by the movement of the holding unit 5 of the unmanned aerial vehicle 10 or the like. The power feed terminal 6 may also be provided with, for example, a magnet (including an electromagnet). In this case, if a ferromagnetic material or the like is provided in the charging terminal 10A or the like of the unmanned aerial vehicle 10, the power feed terminal 6 and the charging terminal 10A will attract each other by magnetic force, enabling more reliable charging. When the unmanned aerial vehicle 10 takes off, the connection between the power feed terminal 6 and the charging terminal 10A can be released, for example, by stopping the current supplied to the electromagnetic force provided in the power feed terminal 6.

[0026] The emergency stop button 7 is, for example, a button for stopping the movement of the stage 3. For example, it is a button for a person to urgently stop the stage 3 when a hand or an object is about to get caught between the wall surface 2A and the housing 2 while the stage 3 is moving. When the emergency stop button 7 is pressed, a command for the control device 100, which will be described later, to the drive device 200 to stop the movement of the stage 3 by the drive device 200 can be sent to the drive device 200. Such an emergency stop button 7 does not necessarily have to be provided.

[0027] The unmanned aerial vehicle 10 that uses the station 1 according to this embodiment is not particularly limited. For example, the unmanned aerial vehicle 10 may be a known drone or a UAV (Unmanned Aerial Vehicle). The unmanned aerial vehicle 10 may be used for purposes such as inspection and photography. The unmanned aerial vehicle 10 may fly autonomously. For example, the landing of the unmanned aerial vehicle 10 at the station 1 and the takeoff from the station 1 may be controlled based on flight instructions transmitted from the station 1 via communication with the station 1. The unmanned aerial vehicle 10 may have a structure that extends in one direction, as shown in FIG. 1, for example. The size of the unmanned aerial vehicle 10 may be, for example, large enough to be stored in the station 1.

[0028] 3 is an example of a hardware configuration diagram for controlling the station 1 according to this embodiment. As shown in FIG. 3, the station 1 includes a control device 100, a driving device 200, a power supply device 300, a sensor 400, a communication device 500, and an input / output device 600.

[0029] The control device 100 may have one or more processors, such as a central processing unit (CPU) or a programmable processor such as a field-programmable gate array (FPGA). The control device 100 has and can access memory. The memory includes a primary storage device formed of a volatile storage device such as a dynamic random access memory (DRAM) and a secondary storage device formed of a non-volatile storage device such as a flash memory or a hard disk drive (HDD), and stores logic, code, and / or program instructions that the control device 100 can execute to perform one or more steps.

[0030] The driving device 200 may be realized by a motor or the like for moving and stopping the stage 3, the holder 5, and the power supply terminal 6. The supply of power by the driving device 200 may be controlled by, for example, the control device 100. The driving device 200 may have a power source such as a motor corresponding to each component. The holder 5 receives power from the driving device 200 and may be moved by a transmission device such as a chain provided as a holder drive unit 50. The power supply terminal 6 receives power from the driving device 200 and may be moved by a link mechanism, actuator, or the like provided as a power supply terminal drive unit 60.

[0031] The power supply device 300 supplies power to the power supply terminal 6. The supply and stop of the power supply can be controlled by the control device 100, for example.

[0032] The sensor 400 is a device for sensing the flight status of the unmanned aerial vehicle 10, the position of the unmanned aerial vehicle 10 on stage 3, etc. Such a sensor 400 may include, for example, a camera, an inertial sensor, an acceleration sensor, a gyro sensor, a GPS sensor, a wind sensor, a temperature sensor, a humidity sensor, a barometric pressure sensor, an altitude sensor, a proximity sensor such as LiDAR (Laser Imaging Detection and Ranging), or a vision / image sensor other than a camera. The sensing information acquired by the sensor 400 may be output to the control device 100.

[0033] Communication device 500 is a device for communicating with unmanned aerial vehicle 10 or with a system that manages station 1 and unmanned aerial vehicle 10. Communication device 500 can utilize one or more of any communication method, such as, for example, a local area network (LAN), a wide area network (WAN), 5G, 4G, LTE, infrared, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, or cloud communication.

[0034] The input / output device 600 may be, for example, an interface device such as a keyboard, a touch panel, a monitor, a display, a microphone, or a speaker that is provided in the station 1. For example, the input / output device 600 may be used when a person inputs any information to the station 1 or when a person acquires any information from the station 1.

[0035] 4 is a block diagram showing an example of the software configuration of the control device 100 according to the present embodiment. Note that, although the present embodiment presents an example in which the configuration of each functional unit is provided in the control device 100, the present technology is not limited to such an example. For example, all or part of each functional unit may be realized not by the control device 100 but by a control device of another server or terminal.

[0036] 4, the control device 100 according to this embodiment includes a landing control unit 101, a takeoff control unit 102, a stage movement control unit 103, a stage stop control unit 104, a holder drive control unit 105, a holder hold control unit 106, a holder release control unit 107, and a power supply terminal drive control unit 108. Each of these functional units can be realized by the processor of the control device 100 reading a program stored in storage into memory and executing the program.

[0037] The landing control unit 101 has the function of generating information for controlling the landing of the unmanned aerial vehicle 10 that is attempting to land at station 1. For example, the landing control unit 101 may generate command information for the stage movement control unit 103 to move the stage 3 to an open state and send it to the stage movement control unit 103. The landing control unit 101 may also generate information for instructing the unmanned aerial vehicle 10 as to the direction (in the example shown in FIG. 2, the longitudinal direction of the unmanned aerial vehicle 10 is along the Y-axis direction) and / or position of the unmanned aerial vehicle 10 when landing. Such instructions are sent to the unmanned aerial vehicle 10 via the communication device 500, and the unmanned aerial vehicle 10 may land at station 1 in accordance with such instructions.

[0038] The takeoff control unit 102 has the function of generating information for controlling the takeoff of the unmanned aerial vehicle 10 that is about to take off from station 1. For example, the takeoff control unit 102 can generate instruction information for causing the unmanned aerial vehicle 10 to take off when stage 3 is in an open state. Such an instruction is sent to the unmanned aerial vehicle 10 via the communication device 500, and the unmanned aerial vehicle 10 can take off from station 1 in accordance with such instruction. The takeoff control unit 102 can also generate command information for moving stage 3 so that it is in a closed state after takeoff, and send this to the stage movement control unit 103.

[0039] The stage movement control unit 103 has a function of performing control to move the stage 3 to an open state or a closed state. The stage movement control unit 103 can, for example, generate command information for moving the stage 3 in either direction and send it to the driving device 200. The driving device 200 drives the stage 3 in accordance with this information.

[0040] The stage stop control unit 104 has a function of performing control to stop the moving stage 3. The stage stop control unit 104 can, for example, generate command information to stop the movement of the stage 3 and send it to the driving device 200. The driving device 200 stops the movement of the stage 3 in accordance with this information.

[0041] The holder drive control unit 105 has a function of performing control to move and / or stop the movement of the holder 5 along the Y-axis direction. The holder drive control unit 105 can, for example, generate command information for moving and / or stopping at least one holder 5 and send it to the holder drive unit 50. The holder drive unit 50 moves or stops the holder 5 in accordance with this information.

[0042] The holding unit holding control unit 106 has the function of controlling the holding unit 5 to hold the unmanned aerial vehicle 10. The holding unit holding control unit 106 can, for example, generate command information for at least one holding unit 5 to hold the unmanned aerial vehicle 10 and send it to the holding unit driving unit 50. The holding unit driving unit 50 causes the holding unit 5 to hold the unmanned aerial vehicle 10 in accordance with this information. Note that the manner in which the holding unit 5 holds the unmanned aerial vehicle 10 is not particularly limited.

[0043] The holding unit release control unit 107 has the function of controlling the holding unit 5 to release its hold on the unmanned aerial vehicle 10. The holding unit release control unit 107 can, for example, generate command information for releasing the hold of the unmanned aerial vehicle 10 by at least one holding unit 5 and send it to the holding unit drive unit 50. The holding unit drive unit 50 causes the holding unit 5 to release its hold on the unmanned aerial vehicle 10 in accordance with this information.

[0044] The power supply terminal drive control unit 108 has a function of controlling the drive of the power supply terminal 6. For example, when the unmanned aerial vehicle 10 is in a predetermined position (charging position), the power supply terminal drive control unit 108 drives (moves) the power supply terminal 6 to connect or disconnect the power supply terminal 6 from the charging terminal 10A.

[0045] <Flight control method> Next, the processing flow when the unmanned aerial vehicle 10 lands on station 1 according to this embodiment will be described. Figure 5 is a flowchart showing an example of the processing flow when the unmanned aerial vehicle 10 lands on station 1 according to this embodiment. Figures 6 to 10 are diagrams for explaining the processing when the unmanned aerial vehicle 10 lands on station 1 according to this embodiment.

[0046] First, when the unmanned aerial vehicle 10 that is to land at station 1 approaches station 1, the landing control unit 101 transmits an instruction to the unmanned aerial vehicle 10 to land at station 1 (step S101). The unmanned aerial vehicle 10 approaches station 1 in accordance with the instruction. In addition, when the housing 2 is in a closed state, the stage movement control unit 103 controls the drive device 200 to move the stage 3 to an open state.

[0047] Next, the unmanned aerial vehicle 10 lands on the open stage 3 in accordance with the landing instruction (step S103). As shown in FIG. 6, when landing, the unmanned aerial vehicle 10 may adjust its orientation so that its longitudinal direction is in the Y-axis direction, and then land on the stage 3. The orientation of the unmanned aerial vehicle 10 may be determined, for example, based on the position and orientation of the charging terminal 10A provided on the unmanned aerial vehicle 10 and the position and orientation of the power supply terminal 6 provided on the station 1. The landing position of the unmanned aerial vehicle 10 may be determined in advance, but this does not necessarily have to be accurate. More accurate positioning of the unmanned aerial vehicle 10 can be achieved by holding and moving the unmanned aerial vehicle 10 using the holding unit 5, which will be described later. Furthermore, the longitudinal direction of the unmanned aerial vehicle 10 when landing does not necessarily have to be approximately parallel to the Y-axis direction, as shown in FIG. 6. In other words, the longitudinal direction of the unmanned aerial vehicle 10 when landing may be oriented in a direction different from the Y-axis direction. The orientation of the unmanned aerial vehicle 10 can be adjusted using the bar 4, which will be described later.

[0048] Next, when the unmanned aerial vehicle 10 lands on the stage 3, the stage movement control unit 103 starts moving the stage 3 in the direction toward the closed state (step S105). As shown in Figure 7, the stage 3 can move in the direction toward the closed state (positive direction of the X axis) with the unmanned aerial vehicle 10 on board.

[0049] While moving in the direction of the closed state of the stage 3, the unmanned aerial vehicle 10 may come into contact with the bar 4 (step S107). Even after coming into contact with the bar 4, the stage 3 continues to move in the direction of the closed state. In this way, the longitudinal direction of the unmanned aerial vehicle 10 can be adjusted to be in the direction in which the bar 4 extends (i.e., the Y-axis direction). In this way, by moving the unmanned aerial vehicle 10 while it is still on the stage 3 and bringing it into contact with the bar 4, the unmanned aerial vehicle 10 can slide on the stage 3 and adjust its orientation to the desired direction.

[0050] When the stage 3 has moved a predetermined distance (for example, when the wall surface 2A of the housing 2 has reached a state in which the housing 2 is closed), the stage stop control unit 104 stops the movement of the stage 3 (step S109). At this time, the stage 3 may move slightly in the direction of the open state once, and then move back and forth to return to the closed state. This allows fine adjustment of the position of the unmanned aerial vehicle 10 before movement by the holding unit 5.

[0051] Next, the holder holding control unit 106 causes the holder 5 to hold the unmanned aerial vehicle 10 (step S111). As shown in FIG. 8, when the movement of the stage 3 is completed, the holder 5 holds at least one side of the unmanned aerial vehicle 10 in the Y-axis direction (the left side in plan view in FIG. 8). Then, the holder drive control unit 105 causes the holder 5 to move the unmanned aerial vehicle 10 toward the center along the Y-axis direction (step S113). At this time, the unmanned aerial vehicle 10 is pushed toward the center by the holder 5 while sliding on the stage 3. At this time, the holder 5 that is not holding the unmanned aerial vehicle 10 may also move toward the center.

[0052] Next, when the unmanned aerial vehicle 10 reaches the charging position (predetermined position) due to movement by the holding unit 5, the holding unit drive control unit 105 stops the movement of the holding unit 5 (step S115). As shown in Figures 9 and 10, when the unmanned aerial vehicle 10 reaches the charging position, the power supply terminal 6 is connected to the charging terminal 10A of the unmanned aerial vehicle 10 by the power supply terminal drive control unit 108 (step S117). This completes the series of landing processes.

[0053] Next, the processing flow when the unmanned aerial vehicle 10 takes off toward station 1 according to this embodiment will be described. Fig. 11 is a flowchart showing an example of the processing flow when the unmanned aerial vehicle 10 takes off toward station 1 according to this embodiment. Figs. 12 to 15 are diagrams for explaining the processing when the unmanned aerial vehicle 10 takes off toward station 1 according to this embodiment.

[0054] 12, the holder hold control unit 106 keeps the holder 5 holding the unmanned aerial vehicle 10 during charging, and the power supply terminal drive control unit 108 moves the power supply terminal 6 to disconnect the power supply terminal 6 from the charging terminal 10A (step S201). Note that in other embodiments, when or after the terminal connection is disconnected, the holder drive control unit 105 may drive the holder 5 from the charging position to a predetermined position to move the unmanned aerial vehicle 10.

[0055] Next, while the unmanned aerial vehicle 10 is held by the holding unit 5, the stage movement control unit 103 moves the stage 3 in the direction toward the open state (step S203). At this time, the holding unit 5 holds the unmanned aerial vehicle 10 so that it does not move together with the stage 3. Such holding can be, for example, a mechanical or electrical connection between the unmanned aerial vehicle 10 and the holding unit 5, or holding such that the unmanned aerial vehicle 10 is lifted so as not to come into contact with the stage 3. The stage 3 moves a predetermined distance (for example, a distance that puts the unmanned aerial vehicle 10 in a position on the stage 3 suitable for takeoff).

[0056] When the stage 3 has moved a predetermined distance, the stage stop control unit 104 stops the movement of the stage 3 (step S205). Then, as shown in FIG. 13, the holder release control unit 107 causes the holder 5 to release its hold on the unmanned aerial vehicle 10 (step S207). This release can be achieved, for example, by the holder 5 moving in a direction away from the center along the Y-axis direction. Note that the movement distance of the holder 5 is not particularly limited as long as it is a distance appropriate for releasing the hold.

[0057] When the unmanned aerial vehicle 10 is released, the stage movement control unit 103 moves the stage 3 again in the direction toward the open state (step S209), as shown in Figure 14. During this movement, the unmanned aerial vehicle 10 is placed on the stage 3, so the unmanned aerial vehicle 10 moves along the X-axis direction together with the stage 3.

[0058] When the stage 3 moves until it reaches the open state, the stage stop control unit 104 stops the movement of the stage 3 (step S211). Then, as shown in FIG. 15, the takeoff control unit 102 sends an instruction to the unmanned aerial vehicle 10 to cause the unmanned aerial vehicle 10 to take off (step S213). In addition, after the unmanned aerial vehicle 10 has taken off, the stage movement control unit 103 may control the drive unit 200 to move the stage 3 in the direction of the closed state and set it to the closed state.

[0059] In this way, in the station 1 according to this embodiment, after the unmanned aerial vehicle 10 lands on the stage 3, the stage 3 is moved in the direction of the closed state so as to store the unmanned aerial vehicle 10 in the housing 2. At this time, by providing a fixed bar 4 inside the stage 3 to adjust the orientation of the unmanned aerial vehicle 10 and a holding unit 5 to hold and move the unmanned aerial vehicle 10, it becomes possible to easily position the unmanned aerial vehicle 10 in a predetermined position, for example, for charging. This makes it possible to easily perform automatic charging, etc., regardless of landing accuracy, even when the unmanned aerial vehicle 10 lands by autonomous flight.

[0060] Similarly, in the station 1 according to this embodiment, even when taking off after charging, the holding unit 5 makes it easy to determine the takeoff position, enabling stable takeoff. This allows for stable takeoff even when the unmanned aerial vehicle 10 takes off by autonomous flight.

[0061] 16, 17, and 18 show modified examples of station 1. In station 1 of this example, an inner wall 2B is provided to cover the opening of housing 2 (the opening through which stage 3 enters and exits) while wall surface 2A (outer wall) is separated from housing 2 and stage 3 is in an open state.

[0062] The inner wall 2B swings upward toward the inside of the housing 2 around a shaft provided at the top of the housing 2 as a fulcrum, but the opening and closing structure is not limited to this and can be modified as appropriate. For example, the shaft may be provided below the opening so that it swings downward, or the shaft may be provided on either the left or right side so that it swings left and right. Alternatively, it may move parallel to the direction of movement of the stage 3.

[0063] On the inner surface of the outer wall 2A (the surface on the inner wall 2B side), protrusions 2C are provided to open the inner wall 2B that closes the opening. In this example, the protrusions 2C are provided on both the left and right sides of the outer wall 2A, but there may be only one, or three or more. The positions of the protrusions 2C can also be changed as appropriate.

[0064] When stage 3 is in the open state, inner wall 2B blocks the opening of housing 2. As stage 3 transitions from the closed state to the open state, inner wall 2B is pushed up by protrusion 2C and gradually swings around the shaft as a fulcrum, and when stage 3 is in the closed state, it is in an open state without blocking the opening (see FIG. 18). At this time, inner wall 2B is supported from below by protrusion 2C. Furthermore, as stage 3 transitions from the closed state to the open state, inner wall 2B gradually closes by its own weight or by the biasing force of a biasing member such as a spring, following the movement of protrusion 2C. The opening and closing mechanism of inner wall 2B can be modified as appropriate.

[0065] As described above, by closing the opening of the housing 2 with the inner wall 2B when the stage 3 is open, it is possible to prevent, for example, dust kicked up by a drone from entering the interior of the station 1. As a result, the dustproof performance of the station 1 is improved, and it is possible to prevent malfunctions caused by dust adhering to the circuit board. Note that the shape of the housing 2 is not limited to a rectangular parallelepiped as in the illustrated example, and can be modified as appropriate, as long as it is box-shaped overall.

[0066] Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical idea described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0067] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that will be apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects.

[0068] The following configurations also fall within the technical scope of the present disclosure. (Item 1) A method for controlling the landing of an unmanned aerial vehicle on a station, comprising: Landing the unmanned aerial vehicle in the open state while facing a predetermined direction on a stage that is provided in a housing of the station and is configured to be movable horizontally between an open state and a closed state; Initiating movement of the stage from the open state to the closed state; a fixed bar extending in a direction perpendicular to the horizontal direction of the stage movement is provided on the housing, and the unmanned aerial vehicle is brought into contact with the fixed bar by moving the stage toward the closed state; While the unmanned aerial vehicle is in contact with the bar, the stage is moved so that the longitudinal direction of the unmanned aerial vehicle is aligned with the extending direction of the bar; stopping the movement of the stage when the movement of the stage by a predetermined distance is completed; The unmanned aerial vehicle is held by a holding unit that is different from the bar and that is movable in a direction perpendicular to the horizontal direction of the movement of the stage, and the unmanned aerial vehicle is moved to a predetermined position along the movement direction of the holding unit while the stage is stopped. A landing control method comprising: (Item 2) Item 1. A landing control method according to item 1, wherein the floor of the stage is provided with a plurality of openings. (Item 3) Item 3. The landing control method according to item 2, wherein the floor of the stage has a mesh structure. (Item 4) 4. The landing control method according to any one of items 1 to 3, wherein the housing has an elongated structure extending in any one of the horizontal directions. (Item 5) 5. The landing control method according to any one of items 1 to 4, wherein the holding unit holds the unmanned aerial vehicle on the side opposite to the direction in which the holding unit moves to the predetermined position. (Item 6) 5. The landing control method according to any one of items 1 to 4, wherein the holding unit holds the unmanned aerial vehicle on both sides in the direction of movement of the holding unit to the predetermined position. (Item 7) Item 7. A landing control method as described in item 6, wherein the holding unit holds the unmanned aerial vehicle at a distance from the stage. (Item 8) A power supply terminal is provided at a predetermined position, When the unmanned aerial vehicle is moved to a predetermined position, a charging terminal provided on the unmanned aerial vehicle is connected to the power supply terminal. A landing control method according to any one of items 1 to 7. (Item 9) A method for controlling takeoff of an unmanned aerial vehicle from a station, comprising: While holding the unmanned aerial vehicle by a holding unit at a predetermined position inside the housing of the station, move only a stage that is provided on the housing of the station and is movable horizontally between an open state and a closed state by a predetermined distance in a direction toward the open state; After the stage has moved a predetermined distance, releasing the holding unit from holding the unmanned aerial vehicle; placing the unmanned aerial vehicle on the stage and moving the stage toward the open state; A takeoff control method comprising: (Item 10) Item 10. The takeoff control method according to item 9, wherein the floor of the stage is provided with a plurality of openings. (Item 11) Item 11. The takeoff control method according to item 10, wherein the floor of the stage has a mesh structure. (Item 12) 12. The takeoff control method according to any one of items 9 to 11, wherein the housing has an elongated structure extending in any one of the horizontal directions. (Item 13) 13. The takeoff control method according to any one of items 9 to 12, wherein the holding unit is provided so as to be movable in a direction orthogonal to the horizontal direction of the movement of the stage. (Item 14) A takeoff control method described in item 13, wherein the holding unit holds the unmanned aerial vehicle on the side opposite to the direction of movement of the holding unit away from the specified position. (Item 15) A takeoff control method described in item 13, wherein the holding unit holds the unmanned aerial vehicle on both sides in the direction of movement away from the predetermined position of the holding unit. (Item 16) 16. The takeoff control method according to any one of items 9 to 15, wherein the holding unit holds the unmanned aerial vehicle in a state separated from the stage. (Item 17) A power supply terminal is provided at a predetermined position, When the unmanned aerial vehicle starts to move in a direction away from a predetermined position, the connection between the charging terminal provided on the unmanned aerial vehicle and the power supply terminal is disconnected. A takeoff control method according to any one of items 9 to 16. (Item 18) A landing control program for controlling the landing of an unmanned aerial vehicle on a station, causing the computer to function as a landing control unit, a stage movement control unit, a stage stop control unit, and a holding unit drive control unit; The landing control unit includes: a stage provided in a housing of the station and movable horizontally between an open state and a closed state, and the unmanned aerial vehicle is landed in the open state while facing a predetermined direction; The stage movement control unit Initiating movement of the stage from the open state to the closed state; When the stage moves, a fixed bar extending in a direction perpendicular to the horizontal direction of the stage is provided on the housing, and when the stage moves toward the closed state, the unmanned aerial vehicle abuts against the fixed bar; While the unmanned aerial vehicle is in contact with the bar, the stage is moved so that the longitudinal direction of the unmanned aerial vehicle is aligned with the extending direction of the bar; The stage stop control unit stopping the movement of the stage when the movement of the stage by a predetermined distance is completed; The holding unit drive control unit The unmanned aerial vehicle is held by a holding unit that is different from the bar and that is movable in a direction perpendicular to the horizontal direction of the moving direction of the stage, and the unmanned aerial vehicle is moved to a predetermined position along the moving direction of the holding unit while the stage is stopped. Landing control program. (Item 19) A takeoff control program for controlling the takeoff of an unmanned aerial vehicle from a station, causing the computer to function as a stage movement control unit and a holder release control unit; The stage movement control unit is a stage that is provided in a housing of the station at a predetermined position and is movable horizontally between an open state and a closed state, and moves the stage a predetermined distance in a direction toward the open state while holding the unmanned aerial vehicle with a holding unit that is movable in a direction perpendicular to the horizontal direction of movement of the stage on which the unmanned aerial vehicle is placed, the holding unit release control unit releases the holding unit from holding the unmanned aerial vehicle after the stage has moved a predetermined distance; the stage movement control unit moves the stage toward the open state while the unmanned aerial vehicle is placed on the stage; Takeoff control program. (Item 20) A station for launching and landing an unmanned aerial vehicle, A box-shaped enclosure and a stage provided to the housing so as to be movable in a horizontal direction between an open state and a closed state; a fixed contact portion provided inside the housing and extending in a direction perpendicular to the horizontal direction of the moving direction of the stage; a holding unit provided inside the housing and movable in a direction perpendicular to the horizontal direction of the moving direction of the stage, The abutment portion is The stage abuts against the unmanned aerial vehicle located on the stage and facing a predetermined direction as the stage moves from the open state to the closed state, so that the longitudinal direction of the unmanned aerial vehicle is aligned with the direction in which the abutment portion extends, The holding portion is With the stage stopped, the unmanned aerial vehicle, with the longitudinal direction aligned with the extension direction of the abutment portion, is moved to a predetermined position along the movement direction of the holding portion. A station characterized by: (Item 21) the housing has an opening through which the stage enters and exits between the open state and the closed state, Item 21. The station according to item 20, comprising an inner wall that closes the opening in the open state. (Item 22) Item 22. The station according to item 21, comprising an outer wall that blocks the opening in the closed state and moves with the stage. (Item 23) Item 23. The station according to item 22, wherein the inner surface of the outer wall is provided with a protrusion for opening the inner wall during the movement of the stage from the open state to the closed state. (Item 24) A station for launching and landing an unmanned aerial vehicle, A box-shaped enclosure and a stage for the unmanned aerial vehicle to land, the stage being movable horizontally between an open state and a closed state relative to the housing; the housing has an opening through which the stage enters and exits between the open state and the closed state, an inner wall that closes the opening in the open state; A station characterized by: [Explanation of symbols]

[0069] 1 station 2. Case 2A Wall (exterior wall) 2B Inner wall 2C protrusion 3 Stages 4 Bar 5 Holding part 6 Power supply terminal 10 Unmanned Aerial Vehicles 10A charging terminal 100 control device 101 Landing Control Unit 102 Takeoff control unit 103 Stage movement control unit 104 Stage stop control unit 105 Holding unit drive control unit 106 Holding section holding control section 107 Holding section release control section 108 Power supply terminal drive control section

Claims

1. A method for controlling the landing of an unmanned aerial vehicle on a station, comprising: Landing the unmanned aerial vehicle in the open state while facing a predetermined direction on a stage that is provided in a housing of the station and is configured to be movable horizontally between an open state and a closed state; Initiating movement of the stage from the open state to the closed state; a fixed abutment portion extending in a direction perpendicular to the horizontal direction of the stage movement is provided on the housing, and the unmanned aerial vehicle is abutted against the fixed abutment portion by the movement of the stage toward the closed state; While the unmanned aerial vehicle is in contact with the abutment portion, the stage is moved so that the longitudinal direction of the unmanned aerial vehicle is aligned with the extending direction of the abutment portion; stopping the movement of the stage when the movement of the stage by a predetermined distance is completed; The unmanned aerial vehicle is held by a holding part that is different from the contact part and that is movable in a direction perpendicular to the horizontal direction of the movement of the stage, and the unmanned aerial vehicle is moved to a predetermined position along the movement direction of the holding part while the stage is stopped. A landing control method comprising:

2. The landing control method according to claim 1 , wherein the floor of the stage has a plurality of openings.

3. The landing control method according to claim 2 , wherein the floor surface of the stage has a mesh structure.

4. The landing control method according to any one of claims 1 to 3, wherein the housing has an elongated structure extending in any one horizontal direction.

5. A landing control method described in any one of claims 1 to 4, wherein the holding unit holds the unmanned aerial vehicle on the side opposite to the direction in which the holding unit moves to the specified position.

6. A landing control method according to any one of claims 1 to 4, wherein the holding unit holds the unmanned aerial vehicle on both sides in the direction of movement of the holding unit to the predetermined position.

7. The landing control method according to claim 6 , wherein the holding unit holds the unmanned aerial vehicle in a state separated from the stage.

8. A power supply terminal is provided at a predetermined position, When the unmanned aerial vehicle is moved to a predetermined position, a charging terminal provided on the unmanned aerial vehicle is connected to the power supply terminal. A landing control method according to any one of claims 1 to 7.

9. A method for controlling takeoff of an unmanned aerial vehicle from a station, comprising: While holding the unmanned aerial vehicle by a holding unit at a predetermined position inside the housing of the station, move only a stage that is provided on the housing of the station and is movable horizontally between an open state and a closed state by a predetermined distance in a direction toward the open state; After the stage has moved a predetermined distance, releasing the holding unit from holding the unmanned aerial vehicle; placing the unmanned aerial vehicle on the stage and moving the stage toward the open state; A takeoff control method comprising:

10. The takeoff control method according to claim 9 , wherein a floor surface of the stage is provided with a plurality of openings.

11. The takeoff control method according to claim 10 , wherein the floor of the stage has a mesh structure.

12. The takeoff control method according to any one of claims 9 to 11, wherein the housing has an elongated structure extending in any one of horizontal directions.

13. The takeoff control method according to any one of claims 9 to 12, wherein the holding unit is provided so as to be movable in a direction perpendicular to the horizontal direction of the movement of the stage.

14. The takeoff control method according to claim 13 , wherein the holding unit holds the unmanned aerial vehicle on the side opposite to the direction of movement of the holding unit away from the predetermined position.

15. The takeoff control method according to claim 13 , wherein the holding unit holds the unmanned aerial vehicle on both sides in a direction of movement of the holding unit away from the predetermined position.

16. The takeoff control method according to any one of claims 9 to 15, wherein the holding unit holds the unmanned aerial vehicle in a state separated from the stage.

17. A power supply terminal is provided at a predetermined position, When the unmanned aerial vehicle starts to move in a direction away from a predetermined position, the connection between the charging terminal provided on the unmanned aerial vehicle and the power supply terminal is disconnected. A takeoff control method according to any one of claims 9 to 16.

18. A landing control program for controlling the landing of an unmanned aerial vehicle on a station, causing the computer to function as a landing control unit, a stage movement control unit, a stage stop control unit, and a holding unit drive control unit; The landing control unit includes: a stage provided in a housing of the station and movable horizontally between an open state and a closed state, and the unmanned aerial vehicle is landed in the open state while facing a predetermined direction; The stage movement control unit Initiating movement of the stage from the open state to the closed state; When the stage moves, a fixed abutment portion extending in a direction perpendicular to the horizontal direction and the moving direction of the stage is provided on the housing, and when the stage moves in the direction of the closed state, the unmanned aerial vehicle abuts against the fixed abutment portion; While the unmanned aerial vehicle is in contact with the abutment portion, the stage is moved so that the longitudinal direction of the unmanned aerial vehicle is aligned with the extending direction of the abutment portion; The stage stop control unit stopping the movement of the stage when the movement of the stage by a predetermined distance is completed; The holding unit drive control unit The unmanned aerial vehicle is held by a holding part that is different from the contact part and that is movable in a direction perpendicular to the horizontal direction of the movement of the stage, and the unmanned aerial vehicle is moved to a predetermined position along the movement direction of the holding part while the stage is stopped. Landing control program.

19. A takeoff control program for controlling the takeoff of an unmanned aerial vehicle from a station, causing the computer to function as a stage movement control unit and a holder release control unit; The stage movement control unit is a stage that is provided in a housing of the station at a predetermined position and is movable horizontally between an open state and a closed state, and moves the stage a predetermined distance in a direction toward the open state while holding the unmanned aerial vehicle with a holding unit that is movable in a direction perpendicular to the horizontal direction of movement of the stage on which the unmanned aerial vehicle is placed, the holding unit release control unit releases the holding unit from holding the unmanned aerial vehicle after the stage has moved a predetermined distance; the stage movement control unit moves the stage toward the open state while the unmanned aerial vehicle is placed on the stage; Takeoff control program.

20. A station for launching and landing an unmanned aerial vehicle, A box-shaped enclosure and a stage provided to the housing so as to be movable in a horizontal direction between an open state and a closed state; a fixed contact portion provided inside the housing and extending in a direction perpendicular to the horizontal direction of the moving direction of the stage; a holding unit provided inside the housing and movable in a direction perpendicular to the horizontal direction of the moving direction of the stage, The abutment portion is The stage abuts against the unmanned aerial vehicle located on the stage and facing a predetermined direction as the stage moves from the open state to the closed state, so that the longitudinal direction of the unmanned aerial vehicle is aligned with the direction in which the abutment portion extends, The holding portion is With the stage stopped, the unmanned aerial vehicle, with the longitudinal direction aligned with the extension direction of the abutment portion, is moved to a predetermined position along the movement direction of the holding portion. A station characterized by:

21. the housing has an opening through which the stage enters and exits between the open state and the closed state, 21. The station of claim 20, further comprising an interior wall that closes the opening in the open position.

22. 22. The station of claim 21, further comprising an outer wall that blocks the opening in the closed state and moves with the stage.

23. 23. The station of claim 22, wherein the inner surface of the outer wall is provided with a protrusion for opening the inner wall during movement of the stage from the open state to the closed state.

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