Drone Station

Abstract

To provide a compact and convenient drone station. [Solution] A drone station for launching and landing unmanned aerial vehicles, comprising station units that can be stacked one on top of the other and are capable of launching and landing at least one unmanned aerial vehicle, the station unit having a box-shaped housing and a stage housed in the housing, the stage being slidable horizontally between a housed state in which it is housed in the housing and an open state in which it is exposed from the housing and is capable of launching and landing the unmanned aerial vehicle.

Description

[Technical Field]

[0001] The present disclosure relates to a drone 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] However, when inspecting narrow spaces such as factories or piping, there are significant restrictions on the location of the unmanned aerial vehicle station.

[0006] Therefore, the present disclosure has been made in consideration of the above problems, and its purpose is to provide a compact and highly convenient drone station. [Means for solving the problem]

[0007] According to the present disclosure, there is provided a drone station for launching and landing unmanned aerial vehicles, comprising station units that can be stacked one on top of the other and are capable of launching and landing at least one unmanned aerial vehicle, the station units having a box-shaped housing and a stage housed in the housing, the stage being capable of sliding horizontally between a housed state in which it is housed in the housing and an open state in which it is exposed from the housing and is capable of launching and landing the unmanned aerial vehicle. [Effects of the Invention]

[0008] According to the present disclosure, a compact and highly convenient drone station can be provided. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view illustrating an example of a drone station according to an embodiment of the present disclosure. [Figure 2] FIG. 10 is a perspective view showing a modified example of the drone station according to the embodiment. [Figure 3] FIG. 10 is a side view showing another modified example of the drone station according to the embodiment. [Figure 4] FIG. 4 is a plan view showing the drone station of FIG. 3. [Figure 5] FIG. 2 is a perspective view showing a configuration example of a station unit according to the embodiment; [Figure 6] FIG. 10 is a flow diagram illustrating an example of a drone station control method according to an embodiment of the present disclosure. [Figure 7] 1 is a perspective view showing a configuration of a station 1 according to an embodiment of the present disclosure. [Figure 8] 2 is a plan view showing the configuration of a station 1 according to the embodiment. FIG. [Figure 9] 2 is an example of a hardware configuration diagram for controlling a station 1 according to the embodiment. [Figure 10] 2 is a block diagram showing an example of a software configuration of the control device 100 according to the embodiment. FIG. [Figure 11] 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 12] 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 13] 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 14] 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 15] 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 16] 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 17] 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 18] 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 19] 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 20] 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 21] 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 22] 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 23] FIG. 2 is a perspective view showing the configuration of the station 1 of the embodiment as viewed from another angle. [Figure 24]FIG. 2 is a perspective view showing a closed state of the station 1 of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] 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.

[0011] 1 shows an example of a drone station 20 according to this embodiment. The drone station 20 includes multiple station units 30, each of which is stacked vertically and capable of launching and landing at least one unmanned aerial vehicle. Note that the number of station units 30 may be only one.

[0012] Each station unit 30 has a box-shaped housing 31 and a stage 32 housed in the housing 31. The stage 32 is horizontally slidable between a housed state in which it is housed in the housing 31 and an open state in which it is exposed from the housing 31. As shown in FIG. 1 , the multiple station units 30 are configured to be slidable in different directions from each other so that, in the open state of the stage, the respective stages 32 do not overlap in a plan view. This configuration allows the unmanned aerial vehicle to safely take off and land on each of the stages slid in different directions. Furthermore, since the stage 32 fits into the housing 31 in the housed state, the system is compact, easy to transport, and can be installed in a relatively narrow space.

[0013] In the example of FIG. 1 , two station units 30 are provided, one above the other. The stage 32 of the upper station unit 30 slides in the depth direction (front-to-back direction) of the figure, while the stage 32 of the lower station unit 30 slides in the left-to-right direction of the figure. The stage 32 of the upper station unit 30 may be slidable only to the front (or only to the back) of the figure from the stored state, or may be slidable both to the front and back. In other words, it may be configured to open in multiple directions. Similarly, the stage 32 of the lower station unit 30 may be slidable only to the right (or only to the left) from the stored state, or may be slidable to both the left and right. The stage 32 is open at the top, allowing unmanned aerial vehicles to take off and land. The stage 32 is configured to have a horizontal bottom plate and front-to-back, left-to-right, and left-to-right side walls, but it is sufficient if it is equipped with at least horizontal plate elements (bottom plate, top plate, etc.) for the unmanned aerial vehicle to land on. Furthermore, each stage 32 may be capable of handling takeoff and landing of only one unmanned aerial vehicle, or multiple unmanned aerial vehicles.

[0014] 2, two station units 30 are provided, one above the other, and the stages 32 of both the upper and lower station units 30 slide in the depth direction (front-to-back direction) of the figure, with the stages 32 sliding in opposite directions. Note that the upper and lower station units 30 may also be reversed.

[0015] As shown in the side view of Figure 3 and the plan view of Figure 4, the structure is four stages, each of which slides in four different directions so that they do not overlap. In this case, unmanned aerial vehicles can land and take off on each of the four stages at the same time.

[0016] As shown in Fig. 5, the stage 32 may be configured to be slidable in multiple directions horizontally relative to the housing 31 from its housed state. In this case, the stage can be slid in an appropriate direction depending on the surrounding conditions. For example, by sliding the stage so that it does not match the sliding direction of the stages of other station units 30, unmanned aerial vehicles can safely take off and land simultaneously on multiple stages. Alternatively, if the positions of obstacles, etc. can be detected by sensors or cameras (such as sensors installed in the drone station or sensors installed in the surrounding area), safety can be ensured by sliding the stage in a direction where there are no obstacles or people based on the detection information.

[0017] Furthermore, each stage may be configured to slide in only one horizontal direction relative to the housing from the housed state, which has the advantage of simplifying the structure and not complicating the application.

[0018] Each station unit includes a detection unit, such as a sensor or camera, that acquires status information about the stage, and a communication unit that can transmit the detected information to other station units or external devices. The detection unit may be provided inside or outside the station unit. For example, a sensor or camera that detects whether the stage is housed in the housing, or a sensor that detects the presence or absence of an unmanned air vehicle on the stage, may be provided inside or outside the station unit. A sensor that detects the direction in which the stage is open may also be provided inside or outside the station unit. The communication unit can receive signals from other station units or external devices and send them to a control unit or a memory unit. The control unit may also acquire status information about each stage and determine the sliding direction of each stage (e.g., the control device 100 described below). The control unit may determine the sliding direction of another stage based on the status information about one stage. The control unit may be provided inside or outside the station unit, or in a management device or user terminal that can communicate with the station unit via the communication unit. For example, the management device may receive status information about each station unit and transmit signals to each station unit indicating whether or not to slide and the sliding direction. The stage status information includes, for example, unique identification information set for each stage (or station unit), information on whether the stage is in a housed state or an open state, and information on the sliding direction. The identification information is expressed using letters, numbers, etc., but is not limited to these. The information on the housed state is not limited to whether the stage is in a housed state or an open state, but can be expressed as a level of opening, such as five levels or three levels, or as a percentage (%). The sliding direction information may be, for example, one of four directions evenly spaced in the circumferential direction, such as the front-rear and left-right directions, or first to fourth directions, or may be divided into eight directions or the like.

[0019] The control unit determines whether to slide another stage and / or the direction in which the stage slides based on the status information of one stage. For example, if the upper stage is unavailable due to the unmanned aerial vehicle being housed in it or due to a malfunction, the control unit slides the lower stage. Alternatively, if the upper stage is in an open state by sliding forward from the housing, the control unit can slide the lower stage in a direction different from the front (right, left, or rear) to open it. This prevents the upper and lower stages from overlapping. Similarly, even in a case of, for example, three, four, five, or more stages, the stage can be slid in a direction different from the already opened stage. Furthermore, if there are multiple possible sliding directions (for example, right, left, or rear), the sliding direction may be determined based on a predetermined priority. Information regarding the stage opening conditions and the stage status information are stored in a memory unit and are updated as appropriate based on user input information, sensor-acquired information, etc.

[0020] The priority order for opening the stages of each station unit may be stored in advance in a storage unit. For example, the stages may be opened to accept unmanned aerial vehicles according to priority order, such as opening the stages from the top station unit downwards, or opening the stages from the bottom station unit upwards.

[0021] If the sliding direction of each station unit is limited, the control unit may determine which station unit's stage to release based on the information on the sliding direction. For example, if the upper stage can only slide forward and backward and the lower stage can only slide left and right, and the desired sliding direction based on other conditions is forward, the stage of the upper station unit can be slid forward and released. The other conditions may be a predetermined priority. For example, the stages may be slid forward, backward, right, and left first, or any other order. Alternatively, the priority may be determined based on information input by the user. Furthermore, the station unit to be released first may be selected based on user input information (such as information acquired via the input / output device 600 or information received via the communication device 500 from an external terminal used by the user).

[0022] 5 shows an example of a control method for the drone station 20. First, the control unit acquires various information (S301). The various information may be the open status of the station units 30 that make up the drone station 20 (whether they are open or not, in which direction they are open, etc.), and information about the unmanned aerial vehicle in each station unit 30 (whether the unmanned aerial vehicle has landed on the stage, whether the unmanned aerial vehicle is housed, whether the unmanned aerial vehicle is being charged, etc.).

[0023] When the control unit receives instruction information from the unmanned aerial vehicle or from an external device such as a management device or user terminal to open a stage for the unmanned aerial vehicle to take off or land, the control unit determines which stage to open and in which direction (S302). The control unit can determine the stage and slide direction based on a predetermined priority and / or the instruction information. For example, if the instruction information includes information identifying the stage to open (such as identification information) and / or information on the slide direction of the stage, the control unit can determine the stage to open based on the instruction. The instruction information can be, for example, "open the top stage," "open a stage that can slide forward (any specific direction is acceptable)," etc. Furthermore, the conditions for opening a stage can include, but are not limited to, "the unmanned aerial vehicle must not be charging," "the unmanned aerial vehicle must not have landed (i.e., the stage must be empty)," "the stage must be able to slide in a different direction from the stage already open," etc.

[0024] Furthermore, the control unit opens the stage in response to the decision made in S302 (S303), and can then retract the stage (S304) and start charging the unmanned aerial vehicle (S305) once it has confirmed that the unmanned aerial vehicle has landed.

[0025] Fig. 7 is a perspective view showing the configuration of a station 1 (station unit) according to an embodiment of the present disclosure. Fig. 8 is a plan view showing the configuration of the station 1 according to this embodiment. Note that the station 1 shown in Fig. 7 is in a closed state (housed state), and the station 1 shown in Fig. 8 is in an open state. The meanings of the closed state and the open state will be described later.

[0026] As shown in Figures 7 and 8, 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 7, 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.

[0027] 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.

[0028] 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.

[0029] 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. 8, 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. 7) is defined as the 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. 8) is defined as the 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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 7 and 8, 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, are mounted on the stage 3 and hold the unmanned aerial vehicle 10, whose orientation has been 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.

[0034] 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 7 and 8, 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 8, 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.

[0035] 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.

[0036] 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.

[0037] 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. 7, for example. The size of the unmanned aerial vehicle 10 may be, for example, large enough to be stored in the station 1.

[0038] 9 is an example of a hardware configuration diagram for controlling the station 1 according to this embodiment. As shown in FIG. 9, 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] The communication device 500 is a device for communicating with the unmanned aerial vehicle 10, or with an external device such as a system that manages the station 1 and the unmanned aerial vehicle 10, or a user terminal. The communication device 500 can use one or more of any communication method, such as 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. The user terminal can be a smartphone, tablet, personal computer, or the like, as long as it is capable of outputting various information (screen display, audio output, etc.), inputting instruction information, etc., and communicating with external devices.

[0044] 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.

[0045] 10 is a block diagram showing an example of the software configuration of the control device 100 according to this embodiment. Note that, in this embodiment, an example is presented in which the configuration of each functional unit is provided in the control device 100, but 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.

[0046] 10, 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.

[0047] 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 and / or position of the unmanned aerial vehicle 10 when landing (in the example shown in FIG. 8, the longitudinal direction of the unmanned aerial vehicle 10 is along the Y-axis direction). 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] <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 11 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 12 to 16 are diagrams for explaining the processing when the unmanned aerial vehicle 10 lands on station 1 according to this embodiment.

[0056] 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.

[0057] Next, the unmanned aerial vehicle 10 lands on the open stage 3 in accordance with the landing instruction (step S103). As shown in FIG. 12, 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. 12. 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 bar 4, which will be described later.

[0058] 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 13, 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.

[0059] 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.

[0060] 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.

[0061] Next, the holder holding control unit 106 causes the holder 5 to hold the unmanned aerial vehicle 10 (step S111). As shown in FIG. 14, 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. 14). 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.

[0062] 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 15 and 16, 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.

[0063] Next, the processing flow when the unmanned aerial vehicle 10 takes off toward station 1 according to this embodiment will be described. Figure 17 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. Figures 18 to 21 are diagrams for explaining the processing when the unmanned aerial vehicle 10 takes off toward station 1 according to this embodiment.

[0064] 18, the holding unit hold control unit 106 keeps the holding unit 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 disconnecting the terminals, the holding unit drive control unit 105 may drive the holding unit 5 from the charging position to a predetermined position to move the unmanned aerial vehicle 10.

[0065] 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).

[0066] 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. 19, 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.

[0067] When the unmanned aerial vehicle 10 is released, the stage movement control unit 103 moves the stage 3 again in the direction of the open state (step S209), as shown in Figure 20. 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.

[0068] 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. 21, 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.

[0069] 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.

[0070] 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.

[0071] 22, 23, and 24 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.

[0072] 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.

[0073] 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.

[0074] When the stage 3 is open, the inner wall 2B blocks the opening of the housing 2. As the stage 3 transitions from the closed state to the open state, the inner wall 2B is pushed up by the protrusion 2C and gradually swings around the shaft as a fulcrum. When the stage 3 is closed, the inner wall 2B opens without blocking the opening (see FIG. 24). At this time, the protrusion 2C supports the inner wall 2B from below. As the stage 3 transitions from the closed state to the open state, the 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 the protrusion 2C. The opening and closing mechanism of the inner wall 2B can be modified as appropriate. Furthermore, when sliding open in multiple directions, such as in the double-door configuration shown in FIG. 5, the outer wall, inner wall, and protrusion configuration can be provided on both sides of the station unit, but they may also be provided on only one side. Furthermore, when sliding open in multiple directions, such as in the double-door configuration shown in FIG. 5, the configuration does not require multiple layers to be stacked one on top of the other. In other words, even with only one layer, the opening direction can be changed, allowing the unit to open in a direction that is free of obstacles depending on the surrounding conditions, while still being compact, providing high convenience.

[0075] 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.

[0076] 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.

[0077] In the drone station of the present disclosure, the multiple station units are preferably configured so that the stages of each station unit do not slide in the same direction (open in the same direction) simultaneously in a plan view. For example, when the stage of one station unit opens to the east, the control unit prevents the other station units from opening to the east and allows them to open only in other directions (north, south, west). This can prevent problems that can occur when multiple stages open in the same direction simultaneously, such as a drone being unable to land on a lower stage. Such restriction information on the opening between station units is pre-stored in a storage unit and can be changed (updated) in response to user input. The control unit determines whether to open a stage or the sliding direction based on the pre-defined restriction information. Note that "simultaneously" does not necessarily mean that the timing is perfectly synchronized; if one stage is pre-opened in one direction, the other stages can be prevented from opening in that direction. Simultaneous operations may be determined if a predetermined period pre-stored in a storage unit is met.

[0078] In the drone station of the present disclosure, the multiple station units are preferably configured so that the stages of each station unit can be simultaneously opened in different directions in a plan view. In this way, by simultaneously opening the multiple stages in different directions, it is possible to land drones on all stages, including the stage located below, for example.

[0079] The drone station may be equipped with a notification means for identifying which station unit will open (which stage the drone should land on) when it lands. The notification means allows the drone to know which station unit will open, allowing the drone to land more reliably and safely. The notification means can be provided, for example, in a location that can be photographed by the drone's camera, i.e., on the outer surface (top and side) of the housing that constitutes the station unit, the top surface of the open stage, the outer wall 2A, the inner wall 2B, etc.

[0080] The notification means may be configured, for example, with a lighting unit that indicates the station unit where the drone should land. That is, among the multiple station units, the lighting unit of the station unit where the drone should land will be turned on, and the lighting units of the other station units will be turned off. In this way, by recognizing the station unit whose lighting unit is turned on (illuminating), the drone can determine the station unit where the drone should land. Note that the notification means may be recognized by a camera image on the drone, allowing the drone to land autonomously, or the drone's manual pilot may visually confirm and land the drone.

[0081] The notification means may be provided in each station unit, or there may be only one for the entire drone station. "One for the entire drone station" may be, for example, a display unit provided in the drone station or another device (such as a management device, user terminal, or control device) that displays the number of the station unit to be opened or an arrow indicating the direction of the stage to be opened. The notification means may be identification information indicating the stage to be opened. The identification information may be a number, letters such as alphabets, a two-dimensional code such as a QR code, or the like. The notification means may be output by an output unit such as a display unit provided in the management device, user terminal, or control device (transmitter). In other words, for example, the operator of the drone may be able to know the stage to be opened by the number displayed on the transmitter.

[0082] The timing at which the notification means functions may be when the drone approaches within a predetermined distance, when it is determined which stage to release (S302), or when the stage is released (S303). Information regarding the notification conditions is stored in advance in a storage unit (storage device), and may be changed (updated) by user input.

[0083] The drone station may be capable of supplying power between different station units. For example, a power source (which may be a main power source or a backup power source) provided in an upper station unit may supply power (i.e., charge) to a drone located in a lower station unit, or vice versa. Each station unit is preferably provided with a connector for power transfer. Power transfer may also be contactless. In addition to the main power source, each station unit may be provided with a backup power source that can be used in the event of a power outage, and it is preferable that if the main power source is unavailable, such as during a power outage, the drone be automatically switched to the backup power source to charge the drone.

[0084] Each station unit is preferably provided with an air conditioning system capable of adjusting the temperature within the station unit. Furthermore, an air circulation system, such as a fan, may be provided between stacked station units. For example, since the upper station unit is prone to high temperatures, a system may be provided to blow air from the lower station unit to the upper station unit. Conversely, warm air may be blown from the upper station unit to the lower station unit. In this case, ventilation holes are provided in the upper and lower walls of the station unit to allow air to pass between adjacent station units. Furthermore, by providing a temperature sensor in each station, it is possible to determine whether a predetermined set temperature is being maintained. If the temperature is above or below the predetermined temperature range, the air conditioning system can be operated to adjust the temperature, or the air circulation system can be used to circulate air between the station units. Such temperature adjustment conditions are stored in advance in a storage unit and can be updated according to user input.

[0085] In the drone station of the present disclosure, a drone may be able to land on the top surface of the topmost station unit. Alternatively, a drone station that opens upward may be provided above the topmost station unit. For example, a drone station in the form of a box-shaped enclosure with a lid that opens upward may be provided on the topmost unit.

[0086] 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.

[0087] The following configurations also fall within the technical scope of the present disclosure. (Item 1) A drone station for launching and landing unmanned aerial vehicles, A station unit is provided which can be stacked vertically and can launch and land at least one unmanned aerial vehicle; the station unit has a box-shaped housing and a stage housed in the housing, The drone station is configured such that the stage is slidable horizontally between a contained state in which it is contained within the housing and an open state in which it is exposed from the housing and allows the unmanned aerial vehicle to take off and land. (Item 2) The drone station described in item 1, wherein the stage is configured to be slidable in multiple horizontal directions relative to the housing from the stored state. (Item 3) a plurality of the station units arranged one above the other, 3. The drone station according to item 1 or 2, wherein the plurality of station units are configured to be slidable in different directions from each other so that the stages do not overlap in a planar view when the stage is in an open state. (Item 4) Item 1, a drone station according to item 1, wherein each of the stages is configured to slide relative to the housing in only one horizontal direction from the stored state. (Item 5) a control unit that acquires state information of each of the stages and determines a slide direction of each of the stages; The drone station described in item 3, wherein the control unit determines the sliding direction of the other stage based on status information of one of the stages. (Item 6) the housing has an opening through which the stage enters and exits between the open state and the housed state, 3. The drone station of item 1 or 2, comprising an inner wall that closes the opening in the open state. (Item 7) 3. The drone station according to item 1 or 2, comprising an outer wall that closes the opening in the stored state and moves together with the stage. (Item 8) Item 8. The drone station according to item 7, wherein the inner surface of the outer wall is provided with a protrusion for opening the inner wall during the process of moving the stage from the open state to the stored state. (Item 9) The drone station described in item 3, wherein the multiple station units are configured so that the stages of each station unit do not slide in the same direction at the same time in a planar view. (Item 10) Item 10. The drone station of item 9, wherein the multiple station units are configured so that the stages of each station unit can open simultaneously in different directions in a plan view. [Explanation of symbols]

[0088] 1 station (station unit) 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 20 Drone Station 30 Station Unit 31 Case 32 stages 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. It is a drone station for launching and landing unmanned aircraft. It is equipped with station units that can be stacked vertically and capable of launching and landing at least one unmanned aircraft, The station unit comprises a box-shaped housing and a stage housed within the housing. The stage is horizontally slidable between a housing state in which it is housed within the housing and an open state in which it is exposed from the housing and capable of launching and landing the unmanned aircraft. The system comprises multiple station units arranged in a stacked configuration, The system includes a control unit that acquires state information for each of the aforementioned stages and determines the sliding direction of each of the aforementioned stages, The control unit determines the sliding direction of the other stage based on the state information of one of the stages, in a drone station.

2. The drone station according to claim 1, wherein the stage is configured to slide in multiple horizontal directions relative to the housing from the housing state.

3. The drone station according to claim 1 or 2, wherein the plurality of station units are configured to slide in different directions from each other so that when the stages are open, the respective stages do not overlap in a plan view.

4. The drone station according to claim 1, wherein each of the stages is configured to slide horizontally in only one direction relative to the housing from the housing state.

5. The drone station according to claim 1, wherein when the control unit receives instruction information from an external device to release a stage, it determines which stage to release and in which direction based on the status information of each stage.

6. The housing has an opening through which the stage moves in and out between the open state and the housed state. The drone station according to claim 1 or 2, wherein the station unit is provided with an inner wall that closes the opening in the open state.

7. The drone station according to claim 6, further comprising an outer wall that closes the opening in the aforementioned housing state and moves together with the stage.

8. The drone station according to claim 7, wherein the inner surface of the outer wall is provided with a projection for opening the inner wall during the process of moving the stage from the open state to the hoisted state.

9. The drone station according to claim 3, wherein the multiple station units are configured such that the stages of each station unit do not slide simultaneously in the same direction when viewed from above.

10. The drone station according to claim 9, wherein the multiple station units are configured such that the stages of each station unit can open simultaneously in different directions in a plan view.

Images