Unmanned aircraft management system

Abstract

The present invention provides an unmanned aircraft management system that limits free flight of an unmanned aircraft in a fall avoidance area such as in a housing area or a commercial area and thus is capable of more appropriately avoiding falling into the fall avoidance area. In this unmanned aircraft (drone) management system 10, a control device 100 comprises: a recording means 110 for recording map data in which a flyable region in which a drone 200 can fly and flight restriction regions FL10 (FL11), FL20 (FL21) in which flight of the drone 200 is restricted in at least a part of the region are set; and a control means 120 for controlling the drone 200 on the basis of the map data so as to cause the drone 200 to fly in the flyable region, and move the drone 200 along guide rails GR10, GR20 installed in advance in the flight restriction regions FL11, FL21.

Description

Unmanned Aerial Vehicle Management System

[0001] The present invention relates to an unmanned aerial vehicle management system.

[0002] In recent years, unmanned aerial vehicles (so-called drones) have become increasingly common, but at the same time, there are concerns that the large number of drones flying freely in the sky could lead to accidents such as collisions and drone crashes. There is also concern that drones may malfunction during flight.

[0003] In this way, if a drone is unable to continue flying for some reason and crashes, for example, in a residential or commercial area, it could cause serious injury to people and damage to homes, stores, cars, etc.

[0004] For example, in Patent Document 1, a technology is disclosed in which a fall avoidance area such as a residential house or a road is identified, and if the drone is approaching such an area, the flight speed is controlled to increase, so that if a crash occurs due to a malfunction, the drone will fall before the fall avoidance area.

[0005] Japanese Patent Application Laid-Open No. 2017-210156

[0006] However, with the technology disclosed in Patent Document 1, it is conceivable that a situation may arise in which a fall into the fall avoidance area cannot be avoided due to a sudden collision accident or malfunction in the air.

[0007] Therefore, the present invention aims to provide an unmanned aircraft management system that can more appropriately avoid falls into fall avoidance areas such as residential areas and commercial areas by restricting the free flight of unmanned aircraft in those areas.

[0008] An unmanned aircraft management system according to one embodiment of the present invention is an unmanned aircraft management system having an unmanned aircraft and a control device that controls the unmanned aircraft, wherein the unmanned aircraft is capable of flight and can move along pre-installed guides, and the control device is equipped with a recording means that records map data that sets a flight area in which the unmanned aircraft can fly and a flight restricted area in which the flight of the unmanned aircraft is restricted in at least some areas, and a control means that controls the unmanned aircraft based on the map data so as to fly the unmanned aircraft in the flight area and to move the unmanned aircraft along pre-installed guides in the flight restricted area.

[0009] In the above aspect, the guide may be disposed on at least a portion of the periphery of the flight restricted area surrounding the flight restricted area.

[0010] In the above aspect, the flight restricted area may have a protected area within the flight restricted area where there are more buildings and / or people than other areas, and the guide may be positioned on at least a portion of the periphery of the protected area surrounding the protected area.

[0011] In the above aspect, the flight restricted area may have a protected area within the flight restricted area where there are more buildings and / or people than other areas, and the guide may be placed on a building that is present in the protected area.

[0012] In the above aspect, when an unmanned aerial vehicle enters a guide, it is determined whether or not there are other unmanned aerial vehicles at the intended entry position in the guide, and if it is determined that there are no other unmanned aerial vehicles, the unmanned aerial vehicle may enter the intended entry position in the guide.

[0013] In the above aspect, the guide has an entry port through which the unmanned aerial vehicle can enter the guide, and / or an exit port through which the unmanned aerial vehicle can exit the guide, and the guide at the entry port and / or exit port may be approximately ring-shaped.

[0014] According to the present invention, an unmanned aircraft management system can be provided that can more appropriately avoid falls into fall avoidance areas such as residential areas and commercial areas by restricting the free flight of unmanned aircraft in those areas.

[0015] 1 is a functional block diagram showing each function in a drone (unmanned aerial vehicle) management system 10 according to one embodiment of the present invention. FIG. 2 is a diagram for explaining a flight-allowed area and a flight-restricted area that are set based on map data. FIG. 3 is a diagram showing an example of guide rails that are set in a residential area. FIG. 4 is a diagram showing an example of guide rails that are set in a commercial area. FIG. 5 is a diagram showing an example of guide rails that are placed on a building. FIG. 6 is a diagram showing an example of entry ports / exit ports on a guide rail. FIG. 7 is a diagram for explaining a flight-restricted area and guide rails in another embodiment.

[0016] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that the embodiment described below is merely a specific example for carrying out the present invention and is not intended to limit the scope of the present invention. Furthermore, to facilitate understanding of the description, the same components in each drawing will be designated by the same reference numerals wherever possible, and duplicate descriptions may be omitted.

[0017] 1 is a functional block diagram showing each function of a drone (unmanned aerial vehicle) management system 10 according to one embodiment of the present invention. As shown in FIG. 1, the drone management system 10 includes a control device 100 and a drone (unmanned aerial vehicle) 200, and the drone 200 is controlled by the control device 100.

[0018] Drone 200 is a small unmanned aerial vehicle capable of free flight and also capable of traveling along pre-installed guide rails. Drone 200 may move to a target position automatically by a program based on a pre-set flight path and a traveling path along the guide rails, or may move to a target position by being operated by an operator using a remote controller.

[0019] The control device 100 includes a recording means 110 and a control means 120. The control device 100 may be a computer (server device) that controls and manages the operations of multiple drones 200, or may be a computer or remote controller that corresponds to each drone 200 and controls the operation of that drone 200.

[0020] The recording means 110 records map data that sets a flight area in which the drone 200 can fly and a flight restriction area in which the flight of the drone is restricted in at least a part of the area.

[0021] Here, the flyable area is an area in which the drone 200 is permitted to fly freely, such as an area with few buildings or people. In a flyable area, if the drone 200 falls, there is a low probability that there will be buildings or people in the location where it falls, and damage will be minimal.

[0022] On the other hand, a flight restricted area is an area where drone 200 is not permitted to fly freely, such as an area with many buildings and people. If drone 200 falls in a flight restricted area, there is a high possibility that a building or person will be present at the location where drone 200 falls, and the damage may be significant. The flight restricted area may be, for example, a residential area or commercial area with many buildings and people, or more specifically, an urban area where business districts, downtown areas, and residential areas are mixed, or a suburban area with relatively high pedestrian traffic, such as around a station, around a commercial facility, or in a residential area.

[0023] Note that guide rails are arranged in the flight restriction area, and the drone 200 travels along the guide rails. The arrangement of the guide rails will be described in detail later.

[0024] [Regarding the permitted flight area and flight restriction area] Figure 2 is a diagram for explaining the permitted flight area and flight restriction area set based on map data. As shown in Figure 2, a residential area with multiple houses and an office area with multiple buildings are set as flight restriction areas FL10 and FL20, respectively.

[0025] For example, if the number of houses or buildings per unit area is equal to or greater than a threshold, it may be determined that there are more buildings and people in that area than in other areas, and the area may be set as a flight restricted area.

[0026] Furthermore, if the population density in a city, ward, town, or village is equal to or greater than a threshold, the city, ward, town, or village may be set as a flight restricted area, and the setting of the flight restricted area may be switched depending on the population density during the day and night. Note that the units for setting the flight restricted area are not limited to cities, wards, towns, or villages, and flight restricted areas may be set for each unit depending on the population density of a larger or smaller range.

[0027] Since the drone 200 is a device capable of free flight, any area other than the flight restriction areas FL10 and FL20 may be set as a flyable area.

[0028] In this way, map data in which the flight restriction area and flight allowable area are set is recorded in advance in a memory or other such recording means 110. Note that the recording means 110 is provided in the control device 100 together with the control means 120, but is not limited to this. For example, the recording means 110 may be a storage device or database device separate from the control device (such as a server device, computer, or remote controller) that includes the control means 120.

[0029] Based on the map data recorded in the recording means 110, in which the flight restriction area and the flight allowable area are set as described above, the control means 120 controls the drone 200 to fly in the flight allowable area and to run along a pre-installed guide rail in the flight restriction area.

[0030] For example, the control means 120 flies the drone 200 in the flight-allowed area based on a preset route or is operated by an operator using a remote controller, and causes the drone 200 to travel along a guide rail in the flight-restricted area toward the target position. If a flight-restricted area exists in the direction toward the target position, the drone 200 flying in the flight-allowed area enters the guide rail arranged in the flight-restricted area when approaching the flight-restricted area. The drone 200 then travels along the guide rail, leaves the guide rail when approaching the target position, and flies again through the flight-allowed area toward the target position. In other words, the drone 200 passes through the flight-restricted area by traveling along the guide rail arranged in the flight-restricted area without flying through the flight-restricted area.

[0031] Furthermore, if the target position is within a flight restricted area, the drone 200 flying within the flight permitted area enters a guide rail arranged in the flight restricted area when it approaches the flight restricted area. The drone 200 then travels along the guide rail, and when it approaches the target position within the flight restricted area, it leaves the guide rail and flies within the flight restricted area toward the target position. In other words, the drone 200 reduces flight within the flight restricted area by traveling along the guide rail arranged in the flight restricted area.

[0032] [Regarding guide rails] Figure 3 is a diagram showing an example of guide rails set up in a residential area. As shown in Figure 3, the residential area is set as a flight restricted area FL11, and guide rails GR10 are arranged around the periphery of the flight restricted area FL11 so as to surround the flight restricted area FL11.

[0033] Drone 200 flying in the flight-allowed area approaches flight-restricted area FL11 and enters guide rail GR10 from entry position P11 on guide rail GR10. For example, if the target position is on the other side of flight-restricted area FL11, drone 200 travels along guide rail GR10, leaves guide rail GR10 at departure position P12, and flies again in the flight-allowed area toward the target position. In this way, drone 200 passes through flight-restricted area FL11 by traveling along guide rail GR10 from entry position P11 to departure position P12.

[0034] Furthermore, for example, if target position G is within flight restriction area FL11, drone 200 travels along guide rail GR10, leaves guide rail GR10 at a departure position P13 on guide rail GR10 that is closest to target position G, and flies toward target position G. In this way, drone 200 reduces flight within flight restriction area FL11 by traveling along guide rail GR10 from entry position P11 to departure position P13.

[0035] Here, the guide rail GR10 is arranged in a substantially circular shape on the periphery of the flight restricted area FL11 so as to surround the flight restricted area FL11, but this is not limited to this. For example, the guide rail GR10 may be configured in a ring shape with a substantially square or polygonal shape, or an irregular shape, or it does not necessarily have to be ring-shaped (it may be partially missing). Depending on the shape of the flight restricted area, the guide rail may be arranged in an appropriate shape on the periphery of the flight restricted area so as to generally surround the flight restricted area.

[0036] Furthermore, the guide rails may be arranged not only on the periphery of the flight restricted area FL11 but also, for example, inside the flight restricted area FL11. For example, a guide rail may be arranged to connect two of the guide rails GR10 arranged on the periphery of the flight restricted area FL11 shown in FIG. 3 , specifically, a guide rail may be arranged to connect the entry position P1 and the exit position P2. This allows the drone 200 that has entered the guide rail to move to the exit position in a short time without traveling along the periphery of the flight restricted area FL11.

[0037] Furthermore, the guide rail may form multiple paths. For example, two guide rails GR10 shown in FIG. 3 may be arranged vertically, or two guide rails GR10 may be arranged on the inside and outside of a ring shape, with each guide rail running in a different direction. This allows collisions to be avoided even when multiple drones 200 are traveling in the flight restriction area FL11.

[0038] The two paths may be realized by a single guide rail. Specifically, the guide rail and drone 200 may be configured so that drone 200 can travel along the upper and lower sides of the guide rail, or along the inner and outer sides of the guide rail.

[0039] 4 is a diagram showing an example of a guide rail set up in a commercial area. As shown in Fig. 4, the commercial area is set as a flight restricted area FL21, and guide rails GR20 are placed in the flight restricted area FL21 by utilizing the rooftops and side walls of buildings and the like present in the flight restricted area FL21.

[0040] Drone 200 flying in the flight-allowed area approaches flight-restricted area FL21 and enters guide rail GR20 from entry position P21 on guide rail GR20. For example, if the target position is on the other side of flight-restricted area FL21, drone 200 travels along guide rail GR20, leaves guide rail GR20 at departure position P22, and flies again in the flight-allowed area toward the target position. In this way, drone 200 passes through flight-restricted area FL21 by traveling along guide rail GR20 from entry position P21 to departure position P22.

[0041] Furthermore, for example, if target position G is within flight restriction area FL21, drone 200 travels along guide rail GR20, leaves guide rail GR20 at a departure position P23 on guide rail GR20 that is closest to target position G, and flies toward target position G. In this way, drone 200 reduces flight within flight restriction area FL21 by traveling along guide rail GR20 from entry position P21 to departure position P23.

[0042] More specifically, drone 200 reduces the risk of flying over roads with heavy traffic and vehicles, and by traveling along guide rail GR20, reduces the possibility of it falling onto roads with heavy traffic and vehicles.

[0043] As explained in Figure 3, the guide rail GR20 may not only be ring-shaped, but may also be arranged inside the flight restriction area FL21, the running direction may be restricted to form multiple paths, or two paths may be realized with one guide rail.

[0044] 5 is a diagram showing an example of guide rails arranged in a building. As shown in FIG. 5, multiple guide rails GR31 to GR36 are arranged on the roof and side walls of the building, and multiple drones 200 travel along the multiple guide rails GR31 to GR36.

[0045] Here, multiple drones 200 travel on multiple guide rails GR31 to GR36. Each guide rail GR31 to GR36 has a prescribed travel direction, and temporary stops and priorities are set at locations where the guide rails intersect. Furthermore, the drones 200 are controlled to travel while maintaining a predetermined distance between themselves and other drones 200 traveling in front and behind them on the same guide rail GR31 to GR36. Specifically, the control unit 120 may adjust the speed of the drone 200 or stop the drone 200 so that the distance to the other drone 200 traveling in front of the drone 200 does not become smaller than a threshold. Furthermore, these controls may be centrally managed by a control device including the control unit 120, which controls the travel of multiple drones 200 traveling on guide rails arranged in a single building. Alternatively, a sensor may be mounted on the drone 200 to determine the distance to other drones 200 and control the drone 200 itself.

[0046] A plurality of guide rails GR31 to GR36 are arranged vertically along the side walls of the building from the upper floors to the lower floors, and are also arranged horizontally at a predetermined height in the building. For example, when a package is collected or delivered by drone 200, drone 200 can travel along the plurality of guide rails GR31 to GR36 and move to a room in the building that is the target location, which is expected to improve convenience.

[0047] In this case, guide rails may be arranged so that all rooms in the building can be reached, but even if guide rails are not arranged to correspond to all rooms as shown in Figure 5, drone 200 may travel along multiple guide rails GR31 to GR36 to a position close to the target position and then fly to the final destination position (room). Also, for example, at least one of the rooms in the building where multiple guide rails GR31 to GR36 are arranged may be designated as a specific room and used as a package collection and delivery location in the building.

[0048] In this way, by running drone 200 along multiple guide rails GR31 to GR36 arranged on the roof and side walls of the building, the distance that drone 200 flies is reduced, and the possibility of drone 200 falling due to malfunction or collision is reduced.

[0049] As shown in Figures 3 to 5, when drone 200 approaches a flight restriction area, it enters a guide rail installed in the flight restriction area, but it may enter from any part of the guide rail and may exit from any part. When drone 200 enters a guide rail, it determines whether another drone 200 is present (or approaching) at the planned entry position on the guide rail, and if it determines that no other drone 200 is present (or is not approaching the planned entry position), it may enter the planned entry position. Whether another drone 200 is present (or approaching) at the planned entry position on the guide rail may be determined, for example, by a control device including control means 120, which determines the current position of the other drone 200 or its predicted position based on its movement, or by a sensor mounted on drone 200, which determines the presence of the other drone 200.

[0050] Furthermore, the guide rail may be provided with an entry port / exit port, which is a portion where entry / exit is possible.

[0051] 6 is a diagram showing an example of an entry port / exit port on a guide rail. As shown in Fig. 6, guide rails GR41 and GR42 are arranged from the roof of a building to a side wall, and an entry port IN41 on the guide rail GR41 and an exit port OUT42 on the guide rail GR42 are provided on the roof of the building.

[0052] When the drone 200 enters the guide rail GR41, it does so through an entry port IN41 provided on the roof of a building. The drone 200 that has reached the vicinity of the roof of the building enters the guide rail GR41 sequentially from the entry port IN41, and therefore is not cut off by other drones 200 while traveling on the guide rail GR41. This reduces the need for the drone 200 to adjust its speed or stop while traveling on the guide rail GR41, allowing it to travel smoothly. This also reduces the possibility of collisions and breakdowns.

[0053] Furthermore, it is preferable that entry port IN41 has an approximately ring shape, which allows drones 200 to enter entry port IN41 from multiple directions, and when multiple drones 200 enter entry port IN41, they may wait here for a few seconds, for example, to maintain a predetermined distance from the other drones 200.

[0054] When the drone 200 departs from the guide rail GR42, it does so from a departure port OUT42 provided on the roof of the building. The drone 200, which has traveled along the guide rail GR42 and reached the roof of the building, can then depart from the guide rail GR42 from the departure port OUT42 and fly. Because the drone 200 does not depart from the guide rail while traveling along the guide rail, it is possible to avoid an unexpected collision with another drone 200 immediately after leaving the guide rail (immediately after starting flight).

[0055] Furthermore, the ejection port OUT42 is preferably roughly ring-shaped, and by making it roughly ring-shaped, the drone 200 may be able to eject from the ejection port OUT42 in multiple directions, and when multiple drones 200 are ejecting from the ejection port OUT42, they may wait here for, for example, several seconds, maintaining a predetermined distance between them to avoid collisions with other drones 200 immediately after starting flight.

[0056] Although an example in which one guide rail has one entry port or one exit port has been described here, this is not limited to this, and one guide rail may have multiple entry ports and / or multiple exit ports.

[0057] As described above, according to the drone management system 10 of one embodiment of the present invention, the recording means 110 records map data for fall avoidance areas such as residential areas and commercial areas, in which flight restriction areas FL10 (FL11) and FL20 (FL21) are set, in which flight of the drone 200 is restricted. The control means 120 controls the drone 200 based on the map data to fly the drone 200 in the flyable area and to travel along pre-installed guide rails GR10 and GR20 in the flight restriction areas FL10 and FL20. In this way, by restricting the free flight of the drone 200 in fall avoidance areas such as residential areas and commercial areas, falls into the fall avoidance areas can be more appropriately avoided.

[0058] In the present embodiment, it is assumed that, for example, a drone 200 equipped with wheels travels on a guide rail, a drone 200 equipped with a predetermined clamping member slides along the guide rail by clamping the guide rail, or a drone 200 equipped with a predetermined engaging member slides along the guide rail by engaging with a convex or concave portion of the guide rail, but this is not limited to these. For example, instead of running or sliding on the guide rail, a drone may be configured to move along the guide rail in a levitated (separated) state from the guide rail, like a linear motor car, using a superconducting magnet, electromagnet, coil, electromagnetism, etc. Furthermore, the drone may be, for example, a conduit through which the drone can travel, or a lift or gondola that can move while suspended by a wire or the like.

[0059] Furthermore, the guide rails, conduits, and wires described above may be formed in the form of an expandable antenna pipe made of a light metal such as a titanium alloy or a magnesium alloy, or in the form of a retractable tube with a wire built in. This antenna pipe or tube may be extended from the starting point or from both the starting point and the end point, forming an arch shape, for example, to bridge between buildings across a road.

[0060] In addition, in this embodiment, as shown in Figures 3 to 5, the guide rails are arranged by pillars or buildings, but this is not limited to these, and they may be arranged, for example, inside a building (including inside the walls, floors, and ceilings, and in electrical and gas piping areas, etc.), or underground.

[0061] <Other embodiments> In addition to being set in flight restriction areas where drone flight is restricted in at least some areas, guide rails may also be placed, for example, along expressways or main roads, or between adjacent flight restriction areas.

[0062] 7 is a diagram illustrating the flight restricted areas and guide rails in another embodiment. As shown in Fig. 7, the guide rails GR40 are arranged along expressways and main roads and between adjacent flight restricted areas.

[0063] For example, areas far from urban areas are not designated as flight-restricted areas because their population density is relatively low. The likelihood of a large number of drones flying in those areas is also low, so the likelihood of drone collisions is also low. On the other hand, the longer a drone's flight distance, the greater its battery consumption. Therefore, it is preferable for drones to travel the shortest distance possible and to travel in an energy-efficient manner.

[0064] The guide rails GR40 are arranged along existing expressways and main roads, and when a drone travels between urban areas and areas away from those urban areas, it can travel along these guide rails GR40 without flying, thereby traveling along an appropriate route in an energy-saving manner.

[0065] Furthermore, the guide rails GR40 may be arranged, for example, in urban areas, not only in flight-restricted areas but also along existing expressways and main roads. In areas other than flight-restricted areas, the drone may fly freely, but by traveling along the guide rails, it can travel more safely and energy-efficiently, for example, in bad weather or when the remaining battery power is low.

[0066] That is, even if the drone is within a flight area, for example, if the remaining charge of its onboard battery becomes low and falls below a threshold, it may enter a guide rail and travel along the guide rail, or if a charging spot is provided on the guide rail, it may be able to charge there. Furthermore, the drone may travel along the guide rail depending on the surrounding environment, including weather information (weather forecast) such as strong winds and rainfall, allowing it to travel more safely.

[0067] Furthermore, as shown in Figure 7, smaller flight restricted areas (protected areas) FL12a to FL12c are set within the flight restricted area FL12. The flight restricted areas (protected areas) FL12a to FL12c are areas of the flight restricted area FL12 where there are more buildings and / or people than other areas, and may be, for example, residential areas and commercial areas as described using Figures 3 and 4.

[0068] The guide rail GR40 may be arranged on the periphery of the flight restricted area FL12 so as to surround the flight restricted area FL12, may be arranged on the periphery of the flight restricted areas (protected areas) FL12a to FL12c so as to surround the flight restricted areas (protected areas) FL12a to FL12c, and may further be arranged so as to connect the flight restricted area FL12 and the flight restricted areas (protected areas) FL12a to FL12c.

[0069] According to this, if the target position is within the flight restriction area (protection area) FL12a to FL12c, the drone can travel along the guide rail GR40 within the flight restriction area FL12 until it approaches the target position, thereby reducing flight strain.

[0070] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangement, materials, conditions, shapes, sizes, etc., are not limited to those illustrated and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined with each other.

[0071] 10...Drone (unmanned aerial vehicle) management system, 100...Control device, 110...Recording means, 120...Control means, 200...Drone (unmanned aerial vehicle), FL10, FL11, FL12, FL12a to FL12c, FL20, FL21...Flight restricted area (protected area), GR10, GR20, GR31 to GR36, GR40 to GR42...Guide rail, IN41...Approach port, OUT42...Exit port, G...Target position, P1, P11, P21...Approach position, P2, P12, P13, P22, P23...Exit position

Claims

1. An unmanned aircraft management system having an unmanned aircraft and a control device that controls the unmanned aircraft, wherein the unmanned aircraft is capable of flight and moving along pre-installed guides, and the control device comprises: a recording means that records map data that sets a flight area in which the unmanned aircraft can fly and a flight restricted area in which the flight of the unmanned aircraft is restricted in at least some areas; and a control means that controls the unmanned aircraft based on the map data to fly the unmanned aircraft in the flight area and to move the unmanned aircraft along pre-installed guides in the flight restricted area.

2. The unmanned aerial vehicle management system according to claim 1, wherein the guide is disposed on at least a portion of the periphery of the flight restricted area surrounding the flight restricted area.

3. An unmanned aircraft management system as described in claim 1 or 2, wherein the flight restricted area has a protected area in which there are more buildings and / or people than other areas of the flight restricted area, and the guide is positioned on at least a portion of the periphery of the protected area surrounding the protected area.

4. An unmanned aircraft management system as described in claim 1 or 2, wherein the flight restricted area has a protected area in which there are more buildings and / or people than other areas of the flight restricted area, and the guide is positioned in the buildings present in the protected area.

5. An unmanned aircraft management system as described in claim 1, wherein, when the unmanned aircraft enters the guide, it is determined whether or not there is another unmanned aircraft at the planned approach position in the guide, and if it is determined that there is no other unmanned aircraft, the unmanned aircraft enters the planned approach position in the guide.

6. An unmanned aerial vehicle management system as described in claim 1, wherein the guide has an entry port through which the unmanned aerial vehicle can enter the guide and / or an exit port through which the unmanned aerial vehicle can leave the guide, and the guide at the entry port and / or the exit port is approximately ring-shaped.

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