Unmanned aircraft, observation center, and observation system

Abstract

The present disclosure provides an unmanned aircraft, for example, which enables observation of an observation object even when there are obstructive factors at the installation position of an observation device. An unmanned aircraft according to the present disclosure flies to transport an observation device for observing an observation object to a predetermined installation position, and installs the observation device. The unmanned aircraft comprises: an observation device holding mechanism for holding and installing the observation device; an environment maintenance mechanism for maintaining an observation environment at the installation position; an aircraft communication unit for performing external communication; and an aircraft control unit which, when the aircraft communication unit receives from outside an observation device installation instruction for installing the observation device, controls the observation device holding mechanism so that the observation device is held and installed at the installation position. When there is an obstructive factor obstructing the observation of the observation object at the installation position, the aircraft control unit controls the environment maintenance mechanism so that the observation object can be observed.

Description

Unmanned aerial vehicles, observation centers, and observation systems

[0001] The present disclosure relates to an unmanned aerial vehicle or the like that transports an observation device by flight to an installation location and installs it.

[0002] A technology has been disclosed in the past in which an observation device for observing landslides that occur in mountains and hills, or abnormalities in water systems, is transported to a predetermined installation location using an unmanned aerial vehicle, and then observation information is received from the installed observation device (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2017-22949

[0004] In Patent Document 1, there is a problem that if there is an obstructing factor (such as vegetation) that obstructs observation at the installation position of the observation device, the observation target cannot be observed.

[0005] The present disclosure has been made to solve such problems, and aims to provide an unmanned aerial vehicle or the like that makes it possible to observe an object to be observed even if there are obstructions to the installation location of the observation device.

[0006] In order to solve the above problems, the unmanned aircraft disclosed herein is an unmanned aircraft that transports and installs an observation device for observing an observation target by flight to a predetermined installation location, and is equipped with an observation device holding mechanism that holds and installs the observation device, an environmental preparation mechanism that prepares the observation environment at the installation location, an aircraft communication unit that communicates with the outside, and an aircraft control unit that, when the aircraft communication unit receives an observation device installation command from the outside to install the observation device, controls the observation device holding mechanism to hold the observation device and install it at the installation location, and if there are any obstructing factors at the installation location that prevent the observation of the observation target, the aircraft control unit controls the environmental preparation mechanism to prepare an observation environment so that the observation target can be observed.

[0007] According to the present disclosure, it is possible to observe an observation target even if there are obstructions to the installation location of an observation device.

[0008] The objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings.

[0009] 1. A block diagram showing an example of the configuration of an unmanned aerial vehicle according to embodiment 1. 2. A block diagram showing an example of the configuration of an observation center and an observation device according to embodiment 1. 3. A flowchart showing an example of the operation of the unmanned aerial vehicle according to embodiment 1. 4. A diagram for explaining the operation of the unmanned aerial vehicle according to embodiment 1. 5. A diagram for explaining the operation of the unmanned aerial vehicle according to embodiment 1. 6. A diagram for explaining the operation of the unmanned aerial vehicle according to embodiment 1. 7. A diagram showing an example of the exterior of the observation device according to embodiment 1. 8. A diagram for explaining the operation of the unmanned aerial vehicle according to embodiment 1. 9. A diagram for explaining the operation of the unmanned aerial vehicle according to embodiment 1. 10. A flowchart showing an example of the operation of an observation center according to embodiment 1. 11. A flowchart showing an example of the operation of an observation center according to embodiment 1. 12. A flowchart showing an example of the operation of the observation center according to embodiment 1. 13. A diagram for explaining the installation of an observation device according to variation 2 of embodiment 1. 14. A diagram for explaining the installation of an observation device according to variation 2 of embodiment 1. 15. A diagram for explaining the installation of an observation device according to variation 3 of embodiment 1. 16. A block diagram showing an example of the configuration of an observation center according to variation 9 of embodiment 1. 17. A flowchart showing an example of the operation of an observation center according to variation 9 of embodiment 1. 18. A block diagram showing an example of the configuration of an observation center according to variation 10 of embodiment 1. It is a block diagram showing an example of a hardware configuration of the unmanned aerial vehicle according to the embodiment 1. It is a block diagram showing an example of a hardware configuration of the unmanned aerial vehicle according to the embodiment 1.

[0010] <First Embodiment> <Configuration of Unmanned Aerial Vehicle> Fig. 1 is a block diagram showing an example of the configuration of an unmanned aerial vehicle 1 according to embodiment 1. As shown in Fig. 1, the unmanned aerial vehicle 1, an observation center 2, and an observation device 3 constitute an observation system.

[0011] The unmanned aircraft 1 comprises an aircraft communication unit 11, a flight unit 12, an environmental improvement mechanism 13, an observation device holding mechanism 14, an aircraft photography unit 15, a location information acquisition unit 16, an aircraft power supply 17, and an aircraft control unit 18.

[0012] The aircraft communication unit 11 communicates with the outside. Specifically, the aircraft communication unit 11 communicates with the observation center 2. The aircraft communication unit 11 may also communicate with the observation device 3.

[0013] The flying unit 12 is composed of, for example, a propeller and a motor, and has a mechanism for flying the unmanned aircraft 1.

[0014] The environmental improvement mechanism 13 is a mechanism that improves the observation environment at the installation location of the observation device 3. Specifically, the environmental improvement mechanism 13 has a mechanism that moves or cuts down any feature that may be an obstruction to the observation of the observation target by the observation device 3. Examples of mechanisms that cut down features include scissors or clippers.

[0015] The observation device holding mechanism 14 is a mechanism for holding and installing the observation device 3 .

[0016] The aircraft photographing unit 15 is equipped with a photographing device and photographs the surroundings of the unmanned aircraft 1.

[0017] The position information acquisition unit 16 is equipped with a GNSS (Global Navigation Satellite System) positioning device, and determines the position of the unmanned aerial vehicle 1 and acquires the determined position information.

[0018] The aircraft power supply 17 provides power to the entire unmanned aerial vehicle 1 .

[0019] The aircraft control unit 18 controls the entire unmanned aircraft 1.

[0020] <Configuration of Observation Center and Observation Device> FIG. 2 is a block diagram showing an example of the configuration of the observation center 2 and the observation device 3 according to the first embodiment.

[0021] The observation center 2 includes an observation control unit 21 , a communication unit 22 , and a storage unit 23 .

[0022] The observation control unit 21 controls the entire observation system including the unmanned aerial vehicle 1 (first unmanned aerial vehicle), the observation device 3, and the observation center 2.

[0023] The communication unit 22 communicates with the outside world. Specifically, the communication unit 22 communicates with each of the unmanned aerial vehicle 1 and the observation device 3.

[0024] The memory unit 23 stores the observation information that the communication unit 22 receives directly from the observation device 3. Note that the memory unit 23 may also store the observation information that is received indirectly from the observation device 3 via the unmanned aerial vehicle 1.

[0025] The observation device 3 includes an observation information acquisition unit 31, an observation information storage unit 32, an observation device control unit 33, an observation device communication unit 34, and an observation device power supply 35. The observation device 3 also includes an imaging device (not shown) that photographs the observation target.

[0026] The observation information acquisition unit 31 acquires images of the observation target as observation information. Note that in addition to images, the observation information acquisition unit 31 may also acquire vibrations, temperature, wind speed, and other information in the observation environment as observation information. In this case, the observation device 3 would be equipped with a vibration sensor that detects vibrations, a temperature sensor that detects temperature, and a wind speed sensor that detects wind speed. Note that which sensors the observation device 3 should be equipped with in addition to the imaging device may be determined taking into consideration the observation target and the observation environment.

[0027] The observation information storage unit 32 stores the observation information acquired by the observation information acquisition unit 31 .

[0028] The observation device control unit 33 controls the entire observation device 3 .

[0029] The observation device communication unit 34 communicates with the outside. Specifically, the observation device communication unit 34 communicates with the observation center 2. Note that the observation device communication unit 34 may also communicate with the unmanned aerial vehicle 1.

[0030] The observation equipment power supply 35 supplies power to the entire observation equipment 3 .

[0031] 3 is a flowchart showing an example of the operation of the unmanned aircraft 1. It is assumed that the unmanned aircraft 1 is waiting at a waiting position where a predetermined charging facility is provided, and that the aircraft power supply 17 is charged with enough power to install the observation device 3.

[0032] In step S11, the aircraft communication unit 11 determines whether or not an observation equipment installation command has been received from the observation center 2. If an observation equipment installation command has been received, the process proceeds to step S12. On the other hand, if an observation equipment installation command has not been received, the process of step S11 is repeated until an observation equipment installation command is received.

[0033] The observation device installation command includes the three-dimensional position of the observation target, the temporary installation position for installing the observation device 3, the position of the observation device 3, and the ID of the observation device 3. The observation device installation command may also include the type of observation target and the type of observation device 3. Here, examples of the type of observation target include rivers, mountains, and roads. The type of observation device 3 is the type of sensor (e.g., a camera, vibration sensor, temperature sensor, wind speed sensor, etc.) equipped on the observation device 3. Furthermore, the observation device installation command may include an instruction for the unmanned aerial vehicle 1 to autonomously remove obstructions.

[0034] In step S12, the aircraft control unit 18 controls the flight unit 12 to fly the unmanned aircraft 1 to the position of the observation device 3, based on the position information of the unmanned aircraft 1 acquired by the position information acquisition unit 16 and the position of the observation device 3 included in the observation device installation command acquired by the aircraft communication unit 11 from the observation center 2. When the unmanned aircraft 1 arrives at the position of the observation device 3, the aircraft control unit 18 controls the observation device holding mechanism 14 to hold the observation device 3. The observation device holding mechanism 14 holds the observation device 3 in accordance with the instructions of the aircraft control unit 18 (see FIG. 4).

[0035] In step S13, the aircraft control unit 18 controls the flight unit 12 so that the unmanned aircraft 1 flies to the temporary installation position while holding the observation device 3, based on the location information of the unmanned aircraft 1 acquired by the location information acquisition unit 16 and the temporary installation position included in the observation device installation command acquired from the observation center 2 by the aircraft communication unit 11. As a result, the unmanned aircraft 1 flies to the temporary installation position while holding the observation device 3, and enters a hovering state above the temporary installation position (e.g., 10 m above the ground) (see Figure 5). In the example of Figure 5, the observation target 4 is a river.

[0036] In step S14, the aircraft control unit 18 recognizes the condition of the ground within a predetermined range including the temporary installation position (for example, within a 10 m radius from the installation position) based on the image captured by the aircraft photographing unit 15, and determines an installation position suitable for observing the observation target and an installation direction that enables the observation target to be observed from that installation position. Note that the observation center 2 may receive the image captured by the aircraft photographing unit 15, and an operator at the observation center 2 may check the image to determine the ground condition.

[0037] Here, an installation location suitable for observing the observation target is, for example, a location on flat ground. When determining the installation location and orientation, the aircraft control unit 18 may take into consideration conditions such as preventing objects from falling above the installation location due to wind and rain, or preventing the ground from being washed away by wind and rain. Furthermore, in addition to the aircraft photography unit 15, a time-of-flight (ToF) sensor and a contact sensor for measuring the hardness of the ground may be provided, and the installation location may be determined taking into consideration the detection results of each sensor.

[0038] In step S15, the aircraft control unit 18 controls the flying unit 12 and the observation device holding mechanism 14 to install the observation device 3 according to the installation position and installation direction determined in step S14 (see Figure 6).

[0039] The observation device 3 may be installed in any state. For example, the observation device 3 may be equipped with an external attachment of an insertion spike 5 for fixing to the ground and an anti-tip rod 6 for preventing tipping, as shown in FIG. 7 . The observation device 3 may also have a drive mechanism for controlling its attitude, and operate autonomously to fix itself in the installation position. Furthermore, the observation device 3 may have a mechanism that operates autonomously to correct its attitude if its attitude changes over time.

[0040] In step S16, the aircraft control unit 18 recognizes the observation environment at the installation location of the observation device 3 based on the video captured by the aircraft photographing unit 15, and determines whether there are any obstructing factors at the installation location that would impede observation of the observation target. If there are obstructing factors, the process proceeds to step S17. On the other hand, if there are no obstructing factors, the process proceeds to step S18.

[0041] In step S17, the aircraft control unit 18 controls the environmental improvement mechanism 13 to remove the obstructing factor and improve the observation environment. Here, the obstructing factor refers to, for example, vegetation covering the imaging device of the observation device 3. The environmental improvement mechanism 13 has a mechanism such as scissors or clippers, and cuts down vegetation using this mechanism. In the example of FIG. 8, the environmental improvement mechanism 13 cuts down vegetation, which is obstructing factor 7.

[0042] The obstructive factors are not limited to plants and trees. For example, the obstructive factors may be pebbles, and in this case, the environmental improvement mechanism 13 may have a mechanism for moving the pebbles.

[0043] Although FIG. 3 shows a case where the observation environment is prepared after the observation device 3 is installed, the observation device 3 may be installed after the observation environment is prepared.

[0044] When determining the installation location in step S14, the aircraft control unit 18 may determine a location that does not have any major obstructions as the installation location. Here, examples of major obstructions include things that cannot be removed by the environmental improvement mechanism 13 or things that would take a long time for the environmental improvement mechanism 13 to remove.

[0045] If the obstruction factor cannot be removed in step S17, the process may return to step S14 to determine the installation position and installation direction again.

[0046] In step S18, the aircraft communication unit 11 transmits installation completion information to the observation center 2. By receiving the installation completion information from the unmanned aerial vehicle 1, the observation center 2 can detect that a specific observation device 3 is ready to perform observation. The trigger for the observation device 3 to start observation may be the timing when a start signal is transmitted from the unmanned aerial vehicle 1 to the observation device 3, or the timing when a start signal is transmitted from the observation center 2 to the observation device 3.

[0047] In addition, if the observation device 3 cannot be installed due to some circumstances, the aircraft communication unit 11 may send information to the observation center 2 that the observation device 3 cannot be installed, along with an image, and ask the observation center 2 for instructions such as changing the installation location.

[0048] The installation completion information may include images taken of the installation status of the observation device 3. In this case, the operator at the observation center 2 can check, based on the images included in the installation completion information, whether the observation device 3 has been installed appropriately or whether there are any obstructions to the installation location.

[0049] In step S19, the aircraft control unit 18 controls the flight unit 12 to return the unmanned aircraft 1 to a waiting position using the position information of the unmanned aircraft 1 acquired by the position information acquisition unit 16 (see Figure 9).

[0050] <Operation of Observation Center> Figures 10 and 11 are flowcharts showing an example of the operation of the observation center 2. Specifically, Figure 10 shows the operation of the observation center 2 when installing the observation device 3 on the unmanned aerial vehicle 1, and Figure 11 shows the operation of the observation center 2 when receiving observation information observed by the observation device 3. The observation center 2 will be described assuming that the operations shown in Figures 10 and 11 are executed in parallel. Note that any program configuration is acceptable as long as it is possible to execute the operations shown in Figures 10 and 11.

[0051] First, the operation of the observation center 2 when installing the observation device 3 on the unmanned aerial vehicle 1 will be described with reference to FIG.

[0052] In step S21, when the observation control unit 21 receives an observation command according to a predetermined procedure, it issues an observation device installation command to a specific unmanned aerial vehicle 1 to install a specified observation device 3 in a position suitable for observation. Here, the observation command refers to, for example, a command issued by an operator at the observation center 2 or another system.

[0053] In step S22, the communication unit 22 determines whether installation completion information indicating that installation of the observation device 3 has been completed has been received from the unmanned aerial vehicle 1. The processing of step S22 is repeated until the installation completion information is received, and once the installation completion information is received, the processing proceeds to step S23. The installation completion information includes, for example, the ID of the observation device 3, the installation position of the observation device 3, and information indicating that installation of the observation device 3 has been completed.

[0054] In step S23, the communication unit 22 stores the received installation completion information in the storage unit 23.

[0055] There may be multiple observation targets. In this case, the observation control unit 21 may issue an observation device installation command to multiple unmanned aerial vehicles 1, or may issue an observation device installation command to one unmanned aerial vehicle 1 (an unmanned aerial vehicle for installing an observation device).

[0056] Next, the operation of the observation center 2 when receiving observation information observed by the observation device 3 will be described with reference to FIG.

[0057] In step S31, when a predetermined condition is met, the observation control unit 21 issues an observation start command to the observation device 3. Here, the predetermined condition may be, for example, that the installation of the observation device 3 is complete. Upon receiving the observation start command from the observation center 2, the observation device 3 starts observing the observation target and transmits observation information to the observation center 2.

[0058] In step S32, the communication unit 22 determines whether or not observation information has been received from the observation device 3. The observation information includes, for example, an image of the observation target, the time the observation target was photographed, and the ID of the observation device 3. The process of step S32 is repeated until observation information is received, and once observation information is received, the process proceeds to step S33.

[0059] In step S33, the communication unit 22 stores the received observation information in the storage unit 23.

[0060] In step S34, the observation control unit 21 determines whether or not the observation has ended. Here, "end of observation" refers to, for example, an operator at the observation center 2 or another system ending observation by the observation device 3, and includes the end of the observation activity itself or the end of observation activity due to the renewal of the observation device 3. If the observation has ended, the process proceeds to step S35. On the other hand, if the observation has not ended, the process returns to step S32.

[0061] In step S35, the communication unit 22 transmits an observation end command to the observation device 3. Upon receiving the observation end command from the observation center 2, the observation device 3 ends observation and also ends transmission of observation information to the observation center 2.

[0062] When the observation center resumes the observation activity after it has been suspended, it again performs the operation shown in FIG. 11 . Suspending and resuming the observation activity takes into consideration various conditions, such as the season or weather. For example, if the observation target is a river and it is desired to observe rainfall in the river and the rise in water level after the rainfall, the observation center 2 may instruct the observation device 3 to transmit observation information only for the period from the start of rainfall to the end of the rainfall, during which the effects of the rain continue. Furthermore, if the observation target is snowfall, observation is not necessary in the summer. Therefore, the observation center 2 may instruct the observation device 3 to start observation when the temperature drops and the snowfall season arrives based on a weather forecast or the like, and to discontinue observation when the snowfall stops, the temperature rises, and the possibility of future snowfall is eliminated.

[0063] Instead of suspending observation, the observation center 2 may instruct the observation device 3 to thin out the transmission of observation information or to reduce the frequency of transmission of observation information. If the observation target is traffic volume at a specific point, the observation center 2 may instruct the observation device 3 to transmit observation information every minute when it determines that congestion has occurred based on an image of the observation target taken by the observation device 3, and to transmit observation information every 10 minutes when it determines that congestion has not occurred.

[0064] <Operation of Observation Device> FIG. 12 is a flowchart showing an example of the operation of the observation device 3.

[0065] In step S41, the observation device control unit 33 sets the observation device 3 to observation standby mode. Any method may be used to set the observation device 3 to observation standby mode. For example, the observation device control unit 33 may set the observation device 3 to observation standby mode upon receiving a standby command from the observation center 2, or may set the observation device 3 to observation standby mode upon receiving a standby command from the unmanned aerial vehicle 1 when installing the observation device 3. Alternatively, a switch for setting the observation device 3 to observation standby mode may be manually turned on before installing the observation device 3. In addition, in observation standby mode, the observation device 3 operates to reduce power consumption, for example by slowing down the communication speed compared to the observation mode described below.

[0066] In step S42, the observation device communication unit 34 determines whether or not an observation start command has been received from the observation center 2. The observation start command may be only an ON signal, but may also include attribute information such as the shooting period or the observation information transmission period. The observation device communication unit 34 may also receive the observation start command from the unmanned aerial vehicle 1. The processing of step S42 is repeated until the observation start command is received, and once the observation start command is received, the processing proceeds to step S43.

[0067] In step S43, the observation device control unit 33 is set to observation mode.

[0068] In step S44 , the observation information acquisition unit 31 stores the observation information in the observation information storage unit 32 .

[0069] In step S45, the observation device control unit 33 determines whether it is time to transmit the observation information. If it is time to transmit the observation information, the process proceeds to step S46. On the other hand, if it is not time to transmit the observation information, the process proceeds to step S47.

[0070] In step S 46 , the observation device communication unit 34 transmits the observation information stored in the observation information storage unit 32 to the observation center 2 .

[0071] In step S47, the observation device control unit 33 determines whether or not an observation end command has been received from the observation center 2. If an observation end command has been received, the process proceeds to step S41. On the other hand, if an observation end command has not been received, the process proceeds to step S44. The observation device communication unit 34 may also receive the observation end command from the unmanned aerial vehicle 1.

[0072] <Effects> In the first embodiment, if there is an obstruction that hinders observation when installing the observation device 3, the unmanned aerial vehicle 1 removes the obstruction. Therefore, it becomes possible to observe the observation target even if there is an obstruction at the installation location of the observation device.

[0073] <Variation 1> In the first embodiment, a case has been described in which unmanned aerial vehicle 1 removes obstructing factors that prevent observation of an observation target, but unmanned aerial vehicle 1 may also remove obstructing factors that prevent installation of observation device 3. In this case, environmental improvement mechanism 13 may, for example, have a mechanism that levels the ground at the installation position of observation device 3. Here, examples of the mechanism that levels the ground include a mechanism that compacts uneven ground to make it flat, a mechanism that removes pebbles, and a mechanism that inserts a chemical that hardens the ground into the ground.

[0074] If the aircraft control unit 18 recognizes, based on the image captured by the aircraft photographing unit 15, that the ground at the installation location of the observation device 3 is in an unsuitable state for installation, it controls the environmental improvement mechanism 13 to make the ground conditions suitable for installation of the observation device 3. This makes it easier to secure an installation location for the observation device 3.

[0075] <Variant 2> In embodiment 1, a method of installing an observation device 3 having an exterior such as that shown in Figure 7 on the ground is described as an example, but the method of installing the observation device 3 on the ground is not limited to this.

[0076] For example, an installation jig that adheres easily to the ground may be fixed to the ground, and the installation jig and the observation device 3 may be fixed with a connecting structure such as a hook and guide. By using an installation jig with a shape suitable for the installation position, it becomes easier to secure the installation position of the observation device 3, and it becomes possible to firmly fix the observation device 3 to the ground.

[0077] For example, the installation jig 8 may have a needle-shaped member that easily adheres to the ground, as shown in Figure 13, and may be structured with a flat plate and a horizontal plate to make it easier to install the observation device 3. The horizontal plate prevents the observation device 3 from slipping off due to wind and rain, and allows the observation device 3 to be easily fixed in place with hooks and guides (not shown).

[0078] The observation device holding mechanism 14 of the unmanned aerial vehicle 1 has the function of transporting the observation device 3 and the installation jig 8. When the unmanned aerial vehicle 1 flies to the installation position, it places the observation device 3 in an appropriate position and presses the installation jig 8 shown in FIG. 8 into the ground. As shown in FIG. 14 , the observation device holding mechanism 14 has a hammer mechanism 9 that operates to hammer into the ground, and uses this hammer mechanism 9 to press the installation jig 8 into the ground. Note that the hammer mechanism 9 is not limited to the hammer mechanism 9, and any mechanism that can press the installation jig 8 into the ground, such as a screw mechanism, may be used. After the installation jig 8 is fixed to the ground, the observation device holding mechanism 14 holds the observation device 3 and fixes it to the installation jig 8, as shown in FIG. 15 .

[0079] The observation center 2 may control a transport-only unmanned aerial vehicle that transports the observation device 3, an installation-only unmanned aerial vehicle (fourth unmanned aerial vehicle) that installs the installation jig 8 at the installation location, and a maintenance-only unmanned aerial vehicle that performs environmental maintenance. In other words, the unmanned aerial vehicle 1 may have a single function or multiple functions.

[0080] <Variation 3> In the first embodiment, the case where the observation center 2 issues an observation device installation command to install one observation device 3 has been described, but the present invention is not limited to this. Multiple observation targets (multiple observation locations) may be set for a wide-area feature such as a river. In this case, a system may be constructed in which, once the observation center 2 issues an observation device installation command once, the unmanned aerial vehicle 1 installs multiple observation devices 3 at their respective installation locations.

[0081] For example, as shown in FIG. 16 , the observation center 2 may control a dedicated unmanned aerial vehicle 1 (first unmanned aerial vehicle) that transports and installs observation devices 3 and prepares an observation environment as needed, and an aircraft carrier 10 (fifth unmanned aerial vehicle) that stores multiple observation devices 3 and transfers each observation device 3 to the dedicated unmanned aerial vehicle, and issue an observation device installation command to install multiple observation devices 3 at each installation location in a single flight. When the observation devices 3 are to be installed at N installation points P1, P2, ..., PN, the N observation devices 3 are automatically or manually stored in a hangar on the aircraft carrier 10. The observation center 2 then issues an observation device installation command to the unmanned aerial vehicle 1 and the aircraft carrier 10, including the installation order of each observation device 3 and the waiting location of the aircraft carrier 10 when each observation device 3 is installed. When the unmanned aerial vehicle 1 approaches installation point Pn, it removes and holds the observation device 3 from the aircraft carrier 10, and installs the observation device 3 in the same manner as in the first embodiment. Once installation is complete, the unmanned aerial vehicle 1 and aircraft carrier 10 perform the same operation at the next installation point Pn+1, and return to the original waiting location when installation of N observation devices 3 is complete. This improves work efficiency when installing observation devices 3 at multiple installation locations.

[0082] The aircraft carrier 10 may also be equipped with a circuit for supplying power to the unmanned aerial vehicle 1. In this case, if the unmanned aerial vehicle 1 runs out of power during the installation process, it operates to receive power from the aircraft carrier 10 as needed. This eliminates the energy and time loss that would otherwise occur if the unmanned aerial vehicle 1 runs out of power during the installation process and has to fly to a charging facility to charge.

[0083] The unmanned aerial vehicle 1 deployed to install the N observation devices 3 may be one or multiple.

[0084] The aircraft carrier 10 may be structured to be capable of storing and flying the unmanned aerial vehicle 1 .

[0085] When the installation jig 8 described in Modification 2 is employed, the aircraft carrier 10 (sixth unmanned aerial vehicle) may be configured to store the installation jig 8 together with the observation device 3. In this case, the observation center 2 may dispatch a dedicated unmanned aerial vehicle to fix the installation jig 8.

[0086] <Variation 4> The position information acquisition unit 16 of the unmanned aerial vehicle 1 may have a GNSS positioning device that performs three-dimensional positioning with centimeter accuracy. In this case, the unmanned aerial vehicle 1 stores the installation position of the observation device 3 with centimeter accuracy (hereinafter also referred to as high accuracy), or transmits the high-accuracy installation position of the observation device 3 to the observation center 2. The observation center 2 stores the high-accuracy installation position received from the unmanned aerial vehicle 1 in the storage unit 23.

[0087] When providing a predetermined service to the observation device 3, the observation center 2 transmits the high-precision installation position stored in the memory unit 23 to the unmanned aerial vehicle 1 that has transmitted the high-precision installation position, or to another unmanned aerial vehicle equipped with a GNSS positioning device that performs three-dimensional positioning with centimeter accuracy. This allows the unmanned aerial vehicle 1 or another unmanned aerial vehicle to reach the observation device 3 more accurately than an installation position determined by a GNSS positioning device that performs three-dimensional positioning with meter accuracy. In particular, even when it is difficult to identify the observation device 3 using image recognition in conditions of poor visibility such as fog, the observation center 2 can accurately reach the observation device 3. Here, examples of the predetermined service provided to the observation device 3 include supplying power to the observation device 3 and maintaining the observation environment.

[0088] The high-precision GNSS positioning method may be any method, such as a method compatible with the Centimeter Level Augmentation Service (CLAS) or a Real Time Kinematic (RTK) method.

[0089] <Variant 5> The aircraft power supply 17 of the unmanned aircraft 1 has a power receiving circuit that receives power from a predetermined charging facility, but in addition to this, it may also have a power supply circuit that supplies power to the observation device 3.

[0090] At a predetermined timing (for example, the timing of receiving information about power depletion from the specific observation device 3, or charging conditions), the observation center 2 issues a power supply command to the unmanned aerial vehicle 1 (second unmanned aerial vehicle) to supply power to the specific observation device 3. The unmanned aerial vehicle 1 supplies power wirelessly in close proximity to the specific observation device 3, or supplies power by connecting to the specific observation device 3. This allows power to be supplied while the observation device 3 is installed, allowing the observation activity by the observation device 3 to continue.

[0091] The observation center 2 may use an unmanned aerial vehicle dedicated to installing the observation device 3 and an unmanned aerial vehicle dedicated to supplying power to the observation device 3, depending on the purpose or situation.

[0092] The observation center 2 may periodically issue a power supply command to the unmanned aerial vehicle dedicated to power supply. Alternatively, the observation center 2 may issue a power supply command including an instruction to periodically or cyclically supply power to a plurality of observation devices 3 located in a predetermined area.

[0093] The power-only unmanned aerial vehicle operates to receive power from a predetermined charging facility at a predetermined timing. Here, the predetermined charging facility may be a charging facility installed near the location where the power-only unmanned aerial vehicle is stored, a charging facility installed on a power transmission / distribution tower, or an aircraft carrier equipped with a charging facility. When a single power-only unmanned aerial vehicle supplies power to multiple observation devices 3, depending on the geographical location, it may be more efficient to charge the unmanned aerial vehicle at a charging facility installed on a power transmission / distribution tower than at a charging facility installed near the location where the power-only unmanned aerial vehicle is stored. Furthermore, if there is no fixed charging facility near the power-only unmanned aerial vehicle, it is more efficient to charge the unmanned aerial vehicle at an aircraft carrier equipped with a charging facility. In addition to an aircraft carrier equipped with a charging facility, a ground-traveling vehicle equipped with a charging facility may also be used.

[0094] When an aircraft carrier equipped with charging equipment is used, the observation control unit 21 of the observation center 2 controls an installation-only unmanned aerial vehicle that installs the observation device 3, a power supply-only unmanned aerial vehicle that supplies power to the observation device 3, and the aircraft carrier equipped with charging equipment that supplies power to the power supply-only unmanned aerial vehicle. At a predetermined timing after the observation device 3 is installed, the observation center 2 causes the aircraft carrier equipped with charging equipment (third unmanned aerial vehicle) to fly to a position closer to the installation position of the observation device 3 than the standby position of the power supply-only unmanned aerial vehicle (second unmanned aerial vehicle), and issues a command to supply power from the aircraft carrier equipped with charging equipment to the power supply-only unmanned aerial vehicle.

[0095] <Variation 6> In the first embodiment, the unmanned aircraft 1 returns to a waiting location after the observation device 3 is installed, but this is not limited to this. The unmanned aircraft 1 may have a fixing mechanism that fixes it to the installation position together with the observation device 3, and may be fixed to the installation position while holding the observation device 3. In this case, power may be supplied from the unmanned aircraft 1 to the observation device 3.

[0096] In the sixth modification, the observation device 3 and the unmanned aerial vehicle 1 are integrated, so that the observation environment can be maintained at all times. Furthermore, if a malfunction occurs in the observation device 3, the observation device can be quickly retrieved and replaced.

[0097] The unmanned aerial vehicle 1 supplies power to the observation device 3 while it has enough power to fly to a predetermined charging facility, and stops supplying power to the observation device 3 before the power falls below the amount of power necessary for flying to the charging facility. Then, when predetermined charging flight conditions are met, the unmanned aerial vehicle 1 may fly to the charging facility while holding the observation device 3, and return to its original installation position after charging is complete. Here, predetermined charging flight conditions include, for example, a condition that there are no obstacles to flight such as wind and rain, a condition that the charging facility is available, and a condition that its turn has come if multiple unmanned aerial vehicles 1 are waiting in line at the charging facility.

[0098] In the fifth modification, a case has been described in which an unmanned aerial vehicle dedicated to power supply is used to supply power to the observation device 3. In the sixth modification, this unmanned aerial vehicle dedicated to power supply may be controlled to supply power to the unmanned aerial vehicle 1 holding the observation device 3.

[0099] <Variant 7> In embodiment 1, when the unmanned aerial vehicle 1 installs the observation device 3, if there are any obstructing factors at the installation location, the unmanned aerial vehicle 1 performs environmental preparation, but the timing for performing environmental preparation is not limited to when the observation device 3 is installed.

[0100] For example, the observation center 2 flies the unmanned aerial vehicle 1 to the installation location of the observation device 3 at a predetermined timing (inspection condition) for observation environment maintenance and acquires information (e.g., video) about the environment of the installation location from the unmanned aerial vehicle 1. Then, when the observation center 2 detects that the observation environment is not suitable for observation, it instructs the unmanned aerial vehicle 1 to prepare the observation environment. Note that the unmanned aerial vehicle 1 that prepares the observation environment at this time may be a maintenance-only unmanned aerial vehicle that does not have an observation device holding mechanism 14.

[0101] The predetermined timing for observation environment maintenance may be periodic (for example, monthly), or may be triggered by the observation device 3 notifying the observation center 2 that it is unable to observe, or by the observation center 2 analyzing the video contained in the observation information received from the observation device 3 and detecting that the observation environment is deteriorating.

[0102] <Variation 8> The observation control unit 21 of the observation center 2 may issue a predetermined information collection command to fly a communication-only unmanned aerial vehicle (seventh unmanned aerial vehicle) that performs short-range communication with the observation device 3 to a position where communication with the observation device 3 is possible, and the communication-only unmanned aerial vehicle may collect the observation information accumulated by the observation device 3. The communication-only unmanned aerial vehicle transmits the observation information collected from the observation device 3 to the observation center 2.

[0103] The unmanned aerial vehicle dedicated to communications does not have an environmental control mechanism 13 or an observation device holding mechanism 14, and is capable of communicating with the observation center 2 and the observation device 3 via an aircraft communication unit 11.

[0104] With this configuration, the observation device 3 consumes less power than the long-distance communication used when transmitting observation information to the observation center 2, making it possible to perform observations for a long period of time.

[0105] <Modification 9> Fig. 17 is a block diagram showing an example of the configuration of the observation center 24 according to Modification 9 of Embodiment 1. As shown in Fig. 17, the observation center 24 includes a determination unit 25. The other configuration is the same as that in Fig. 2.

[0106] The determination unit 25 analyzes the observation information stored in the storage unit 23 and determines the status of the observation target.

[0107] 18 is a flowchart showing an example of the operation of the observation center 24. The operation shown in FIG. 18 is performed in parallel with the operations shown in FIGS.

[0108] In step S51, the determination unit 25 determines whether it is time to determine the status of the observation target. The process of step S51 is repeated until it is time to determine the status of the observation target, and when it is time to determine the status of the observation target, the process proceeds to step S52.

[0109] In step S52, the determination unit 25 performs image analysis on the video included in the observation information stored in the storage unit 23, and determines the status of the observation target. The image analysis may be performed using any analysis method, such as a convolutional neural network (CNN).

[0110] For example, when the observation target is a river and it is determined whether the river is flooding, the determination unit 25 may express the determination result as a time-series graph and present it together with the video to the operator at the observation center 2. In this case, if the determination unit 25 determines that the observation target is in a situation requiring caution, it may display a conspicuous message or sound an alarm.

[0111] The ID of the observation device 3 is linked to the ID of the observation target observed by the observation device 3, the location of the observation target, and the installation location of the observation device 3. When observation devices 3 are installed at multiple locations on the river, the determination unit 25 can determine the condition of the wide area of ​​the river by associating the observation information observed by each observation device 3.

[0112] <Variant 10> In embodiment 1, we have described a case where the observation center 2 stores the observation information received from the observation device 3 in the memory unit 23, but the observation information stored in the memory unit 23 may also be provided to the outside.

[0113] 19 is a block diagram showing an example of the configuration of the observation center 26 according to the tenth modification of the first embodiment. As shown in Fig. 19, the observation center 26 includes a providing unit 27 that provides observation information to the outside. The other configurations are the same as those in Fig. 2.

[0114] When the providing unit 27 receives a request to provide observation information from an external server (not shown), it presents a description of the observation information (e.g., observation content, observation time, observation target, data content, etc.) from the storage unit 23 to the external server, and also presents predetermined information provision conditions. The information provision conditions include sales conditions for the observation information. The providing unit 27 mediates the provision of the observation information with the external server regarding the scope and price of the observation information to be provided, and if the mediation is successful, it permits the external server to access the storage unit 23. Specifically, the providing unit 27 matches the predetermined information provision conditions with the information purchase conditions presented by the external server, and if a match is successful, provides the observation information to the external server. This allows the external server to acquire the observation information stored in the storage unit 23.

[0115] In addition, the providing unit 27 may perform provision arbitration each time the external server requests observation information, depending on the contract with the external server, or may allow the external server to freely access the memory unit 23 for a certain period of time.

[0116] The observation center 26 may further include a determination unit 25 shown in Fig. 17. In this case, the providing unit 27 may provide only the determination result of the determination unit 25 to the external server, or may provide both the determination result of the determination unit 25 and the observation information stored in the storage unit 23 to the external server.

[0117] <Variation 11> The observation center 2 may use the remote ID of the unmanned aerial vehicle as the management ID of the unmanned aerial vehicle 1 that it manages, or may link the management ID to the remote ID and centrally manage the unmanned aerial vehicle. Here, the management ID refers to an identification number that the observation center 2 uniquely assigns to the unmanned aerial vehicle 1. The remote ID refers to an identification number unique to the unmanned aerial vehicle that is assigned when the unmanned aerial vehicle 1 is registered with a public institution.

[0118] The management ID can be used as an operation record of what work was performed by which unmanned aerial vehicle 1. The remote ID can be used for authentication between the unmanned aerial vehicle 1 and the observation device 3, between the unmanned aerial vehicle 1 and the charging facility, or between the unmanned aerial vehicle 1 and the aircraft carrier.

[0119] When handling multiple types of unmanned aerial vehicles, a unique code indicating that the remote ID is related to the observation system of the present disclosure may be assigned to a specific position in the remote ID. The unique code may include the type of unmanned aerial vehicle 1 and the identification number of the observation center 2.

[0120] A special code may be provided at a specific location on the Remote ID to identify the function of the unmanned aerial vehicle for use with an observation system according to the present disclosure.

[0121] By performing a process that references the specific position of the remote ID, the type of unmanned aerial vehicle can be identified quickly. Also, by making the code of the specific position of the remote ID of unmanned aerial vehicles managed by a specific observation center 2 the same, it is possible to identify the unmanned aerial vehicle controlled by the specific observation center 2 as being in a restraint.

[0122] <Hardware Configuration> The functions of the aircraft communication unit 11, position information acquisition unit 16, and aircraft control unit 18 in the unmanned aircraft 1 described in embodiment 1 are realized by processing circuits. That is, the unmanned aircraft 1 is equipped with a processing circuit for communicating with the outside world, acquiring position information of the unmanned aircraft 1, and controlling the entire unmanned aircraft 1. The processing circuit may be dedicated hardware, or may be a processor (also referred to as a CPU, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in memory.

[0123] 20 , the processing circuit 40 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The functions of the aircraft communication unit 11, the position information acquisition unit 16, and the aircraft control unit 18 may be realized by the processing circuit 40 individually, or all of the functions may be realized by a single processing circuit 40.

[0124] When the processing circuit 40 is the processor 50 shown in FIG. 21 , the functions of the aircraft communication unit 11, the position information acquisition unit 16, and the aircraft control unit 18 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 51. The processor 50 realizes each function by reading and executing the program recorded in the memory 51. In other words, the unmanned aircraft 1 includes the memory 51 for storing programs that ultimately execute steps for communicating with the outside world, acquiring position information for the unmanned aircraft 1, and controlling the entire unmanned aircraft 1. These programs can also be said to cause a computer to execute the procedures or methods of the aircraft communication unit 11, the position information acquisition unit 16, and the aircraft control unit 18. Here, the memory may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.

[0125] It should be noted that some of the functions of the aircraft communication unit 11, the position information acquisition unit 16, and the aircraft control unit 18 may be realized by dedicated hardware, and other functions may be realized by software or firmware.

[0126] Thus, the processing circuitry can implement each of the above-described functions through hardware, software, firmware, or a combination thereof.

[0127] Furthermore, within the scope of the present disclosure, the embodiments may be modified or omitted as appropriate.

[0128] Although the present disclosure has been described in detail, the above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned.

[0129] 1 Unmanned aerial vehicle, 2 Observation center, 3 Observation device, 4 Observation target, 5 Insertion spike, 6 Anti-tip rod, 7 Obstruction factor, 8 Installation jig, 9 Hammer mechanism, 10 Aircraft carrier, 11 Aircraft communication unit, 12 Flight unit, 13 Environmental improvement mechanism, 14 Observation device holding mechanism, 15 Aircraft photography unit, 16 Position information acquisition unit, 17 Aircraft power supply, 18 Aircraft control unit, 21 Observation control unit, 22 Communication unit, 23 Memory unit, 24 Observation center, 25 Judgment unit, 26 Observation center, 27 Provision unit, 31 Observation information acquisition unit, 32 Observation information memory unit, 33 Observation device control unit, 34 Observation device communication unit, 35 Observation device power supply, 40 Processing circuit, 50 Processor, 51 Memory.

Claims

1. An unmanned aerial vehicle that transports and installs an observation device for observing an object of observation by flight to a predetermined installation location, comprising: an observation device holding mechanism that holds and installs the observation device; an environmental preparation mechanism that prepares the observation environment at the installation location; an aircraft communication unit that communicates with the outside; and an aircraft control unit that, when the aircraft communication unit receives an observation device installation command from the outside to install the observation device, controls the observation device holding mechanism to hold the observation device and install it at the installation location; and if there is an obstructing factor at the installation location that prevents the observation of the object of observation, the unmanned aerial vehicle controls the environmental preparation mechanism to prepare the observation environment so that the object of observation can be observed.

2. An unmanned aerial vehicle as described in claim 1, further comprising an aircraft photographing unit that photographs the area around the unmanned aerial vehicle, and a location information acquisition unit that acquires location information of the unmanned aerial vehicle, wherein the observation device installation command includes a predetermined range that includes the installation location, and the aircraft control unit flies the unmanned aerial vehicle to the predetermined range based on the location information of the unmanned aerial vehicle acquired by the location information acquisition unit, and then determines the installation location based on the image captured by the aircraft photographing unit.

3. The unmanned aerial vehicle described in claim 2, wherein the environmental improvement mechanism has a mechanism for moving or cutting down any obstacles to the environment, and the aircraft control unit, when detecting an obstacle between the observation device and the observation target based on the image captured by the aircraft photography unit, controls the environmental improvement mechanism to move or cut down the obstacle to improve the observation environment.

4. The unmanned aerial vehicle described in claim 2, wherein the environmental improvement mechanism has a mechanism for leveling the ground at the installation location, and the aircraft control unit controls the environmental improvement mechanism to level the ground when it determines, based on the image captured by the aircraft photography unit, that the condition of the ground is not suitable for installing the observation device.

5. The unmanned aerial vehicle described in claim 1, wherein the observation device holding mechanism has a mechanism for transporting an installation jig for installing the observation device at the installation position and a mechanism for fixing the installation jig at the installation position, and the aircraft control unit controls the observation device holding mechanism to fix the observation device to the installation jig after fixing the installation jig at the installation position.

6. An unmanned aerial vehicle as described in claim 2, wherein the position information acquisition unit has a GNSS (Global Navigation Satellite System) positioning device that performs three-dimensional positioning with centimeter accuracy, and the aircraft control unit stores or externally transmits the installation position acquired by the position information acquisition unit with centimeter accuracy.

7. An unmanned aircraft as described in claim 6, wherein, when providing a predetermined service to the observation device, the aircraft control unit controls the unmanned aircraft to fly to the observation device based on the location information of the unmanned aircraft acquired by the location information acquisition unit with centimeter accuracy and the installation location stored or transmitted to the outside.

8. An unmanned aerial vehicle as described in claim 1, further comprising an aircraft power supply having a power receiving circuit that receives power from a predetermined charging facility and a power supply circuit that supplies power to the observation device, wherein the aircraft power supply receives power from the charging facility or supplies power to the observation device in accordance with predetermined conditions or commands.

9. An unmanned aerial vehicle as described in claim 8, wherein the observation device holding mechanism has a fixing mechanism that fixes the observation device to the installation position together with the observation device, and the aircraft power supply supplies power to the observation device while holding the observation device at the installation position.

10. The unmanned aerial vehicle described in claim 9, wherein the aircraft power supply supplies power to the observation device while the unmanned aerial vehicle has enough power to fly to the charging facility, and stops supplying power to the observation device before the unmanned aerial vehicle has less power than the amount necessary to fly to the charging facility, and the aircraft control unit controls the unmanned aerial vehicle to fly to the charging facility while holding the observation device when predetermined charging flight conditions are met, and controls the unmanned aerial vehicle to return to the installation position after receiving power from the charging facility.

11. An observation center comprising: an observation control unit that controls an observation device that observes an observation target and a first unmanned aerial vehicle that transports the observation device by flight to a predetermined installation location and installs it; a communication unit that communicates with the outside; and a memory unit that stores observation information about the observation target received by the communication unit from the observation device, wherein the observation control unit installs the observation device at the installation location and controls the first unmanned aerial vehicle to prepare an observation environment at the installation location.

12. An observation center as described in claim 11, wherein the observation control unit controls the first unmanned aerial vehicle to fly to the observation device based on predetermined inspection conditions, and if the observation environment is not suitable for observation by the observation device, controls the first unmanned aerial vehicle to prepare the observation environment.

13. An observation center as described in claim 11, wherein the observation control unit controls a second unmanned aerial vehicle that supplies power to the observation device to fly to the observation device based on predetermined charging conditions, and controls the second unmanned aerial vehicle to supply power to the observation device.

14. An observation center as described in claim 13, wherein the observation control unit controls a third unmanned aerial vehicle that supplies power to the second unmanned aerial vehicle to fly to a position closer to the installation position than the standby position of the second unmanned aerial vehicle, and controls the third unmanned aerial vehicle to supply power to the second unmanned aerial vehicle at that position.

15. An observation center as described in claim 11, wherein the observation control unit controls a fourth unmanned aerial vehicle having a mechanism for fixing an installation jig for installing the observation equipment at the installation position to fix the installation jig, and controls the first unmanned aerial vehicle to fix the observation equipment to the installation jig.

16. The observation center described in claim 11, wherein the observation control unit controls a fifth unmanned aerial vehicle that stores multiple observation devices and supplies power to the first unmanned aerial vehicle, and controls the first unmanned aerial vehicle to remove each observation device from the fifth unmanned aerial vehicle and install it at the installation location.

17. The observation center described in claim 15, wherein the observation control unit controls a sixth unmanned aerial vehicle that stores the installation jig, and controls the fourth unmanned aerial vehicle to remove the installation jig from the sixth unmanned aerial vehicle and fix it at the installation position.

18. The observation center described in claim 11, wherein the observation control unit controls a seventh unmanned aerial vehicle that communicates with the observation device in short-range communication, moves the seventh unmanned aerial vehicle to a position where it can communicate with the observation device in accordance with a predetermined information collection command, and controls the seventh unmanned aerial vehicle to collect the observation information accumulated by the observation device via communication.

19. An observation center as described in claim 11, further comprising a providing unit that provides the observation information stored in the memory unit to an external party, wherein the providing unit provides the observation information to the external party when a match is established between predetermined information provision conditions and information purchase conditions presented from the external party.

20. An observation system comprising an observation device for observing an observation target, an unmanned aerial vehicle for transporting and installing the observation device by flight to a predetermined installation location, and an observation center communicatively connected to each of the observation device and the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises: an observation device holding mechanism for holding and installing the observation device; an environment preparation mechanism for preparing an observation environment at the installation location; an aircraft communication unit for communicating with the outside; and an aircraft control unit for, when the aircraft communication unit receives an observation device installation command from the outside to install the observation device, controlling the observation device holding mechanism to hold the observation device and install it at the installation location; and when there is an obstructing factor at the installation location that prevents observation of the observation target, the aircraft control unit controls the environment preparation mechanism to prepare the observation environment so that the observation target can be observed; and the observation center comprises: an observation control unit for controlling the observation device and the unmanned aerial vehicle; a communication unit for communicating with the outside; and a memory unit for storing observation information of the observation target received by the communication unit from the observation device. The observation control unit installs the observation device at the installation location and controls the unmanned aerial vehicle to prepare the observation environment at the installation location.

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