JP6570199B2 - Virtual pilot system for unmanned aerial vehicles - Google Patents

Description

The present invention relates to a virtual control system for an unmanned aerial vehicle.
More specifically, the present invention relates to a virtual maneuvering system for an unmanned aerial vehicle capable of a virtual experience in which an ordinary person is maneuvering an unmanned aerial vehicle by himself / herself in an air space that requires flight permission and approval.
Furthermore, the present invention relates to a virtual maneuvering system for an unmanned aerial vehicle that allows a plurality of general people to easily experience a virtual sightseeing flight.
In the following description, the front is the side where the lens of the camera is facing, the back is the opposite side of the front, the left is the left side when facing forward, and the right is the front When facing the right side, the right turn is a turn in the clockwise direction when the unmanned aircraft is viewed from above, and the left turn is a turn in the counterclockwise direction in the same state. The names representing the first and second ranks are simply names for distinction, and are not considered at all in interpreting the scope of rights.

  As a conventional technique, by placing a plurality of drones and providing guidance information to the viewing target area requested by the user to the drone, one or more of the drones are automatically flying to the target area, and the target There is a known virtual viewing system that allows users to control the drone after arrival in the area, and provides users with camera images mounted on the drone so that they can view it as they wish without going to the site. (Patent Document 1).

Japanese Patent No. 617283 (FIGS. 1-9, paragraph 0068)

In the prior art, there is an advantage that the user can operate the drone in the viewing target area and watch it as desired. On the other hand, in Japan, as shown in Fig. 18 (A), the unmanned aircraft 18 including the drone 16 flies over the vicinity of the airport 10 and the like, over the densely populated area 12, and over 150 meters in height. To do so, it is necessary to obtain permission from the Director of Regional Aviation Bureau. In addition, as shown in the figure (B), when there is no distance of more than 30 meters between the third person 20 and the third party building 22 / car 24, etc., the unmanned aircraft 18 cannot be seen. It is necessary to obtain approval from the Director of the Regional Aviation Bureau at night, for flying over events, transporting dangerous goods, and dropping properties. Due to these regulations, in Japan, the virtual viewing system according to the prior art cannot be operated substantially. That is, as one of the conditions for the permission and approval, the maneuvering technique is required to be at a predetermined level or higher, so that a beginner cannot substantially receive permission or approval.
On the other hand, there is a strong demand to see the sea cliffs with a superb view from the sea side. In this case, there are admiring boats to watch from the sea side, but sea cliffs are often over 100 meters in height, so there is a problem of lack of power, and further improvement has been demanded.
Furthermore, some historical high-rise buildings have sculptures, wall sculptures, and the like arranged at a height that cannot be viewed visually, and there is a demand to view them as if they are being visually observed. In this case, the front side can be seen using binoculars or a telescope, but the back side cannot be seen. In these cases, a camera is mounted on the unmanned aerial vehicle 18, for example, the drone 16 or the radio control helicopter, and those skilled in the operation can operate based on the instructions of the viewer, and can be viewed based on the shooting information transmitted from the camera. However, since the people who want to watch the appreciation differ from person to person, there is a strong demand for a virtual appreciation system that allows the viewers to watch as if they were operating the aircraft. In this case, it is necessary to approach the third-party property within 30 meters in order to enjoy even more impressive viewing, and it is easily expected that at least the approval of the Regional Aviation Director will be required. it can.
Also, in revitalizing local areas, which is one of the urgent issues, effective utilization of local assets is one way. For example, Itoigawa City, Niigata Prefecture, which has a coastal sea cliff with a superb view of the sea, and Miyazu City, Kyoto Prefecture, which has Amanohashidate that embodies white sand Aomatsu, etc. It is necessary to provide an attractive viewing method, but the approval and approval of the regional aviation director is required, and a qualified person with a driving license must be operated, and a new viewing method that gives a more realistic feeling There is a problem that is difficult to provide.

  The present invention has been made on the basis of these demands, and an object of the present invention is an unmanned aerial vehicle that can be viewed and observed in the sense that a virtual pilot is maneuvering an unmanned aerial vehicle by its own maneuvering. Is to provide a virtual steering system.

In order to achieve this object, the first invention according to claim 1 is configured as follows.
A control device for the pilot,
At least a flying device capable of changing a flight direction based on an instruction from the control device, a camera capable of photographing, and an unmanned aircraft including a transmission device that transmits photographing information photographed by the camera;
A virtual pilot control device for a virtual pilot operated by the virtual pilot;
A virtual pilot camera imaging display device for the virtual pilot that is arranged in the vicinity of the virtual pilot and displays photographing information from the transmission device;
A virtual pilot intention indicating device for the pilot, which represents an operation intention based on the operation of the virtual pilot control device;
Is a virtual maneuvering system for unmanned aerial vehicles.

The second invention according to the present invention is:
A control device for the pilot,
At least a flying device capable of changing a flight direction based on an instruction from the control device, a camera capable of photographing, and an unmanned aerial vehicle capable of stationary in the air including a transmission device that transmits photographing information photographed by the camera;
A virtual pilot control device for a virtual pilot operated by the virtual pilot;
A virtual pilot camera imaging display device for the virtual pilot that is arranged in the vicinity of the virtual pilot and displays photographing information from the transmission device;
A virtual pilot intention indicating device for the pilot, which represents an operation intention based on the operation of the virtual pilot control device;
Is a virtual maneuvering system for unmanned aerial vehicles.

A third aspect of the invention relates to
A control device for the pilot,
A drone including at least a flying device capable of changing a flight direction based on an instruction from the control device, a camera capable of photographing, and a transmission device for transmitting photographing information photographed by the camera;
A virtual pilot control device for a virtual pilot operated by the virtual pilot;
A virtual pilot camera imaging display device for the virtual pilot that is arranged in the vicinity of the virtual pilot and displays photographing information from the transmission device;
A virtual pilot intention indicating device for the pilot, which represents an operation intention based on the operation of the virtual pilot control device;
Is a virtual maneuvering system for unmanned aerial vehicles.

According to a fourth aspect of the present invention,
The virtual pilot control device includes at least a virtual up / down indicator for instructing ascent and descent, and a virtual left / right indicator in the left and right directions. Is a virtual maneuvering system for unmanned aerial vehicles.

According to a fifth aspect of the present invention,
The virtual operator intention indicating device includes at least a vertically moving indicator for instructing ascending and descending, and a left and right advancing indicator for left and right directions. This is a virtual aircraft control system.

A sixth invention according to the present invention provides
The unmanned aerial vehicle according to any one of the first to fifth aspects, wherein the pilot device includes a pilot display device that displays the same shooting information as the shooting information displayed on the virtual pilot camera imaging display device. Is a virtual steering system.

The seventh invention according to the present invention is
The virtual pilot control device includes a virtual up / down indicator and a virtual pilot direction display device that displays the direction corresponding to the operation of the virtual left / right indicator. 6 is a virtual maneuvering system for an unmanned aerial vehicle according to a sixth invention.

The eighth invention according to the present invention is
The virtual pilot intention instructing device is attached to the pilot device, and is a virtual pilot system for an unmanned aerial vehicle according to any one of the first to seventh inventions.

A ninth invention according to the present invention provides
The unmanned aerial vehicle according to any one of the first to eighth aspects of the present invention includes at least one virtual experience display device that displays the same shooting information as the shooting information displayed on the virtual pilot camera imaging display device. It is a virtual maneuvering system.

A tenth aspect of the invention relates to
The unmanned aerial vehicle virtual control system according to any one of the first to ninth aspects, wherein the camera is an omnidirectional camera.

  According to the first invention, the virtual pilot operates the virtual pilot control device to indicate the flight direction of the unmanned aircraft. The flight direction indicated by the virtual pilot is transmitted to the pilot by the virtual pilot intention indicating device for the pilot. The pilot operates the pilot device for the pilot so that the unmanned aircraft flies in the direction transmitted by the virtual pilot intention indicating device. Thereby, the unmanned aerial vehicle flies based on the direction indicated by the virtual pilot. On the other hand, a camera attached to an unmanned aerial vehicle captures an imageable range and transmits the imaged information via a communication device. Since the shooting information is displayed in the virtual pilot camera imaging display device, the virtual pilot can see the object from the position he / she wants to view or observe. In advance, we will obtain permission from the Regional Aviation Director for flights around the airport and in densely populated ground. This flight is legally possible. As described above, according to the first invention, there is an advantage that the object of the present invention can be achieved.

  The second invention has the same basic configuration as the first invention, and has a difference in the configuration in which the unmanned aircraft can stand still in the air. Therefore, the object of the present invention can be achieved. Furthermore, in the second invention, since the unmanned aircraft can be stationary in the air, there is an advantage that a place that the virtual operator likes can be viewed or observed in a stationary state.

  According to the third invention, the basic configuration is the same as that of the first invention, and there is a difference in the configuration in which the unmanned aircraft is a drone. Therefore, the object of the present invention can be achieved. Further, in the third invention, since the unmanned aircraft is a drone and can be stationary in the air, there is an advantage that a place that the virtual pilot likes can be viewed or observed in a stationary state. Furthermore, since the drone rotates the propeller by the electric motor, there is almost no noise, and there is an advantage that re-flight can be performed immediately by replacing the storage battery.

  Since the fourth invention has the same basic configuration as the first to third inventions, the object of the present invention can be achieved. Furthermore, in the fourth invention, the virtual pilot control device includes at least an up / down indicator for instructing ascending and descending, and a left / right indicator in the left and right directions. With this configuration, the virtual pilot can at least move the unmanned aircraft up and down and move left and right with the up and down indicator, so that there is an advantage that it is possible to see the part of the object to be viewed or observed. is there. If there is no forward / backward indicator that can move in the forward / backward direction, it can be substituted by using the zoom function of the camera.

  Since the fifth invention has the same basic configuration as the first to third inventions, the object of the present invention can be achieved. Further, in the fifth invention, the virtual pilot intention indicating device includes at least a vertically moving indicator for instructing ascending and descending, and a horizontally advancing indicator for left and right directions. Therefore, the pilot operates the pilot device by operating the pilot device so that the unmanned aircraft flies in the direction indicated by the vertical indicator and the horizontal indicator indicated by the virtual pilot intention indicator. It is possible to capture a part that a person wants to view or observe. Therefore, there is an advantage that the virtual operator can view the part of the object to be viewed or observed.

  Since the basic configuration of the sixth invention is the same as that of the first to third inventions, the object of the present invention can be achieved. Further, in the sixth aspect of the invention, the control device includes a driver display device that displays the same shooting information as that displayed on the virtual operator camera imaging display device. With this configuration, the virtual pilot and the pilot operate the respective piloting device or the virtual piloting device while viewing the same shooting information shot by the camera mounted on the unmanned aircraft. There is an advantage that the pilot can easily grasp the place where the virtual pilot wants to move and is easy to control.

  Since the seventh invention has the same basic configuration as the first to third inventions, the object of the present invention can be achieved. Furthermore, in the seventh invention, the virtual pilot control device includes a vertical pilot indicator and a virtual pilot manipulation display device that displays the direction in response to the operation of the horizontal dial indicator. As a result, the virtual pilot can confirm the state of operating the virtual pilot control device using the virtual pilot operation display device. You can perform virtual maneuvering while confirming that the operation is correct. Therefore, an unmanned aerial vehicle operated by a pilot maneuvering while confirming a virtual pilot intention indicating device displayed in accordance with the intention of the virtual pilot has an advantage of flying in the intended direction.

  Since the basic configuration of the eighth invention is the same as that of the first to third inventions, the object of the present invention can be achieved. Furthermore, in the eighth invention, a virtual pilot intention indicating device is attached to the steering device. As a result, the pilot sees the image taken by the camera mounted on the unmanned aerial vehicle displayed on the pilot display device in the piloting device, and the virtual pilot intention indicating device arranged nearby. There is an advantage that it can be operated while quickly grasping the movement intention of the virtual pilot and quickly controlling it.

  Since the basic configuration of the ninth invention is the same as that of the first to third inventions, the object of the present invention can be achieved. Furthermore, the ninth invention includes at least one virtual experience display device that displays the same shooting information as that displayed on the virtual pilot camera imaging display device. With this configuration, there is an advantage that other people can see the same shooting information as the virtual pilot.

  The tenth aspect of the invention has the same basic configuration as the first to third aspects of the invention, and therefore the object of the present invention can be achieved. Furthermore, in the tenth invention, the camera is an omnidirectional camera. This configuration has the advantage that the virtual experience person can see 360-degree shooting information, and can experience the presence of being in the cockpit of an airplane.

FIG. 1 is a schematic explanatory diagram of a virtual control system for an unmanned aerial vehicle according to a first embodiment of the present invention. FIG. 2 is a perspective view of the drone as an unmanned aerial vehicle in the virtual control system of the unmanned aerial vehicle according to the first embodiment of the present invention from the diagonally lower left side. FIG. 3 is a system block diagram of the unmanned aerial vehicle virtual control system according to the first embodiment of the present invention. FIG. 4 is a perspective view from the upper right of the control device of the virtual control system of the unmanned aerial vehicle according to the first embodiment of the present invention and the display as the virtual pilot intention indicating device. FIG. 5 is a front view of the control operation unit in the control device of the virtual control system for the unmanned aerial vehicle according to the first embodiment of the present invention. FIG. 6 is a perspective view of a control stick of the virtual control system for an unmanned aerial vehicle according to the first embodiment of the present invention, (L) is a perspective view of a left control stick, and (R) is a perspective view of a right control stick. It is. FIG. 7 is a front view of the operator display device of the virtual control system for the unmanned aerial vehicle according to the first embodiment of the present invention. FIG. 8 is a front view of the screen of the pilot display device of the virtual piloting system for the unmanned aerial vehicle according to the first embodiment of the present invention and the virtual pilot intention indicating device. FIG. 9 is a flowchart for explaining the operation of the control device of the virtual control system for the unmanned aerial vehicle according to the first embodiment of the present invention. FIG. 10 is a front view of the virtual pilot control device and the virtual pilot control display device of the virtual pilot system for the unmanned aircraft according to the first embodiment of the present invention. FIG. 11 is a virtual up / down indicator and virtual left / right turn indicator of the virtual maneuvering system of the unmanned aircraft according to the first embodiment of the present invention, (A) is a perspective view of the virtual left stick, and (B) is It is a circuit diagram. FIG. 12 is a virtual forward / backward indicator and a virtual left / right indicator of the virtual piloting system of the unmanned aircraft according to the first embodiment of the present invention, (A) is a perspective view of the virtual right stick, and (B) is a perspective view. It is a circuit diagram. FIG. 13 is a cross-sectional view of the integrated device of the pilot display device and the pilot intention indicating device of the virtual pilot system of the unmanned aircraft according to the first embodiment of the present invention. FIG. 14 is a perspective view of another example of the virtual pilot intention indicating device used in the virtual pilot system of the unmanned aircraft according to the second embodiment of the present invention. FIG. 15 is a perspective view of still another example of the virtual pilot intention indicating device used in the virtual pilot system of the unmanned aircraft according to the second embodiment of the present invention. FIG. 16 is a schematic explanatory diagram of a virtual pilot system for an unmanned aerial vehicle according to a fourth embodiment of the present invention. FIG. 17: is a front view of the omnidirectional camera used for the virtual control system of the unmanned aerial vehicle of Example 5 concerning this invention. FIG. 18 is an explanatory diagram of flight restrictions for unmanned aerial vehicles, and (A) is a schematic diagram for explaining regional restrictions and restrictions on actions.

The best mode of the unmanned aerial vehicle virtual control system according to the present invention is:
A control device for the pilot,
A drone including at least a flying device capable of changing a flight direction based on an instruction from the control device, a camera capable of photographing, and a transmission device for transmitting photographing information photographed by the camera;
A virtual pilot control device for a virtual pilot operated by the virtual pilot;
A virtual pilot camera imaging display device for the virtual pilot that is arranged in the vicinity of the virtual pilot and displays photographing information from the transmission device;
A virtual pilot intention indicating device for the pilot, and transmitting a control intention based on an operation of the virtual pilot control unit;
The virtual pilot control device includes at least an up / down indicator for instructing ascent and descent, and a left / right indicator in the left and right directions,
The virtual pilot intention indicating device includes at least a vertical display for instructing ascent and descent, and a left / right display in left and right directions,
The pilot device includes a pilot display device that displays the same shooting information as the shooting information displayed on the virtual pilot camera imaging display device,
The virtual pilot intention display device is attached to the pilot device,
A virtual piloting system for an unmanned aerial vehicle, wherein the camera is an omnidirectional camera.

  The first embodiment employs a drone 102 as an unmanned aerial vehicle 100, and is used for viewing a sculpture or sculpture wall given to a high-rise building higher than a medium-rise building as an object to be viewed. However, the ornamental observation target may be a coastal cliff, a cliff such as a river cliff, or a natural object such as fresh green or autumn leaves.

First, the virtual control system 104 of the unmanned aerial vehicle 100 will be described with reference to FIG.
The virtual control system 104 according to the first embodiment includes at least an unmanned aircraft 100, a control device 106 for the pilot OP to control the unmanned aircraft 100, a pilot display device 108 for the pilot OP, and a virtual pilot. A virtual pilot control device 112 operated by the VOP, a virtual pilot camera imaging display device 114, and a virtual pilot intention indication device 116 disposed near the pilot OP are included.

First, the unmanned aerial vehicle 100 will be described.
Unmanned aerial vehicle 100 is an airplane, rotary wing aircraft, glider, airship that cannot be carried by humans and can be operated by remote control (weight less than 200 g (weight of the fuselage and battery) Excluding the total). Specifically, it is a radio-controlled aircraft, a helicopter for spraying agricultural chemicals, etc., and as an ornamental, in particular, to appreciate a natural object or a building 118 above the middle layer, an unmanned aerial vehicle 122 that can be stationary in the air, for example, A radio controlled helicopter or a drone (multi-copter) 102 is preferable. In the first embodiment, the drone 102 is adopted.

Next, an outline of the drone 102 will be described with reference to FIGS.
It is preferable that the drone 102 is unattended, has at least a function of moving up or down with respect to the object to be watched, and moving left or right, and is capable of moving forward or backward and turning left and right. In the first embodiment, a known so-called quadcopter 102Q is used. The quadcopter 102Q has a roughly disc-shaped main body 102B located at the center, a propeller arm 102A extending from the main body 102B at a predetermined angle in the horizontal direction at an equal angle, and thus four propeller arms 102A1, 102A2, 102A3, and 102A4 (not visible in FIG. 2), variable speed motor 102M fixed to the tip of each propeller arm 102A1, 102A2, 102A3, and 102A4, and therefore, four variable speed motors 102M1, 102M2, 102M3, and 102M4 (not visible in FIG. 2), propeller 102P fixed to the output shaft tip of each variable speed motor 102M1, 102M2, 102M3, and 102M4, and thus the four propellers 102P1, 102P2, 102P3, 102P4, camera 124, camera 124 attached to the lower surface of main body 102B so as not to be affected by vibration of main body 102B, and gimbal 126, propeller arm 102A1, which maintains the posture of camera 124 regardless of the posture of main body 102B, And 102A4 Inverted U-shaped skid 128 whose upper end is fixed to the lower surface, in the first embodiment, the first skid 1281, propeller arm 102A3, and inverted U-shaped whose upper end is fixed to the lower surface of 102A4 Second skid 1282, drone power supply 132 attached to main body 102B (FIG. 3), drone transmitter 134 arranged in main body 102B, drone receiver 136, GPS138, altimeter 142, speedometer 144, compass 146, an ultrasonic sensor 148, and a drone controller 150 are incorporated. However, the combination of the variable speed motor 102M and the propeller 102P only needs to be three or more, and in order to prevent uncontrollable or crash due to unexpected failure of the variable speed motor 102M or the propeller 102P, the variable speed motor 102M and the propeller 102P It is preferable that there are 6 or more groups. Note that the front side of the camera 124 is facing the lens. The flying device 103 is constituted by the variable speed motors 102M1, 102M2, 102M3, and 102M4 and the propellers 102P1, 102P2, 102P3, and 102P4. Therefore, the flying device 103 has a function of causing the unmanned aircraft 100 to fly.

Next, the variable speed motor 102M will be described.
The variable speed motor 102M is a motor having a variable speed function, and a DC brushless servomotor is used in the first embodiment. However, a motor having a similar function such as a pulse motor can also be used.

Next, the camera 124 will be described.
The camera 124 has a function capable of taking a photograph or an image, continuously acquires shooting information, transmits the acquired shooting information using the transmission device 134 of the drone 102, and at least captures the camera for the virtual pilot on the ground. It is preferable that the information can be displayed on the display device 114. The camera 124 may be either a single-shot type or a video type capable of continuous shooting, but the video type is preferable because a realistic feeling of flying is felt. Further, the camera 124 is preferably capable of adjusting its elevation angle or depression angle based on a command from the control device 106, but may be a fixed angle. In the first embodiment, the camera 124 can adjust the elevation angle or the depression angle based on a command from the control device 106, and starts shooting when the drone 102 is turned on and ends shooting when turned off. . Further, the storage of shooting information of the camera 124 in the storage medium is turned on / off based on an instruction from the control device 106.

Next, the gimbal 126 will be described.
As described above, the gimbal 126 has a function of attaching the camera 124 to the lower surface of the main body 102B so as not to be affected by the vibration and tilt of the main body 102B in the first embodiment, and the known gimbal 126 is used in the first embodiment. Is used. The gimbal 126 is not an indispensable component, but is an indispensable component for easy-to-view shooting without vibration or tilt.

Next, the skid 128, and therefore the first skid 1281 and the second skid 1282, will be described.
The skid 128 has a function of protecting the camera 124 and allowing it to land horizontally. Therefore, a bar may be used instead of the inverted U-shape as in the first embodiment. The skid 128 is not an essential component.

Next, the drone power supply 132 will be described.
The drone power source 132 has a function as a power source for the electric / electronic device mounted on the drone 102. In the first embodiment, a known lithium ion battery is used from the viewpoint of weight, capacity, etc. So that it can be exchanged with one touch on the outer surface of the main body 102B.

Next, the drone transmitter 134 will be described.
The drone transmitter 134 is a known wireless communication device, and includes information from the altimeter 142, speedometer 144, compass 146, and drone controller 150, which are various sensors mounted on the drone 102, and the camera 124. From the camera to the control device 106 wirelessly. As radio, appropriate radio communication can be selected in consideration of the communication distance and the like, but wireless LAN, WiFi (registered trademark), Bluetooth (registered trademark), etc. can be used, but are not limited thereto. The drone transmission device 134 can also transmit the shooting information of the camera 124 and other information separately by different transmitters. In some cases, it can also be performed by wire.

Next, the drone receiver 136 will be described.
The drone receiver 136 has a function of receiving a steering command OPO transmitted from the steering device 106, and a known receiving device is employed.

Next, the GPS (Global Positioning System) 138 will be described.
The GPS 138 has a function of receiving a signal sent from a GPS satellite and outputting positioning information POI indicating the position on the earth. In the first embodiment, a known GPS chip is employed. Note that other systems having the same function as GPS can be used. By providing this GPS138, it is possible to perform virtual maneuvering by the virtual pilot VOP after moving the drone 102 to the destination using the positioning information POI and reduce the handling burden on the pilot OP. Can do. Further, for example, when the drone 102 is allowed to fly in Okinawa in a state where the pilot OP and the virtual pilot VOP are located in Tokyo, the pilot OP controls the GPS display unit 108G and a camera image to be described later. In this case, it is necessary to install a transmission device in a fixed state in Okinawa so that the operation command OPO of the control device 106 is transmitted to the drone 102 in Okinawa, and to connect the transmission device and the control device 106 via a communication line. .

Next, the altimeter 142 will be described.
The altimeter 142 has a function of outputting altitude information ALI from the average sea level. In the first embodiment, an altimeter chip is employed. However, the altitude may be calculated using a barometric altimeter or using GPS 138, or the altimeter 142 and GPS 138 may be used in combination to improve measurement accuracy.

Next, the speedometer 144 will be described.
The speedometer 144 has a function of outputting the moving speed information SPI of the drone 102 with respect to the ground. In the first embodiment, the moving speed is calculated using a triaxial accelerometer and a triaxial angular velocity meter. However, it can also be calculated using information from the GPS 138.

Next, the direction meter 146 will be described.
The azimuth meter 146 has a function of outputting azimuth information AII representing the traveling direction of the drone 102. In the first embodiment, a so-called electronic compass is used, but calculation is performed based on the positioning information POI from the GPS 138. You can also.

Next, the ultrasonic sensor 148 will be described.
The ultrasonic sensor 148 is attached to the front surface of the main body 102B, radiates ultrasonic waves forward, and outputs the presence / absence of obstacles and distance information with respect to the obstacles from the state of reflected ultrasonic waves. It has a function of outputting the object information OI, and in the first embodiment, a known ultrasonic sensor is used.

Next, the drone controller 150 will be described.
The drone controller 150 includes an operation command OPO from the drone receiver 136, positioning information POI from the GPS 138, altitude information ALI from the altimeter 142, speed information SPI from the speed meter 144, direction information AII from the direction meter 146, and Using the obstacle information OI from the ultrasonic sensor 148 as an input, control the rotation of the variable speed motors 102M1, 102M2, 102M3, and 102M4, control the operation of the camera 124, control the gimbal 126, and send the drone It has a function of transmitting predetermined information from the device 134 by wireless communication. In the first embodiment, the drone controller 150 includes a microprocessor and a program.

  With this configuration, the rotation of the variable speed motors 102M1, 102M2, 102M3, and 102M4 is individually controlled by a command from the drone controller 150, and the drone 102 is raised or lowered, left or right, depending on the number of rotations. The camera 124 is moved forward or backward, or pivoted clockwise or counterclockwise, and the elevation angle or depression angle of the camera 124 is controlled. The operation of the gimbal 126 controls the camera 124 to always face a certain direction. Further, the photographing information PGI from the camera 124 is stored in a storage device built in the main body 102B based on a recording command TPO described later. Furthermore, the shooting information PGI, the positioning information POI of the GPS 138, the altitude information ALI of the altimeter 142, the speed information SPI of the speedometer 144, the direction information AII of the azimuth meter 146, and the obstacle information OI of the ultrasonic sensor 148 are transmitted by the drone. Wirelessly transmitted via the device 134. The transmission may be wired, but wireless transmission is preferable because the place of use is limited.

Next, the control device 106 will be described.
The control device 106 has a function of transmitting a control command OPO and a recording command TPO for the camera 124 to the drone controller 150 via the receiver 136 of the drone 102. In the first embodiment, as shown in FIG. In addition, a rectangular box-shaped operation casing 154, a left stick 156L and a right stick 156R as the operation means 156 disposed on the operation surface 154o on the upper surface of the operation casing 154, and a right corner of the operation casing 154 There are provided at least a camera image storage switch 158 and a camera angle adjustment dial 162 that is arranged at the left corner and outputs a camera direction signal CDI that controls the elevation angle or depression angle of the camera 124. The operator display device 108 for the operator OP is attached to the operation casing 154 at the distal end portion of the attachment arm 166 protruding from the operation casing 154. In the operation casing 154, a forward / reverse (elevator) controller 168 that outputs a forward / reverse signal FRI that instructs a forward / backward movement, and a left / right (aileron) controller that outputs a left / right advance signal LRI that instructs a lateral movement 172, up / down direction (throttle) controller 174 for outputting up / down signal UDI for instructing ascending or descending, turning (ladder) controller 176 for outputting left / right turning signal LRTI for instructing left or right turning, and photographing by camera 124 A camera image storage switch 158 for turning on / off information, a camera angle adjustment dial 162, a wireless transmitter 182, a wireless receiver 184, a control device controller 186, and a power source 188 for driving these components are incorporated. However, the control device 106 can be substituted by recording and operating dedicated software on a portable information terminal such as a so-called smartphone or iPad (registered trademark).

Next, the operation means 156 will be described.
The operating means 156 has a function for converting the pilot OP's steering intention into an operation signal, and in the first embodiment, the mechanical component operated by the pilot OP and the operation of the mechanical component. It consists of an electrical component that converts the quantity into an electrical signal. The mechanical component includes a left stick 156L, a right stick 156R, and the like, and the electrical component includes a vertical movement potentiometer 192E, a left / right turning potentiometer 194E, a forward / rearward movement potentiometer 202E, and a left / right forward potentiometer 204E.

Next, the left stick 156L will be described with reference to FIGS. 5 and 6 (L).
The left stick 156L has a function of outputting a vertical movement signal UDI when rotated in the front-rear direction, and outputting a left-right turn signal LRTI when rotated in the left-right direction. In the first embodiment, the left stick 156L constitutes a part of the up / down direction (throttle) controller 174 and the turning (ladder) controller 176, and rotates around the first axis 192S of the first support shaft 192 described later. When the left stick 156L is rotated forward in FIG. 6, an upward signal UDUI is output, and when it is rotated backward, a downward signal UDDI is output, and the drone 102 is in the up or down direction. The left pivot signal LTI is output when it is moved and rotated around the second axis 194S of the second spindle 194 in the left direction in FIG. 6, and the right turn signal RTI is output when it is rotated right. doing.

First, the vertical controller 174 will be described.
The vertical controller 174 has a function of outputting a vertical signal UDI that raises or lowers the drone 102.
In the first embodiment, the left stick 156L is rotated by a first support pin 192P on a collar 192F formed at a tip end portion of a first support shaft 192 provided so that a lower end portion thereof is rotatable around a first axis 192S. It is supported freely. Thereby, the left stick 156L is rotated around the first support shaft 192. The first support shaft 192 is rotated clockwise in FIG. 6 (L) by the rotation of the left stick 156L toward the front side. The other end of the first support shaft 192 is the input shaft of the vertical potentiometer 192E. It is fixed. When the left stick 156L is positioned at the left first neutral position LNP1 that is suspended from the operation surface 154o, the vertical potentiometer 192E is in the neutral position and outputs the vertical neutral signal UDNLI. When the left stick 156L is rotated to the front side of the left first neutral position LNP1, the upward signal UDUI corresponding to the rotation amount is used. When the left stick 156L is rotated to the rear side, the downward signal corresponding to the rotation amount is used. Output UDDI. Accordingly, the left stick 156L, the first support shaft 192, the vertical potentiometer 192E, and the first support pin 192P constitute the vertical controller 174.

Next, the turning controller 176 will be described.
The turning controller 176 has a function of outputting a left / right turning signal LRTI for turning the drone 102 left or right.
The middle of the left stick 156L tightly penetrates the first elongated hole 196H formed in the first driven body 196 formed in a semicircular arc shape, and the left stick 156L is the first at the end of the first driven body 196. When in the neutral position LNP1, it is fixed to a second support shaft 194 having a second axis 194S that is coaxial with the axis of the first support pin 192P. The other end of the second support shaft 194 is fixed to the input shaft of the left / right turning potentiometer 194E. When the left stick 156L is in the left first neutral position LNP1, the first driven body 196 is in the left second neutral position LNP2, and therefore the left / right turning potentiometer 194E outputs the turning neutral signal TNLS, and the first driven body 196 Is turned to the left side of the second left neutral position LNP2, the left turn signal LTI corresponding to the turning amount is output, and the right turning signal RTI corresponding to the turning amount is output when turned to the right side. . Therefore, the left stick 156L, the second support shaft 194, the left / right turning potentiometer 194E, and the first driven body 196 constitute a turning controller 176.

Next, the right stick 156R will be described with reference to FIG.
The right stick 156R, like the left stick 156L, constitutes a part of the forward / reverse controller 168 and the left / right controller 172, and is provided to be rotatable around a third axis 202S of the third support shaft 202 described later. When the 156R is rotated forward in FIG. 6 (R), a forward / reverse signal FRI is output so that the drone 102 moves in the air in the forward direction when rotated backward, and the fourth support shaft is output. A function to output a left / right advance signal LRI that translates leftward when rotated around the fourth axis 204S of 204 in FIG. 6 (R) and to the right when rotated rightward. Have.

Next, the forward / reverse controller 168 will be described.
The forward / reverse controller 168 has a function of outputting a forward / reverse signal FRI for moving the drone 102 forward or backward.
In the first embodiment, the right stick 156R is rotated by a second support pin 202P on a collar 202F formed at a tip end portion of a third support shaft 202 provided at its lower end portion so as to be rotatable around the third axis 202S. It is supported freely. As a result, the right stick 156R is rotated in the front-rear direction about the third support shaft 202. The third support shaft 202 is rotated clockwise in FIG. 6 (R) by the rotation of the right stick 156R forward, and the other end of the third support shaft 202 is fixed to the input shaft of the forward / reverse potentiometer 202E. Has been. When the right stick 156R is suspended from the operation surface 154o, the forward / backward potentiometer 202E is at the right first neutral position RNP1, and when the right stick 156R is rotated forward from the right first neutral position RNP1 When the forward signal FRFI corresponding to the amount of movement is rotated rearward, the backward signal FRRI corresponding to the amount of rotation is output. Therefore, the forward / reverse controller 168 is configured by the right stick 156R, the third support shaft 202, the forward / reverse potentiometer 202E, and the second support pin 202P.

Next, the left / right controller 172 will be described.
The left / right controller 172 has a function of outputting a left / right signal LRI for moving the drone 102 left or right.
The middle of the right stick 156R tightly penetrates the second elongated hole 206H formed in the second driven body 206 formed in a semicircular arc shape, and the right stick 156R When in the one neutral position RNP1, it is fixed to a fourth support shaft 204 having a fourth axis 204S that is coaxial with the axis of the second support pin 202P. The other end of the fourth support shaft 204 is fixed to the input shaft of the left / right advance potentiometer 204E. When the right stick 156R is in a suspended state with respect to the operation surface 154o, the second driven body 206, and therefore the left / right advance potentiometer 204E, is in the right second neutral position RNP2, and the second driven body 206 is in the left second neutral position. When it is turned to the left of the position LNP2, it outputs a leftward signal LMI corresponding to the amount of rotation, and when it is turned rightward, it outputs a rightward signal RMI corresponding to the amount of rotation. Therefore, the right / left controller 172 is configured by the right stick 156R, the fourth support shaft 204, the left / right potentiometer 204E, and the second driven body 206.

Next, the camera image storage switch 158 will be described.
The camera image storage switch 158 has a function of turning on / off storage of shooting information of a camera 124 attached to the drone 102 in a storage device (not shown). In the first embodiment, a known on / off switch is used. Used. Although the camera image storage switch 158 is not provided, the camera can always be stored. However, since the storage device has a limited capacity, it is preferable to provide an on / off switch so that it can be stored when necessary. .

Next, the camera angle adjustment dial 162 will be described.
The camera angle adjustment dial 162 has a function of changing the elevation angle or depression angle of the lens of the camera 124, and adjusts the elevation angle or depression angle of the camera 124 mounted on the drone 102 by rotating the known camera angle adjustment dial 162. To do.

Next, the wireless transmitter 182 will be described.
The wireless transmitter 182 transmits at least signals from the right stick 156R, the left stick 156L, the camera image storage switch 158, and the camera angle adjustment dial 162, which are input devices in the control device 106, to the drone 102, specifically. , And a function of transmitting to the drone receiver 136 by wireless communication means. In the first embodiment, radio waves in the frequency band designated by the Ministry of Internal Affairs and Communications are used as communication means. However, standardized communication means such as WIFI and Bluetooth can be used.

Next, the radio receiver 184 will be described.
The radio receiver 184 has a function of receiving a signal from the drone transmitter 134 of the drone 102 and transmitting the signal to the control device controller 186. In the first embodiment, a known radio receiver 184 is used. .

Next, the control device controller 186 will be described.
The control device controller 186 has a function of controlling the entire related equipment in the control device 106 and exerting the above-described predetermined function, and is configured by a so-called microprocessor and program.

Next, the drive power supply 188 will be described.
The drive power supply 188 has a function of providing drive power to equipment that requires power in the control device 106. In the first embodiment, a direct current lithium ion battery is used.

Next, the operator display device 108 will be described with reference to FIG.
The pilot display device 108 includes photographing information PGI photographed and transmitted by the camera 124, GPS 138, altimeter 142, speedometer 144, compass 146, information transmitted from the ultrasonic sensor 148, and the steering device 106. In the first embodiment, a liquid crystal display device that is detachably attached to an attachment arm 166 protruding from the control device 106 is used. However, the pilot display device 108 can be substituted by a known portable information terminal device. In the first embodiment, in the middle of the display unit 108D that occupies the center of the operator display device 108, the camera imaging unit 108C in which shooting information PGI of the camera 124 is displayed, and in the lower right is the positioning information POI from the GPS 138. GPS display unit 108G on which the map and the position of the drone 102 are displayed based on the obstacle, the obstacle display unit 108B on which the obstacle information from the ultrasonic sensor 148 is displayed on the lower left, the obstacle display unit 108B and the GPS display unit 108G In the lower part between the moving speed display unit 108V numerically displayed based on the moving speed information SPI from the speedometer 144, the altitude display unit 108H numerically displayed based on the altitude information ALI from the altimeter 142, and the direction An azimuth display unit 108P on which azimuth information AII from the total 146 is displayed is arranged. In addition, a camera storage state display unit 108i that displays whether shooting information PGI from the camera 124 is stored or not, a remaining amount display unit 108R of the driving power source 188 of the drone 102, and the like are displayed. The display device 108 can also be disposed on the surface of the operation housing 154.

Next, the operation of the control device 106 of the drone 102 will be described with reference to the flowchart in FIG.
First, in step S1, it is determined whether the upward signal UDUI is output from the up / down potentiometer 192E. If it is output, the process proceeds to step S11, and if not, the process proceeds to step S2. In step S2, it is determined whether or not the downward signal UDDI is output from the upward / downward potentiometer 192E. If output, the process proceeds to step S11. If not output, the process proceeds to step S3. In step S3, it is determined whether or not the forward signal FRFI is output from the forward / reverse potentiometer 202E. If it is output, the process proceeds to step S11, and if not, the process proceeds to step S4. In step S4, it is determined whether or not the reverse signal FRRI is output from the forward / reverse potentiometer 202E. If it is output, the process proceeds to step S11, and if not, the process proceeds to step S5. In step S5, it is determined whether or not the rightward signal RMI is output from the left / right potentiometer 204E. If it is output, the process proceeds to step S11, and if not, the process proceeds to step S6. In step S6, it is determined whether the leftward signal LMI is output from the left / right potentiometer 204E. If it is output, the process proceeds to step S11, and if not, the process proceeds to step S7. In step S7, it is determined whether the right turn signal RTI is output from the left / right turn potentiometer 194E. If it is output, the process proceeds to step S11, and if not, the process proceeds to step S8. In step S8, it is determined whether the left turn signal LTI is output from the left / right turn potentiometer 194E. If it is output, the process proceeds to step S11, and if not, the process proceeds to step S9. In step S9, it is determined whether or not a storage signal is output from the camera video storage switch 158. If it is output, the process proceeds to step S12, and if not, the process proceeds to step S10. In step S10, it is determined whether an adjustment signal is output from the camera angle adjustment dial 162. If it is output, the process proceeds to step S12, and if it is not output, the process proceeds to step S13. In step S11, an upward signal UDUI, a downward signal UDDI, a forward signal FRFI, a reverse signal FRRI, a left signal LMI, a right signal RMI, a right turn signal RTI, and a left turn via the wireless transmitter 182 Each signal LTI is transmitted to a drone receiver 136 mounted on the drone 102. In step S12, the upward adjustment signal or the downward adjustment signal of the camera 124 or the start of imaging is transmitted to the drone receiver 136 via the wireless transmitter 182. Further, in step S13, after obtaining the positioning information POI transmitted from the drone transmitting device 134 of the drone 102, the process proceeds to step S14. In step S14, the altitude information ALI is acquired in the same manner, and then the process proceeds to step S15. In step S15, the moving speed information SPI is acquired in the same manner, and then the process proceeds to step S16. In step S16, the azimuth information AII is obtained in the same manner, and the process proceeds to step S17. In step S17, the obstacle information OI from the ultrasonic sensor 148 is acquired, and the process proceeds to step S18. In step S18, the information acquired in steps S13 to S17 is recorded on the obstacle display unit 108B, the GPS display unit 108G, the moving speed display unit 108V, the altitude display unit 108H, the direction display unit 108P, and the camera recording in the pilot display device 108. The information is displayed on the status display unit 108i and the remaining amount display unit 108R of the driving power source 188, respectively.

In the drone 102, the propellers 102P1, 102P2, 102P3, and 102P4, and hence the variable speed motors 102M1, 102M2, 102M3, and 102M4, are motors that are positioned diagonally, for example, the motors 102M1 and 102M3 rotate clockwise. When moved, the motors 102M2 and 102M4 are rotated in the counterclockwise direction, which is the opposite direction, to balance the reaction forces of the torques of each other and to prevent turning due to the torque imbalance.
When the pilot OP operates the control device 106, for example, when the upward signal UDUI is output from the vertical potentiometer 192E by rotating the left stick 156L forward from the left first neutral position LNP1, the wireless transmitter It is received by the receiver 136 of the drone mounted on the drone 102 via 182. The drone controller 150 increases the speed of the variable speed motors 102M1, 102M2, 102M3, and 102M4 while maintaining the same state based on the received upward signal UDUI, and as a result, the propellers 102P1, 102P2, 102P3 And after increasing the lift by the rotation of 102P4 and taking off, it can be raised to a predetermined height.
When the left stick 156L is rotated backward from the left first neutral position LNP1, a downward signal UDDI is output from the vertical potentiometer 192E, and the variable speed motors 102M1, 102M2, per predetermined time while maintaining the same rotational speed, The rotational speeds of 102M3 and 102M4 are reduced, and as a result, the lift can be lowered and lowered.
When the left stick 156L, and therefore the first driven body 196 is rotated from the left second neutral position LNP2 to the left side, a right turn signal RTI is output, and a pair of motors located diagonally, for example, clockwise rotation The number of rotations of the motors M1 and M3 is increased and the clockwise torque is increased to rotate the drone 102 clockwise about the longitudinal axis of the main body 102B, thus turning clockwise and thus turning right To do. When the left turn signal LTI is output, on the contrary, counterclockwise, and therefore when turning left, increase the number of motors M2 and M4 to increase the counterclockwise torque and turn left. Make it happen.
When the right stick 156R is rotated forward from the right first neutral position RNP1, the forward signal FRFI is output, the number of rotations of the motors M3 and M4 located on the rear side is increased, and the rear side of the drone 102 is raised. Since the propellers 102P1, 102P2, 102P3, and 102P4 are in the front-lowering state, components that flow backward are generated in the airflow of the propellers 102P1, 102P2, 102P3, and 102P4. When rotating backward from the neutral position RNP1, a reverse signal FRRI is output, the number of rotations of the motors M1 and M2 located in front is increased, and the front side of the drone 102 is raised, so that the propellers 102P1, 102P2, 102P3, and Since 102P4 is in the forward-lowering state, a forward component is generated in the airflow of the propellers 102P1, 102P2, 102P3, and 102P4, and travels backward.
When the right stick 156R is rotated from the right first neutral position RNP1 to the left and the second driven body 206 is rotated from the right second neutral position RNP2 to the left, the leftward signal LMI is output and the motor located on the right Since the rotation speeds of M2 and M3 are increased and the right side of the drone 102 is raised, the propellers 102P1, 102P2, 102P3, and 102P4 are in a left-down state, so that the airflow of the propellers 102P1, 102P2, 102P3, and 102P4 A component to the right is emitted to the left and proceeds to the left. Conversely, when the right stick 156R is rotated from the right first neutral position RNP1 to the right side and the second driven body 206 is rotated from the right second neutral position to the right side, a rightward signal RMI is transmitted and positioned on the left side. Since the number of rotations of the motors M1 and M4 is increased and the left side of the drone 102 is raised, the propellers 102P1, 102P2, 102P3, and 102P4 are lowered to the right. Therefore, the propellers 102P1, 102P2, 102P3, and 102P4 A component toward the left is emitted from the air current and proceeds to the right. By combining these ascending and descending movements, forward or backward movements, left or right movements, or right or left turning movements, the drone 102 can be caused to fly to a predetermined position. Further, the elevation angle or depression angle of the camera 124 can be adjusted by turning the camera angle adjustment dial 162 in a predetermined direction. Also, by turning on the camera image storage switch 158, the image taken by the camera 124 can be stored in the storage device, and the fact that it is being stored can be grasped by the color of the camera storage state display unit 108i. it can. Based on the positioning information POI from the GPS 138, the position is displayed on the GPS display unit 108G, the absolute position of the drone 102 can be grasped, and the moving speed and altitude display unit 108H is displayed by the numbers displayed on the moving speed display unit 108V. The altitude and the azimuth can be grasped by the display on the azimuth display unit 108P based on the displayed numbers. The above description is the basic configuration of a conventionally known drone flight system.

Next, a virtual pilot control system 210 according to the present invention will be described mainly with reference to FIG.
In addition to the basic configuration described above, the virtual pilot control system 210 according to the present invention further includes a virtual pilot control device 112, a virtual pilot camera imaging display device 114, and a virtual pilot intention indication device 116. Contains.

First, the virtual pilot control device 112 will be described with reference to FIG.
The virtual pilot control device 112 has a function of operating the virtual pilot VOP to instruct the virtual pilot intention indicating device 116 in the direction in which it wants to fly. In the first embodiment, the virtual pilot control device 112 includes a virtual pilot camera image display device 114, a virtual up / down indicator 212, a virtual left / right turn indicator 214, a virtual forward / backward indicator 216, and a virtual left / right indicator. 218, a virtual receiver 220, a virtual transmitter 222, a virtual power supply 224, and a virtual pilot controller 226, which is a handy type as shown in FIG. 1, but is a sitting type like an airplane simulator Also good. Further, at least the virtual pilot camera imaging display device 114, the virtual up / down indicator 212, and the virtual left / right indicator 218 may be included. Furthermore, it is preferable that a virtual operator operation display device 234 is included.

Next, the virtual up / down indicator 212 will be described with reference to FIG.
The virtual up / down indicator 212 is operated when the virtual pilot VOP wants to move up or down, and outputs a virtual upward signal VUDUI or a virtual downward signal VUDDI to the virtual pilot controller 226 and is confirmed by the virtual pilot VOP. It has a function to inform as much as possible. In the first embodiment, the virtual up / down indicator 212 includes a virtual up / down potentiometer V192E, a virtual up / down LED controller 232, and a virtual left LED display V234L.

Next, the virtual up / down potentiometer V192E will be described.
The virtual up / down potentiometer V192E has the same configuration as that of the up / down potentiometer 192E. Therefore, the same part is given a “virtual” at the beginning of the name, and a description thereof is omitted by adding a V at the beginning of the symbol.
The virtual up / down potentiometer V192E is operated by moving the virtual left / right advance signal VUDI by the ascending or descending operation of the virtual left stick V156L, specifically, by rotating the virtual left stick V156L forward from the virtual left first neutral position VLNP1. It has the function of outputting the virtual downward signal VUDDI by rotating the upward signal VUDUI or the rear side. In the first embodiment, as described above, the virtual left stick V156L, the virtual first support shaft Although it is comprised by V192 and virtual up-and-down potentiometer V192E, if it can exhibit the same function, it will not be restricted to Example 1. FIG. In the first embodiment, the virtual up / down potentiometer V192E uses an upper variable slide resistor V236U and a lower variable slide resistor V236D, which are set so as to exhibit the opposite tendency. Specifically, when the resistance of the upper variable slide resistor V236U increases, the resistance of the lower variable slide resistor V236D decreases. Conversely, when the resistance of the upper variable slide resistor V236U decreases, The resistance of the side variable slide resistor V236D is set to increase.

Next, the virtual vertical LED controller 232 will be described.
The virtual up / down LED controller 232 has a function of controlling display on a virtual operator operation display device 234, which will be described later, specifically, a virtual left LED display V234L. In the first embodiment, a virtual up / down potentiometer V192E is used. The virtual up / down LED indicator V234UD is selectively turned on or off based on the output of.

Next, the virtual up / down LED display V234UD will be described.
The virtual up / down LED indicator V234UD constitutes a part of the virtual left LED indicator V234L, and consists of an upper line LEDV234U linearly aligned in the vertical direction and a lower line LEDV234D arranged on the lower side, When the virtual upward signal VUDUI is output from the virtual up / down potentiometer V192E, the upper line LEDV234U is the extent of the output, that is, the rotation in which the virtual left stick V156L is rotated forward from the virtual first neutral position VLNP1. When the number of LEDs that emit light is changed according to the angle and the virtual downward signal VUDDI is output, the number of LEDs that emit light according to the rotation angle by which the lower line LED V234D is rotated backward Has been changed.

Next, the virtual left / right turn indicator 214 will be described.
The virtual left / right turn indicator 214 operates the virtual left stick V156L when the virtual pilot VOP wants to turn left or right, and outputs the virtual left turn signal VTLI or the virtual right turn signal VTRI to the virtual pilot controller 226. At the same time, the virtual operator VOP has a function of informing that it can be confirmed. As shown in FIG. 11B, the first embodiment includes a virtual left / right turn potentiometer V194E, a virtual turn LED controller 238, and a virtual left LED display V234L.

Next, the virtual left / right turning potentiometer V194E will be described.
The virtual left / right turn potentiometer V194E is a turn signal TI for instructing left turn or right turn, specifically, by turning the virtual left stick V156L from the virtual left first neutral position VLNP1 to the left side, It has a function to output a virtual left turn signal VTLI by turning the driven body V196 from the second left neutral position VLNP2 to the left side, or a virtual right turn signal VTRI by turning it to the right side as described above. In addition, a virtual left stick V156L, a virtual second spindle V194, a virtual left / right turning potentiometer V194E, and a virtual first driven body V196 are configured. The virtual left / right turning potentiometer V194E is configured in the same manner as the virtual up / down potentiometer V192E described above, and uses a virtual left variable slide resistor V236TL and a virtual right variable slide resistor V236TR, which are set to represent the opposite tendency. Yes. Specifically, when the resistance of the virtual left side variable slide resistor V236TL rises, the resistance of the virtual right side variable slide resistor V236TR drops, and conversely, when the resistance of the virtual left side variable slide resistor V236TL drops. The resistance of the virtual right variable slide resistor V236TR is set to increase.

Next, the virtual turning LED controller 238 will be described.
When the virtual turn LED controller 238 outputs a virtual left turn signal VTLI, the left line LEDV234TL is output to the extent that the virtual left stick V156L is turned to the left side from the virtual second neutral position VLNP2. When the number of LEDs that emit light is changed according to the angle and the virtual rightward signal VTRI is output, the number of LEDs that emit light changes according to the rotation angle by which the right line LEDV234TR is rotated to the right It has come to be.

Next, the virtual forward / reverse indicator 216 will be described with reference to FIG.
The virtual forward / backward indicator 216 is operated when the virtual pilot VOP wants to move forward or backward, and outputs a virtual forward / backward signal VFBI, specifically, a virtual forward signal VRFI or a virtual backward signal VRBI to the virtual pilot controller 226. At the same time, the virtual pilot VOP has a function of informing that it can be recognized. The first embodiment includes a virtual forward / backward potentiometer V202E, a virtual forward / backward LED controller 244, and a virtual right LED display V234R.
In the first embodiment, since the virtual forward / reverse indicator 216 has the same configuration as the forward / reverse controller 168, the description of the forward / reverse controller 168 is diverted, “virtual” is added to the head of the name, Description is omitted by adding V to the beginning.
The virtual forward / reverse indicator 216 is a virtual forward / reverse signal VFBI that indicates an intention to advance or reverse, specifically, a virtual forward signal by rotating the virtual right stick V156R forward from the virtual right first neutral position VRNP1. VRFI or has a function of outputting a virtual reverse signal VRBI by rotating to the rear side, and in the first embodiment, as described above, the virtual right stick V156R, the virtual third support shaft V202, and Although configured by the virtual front / rear potentiometer V202E, the present invention is not limited to the first embodiment as long as the same function can be exhibited. In the first embodiment, the virtual forward / backward potentiometer V202E uses a virtual front variable slide resistor V236F and a virtual rear variable slide resistor V236B, which are set to exhibit the opposite tendency. Specifically, when the resistance of the virtual front variable slide resistor V236F increases, the resistance of the virtual front variable slide resistor V236F decreases so that the resistance of the virtual rear variable slide resistor 236B decreases. When, the resistance of the virtual rear variable slide resistor V236B is set to increase.

Next, the virtual forward / reverse LED controller 244 will be described.
The virtual forward / reverse LED controller 244 has a function of controlling display on a virtual right LED display V234R, which will be described later. In the first embodiment, based on the output of the virtual forward / reverse potentiometer V202E, the virtual forward / backward LED display V234FB Is selectively turned on or off.

Next, the virtual forward / reverse LED display V234FB will be described.
The virtual forward / reverse LED indicator V234FB consists of a front line LEDV234F and a rear line LEDV234B arranged linearly in the vertical direction, and a virtual forward signal FRVI is output from the virtual forward / backward potentiometer V202E. The number of LEDs that emit light is changed according to the degree of output of the front line LED V234F, that is, the rotation angle at which the virtual right stick V156R is rotated forward from the virtual right first neutral position VRNP1. It has become so. In the rear line LEDV234B, the number of LEDs that emit light is changed according to the rotation angle by which the virtual right stick V156R is rotated rearward from the virtual right first neutral position VRNP1.

Next, the virtual left / right advance indicator 218 will be described with reference to FIG.
The virtual left / right indicator 218 is operated when the virtual pilot VOP wants to go left or right, and outputs a virtual leftward signal VLI or a virtual rightward signal VRI to the virtual pilot controller 226 and at the same time, the virtual pilot VOP Has a function to inform perceptually. The first embodiment includes a virtual left / right potentiometer V204E, a virtual left / right LED controller 252 and a virtual left / right LED indicator V234LR.

Next, the virtual left / right potentiometer V204E will be described.
The virtual left / right potentiometer V204E is a virtual right / left signal that indicates leftward or rightward movement, specifically, by moving the virtual right stick V156R to the left from the virtual right first neutral position VRNP1, It has a function of outputting a virtual leftward signal VLI by rotating the body V206 to the left from the right second neutral position VRNP2, or a virtual rightward signal VRI by rotating to the right, as described above. A virtual right stick V156R, a virtual fourth support shaft V204, a virtual left / right advance potentiometer V204E, and a virtual right driven object V206 are included. The virtual left / right potentiometer V204E has the same configuration as the virtual forward / backward potentiometer V202E described above, and uses a virtual left variable slide resistor V236L and a virtual right variable slide resistor V236R, which are set to represent the opposite tendency. ing. Specifically, when the resistance of the virtual left side variable slide resistor V236L increases, the resistance of the virtual right side variable slide resistor V236R decreases, and conversely, when the resistance of the virtual left side variable slide resistor V236L decreases. The resistance of the virtual right variable slide resistor V236R is set to increase.

Next, the virtual left / right LED controller 252 will be described.
When the virtual left / right LED controller 252 outputs a virtual left signal VLI, the virtual left / right LED V234RL and the right line LEDV234RR are selectively turned on or off to turn left or right. It has a function to display that.

Next, the virtual left / right LED display V234LR will be described.
The virtual left / right LED indicator V234LR has a function of indicating whether the virtual right stick V156R is operated in the leftward or rightward direction. In the first embodiment, a plurality of LEDs arranged linearly are used. Are formed by a virtual leftward line LEDV234RL and a virtual rightward line LEDV234RR.
The virtual leftward line LEDV234RL and virtual rightward line LEDV234RR are arranged on a straight line perpendicular to the alignment line of the virtual front line LEDV234F and virtual rear line LEDV234B, and the configuration is the virtual front line LEDV234F and virtual line It is the same as the rear line LEDV234B. Therefore, the virtual front line LEDV234F, the virtual rear line LEDV246B, the virtual leftward line LEDV234RL, and the virtual rightward line LEDV234RR are arranged to form a cross.

Next, the virtual operator operation display device 234 will be described with reference to FIG.
The virtual pilot operation display device 234 controls the virtual pilot VOP to operate the virtual up / down indicator 212, virtual left / right turn indicator 214, virtual forward / backward indicator 216, and virtual left / right indicator 218. Has a function to enable confirmation. In the first embodiment, the virtual pilot operation display device 234 is configured separately from the virtual pilot camera imaging display device 114 as shown in FIG. 1, and the virtual pilot VOP can be visually recognized by the virtual pilot. Although it is arranged in the vicinity of the VOP, it may be displayed on a part of the virtual pilot camera imaging display device 114. The virtual operator operation display device 234 according to the first embodiment includes a virtual right LED display V234R and a virtual left LED display V234L. However, the virtual operator operation display device 234 is changed to a liquid crystal display device, an organic EL device, a lamp type, and a fluorescent lamp type, and is configured to transmit by sound, vibration, movement including sound other than the display. Can do.

First, the virtual left LED display V234L will be described.
The virtual left LED indicator V234L corresponds to the operation of the virtual left stick V156L, and the virtual right LED indicator V234R corresponds to the operation of the virtual right stick V156R. In other words, when the virtual left stick V156L is rotated forward around the virtual first axis V192S, the number of LEDs corresponding to the amount of rotation is emitted in the virtual upper line LEDV234U, and the virtual lower line LEDV234D is turned off. When rotated backward, the number of LEDs corresponding to the amount of rotation is emitted in the virtual lower line LEDV234D, and the virtual upper line LEDV234U is turned off. When the virtual left stick V156L is rotated to the left about the virtual second axis V194S, the number of LEDs corresponding to the amount of rotation is emitted in the virtual left line LEDV234TL, the virtual right line LEDV234TR is turned off, and the virtual second axis When rotated to the right around V194S, the number of LEDs corresponding to the amount of rotation of the virtual right line LEDV234TR is emitted, and the virtual left line LEDV234TL is turned off.
In the virtual left LED indicator V234L, the virtual upper line LEDV234U and the virtual lower line LEDV234D constitute a virtual vertical LED indicator V234UD, the virtual left line LEDV234TL and the virtual right line LEDV234TR are the virtual upper line LEDV234U and the virtual lower side It is arranged on a straight line perpendicular to the alignment line of the line LEDV234D, and constitutes a virtual left / right turn LED display V234LT. The configurations of the virtual left line LEDV234TL and the virtual right line LEDV234TR are the same as the virtual upper line LEDV234U and the virtual lower line LEDV234D. Therefore, the virtual upper line LEDV234U, the virtual right line LEDV234TR, the virtual lower line LEDV234D, and the virtual left line LEDV234TL are arranged to form a cross.

Next, the virtual right LED display V234R will be described.
The virtual right LED display V234R corresponds to the operation of the virtual right stick V156R. That is, when the virtual right stick V156R is rotated forward around the virtual third axis V202S, the number of LEDs corresponding to the amount of rotation is emitted in the virtual front line LED V234F, the virtual rear line LED V234B is turned off, and the virtual When rotated rearward around the third axis V202S, the number of LEDs corresponding to the amount of rotation is emitted in the virtual rear line LEDV234B, and the virtual front line LEDV234F is turned off. When the virtual right stick V156L is rotated to the left around the virtual fourth axis V204S, the number of LEDs corresponding to the amount of rotation is emitted in the virtual leftward line LEDV234RL, the virtual rightward line LEDV234RR is turned off, and the virtual first When rotated to the right around the four-axis line V204S, the number of LEDs corresponding to the amount of rotation is emitted in the virtual rightward line LEDV234RR, and the virtual leftward line LEDV234RL is turned off. In the virtual right LED indicator V234R, the virtual forward line LEDV234F and the virtual backward line LEDV234B constitute the virtual forward / backward LED indicator V234FB, and the virtual leftward line LEDV234RL and the virtual rightward line LEDV234RR are the virtual forward line LEDV234F and the virtual backward line It is arranged on a straight line that is perpendicular to the alignment line of the line LEDV234B, and constitutes a virtual left-right LED display V234LR. The configurations of the virtual leftward line LEDV234RL and the virtual rightward line LEDV234RR are the same as the virtual forward line LEDV234F and the virtual reverse line LEDV234B. Therefore, the virtual forward / reverse LED indicator V234FB and the virtual left / right LED indicator V234LR are arranged to form a cross.

Next, the virtual transmitter 222 will be described.
The virtual transmitter 222 includes a virtual up / down signal VUDUI and a virtual down signal VUDDI in the virtual up / down indicator 212, a virtual left turn signal VTLI and a virtual right turn signal VTRI in the virtual left / right turn indicator 214, and a virtual forward / backward indicator. This embodiment has a function of transmitting the virtual forward signal VRFI and the virtual backward signal VRBI in 216 and the virtual leftward signal VLI and the virtual rightward signal VRI in the virtual left / right indicator 218 to the virtual pilot intention indicating device 116. In Example 1, a known wireless transmitter is used. However, the virtual transmitter 222 can also transmit using a wire.

Next, the virtual power supply 224 will be described.
The virtual power supply 224 has a function of power supply for the devices in the virtual pilot control device 112. In the first embodiment, a known DC storage battery is used.

Next, the virtual pilot controller 226 will be described.
The virtual pilot controller 226 sends the above-mentioned signals output from the virtual up / down indicator 212, virtual left / right turn indicator 214, virtual forward / backward indicator 216, and virtual left / right indicator 218 to the virtual transmitter 222. The first embodiment is configured by a known microprocessor and program. With this configuration, a command based on the operation of the virtual left stick V156L or the virtual right stick V156R in the virtual pilot control device 112 is transmitted to the virtual pilot intention instruction device 116 described later. Further, the virtual receiver 220 has a function of transmitting the photographing information PGI received from the camera 124 to the virtual pilot camera imaging display device 114.

Next, the camera image display device 114 for the virtual pilot will be described.
The virtual pilot camera image pickup display device 114 has a function of displaying an image shot by the camera 124 mounted on the drone 102. In the first embodiment, a liquid crystal installed in front of the virtual pilot VOP. Although a display device is used, a display device such as an organic EL display device or a virtual reality display can be used. Since the virtual operator's camera imaging display device 114 is for viewing or observation, a so-called high-definition display device such as 4K or 8K is preferable. In addition, the use of the virtual reality display is particularly preferable because it can cause an illusion of being in the drone 102.

Next, the virtual pilot intention indicating device 116 will be described mainly with reference to FIGS.
In the virtual pilot intention instructing device 116, the pilot OP operates the virtual pilot VOP 212, the virtual left / right turn indicator 214, the virtual forward / backward indicator 216, and the virtual left / right indicator 218 by the virtual pilot VOP. It has a function that enables recognition. In the first embodiment, the virtual pilot intention instruction device 116 is configured in the same manner as the virtual pilot operation display device 234, and specifically, configured to display the same as the virtual pilot operation display device 234. ing. More specifically, the virtual pilot intention indicating device 116 is fixed to the upper part of the pilot display device 108 by an integrated device 254 so as to be integrated with and separated from the pilot device 106.

  As shown in FIG. 4, a known portable information device is used for the virtual pilot intention indicating device 116 in the first embodiment. Further, as shown in FIG. 3, the virtual pilot intention indicating device 116 includes at least an intention indicating receiving device 255, an intention indicating display device 256, and an intention indicating device controller 258.

First, the intention instruction receiving device 255 will be described.
The intention instruction receiving device 255 includes a virtual up / down advance indicator 212, a virtual left / right turn indicator 214, a virtual forward / backward indicator 216, and a virtual left / right advance instruction transmitted from the virtual transmitter 222 in the virtual pilot control device 112. A function of receiving a signal from the device 218 and transmitting the signal to the intention indicating device controller 258 is used. In the first embodiment, a known wireless receiving device is used. However, as described above, it can also be received via a wire.

Next, the intention instruction display device 256 will be described.
The intention instruction display device 256 has a function of performing a predetermined display based on a command from the intention instruction device controller 258. In the first embodiment, a known liquid crystal display device is used, but the weight is further reduced. For this purpose, a known organic EL display can be used. Further, an LED display can be used in the same manner as the virtual operator operation display device 234 in order to reduce costs. As shown in FIG. 8, the intention instruction display device 256 corresponds to the intention instruction right display unit 256R corresponding to the virtual right LED display V234R of the virtual pilot operation display device 234 and the virtual left LED display V234L. The left intention instruction display portion 256L is displayed.
That is, the left intention instruction display unit 256L corresponds to the operation of the virtual left stick V156L, and the intention instruction right display unit 256R corresponds to the operation of the virtual right stick V156R. In other words, when the virtual left stick V156L is rotated forward, the intention instruction upper line display unit 256U emits light for a length corresponding to the rotation amount, the intention instruction lower line display unit 256D is turned off, and the rear , The intention instruction lower line display portion 256D emits light for a length corresponding to the rotation amount, and the intention instruction upper line 256U is turned off. When the virtual left stick V156L is rotated to the left, the intention instruction left line display portion 256TLL emits light for a length corresponding to the rotation amount, and the intention instruction right line display portion 256TRR is turned off and rotated to the right. In this case, the intention instruction right line display portion 256TRR emits light for a length corresponding to the rotation amount, and the intention instruction left line display portion 256TLL is turned off.
In the intention instruction display device 256, the intention instruction upper line display unit 256U and the intention instruction lower line display unit 256D constitute an intention instruction vertical display 256UD, the intention instruction left line display unit 256TLL, and the intention instruction right line display unit The 256TRR is arranged on a straight line perpendicular to the alignment lines of the intention indication upper line display portion 256U and the intention indication lower line display portion 256D, and constitutes an intention indication left-right turn indicator 256TLR. The configurations of the intention instruction left line display unit 256TLL and the intention instruction right line display unit 256TRR are the same as those of the intention instruction upper line display unit 256U and the intention instruction lower line display unit 256D. Therefore, the intention instruction upper line display unit 256U, the intention instruction right line display unit 256TRR, the intention instruction lower line display unit 256D, and the intention instruction left line display unit 256TLL are arranged to form a cross.

Next, the intention instruction right display unit 256R will be described.
The right intention instruction display unit 256R corresponds to the operation of the virtual right stick V156R. In other words, when the virtual right stick V156R is rotated forward, the intention instruction forward line display unit 256F is lit, the intention instruction backward line display unit 256B is turned off, and when the virtual right stick V156R is rotated backward, the intention instruction reverse line The display unit 256B emits light, and the intention instruction advance line display unit 256F is turned off. When the virtual right stick V156L is rotated to the left side, the intention instruction leftward line display unit 256RL is lit, the intention instruction rightward line display unit 256RR is turned off, and when it is rotated to the right side, the intention instruction rightward line The display unit 256RR emits light, and the intention indicating leftward line D256RL is turned off.
In the right intention instruction display device 256R, the intention instruction forward line display unit 256F and the intention instruction backward line display unit 256B constitute an intention instruction forward / reverse display unit 234FB, and the intention instruction leftward line display unit 256RL and the intention instruction rightward line The display unit 256RR is arranged on a straight line perpendicular to the alignment lines of the intention instruction forward line display unit 256F and the intention instruction backward line display unit 256B, and constitutes an intention instruction left / right display unit 256LR. The configurations of the intention instruction leftward line display unit 256RL and the intention instruction rightward line display unit 256RR are the same as those of the intention instruction forward line display unit 256F and the intention instruction backward line display unit 256B. Therefore, the intention instruction forward / reverse display 256FB and the intention instruction left / right display section 256LR are arranged to form a cross.

Next, the integration device 254 will be described with reference to FIG.
The integration device 254 has a function of integrating the control device 106 and the virtual operator intention indicating device 116, and in the first embodiment, the frame at the upper end of the display device 108 for the operator fixed to the control device 106. And the frame at the lower end of the virtual pilot intention indicating device 116 are held detachably. The integration device 254 of the first embodiment includes a first integration device 254A and a second integration device 245B, and the first integration device 254A and the second integration device 245B have the same configuration. Therefore, the first integrated device 254A will be described as a representative. The first integrated device 254A includes a plate-like first sandwiching body 262A, a second sandwiching body 264A, a coupling bolt 266A, and a tightening nut 268A. The lower ends of the first sandwiching body 262A and the second sandwiching body 264A By sandwiching the frame of the display device 108 for the operator, sandwiching the frame of the lower end of the virtual pilot intention indicating device 116 at the upper end, tightening the middle with the coupling bolt 266A and the tightening nut 268A, and sandwiching the frame It has become. It is preferable that a cushioning material 272 such as felt is interposed between the frame and the first sandwiching body 262A and the second sandwiching body 264A.

Next, the operation of the virtual control system 104 will be described.
A drone pilot test passer can obtain the permission or approval of the Director of Regional Aviation Bureau to fly the drone 102 in a predetermined ornamental ground air within a restricted flight area, within 30M from a third party building. Accordingly, regarding the viewing area where the drone 102 is to fly, a person who has passed the drone pilot examination obtains permission or approval of the flight of the regional air station director in advance. In the following description, a case where the sculpture 118S on the upper part of the building 118 of the historical middle class or higher shown in FIG. 1 is viewed will be described as an example.

First, a virtual pilot VOP is recruited for a fee.
When an applied virtual pilot VOP appears, the virtual pilot VOP is loaned to the virtual pilot 112 and the virtual pilot operation display device 234, and the virtual left stick V156L and the virtual right stick V156R are taught. . That is, when the virtual left stick V156L is rotated to the front side, the virtual upper line LEDV234U in the virtual operator operation display device 234 is turned on and the drone 102 is raised, and when it is rotated to the rear side, the virtual lower side When the line LEDV234D turns on and the drone 102 descends, and when it is turned to the left, the virtual upper line LEDV234U, the virtual left turn line LEDV234TLL, the virtual lower line LEDV234D, and the virtual right turn line LEDV234TL light up in this order. When turning to the right and appearing to turn to the left as if rotating left (counterclockwise), and turning to the right, the virtual upper line LEDV234U, the virtual right turn line LEDV234TR, and the virtual lower line LEDV234D And turn on the virtual left turn line LEDV234TL in order and make it appear to rotate rightward (clockwise), turn right, front the virtual right stick V156R When the virtual front line LEDV234F is turned on, the virtual front line LEDV234F lights up and moves forward.When the rear side is turned, the virtual rear line LEDV234B lights up and moves backward. When the leftward line LEDV234RL is lit, it turns left and when it is turned to the right, the virtual rightward line LEDV234RR is lit and the rightward direction is transmitted.

  The virtual pilot VOP must first ascend to see the sculpture 118S on the top of the building 118. Therefore, the virtual operator VOP rotates the virtual left stick V156L forward. Accordingly, the virtual upper line LEDV234U in the virtual operator operation display device 234 is lit for a length corresponding to the rotation amount.

  On the other hand, also in the virtual pilot intention indicating device 116, the corresponding intention indicating upper line LED 256U is lit for a length corresponding to the rotation amount. The pilot OP looks at the lighting length of the intention instruction upper line LED 256U, and rotates the left stick 156L forward by an angle corresponding to the lighting length. As a result, since the variable speed motors 102M1, 102M2, 102M3, and 102M4 are increased while maintaining the same rotational speed, the number of revolutions per unit time of the propellers 102P1, 102P2, 102P3, and 102P4 is increased. Since the lift of the propellers 102P1, 102P2, 102P3, and 102P4 increases, the drone 102 rises after taking off. The camera 124 transmits the captured image information PGI to the control device 106 by the drone transmission device 134, and the operator OP can check the image by the display device 108 for the operator. The virtual pilot VOP can receive the photographing information PGI transmitted from the wireless transmitter 182 of the pilot device 106 by the virtual receiver 220 and can visually recognize the image by the virtual pilot camera imaging display device 114.

  The virtual pilot VOP confirms the virtual pilot camera imaging display device 114 or visually, and continues to rotate the virtual left stick V156L forward until it is approximately the same height as the place where the sculpture to be observed is located. Accordingly, since the pilot OP continues to rotate in the same manner, the drone 102 is raised to approximately the same height as the engraving object 118S.

  The virtual pilot VOP then moves it near the place where the sculpture to be observed is. If left turn is required, the virtual left stick V156L is rotated to the left. As a result, the virtual left / right turn indicator 214 is turned on counterclockwise by sequentially turning on the virtual upper line LEDV234U, virtual left turn line LEDV234TL, virtual lower line LEDV234D, and virtual left turn line LED234VTR. In the virtual pilot intention indication device 116, the intention intention indication upper line display portion 256U, the intention indication left turn line display portion 256TLL, the intention indication lower line display portion 256D, In addition, it can be confirmed that the virtual pilot VOP is turning left by turning on the intention instruction right turn line display portion 256TRR in order. The pilot OP confirming this rotates the left stick 156L to the left side to perform a left turn operation. Conversely, when the virtual pilot VOP rotates the left stick 156 L to the right, the intention indication upper line display portion 256U, intention indication right turn line display portion 256TLR, intention indication lower side in the left intention indication display portion 256L The line display unit 256D and the intention instruction left turn line display unit 256TLL are lit in this order to confirm that the virtual pilot VOP is turning right. The pilot OP confirming this turns the left stick 156L to the right side to perform a right turn operation.

  When the virtual pilot VOP wants to move forward, the virtual right stick V156R is rotated forward. As a result, in the virtual pilot operation display device 234, the virtual forward line LEDV234F of the virtual right LED indicator V234R is lit for a length corresponding to the amount of rotation, and similarly, the intention indication right display portion in the virtual pilot intention indication device 116 In 256R, the intention instruction forward line display unit 256F emits light for a length corresponding to the rotation amount. The pilot OP who has seen this rotates the right stick 156R forward to perform forward movement. When the virtual pilot wants to move backward, when the virtual right stick V156R is rotated to the rear side, the intention instruction reverse line display section 256B corresponds to the rotation amount in the intention instruction right display section 256R in the virtual operator intention instruction device 116. Lights for the length. The operator OP who has seen this rotates the right stick 156R to the rear side to perform the backward movement operation.

When the virtual pilot VOP wants to go left, the virtual right stick V156R is rotated to the left.
The intention instruction leftward line display unit 256RL is lit for a length corresponding to the amount of rotation, and it can be understood that the virtual operator VOP is performing a leftward operation. The pilot OP who has seen this rotates the right stick 156R to the left side to perform a leftward movement. Conversely, when the virtual operator VOP rotates the right stick 156R to the right side, the intention instruction rightward line display unit 256RR lights up for a predetermined length according to the rotation amount in the intention instruction right display unit 256R, and the virtual operator VOP Can understand that is moving right. Upon confirming this, the pilot OP turns the right stick 156R to the right to perform a rightward movement.

  Therefore, by appropriately using these, in the first embodiment, the drone 102 is moved to the front of the engraving object 118S in the first embodiment, and the imaging information PGI captured by the camera 124 Can be seen at 114. The virtual pilot VOP can further perform the above-described virtual pilot and can view the target sculpture 118S from a desired position.

Next, Example 2 will be described with reference to FIG.
The second embodiment is another example of the virtual pilot intention indicating device 116, and includes a second virtual pilot intention indicating device 276. The second virtual pilot intention indicating device 276 is not attached to the pilot device 106, but is installed on a table or fixed to a support extending in the vertical direction. When viewed from the side, the second virtual operator intention indicating device 276 has a second intention indicating housing 278 formed in a trapezoidal box shape in which the front surface 278S is inclined forward and downward. An intention instruction unit 282 is arranged. The second intention instruction unit 282 includes a second right intention instruction unit 282R and a second left intention instruction unit 282L. The second right intention indicator 282R includes a right up / down direction light emitting unit 284R and a right horizontal direction light emitting unit 286R, which are linearly arranged in the up / down direction, and the right up / down direction light emitting unit 284R and the right horizontal direction light emitting unit 286R. And intersect at right angles in the middle. In the right up / down direction light emitting section 284R, the elongated backward light emitting section 292R is aligned in a straight line in the up / down direction like the elongated forward light emitting section 288R. In the right horizontal light emitting unit 286R, an elongated left light emitting unit 294R and a right light emitting unit 296R are linearly arranged in the horizontal direction. In the second left intention designating unit 282L, the left up / down direction light emitting unit 284L and the left horizontal direction light emitting unit 286L are arranged linearly in the up / down direction, and the left up / down direction light emitting unit 284L and the left horizontal direction light emitting unit 286L are arranged. And intersect at right angles in the middle. In the left up / down direction light emitting unit 284L, the elongated down light emitting unit 292L is aligned in a straight line in the up / down direction like the elongated up light emitting unit 288L. In the left horizontal light emitting unit 286L, an elongated left turning light emitting unit 294L and a right turning light emitting unit 296L are linearly arranged in the horizontal direction. The second left intention indicator 282L corresponds to the virtual left LED indicator V234L of the virtual operator operation display device 234, and the second right intention indicator 282R corresponds to the virtual right LED indicator V234R.

In Example 2, when the virtual pilot VOP rotates the virtual left stick V156L to the front side, the ascending light emitting unit 288L emits light, and when the virtual operator VOP rotates to the rear side, the descending light emitting unit 292L emits light, When turned to the left, the left turn light emitting unit 294L emits light, and when turned to the right side, the right turn light emitting unit 296L emits light. When the virtual right stick V156R is rotated to the front side, the forward light emitting unit 288R emits light.When the virtual right stick V156R is rotated to the rear side, the reverse light emitting unit 292R emits light. When 294R emits light and is rotated to the right, the rightward light emitting unit 296R emits light.
The pilot OP confirms the light emission of these light emitting units, and operates the left stick 156L or the right stick 156R as in the first embodiment to steer the drone 102 based on the intention of the virtual pilot VOP. As a result, the virtual pilot VOP can view the photographing information PGI of the camera 124 based on his / her intention through the virtual pilot camera imaging display device 114. Since there is one light emitting unit in the second embodiment, the amount of rotation of the virtual left stick V156L or the virtual right stick V156R by the virtual operator VOP is not reflected, but there is an advantage that it can be configured at low cost.

Next, Example 3 will be described with reference to FIG.
The third embodiment is another example of the virtual pilot intention indicating device 116, and includes a third virtual pilot intention indicating device 298. The third virtual pilot intention indicating device 298 uses a speaker 300 that emits sound as means for transmitting an intention instruction. Therefore, when the virtual left stick V156L is rotated forward, it is “up”, when it is rotated backward, “down”, when it is rotated left, “left turn”, and when it is rotated right “Right turn”, “Right forward” when the virtual right stick V156R is rotated forward, “Backward” when it is rotated backward, “Left” when it is rotated left, and Turn right When it is moved, it is configured to emit “rightward” voice or a sound corresponding to these. With this configuration, the pilot OP operates the right stick 156R or the left stick 156L based on the sound such as voice emitted from the speaker 300, and causes the drone 102 to fly based on the intention of the virtual pilot VOP. As a result, the virtual pilot VOP can view the shooting information PGI of the camera 124 based on his / her intention by the virtual pilot camera imaging display device 114. In this case, an earphone or a headphone can be used instead of the speaker 300.

Next, Example 4 will be described with reference to FIG.
The fourth embodiment is a system that allows one or more other virtual viewers VA to simultaneously view the same shooting information PGI as the virtual pilot camera imaging display device 114.In the fourth embodiment, In this example, two virtual viewers VA1 and VA2 wear virtual goggles VRG1 and VRG2, respectively, and watch the same image as the camera image display device 114 for virtual pilots. The virtual goggles VRG (VRG1, VRG2) and the wireless transmitter 182 of the control device 106 for the drone 102 or the virtual pilot control device 112 are connected by a wired or wireless communication line, and the shooting information PGI of the camera 124 is stored. Sent to virtual goggles VRG1 and VGR2. This configuration has an advantage that one or more virtual viewers VA can view the same shooting information PGI as the virtual operator VOP.

The fifth embodiment is an example in which the camera 124 is a known omnidirectional camera 302.
Since the omnidirectional camera 302 has a function of photographing 360 degrees with one shot, there is an advantage that a more powerful scenery can be viewed by combining with the three-dimensional virtual goggles. In the first embodiment, an omnidirectional camera 302 using a hemispherical lens arranged convex downward is used. However, a hemispherical lens that is convex upward may be used, or a global camera may be used by combining hemispherical lenses that are convex upward and downward.

OP pilot
VOP virtual pilot
VRG Virtual Experience Display
100 unmanned aerial vehicles
102 drone
103 flight equipment
106 Control device
108 Pilot display
112 Virtual pilot control system
114 Virtual Pilot Camera Imaging Display
116 Virtual pilot intention indicator
122 Unmanned aerial vehicle capable of stationary in the air
124 camera
134 Drone transmitter
212 Virtual up / down indicator
218 Virtual left / right indicator
234 Virtual pilot operation display device
234UD Vertical display
234LR Left / right indicator
302 Omni-directional camera

Claims (10)

A control device (106) for the operator (OP);
At least a flying device (103) that can change the flight direction based on an instruction from the control device (106), a camera (124) that can shoot, and a transmission device that transmits shooting information shot by the camera (124) ( 134) an unmanned aerial vehicle (100),
A virtual pilot control device (112) for a virtual pilot operated by a virtual pilot (VOP);
A virtual pilot camera imaging display device (114) for the virtual pilot (VOP) that is arranged in the vicinity of the virtual pilot (VOP) and displays photographing information from the transmission device (134);
A virtual pilot intention indication device (116) for the pilot (OP) and an intention of operation based on an operation of the virtual pilot control device (112);
Virtual maneuvering system for unmanned aerial vehicles including. A control device (106) for the operator (OP);
At least a flying device (103) that can change the flight direction based on an instruction from the control device (106), a camera (124) that can shoot, and a transmission device that transmits shooting information shot by the camera (124) ( 134) an unattended unmanned aerial vehicle (122) with
A virtual pilot control device (112) for a virtual pilot operated by a virtual pilot (VOP);
A virtual pilot camera imaging display device (114) for the virtual pilot (VOP) that is arranged in the vicinity of the virtual pilot (VOP) and displays photographing information from the transmission device (134);
A virtual pilot intention indicating device (116) for the pilot and an operation intention based on an operation of the virtual pilot control device (112);
Virtual maneuvering system for unmanned aerial vehicles including. A control device (106) for the operator (OP);
At least a flying device (103) that can change the flight direction based on an instruction from the control device (106), a camera (124) that can shoot, and a transmission device that transmits shooting information shot by the camera (124) ( 134) with a drone (102),
A virtual pilot control device (112) for a virtual pilot operated by a virtual pilot (VOP);
A virtual pilot camera imaging display device (114) for the virtual pilot (VOP) that is arranged in the vicinity of the virtual pilot (VOP) and displays photographing information from the transmission device (134);
A virtual pilot intention indicating device (116) for the pilot and an operation intention based on an operation of the virtual pilot control device (112);
Virtual maneuvering system for unmanned aerial vehicles including. The virtual pilot control device (112) includes at least a virtual up / down indicator (212) for instructing up and down, and a virtual left / right indicator (218) in the left and right directions. A virtual piloting system for an unmanned aerial vehicle according to any one of claims 1 to 3. The virtual pilot intention indicating device (116) includes at least an intention indicating up / down indicator (256UD) for instructing ascending and descending, and an intention indicating left / right indicator (256LR) for left and right directions. The virtual control system for an unmanned aerial vehicle according to any one of claims 1 to 4. The pilot device (106) includes a pilot display device (108) for displaying the same shooting information as the shooting information displayed on the virtual pilot camera imaging display device (114). Item 6. An unmanned aerial vehicle virtual control system according to any one of Items 1 to 5. The virtual pilot control device (112) is a virtual pilot operation display device that displays the direction in response to an operation of a virtual up / down indicator (V 234UD) and a virtual left / right indicator (V234LR) ( 234), the virtual control system for an unmanned aerial vehicle according to any one of claims 1 to 6. The virtual pilot system for an unmanned aerial vehicle according to any one of claims 1 to 7, wherein the virtual pilot intention indicating device (116) is attached to the pilot device (106). 9. The virtual operator display device (VRG) including at least one display device for displaying the same shooting information as the shooting information displayed on the virtual pilot camera imaging display device (114). An unmanned aerial vehicle virtual control system described in any of the above. 10. The unmanned aerial vehicle virtual control system according to claim 1, wherein the camera is an omnidirectional camera (302).

Images