JP6896501B2 - Flying type drawing device - Google Patents

Description

The present invention relates to a flight type drawing device.

Conventionally, for example, in the site shaping of civil engineering work and the foundation work after shaping, a technique for drawing marking points as a work standard is known. For position measurement for drawing marking points, high-precision measurement methods such as GPS (Global Positioning System) are used, and the automation environment for drawing marking points has been improved as the digitization of measurement data progresses. There is. In addition, when inspecting and observing the topography of civil engineering work areas and existing structures, by using a drone with high maneuverability and flight stability, work that could only be achieved by using aircraft, etc., and high work It is possible to work in a small area.

The drone can maintain the flight state by automatic control by combining multiple rotors and a high-precision gyroscope, and it is possible to operate with greatly reduced the burden on the operator against restrictions on the flight space and disturbances such as wind. Is. Therefore, a drawing device for marking points may be mounted on the drone to mark the drawing target portion from the air. For example, in Patent Document 1, a color ball containing paint is fired, and a color ball is fired to identify coloring by landing and bursting at a target location in the case of an inspection of a structure / building or an accident / disaster. It is disclosed that the device is mounted on a drone.

International Publication No. 2016/181426

However, when drawing marking points using an air vehicle such as a drone flying in the air, it is difficult to completely control the trajectory and attitude of the air vehicle as desired. Therefore, depending on the wind speed and the flight speed of the flying object, an error occurs between the actual position of the flying object and the control target position, and if marking is performed in this state, the marking point deviates from the target position. It ends up. It is also possible to correct the deviation of the marking point by correcting the flight direction of the flying object, but since it takes a certain amount of flight distance and time to correct the flight direction, the deviation of the marking position May not be corrected promptly.

The present invention has been made in view of the above, and an object of the present invention is to provide a flight-type drawing apparatus capable of firing a marker from the air and drawing a marking point on a drawing target portion with high accuracy and promptly.

In order to solve the above-mentioned problems and achieve the object, the present invention has a flying object flying in the air on a drawing target portion, and a marker firing mounted on the flying body and capable of firing a marker in each of a plurality of sections. It includes a device, an information acquisition unit that acquires information including the current position of the flying object in the air, and a control unit that controls the flight of the flying object and controls the launching of a marker by the marker launching device. While the flying object is flying over the drawing target unit, the control unit uses the marker for each of the current positions in response to a change in the current position of the flying object acquired by the information acquisition unit. When a launch map is created that defines a range in which the marker can be drawn, and there are a plurality of planned marking points that are positions on which the marker should be drawn on the drawing target portion, the plurality of sections are described. Among them, the marker is fired from the section corresponding to the planned marking point.

According to this configuration, while the flying object is flying over the drawing target portion, a launch map that defines a range in which a marker can be drawn for each current position is used according to a change in the current position of the flying object. , Markers can be fired from each section of the marker launcher corresponding to the planned marking points contained in the launch map. As a result, when the current position of the flying object deviates from the originally assumed position, it is possible to suppress drawing the marker at a position different from the planned marking point without moving the flying object itself. Moreover, since it is not necessary to move the flying object itself, a marker can be quickly drawn at the planned marking point. Therefore, the flight-type drawing apparatus according to the present invention can shoot a marker from the air to draw a marking point on a drawing target portion with high accuracy and promptly.

In addition, when the planned marking point in the launch map is an actual marking point on which the marker has been drawn, the control unit starts from a section corresponding to the actual marking point among the plurality of sections. Preferably does not fire the marker.

According to this configuration, it is possible to prevent the marker from being drawn on the portion where the marker is once drawn, so that the drawing quality of the marking point can be improved.

Further, the information acquisition unit further acquires the attitude of the air vehicle in the air, and the control unit acquires the information at the current position of the air vehicle acquired by the information acquisition unit. It is preferable to create the launch map that defines the range in which the marker can be drawn when the posture is taken by the unit.

According to this configuration, at the current position of the air vehicle, a launch map that defines the range in which markers can be drawn according to the attitude of the air vehicle in the air is used, and the planned marking points included in the launch map are used. Markers can be fired from the corresponding marker launcher compartment. As a result, when the attitude of the aircraft in the air deviates from the attitude originally assumed, it is possible to suppress drawing the marker at a position different from the planned marking point without correcting the attitude of the aircraft. .. Further, since it is not necessary to correct the attitude of the flying object itself, the marker can be quickly drawn at the planned marking point.

Further, the information acquisition unit further acquires the flight speed of the flying object, and the control unit uses the information acquisition unit to obtain the flight speed of the flying object at the current position of the flying object acquired by the information acquisition unit. When flying at the acquired flight speed, it is preferable to create the launch map that defines the range in which the marker can be drawn.

According to this configuration, at the current position of the flying object, a launch map that defines the range in which markers can be drawn according to the flight speed of the flying object is used, and the planned marking points included in the launch map are supported. Markers can be fired from the marker launcher compartment. As a result, it is possible to prevent the marker from being drawn at a position different from the planned marking point due to the flight speed of the flying object.

Further, the marker launching device accelerates and launches the marker, the information acquisition unit further acquires the firing speed of the marker, and the control unit is the information acquisition unit of the flying object acquired by the information acquisition unit. The marker can be drawn when the flying object is in the attitude acquired by the information acquisition unit at the current position and the marker is launched at the firing speed acquired by the information acquisition unit. It is preferable to create the launch map that defines the range.

According to this configuration, the marker is included in the launch map at the current position of the aircraft, using a launch map that defines the range in which the marker can be drawn according to the attitude of the aircraft in the air and the launch speed of the marker. Markers can be launched from the marker launcher compartment corresponding to the planned marking point. As a result, the attitude of the flying object is corrected even when the attitude of the flying object in the air deviates from the originally assumed attitude and the landing position of the marker can deviate from the originally assumed position according to the firing speed of the marker. It is possible to suppress drawing the marker at a position different from the planned marking point. Further, since it is not necessary to correct the attitude of the flying object itself, the marker can be quickly drawn at the planned marking point.

Further, it is preferable that the marker launching device launches the marker by free fall toward the lower side in the vertical direction.

According to this configuration, the reaction force acting on the flying object by firing the marker can be reduced as compared with the case where the marker is accelerated and forcibly fired, so that the position and attitude of the flying body can be stabilized in the air. Can be planned. As a result, the marker can be drawn accurately at the planned marking point.

Further, the marker is preferably a pile-shaped member that lands and pierces the drawing target portion.

According to this configuration, a stake-shaped marker can be landed and fixed on the drawing target portion, so that the paint is absorbed by the drawing target portion, for example, when a paint such as a paint ball is used as the marker. There is nothing. In addition, when paint using a paintball or the like is used as a marker, the paintball lands because there are irregularities (undulations) on the drawing target portion and the distance from the flight type drawing device to the drawing target portion is not constant. The paint does not print without bursting at the points, and the print state due to the paint does not change or deform significantly. Therefore, the visibility of the drawn marker can be improved. Furthermore, regardless of the undulating shape of the drawing target portion, the marker can be drawn while the flying object is flying at a constant height, so that the flying object can be flown stably and the drawing accuracy of the marker is improved. It becomes possible to increase.

Further, the control unit makes the flying object fly on the drawing target unit along a plurality of scheduled flight lines created based on the plurality of planned marking points, and the markers are placed on the plurality of planned marking points. It is preferable to launch the marker from the launcher.

According to this configuration, it is possible to draw a marker at the planned marking point while flying the aircraft along a plurality of scheduled flight lines created by reflecting the positions of the plurality of planned marking points, which is efficient. Markers can be drawn.

Further, it is preferable that the control unit flies the flying object along one of the scheduled flight lines at a constant flight speed without stopping.

According to this configuration, since the flight speed of the flying object does not change during the drawing of the marker, the attitude of the flying object can be stabilized and the drawing accuracy of the marker can be improved.

The flight-type drawing apparatus according to the present invention has an effect that a marker can be emitted from the air to draw a marking point on a drawing target portion with high accuracy and promptly.

FIG. 1 is a perspective view showing an outline of a flight-type drawing apparatus according to an embodiment. FIG. 2 is a schematic configuration diagram of a flight-type drawing apparatus according to an embodiment. FIG. 3 is a flowchart showing an example of the automatic flight control process executed by the drone side control unit. FIG. 4 is an explanatory diagram showing an example of a plurality of scheduled flight lines created by the drone side control unit. FIG. 5 is a flowchart showing an example of the n-line flight control process. FIG. 6 is a flowchart showing an example of the automatic firing control process. FIG. 7 is an explanatory diagram schematically showing a launch map at an arbitrary time. FIG. 8 is an explanatory diagram schematically showing a launch map at an arbitrary time. FIG. 9 is an explanatory diagram schematically showing a launch map at an arbitrary time. FIG. 10 is a schematic diagram for explaining a change in the position where the marker lands on the drawing target portion according to the posture of the drone in the air and the like.

Hereinafter, embodiments of the flight-type drawing apparatus according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

FIG. 1 is a perspective view showing an outline of a flight-type drawing device according to an embodiment, and FIG. 2 is a schematic configuration diagram of a flight-type drawing device according to an embodiment. In the flight-type drawing apparatus 1 according to the embodiment, for example, in the site shaping of civil engineering work and the foundation work after shaping, the ground surface is set as the drawing target portion 100, and a marker is emitted from the air onto the drawing target portion 100 to set a marking point. It is a device for drawing. The marking point may be any reference on the drawing target portion 100, and may be a marking point for drawing a course such as a marathon on the ground surface. As shown in FIGS. 1 and 2, the flight type drawing device 1 includes a drone 10 as a flying object, a ground operation device 20, and a position detection support unit 30.

As shown in FIG. 2, the drone 10 includes a flight device 11, a marker launching device 12, an information acquisition unit 13, a drone side control unit 14, a drone side storage unit 15, and a drone side communication unit 16. .. Further, the ground operation device 20 includes a ground side storage unit 21, a ground side control unit 22, a control unit 23, and a ground side communication unit 24.

The flight device 11 of the drone 10 includes a plurality of (four in this embodiment) rotors 11a and propellers 11b attached to the rotors 11a. The drone 10 can rotate and drive each rotor 11a individually, and each propeller 11b rotates with the rotation of each rotor 11a, so that the drone 10 can fly in the air. In the present embodiment, the drive control of the flight device 11, that is, each rotor 11a is executed by the drone side control unit 14.

The marker launching device 12 of the drone 10 is a device capable of launching the marker 2 in each of a plurality of sections. In this embodiment, the marker launcher 12 is attached to the lower part of the drone 10. As shown in FIG. 1, the marker launching device 12 houses a plurality of markers 2 for each of a plurality of grid-like compartments 12a arranged adjacent to each other, and launches one marker 2 from each compartment 12a. It is possible. In addition, in FIG. 1, the compartment 12a is schematically shown, and the actual number of compartments 12a is larger than that shown in the figure. In the present embodiment, the marker launching device 12 launches the marker 2 from each section 12a toward the lower side in the vertical direction by free fall.

In the present embodiment, the marker 2 is a pile-shaped member that can be pierced into the drawing target portion 100, which is the ground surface, by being launched from the air. The marker 2 may be one in which at least a part of a portion exposed on the ground is radially developed after being pierced by the drawing target portion 100. Thereby, the visibility of the marking point by the marker 2 can be improved.

The information acquisition unit 13 of the drone 10 determines the current position P (X, Y, Z) of the drone 10 in the air, the attitude of the drone 10 in the air (rotation angle θ (α, β, γ)), and the flight of the drone 10. Get the speed V. In the present embodiment, the information acquisition unit 13 includes a GPS receiver, communicates with the position detection support unit 30 via the drone side communication unit 16, and uses GPS to communicate with the current position P (X, Y, Z) of the drone 10. ) To get. In addition, the information acquisition unit 13 includes a gyroscope for detecting the attitude of the drone 10 in the air. The information acquisition unit 13 can measure the rotation angle θ (α) around the X-axis, the rotation angle θ (β) around the Y-axis, and the rotation angle θ (γ) around the Z-axis with the gyroscope. it can. Further, the information acquisition unit 13 includes a speed sensor that detects the flight speed V of the drone 10.

The drone side control unit 14 of the drone 10 includes, for example, a CPU (Central Processing Unit), a System (System-on-a-Chip), an MCU (MicroControl Unit), and an FPGA (Field-Programmable Gate Array). It is a device.

When the automatic flight command of the drone 10 is output from the ground side control unit 22, the drone side control unit 14 drives and controls the flight device 11 in accordance with the automatic flight command to fly the drone 10. Further, when the manual flight command of the drone 10 is output from the ground side control unit 22, the drone side control unit 14 follows the flight control device 23a included in the control unit 23 of the ground control device 20 and follows the flight device 11 Is driven and controlled to fly the drone 10.

When the automatic launch command of the marker launcher 12 is output from the ground side control unit 22, the drone side control unit 14 drives and controls the marker launcher 12 according to the automatic launch command, and launches the marker 2 from the marker launcher 12. Let me. Further, when the manual launch command of the marker launcher 12 is output from the ground side control unit 22, the drone side control unit 14 sets the marker according to the operation command by the launch operation device 23b included in the control unit 23 of the ground operation device 20. The launching device 12 is driven and controlled, and the marker 2 is launched from the marker launching device 12.

The drone side storage unit 15 of the drone 10 stores various programs related to the drive control of the flight device 11 and the drive control of the marker launcher 12. The drone-side storage unit 15 exchanges various programs with the drone-side control unit 14.

The drone side communication unit 16 of the drone 10 wirelessly communicates with the ground side communication unit 24 of the ground operation device 20, and exchanges command signals and information acquisition between the drone side control unit 14 and the ground side control unit 22. The current position P (X, Y, Z) of the drone 10, the rotation angle θ (α, β, γ), and the flight speed V are exchanged between the unit 13 and the ground side control unit 22. Further, the drone side communication unit 16 communicates with the position detection support unit 30 and exchanges the current position P (X, Y, Z) of the drone 10. The wireless standard of the drone side communication unit 16 may be anything.

The ground side storage unit 21 of the ground operation device 20 stores the plan map 41, the actual map 42, and the scheduled flight line data 43. As shown in FIG. 2, the plan map 41 is data in which a plurality of plan marking points M *, which are positions where the marker 2 should be drawn, are recorded on the drawing target portion 100. The plan map 41 is, for example, obtained by converting CAD data (not shown) in which the marking position on the drawing target portion 100 is set by a line drawing into dots at a predetermined pitch. That is, each dot of the plan map 41 becomes a plan marking point M * on the drawing target portion 100. In the present embodiment, the CAD data (not shown) is converted into the plan marking point M * in advance, and then the plan map 41 is stored in the ground side storage unit 21. When drawing the marker on the drawing target unit 100, the CAD data may be converted into the plan map 41.

The actual map 42 is data in which the actual marking points M in which the marker 2 is drawn from the marker launching device 12 to the drawing target portion 100 according to the plan map 41 are recorded. The achievement map 42 is created in the automatic launch control of the marker launcher 12 executed by the ground side control unit 22. The achievement map 42 is updated as needed as the execution of the automatic firing control of the marker launching device 12 progresses.

The scheduled flight line data 43 is data that defines a plurality of scheduled flight lines Ln (see FIG. 4) for flying the drone 10 on the drawing target unit 100. The scheduled flight line data is created in the automatic flight control of the drone 10 executed by the ground side control unit 23. As shown in FIG. 2, the scheduled flight line Ln is a line connecting a plurality of dot-shaped target flight positions P * set at a predetermined pitch. The scheduled flight line Ln may be created in advance and stored in the ground side storage unit 21.

The ground side control unit 22 of the ground operation device 20 includes, for example, a CPU (Central Processing Unit), a System (System-on-a-Chip), an MCU (Micro Control Unit), and an FPGA (Field-Programmable Gate Array). It is an arithmetic processing unit.

The ground side control unit 22 executes the automatic flight control of the drone 10 when the user instructs the drone 10 to fly automatically via an interface (not shown), and is created by executing the automatic flight control. The automatic flight command is transmitted to the drone side control unit 14. Further, when the user gives an instruction to manually fly the drone 10 via an interface (not shown), the ground side control unit 22 issues a manual flight command of the drone 10 to the drone side control unit 14 and the control unit. Output to 23.

The ground side control unit 22 executes the automatic firing control of the marker launching device 12 when the user has instructed to automatically launch the marker 2 from the marker launching device 12 via an interface (not shown). , The automatic launch command created by executing the automatic launch control is transmitted to the drone side control unit 14. Further, when the user has instructed the marker launcher 12 to manually launch the marker 2 via an interface (not shown), the ground side control unit 22 issues a manual launch command for the marker launcher 12. It outputs to the drone side control unit 14 and the control unit 23.

The control unit 23 of the ground control device 20 includes a flight control device 23a and a launch control device 23b. The flight control device 23a is an interface for the user to manually execute the flight of the drone 10 when the manual flight command of the drone 10 is output from the ground side control unit 22 to the control unit 23. The flight control device 23a outputs a control command of the drone 10 to the drone side control unit 14 according to a manual operation by the user. Further, in the launch operation device 23b, when the manual launch command of the marker launch device 12 is output from the ground side control unit 22 to the control unit 23, the user manually launches the marker 2 from the marker launch device 12. An interface to execute. The launch operation device 23b outputs an operation command of the marker 2 from the marker launch device 12 to the drone side control unit 14 according to a manual operation by the user.

The ground side communication unit 24 of the ground operation device 20 wirelessly communicates with the drone side communication unit 16, exchanges command signals between the drone side control unit 14 and the ground side control unit 22, and communicates with the information acquisition unit 13. The current position P (X, Y, Z) of the drone 10, the rotation angle θ (α, β, γ), and the flight speed V are exchanged with the ground side control unit 22. The wireless standard of the terrestrial communication unit 24 may be any.

The position detection support unit 30 is a GPS fixed station in this embodiment. The position detection support unit 30 communicates with the GPS receiver of the information acquisition unit 13 via the drone side communication unit 16 and transmits the current position P (X, Y, Z) of the drone 10 to the information acquisition unit 13. The position detection support unit 30 may transmit the current position P (X, Y, Z) of the drone 10 to the ground side control unit 22 via the ground side communication unit 22.

Next, the automatic flight control of the drone 10 by the ground side control unit 22 and the automatic launch control of the marker launching device 12 will be described. The automatic flight control of the drone 10 and the automatic launch control of the marker launching device 12 are executed in parallel by the ground side control unit 22. As a result, the marker 2 is drawn at the planned marking point M * on the drawing target unit 100 while the drone 10 is flying over the drawing target unit 100. First, the automatic flight control of the drone 10 will be described. FIG. 3 is a flowchart showing an example of the automatic flight control process executed by the ground side control unit. In automatic flight control, an automatic flight command is output from the ground side control unit 22 to the drone side control unit 14 at any time, and the drone side control unit 14 controls the flight device 11 so that the drone 10 flies according to the contents of the automatic flight command. Drive control.

The ground side control unit 22 executes the marker launch start process and the takeoff process of the drone 10 as step S1. The ground-side control unit 22 acquires a plan map 41 and an actual map 42 from the ground-side storage unit 21 as a marker firing start process. The actual map 42 is not created at the timing when this control is started, but is updated as needed as the execution of the automatic firing control of the marker launching device 12 progresses. Further, the ground side control unit 22 causes the drone side control unit 14 to drive and control the flight device 11 to take off the drone 10. The ground side control unit 22 acquires the plan map 41 and the actual map 42, and proceeds to step S2 when the takeoff process of the drone 10 is completed.

In step S2, the ground side control unit 22 creates a plurality of scheduled flight lines Ln for flying the drone 10 on the drawing target unit 100 while firing the marker 2 from the marker launching device 12 at the planned marking point M *. FIG. 4 is an explanatory diagram showing an example of a plurality of scheduled flight lines created by the ground side control unit. In the example shown in FIG. 4, the scheduled flight line Ln is a linear line extending at intervals on the drawing target portion 100. In the present embodiment, the planned flight line Ln is created with a constant height in the vertical direction. The drone side control unit 14 efficiently draws the marker 2 at the planned marking point M * before drawing the marker 2 based on the positions of the planned marking point M * of the plan map 41 and the actual marking point M of the actual map 42. Create multiple possible scheduled flight lines Ln. The fact that the marker 2 can be drawn efficiently means that the shape of the drawing target portion 100, the positions of the planned marking points M * and the actual marking points M, the maximum width of each section 12a of the marker launching device 12, and the like are taken into consideration. This means that a plurality of scheduled flight lines Ln are created so that the flight distance or flight time of the drone 10 flying over the drawing target portion 100 is minimized.

Further, the number of markers 2 accommodated in each section 12a of the marker launcher 12 is limited. Further, in the present embodiment, in order to prevent the posture of the drone 10 from becoming unstable due to the deviation of the center of gravity of the drone 10 accompanying the firing of the marker 2, the number of markers 2 to be fired at the same timing is limited. .. Therefore, even if the drone 10 is flown only once along each scheduled flight line Ln, there is a possibility that the markers 2 cannot be drawn at all of the planned marking points M *. In addition, the planned marking point may be caused by the current position P (X, Y, Z) of the drone 10 in the air deviating from the planned flight line Ln, or the attitude of the drone 10 in the air deviating from the assumed one. There is a possibility that the marker 2 cannot be drawn on all of the M *. Therefore, the ground side control unit 22 sets an upper limit of the number of times the drone 10 is reciprocated for each scheduled flight line Ln. The ground side control unit 22 flies the drone 10 along the scheduled flight line Ln, and as a result of executing the automatic launch control described later, if there is a drawing omission of the marker 2 at the planned marking point M *, the set upper limit is set. Within range, the drone 10 is reciprocated along the scheduled flight line Ln. The created scheduled flight line Ln is stored in the ground side storage unit 21 as the scheduled flight line data 43. When the ground side control unit 22 creates the scheduled flight line Ln, the ground side control unit 22 proceeds to step S3.

The ground-side control unit 22 executes n-line flight control created in step S2 and flying the drone 10 along the scheduled flight line Ln stored in the ground-side storage unit 21 as step S3. The n-line flight control will be described later.

When the n-line flight control is completed, the ground side control unit 22 proceeds to step S4 and determines whether or not the drawing of the marker 2 is completed at all the planned marking points M * defined in the plan map 41. As described above, the automatic launch control of the marker launcher 12 is executed in parallel with the automatic flight control of the drone 10. Therefore, during the execution of the automatic flight control, the marker 2 is drawn at the planned marking point M * at any time, and the planned marking point M * for which the drawing of the marker 2 is completed is the actual marking point on the actual map 42. It will be recorded as M. The ground side control unit 22 draws markers 2 at all the planned marking points M * based on the planned marking points M * recorded on the plan map 41 and the actual marking points M recorded on the actual map 42. Determine if it is complete.

When it is determined that the drawing of the marker 2 is not completed at all the planned marking points M * (steps S4 and No), the ground side control unit 22 executes the processes after step S2 again. As a result, a plurality of scheduled flight lines Ln for flying the drone 10 toward the area where the planned marking point M * for which the drawing of the marker 2 has not been completed is newly created (step S2), and the plurality of scheduled flight lines Ln are created. The n-line flight control of the drone 10 along the line is executed. On the other hand, when it is determined that the drawing of the marker 2 is completed at all the planned marking points M * (step S4, Yes), the ground side control unit 22 ends the automatic flight control.

Next, the n-line flight control in step S3 will be described. FIG. 5 is a flowchart showing an example of the n-line flight control process.

In step S301, the ground-side control unit 22 drives and controls the flight device 11 by the drone-side control unit 14, and moves the drone 10 to the start point position of the next scheduled flight line Ln. After that, the ground side control unit 22 proceeds to step S302.

In step S302, the ground-side control unit 22 drives and controls the flight device 11 by the drone-side control unit 14, and the drone 10 flies toward the next target flight position P * on the scheduled flight line Ln. In the present embodiment, the drone 10 is made to fly at a constant flight speed V along the planned flight line Ln without stopping (making it in a hovering state). Further, since the height of the scheduled flight line Ln is constant in the vertical direction, the drone 10 flying along the scheduled flight line Ln always flies at the same height. After that, the ground side control unit 22 proceeds to step S303.

In step S303, the ground-side control unit 22 communicates between the drone-side communication unit 16 and the ground-side communication unit 24 to obtain the current position P (X, Y, Z) of the drone 10 and the rotation angle θ (α) from the information acquisition unit 13. , Β, γ) is input, and the process proceeds to step S304.

In step S304, the ground side control unit 22 determines whether or not the value of the rotation angle θ (α, β, γ) of the drone 10 is equal to or greater than the predetermined angle θ1. When the ground side control unit 22 determines that the value of the rotation angle θ (α, β, γ) is equal to or greater than the predetermined angle θ1 (step S304, Yes), the attitude of the drone 10 is any with respect to the scheduled flight line Ln. Since it is inclined in that direction, the process proceeds to step S305.

In step S305, the ground-side control unit 22 drives and controls the flight device 11 by the drone-side control unit 14 so that the rotation angle θ (α, β, γ) is less than the predetermined angle θ1, and adjusts the posture of the drone 10. Fix it. After that, the ground side control unit 22 proceeds to step S306.

When the ground side control unit 22 determines that the value of the rotation angle θ (α, β, γ) of the drone 10 is less than the predetermined angle θ1 (step S304, No), the attitude of the drone 10 is set to the scheduled flight line Ln. On the other hand, since it is not inclined, the process of step S305 is omitted and the process proceeds to step S306.

In step S306, the ground side control unit 22 determines whether or not the current position P (X, Y, Z) is separated from the scheduled flight line Ln by a predetermined distance D1 or more. When the ground side control unit 22 determines that the current position P (X, Y, Z) of the drone 10 is separated from the scheduled flight line Ln by a predetermined distance D1 or more (steps S306, Yes), the process proceeds to step S307.

In step S307, the ground side control unit 22 drives and controls the flight device 11 by the drone side control unit 14, and the drone 10 moves in the direction in which the current position P (X, Y, Z) of the drone 10 approaches the scheduled flight line Ln. Correct the flight. After that, the ground side control unit 22 proceeds to step S308.

Further, when the ground side control unit 22 determines that the current position P (X, Y, Z) is not separated from the scheduled flight line Ln by a predetermined distance D1 or more (steps S306, No), the process of step S307 is omitted. Then, the process proceeds to step S308.

In step S308, the ground-side control unit 22 determines whether or not the drone 10 has reached the end point (last target flight position P *) of the scheduled flight line Ln. When the ground side control unit 22 determines that the drone 10 has not reached the end point of the scheduled flight line Ln (steps S308, No), the ground side control unit 22 again executes the processes after step S302. Further, when the ground side control unit 22 determines that the drone 10 has reached the end point of the scheduled flight line Ln (steps S308, Yes), the process proceeds to step S309.

Whether or not there was a planned marking point M * in the scheduled flight line Ln that flew between step S302 and step S308 in step S309 where the marker 2 could not be drawn by the automatic launch control described later. To judge. The determination in step S309 is based on, for example, the marker 2 with respect to the planned marking point M * on which the marker 2 should be drawn when the drone 10 flies along the scheduled flight line Ln without causing a displacement or attitude deviation. It may be determined based on the actual map 42 whether or not is actually drawn.

When the ground side control unit 22 determines that there is a planned marking point M * in which the marker 2 could not be drawn by the automatic launch control described later in the scheduled flight line Ln (step S309, Yes), the process proceeds to step S310.

In step S310, the ground-side control unit 22 determines whether or not the upper limit of the number of round trips of the scheduled flight line Ln has been reached. When the ground side control unit 22 determines that the maximum number of round trips of the scheduled flight line Ln has not been reached (steps S310, No), the process returns to the process of step S302, and the process is reversed along the scheduled flight line Ln. Fly the drone 10 from the direction.

On the other hand, when the ground side control unit 22 determines that the upper limit number of round trips of the scheduled flight line Ln has been reached (steps S310, Yes), the process proceeds to step S311. In addition, the ground side control unit 22 did not have a planned marking point M * on the scheduled flight line Ln that could not draw the marker 2 by the automatic launch control described later (in the planned flight line Ln, all planned marking points M *. When it is determined (step S309, No), the process proceeds to step S311.

In step S311 the ground side control unit 22 determines whether or not the flight of all scheduled flight lines Ln has been completed. When the ground side control unit 22 determines that the flight of all the scheduled flight lines Ln has not been completed (step S311, No), the ground side control unit 22 returns to step S301 and causes the drone 10 to fly along the next scheduled flight line Ln + 1. .. Further, when it is determined that the flight of all the scheduled flight lines Ln is completed (step S311, Yes), the ground side control unit 22 ends the n-line flight control.

Next, the automatic firing control of the marker launching device 12 will be described. FIG. 6 is a flowchart showing an example of the automatic firing control process. The automatic launch control shown in FIG. 6 is constantly and repeatedly executed while the automatic flight control of the drone 10 is being executed.

In step S11, the ground-side control unit 22 communicates between the drone-side communication unit 16 and the ground-side communication unit 24 to obtain the current position P (X, Y, Z) of the drone 10 and the rotation angle θ (α) from the information acquisition unit 13. , Β, γ), and the flight speed V are input, and the process proceeds to step S12.

In step S12, the ground side control unit 22 takes the posture of the drone 10 at the rotation angle θ (α, β, γ) at the current position P (X, Y, Z) of the drone 10, and the drone 10 Creates a launch map 44 that defines the range in which the marker 2 can be drawn when is flying at a flight speed V. When the ground side control unit 22 creates the launch map 44, the ground side control unit 22 proceeds to step S13.

In step S13, the ground side control unit 22 inputs the planned marking point M * from the planned map 41, and determines whether or not there is the planned marking point M * in the launch map 44. When the ground side control unit 22 determines that there is no planned marking point M * in the launch map 44 (steps S13, No), the ground side control unit 22 executes the processes after step S11 again. On the other hand, when the ground side control unit 22 determines that the planned marking point M * is in the launch map 44 (step S13, Yes), the process proceeds to step S14.

As step S14, the ground-side control unit 22 inputs the current performance map 42 from the ground-side storage unit 21, and determines whether or not the planned marking point M * in the launch map 44 includes the performance marking point M. judge.

When the ground side control unit 22 determines that the planned marking point M * in the launch map 44 includes the actual marking point M (step S14, Yes), the ground side control unit 22 proceeds to step S15. In step S15, the ground side control unit 22 deletes the actual marking point M from the planned marking points M * in the launch map 44, and proceeds to step S16. Further, when the ground side control unit 22 determines that the planned marking point M * in the launch map 44 does not include the actual marking point M (steps S14 and No), the process of step S15 is omitted and the process of step S16 is omitted. Proceed to.

In step S16, the ground side control unit 22 issues an automatic launch command to launch the marker 2 from the section 12a corresponding to the planned marking point M * in the launch map 44 in which the actual marking point M is deleted. Output to. As a result, the drone-side control unit 14 that has received the automatic launch command drives and controls the marker launcher 12 in accordance with the automatic launch command, and launches the marker 2 from the section 12a corresponding to the planned marking point M *. As a result, the marker 2 is drawn at a position corresponding to the planned marking point M * on the drawing target portion 100. In addition, the marker 2 is not fired from the section 12a corresponding to the actual marking point M. As described above, in the present embodiment, the number of markers 2 to be fired at the same timing is limited. Therefore, when the planned marking point M * in the launch map 44 is larger than the limit number of the markers 2 to be fired at the same timing, only the planned marking point M * located on the upstream side with respect to the traveling direction of the drone 10 is used. The marker 2 is drawn.

Further, in step S17, the ground side control unit 22 updates the actual map 42 with the planned marking point M * on which the marker 2 is drawn in step S16 as the actual marking point M, and stores the updated actual map 42 on the ground side storage unit. Store in 21. After that, the ground side control unit 22 re-executes the processes after step S11.

Next, an example of the processing contents of steps S11 to S17 in the automatic firing control will be described in detail. 7 to 9 are explanatory views schematically showing a launch map at an arbitrary time. The alternate long and short dash line in each figure indicates the drone 10. The broken line in each figure shows a part of the plan map 41, and the white circle in each figure shows the plan marking point M * included in the plan map 41. The black circles in FIGS. 8 to 9 indicate the actual marking points M. The area surrounded by the thick solid line in each figure shows the launch maps 441 to 443 at arbitrary times t1 to t3, and the grid-like area separated by the solid line within the range surrounded by the thick solid line is for launching. Each section 12a of the marker launcher 12 in maps 441-443 is shown. Further, the solid line arrow extending in the vertical direction in each figure indicates the scheduled flight line Ln in which the drone 10 is flying.

FIG. 7 shows an example in which the drone 10 is flying at a flight speed V at an arbitrary time t1 in a state where the drone 10 is along the scheduled flight line Ln and is not inclined with respect to the scheduled flight line Ln. .. The example shown in FIG. 7 shows the case where the drone 10 is flying the scheduled flight line Ln for the first time.

When the drone 10 is flying at a flight speed V, the marker 2 launched from the marker launcher 12 receives an inertial force in the traveling direction of the drone 10 according to the flight speed V. As a result, the marker 2 launched from the marker launching device 12 may move in a direction deviated from the assumed firing direction (vertical direction in the present embodiment).

Further, in the example shown in FIG. 7, it is assumed that the attitude of the drone 10 is not inclined with respect to the scheduled flight line Ln, but even when the attitude of the drone 10 is inclined around the Y axis, the marker launcher 12 The marker 2 fired from the marker 2 may be drawn in a direction deviated from the assumed firing direction (vertical direction in the present embodiment) or drawn at a position deviated from the assumed drawing position. FIG. 10 is a schematic diagram for explaining a change in the position where the marker lands on the drawing target portion according to the posture of the drone in the air and the like. In the figure, the range sandwiched by the solid line arrows is the maximum drawing width of the marker 2 when the drone 10 is not tilted in the air and the marker 2 is freely dropped from the section 12a of the marker launching device 12. W1 is shown. Further, in the figure, the range sandwiched by the broken line arrows is the maximum drawing of the marker 2 when the drone 10 is inclined in the air and the marker 2 is freely dropped from the section 12a of the marker launching device 12. The width W2 is shown. As shown in the figure, when the marker 2 is freely dropped, the maximum drawing width W2 of the marker 2 when the attitude of the drone 10 in the air is inclined is when the attitude of the drone 10 in the air is not inclined. It may be narrower than the maximum drawing width W1 of the marker 2. As a result, when the attitude of the drone 10 in the air is tilted, the marker 2 launched from the marker launching device 12 may land at a position deviated from the assumed drawing position.

Therefore, the ground side control unit 22 is in each section 12a at the current position P (X, Y, Z) based on the rotation angle θ (α, β, γ) of the drone 10 and the flight speed V of the drone 10. The predicted position where the marker 2 fired from is landed on the drawing target portion 100 is calculated. The ground side control unit 22 determines that the calculated predicted position is within the range in which the marker 2 can be drawn at the present time, and creates the launch map 441 shown in FIG. 7 (step S12).

Further, the ground side control unit 22 can draw the marker 2 at the present time in the range corresponding to the section 12a in which the marker 2 that can be fired at the present time remains, based on the remaining number of the markers 2 accommodated in each section 12a. It is determined that the range is within the range, and the launch map 441 shown in FIG. 7 is created (step S12).

Further, when the ground side control unit 22 is flying the scheduled flight line Ln for the first time, as shown in the range surrounded by a thick solid line in the figure, from the section 12a located on the central side of the marker launching device 12. A launch map 441 is created so that the marker 2 is fired preferentially (step S12). As a result, the marker 2 can be prevented from being fired first from the outer section 12a (the section 12a in the range surrounded by the thick solid line and the thick broken line in the figure). As a result, it is possible to suppress the tendency of the center of gravity of the marker launching device 12 to shift as the marker 2 is launched from the outer compartment 12a, and to stabilize the posture of the drone 10. .. Therefore, the drawing accuracy of the marker 2 can be further improved.

Since the ground side control unit 22 includes the planned marking point M * in the launch map 441 shown in FIG. 7 (step S13, Yes), the actual marking point M is included in the planned marking point M * in the launch map 441. It is determined whether or not it is included (step S14). In the example at time t1 shown in FIG. 7, since the actual marking point M is not included in the launch map 441, the drone side control unit 14 starts from the section 12a corresponding to the planned marking point M * in the launch map 441. , Outputs an automatic firing command for firing the marker 2 to the marker firing device 12 (step S16). Further, the ground side control unit 22 stores the actual result of drawing the marker 2 at the planned marking point M * as the actual marking point M (see the black circle in FIG. 8) in the ground side storage unit 21 (step S17). ..

Next, FIG. 8 shows an example in which the drone 10 is flying at a flight speed V at an arbitrary time t2 in a state where the drone 10 is separated from the scheduled flight line Ln and is inclined with respect to the scheduled flight line Ln. .. The example shown in FIG. 8 shows the case where the drone 10 is flying the scheduled flight line Ln for the first time.

The ground-side control unit 22 creates the launch map 442 shown in FIG. 8 in the same procedure as the example of FIG. 7 described above (step S12). That is, the drone side control unit 14 is in each section 12a at the current position P (X, Y, Z) based on the rotation angle θ (α, β, γ) of the drone 10 and the flight speed V of the drone 10. The predicted position where the marker 2 fired from is landed on the drawing target portion 100 is calculated. The ground side control unit 22 determines that the calculated predicted position is within the range in which the marker 2 can be drawn at the present time, and creates a launch map 442. Further, the ground side control unit 22 determines that the range corresponding to the section 12a in which the marker 2 that can be fired at the present time remains is the range in which the marker 2 can be drawn at the present time, and creates the launch map 442. Further, the ground side control unit 22 creates a launch map 442 so that the marker 2 is preferentially launched from the section 12a located on the central side of the marker launcher 12.

Since the ground side control unit 22 includes the planned marking point M * in the launch map 442 shown in FIG. 8 (step S13, Yes), the actual marking point M is included in the planned marking point M * in the launch map 442. It is determined whether or not it is included (step S14). In the example shown in FIG. 8, the actual marking point M indicated by the black circle is included in the launch map 442 (step S14, Yes). Therefore, the ground side control unit 22 deletes the actual marking point M from the planned marking points M * included in the launch map 442 (step S15), and starts from the section 12a corresponding to the remaining planned marking points M *. , An automatic firing command for firing the marker 2 is output to the marker firing device 12 (step S16). Further, the ground side control unit 22 stores the result of drawing the marker 2 at the planned marking point M * in the ground side storage unit 21 as the actual marking point M (step S17).

As described above, the flight type drawing device 1 is flying at the current position P (X) of the drone 10 even when the drone 10 is flying away from the scheduled flight line Ln and tilted with respect to the scheduled flight line Ln. , Y, Z), attitude (rotation angle θ (α, β, γ)), flight speed V, a launch map 442, which is a range in which the marker 2 can be drawn at present, is created, and a launch map 442 is created. Marker 2 is drawn at the planned marking point M * according to the above. Therefore, it is possible to prevent the marker 2 from being drawn at a position different from the planned marking point M *, and it is possible to improve the drawing accuracy of the marker 2. Further, the marker 2 is quickly drawn at the planned marking point M * without correcting the current position P (X, Y, Z) and the posture (rotation angle θ (α, β, γ)) of the drone 10. Can be done. By repeatedly executing this procedure, the marker 2 is sequentially drawn from the marker launcher 12 at each planned marking point M * during the flight of the scheduled flight line Ln, and the marker 2 is drawn at the scheduled flight line Ln. The position is stored as the actual marking point M (see the black circle in FIG. 9).

Next, FIG. 9 shows the flight speed of the drone 10 at an arbitrary time t3, with the drone 10 along the scheduled flight line Ln and with the drone 10 returning to a posture not tilted with respect to the scheduled flight line Ln. An example of flying at V is shown. The example shown in FIG. 9 shows a case where the drone 10 flies on the scheduled flight line Ln for the second time or later.

The ground side control unit 22 creates the launch map 433 in the same procedure as the examples shown in FIGS. 7 and 8. However, the ground-side control unit 22 launches the marker 2 so that when the drone 10 flies the scheduled flight line Ln for the second time or later, the marker 2 is also launched from the section 12a located outside the marker launcher 12. To create. As a result, as shown in FIG. 9, the marker 2 can be drawn more reliably at the planned marking point M * where the marker 2 was not drawn during the first flight of the scheduled flight line Ln. Therefore, it is possible to satisfactorily suppress drawing omission of the planned marking point M *.

As described above, in the flight-type drawing device 1 according to the embodiment, while the drone 10 as a flying object is flying over the drawing target portion 100, the current position P (X, Y, Z) of the drone 10 is Included in the launch map 44 using the launch map 44 (launch maps 441-443) that defines the range in which the marker 2 can be drawn for each current position P (X, Y, Z) according to the change. The marker 2 can be launched from each section 12a of the marker launcher 12 corresponding to the planned marking point M *. As a result, when the current position P (X, Y.Z) of the drone 10 deviates from the originally assumed position, the marker 2 is drawn at a position different from the planned marking point M * without moving the drone 10 itself. Can be suppressed. Further, since it is not necessary to move the drone 10 itself, the marker 2 can be quickly drawn at the planned marking point M *. Therefore, the flight-type drawing apparatus 1 according to the embodiment can shoot the marker 2 from the air to draw the marking point on the drawing target portion 100 with high accuracy and promptly.

Further, when the planned marking point M * in the launch map 44 is the actual marking point M on which the marker 2 has been drawn, the ground side control unit 22 sets the actual marking point M among the plurality of sections 12a. The marker 2 is not fired from the corresponding compartment 12a (steps S14 to S16).

According to this configuration, it is possible to prevent the marker 2 from being drawn on the portion where the marker 2 is once drawn, so that the drawing quality of the marking points can be improved.

Further, the information acquisition unit 13 further acquires the attitude (rotation angle θ (α, β, γ)) of the drone 10 in the air, and the ground side control unit 22 of the drone 10 acquired by the information acquisition unit 13. At the current position P (X, Y, Z), when the drone 10 is in the posture acquired by the information acquisition unit 13, the launch map 44 (launch map 442) that defines the range in which the marker 2 can be drawn is defined. ) Is created.

According to this configuration, at the current position P (X, Y, Z) of the drone 10, the launch map 44 (launch map 442) that defines the range in which the marker 2 can be drawn according to the attitude of the drone 10 in the air. ) Can be used to launch the marker 2 from the section 12a of the marker launcher 12 corresponding to the planned marking point M * included in the launch map 44 (launch map 442). As a result, when the attitude of the drone 10 in the air deviates from the originally assumed attitude, it is possible to suppress drawing the marker 2 at a position different from the planned marking point M * without correcting the attitude of the drone 10. be able to. Further, since it is not necessary to correct the posture of the drone 10, the marker 2 can be quickly drawn at the planned marking point M *.

Further, the information acquisition unit 13 further acquires the flight speed V of the drone 10, and the ground side control unit 22 drones at the current position P (X, Y, Z) of the drone 10 acquired by the information acquisition unit 13. When the 10 is flying at the flight speed V acquired by the information acquisition unit 13, the launch map 44 (launch maps 441 to 443) that defines the range in which the marker 2 can be drawn is created.

According to this configuration, at the current position P (X, Y, Z) of the drone 10, the launch map 44 (launch map 441-) that defines the range in which the marker 2 can be drawn according to the flight speed V of the drone 10. Using 443), the marker 2 can be launched from the section 12a of the marker launcher 12 corresponding to the planned marking point M * included in the launch map 44 (launch maps 441-443). As a result, it is possible to prevent the marker 2 from being drawn at a position different from the planned marking point M * due to the flight speed V of the drone 10.

Further, the marker launching device 12 launches the marker 2 in the vertical direction downward by free fall.

According to this configuration, the reaction force acting on the drone 10 by firing the marker 2 can be reduced as compared with the case where the marker 2 is accelerated and forcibly fired, so that the position and posture of the drone 10 in the air are stable. Can be achieved. As a result, the marker 2 can be drawn accurately at the planned marking point M *.

Further, the marker 2 is a pile-shaped member that lands and pierces the drawing target portion 100.

According to this configuration, the stake-shaped marker 2 can be landed and fixed to the drawing target portion 100. Therefore, for example, when a paint using a paintball or the like is used as the marker 2, the drawing target portion such as the ground surface is covered with paint. It will not be absorbed by 100. Further, when a paint such as a paintball is used as the marker 2, there are irregularities (for example, ruts caused by a large civil engineering work vehicle or local undulations of terrain) on the drawing target portion 100, and drawing is performed from the flight type drawing device 1. Due to the fact that the distance to the target portion 100 is not constant, the paintball does not burst at the point of impact and the paint is not printed, or the printed state due to the paint is not significantly changed or deformed. Therefore, the visibility of the drawn marker 2 can be improved. Further, regardless of the undulating shape of the drawing target portion 100, the marker 2 can be drawn while the drone 10 is flying at a constant height, so that the drone 10 can be stably flown and the marker 2 is drawn. It is possible to improve the accuracy.

Further, the ground side control unit 22 flies the drone 10 on the drawing target unit 100 along the plurality of scheduled flight lines Ln created based on the plurality of planned marking points M *, while the plurality of planned marking points M. * Causes the marker 2 to be launched from the marker launcher 12.

According to this configuration, the marker 2 is drawn at the planned marking point M * while flying the drone 10 along the plurality of scheduled flight lines Ln created by reflecting the positions of the plurality of planned marking points M *. Therefore, efficient drawing of the marker 2 becomes possible.

Further, the ground side control unit 22 makes the drone 10 fly along one of the scheduled flight lines Ln at a constant flight speed V without stopping.

According to this configuration, since the flight speed V of the drone 10 does not change during the drawing of the marker 2, the attitude of the drone 10 can be stabilized and the drawing accuracy of the marker 2 can be improved.

In this embodiment, the launch map is based on the current position P (X, Y, Z) of the drone 10, the attitude (rotation angle (θ (α, β, γ)), and the flight speed V). Although it is assumed that 44 is created, the launch map 44 may be created based on at least the current position P (X, Y, Z) of the drone 10. The launch map 44 may be created based on the current position P of the drone 10. It may be created based on (X, Y, Z) and posture (rotation angle (θ (α, β, γ)), or the current position P (X, Y, Z) of the drone 10. And, it may be created based on the flight speed V.

Further, the marker launching device 12 may accelerate the marker 2 along the vertical direction and forcibly launch the marker 2. In this case, the information acquisition unit 13 acquires the rate of fire Vm of the marker 2 by the marker launching device 12, and the ground side control unit 22 informs the drone 10 at the current position P (X, Y, Z) of the drone 10. A launch map that defines the range in which the marker 2 can be drawn when the marker 2 is launched at a rate of fire Vm, taking the posture acquired by the acquisition unit 13 (rotation angle θ (α, β, γ)). 44 may be created.

In FIG. 10, the range sandwiched by the alternate long and short dash arrow indicates that the drone 10 is tilted in the air and the marker 2 is accelerated and launched from the section 12a of the marker launching device 12 at a rate of fire Vm. The maximum drawing width W3 of the marker 2 is shown. As shown in the figure, when the drone 10 is tilted in the air, the drawing width W3 of the marker 2 when the marker 2 is accelerated and fired at the rate of fire Vm is the marker when the marker 2 is freely dropped. It may be wider than the drawing widths W1 and W2 of 2. That is, when the attitude of the drone 10 in the air is tilted, the marker 2 launched from the marker launching device 12 may have a large deviation amount from the assumed drawing position according to the rate of fire Vm.

Therefore, the ground side control unit 22 has the current position P (X, Y) based on the rotation angle θ (α, β, γ) of the drone 10, the flight speed V of the drone 10, and the rate of fire Vm of the marker 2. , Z), the predicted position where the marker 2 fired from each section 12a lands on the drawing target portion 100 is calculated. The ground side control unit 22 determines that the calculated predicted position is within the range in which the marker 2 can be drawn at the present time, and creates the launch map 44 (step S12).

According to this configuration, at the current position P (X, Y, Z) of the drone 10, a launch map that defines a range in which the marker 2 can be drawn according to the attitude of the drone 10 in the air and the rate of fire Vm of the marker 2. The 44 can be used to launch the marker 2 from the compartment 12a of the marker launcher 12 corresponding to the planned marking point M * included in the launch map 44. As a result, even when the attitude of the drone 10 in the air deviates from the originally assumed attitude and the landing position of the marker 2 can deviate from the originally assumed attitude according to the firing speed Vm of the marker 2, the attitude of the drone 10 It is possible to suppress drawing the marker 2 at a position different from the planned marking point M * without modifying. Further, since it is not necessary to correct the posture of the drone 10, the marker 2 can be quickly drawn at the planned marking point M *.

The marker launching device 12 may accelerate the marker 2 at a predetermined angle with respect to the vertical direction and forcibly launch the marker 2. In this case, the information acquisition unit 13 acquires a predetermined angle for launching the marker 2 in addition to the firing speed Vm of the marker 2 by the marker launching device 12, and the ground side control unit 22 acquires the current position P (X) of the drone 10. , Y, Z), when the drone 10 is in the posture (rotation angle θ (α, β, γ)) acquired by the information acquisition unit 13 and the marker 2 is launched at a firing speed Vm and a predetermined angle. , The launch map 44 that defines the range in which the marker 2 can be drawn may be created.

Further, in the present embodiment, at the time of the first flight of the scheduled flight line Ln, the marker 2 is preferentially launched from the section 12a located on the center side of the marker launching device 12, and the second and subsequent flights of the scheduled flight line Ln are performed. Occasionally, the launch map 44 was created so that the marker 2 could also be launched from the compartment 12a located outside the marker launcher 12. The division 12a located on the central side of the marker launcher 12 and the division 12a located on the outer side may be divided at any position, or may be divided into two or more. Further, the launch map 44 may be created so that the marker 2 is launched from the section 12a located outside the marker launcher 12 even during the first flight of the scheduled flight line Ln. Further, the launch map 44 may be created so that the marker 2 is launched from the section 12a located outside the marker launcher 12 at the time of the flight of the scheduled flight line Ln after the third flight instead of the second and subsequent flights. ..

Further, the information acquisition unit 13 may be capable of acquiring the undulating shape of the drawing target unit 100. For example, the drone 10 is equipped with a scanning device capable of acquiring the undulating shape of the drawing target portion 100, and before executing the control for drawing the marker 2, the drone 10 is once flown over the drawing target portion 100 and undulated. Get the shape. Then, when creating the launch map 44, drawing is performed from the drone 10 based on the undulating shape of the drawing target unit 100 acquired by the information acquisition unit 13 and the current position P (X, Y, Z) of the drone 10. The vertical distance to the target portion 100 is calculated. Then, based on the calculated vertical distance from the drone 10 to the drawing target portion 100, the rotation angle θ (α, β, γ) of the drone 10, and the flight speed V of the drone 10 (furthermore, a marker). At the current position P (X, Y, Z) at the current position P (X, Y, Z) based on the firing speed Vm of 2 and the predetermined angle of firing of the marker 2, the predicted position where the marker 2 launched from each section 12a lands on the drawing target portion 100. Is calculated. As a result, the predicted position at which the marker 2 will land on the drawing target portion 100 can be calculated more accurately to create the launch map 44. As a result, even when the drone 10 is flown at a constant height, the drawing accuracy of the marker 2 on the planned marking point M * can be further improved.

Further, in the present embodiment, the drone 10 is made to fly at a constant flight speed V along the scheduled flight line Ln without stopping (hovering state), but the drone 10 is of the scheduled flight line Ln. It may stop at any position (it may be in a hovering state), and the flight speed V may not be constant. For example, when the drone 10 is flying along the scheduled flight line Ln, if the range in which the planned marking point M * does not exist on the planned map 41 continues for a predetermined distance or more, the flight speed V may be increased. Further, the planned flight line Ln does not have to have a constant height in the vertical direction. That is, the drone 10 flying along the scheduled flight line Ln does not have to always fly at the same height.

Further, the air vehicle is not limited to the drone 10, but is a radio helicopter, an unmanned aerial vehicle (UAV), or a manned aircraft such as an aircraft with an autopilot function, according to a flight instruction from the ground side control unit 24. It may be an aircraft operated by a pilot or the like.

Further, the marker 2 is not limited to a pile-shaped member that lands and pierces the drawing target portion 100, and may be a paint ball or the like containing paint.

Further, in the present embodiment, the ground side storage unit 21 stores the plan map 41, the actual map 42, and the planned flight line data 43, and the ground side control unit 22 automatically controls the drone 10 and automatically controls the marker device 12. It was decided to execute launch control. As a result, the functions of the drone side control unit 14 and the drone side storage unit 15 can be simplified and the increase in size can be suppressed. As a result, the drone 10 can be made smaller and lighter.

It should be noted that some of the functions provided by the ground-side storage unit 21 and the ground-side control unit 22 may be provided on the drone 10 side. For example, the drone side control unit 14 may execute the automatic flight control of the drone 10, and the scheduled flight line data 43 created (or prepared in advance) in the automatic flight control may be stored in the drone side storage unit 15. .. In this case, the drone side control unit 14 acquires the plan map 41 and the actual map 42 from the ground side storage unit 21 by communication, and based on the acquired plan map 41 and the actual map 42, the planned flight line data in the automatic flight control. 43 may be created, and n-line flight control of the drone 10 along the scheduled flight line Ln may be executed.

Further, the drone side control unit 14 may execute the automatic firing control of the marker launching device 12. In this case as well, the drone side control unit 14 acquires the plan map 41 and the actual map 42 from the ground side storage unit 21 by communication, and based on the acquired plan map 41 and the actual map 42, the launch map in the automatic launch control. 44 may be created, and automatic launch control of the marker launcher 12 may be executed based on the created launch map 44. Further, the actual result map 42 may be updated by the automatic launch control, and the updated actual result map 42 may be transmitted to the ground side storage unit 21. In this way, by executing the automatic flight control and the automatic launch control in the drone side control unit 14, it is possible to improve the control responsiveness.

Further, the position detection support unit 30 may be a laser tracker. In this case, a reflection target that reflects the laser light from the laser tracker is attached to the drone 10, the laser light is irradiated from the laser tracker toward the reflection target of the drone 10, and the laser light reflected from the reflection target is input. Then, the current position P (X, Y, Z) and the rotation angle θ (α, β, γ) of the drone 10 can be measured. Further, the position detection support unit 30 shoots the drone 10 flying over the drawing target unit 100 by a plurality of shooting devices including the peripheral image, and synthesizes the shot video to perform the current position P of the drone 10 ( It may be a position detection device by image processing having a function of measuring X, Y, Z).

Further, in the n-line flight control shown in FIG. 5, the position detection support unit 30 acquires or acquires a laser tracker or an image by GPS when correcting the attitude of the drone 10 in step S305 or the flight direction of the drone 10 in step S307. Based on the current position P (X, Y, Z) and rotation angle θ (α, β, γ) of the drone 10 measured by the position calculation device by processing, the current position P (X, Y, Z) and rotation angle θ A correction amount calculation unit that calculates the correction amount of (α, β, γ) and transmits it to the ground side control unit 22 may be provided. The ground side control unit 22 corrects the attitude of the drone 10 or flies based on the correction amount of the current position P (X, Y, Z) and the rotation angle θ (α, β, γ) received from the correction amount calculation unit. Correct the direction.

1 Flight type drawing device 2 Marker 10 Drone 11 Flight device 11a Rotor 11b Propeller 12 Marker launcher 12a Section 13 Information acquisition unit 14 Drone side control unit 15 Drone side storage unit 16 Drone side communication unit 20 Ground operation device 21 Ground side storage unit 22 Ground side control unit 23 Control unit 23a Flight control device 23b Launch operation device 24 Ground side communication unit 30 Position detection support unit 41 Plan map 42 Actual map 43 Scheduled flight line data 44,441,442,443 Launch map 100 Drawing target Part Ln Scheduled flight line M * Planned marking point M Actual marking point

Claims (9)

An air vehicle flying in the air on the drawing target part,
A marker launcher mounted on the aircraft and capable of launching markers in multiple compartments,
An information acquisition unit that acquires information including the current position of the aircraft in the air, and
A control unit that controls the flight of the flying object and controls the launching of the marker by the marker launching device.
With
The control unit
While the flying object is flying over the drawing target portion, the range in which the marker can be drawn is set for each current position according to the change in the current position of the flying object acquired by the information acquisition unit. Create a specified launch map and
When there are a plurality of planned marking points on the drawing target portion in the launch map, which are positions where the marker should be drawn, the marker is launched from the section corresponding to the planned marking point among the plurality of sections. Let,
A flight-type drawing device characterized by this. When the planned marking point in the launch map is a performance marking point on which the marker has been drawn, the control unit may select the section corresponding to the performance marking point among the plurality of sections. The flight-type drawing apparatus according to claim 1, wherein the marker is not fired. The information acquisition unit further acquires the attitude of the air vehicle in the air, and obtains the attitude of the aircraft.
The control unit can draw the marker at the current position of the flying object acquired by the information acquisition unit when the flying object is in the posture acquired by the information acquisition unit. Create the launch map that specifies
The flight-type drawing apparatus according to claim 1 or 2. The information acquisition unit further acquires the flight speed of the flying object, and obtains the flight speed of the flying object.
The control unit can draw the marker at the current position of the flying object acquired by the information acquisition unit when the flying object is flying at the flight speed acquired by the information acquisition unit. Create the launch map that defines the range
The flight-type drawing apparatus according to claim 1 or 2. The marker launcher accelerates and fires the marker.
The information acquisition unit further acquires the rate of fire of the marker.
The control unit takes the posture acquired by the information acquisition unit at the current position of the air vehicle acquired by the information acquisition unit, and the control unit has acquired the information acquisition unit. When the marker is fired at the rate of fire, the firing map that defines the range in which the marker can be drawn is created.
The flight-type drawing apparatus according to claim 3. The flight-type drawing device according to any one of claims 1 to 4, wherein the marker launching device launches the marker downward in the vertical direction by free fall. The flight-type drawing apparatus according to any one of claims 1 to 6, wherein the marker is a stake-shaped member that lands and pierces the drawing target portion. The control unit makes the flying object fly on the drawing target unit along a plurality of scheduled flight lines created based on the plurality of planned marking points, and the marker launching device is applied to the plurality of planned marking points. The flight-type drawing device according to any one of claims 1 to 7, wherein the marker is fired from the above. Wherein the control unit, flight type drawing apparatus according to claim 8, characterized in that to fly without stopping the aircraft along one of the planned flight lines at a constant flight speed.

Images