Abstract

The present invention relates to a technology for improving the accuracy of autonomous flight of an aircraft. Provided is an autonomous flight method for an aircraft 1 that tracks a linear member. The autonomous flight method includes: a linear member model acquisition step for using point cloud data to acquire a linear member model; a control information generation step for generating flight control information on the basis of the linear member model; a movement step for moving the aircraft to a new location on the basis of the flight control information; a point cloud data acquisition step for acquiring the point cloud data; and a linear member model updating step for updating the linear member model using the acquired point cloud data. The linear member is tracked by: generating the flight control information in the control information generation step on the basis of the linear member model updated in the linear member model updating step, and executing the movement step; and acquiring the new point cloud data in the point cloud data acquisition step and executing the linear member model updating step.

IPC Classes  ?

• G05D 1/46 - Control of position or course in three dimensions
• B64U 10/13 - Flying platforms

Abstract

Provided is a system for accurately and autonomously flying a flying object, even when GPS information cannot be acquired.　This position estimation system for autonomously flying a flying object in a space in which a marker associated with a marker coordinate indicating its own installation position is installed, comprises: an acquisition means for acquiring an image including the marker, that is photographed by a first imaging means provided in the flying object; a self-coordinate estimation means for estimating the self-coordinates of the flying object, on the basis of the marker coordinates corresponding to the marker photographed by the first imaging means; and a control means for transmitting information based on the self-coordinates to a flight controller that performs autonomous flight control of the flying object.

IPC Classes  ?

• B64C 13/18 - Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
• B64D 47/08 - Arrangements of cameras
• G05D 1/10 - Simultaneous control of position or course in three dimensions

Abstract

Provided is a self-location specification method by which it is possible to specify the location of a moving body with stable precision irrespective of the shape of a structure. The self-location specification method for a moving body 1 comprising a laser light output unit A1 that outputs laser light L, an imaging unit A2, and a processing unit A3 has: an irradiation step for irradiating wall surfaces W1, W2 with the laser light L; an imaging step for acquiring image data including projection lights T1, T2 of the laser light L projected on the wall surfaces W1, W2; and an analysis step for analyzing the image data, the analysis step involving specifying the orientation of the moving body 1 and the distance from the wall surfaces W1, W2 on the basis of the shape of the projection lights T1, T2 included in the image data.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G05D 1/10 - Simultaneous control of position or course in three dimensions
• G01B 11/00 - Measuring arrangements characterised by the use of optical techniques
• G01B 11/26 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes
• G01C 21/20 - Instruments for performing navigational calculations
• G06T 7/521 - Depth or shape recovery from laser ranging, e.g. using interferometryDepth or shape recovery from the projection of structured light

Abstract

There is provided a flight management system for managing a flight plan of flying objects that fly among ports. The flight management system includes a plurality of port management apparatuses and a flight management apparatus that manages a flight plan of a plurality of flying objects that autonomously fly among the ports, in which each of the port management apparatuses includes determination means for determining whether or not landing or takeoff of the flying objects on or from the corresponding port is possible, and possibility information output means for transferring to the flying objects possibility information about the possibility, and the flight management apparatus includes flying object information reception means for receiving flying object information including flying object position information about a position of each of the flying objects, flight plan registration means for registering the flight plan for flying between the port as a start point and the port as a target point, flight plan change means for changing the flight plan based on the received flying object position information or changed another flight plan, and instruction information output means for outputting instruction information for instructing the flying object about the flight plan.

IPC Classes  ?

• G08G 5/00 - Traffic control systems for aircraft
• B64C 39/02 - Aircraft not otherwise provided for characterised by special use
• B64D 47/08 - Arrangements of cameras
• G08G 5/02 - Automatic landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data

Abstract

The present invention addresses the problem of providing a system for preferably performing training for a manual operation of a moving object such as a robot and a drone. This history management system including an operation device for operating a moving object that can be manually operated is characterized in that the operation device is provided with: a means for outputting an operation signal for operating the movement of the moving object on the basis of an input to an input unit; a means for generating history information pertaining to a series of movements having an input value of the input and time information that are associated with each other; and a means for displaying, on the basis of the history information, a history confirmation screen including an input history display of the input value corresponding to an input state on a time axis.

IPC Classes  ?

• G09B 19/16 - Control of vehicles or other craft
• G09B 19/00 - Teaching not covered by other main groups of this subclass
• B64C 13/20 - Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
• B64C 39/02 - Aircraft not otherwise provided for characterised by special use
• B64D 47/00 - Equipment not otherwise provided for
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Abstract

A flight management system that manages flight conditions of a plurality of flying objects and that causes the flying objects to work together in a coordinated manner to accomplish a purpose. The flight management system includes a flight management apparatus that receives instruction information, that registers a job, and that based on the job, gives a motion instruction to one or more flying objects. The flight management system includes also a job generator that generates a job, and a motion instructor that gives a motion instruction to the flying object. The job generator includes a search system that retrieves a work-performing flying object, a route setter that derives a flight route for the work-performing flying object, a time calculator that calculates a work time, and a registering system that registers a generated job.

IPC Classes  ?

• B64C 39/02 - Aircraft not otherwise provided for characterised by special use
• B64D 47/08 - Arrangements of cameras
• B64F 1/36 - Other airport installations
• B64D 45/00 - Aircraft indicators or protectors not otherwise provided for
• G08G 5/04 - Anti-collision systems
• G08G 5/00 - Traffic control systems for aircraft
• G05D 1/10 - Simultaneous control of position or course in three dimensions
• G06Q 10/06 - Resources, workflows, human or project managementEnterprise or organisation planningEnterprise or organisation modelling

Abstract

The present invention addresses the problem of providing a flight management system for managing flight plans of flying objects that fly between ports. This flight management system which is equipped with multiple port management devices and a flight management device for managing the flight plans of multiple flying objects that fly autonomously between ports, is characterized in that the port management devices are equipped with a determination means for determining whether a flying body can land at a port or can take off from a port, and a possibility information output means for transferring possibility information related to the possibility to the flying body, and the flight management device is equipped with a flying body information reception means for receiving flying body information that includes flying body position information related to the positon of the flying body, a flight plan registration means for registering a flight plan for flying between a departure port and a destination port, a flight plan changing means for changing the flight plan on the basis of the received flying body position information or another, changed flight plan, and an instruction information output means for outputting instruction information for instructing the flying body regarding the flight plan.

IPC Classes  ?

• G08G 5/00 - Traffic control systems for aircraft
• B64C 13/18 - Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
• B64C 39/02 - Aircraft not otherwise provided for characterised by special use
• B64D 45/00 - Aircraft indicators or protectors not otherwise provided for
• B64D 47/08 - Arrangements of cameras
• B64F 1/36 - Other airport installations
• G01C 21/26 - NavigationNavigational instruments not provided for in groups specially adapted for navigation in a road network
• G08G 5/02 - Automatic landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data

Abstract

A heavy-weight object such as a motor is installed separately from a movable portion to reduce the weight of the movable portion. The invention includes a support unit, a movable unit to which equipment is attached, and a drive unit interposed between the support unit and the movable unit. The movable unit has a first rotating member rotatably attached to the support unit about a first rotation axis line and a second rotating member rotatably attached to the first rotating member about a second rotation axis line orthogonal to the first rotation axis line. The support unit is provided with paired first brackets positioned so as to sandwich the first rotating member, and these first brackets are each provided with a first shaft configuring the first rotation axis line. The second rotating member is provided with paired second brackets positioned so as to sandwich the first rotating member from a direction orthogonal to the paired first brackets, and the second brackets are each provided with a second shaft configuring the second rotation axis line and causing the first rotating member to rotatably support the second rotating member. The drive unit includes paired motors attached to the support unit and having a rotation axis line parallel to each of the first shafts, an endless belt wound between a pulley and each of the motors, and paired gears respectively attached to the first shaft and the second shaft adjacent to each other as a set and converting rotation about the first rotation axis line into rotation about the second rotation axis line. One of the gears is fastened to the pulley and is rotatably attached to the first rotating member, the other gear is fastened to the second bracket of the second rotating member, and to the first shaft to which the gear is not attached, the pulley provided to this first shaft and the first rotating member are fastened.

IPC Classes  ?

• F16H 37/06 - Combinations of mechanical gearings, not provided for in groups comprising essentially only toothed or friction gearings with a plurality of driving or driven shaftsCombinations of mechanical gearings, not provided for in groups comprising essentially only toothed or friction gearings with arrangements for dividing torque between two or more intermediate shafts
• B64C 17/06 - Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus by gyroscopic apparatus
• G03B 15/00 - Special procedures for taking photographsApparatus therefor
• G03B 17/00 - Details of cameras or camera bodiesAccessories therefor
• G03B 17/56 - Accessories
• H04N 5/222 - Studio circuitryStudio devicesStudio equipment
• B23Q 3/157 - Arrangements for automatic insertion or removal of tools of rotary tools
• B25J 17/00 - Joints
• F16H 21/46 - Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
• B25J 17/02 - Wrist joints

Abstract

A safety management system to prevent unauthorized use, accident, resale, theft, and so forth of a flying object. The safety management system includes changing, at a motor controller, a power feeding amount to each drive unit based on an instruction from a main control unit, an authentication information storage unit which records registered identification information for performing operator authentication, an authentication accepting unit which accepts an input of input identification information, an operator authentication unit which performs operator authentication of an operator of the flying object based on the input identification information and the registered identification information, and a safety managing unit connected between a power source of the flying object and the motor controller of the flying object. The safety managing unit includes a switch which controls electrical connection between the motor controller and the power source based on the result of the operator authentication.

IPC Classes  ?

• B64D 45/00 - Aircraft indicators or protectors not otherwise provided for
• B64D 27/24 - Aircraft characterised by the type or position of power plants using steam or spring force
• G06F 21/31 - User authentication
• G06F 21/44 - Program or device authentication
• G06F 21/85 - Protecting input, output or interconnection devices interconnection devices, e.g. bus-connected or in-line devices
• B64C 39/02 - Aircraft not otherwise provided for characterised by special use
• B64U 10/13 - Flying platforms
• B64U 30/20 - RotorsRotor supports
• B64U 50/19 - Propulsion using electrically powered motors
• G06F 21/62 - Protecting access to data via a platform, e.g. using keys or access control rules

Abstract

[Problem] To stably fly an aerial drone, discover abnormal parts on a duct inner wall and identify the locations thereof when adopting the aerial drone for inspecting the inner wall of a duct. [Solution] Up and down, and left and right are controlled by providing an aerial drone (20) with a vertical transceiver which oscillates infrared or laser light towards the upper and lower walls in the vertical direction and receives the reflected light; and a horizontal transceiver which oscillates infrared or laser light towards the left and right wall in the cross-section perpendicular to the direction of travel, and receives the reflected light. The inspection device is provided with: a camera (22) which images the inner wall of the duct and acquires the imaging data; a current position determining means for determining the current position of the aerial drone (20) in the duct; and an imaging data recording means which links the imaging position to the imaging data from the camera (22) and records the same.

IPC Classes  ?

• E03F 7/00 - Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppageEmptying cesspools
• G05D 1/10 - Simultaneous control of position or course in three dimensions

Abstract

The present invention addresses the problem of providing a flight management system for accomplishing a purpose by managing flight conditions of a plurality of flying objects and coordinating the flights of the flying objects. This flight management system is provided with a flight management device that receives instruction information to be sent to flying objects, and registers jobs on the basis of performance information and status information of the flying objects, and gives movement instructions to one or more of the flying objects in accordance with the registered jobs. The flight management system is characterized by having a job generation means that generates a job on the basis of the instruction information, and having a movement instruction means that gives a movement instruction to a flying object in accordance with the registered job, wherein the job generation means is provided with: a search means that derives a work-performing flying object on the basis of the instruction information, the status information, and the performance information; a path determination means that derives a flight path for the work-performing flying object on the basis of the instruction information and region information concerning a region in which work is to be carried out; a time calculation means that derives a worktime for the work-performing flying object; and a registration means that registers the generated job.

IPC Classes  ?

• G08G 5/00 - Traffic control systems for aircraft
• B64C 39/02 - Aircraft not otherwise provided for characterised by special use
• B64D 45/00 - Aircraft indicators or protectors not otherwise provided for
• B64D 47/08 - Arrangements of cameras
• B64F 1/36 - Other airport installations
• B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Abstract

The present invention achieves weight reduction of a movable part by separately installing a heavy item, such as a motor, from the movable part. An attitude control device is provided with: a support unit; a movable unit to which a device is mounted; and a drive unit interposed between the support unit and the movable unit, wherein the movable unit includes a first rotating member mounted to the support unit rotatably about a first rotating axis, and a second rotating member mounted to the first rotating member rotatably about a second rotating axis perpendicular to the first rotating axis. The support unit is provided with a pair of first brackets positioned so as to sandwich the first rotating member, each of the first brackets being provided with a first shaft constituting the first rotating axis. The second rotating member is provided with a pair of second brackets positioned so as to sandwich the first rotating member from a direction perpendicular to the pair of first brackets, each of the second brackets being provided with a second shaft constituting the second rotating axis and allowing the second rotating member to be rotatably supported by the first rotating member. The drive unit is provided with: a pair of motors which are mounted to the support unit and each of which has an axis of rotation parallel with the first shafts; endless bands wound between pulleys and the motors; and a pair of gears which are respectively mounted to the first shaft and the second shaft forming an adjacent set, and which convert rotation about the first rotating axis into rotation about the second rotating axis, one of the gears being fixed to one of the pulleys while being freely rotatably mounted to the first rotating member, the other gear being fixed to the second bracket of the second rotating member, wherein the pulley with which the first shaft is provided and the first rotating member are fixed to the first shaft to which no gear is mounted.

IPC Classes  ?

• G03B 17/56 - Accessories
• B64C 17/06 - Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus by gyroscopic apparatus
• F16H 37/06 - Combinations of mechanical gearings, not provided for in groups comprising essentially only toothed or friction gearings with a plurality of driving or driven shaftsCombinations of mechanical gearings, not provided for in groups comprising essentially only toothed or friction gearings with arrangements for dividing torque between two or more intermediate shafts
• G03B 15/00 - Special procedures for taking photographsApparatus therefor
• G03B 17/00 - Details of cameras or camera bodiesAccessories therefor
• H04N 5/222 - Studio circuitryStudio devicesStudio equipment

Abstract

The purpose of the present invention is to provide a safety management system which can be easily installed in an existing aircraft in order to prevent unauthorized use, accidents, resale, theft, etc. This aircraft safety management system controls flight by changing the amount of power supplied to the drive units by means of a motor controller on the basis of a command from a main control unit, and is characterized by being provided with an authentication information storage unit which records registration identification information for performing pilot authentication, an authentication receiving means which receives input of input identification information, a pilot authentication means which performs pilot authentication of an aircraft pilot on the basis of the input identification information and the registration identification information, and a safety management unit which is connected between the power source of the aircraft and the motor controller of the aircraft, wherein the safety management unit is provided with a switch means for switching the electric connection state between the motor controller and the power source on the basis of the results of the pilot authentication.

IPC Classes  ?

• B64D 45/00 - Aircraft indicators or protectors not otherwise provided for
• B64C 39/02 - Aircraft not otherwise provided for characterised by special use
• B64D 27/24 - Aircraft characterised by the type or position of power plants using steam or spring force
• G06F 21/31 - User authentication
• G06F 21/60 - Protecting data