JP2022185210A - Unmanned aerial vehicle position measurement system, and position measurement method - Google Patents

Abstract

To make it possible to fly an Unmanned Aerial Vehicle (UAV) stably and continuously when flying the UAV using a position measurement system of the UAV with use of a total station (TS).SOLUTION: A TS installed on the ground, a UAV having an optical reflector loaded thereon, and an aviation monitor control device (PC) are communicatably connected. The TS is configured to receive reflection light, which is irradiation light radiated toward the UAV, reflected by the optical reflector loaded on the UAV, and returns, measure a current position (TS) of the UAV, and transmit the measured current position to the PC. The PC is configured to, when receiving the current position (TS), transmit (transfer) the received current position to the UAV. The UAV is configured to fly using the current position (TS). When the TS loses the UAV, the PC is configured to transfer a current position (EKF) sent from the UAV, to the TS. The TS is configured to control a direction of the irradiation light on the basis of the current position (EKF) sent from the PC, and resume tracking the UAV.SELECTED DRAWING: Figure 9

Description

The present invention relates to a position measurement system and a position measurement method for an unmanned flying object, and more particularly to technology for stably and continuously flying an unmanned flying object.

Unmanned flying objects (unmanned aerial vehicles, drones, etc., hereinafter referred to as "UAV (Unmanned Aerial Vehicle)") need to know their current position during flight for autonomous flight and ensuring safety. However, this current position is usually acquired by a GPS device (GPS: Global Positioning System) or an inertial navigation device (eg, an EKF device (EKF: Extended Kalman Filter)) mounted on the aircraft itself.

However, GPS devices are unable to stably provide location information in environments such as under bridges and inside buildings where signals sent from artificial satellites (hereinafter referred to as "GPS signals") are difficult to reach. Can not. In addition, the inertial navigation system has a large accumulation of error with moving distance, and the flight distance that can maintain safe flight is limited. Therefore, when flying a UAV in such an environment, it is necessary for a person to visually monitor the UAV during flight, and if autonomous flight or automatic control is difficult, switch to manual remote control and fly. The problem is that the burden on people involved in monitoring and maneuvering is heavy. Therefore, various schemes have been proposed to stably acquire the accurate current position of the UAV even in such an environment.

For example, Patent Document 1 discloses a UAV flight control system or terrain measurement system using a total station (hereinafter referred to as "TS") and an unmanned aircraft, and measures the flight position of the UAV measured by the TS in real time. A system configured for transmission to a UAV is described. The TS superimposes the measurement data on the data transmission light, and the UAV separates the measurement data from the received light signal to obtain the flight position.

Also, for example, in Non-Patent Document 1, when the UAV is flying in a valley in a mountainous area or near a high structure such as an embankment, if the accuracy of GPS positioning information decreases, TS used in the field of surveying It is described to utilize the current position of the detected UAV.

For example, in Non-Patent Document 2, for surveying and inspection indoors or in a non-GPS environment, a prism mounted on a drone is irradiated with a laser beam from a TS to measure the position of the drone, and measurement data is sent from the drone to a tablet. , and the tablet software calculates the difference between the target point and the drone's current position from the measurement data, and sends movement instructions to the target point to the wireless transmitter ("Propo") used when a person pilots the drone. is also called.).

JP 2020-203664 A

``Development of ``DamLook,'' which improves the efficiency of aerial photography of dam banks and the quality and reproducibility of acquired images by autonomous navigation of UAVs using NEWS total stations, [online], September 17, 2020 Japan, Yachiyo Engineering Co., Ltd., [searched May 27, 2021], Internet, <URL: https://www.yachiyo-eng.co.jp/news/2020/09/post_487.html> ``TS Drone Control Software'', [online], September 17, 2020, Jitsuta Co., Ltd., [searched on May 27, 2021], Internet, <URL: https://www.jitsuta.co.jp /service-drone/〉

By the way, in the mechanism of UAV position measurement using TS, as described in Patent Document 1 and Non-Patent Documents 1 and 2, a laser beam (irradiation light) is irradiated from the TS toward the UAV, and the UAV Receive the reflected light that is reflected by the light reflector (360 degree prism, retroreflector, etc.) installed in the TS and return to the TS, and obtain the current position of the UAV based on the phase difference and time difference between the irradiated light and the reflected light, It provides the determined current position to the UAV.

For this reason, the range in which the TS can measure the position of the UAV is limited to the field of view of the TS. For example, when the UAV enters the field of view of the TS during flight ), the TS will be unable to determine the UAV's position. Also, even if the UAV is lost and then re-enters the field of view of the TS, the TS no longer knows the position of the UAV and cannot automatically start tracking the UAV.

In addition, the TS tracks the UAV by an automatic tracking mechanism while measuring the current position of the UAV, but the TS may be affected by various factors (if a vehicle, a person, or other obstacle passes between the TS and the light reflector, a gust of wind may occur). If the position or attitude of the UAV suddenly changes due to a sudden change in the UAV's flight speed, etc.), the UAV may be lost, in which case the UAV should be landed on the spot by autonomous control, or manually Need to switch to remote control.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a position measurement system and position measurement method for an unmanned aerial vehicle that can stably and continuously fly the unmanned aerial vehicle. and

One of the present inventions for achieving the above object is an unmanned flying object positioning system comprising: an unmanned flying object equipped with an optical reflector; a total station installed on the ground; and an information processing device communicably connected to the total station, wherein the total station receives reflected light returned after the irradiation light emitted toward the unmanned flying object is reflected by the optical reflector. measuring a current position (TS), which is the current position of the unmanned flying object, based on the received reflected light, and transmitting the measured current position (TS) to the information processing device; The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle, and receives the current position (TS) from the total station. The current position (TS) is transmitted to the unmanned flying object, the unmanned flying object receives the current position (TS), performs flight control based on the received current position (TS), and the total station: An automatic tracking mechanism for controlling the irradiation light to be directed toward the unmanned flying object, the unmanned flying object having an inertial navigation system, and a current position obtained by the inertial navigation system, which is the current position of the own aircraft. (EKF) to the information processing device, the information processing device transmits the current position (EKF) to the total station, and the total station transmits the current position (EKF) when the unmanned air vehicle is lost. to track the unmanned air vehicle based on

Another aspect of the present invention is a position measurement system for an unmanned flying object, comprising: an unmanned flying object equipped with an optical reflector; a plurality of total stations installed at different locations on the ground; and an information processing device provided for each of receives the light reflected back by the light reflector, measures the current position (TS), which is the current position of the unmanned flying object, based on the received reflected light, and measures the current position (TS ) to the information processing device, the information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle, and the information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned flying object, and the unmanned flying object receives and receives the current position (TS) Flight control is performed based on the current position (TS), the total station includes an automatic tracking mechanism for controlling the irradiation light to be directed toward the unmanned air vehicle, and the unmanned air vehicle includes an inertial navigation system. , a current position (EKF) obtained by the inertial navigation system, which is the current position of the aircraft, is transmitted to the information processing device; the information processing device transmits the current position (EKF) to the total station; tracks the unmanned flying object based on the current position (EKF) when the unmanned flying object is lost, and each of the information processing devices tracks the current position (TS) or the current position (EKF). by transmitting the acquired current position (TS) or the current position (EKF) to the information processing device of, and sharing the acquired current position (TS) or the current position (EKF) with the other information processing device, and the total station, when the unmanned flying object is lost, The unmanned air vehicle is tracked based on the current position (TS) or the current position (EKF) provided from another information processing device.

In addition, the problems disclosed by the present application and their solutions will be clarified by the description of the mode for carrying out the invention and the drawings.

According to the present invention, it is possible to stably and continuously fly an unmanned flying object.

1 is a diagram showing a schematic configuration of a position measurement system according to a first embodiment; FIG. It is a figure which shows the external appearance of UAV, and is the figure which looked at UAV from the side. 1 is a block diagram illustrating the main configuration of a UAV; FIG. It is a block diagram explaining the main functions with which UAV is provided. It is a block diagram explaining the hardware configuration example of PC. It is a figure which shows the main functions with which PC is provided. FIG. 2 is a block diagram for explaining the main configuration of TS; It is a block diagram explaining the main functions of TS. It is a figure which shows an example of the external appearance of TS. 4 is a flowchart for explaining flight control processing performed by the UAV; 4 is a flowchart for explaining current position transfer processing performed by a PC; FIG. 10 is a flowchart for explaining TS current position acquisition and tracking processing; FIG. It is a figure which shows the example which applied the position measurement system of 1st Embodiment to the inspection work of a bridge. It is a figure which shows the schematic structure of the position measurement system of 2nd Embodiment. It is a block diagram explaining the main composition with which UAV of a 2nd embodiment is provided. It is a block diagram explaining the main functions with which UAV of a 2nd embodiment is provided. It is a block diagram explaining the main composition with which PC of a 2nd embodiment is provided. It is a block diagram explaining the main functions with which PC of 2nd Embodiment is provided. It is a block diagram explaining the main structures with which TS of 2nd Embodiment is provided. FIG. 11 is a block diagram illustrating main functions provided in the TS of the second embodiment; 9 is a flowchart for explaining flight control processing of the second embodiment; It is a flow chart explaining current position transfer processing of a 2nd embodiment. It is a flow chart explaining current position acquisition tracking processing of a 2nd embodiment. It is a figure which shows the example which applied the position measurement system of 2nd Embodiment to the inspection work of a bridge.

DETAILED DESCRIPTION OF THE INVENTION Embodiments for carrying out the invention will be described below. In the following description, the same or similar configurations may be denoted by common reference numerals and descriptions thereof may be omitted. In addition, a plurality of devices and functions having a common configuration may be distinguished from each other by adding suffixes such as lowercase letters.

[First embodiment]
FIG. 1 shows a system for measuring the current position of an unmanned flying object (hereinafter referred to as UAV (Unmanned Aerial Vehicle)) (hereinafter referred to as "position measurement system 1"), which will be described as a first embodiment. 1 shows a schematic configuration of As shown in the figure, the positioning system 1 includes a UAV 100, a flight monitoring controller (hereinafter referred to as "PC200"), and a total station (hereinafter referred to as "TS300").

The UAV 100 is used for various applications and tasks such as aerial photography, surveying, condition diagnosis of structures and the like, transportation of cargo, and the like. Although the type of UAV 100 is not limited, it is, for example, a drone (multicopter (quadcopter, hexacopter, octocopter, etc.), rotary wing aircraft (helicopter), fixed wing aircraft (airplane), etc.).

The UAV 100 is equipped with a GPS device (GPS: Global Positioning System), and is measured by receiving signals (hereinafter referred to as "GPS signals") sent from a predetermined number or more of GPS satellites. (hereinafter referred to as "current position (GPS)"). Also, the UAV 100 can perform autonomous flight using the current position of its own aircraft (hereinafter referred to as “current position (TS)”) measured by the TS 300 sent via the PC 200 . Also, the UAV 100 can fly by remote control using a radio signal sent from the PC 200 or a radio transmitter (propo). In addition, the current position (GPS) and the current position (TS) are used for purposes other than autonomous flight, for example, as information for specifying the shooting position when the UAV 100 is used for the purpose of shooting images and videos of the site. Also used for the purpose.

An example of UAV 100 is shown in FIG. The figure is a view of the UAV 100 viewed from the side. The exemplified UAV 100 has, as its basic framework (frame), a pedestal 11 (cargo bed) for mounting various devices 21 and various loads 22, extending in a substantially horizontal direction from the pedestal 11, and a thrust mechanism 12 ( a propeller, a power motor, etc.), a plurality of (four in this example) legs 14 extending downward from the base 11, and the like.

At the bottom of the UAV 100, a light reflector 50 that reflects the laser light emitted from the TS 300 (hereinafter referred to as “irradiation light”) in the incident direction of the irradiation light is attached to the light reflector mounting portion 117. It is mounted via The mounting position and mounting method of the light reflector 50 are not necessarily limited. For example, the light reflector 50 may be provided above the UAV 100 when flying the UAV 100 mainly in an airspace lower than the position where the TS 300 is installed, such as under a cliff.

Returning to FIG. 1, the PC 200 is an information processing device (computer) such as a notebook computer. The PC 200 performs two-way wireless communication with the UAV 100 . Also, the PC 200 performs two-way communication (wireless communication or wired communication) with the TS 300 .

PC 200 receives the current position (TS) sent from TS 300 and transmits (transfers) the received current position (TS) to UAV 100 . The PC 200 also receives information about the flight status of the UAV 100 (current position, attitude, speed, acceleration, angular velocity, angular acceleration, various information used for navigation, etc., hereinafter referred to as "flight status information"). , receives information on the operating state of each component (applied voltage, current consumption, remaining battery power, presence or absence of errors, etc.; hereinafter referred to as "operating state information"), etc., and responds to the received flight state information and operating state information Based on this, the UAV 100 is monitored and controlled (control of devices mounted on the UAV 100, remote control of the flight of the UAV 100, etc.).

The TS 300 is equipped with an electro-optical distance measuring instrument and a theodolite, which measures the distance to the light reflector 50 and the theodolite measures the distance to the light reflector 50 from the TS 300 . The current position of the light reflector 50 is measured by measuring the direction (angle) of each. In the present embodiment, the TS 300 is of a type equipped with a mechanism (hereinafter referred to as an "automatic tracking mechanism") for automatically tracking the moving light reflector 50 used for survey work. do. The TS 300 is fixed at a predetermined position on the ground and used. In this example, the TS 300 is used by being attached to a tripod 350 installed on the ground. The TS 300 also includes a self-location acquisition device (GPS, etc.) that acquires the installed self-location (latitude, longitude, altitude).

The optical rangefinder of TS300 irradiates irradiation light toward the optical reflector 50 mounted on the UAV 100, and receives the irradiation light and the reflected light that returns after the irradiation light is reflected by the optical reflector 50. Then, the distance of the UAV 100 is measured based on information (phase difference, time difference, etc.) obtained by interfering the irradiated light and the reflected light. Based on the distance measured by the optical range finder and the angle obtained from the theodolite, the TS 300 determines the current position of the UAV 100 (position represented by relative coordinates or absolute coordinates that can identify the latitude, longitude, and altitude of the UAV 100). information), and transmits the obtained current position (hereinafter referred to as “current position (TS)”) to PC 200 .

FIG. 3A is a block diagram illustrating the main components of the UAV 100. FIG. As shown in the figure, the UAV 100 includes a flight control device 111 (FCS: Flight Control System, FCU: Flight Control Unit), various sensors 112, an inertial navigation device (hereinafter referred to as "EKF device 113") (EKF: Extended Kalman Filter), GPS device 114 , thrust generator 115 , communication device 116 , light reflector mount 117 , battery 118 , and light reflector 50 . In the above configuration, the flight control device 111, the various sensors 112, the EKF device 113, the GPS device 114, the thrust generator 115, the communication device 116, and the light reflector mounting portion 117 communicate with each other via an internal bus or the like. connected as possible.

The flight control device 111 is configured using an information processing device such as a microcomputer, and mainly controls the flight of the UAV 100 and various operations. The flight control device 111 controls the thrust generator 115 based on information (various measurement values) input from various sensors 112, the EKF device 113, the GPS device 114, and the communication device 116, thereby controlling the flight control and attitude of the UAV 100. control. The flight control device 111 can implement flight control and various functions other than flight control, for example, by updating its firmware. Various functions described later are implemented as functions of the flight control device 111 by, for example, updating the firmware.

The various sensors 112 are, for example, a 3-axis gyro sensor (angular velocity sensor), a 3-axis acceleration sensor, an atmospheric pressure sensor, a geomagnetic sensor (2-axis, 3-axis), an ultrasonic sensor, and the like. It should be noted that the UAV 100 may not necessarily include all of the sensors shown above, and may include other types of sensors.

In addition to the information (acceleration, angular velocity, etc.) measured in real time by various sensors 112, the EKF device 113 further acquires the current position (GPS) if a significant current position (GPS) can be obtained, If the current position (TS) can be acquired, the current position (TS) is given to a predetermined algorithm (such as an algorithm using an extended Kalman filter (EKF)) to obtain the current position of the UAV 100 (hereinafter , referred to as "current position (EKF)") and outputs it.

The GPS device 114 receives GPS signals sent from a predetermined number or more of GPS satellites, calculates the current position (GPS), and inputs the calculated current position (GPS) to the flight control device 111 .

The thrust generator 115 includes a power motor and a motor control device (ESC: Electronic Speed Controller). The motor control device controls rotation of the power motors according to control signals sent from the flight control device 111 .

The communication device 116 performs two-way wireless communication according to a predetermined protocol with the PC 200 and a wireless transmitter (propo). Wireless communication method (modulation method, frequency, medium (radio wave, light), etc.) is not necessarily limited, but for example, data communication, video signal/audio according to various protocols using frequencies in the 2.4 GHz band and 5 GHz band signal transmission and the like.

The light reflector mounting portion 117 has a region (hereinafter referred to as a “reflectable region”) that can effectively reflect the irradiation light sent from the TS 300 of the light reflector 50, for example. support the light reflector 50 so that it is maintained at a predetermined angle.

The battery 118 is, for example, a lithium polymer secondary battery, and supplies power necessary to drive each component of the UAV 100 .

The light reflector 50 is an optical device that reflects the laser light (irradiation light) emitted from the TS 300 toward the direction of the TS 300. For example, a 360-degree prism, a retroreflector, a retroreflector, a retroreflector, a corner cube etc.

FIG. 3B is a block diagram illustrating the main functions of UAV 100. As shown in FIG. As shown in the figure, the UAV 100 has functions of a storage unit 120 , a current position (TS) reception unit 130 , a flight control unit 140 and a current position (EKF) transmission unit 150 . These functions are realized, for example, by the information processing device that constitutes the flight control device 111 executing a program.

The storage unit 120 stores a current position (TS) 121 that is information indicating the current position (TS) described above, a current position (GPS) 122 that is information indicating the current position (GPS) described above, and a current position (EKF ), the current position (EKF) 123 is stored.

Current position (TS) receiving section 130 receives the current position (TS) sent from PC 200 and manages the received current position (TS) as current position (TS) 121 .

The flight control unit 140 controls the flight of the aircraft based on the current position (EKF) output by the EKF device 113 .

Current position (EKF) transmission unit 150 transmits at least one of the current position (GPS) and the current position (EKF) to PC 200 in real time.

FIG. 4A is a block diagram showing a hardware configuration example of the PC 200. As shown in FIG. The PC 200 is configured using an information processing device (computer), and includes a processor 201 (CPU (Central Processing Unit), MPU (Micro Processing Unit), etc.), a main storage device 202 (ROM (Read Only Memory), RAM (Random Access Memory), etc.). Memory), nonvolatile memory (NVRAM (Non Volatile RAM)), etc.), auxiliary storage device 203 (SSD (Solid State Drive), hard disk drive, optical storage device (CD (Compact Disc), DVD (Digital Versatile Disc), etc.) )), input device 204 (keyboard, mouse, touch panel, recording medium reading device, etc.), output device 205 (display device (LCD (Liquid Crystal Display), etc.), audio output device (speaker, etc.), etc.), and communication device 206.

The communication device 206 includes, for example, a wireless communication module (2.4 GHz band/5 GHz band wireless communication module, Bluetooth (registered trademark) module, WiFi (registered trademark) module, etc.), wired communication module (wired LAN module, serial communication module ( USB module, RS-232C module, etc.), etc. The communication device 206 realizes wireless communication with the UAV 100 and communication with the TS 300 (wireless communication or wired communication). For example, an operating system, a file system, a DBMS (DataBase Management System), various application software, and the like are properly installed in the PC 200 .

FIG. 4B is a block diagram illustrating main functions of the PC 200. As shown in FIG. As shown in the figure, the PC 200 includes a storage unit 210, a flight management unit 220, a flight monitoring control unit 230, a current position (TS) reception unit 240, a current position (TS) UAV transmission unit 245, and a current position (EKF) reception unit. 250 and current position (EKF) TS transmitter 255 . These functions are realized by the processor 201 of the PC 200 reading out and executing a program stored in the main storage device 202, or by the functions intrinsic to the hardware of the PC 200. FIG.

Among the above functions, the storage unit 210 stores flight management information 211 , flight monitoring information 212 , current position (TS) 213 , current position (EKF) 214 and TS installation position 217 . The flight management information 211 includes information on the flight of the UAV 100 (flight plan, flight record (flight log), etc.). Flight monitoring information 212 includes operational state information and flight state information sent from UAV 100 . Current Position (TS) 213 is received from TS 300 and transmitted (forwarded) to UAV 100 . The current position (EKF) 214 is the current position (EKF) acquired by the UAV 100 and sent from the UAV 100 . The TS installation location 217 includes information indicating the location (latitude, longitude, altitude) where the TS 300 is installed. The installation position of the TS 300 is acquired, for example, by a GPS device provided in the TS 300. Note that the contents of the TS installation position 217 may be manually set by the user via the user interface of the PC 200 .

The flight management unit 220 manages the flight plan of the UAV 100, the flight route, the flight performance, and the information related to work and tasks (such as photography) performed during the flight as the flight management information 211. FIG. The flight management unit 220 provides a user interface for the user to manage (register, edit, delete, etc.) flight plans, flight routes, flight records, equipment control plans related to work performed by the UAV 100 during flight, and the like. .

The flight monitoring control unit 230 manages the above-described operating state information and flight state information sent from the UAV 100 via telemetry communication or the like as flight monitoring information 212, and monitors the UAV 100 based on the flight monitoring information 212. and control, for example, remote control of the UAV 100 according to the flight plan, remote control for ensuring safety during flight, and the like.

A current position (TS) receiving unit 240 receives the current position (TS) sent from the TS 300 via wired or wireless communication in real time and manages it as a current position (TS) 213 . In addition, when the UAV 100 enters the field of view of the TS 300, the TS 300 cannot measure the current position of the UAV 100, but even in that case, the current position (TS) receiving unit 240 cannot measure the current position. Receives the current position (TS) in which (error code, N/A, blank, etc.) is set from the TS 300 .

Current position (TS) UAV transmission unit 245 transmits (transfers) to UAV 100 the current position (TS) received from TS 300 by current position (TS) reception unit 240 . The time from the current position (TS) reception unit 240 receiving the current position (TS) from the TS 300 to the current position (TS) UAV transmission unit 245 transmitting (transferring) the current position (TS) to the UAV 100 is , is sufficiently short so as not to interfere with the flight of the UAV 100.

A current position (EKF) receiving unit 250 receives the current position (EKF) from the UAV 100 in real time and manages the received current position (EKF) as the current position (EKF) 214 . The current position (EKF) receiving unit 250 may acquire the current position (EKF) from information acquired from the UAV 100 by the flight monitoring control unit 230 through telemetry communication or the like, for example.

The current position (EKF) TS transmission unit 255 is the current position (EKF) received from the UAV 100 by the current position (EKF) reception unit 250 and an instruction to track the UAV 100 based on the current position (EKF) (hereinafter referred to as " tracking instruction”) is transmitted to the TS 300. The tracking instruction includes, for example, instructions for sequentially executing an automatic tracking stop instruction, an alignment instruction (an instruction to adjust the direction of the irradiation light in the horizontal and vertical directions), and an automatic tracking restart instruction. When transmitting the current position (EKF) received from UAV 100 to TS 300, current position (EKF) TS transmission section 255 uses TS installation position 217 to transmit the current position (EKF) to TS 300 (used by own TS). information expressed in a coordinate system). Note that this coordinate conversion may be performed on the TS 300 side.

FIG. 5A is a block diagram explaining the configuration of the TS 300, FIG. 5B is a block diagram explaining the main functions of the TS 300, and FIG. indicates

As shown in FIGS. 5A and 5C, the TS 300 includes a microcomputer 301 (CPU, MPU, etc.), a storage device 302 (ROM, RAM, non-volatile memory, etc.), a user interface 303 (keyboard, touch panel, display device (LCD (Liquid crystal display, etc.), an audio output device (speaker, etc.), a communication device 304 , a light wave range finder 305 , a theodolite 306 (theodolite), and an automatic tracking mechanism 317 .

The communication device 304 uses a wireless communication module (Bluetooth (registered trademark) module, WiFi (registered trademark) module, etc.), a wired communication module (wired LAN module, serial communication module (USB module, RS-232C module, etc.)), etc. , and performs communication (wireless communication or wired communication) with the flight monitoring control unit 230 .

The light wave rangefinder 305 irradiates an object with irradiation light (laser light), receives the reflected light of the irradiation light from the object, and uses the optical reflector 50 based on the phase difference and time difference between the irradiation light and the reflected light. Measure the distance to

The theodolite 306 is configured using a telescope, a spherical telescope, an angle indicator, etc., and measures the angle of the object (light reflector 50) in the horizontal and vertical planes.

Based on the distance to the object measured by the optical rangefinder 305 and the angles of the object in the horizontal and vertical planes measured by the theodolite 306, the microcomputer 301 determines the current position of the object (the current position of the object in absolute terms). information expressed in coordinates or relative coordinates). The microcomputer 301 also provides the user with the current position via the user interface 303 .

The automatic tracking mechanism 317 detects that the direction of the irradiation light emitted by the optical rangefinder 305 (or the direction of the optical axis of the light receiving window (light receiving lens) for the reflected light) is the target object, the UAV 100 (light reflector 50) in flight. It includes a rotation mechanism (control motor, electronic components for controlling the control motor, etc.) for controlling (automatic collimation and automatic tracking) so that it always faces the direction of .

As shown in FIG. 5B, the TS 300 includes a storage unit 310, a current position (TS) generator 320, a current position (TS) transmitter 325, a current position (EKF) receiver 330, and an automatic tracking mechanism controller 340. It has functions. These functions are realized, for example, by the microcomputer 301 reading and executing programs stored in the storage device 302 .

As shown in the figure, storage unit 310 stores current position (TS) 311 and current position (EKF) 312 .

A current position (TS) generator 320 manages the current position of the UAV 100 obtained by the microcomputer 301 as a current position (TS) 311 .

A current position (TS) transmission unit 325 transmits the current position (TS) 311 acquired by the current position (TS) generation unit 320 to the PC 200 in real time via the communication device 304 .

A current position (EKF) receiving unit 330 receives the current position (EKF) sent in real time from the PC 200 and manages the received current position (EKF) as the current position (EKF) 312 .

For example, when the current position (TS) generation unit 320 cannot measure the position of the UAV 100 because the UAV 100 is out of the field of view of the TS 300, the automatic tracking mechanism control unit 340 causes the current position (EKF) reception unit 330 to Based on the current position (EKF) received from , the direction of TS 300 (the direction in which the irradiation light is emitted) is controlled, and tracking of UAV 100 is continued. As a result, when the UAV 100 re-enters the field of view of the TS 300, the TS 300 can immediately start measuring the position of the UAV 100 (current position (TS)), and immediately control the flight of the UAV 100 based on the current position (TS). can be resumed.

Next, main operations of each configuration (UAV 100, PC 200, TS 300) of the position measurement system 1 will be described in order.

FIG. 6 is a flowchart for explaining main processing performed by the UAV 100 (hereinafter referred to as "flight control processing S600"). The flight control processing S600 will be described below with reference to FIG. In the flight control process S600, the current position (EKF) transmission unit 150 of the UAV 100 constantly transmits the current position (EKF) to the PC 200 in real time for monitoring control by the flight monitoring control unit 230 of the PC 200. It is assumed that there is

As shown in the figure, when the flight control unit 140 receives a takeoff instruction signal (motor drive command, etc.) from the PC 200 or radio transmitter (propo), it causes the UAV 100 to take off (S611).

Subsequently, among the information acquired by the various sensors 112, information that can be used by the EKF device 113 to calculate the current position (information output by a 3-axis acceleration sensor or a 3-axis gyro sensor (angular velocity sensor), etc.) is 113 (S612).

Subsequently, the flight control unit 140 determines whether the current position (TS) receiving unit 130 is receiving a significant current position (TS) from the PC 200 in real time (S613). The flight control unit 140 makes the above determination, for example, whether or not communication with the PC 200 is currently possible with sufficient received electric field strength, position information significant to the current position (TS) (error code, N/A, blank, etc.). This is done by determining whether or not information indicating the position (latitude, longitude, altitude) of the UAV 100 actually measured by the TS 300 is included. If a significant current position (TS) has been received from the PC 200 in real time (S613: YES), the process proceeds to S614. If no significant current position (TS) has been received from the PC 200 (S613: NO), the process proceeds to S615.

In S<b>614 , the flight control unit 140 inputs the significant current position (TS) received by the current position (TS) receiving unit 130 in real time to the EKF device 113 .

In S<b>615 , the flight control unit 140 determines whether the GPS device 114 has acquired the current position (GPS) with accuracy required for flight control of the UAV 100 . The flight control unit 140 makes the above determination, for example, based on whether the GPS device 114 is able to receive GPS signals from a number of GPS satellites equal to or greater than the number capable of ensuring the accuracy required for the flight control of the UAV 100. . When the flight control unit 140 determines that the GPS device 114 can receive the current position (GPS) with the accuracy required for the flight control of the UAV 100 (S615: YES), the process proceeds to S616. If it is determined that there is no (S615: NO), the process proceeds to S617.

In S<b>616 , the flight control unit 140 inputs the current position (GPS) output by the GPS device 114 to the EKF device 113 .

In S<b>617 , the flight control unit 140 performs flight control of the UAV 100 based on the current position (EKF) output by the EKF device 113 .

In S618, the flight control unit 140 determines whether or not an operation instructing to stop the flight control process S600 (for example, an operation instructing power off) has been performed. When the flight control unit 140 determines that an operation instructing to stop the flight control process S600 has not been performed (S618: NO), the process returns to S612. When the flight control unit 140 determines that an operation to instruct the stop of the flight control process S600 has been performed (S618: YES), the flight control unit 140 turns off the power of the own aircraft, and terminates the flight control process S600. finish.

FIG. 7 is a flowchart for explaining main processing performed by the PC 200 (hereinafter referred to as "current position transfer processing S700"). The current position transfer processing S700 will be described below with reference to FIG.

As shown in the figure, when a predetermined activation operation is performed, the PC 200 starts the current position transfer processing S700 (S711).

Subsequently, the current position (TS) receiving unit 240 of PC 200 determines whether or not the significant current position (TS) can be received from TS 300 in real time (S712). The current position (TS) receiving unit 240 makes the above determination, for example, the position of the UAV 100 actually measured by the TS 300 (latitude, This is done by determining whether information indicating longitude, altitude) is included. If the current position (TS) receiving unit 240 determines that the significant current position (TS) can be received from the TS 300 in real time (S712: YES), the process proceeds to S713, and the significant current position (TS) is If it is determined that real-time reception from the TS 300 is not possible (S712: NO), the process proceeds to S721.

In S<b>713 , the current position (TS) UAV transmission unit 245 transmits (transfers) the current position (TS) received from TS 300 to UAV 100 . After that, the process proceeds to S730.

In S721, the current position (EKF) reception unit 250 determines whether or not a significant current position (EKF) can be received from the UAV 100 in real time. The current position (EKF) receiving unit 250 makes the above determination, for example, whether or not communication with the UAV 100 is currently possible with sufficient received electric field strength, position information (error code, N/ A: This is done by determining whether or not information indicating the position (latitude, longitude, altitude) of the UAV 100 that is not blank or the like is included. If the current position (EKF) receiving unit 250 determines that the significant current position (EKF) can be received from the UAV 100 in real time (S721: YES), the process proceeds to S722, and the significant current position (EKF) is received. If it is determined that the real-time reception is not possible (S712: NO), the process proceeds to S730.

In S722, the current position (EKF) TS transmission unit 255 receives the current position (EKF) received from the UAV 100 in real time and information for instructing tracking of the UAV 100 based on the current position (EKF) (hereinafter referred to as "tracking instruction (EKF)”) to the TS 300. The tracking instruction (EKF) includes, for example, instructions for sequentially executing an automatic tracking stop instruction, an alignment instruction (instruction for adjusting the direction of irradiation light in the horizontal and vertical directions), and an automatic tracking restart instruction. At this time, when transmitting the current position (EKF) received from UAV 100 to TS 300, current position (EKF) TS transmission unit 255 transmits the current position (EKF) to TS 300 using TS installation position 217 (the corresponding TS 300 uses the coordinate system). After that, the process proceeds to S730.

At S730, the PC 200 determines whether or not an operation has been performed to instruct to stop the current position transfer processing S700. When the PC 200 determines that an operation instructing to stop the current position transfer process S700 has not been performed (S730: NO), the process returns to S712. When PC 200 determines that an operation instructing to stop current position transfer processing S700 has been performed (S730: YES), PC 200 ends current position transfer processing S700.

FIG. 8 is a flowchart for explaining the process of TS 300 tracking UAV 100, acquiring (measuring) the current position of UAV 100 in real time, and transmitting the current position to PC 200 (hereinafter referred to as "current position acquisition and tracking process S800"). is. The current position acquisition and tracking process S800 will be described below with reference to FIG.

As shown in the figure, when a predetermined activation operation is performed, the TS 300 starts the current position acquisition tracking process S800 (S811).

Subsequently, the current position (TS) generator 320 of the TS 300 acquires (measures) the current position of the UAV 100 and generates the current position (TS) (S812). Note that the current position (TS) generator 320 generates a significant current position (TS ), and on the other hand, when the UAV 100 exists outside the field of view of the TS 300 (when the reflected light cannot be received from the UAV 100), the current position (TS) set with an error code, N/A, blank, etc. to obtain (generate)

Subsequently, the current position (TS) transmission unit 325 transmits the current position (TS) acquired (generated) by the current position (TS) generation unit 320 to the PC 200 (S813).

Subsequently, the current position (EKF) receiving unit 330 determines whether or not the current position (EKF) and tracking instruction are received from the PC 200 (S814). If the current position (EKF) receiving unit 330 determines that it has received the current position (EKF) and the tracking instruction (EKF) (S814: YES), the process proceeds to S815. If it is determined that (EKF) has not been received (S814: NO), the process proceeds to S816.

In S815, the automatic tracking mechanism control unit 340 controls the automatic tracking mechanism 317 based on the current position (EKF) received by the current position (EKF) receiving unit 330 (controls so that the irradiation light is emitted in the direction of the UAV 100). )do. After that, the process proceeds to S816.

In S816, the TS 300 determines whether or not an operation has been performed to instruct to stop the current position acquisition/tracking process S800. When the TS 300 determines that an operation to instruct the stop of the current position acquisition/tracking process S800 has not been performed (S816: NO), the process returns to S712. When the TS 300 determines that an operation instructing to stop the current position acquisition and tracking process S800 has been performed (S816: YES), the TS 300 ends the current position acquisition and tracking process S800.

FIG. 9 is a diagram showing an example in which the position measurement system 1 of the first embodiment described above is applied to bridge inspection work.

As shown in the figure, in this example, the UAV 100 takes off from near the first pier 911 and then moves along the bridge girder 910 to the second pier 912 . During this time, the UAV 100 always exists within the field of view of the TS 300, and the significant current position (TS) from the TS 300 is transmitted from the PC 200 to the UAV 100 in real time (S613 in FIG. 6: YES, S614, S712 in FIG. 7: YES , S713, S812, S813 in FIG. 8).

Subsequently, UAV 100 reaches second pier 912 , moves to a position behind second pier 912 with respect to TS 300 , and goes out of the field of view of TS 300 . As a result, a significant current position (TS) is no longer transmitted from TS 300 to PC 200, but if PC 200 can receive a significant current position (EKF) from UAV 100, PC 200 receives the current position from UAV 100. (EKF) is sent (transferred) to the TS 300 (S617 in FIG. 6, S712 in FIG. 7: NO, S721: YES, S722). Then, TS 300 tracks UAV 100 based on the current position (EKF) transferred from PC 200 (S814: YES, S815 in FIG. 8).

Subsequently, the UAV 100 passes through the back side of the second pier 912 and enters the field of view of the TS 300 again, but even after the UAV 100 has entered the field of view of the TS 300, the TS 300 continues to track the UAV 100 based on the current position (EKF). Therefore, the irradiation light can be immediately emitted in the direction of the UAV 100 . Therefore, the UAV 100 can immediately start measuring the significant current position (TS) and resume providing the current position (TS) to the UAV 100 (S612 in FIG. 6: YES, S613, S712 in FIG. 7: YES, S713, S812, S813 in FIG. 8).

As described above, according to the position measurement system 1 of the first embodiment, even if the UAV 100 is out of the field of view of the TS 300 during flight, the TS 300 can detect the current position (EKF) provided from the UAV 100 via the PC 200. Since tracking of the UAV 100 is continued based on , measurement of the current position (TS) can be resumed immediately when the UAV 100 enters the field of view of the TS 300 again. Therefore, as long as the accuracy of the current position (EKF) is ensured while the UAV 100 is out of the field of view, the period before the UAV 100 enters the field of view of the TS 300, the period of the field of view, and the field of view again. The UAV 100 can be stably and continuously flown through each subsequent period.

In addition, TS 300 loses UAV 100 due to various factors (when a shielding object passes between TS 300 and light reflector 50, when the position or attitude of UAV 100 suddenly changes due to a gust, when UAV 100 moves quickly, etc.) Even in such a case, the TS 300 can track the UAV 100 as long as the accuracy of the current position (EKF) is ensured during the lost period. Therefore, the TS 300 can immediately resume measuring the current position (TS) of the UAV after being lost, and the UAV 100 can be stably and continuously flown.

[Second embodiment]
FIG. 10 shows a schematic configuration of the position measurement system 2 of the second embodiment. As shown in the figure, the positioning system 2 includes a UAV 100, two flight monitoring and control devices (hereinafter referred to as "PC200a" and "PC200b" respectively), and two total stations (hereinafter referred to as "TS300a" and "TS300a" respectively). TS300b”).

In the following description, TS 300a is referred to as "own TS" with respect to PC 200a, and TS 300b is referred to as "other TS" with respect to PC 200a. Similarly, TS 300a is referred to as "other TS" with respect to PC 200b, and TS 300b is referred to as "own TS" with respect to PC 200b.

Further, in the following description, the PC 200a is referred to as the "own PC" with respect to the TS 300a, and the PC 200b is referred to as the "other PC" with respect to the TS 300a. Similarly, the PC 200a is referred to as the "other PC" with respect to the TS 300b, and the PC 200b is referred to as the "own PC" with respect to the TS 300b.

Further, in the following description, the PC 200b is referred to as the "other PC" relative to the PC 200a, and the PC 200a is referred to as the "other PC" relative to the PC 200b.

FIG. 11A is a block diagram explaining the main configuration of the UAV 100 of the second embodiment. The basic configuration of the UAV 100 of the second embodiment is similar to that of the UAV 100 of the first embodiment, but the communication device 116 of the UAV 100 of the second embodiment can wirelessly communicate with both the PC 200a and the PC 200b.

FIG. 11B is a block diagram illustrating main functions of the UAV 100 of the second embodiment. The function of the UAV 100 of the second embodiment is basically the same as the function of the UAV 100 of the first embodiment, but the current position (TS) receiver 130 of the UAV 100 of the second embodiment receives the current position ( TS). Also, the current position (EKF) transmitter 150 of the UAV 100 of the second embodiment transmits the current position (EKF) to the PCs 200a and 200b.

FIG. 12A is a block diagram illustrating the main configuration of PCs 200a and 200b of the second embodiment. The basic configuration of the PCs 200a and 200b of the second embodiment is the same as that of the PC 200 of the first embodiment. communication or wireless communication).

FIG. 12B is a block diagram illustrating main functions of the PCs 200a and 200b of the second embodiment. The functions of the PCs 200a and 200b of the second embodiment are basically the same as the functions of the PCs 200a and 200b of the first embodiment. A current position (own TS) 213a, which is a position (TS), and a current position (other TS) 213b, which is a current position (TS) received from another TS, are stored.

In addition, the PCs 200a and 200b of the second embodiment include a current position (own TS) receiving unit 240a that receives the current position (TS) from the own TS, and a current position (other TS) receiving unit 240a that receives the current position (TS) from another TS. ) and a receiving unit 240b.

In addition, the PCs 200a and 200b of the second embodiment provide the current position (EKF) received from the UAV 100 by the current position (EKF) receiving unit 250, and an instruction to track the UAV 100 based on the current position (EKF) (hereinafter referred to as A current position (EKF) own TS transmission unit 255 a is provided for transmitting (transferring) a "tracking instruction (EKF)" to the TS 300 . The tracking instruction (EKF) includes, for example, instructions for sequentially executing an automatic tracking stop instruction, an alignment instruction (instruction for adjusting the direction of irradiation light in the horizontal and vertical directions), and an automatic tracking restart instruction. When transmitting the current position (EKF) received from the UAV 100 to the own TS, the current position (EKF) own TS transmission unit 255a uses the TS installation position 217 to transmit the current position (EKF) to the own TS (self (used by TS). Note that this coordinate system conversion may be performed on the own TS side.

In addition, the PCs 200a and 200b of the second embodiment have a current position (own TS) other PC transmission unit 260 that transmits the current position (own TS), which is the current position (TS) received from the own TS, to other PCs 200. Prepare.

In addition, the PCs 200a and 200b of the second embodiment also receive a current position (other TS), which is the current position (TS) received from the other TS, and an instruction to track the UAV 100 based on the current position (other TS) (hereinafter referred to as , referred to as a “tracking instruction (other TS)”) to its own TS. The tracking instruction (another TS) includes, for example, instructions for sequentially executing an automatic tracking stop instruction, an alignment instruction (an instruction to adjust the direction of irradiation light in the horizontal and vertical directions), and an automatic tracking restart instruction. Current position (other TS) own TS transmission unit 265 transmits the current position (other TS) received from the other PC to own TS, using the TS installation position 217 to transmit the current position (other TS) to the own TS. Convert to information expressed in the coordinate system of the TS (used by the own TS). Note that this coordinate system conversion may be performed on the own TS side.

FIG. 13A is a block diagram illustrating the main configuration of TSs 300a and 300b of the second embodiment. The basic configuration of the TSs 300a and 300b of the second embodiment is similar to that of the TS 300 of the first embodiment.

FIG. 13B is a block diagram illustrating main functions of the TSs 300a and 300b of the second embodiment. The functions of the TSs 300a and 300b of the second embodiment are basically the same as the functions of the TSs 300a and 300b of the first embodiment. 311a and current position (other TS) 311b.

The TSs 300a and 300b of the second embodiment also include a current position (EKF) receiver 330a and a current position (other TS) receiver 330b. The current position (EKF) receiving section 330 a receives the current position (EKF) sent in real time from its own PC and manages the received current position (EKF) as the current position (EKF) 312 . Also, the current position (other TS) receiving unit 330b receives the current position (other TS) sent in real time from its own PC, and manages the received current position (other TS) as the current position (other TS) 311b. do.

Further, the automatic tracking mechanism control unit 340 of the TS 300a, 300b of the second embodiment receives the current position (EKF) received from the own PC by the current position (EKF) receiving unit 330a, or the current position (other TS) receiving unit 330b controls the direction of the TS 300 (the direction in which the irradiation light is emitted) based on the current position (another TS) received from its own PC.

FIG. 14 is a flowchart for explaining the main operations of the UAV 100 of the second embodiment (hereinafter referred to as "flight control processing S1400"). The flight control process S1400 will be described below with reference to FIG. In the flight control process S1400, the current position (EKF) transmission unit 150 of the UAV 100 constantly transmits the current position (EKF) to the PCs 200a and 200b in real time for monitoring control by the flight monitoring control unit 230 of the PCs 200a and 200b. Suppose you are sending to

As shown in the figure, when the flight control unit 140 receives a takeoff instruction signal (motor drive command, etc.) from the PCs 200a and 200b or a wireless transmitter (propo), it causes the UAV 100 to take off (S1411).

Subsequently, among the information acquired by the various sensors 112, information that can be used by the EKF device 113 to calculate the current position (information output by a 3-axis acceleration sensor or a 3-axis gyro sensor (angular velocity sensor), etc.) is 113 (S1412).

Subsequently, the flight control unit 140 determines whether or not the current position (TS) receiving unit 130 receives a significant current position (TS) from the PC 200a or the PC 200b in real time (S1413). The flight control unit 140 makes the above determination, for example, whether or not communication with the PC 200a or PC 200b is currently possible with a sufficient received electric field strength, location information significant to the current location (TS) (error code, N/A, This is done by determining whether information indicating the position (latitude, longitude, altitude) of the UAV 100 actually measured by the TS 300a or TS 300b, which is not blank or the like, is included. When the flight control unit 140 determines that the significant current position (TS) can be received from the PC 200a or the PC 200b in real time (S1413: YES), the process proceeds to S1414, and the significant current position (TS) can be received. If it is determined that it is not (S1413: NO), the process proceeds to S1415.

At S<b>1414 , the flight control unit 140 inputs the significant current position (TS) received by the current position (TS) receiving unit 130 in real time to the EKF device 113 . When significant current positions (TS) can be received from both PC 200a and PC 200b in real time, flight control unit 140 selects the current position (TS) received from PC 200 with the strongest received electric field strength, for example. Input to the EKF device 113 . In addition, for example, when the UAV 100 is equipped with an FPV camera (FPV: First Persons View), for example, a person such as a supervisor or an operator grasps the positions of the TS 300a and 300b based on the image of the FVP camera, , an instruction as to which current position (TS) of TS 300a, 300b is to be input to the EKF device 113 is sent to the UAV 100 via the PC 200a or PC 200b, and the UAV 100 selects the current position (TS) according to the instruction. and input to the EKF device 113.

In S<b>1415 , the flight control unit 140 determines whether the GPS device 114 has acquired the current position (GPS) with accuracy required for flight control of the UAV 100 . The flight control unit 140 makes the above determination, for example, based on whether the GPS device 114 is able to receive GPS signals from a number of GPS satellites equal to or greater than the number capable of ensuring the accuracy required for the flight control of the UAV 100. . When the flight control unit 140 determines that the GPS device 114 can receive the current position (GPS) with the accuracy required for the flight control of the UAV 100 (S1415: YES), the process proceeds to S1416. If it is determined that there is no (S1415: NO), the process proceeds to S1417.

At S<b>1416 , the flight control unit 140 inputs the current position (GPS) output by the GPS device 114 to the EKF device 113 .

At S<b>1417 , the flight control unit 140 performs flight control of the UAV 100 based on the current position (EKF) output by the EKF device 113 .

FIG. 15 is a flowchart for explaining the main operations of the PCs 200a and 200b (hereinafter referred to as "current position transfer processing S1500"). The current position transfer processing S1500 will be described below with reference to FIG.

As shown in the figure, the PCs 200a and 200b start the current position transfer process S1500 when a predetermined activation operation is performed (S1511).

Subsequently, the current position (own TS) receiving unit 240a of the PC 200a, 200b determines whether or not the significant current position (own TS) can be received from the own TS in real time (S1512). Note that the current position (own TS) receiving unit 240a makes the above determination, for example, the position information that is significant to the current position (own TS) (not an error code, N/A, blank, etc., is actually measured by the TS 300a or 300b). This is done by determining whether or not information indicating the position (latitude, longitude, altitude) of the UAV 100 is included. If the current position (own TS) receiving unit 240a determines that the significant current position (own TS) can be received in real time from the own TS (S1512: YES), the process proceeds to S1513, where the significant current position ( own TS) has not been received in real time from the own TS (S1512: NO), the process proceeds to S1521.

In S1513, the current position (TS) UAV transmission unit 245 of the PCs 200a and 200b transmits (transfers) the current position (own TS) received from the own TS to the UAV 100. FIG.

At S1514, the current position (own TS) other PC transmission unit 260 of the PC 200a, 200b transmits the current position (own TS) received from the own TS to the other PC (S1514). The process then proceeds to S1540.

In S1521, it is determined whether or not the current position (other TS) reception unit 240b of the PCs 200a and 200b can receive significant current positions (other TS) from the other PCs in real time. The current position (other TS) receiving unit 240b makes the above determination, for example, the position information (not an error code, N/A, blank, etc.) that is significant to the current position (other TS), and the UAV 100 actually measured by the TS 300a or 300b. This is done by determining whether or not information indicating a position (latitude, longitude, altitude) is included. If the current position (other TS) receiving unit 240b determines that it can receive the significant current position (other TS) from the other PC in real time (S1521: YES), the process proceeds to S1522, and the significant If it is determined that the current position (other TS) has not been received in real time (S1521: NO), the process proceeds to S1531.

In S1522, the current position (other TS) own TS transmitter 265 of the PC 200a, 200b transmits the current position (other TS) received in real time from the other PC and the tracking instruction (other TS) to the own TS. do. Current position (other TS) own TS transmission unit 265 transmits the current position (other TS) received from the other PC to own TS, using the TS installation position 217 to transmit the current position (other TS) to the own TS. Convert to information expressed in the coordinate system of the TS (used by the own TS). The process then proceeds to S1540.

In S1531, the current position (EKF) reception units 250 of the PCs 200a and 200b determine whether or not the significant current position (EKF) can be received from the UAV 100 in real time. The current position (EKF) receiving unit 250 makes the above determination, for example, whether or not communication with the UAV 100 is currently possible with sufficient received electric field strength, position information (error code, N/ A: This is done by determining whether or not information indicating the position (latitude, longitude, altitude) of the UAV 100 that is not blank or the like is included. When the current position (EKF) receiving unit 250 determines that the significant current position (EKF) can be received from the UAV 100 in real time (S1531: YES), the process proceeds to S1532, and the significant current position (EKF) is received. If it is determined that the real-time reception is not possible (S1531: NO), the process proceeds to S1540.

In S1532, the current position (EKF) own TS transmission unit 255a of the PC 200a, 200b transmits the current position (EKF) received from the UAV 100 in real time and the tracking instruction (EKF) to the own TS. At this time, the current position (EKF) own TS transmitting unit 255a transmits the current position (EKF) received from the UAV 100 to the own TS using the TS installation position 217. is converted into information expressed in a coordinate system (used by its own TS). The process then proceeds to S1540.

At S1540, the PCs 200a and 200b determine whether or not an operation has been performed to instruct to stop the current position transfer processing S1500. If the PCs 200a and 200b determine that an operation to instruct to stop the current position transfer process S700 has not been performed (S1540: NO), the process returns to S1512. On the other hand, when PCs 200a and 200b determine that an operation has been performed to instruct to stop current position transfer processing S1500 (S1540: YES), PCs 200a and 200b end current position transfer processing S1500.

FIG. 16 is a flowchart for explaining the main operations of TS 300a and 300b (hereinafter referred to as "current position acquisition and tracking process S1600"). The current position acquisition and tracking process S1600 will be described below with reference to FIG.

As shown in the figure, the TSs 300a and 300b start the current position acquisition and tracking process S1600 when a predetermined activation operation is performed (S1611).

Next, the current position (TS) generator 320 of TS 300a, 300b obtains (measures) the current position of UAV 100 and generates the current position (TS) (S1612). Note that the current position (TS) generator 320 generates a significant current position (TS ), and when the UAV 100 exists outside the field of view of the TS 300 (when the reflected light from the UAV 100 cannot be received), the current position (TS) with an error code, N/A, blank, etc. set is generated. do.

Subsequently, the current position (TS) transmitters 325 of the TSs 300a and 300b transmit the current positions (TS) generated by the current position (TS) generators 320 to the PC 200 (S813).

Subsequently, the current position (other TS) receiving section 330b of TS 300a, 300b determines whether or not the current position (other TS) and tracking instruction (other TS) are received from its own PC (S1621). If the current position (other TS) receiving unit 330b determines that it has received the current position (other TS) and the tracking instruction (other TS) (S1621: YES), the process proceeds to S1622, where the current position (other TS ) and a tracking instruction (another TS) are not received (S1621: NO), the process proceeds to S1631.

In S1622, the automatic tracking mechanism control unit 340 controls the automatic tracking mechanism 317 based on the current position (other TS) (controls so that the emission direction of the irradiation light is directed toward the UAV 100). Thereafter, the process proceeds to S1640.

In S1631, the current position (EKF) receiver 330a of TS 300a, 300b determines whether or not the current position (EKF) and tracking instruction (EKF) have been received from its own PC. If the current position (EKF) receiving unit 330a determines that the current position (EKF) and the tracking instruction (EKF) are received (S1631: YES), the process proceeds to S1632, where the current position (EKF) and the tracking instruction If it is determined that (EKF) has not been received (S1631: NO), the process proceeds to S1640.

In S1632, the automatic tracking mechanism control unit 340 controls the automatic tracking mechanism 317 based on the current position (EKF) (controls so that the emission direction of the irradiation light is directed toward the UAV 100). Thereafter, the process proceeds to S1640.

At S1640, the TSs 300a and 300b determine whether or not an operation has been performed to instruct the stop of the current position acquisition/tracking process S1600. When the TS 300a, 300b determines that an operation to instruct the stop of the current position acquisition tracking process S1600 has not been performed (S1640: NO), the process returns to S1612. When TS 300a, 300b determines that an operation instructing to stop current position acquisition and tracking processing S1600 has been performed (S1640: YES), TS 300a, 300b ends current position acquisition and tracking processing S1600.

FIG. 17 is a diagram showing an example in which the position measurement system 2 of the second embodiment described above is applied to inspection work of a bridge 1700. As shown in FIG.

As shown in the figure, in this example, the UAV 100 takes off from near the first pier 1711 and then moves along the bridge girder 910 toward the second pier 1712 . During this time, the UAV 100 always exists within the field of view of the TS 300a, and the significant current position (own TS) from the TS 300a is transmitted from the PC 200a to the UAV 100 in real time, and the current position (own TS) from the PC 200a is the other PC. It is transmitted to the PC 200b (S1413: YES, S1414 in FIG. 14, S1512: YES, S1513, S1514 in FIG. 15).

Subsequently, when the UAV 100 reaches the first pier 1711, it changes course, advances to a position behind the first pier 1711 with respect to the TS 300a, and goes out of the field of view of the TS 300. As a result, the significant current position (own TS) is not transmitted from TS 300a to PC 200a (S1413 in FIG. 14: NO), but if PC 200b can receive the significant current position (own TS) from TS 300b, which is its own TS, , the current position (own TS) is transmitted from the PC 200b to the UAV 100, and the UAV 100 can continue flying based on the current position (own TS) (S1413 in FIG. 14: YES, S1414, S1512 in FIG. 15: YES, S1513, S1514).

In addition, PC 200b receives a significant current position (other TS) from PC 200a even if it cannot receive a significant current position (own TS) from TS 300b, which is its own TS, during the period before UAV 100 enters the field of view of TS 300. (S1521 in FIG. 15: YES), a tracking instruction (other TS) based on the current position (other TS) is received, or if the current position (EKF) is received from the UAV 100, the current position ( By transmitting a tracking instruction (EKF) based on the EKF) to the TS 300b, which is the own TS, it is possible to cause the own TS to track the UAV 100 (S1521: YES, S1522 in FIG. 15, S1531: YES, S1532, FIG. 16 S1621: YES, S1622, S1631: YES, S1632).

Therefore, when UAV 100 goes out of the field of view of TS 300, position measurement by its own TS can be started immediately. can continue to provide

In the above, the case where there are two combinations of TS 300 and PC 200 has been described as an example, but the same mechanism can be extended to the case where the above combinations are three or more.

As described above, according to the position measurement system 2 of the second embodiment, the current position (TS) or current position (EKF) measured by each of the plurality of TS 300 installed at different positions are connected to each other. Since it is shared between the PCs 200 and provided to each TS 300 as appropriate, the TS 300 can track the UAV 100 even when the UAV 100 is out of the field of view of the TS 300 . Therefore, when the UAV 100 returns to the field of view of the TS 300, the TS 300 can immediately resume measuring the current position (TS) and immediately resume providing the current position (TS) to the UAV 100. Therefore, the flight of the UAV 100 can be stably continued over a wide airspace.

In addition, TS 300 loses UAV 100 due to various factors (when a shielding object passes between TS 300 and light reflector 50, when the position or attitude of UAV 100 suddenly changes due to a gust, when UAV 100 moves quickly, etc.) Even in such a case, as long as any TS 300 continues tracking, the current position (TS) can be continuously provided. Therefore, when the UAV 100 returns to the field of view, the TS 300 can immediately resume measuring the current position (TS) of the UAV, and can stably continue the flight of the UAV 100 over a wide airspace.

The embodiments (first embodiment and second embodiment) of the present invention have been described in detail above. do not have. It goes without saying that the present invention can be modified and improved without departing from its spirit, and that equivalents thereof are included in the present invention. For example, the above embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Moreover, it is possible to add, delete, or replace a part of the configuration of the above embodiment with another configuration.

For example, all or part of the functions of the PC 200 may be realized by the TS 300.

Further, in the above embodiment, the current position (TS) is transferred to UAV 100 via PC 200. may be sent directly.

In addition, the current position (TS) measured by the TS 300 can be used for purposes other than flight control, such as history management of the route (route) actually flown by the UAV 100, and when the UAV 100 performs some work, there is a work target. You may use it as information etc. for pinpointing the position which carries out precisely.

1 position measurement system, 2 position measurement system, 50 light reflector, 100 UAV, 111 flight control device, 113 EKF device, 114 GPS device, 116 communication device, 120 storage unit, 121 current position (TS), 122 current position ( GPS), 123 current position (EKF), 130 current position (TS) receiver, 140 flight control unit, 150 current position (EKF) transmitter, 200 PC, 206 communication device, 210 storage unit, 211 flight management information, 212 Flight monitoring information, 213 current position (TS), 214 current position (EKF), 220 flight management unit, 230 flight monitoring control unit, 240 current position (TS) receiving unit, 240a current position (own TS) receiving unit, 240b current Position (other TS) receiver 245 Current position (TS) UAV transmitter 250 Current position (EKF) receiver 255 Current position (EKF) TS transmitter 255a Current position (EKF) own TS transmitter 260 Present Position (own TS) other PC transmitter 265 Current position (other TS) own TS transmitter 300 TS 314 Communication device 310 Storage unit 311 Current position (TS) 311a Current position (own TS) 311b Current Position (Other TS), 312 Current Position (EKF), 320 Current Position (TS) Generator, 325 Current Position (TS) Transmitter, 330 Current Position (EKF) Receiver, 330a Current Position (EKF) Receiver, 330b Current position (other TS) receiving unit 340 Automatic tracking mechanism control unit S600 Flight control processing S700 Current position transfer processing S800 Current position acquisition and tracking processing S1400 Flight control processing S1500 Current position transfer processing S1600 Current position acquisition and tracking process

Claims (8)

An unmanned flying object equipped with an optical reflector, a total station installed on the ground, and an information processing device communicably connected to the unmanned flying object and the total station,
The total station receives reflected light returned from the light reflector that is emitted from the unmanned flying object, and determines the current position of the unmanned flying object based on the received reflected light. measuring a position (TS), transmitting the measured current position (TS) to the information processing device;
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The unmanned air vehicle receives the current position (TS) and performs flight control based on the received current position (TS);
The total station comprises an automatic tracking mechanism for controlling the irradiation light to be directed toward the unmanned air vehicle,
The unmanned air vehicle includes an inertial navigation system, and transmits a current position (EKF), which is the current position of the aircraft acquired by the inertial navigation system, to the information processing device;
The information processing device transmits the current position (EKF) to the total station,
The total station tracks the unmanned flying object based on the current position (EKF) when the unmanned flying object is lost.
An unmanned aerial vehicle positioning system. The unmanned air vehicle positioning system according to claim 1,
When transmitting the current position (EKF) to the total station, the information processing device converts the current position (EKF) into information expressed in a coordinate system in the total station.
An unmanned aerial vehicle positioning system. The unmanned air vehicle positioning system according to claim 1,
When transmitting the current position (EKF) to the total station, the information processing device transmits to the total station an instruction to track the unmanned flying object based on the current position (EKF),
When the unmanned flying object receives the tracking instruction, the unmanned flying object starts tracking the unmanned flying object based on the current position (EKF).
An unmanned aerial vehicle positioning system. An unmanned air vehicle equipped with an optical reflector, a plurality of total stations installed at different locations on the ground, and an information processing device provided for each of the total stations,
The information processing device is communicably connected to the unmanned air vehicle and the corresponding total station,
The total station receives reflected light returned from the light reflector that is emitted from the unmanned flying object, and determines the current position of the unmanned flying object based on the received reflected light. measuring a position (TS), transmitting the measured current position (TS) to the information processing device;
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The unmanned air vehicle receives the current position (TS) and performs flight control based on the received current position (TS);
The total station comprises an automatic tracking mechanism for controlling the irradiation light to be directed toward the unmanned air vehicle,
The unmanned air vehicle includes an inertial navigation system, and transmits a current position (EKF), which is the current position of the aircraft acquired by the inertial navigation system, to the information processing device;
The information processing device transmits the current position (EKF) to the total station,
the total station tracks the unmanned flying object based on the current position (EKF) when the unmanned flying object is lost;
Each of the information processing devices transmits the current position (TS) or the current position (EKF) to the other information processing device, thereby transmitting the acquired current position (TS) or the current position (EKF) to shared with other information processing devices,
When the unmanned flying object is lost, the total station tracks the unmanned flying object based on the current position (TS) or the current position (EKF) provided from another information processing device.
An unmanned aerial vehicle positioning system. The unmanned air vehicle positioning system according to claim 4,
When the information processing device transmits the current position (TS) or the current position (EKF) to the total station, the information processing device expresses the current position (TS) or the current position (EKF) in the coordinate system of the total station. transform into information,
An unmanned aerial vehicle positioning system. The unmanned air vehicle positioning system according to claim 4,
When the information processing device transmits the current position (TS) or the current position (EKF) to the total station, the information processing device transmits the current position (TS) or the current position (EKF) to the total station. send tracking instructions,
Upon receiving the tracking instruction, the unmanned flying object starts tracking the unmanned flying object based on the current position (TS) or the current position (EKF).
An unmanned aerial vehicle positioning system. An unmanned flying object equipped with an optical reflector, a total station installed on the ground, and an information processing device communicably connected to the unmanned flying object and the total station,
The total station receives reflected light returned from the light reflector that is emitted from the unmanned flying object, and determines the current position of the unmanned flying object based on the received reflected light. measuring a position (TS), transmitting the measured current position (TS) to the information processing device;
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The unmanned air vehicle receives the current position (TS) and performs flight control based on the received current position (TS);
The total station comprises an automatic tracking mechanism for controlling the irradiation light to be directed toward the unmanned air vehicle,
wherein the unmanned air vehicle is configured with an inertial navigation system;
A positioning method for an unmanned flying object using an unmanned flying object positioning system, comprising:
a step in which the unmanned air vehicle transmits a current position (EKF) obtained by the inertial navigation system to the information processing device;
a step in which the information processing device transmits the current position (EKF) to the total station;
the total station tracking the unmanned flying object based on the current position (EKF) when the unmanned flying object is lost;
A method for determining the position of an unmanned air vehicle. An unmanned air vehicle equipped with an optical reflector, a plurality of total stations installed at different locations on the ground, and an information processing device provided for each of the total stations,
The information processing device is communicably connected to the unmanned air vehicle and the corresponding total station,
The total station receives reflected light returned from the light reflector that is emitted from the unmanned flying object, and determines the current position of the unmanned flying object based on the received reflected light. measuring a position (TS), transmitting the measured current position (TS) to the information processing device;
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The information processing device receives the current position (TS) from the total station, transmits the received current position (TS) to the unmanned air vehicle,
The unmanned air vehicle receives the current position (TS) and performs flight control based on the received current position (TS);
The total station comprises an automatic tracking mechanism for controlling the irradiation light to be directed toward the unmanned air vehicle,
wherein the unmanned air vehicle is configured with an inertial navigation system;
A positioning method for an unmanned flying object using an unmanned flying object positioning system, comprising:
a step in which the unmanned air vehicle transmits a current position (EKF) obtained by the inertial navigation system to the information processing device;
a step in which the information processing device transmits the current position (EKF) to the total station;
the total station tracking the unmanned flying object based on the current position (EKF) when the unmanned flying object is lost;
Each of the information processing devices transmits the current position (TS) or the current position (EKF) to the other information processing device, thereby transmitting the acquired current position (TS) or the current position (EKF) a step of sharing with other information processing devices;
the total station tracking the unmanned flying object based on the current position (TS) or the current position (EKF) provided from another information processing device when the unmanned flying object is lost;
A positioning method for an unmanned air vehicle.

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