Patent Application
20210341628
The present disclosure relates to an information collection apparatus and an unmanned aerial vehicle in which the information collection apparatus is installed. More specifically, the present disclosure relates to an information collection apparatus to be used for surveying.
General aerial surveying includes capturing the ground with a camera or a line sensor installed in an aircraft, and generating a map from taken images (refer, for example, to Patent Literature 1 below). Further, in recent years, aerial surveying including using UAVs (unmanned aerial vehicles) such as a drone has been put to practical use.
PTL 1: Japanese Patent Application Laid-Open No. 10-153426
In order to generate an accurate map from the images of the ground, which are taken with use of the UAVs, in general, it is necessary to set markers called GCPs (ground control points) on the ground in advance, and to correct the map by utilizing position information items of the GCPs depicted in the images. Thus, there are problems such as time and effort in setting the GCPs, and incompatibility with environments where the GCPs cannot be set.
Meanwhile, in recent years, a method of measuring a distance from the UAV to the ground with use of a laser scanner installed in the UAV has been put to practical use. This method enables surveying to be conducted without the setting of the GCPs, but it is required to estimate a position and a posture of the UAV with high accuracy. At least the accuracy in estimating the position and the posture can be increased by using a high-accuracy GNSS (global navigation satellite system) receiver and a high-accuracy IMU (inertial measurement unit). However, when such high-accuracy devices are used, there arises a problem of an increase in manufacturing cost. Further, these devices are different from each other in measurement principle, and different from each other in point of consideration to exhibit desired performance. Thus, when both the GNSS receiver and the IMU are installed in the UAV for the measurement, there is a problem of difficulties in satisfying performance demands for both the devices in various measurement environments. In addition, data items to be measured by the GNSS receiver and the IMU are different from each other in property, and hence there is another problem of complication of data processing.
In view of such circumstances, the present disclosure has been made to achieve an object to provide an information collection apparatus and an unmanned aerial vehicle, the information collection apparatus being capable of obtaining observation data items for estimating a position and a posture with high accuracy, and being manufactured at low cost, the unmanned aerial vehicle including such an information collection apparatus.
A first aspect of the present disclosure relates to an information collection apparatus that collects information items about a position and a posture. This information collection apparatus includes:
“N” (N is an integer number of three or more) receivers, the “N” receivers each receiving location signals that are broadcasted from a plurality of satellites; and
a frame to which “N” antennas of the “N” receivers are fixed.
The “N” antennas of the “N” receivers receive the location signals, and are arranged in an annular array and at equal intervals.
The frame includes
The “N” antennas are fixed respectively to one ends of the “N” arm portions, the one ends being away from the body portion.
The body portion includes
The “N” antennas are located in a common virtual plane perpendicular to the virtual center line, and
the common virtual plane is spaced away from the mobile body under a state of being coupled to the mobile-body coupling portion.
When the virtual center line is parallel to a vertical direction, and at a same time, when the common virtual plane is located above the mobile body, the body frame is suspended from the mobile body through intermediation of the vibration-damping portion and the mobile-body coupling portion.
A second aspect of the present disclosure relates to an unmanned aerial vehicle in which the information collection apparatus according to the first aspect is installed.
According to the aspects of the present disclosure, it is possible to provide an information collection apparatus and an unmanned aerial vehicle, the information collection apparatus being capable of obtaining observation data items for estimating a position and a posture with high accuracy, and being manufactured at low cost, the unmanned aerial vehicle including such an information collection apparatus.
The system shown in the example of
The observation data items that are acquired by the UAV 1 and the terrestrial reference station 3 are data items to be generated based on the location signals that are broadcasted from the plurality of satellites 7. The observation data items include information items about distances from the plurality of satellites 7 (distances from satellites 7 to antennas). As described below, the UAV 1 includes a plurality of receivers, and hence the observation data item that is acquired by the UAV 1 includes observation data items generated by the plurality of receivers. Further, the ranging data item that is acquired by the UAV 1 includes a measured value of the distance from the UAV 1 to the ground surface 9, and an information item about the measurement direction as viewed from the UAV 1 at the time of measuring the distance. The ranging data item includes the measured value of the distance, which is obtained based on a reflected light beam of a laser beam applied to the ground surface 9 as shown in
The information collection apparatus 10 includes six antennas 19-1 to 19-6 (below, sometimes collectively referred to as “antennas 19”), each of which receives the location signals from the satellites 7, and a frame 11 to which the six antennas 19 are fixed. As illustrated in
The frame 11 includes a body portion 12 and six arm portions 17-1 to 17-6 supported by the body portion 12 (below, sometimes collectively referred to as “arm portions 17”). The virtual center line VL extends through the body portion 12, and the six arm portions 17 each extend in a direction away from the virtual center line VL. The antennas 19 are fixed respectively to one ends of the arm portions 17, which are away from the body portion 12. In the example of
As illustrated in
The receivers 18 receive, via the antennas 19, the signals that are broadcasted from the satellites 7. The receivers 18 receive the location signals that are broadcasted from the plurality of satellites 7, and generate, based on these received signals, the observation data items including the information items about the distances between the satellites 7 and reception positions of the antennas 19, at which the location signals are received. The observation data items include information items about carrier phases of the signals broadcasted from the plurality of satellites 7. The receivers 18 periodically receive the signals from the satellites 7 (at the intervals of, for example, one second) at timings in synchronization with system clocks precisely controlled in the satellites 7, and generate the observation data items.
The receiver 18A receives, via an antenna 19A, the signals that are broadcasted from the satellites 7. The receiver 18A outputs, in response to the received signals from the satellites 7, signals that signify the periodical reception timings in synchronization with the above-mentioned system clocks to the ranging apparatus 20.
The ranging apparatus 20, which is located at a reference point for the estimation of the position of the UAV 1, measures a distance from the reference point to a target. The ranging apparatus 20, which is, for example, a laser scanner, measures the distance between one point on the ground surface 9 and the reference point based, for example, on a phase and a time interval of the reflected light beam of the laser beam applied to the one point on the ground surface 9. The ranging apparatus 20 scans the ground surface 9 with the laser beams so as to measure distances to a large number of positions on the ground surface 9. Based on the signals that are output from the receiver 18A, which signify the reception timings, the ranging apparatus 20 measures the distances at the timings in synchronization with the reception of the signals from the satellites 7 by the six receivers 18. The ranging apparatus 20 generates the ranging data items including the measured values of the distances, and the information items about the measurement directions (irradiation directions of the laser beams).
The control apparatus 21 records the observation data items generated by the receivers 18-1 to 18-6, and the ranging data items generated by the ranging apparatus 20. In the example of
The interface unit 51 includes user interface devices (such as a keyboard, a mouse, a touchpad, and a touchscreen) for allowing information items in response to operations by a user to be input to the processing unit 53. Further, the interface unit 51 also includes a communication interface for exchanging the information items between external devices and the processing unit 53, general-purpose input/output interfaces such as a USB, and a recording-medium reading apparatus.
The display unit 52, which is an apparatus that displays videos under control by the processing unit 53, includes a display apparatus (such as liquid-crystal display or OLED display).
The processing unit 53, which is an apparatus that executes various information processes, includes a computer that executes processes in accordance with instruction codes of a program 541 that is stored in the storage unit 54. The processing unit 53 may execute at least some of the processes with dedicated hardware.
In the example of
The posture estimation unit 531 estimates the posture of the UAV 1 based on the observation data items generated based on the signals that the six receivers 18 installed in the UAV 1 have received from the plurality of satellites 7, and based on position data items of the plurality of satellites 7. The position data items, which are data items including information items about positions of the satellites 7 at each time point, which move in their predetermined respective orbits, are acquired based on published known information items.
The position estimation unit 532 estimates, based on the observation data items and the position data items described above, a position of the reference point in the UAV 1. Specifically, the position estimation unit 532 calculates, based on the position data items and the observation data items, “estimated reception positions PE” at which the one or more receivers 18 are estimated to receive the signals from the satellites 7 via the antennas 19. The position estimation unit 532 calculates an estimated position PX of the reference point in the UAV 1 based on the posture of the UAV 1, which is estimated by the posture estimation unit 531, and on the calculated one or more estimated reception positions PE.
The three-dimensional-map generating unit 533 acquires, at each of the time points, the posture of the UAV 1, which is estimated by the posture estimation unit 531, the estimated position PX of the reference point, which is estimated by the position estimation unit 532, the distance measured value of the ranging apparatus 20, and the information item about the irradiation direction of the laser beam from the ranging apparatus 20. Based on these data items acquired at each of the time points, the three-dimensional-map generating unit 533 calculates three-dimensional coordinates of each of the positions on the ground surface 9.
The storage unit 54 stores, for example, the program 541 that is executed by the computer of the processing unit 53, data items that are temporarily stored in the course of the processes by the processing unit 53, and constants that are utilized in the processes by the processing unit 53. The storage unit 54 includes one or more arbitrary storage apparatus such as a ROM, a RAM, a flash memory, a hard disk, and a magnetic recording medium.
Next, an overview of operations in the system having the above-described configuration is described.
First, the reception positions at which the receivers 18 of the UAV 1 receive the signals from the satellites 7 (reception positions of the antennas 19, at which the signals are received) are measured (ST100). The reception positions of the receivers 18 are precisely measured as relative positions with respect to the reference point (laser-beam emitting position of the ranging apparatus 20). The reception positions of the receivers 18 are used not only as references at the time of calculating the estimated posture, but also for determining whether or not the estimated position calculated based on the observation data items is proper.
Then, the UAV 1 is flown, and the information collection apparatus 10 installed in the UAV 1 collects the information items (ST105). Specifically, the information collection apparatus 10 performs, periodically and at the same timings, the signal reception by the six receivers 18, and the distance measurement by the ranging apparatus 20. The information collection apparatus 10 accumulates, as data items in time series, the sets of the observation data items and the ranging data items obtained at the same timings.
Further, while the information collection apparatus 10 of the UAV 1 collects the information items, the terrestrial reference station 3 (
After desired information items are collected by the information collection apparatus 10, the information items (observation data items and ranging data items) collected by the information collection apparatus 10 are collected, and then input to the information processing apparatus 5. Further, the observation data items obtained by the terrestrial reference station 3, and the position data items indicating the positions of the satellites 7 at each of the time points are also input to the information processing apparatus 5 (ST110).
Based on the observation data items generated by the six receivers 18 and collected by the information collection apparatus 10, and on the position data items of the satellites 7, the posture estimation unit 531 of the information processing apparatus 5 calculates the estimated posture of the UAV 1 at each of the time points (ST115).
Next, based on the observation data items generated by the six receivers 18 and collected by the information collection apparatus 10, on the position data items of the satellites 7, on the observation data items obtained by the terrestrial reference station 3, and on the already-calculated estimated posture of the UAV 1, the position estimation unit 532 of the information processing apparatus 5 calculates the estimated position PX of the reference point in the UAV 1 (ST120).
Based on the estimated posture of the UAV 1, on the estimated position PX of the reference point, and on the ranging data item (measured value of the distance and irradiation direction of the laser beam) at the same time point, the three-dimensional-map generating unit 533 of the information processing apparatus 5 calculates three-dimensional coordinates of one point on the ground surface 9. By collecting the three-dimensional coordinates on the ground surface 9, which are calculated at each of the time points, a three-dimensional data item (three-dimensional map) within a certain range on the ground surface 9 is obtained (ST125).
Next, a structure of the information collection apparatus 10 according to this embodiment is described in more detail with reference to
As illustrated in
As illustrated in
As illustrated in
The six arm-portion support mechanisms 14 of the body frame 13 respectively support the other ends of the arm portions 17. As illustrated in
In the example of
The arm-portion support mechanisms 14 each include an engaging pin 142 for stopping the bar holder 144 from pivoting with respect to the support 145. The engaging pin 142 is arranged through the two wall portions of the support 145. Both ends of the engaging pin 142 are movable along long holes 147 provided through the wall portions, and are each biased by a spring (elastic member) 143 toward one end of corresponding one of the long holes 147. When the angle of the arm portion 17 (first bar-like member 171) with respect to the virtual center line VL reaches the predetermined angle (approximately 90°), the engaging pin 142 is held at the one end of the long hole 147 by a biasing force of the spring 143. In this state, the engaging pin 142 slides into an engaging groove 146 of the bar holder 144, and the state (locking state) in which the bar holder 144 is prevented from pivoting with respect to the support 145 is reached. When the engaging pin 142 is moved toward other ends of the long holes 147 against the biasing force of the springs 143, the engaging pin 142 is disengaged from the engaging groove 146 of the bar holder 144. With this, the state (unlocking state) in which the bar holder 144 is allowed to pivot with respect to the support 145 is reached.
The mobile-body coupling portion 16 has a structure that is coupled in the attachable/detachable manner to the drone 24 located on the virtual center line VL (
As illustrated in
As illustrated in
The vibration-damping portion 15, which is fixed to the first plate-like member 131 of the body frame 13 and the third plate-like member 161 of the mobile-body coupling portion 16, suppresses the transmission of the vibration from the third plate-like member 161 to the first plate-like member 131. As illustrated in
As illustrated in
The first bar-like member 171 and the second bar-like member 172, each of which is, for example, a tubular body having a circular shape in cross-section, is made of a lightweight and rigid material such as carbon fibers.
As illustrated in
The bar-like-member coupling portion 173 is split substantially at a center of the insertion hole 1730 in a longitudinal direction (the direction parallel to the virtual center line VL). When screws of fasteners 1732 provided to a rim portion of the insertion hole 1730 are turned with a tool, the insertion hole 1730 radially expands or shrinks. With this, the first bar-like member 171 can be coupled in a separable manner to the bar-like-member coupling portion 173.
Further, a fastening screw 1734 penetrates an intermediate part between the insertion hole 1730 and the insertion hole 1731 of the bar-like-member coupling portion 173 in a direction perpendicular to the insertion hole 1731. When levers at both ends of the fastening screw 1734 are turned, an interval between the levers at both the ends varies to cause the insertion hole 1731 to radially expand or shrink. Thus, as illustrated in
In the example of
According to this embodiment, the advantages as described below can be obtained.
(1) The six receivers 18 each receive the location signals that are broadcasted from the satellites 7. Thus, even without use of the IMU, by using these signals received by the receivers 18, the position and the posture of the information collection apparatus 10 can be estimated with high accuracy. Further, the six antennas 19 that receive the location signals are arranged in the annular array and at the equal intervals. With this, the number of pairs of the antennas 19, which are distant from each other, increases, and hence accuracy in estimating the posture is increased. In addition, in the annular array, the pairs of the antennas 19, which are distant from each other, are not intensively formed on a particular side. Thus, a variation in estimating the posture in accordance with turning (roll, pitch, and yaw) directions of the posture is likely to be suppressed.
(2) The six antennas 19 are fixed respectively to the one ends of the six arm portions 17 each extending in the direction away from the virtual center line VL that extends through the body portion 12. Thus, the six antennas 19 can be arranged in the annular array with the frame 11 having a lightweight and simple structure.
(3) The arm-portion support mechanisms 14 of the body portion 12 each support the other end of the arm portion 17 in the pivotal manner such that the angle of the arm portion 17 with respect to the virtual center line VL can be varied. Thus, by varying the angle of each of the arm portions 17 in a manner that the six arm portions 17 come close to the virtual center line VL, the frame 11 is made compact as a whole. With this, the information collection apparatus 10 is easily accommodated and carried.
(4) When the six arm-portion support mechanisms 14 are held in the locking state, the six antennas 19 are arranged in the annular array. With this, the errors in estimating the position and in estimating the posture due to the variations of the angles of the arm portions 17 with respect to the virtual center line VL are suppressed.
(5) The drone 24, which is located on the virtual center line VL, is coupled to the body portion 12. With this, even when the drone 24 moves under the state in which the drone 24 and the body portion 12 are coupled to each other, a weight of the body portion 12 and a weight of the drone 24 scarcely influence the six arm portions 17. Thus, deflection and distortion of the arm portions 17 due to the weights of the body portion 12 and the drone 24 are likely to be avoided. Further, a center of gravity of the information collection apparatus 10 is located substantially at the body portion 12 through which the virtual center line VL extends. Thus, when the drone 24 is coupled to a vicinity of the center of gravity of the information collection apparatus 10, the posture of the information collection apparatus 10 is likely to be stabilized. In addition, the body portion 12 and the drone 24 are coupled in the attachable/detachable manner to each other. With this, the information collection apparatus 10 is easily accommodated and carried.
(6) The six antennas 19 are located in the virtual plane VP perpendicular to the virtual center line VL, and the virtual plane VP is spaced away from the drone 24 under the state of being coupled to the mobile-body coupling portion 16. Thus, when the information collection apparatus 10 is used in a manner that the virtual center line VL is substantially parallel to a vertical direction, and that the virtual plane VP is located above the drone 24, the reception of the signals from the satellites 7 via the six antennas 19 is not liable to be hindered by the drone 24.
(7) Even when the body portion 12 is suspended from the drone 24, the six antennas 19 can be arranged above the drone 24 by the structures which are lightweight and simple and each of which couples the first bar-like member 171 and the second bar-like member 172 to each other in the L-shape.
(8) The first bar-like members 171 and the second bar-like members 172 can be separated from each other, and hence the information collection apparatus 10 can be easily accommodated and carried.
(9) The body frame 13 that supports the other ends of the six arm portions 17, and the mobile-body coupling portion 16 are fixed to the vibration-damping portion 15. Thus, the transmission of the vibration from the mobile-body coupling portion 16 to the body frame 13 is suppressed by the vibration-damping portion 15. Therefore, vibration generated by the drone 24 is not liable to be transmitted to the antennas 19 or the receivers 18. With this, influence that the transmission of the vibration to the antennas 19 and the receivers 18 may have on the received signals can be reduced.
(10) The body frame 13 and the mobile-body coupling portion 16 are connected to each other with the plurality of wires 151. With such a simple configuration, the transmission of the vibration to the body frame 13 can be suppressed. Further, when the body frame 13 and the mobile-body coupling portion 16 are connected to each other with the plurality of wires 151, the body frame 13 and the mobile-body coupling portion 16 can be coupled to each other with sufficient strength.
(11) The six arm-portion support mechanisms 14, each of which supports the other end of the arm portion 17, are arranged between the first plate-like member 131 and the second plate-like member 132. With such lightweight and simple structures, the six arm portions 17 can be supported. Further, the third plate-like member 161 of the mobile-body coupling portion 16 and the first plate-like member 131 face each other, and the transmission of the vibration therebetween is suppressed by the vibration-damping portion 15. In this way, a vibration-damping structure can be provided over a large area in a region where the third plate-like member 161 and the first plate-like member 131 face each other. As a result, satisfactory vibration-damping performance can be exhibited.
(12) By providing the ranging apparatus 20, the distance to the target is measured in synchronization with the reception of the location signals by the six receivers 18. Thus, based on the results of the estimation of the position and the posture of the UAV 1, and on the results of the distance measurement by the ranging apparatus 20, a precise three-dimensional data item of the target can be obtained.
The present disclosure is not limited the embodiment described hereinabove, and may be carried out in various forms.
The number of the (six) receivers 18 that are installed in the UAV 1 (information collection apparatus 10) in the embodiment described hereinabove is merely an example, and hence is not limited thereto as long as fewest-possible three or more receivers 18 for enabling the posture estimation are provided.
In the example of
In the structure of the embodiment described hereinabove, the arm portions 17 can be folded with respect to the body portion 12. As another example of this embodiment, the arm portions 17 may be attached to and detached from the body portion 12. Also in this case, the connector may be provided partway around the cable 191 such that the cable 191 also can be disconnected.
The information collection apparatus 10 is installed in the UAV 1 in the example of the embodiment described hereinabove, but the mobile body in the present disclosure is not limited to the UAV. As other examples of the mobile body, there may be mentioned a vehicle that travels on the ground, and a ship that sails on the sea. In addition, the mobile body is not limited to unmanned vehicles, and may be vehicles that move with a person riding thereon.
The present disclosure is not limited to the example of the embodiment described hereinabove, in which the UAV 1 that flies in the air includes the ranging apparatus 20 such as the laser scanner, and generates the three-dimensional map by utilizing the results of the measurement by the ranging apparatus 20 and the results of the estimation of the position and the posture. As another example of the present disclosure, a camera that captures the ground surface may be installed instead of the ranging apparatus 20. In addition, the results of the estimation of the position and the posture of the mobile body may be utilized for various measurements other than the surveying, or may be utilized for purposes other than the measurements (such as a purpose of automatically recording and controlling the position and the posture of the mobile body, and a purpose of precisely estimating its orientations).
Below, appendices of this embodiment are described.
An information collection apparatus (10) that collects information items about a position and a posture, the information collection apparatus (10) comprising:
“N” (N is an integer number of three or more) receivers (18-1 to 18-6), the “N” receivers (18-1 to 18-6) each receiving location signals that are broadcasted from a plurality of satellites (7); and
a frame (11) to which “N” antennas (19-1 to 19-6) of the “N” receivers (18-1 to 18-6) are fixed,
the “N” antennas (19-1 to 19-6) of the “N” receivers (18-1 to 18-6) receiving the location signals, and being arranged in an annular array and at equal intervals,
the frame (11) including
the “N” antennas (19-1 to 19-6) being fixed respectively to one ends of the “N” arm portions (17-1 to 17-6), the one ends being away from the body portion (12),
the body portion (12) including
the “N” antennas (19-1 to 19-6) being located in a common virtual plane (VP) perpendicular to the virtual center line (VL),
the common virtual plane (VP) being spaced away from the mobile body (1) under a state of being coupled to the mobile-body coupling portion (16),
when the virtual center line (VL) is parallel to a vertical direction, and at a same time, when the common virtual plane (VP) is located above the mobile body (1), the body frame (13) being suspended from the mobile body (1) through intermediation of the vibration-damping portion (15) and the mobile-body coupling portion (16).
According to the information collection apparatus (10), the “N” receivers (18-1 to 18-6) each receive the location signals that are broadcasted from the satellites (7). Thus, even without use of the IMU, by using these signals received by the receivers (18-1 to 18-6), the position and the posture of the information collection apparatus (10) can be estimated with high accuracy. Further, the “N” antennas (19-1 to 19-6) that receive the location signals are arranged in the annular array and at the equal intervals. With this, the number of pairs of the antennas (19-1 to 19-6), which are distant from each other, increases, and hence accuracy in estimating the posture is increased. In addition, in the annular array, the pairs of the antennas (19-1 to 19-6), which are distant from each other, are not intensively formed on a particular side. Thus, a variation in estimating the posture in accordance with turning (roll, pitch, and yaw) directions of the posture is likely to be suppressed.
Further, according to the information collection apparatus (10), the “N” antennas (19-1 to 19-6) are fixed respectively to the one ends of the “N” arm portions (17-1 to 17-6) each extending in the direction away from the virtual center line (VL) that extends through the body portion (12). Thus, the “N” antennas (19-1 to 19-6) can be arranged in the annular array with the frame (11) having a lightweight and simple structure.
Still further, according to the information collection apparatus (10), the mobile body (1), which is located on the virtual center line (VL), is coupled to the body portion (12). With this, even when the mobile body (1) moves under the state in which the mobile body (1) and the body portion (12) are coupled to each other, a weight of the body portion (12) and a weight of the mobile body (1) scarcely influence the “N” arm portions (17-1 to 17-6). Thus, deflection and distortion of the arm portions (17-1 to 17-6) due to the weights of the body portion (12) and the mobile body (1) are likely to be avoided. Further, a center of gravity of the information collection apparatus (10) is located substantially at the body portion (12) through which the virtual center line (VL) extends. Thus, when the mobile body (1) is coupled to a vicinity of the center of gravity of the information collection apparatus (10), the posture of the information collection apparatus (10) is likely to be stabilized. In addition, the body portion (12) and the mobile body (1) are coupled in the attachable/detachable manner to each other. With this, the information collection apparatus (10) is easily accommodated and carried.
Yet further, according to the information collection apparatus (10), the body frame (13) that supports the other ends of the “N” arm portions (17-1 to 17-6), and the mobile-body coupling portion (16) are fixed to the vibration-damping portion (15). Thus, the transmission of the vibration from the mobile-body coupling portion (16) to the body frame (13) is suppressed by the vibration-damping portion (15). Therefore, vibration generated by the mobile body (1) is not liable to be transmitted to the antennas (19-1 to 19-6) or the receivers (18-1 to 18-6). With this, influence that the transmission of the vibration to the antennas (19-1 to 19-6) and the receivers (18-1 to 18-6) may have on the received signals can be reduced.
Yet further, according to the information collection apparatus (10), when the posture of the information collection apparatus (10) is set such that the virtual center line (VL) is substantially parallel to the vertical direction, and that the virtual plane (VP) is located above the mobile body (1), the reception of the signals from the satellites (7) via the “N” antennas (19-1 to 19-6) is not liable to be hindered by the mobile body (1).
Further, in this state, the body frame (13) is suspended from the mobile body (1) through intermediation of the vibration-damping portion (15) and the mobile-body coupling portion (16), and hence a position of the center of gravity of the information collection apparatus (10) as a whole is lowered. Thus, even under the state in which the “N” antennas (19-1 to 19-6) are located above the mobile body (1), a posture of the mobile body (1) coupled to the body frame (13) is likely to be stabilized.
Still further, in this case, the vibration-damping portion (15) is interposed between the body frame (13) and the mobile body (1), and hence there is an advantage that the vibration to be transmitted from the mobile body (1) to the “N” antennas (19-1 to 19-6) and the receivers (18-1 to 18-6) via the body frame (13) can be reduced.
Yet further, according to the information collection apparatus (10), due to the structure in which the vibration-damping portion (15) is interposed between the body frame (13) and the mobile body (1), the number of vibration-damping components can be reduced to be smaller than that in a case where a vibration-damping member is provided to each of the “N” antennas (19-1 to 19-6) and the receivers (18-1 to 18-6). As a result, structural simplification can be achieved. In addition, relative positional relationships between the antennas (19-1 to 19-6) are not varied even by a vibration-damping effect, and hence errors in estimating the position and the posture can be suppressed to be significantly small.
The information collection apparatus (10) according to Appendix 1, wherein the “N” arm portions (17-1 to 17-6) each include
a first bar-like member (171) that has one end supported by the body portion (12), and that extends parallel to the common virtual plane (VP),
a second bar-like member (172) that has one end to which corresponding one of the “N” antennas (19-1 to 19-6) is fixed, and that extends perpendicular to the common virtual plane (VP), and
a bar-like-member coupling portion (173) that couples the first bar-like member (171) and the second bar-like member (172) to each other in an L-shape.
With this configuration, that is, by the structures which are lightweight and simple and each of which couples the first bar-like member (171) and the second bar-like member (172) to each other in the L-shape, even when the body portion (12) is suspended from the mobile body (1), the “N” antennas (19-1 to 19-6) can be arranged above the mobile body (1).
The information collection apparatus (10) according to Appendix 2, wherein the bar-like-member coupling portion (173) couples the first bar-like member (171) and the second bar-like member (172) in a separable manner to each other.
With this configuration, the first bar-like member (171) and the second bar-like member (172) can be separated from each other, and hence the information collection apparatus (10) can be easily accommodated and carried.
The information collection apparatus (10) according to any one of Appendices 1 to 3,
wherein the body frame (13) includes
wherein the mobile-body coupling portion (16) includes a third plate-like member (161) arranged to face the first plate-like member (131), and
wherein the vibration-damping portion (15) suppresses the transmission of the vibration from the third plate-like member (161) to the first plate-like member (131).
In this configuration, the “N” arm-portion support mechanisms (14) that respectively support the other ends of the arm portions (17-1 to 17-6) are arranged between the first plate-like member (131) and the second plate-like member (132). With such lightweight and simple structures, the “N” arm portions (17-1 to 17-6) can be supported. Further, the third plate-like member (161) of the mobile-body coupling portion (16) and the first plate-like member (131) face each other, and the transmission of the vibration therebetween is suppressed by the vibration-damping portion (15). In this way, a vibration-damping structure can be provided over a large area in a region where the third plate-like member (161) and the first plate-like member (131) face each other. As a result, satisfactory vibration-damping performance is likely to be exhibited.
An information collection apparatus (10) that collects information items about a position and a posture, the information collection apparatus (10) comprising:
“N” (N is an integer number of three or more) receivers (18-1 to 18-6), the “N” receivers (18-1 to 18-6) each receiving location signals that are broadcasted from a plurality of satellites (7); and
a frame (11) to which “N” antennas (19-1 to 19-6) of the “N” receivers (18-1 to 18-6) are fixed,
the “N” antennas (19-1 to 19-6) of the “N” receivers (18-1 to 18-6) receiving the location signals, and being arranged in an annular array and at equal intervals,
the frame (11) including
the “N” antennas (19-1 to 19-6) being fixed respectively to one ends of the “N” arm portions (17-1 to 17-6), the one ends being away from the body portion (12),
the body portion (12) including
the body frame (13) including
the “N” arm-portion support mechanisms (14) each including a support (145) fixed to the first plate-like member (131) and the second plate-like member (132),
the mobile-body coupling portion (16) including a third plate-like member (161) arranged to face the first plate-like member (131),
the vibration-damping portion (15) suppressing the transmission of the vibration from the third plate-like member (161) to the first plate-like member (131).
According to the information collection apparatus (10), the “N” arm-portion support mechanisms (14) each have a function to support the other end of corresponding one of the “N” arm portions (17-1 to 17-6), and each have a function to fix the support (145) and a pair of the first plate-like member (131) and the second plate-like member (132) to each other. In other words, the “N” arm-portion support mechanisms (14) each not only have a function to support corresponding one of the “N” arm portions (17-1 to 17-6), but also have a function to support the structure of the body frame (13) including the first plate-like member (131) and the second plate-like member (132). Thus, despite the relatively simple structure, strength necessary for the body frame (13) can be secured. In addition, the number of the components of the body frame (13) can be reduced to achieve weight reduction.
Further, according to the information collection apparatus (10), the third plate-like member (161) of the mobile-body coupling portion (16) is arranged to face the first plate-like member (131). When the third plate-like member (161) is coupled to the mobile body (1), the transmission of the vibration from the third plate-like member (161) to the first plate-like member (131) is suppressed by the vibration-damping portion (15). Thus, the large area is likely to be secured at the part where the third plate-like member (161) and the first plate-like member (131) face each other, and a vibration-damping structure having satisfactory vibration-damping performance is likely to be provided with use of this large area.
Still further, according to the information collection apparatus (10), due to the structure in which the vibration-damping portion (15) is interposed between the body frame (13) and the mobile body (1), the number of vibration-damping components can be reduced to be smaller than that in the case where the vibration-damping member is provided to each of the “N” antennas (19-1 to 19-6) and the receivers (18-1 to 18-6). As a result, structural simplification can be achieved. In addition, the relative positional relationships between the antennas (19-1 to 19-6) are not varied even by the vibration-damping effect, and hence a significantly great advantage that the errors in estimating the position and the posture can be suppressed to be significantly small is obtained.
The information collection apparatus (10) according to any one of Appendices 1 to 5, wherein the vibration-damping portion (15) includes a plurality of wires (151) that connect the body frame (13) and the mobile-body coupling portion (16) to each other.
With this configuration, despite its simplicity, the transmission of the vibration to the body frame (13) can be suppressed. Further, the body frame (13) and the mobile-body coupling portion (16) are connected to each other with the plurality of wires (151), and hence the body frame (13) and the mobile-body coupling portion (16) are coupled to each other with sufficient strength.
The information collection apparatus (10) according to any one of Appendices 1 to 6,
wherein the body portion (12) includes the “N” arm-portion support mechanisms (14) that respectively support the other ends of the “N” arm portions (17-1 to 17-6), and
wherein the “N” arm-portion support mechanisms (14) respectively support the other ends of the “N” arm portions (17-1 to 17-6) in a pivotal manner such that angles of the “N” arm portions (17-1 to 17-6) with respect to the virtual center line (VL) can be varied.
In this configuration, the arm-portion support mechanisms (14) of the body portion (12) respectively support the other ends of the arm portions (17-1 to 17-6) in the pivotal manner such that the angles of the arm portions (17-1 to 17-6) with respect to the virtual center line (VL) can be varied. Thus, by varying the angles of the “N” arm portions (17-1 to 17-6) in a manner that the arm portions (17-1 to 17-6) come close to the virtual center line (VL), the frame (11) is made compact as a whole. With this, the information collection apparatus (10) is easily accommodated and carried.
The information collection apparatus (10) according to Appendix 7,
wherein, when the angle of one of the “N” arm portions (17-1 to 17-6) with respect to the virtual center line (VL) reaches a predetermined angle, corresponding one of the “N” arm-portion support mechanisms (14) enters a locking state in which the one of the “N” arm portions (17-1 to 17-6) is stopped from pivoting,
wherein the locking state can be cancelled, and
wherein, when the “N” arm-portion support mechanisms (14) are each held in the locking state, the “N” antennas (19-1 to 19-6) are arranged in the annular array.
With this configuration, when the “N” arm-portion support mechanisms (14) are each held in the locking state, the “N” antennas (19-1 to 19-6) are arranged in the annular array. With this, the errors in estimating the position and in estimating the posture due to the variations of the angles of the arm portions (17-1 to 17-6) with respect to the virtual center line (VL) are suppressed.
The information collection apparatus (10) according to any one of Appendices 1 to 8, further comprising a ranging apparatus (20) that measures a distance to a target in synchronization with the reception of the location signals by the “N” receivers (18-1 to 18-6).
With this configuration, based on results of the estimation of the position and the posture of the mobile body (1), and on results of the distance measurement by the ranging apparatus (20), a precise three-dimensional data item of the target can be obtained.
An unmanned aerial vehicle (1) in which the information collection apparatus (10) according to any one of Appendices 1 to 9 is installed.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2018-129550 | Jul 2018 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2019/016882 | 4/19/2019 | WO | 00 |
