JP2014031118A - Flying body and flying body system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flying body and a flying body system capable of capturing images of a plant or an operator in a plant factory at low cost and capable of performing automatic flight.SOLUTION: A flying body 3 flies in an internal space of a plant cultivation facility 1, where guide wires and a plurality of identifiable signs are installed on a ceiling 11 or on a floor surface, following the guide wires and being driven by a drive section. The flying body 3 is equipped with: an imaging section 32 which captures images of the guide wires and the signs; a detecting section which detects a position of the flying body itself in the plant cultivation facility 1 and a direction in which the guide wires extend on the basis of an image captured by the imaging section 32; and a control section which controls flight performed by the drive section from the position detected by the detecting section toward the direction detected by the detecting section.

Description

  The present invention relates to an aircraft and an aircraft system for imaging a plant or an operator.

  A plant factory is a facility that systematically produces plants in a controlled environment in a closed space separated from the outside. In order to monitor the plants produced in the plant factory or the workers working in the plant factory, a plurality of fixed cameras are installed in the plant factory.

  Moreover, it is possible to monitor a plant or an operator by mounting a camera on a remotely operated flying body and flying the flying body in a plant factory (see, for example, Patent Document 1). Furthermore, a plant or an operator can be monitored by a camera suspended from the ceiling of a plant factory with wires having a plurality of fulcrums (see Non-Patent Document 1, for example).

JP 2006-281830 A

http://www.sjpinc.jp/equipment

  However, when a fixed camera is used, even if a plurality of cameras are installed, a blind spot that cannot be imaged may occur, and monitoring is not complete. Flight of the flying object by remote control takes time and effort. When using a camera suspended by a wire, an advanced control device and high cost are required. Moreover, when a plant factory has a simple structure, it is difficult from the viewpoint of the weight concerning the said equipment to install the equipment which hangs a camera with a wire in a plant factory.

  The present application has been made in view of such circumstances. An object of the present invention is to provide a flying object and a flying object system capable of capturing an image of a plant or a worker in a plant factory at low cost and capable of automatic flight.

  The flying object according to the present application is a flying object that is driven by a drive unit and flies along an internal space of a plant cultivation facility in which a guide line and a plurality of identifiable signs are installed on a ceiling or a floor surface. An imaging unit that images the guide line and the sign, a detection unit that detects a position of the plant cultivation facility and a direction in which the guide line extends based on an image captured by the imaging unit, and the detection And a control unit that controls the flight of the driving unit in the direction detected by the detecting unit from the position detected by the detecting unit.

  The flying body according to the present application includes an imaging unit, a detection unit, and a control unit. The imaging unit images a guide wire and a plurality of identifiable signs installed on the ceiling or floor of the plant cultivation facility. The detection unit detects its own position in the plant cultivation facility and the direction in which the guide line extends based on the guide line and the sign image captured by the imaging unit. A control part controls the flight which a drive part goes to the extending direction of the guide line which the detection part detected from the position in the plant cultivation facility which the detection part detected.

  The flying body according to the present application is configured such that the detection unit detects an altitude in the plant cultivation facility from the size of a guide line or a sign captured by the imaging unit, and the control unit detects the detection unit. Based on the altitude, flight in the height direction in the plant cultivation facility is controlled.

  In the flying object according to the present application, the detection unit detects its own altitude in the plant cultivation facility from the size of the guide line or the sign captured by the imaging unit. The control unit controls the flight in the height direction in the plant cultivation facility based on its own altitude detected by the detection unit.

  The flying body according to the present application is characterized in that the detection unit detects a position in a plane substantially parallel to the ceiling or floor surface from a sign imaged by the imaging unit.

  The flying object according to the present application detects its own position in a plane substantially parallel to the ceiling or floor surface of the plant cultivation facility from the sign imaged by the imaging unit.

  The flying body according to the present application includes a rechargeable battery that supplies electric power to the electric motor and a remaining amount detecting unit that detects a remaining amount of the rechargeable battery, and the control unit includes the remaining battery. When the remaining amount detected by the amount detection unit is equal to or less than a predetermined amount, it is made to fly to a predetermined position of the plant cultivation facility related to charging of the rechargeable battery.

  In the flying body according to the present application, the drive unit includes an electric motor. The flying object includes a rechargeable battery and a remaining amount detection unit. The rechargeable battery supplies power to the electric motor, and the remaining amount detection unit detects the remaining amount of the rechargeable battery. A control part is made to fly to the predetermined position of the plant cultivation facility which concerns on charge of a rechargeable battery, when the remaining amount which the remaining amount detection part detected is below a predetermined amount.

  The flying body according to the present application is characterized in that the control unit is configured to resume flight from the predetermined position when the remaining amount detected by the remaining amount detecting unit increases more than the predetermined amount.

  In the flying body according to the present application, the control unit restarts the flight from a predetermined position when the remaining amount of the rechargeable battery detected by the remaining amount detecting unit is increased from a predetermined amount.

  A flying object system according to the present application is a flying object system including the plurality of flying objects described above and a charging device that is disposed at the predetermined position and charges the rechargeable battery, wherein one flying object moves to the predetermined position. When flying, another flying object having a rechargeable battery charged by the charging device starts to fly.

  The flying object system according to the present application includes a plurality of flying objects and a charging device. Each of the plurality of flying bodies is the above flying body. When the remaining amount detected by the remaining amount detecting unit is equal to or less than a predetermined amount, the charging device is arranged at a predetermined position of the plant cultivation facility that has flew, and charges the rechargeable battery. In the flying object system, when one flying object flies to a predetermined position, another flying object having a rechargeable battery charged by the charging device starts flying.

  In the aircraft system according to the present application, the charging device includes a charging unit that charges a rechargeable battery, and an exchange unit that replaces the rechargeable battery included in the flying object with another rechargeable battery charged by the charging unit. It is characterized by.

  In the aircraft system according to the present application, the charging device includes a charging unit and an exchange unit. The charging unit charges the rechargeable battery. The replacement unit replaces the rechargeable battery of the flying object with another rechargeable battery charged by the charging unit.

  In the flying object system according to the present application, the flying object includes a second imaging unit that images the inside of the plant facility, and a transmission unit that transmits an image captured by the second imaging unit, and the transmission unit transmits the image. And a display unit including a receiving unit that receives the received image and a display unit that displays the image received by the receiving unit.

  In the aircraft system according to the present application, the aircraft has a second imaging unit and a transmission unit. The second imaging unit images the inside of the plant cultivation facility. The transmission unit transmits the image captured by the second imaging unit to the outside. The aircraft system includes a display device. The display device includes a receiving unit and a display unit. The receiving unit receives an image transmitted by the transmitting unit of the flying object. The display unit displays an image received by the receiving unit from the flying object.

  The flying object system according to the present application includes a signal transmission unit that transmits a signal for controlling the second imaging unit or the driving unit to the flying object, and the flying object is a signal transmitted by the signal transmission unit. And a control unit of the flying object is configured to control the second imaging unit or the driving unit based on a signal received by the signal receiving unit. .

  In the aircraft system according to the present application, the display device includes a signal transmission unit, and the aircraft includes a signal reception unit. The signal transmission unit of the display device transmits a signal for controlling the second imaging unit or the driving unit of the flying object to the flying object. The signal receiver of the flying object receives the signal transmitted by the signal transmitter of the display device. The control unit of the flying object controls the second imaging unit or the driving unit based on the signal received by the signal receiving unit.

  According to the flying object and the flying object system according to the present application, it is possible to take an image of a plant or an operator in a plant factory at low cost, and automatic flight is possible.

It is explanatory drawing which shows the outline | summary of a monitoring system. It is explanatory drawing which shows the example model of a helicopter. It is a front view which shows an example of the label | marker and guide wire which were provided in the ceiling of the plant factory. It is a block diagram which shows the structural example of a helicopter. It is explanatory drawing of a battery and a battery holding | maintenance mechanism. It is explanatory drawing which showed a mode that a battery was mounted | worn with a battery holding | maintenance mechanism. It is explanatory drawing which shows the structural example of a charging mechanism. It is a block diagram which shows the hardware structural example of a monitoring apparatus. It is explanatory drawing which shows the example of a screen layout of a monitoring screen. It is the flowchart which showed an example of the procedure of the process which CPU of a helicopter controls automatic flight. It is a flowchart which shows an example of the procedure of a battery exchange process. It is a flowchart which shows an example of the procedure of a battery exchange process. It is explanatory drawing which shows the modification regarding holding | maintenance and replacement | exchange of a battery.

  Hereinafter, a monitoring system (aircraft system) in an example of the present application will be described based on the drawings showing an embodiment. The monitoring system according to the present application is a system for monitoring a plant cultivated in a plant factory (plant cultivation facility) and an operator working in the plant factory with a camera mounted on the flying object.

FIG. 1 is an explanatory diagram showing an overview of a monitoring system. The monitoring system includes a plant factory 1, a charging mechanism (charging device) 2, a plurality of helicopters (flying bodies) 3, a monitoring device (display device) 4, and an access point 5.
The plant factory 1 is a facility for planned cultivation of plants in a controlled closed environment or semi-closed environment, and includes a greenhouse, a cold room, and a dark room. The light used for plant cultivation may be sunlight or artificial light. Therefore, the plant factory 1 may be any of a sunlight utilization type, an artificial light utilization type, or a sunlight-artificial light combination type. The plant factory 1 has a floor surface and a ceiling 11. A sign 111 and a guide wire 112 used when the helicopter 3 automatically flies are installed on the indoor side surface of the ceiling 11 (see FIG. 3). The sign 111 and the guide wire 112 will be described later.

  The charging mechanism 2 is a facility including a device for charging a battery mounted on the helicopter 3, and is installed at a certain position (for example, a corner of the floor surface) in the plant factory 1. The charging mechanism 2 includes a parking lot (predetermined position) 21 and a charging controller (charging unit) 22. The parking area 21 is a landing site for the helicopter 3. The battery of the helicopter 3 is replaced with a charged battery at the parking lot 21. Further, the battery of the helicopter 3 may be charged at the parking lot 21. The charge controller 22 has a function of a charger that charges the battery of the helicopter 3 and a function of controlling the charger. The charge controller 22 is connected to the monitoring device 4 and operates based on a command from the monitoring device 4.

  The battery may be charged by the charge controller 22 while being mounted on the helicopter 3 standing by at the parking lot 21, or may be charged by the charge controller 22 when the battery is alone. In the former case, the battery of the helicopter 3 may not be replaced with a charged battery at the parking lot 21.

  The helicopter 3 is a radio control helicopter. The helicopter 3 includes, for example, four propellers 33 (drive units) that are driven by electric power, and can perform automatic flight by autopilot and other flight based on a flight command from the outside. In addition, the helicopter 3 includes a monitoring camera (second imaging unit) 31 that images plants and workers, and an imaging unit 32 that images the sign 111 and the guide line 112.

The monitoring device 4 is a desktop PC (personal computer), a notebook PC, a smartphone, a tablet PC, or the like. The monitoring device 4 includes a display unit 41 that can display an image.
The access point 5 is a wireless communication device that connects the helicopter 3 and the monitoring device 4 wirelessly.

  The helicopter 3 transmits the plant and worker images captured by the monitoring camera 31 to the monitoring device 4 via the access point 5. The monitoring device 4 receives an image captured by the monitoring camera 31 of the helicopter 3 and displays it on the display unit 41 included in the monitoring device 4. The monitoring device 4 may transmit instructions to the helicopter 3 via the access point 5 regarding start of flight, hovering to maintain a stopped state in the air, return to the parking area 21, operation of the monitoring camera 31, and the like. In such a case, the helicopter 3 performs an operation according to a command from the monitoring device 4.

FIG. 2 is an explanatory diagram showing a model example of the helicopter 3. FIG. 2A shows a helicopter 3 having a propeller guard (drive unit) 34, and FIG. 2B shows a helicopter 3 not having a propeller guard 34. The propeller guard 34 is a part that protects the propeller 33.
In the case of FIG. 2A, four propellers 33 are arranged at intervals of about 90 degrees in substantially the same in-plane direction, and the airframe is provided at the approximate center of the four propellers 33. The four propellers 33 are housed inside ring-shaped propeller guards 34, respectively.
The helicopter 3 is equipped with a battery (rechargeable battery) 36 serving as a power source for driving the propeller 33. The battery 36 is mounted below the body of the helicopter 3.

At the bottom of the helicopter 3 body, a surveillance camera 31 is installed with the lens facing downward. The monitoring camera 31 captures images of plants and workers in the plant factory 1 from the vicinity of the ceiling 11.
An imaging unit 32 is installed at the upper part of the helicopter 3 body. The imaging unit 32 images the sign 111 and the guide line 112 above the helicopter 3.

  FIG. 3 is a front view showing an example of the sign 111 and the guide wire 112 provided on the ceiling 11 of the plant factory 1. 3A and 3B show pattern examples of the marker 111 and the guide line 112, respectively. The sign 111 and the guide wire 112 may be installed on a floor portion of the plant factory 1 that is not covered with plants. Such a floor portion is, for example, a moving passage portion through which an operator or a plant harvesting device passes.

The sign 111 is a mark having a plurality of types, each of which has identifiable information. For example, the indicator 111 in FIG. 3A is a capital letter of the alphabet, and the indicator 111 in FIG. 3B is an Arabic numeral. The sign 111 is a mark for the helicopter 3 to specify its position on a surface substantially parallel to the ceiling 11 using the imaging unit 32. The size of the sign 111 is a predetermined constant size.
Of course, patterns other than alphabets and numbers may be used for the indicator 111. For example, as other patterns of the sign 111, a plurality of different colors, barcodes, QR (Quick Response) codes (registered trademark), or the like may be used.

  The guide line 112 is a band mark for guiding the helicopter 3. For example, the guide wire 112 in FIG. 3A has a connected loop shape, and the guide wire 112 in FIG. 3B has a diamond shape in which four straight lines are connected. The guide wire 112 is, for example, a black adhesive tape in which an adhesive surface with respect to the ceiling 11 is provided on one surface. The width of the guide wire 112 is a predetermined constant width.

  In the example of FIGS. 3A and 3B, the guide wire 112 is installed along the sign 111. However, the position of the marker 111 and the position of the guide line 112 may overlap. In such a case, the guide wire 112 is not placed in the portion of the sign 111 so that the sign 111 is not hidden by the guide line 112. And the guide wire 112 is installed so that the label | marker 111 and the label | marker 111 may be connected.

  On the floor of the plant factory 1 facing the ceiling 11 on which the alphabet S is drawn, a parking area 21 for the charging mechanism 2 is installed. This S is one of the signs 111. The helicopter 3 ascends from the parking area 21 and hovers for a certain time near the ceiling 11 on which the S letter is drawn. Thereafter, the helicopter 3 determines the extending direction of the guide line 112 (including the direction of bending or bending) as the flight course direction using the imaging unit 32 and starts flying along the guide line 112. The helicopter 3 returns to the vicinity of the ceiling 11 on which the letter S is drawn along the guide line 112 when a return instruction to the parking space 21 is received or when the remaining amount of the battery 36 becomes a certain amount or less. Start descent. Then, the helicopter 3 lands on the parking area 21.

  FIG. 4 is a block diagram illustrating a configuration example of the helicopter 3. The helicopter 3 includes a monitoring camera 31, an imaging unit 32, a propeller 33, a propeller guard 34, a motor (electric motor) 35, a battery 36, a battery holding mechanism 37, and a battery remaining amount detection circuit (remaining amount detection unit) 38. The helicopter 3 includes a control unit 39, a storage unit 301, and a communication unit (transmission unit, signal reception unit) 302. The electrical component is connected to the control unit 39 by wiring.

The surveillance camera 31 includes a wide-angle lens, a zoom lens, and the like, and captures a bird's-eye view and close-up moving images and still images of plants and workers. The monitoring camera 31 has a pan / tilt mechanism and can change the optical axis direction. However, the optical axis of the monitoring camera 31 is downward by default.
The monitoring camera 31 outputs the captured image data to the control unit 39.

  The surveillance camera 31 is capable of imaging with visible light, ultraviolet light, and infrared light. The monitoring device 4 can monitor the ultraviolet intensity in the plant factory 1 from the image of the ultraviolet rays captured by the monitoring camera 31. Moreover, the monitoring device 4 can monitor the ground temperature of the floor surface in the plant factory 1 from the infrared image captured by the monitoring camera 31.

  The imaging unit 32 has a wide-angle lens and images the sign 111 and the guide wire 112 installed on the ceiling 11. The imaging unit 32 outputs the captured image data to the control unit 39.

The propeller 33 is made of, for example, a synthetic resin, aluminum or the like and has four blades. The helicopter 3 does not include a contra-rotating propeller.
The propeller guard 34 is made of, for example, foamed propylene, and is four in number, the same as the number of propellers 33.
The motor 35 is a prime mover that rotates the propeller 33. There are four motors 35, each of which is connected to the propeller 33 by a shaft. The motor 35 drives the propeller 33 under the control of the control unit 39.

  The battery 36 can be charged, for example, a lithium polymer battery, a lithium ion battery, a nickel cadmium battery, a nickel metal hydride battery, or the like. The battery 36 supplies power to each component of the helicopter 3.

  The battery holding mechanism 37 is a mechanism for holding and releasing the battery 36, and is attached to the lower part of the body of the helicopter 3. When the remaining amount of the battery 36 becomes a certain amount or less, the battery holding mechanism 37 releases the battery 36 to be held and holds another charged battery 36. The battery 36 and the battery holding mechanism 37 will be described later.

  The battery remaining amount detection circuit 38 is a circuit that detects the remaining amount of the battery 36. The remaining battery level detection circuit 38 outputs the detected remaining battery level 36 to the control unit 39.

  The control unit 39 is a computer that controls each component of the helicopter 3 and includes a CPU (Central Processing Unit) (detection unit, control unit) 391 and a RAM (Random Access Memory) 392. The control unit 39 reads the program 1P stored in the storage unit 301 into the RAM 392, and executes processing defined in the program 1P. The RAM 392 functions as a main storage device of the CPU 391, and the storage unit 301 functions as an auxiliary storage device of the CPU 391.

  The control unit 39 includes a gyro sensor 393 and an acceleration sensor 394. The gyro sensor 393 and the acceleration sensor 394 are, for example, a 2-axis (XY) and 1-axis (Z) gyro sensor and a 3-axis acceleration sensor based on MEMS (Micro Electro Mechanical Systems) technology, respectively. The gyro sensor 393 and the acceleration sensor 394 output detection values to the CPU 391, respectively. The CPU 391 detects the attitude of the helicopter 3 based on the detection values detected by the gyro sensor 393 and the acceleration sensor 394. The CPU 391 controls the attitude of the helicopter 3 by controlling the motor 35 based on the detected attitude.

The storage unit 301 is a nonvolatile memory such as a flash memory or an EEPROM (Electrically Erasable Programmable Read-Only Memory). The storage unit 301 stores a program 1P and a map 1M. The program 1P is a file in which a procedure for processing executed by the CPU 391 is recorded. The map 1M is a file in which the arrangement of the signs 111 and the guide lines 112 installed on the ceiling 11 of the plant factory 1 is recorded.
Note that the storage unit 301 may buffer image data captured by the monitoring camera 31.

  The CPU 391 determines the position and orientation (attitude direction with respect to a specific direction) of the helicopter 3 based on the image of the sign 111 and the guide line 112 captured by the imaging unit 32 and the map 1M. Then, the CPU 391 controls the motor 35 to move the helicopter 3 in the direction in which the guide wire 112 leads.

  The communication unit 302 is a component that performs wireless communication with the monitoring device 4 via the access point 5. An image captured by the monitoring camera 31 is transmitted from the communication unit 302 to the monitoring device 4 by the CPU 391. Further, the communication unit 302 receives a signal related to the flight or control of the helicopter 3 and a signal related to the control of the monitoring camera 31 from the monitoring device 4, and outputs the received signal to the CPU 391.

  FIG. 5 is an explanatory diagram of the battery 36 and the battery holding mechanism 37. In FIG. 5, the rectangular parallelepiped object shown in the upper part shows the helicopter 3 body in a simplified manner. The battery holding mechanism 37 is joined to the lower part of the body of the helicopter 3.

The battery 36 includes a battery main body 361, a battery locking portion 362, and a battery electrode 363. The battery main body 361 has a rectangular parallelepiped shape and is a main body portion of the battery 36 that can be repeatedly charged and discharged. An electrode (not shown) for charging the battery 36 is provided on the bottom surface of the battery body 361.
The battery locking portion 362 is an arm-shaped member that extends upward from the battery main body 361. The battery main body 361 is suspended from the battery holding mechanism 37 by a battery locking portion 362.

The battery locking portions 362 are paired and are erected upward from both end portions on the upper surface of the battery main body 361. The battery locking portions 362 have L-shapes in which the distal end portions 3621 are bent inwardly facing each other. Battery electrodes 363 are respectively installed below the paired tip portions 3621.
The battery electrode 363 is an electrode that can charge and discharge the battery 36 and has a substantially flat plate shape (see FIG. 6).

FIG. 6 is an explanatory view showing a state in which the battery 36 is attached to the battery holding mechanism 37.
The battery holding mechanism 37 includes a holding leg 371, a holding part 372, and a body electrode 373. The holding legs 371 make a pair. Each holding leg 371 has a quadrangular prism shape having the same size. The upper surface of the holding leg 371 is bonded to the center of the lower surface of the helicopter 3 body. Therefore, the holding leg 371 has a shape protruding downward from the body. The arrangement direction of the pair of holding legs 371 is substantially orthogonal to the arrangement direction of the battery locking portions 362 in the battery 36 held by the battery holding mechanism 37. The width of the side surface of the holding leg 371 as viewed from the arrangement direction of the holding legs 371 is narrower than the distance between the front ends 3621 facing each other in FIG.

  The holding part 372 is a beam part provided between the pair of holding leg parts 371. The holding portion 372 includes a lower holding plate and two right triangular prism portions placed on the holding plate. The two right-angled triangular prisms both have a triangular prism shape that lies sideways, and the height direction of the right-angled triangular prisms is substantially orthogonal to the arrangement direction of the holding legs 371. The right-angled corners of the two right-angled triangular prisms are in contact with the corners formed by the holding leg 371 and the holding plate. Both the inclined surfaces facing the right-angled corners of the two right-angled triangular prisms are inclined toward the center of the holding part 372. The distance between the upper end of the inclined surface of the right triangular prism and the bottom surface of the helicopter 3 is wider than the width in the height direction at the tip 3621 of the battery 36 including the battery electrode 363. Further, the width of the holding portion 372 as viewed from the arrangement direction of the holding leg portions 371 is wider than the interval between the tip portions 3621 facing the battery holding mechanism 37 in FIG. 6, and the battery locking portion 362 facing the battery holding mechanism 37 is wide. Narrower than the interval.

  The right triangular prism portion is not placed at the center of the holding plate in the holding portion 372, and a rectangular opening is formed through the center of the holding plate. Therefore, the central portion of the holding plate is composed of two beams, and the body electrode 373 is installed on the upper portion of each beam. The body electrode 373 is an electrode for supplying electric power to the helicopter 3 and has a substantially flat plate shape. The battery 36 is held by the battery holding mechanism 37 by the portions of the battery electrodes 363 being locked to the body electrode 373 of the battery holding mechanism 37. The helicopter 3 is supplied with power from the battery 36 via the body electrode 373 of the battery holding mechanism 37 and the battery electrode 363 of the battery 36.

  When the remaining amount of the battery 36 becomes equal to or less than a predetermined amount, the helicopter 3 returns to the parking lot 21 and lands, and replaces the battery 36 with a charged battery 36. Note that the helicopter 3 may land on the parking space 21 and charge the battery 36 mounted on the helicopter 3 by controlling the charge controller 22 when the remaining amount of the battery 36 becomes a certain amount or less.

  When the battery 36 is disconnected from the helicopter 3, a robot arm (not shown) is used. The said robot arm is installed in the parking area 21, for example. The robot arm grips the battery 36 whose remaining amount has become a certain amount or less and lifts it slightly upward. Then, the robot arm pulls the gripped battery 36 out of the battery holding mechanism 37. Thus, the robot arm disconnects the battery 36 from the helicopter 3.

  When another battery 36 is attached to the helicopter 3 from which the battery 36 has been disconnected, the battery 36 is brought closer to the battery holding mechanism 37 as shown in FIG. In this case, the battery 36 is held in the battery holding mechanism in a state where the arrangement direction of the holding legs 371 and the arrangement direction of the battery locking portions 362 are substantially orthogonal and the height of the battery electrode 363 is higher than the upper end of the holding portion 372. 37. The battery 36 is pushed out to the battery holding mechanism 37 along the arrangement direction of the holding legs 371 so that one holding leg 371 passes between the two tip parts 3621 relatively. The two tip portions 3621 move to the body electrode 373 along the inclined surface of the right triangular prism portion constituting the holding portion 372 after passing through the side of the holding leg portion 371. Then, the battery electrode 363 of the battery 36 and the machine body electrode 373 of the battery holding mechanism 37 abut.

FIG. 7 is an explanatory diagram illustrating a configuration example of the charging mechanism 2.
The charging mechanism 2 includes a parking lot 21, a charge controller 22, a turntable (exchange unit) 23, a motor (exchange unit) 24, and an actuator (exchange unit) 25. The parking lot 21 and the charge controller 22 have already been described. FIG. 7 shows how the battery 36 of the helicopter 3 that has landed on the parking lot 21 is replaced. The turntable 23, the motor 24, and the actuator 25 have a function of exchanging the battery 36 of the helicopter 3 together.

  The turntable 23 is a ring-shaped flat plate. On the outer peripheral edge of the turntable 23, a plurality of batteries 36 are placed at equal intervals. In FIG. 7, the battery 36 is simplified as a rectangular parallelepiped object. On the turntable 23 on which the battery 36 is placed, a charger electrode that is in contact with a charging electrode provided on the bottom surface of the battery body 361 is installed. The charger electrode is connected to the charge controller 22. Therefore, the battery 36 is charged while being placed on the turntable 23.

  The charge controller 22 charges the battery 36 on the turntable 23 under the control of the control device 4. When the charging of the battery 36 is completed, the charge controller 22 stops the power supply to the battery 36.

  The motor 24 is a drive source that rotates the turntable 23 in the circumferential direction under the control of the monitoring device 4.

  The actuator 25 is, for example, a push-pull actuator that expands and contracts under the control of the monitoring device 4. On the turntable 23 below the actuator 25, elongated actuator bases for mounting the actuator 25 are arranged radially from the center of the turntable 23 toward each battery 36. The number of actuator bases is the same as the number of batteries 36. A parking lot 21 is adjacent to one end of the outer periphery of the turntable 23. In FIG. 7, the actuator 25 is drawn toward the battery 36 disposed at the position of the turntable 23 in contact with the parking lot 21.

  When the battery 36 of the helicopter 3 is replaced, the robot arm disconnects the battery 36 from the battery holding mechanism 37 of the helicopter 3 that has landed on the parking lot 21. Next, the control device 4 rotates the turntable 23 by the motor 24 to move the charged battery 36 and the actuator base to the front of the helicopter 3. The control device 4 places the actuator 25 on an actuator base that extends from the inner periphery of the turntable 23 to the front of the helicopter 3. The control device 4 extends the actuator 25 to cause the actuator 25 to push the battery 36 toward the battery holding mechanism 37 of the helicopter 3. The battery 36 pushed by the actuator 25 slides and is held by the battery holding mechanism 37 of the helicopter 3. The details are as described with reference to FIG. Thus, the replacement of the battery 36 is completed.

  FIG. 8 is a block diagram illustrating a hardware configuration example of the monitoring device 4. The monitoring device 4 includes a display unit 41, a CPU 42, a ROM (Read Only Memory) 43, and a RAM 44. The monitoring device 4 includes a hard disk 45, a disk drive 46, an operation unit 47, and a communication unit (reception unit, signal transmission unit) 48. Each component of the monitoring device 4 is connected to each other via a bus 4b.

The display part 41 has screens, such as a liquid crystal display, an organic EL (Electro Luminescence) display, a CRT (Cathode Ray Tube) display, for example, and displays the various information which concerns on the program 2P according to the instruction | indication from CPU42.
The display unit 41 displays the plant and worker images captured by the monitoring camera 31. The display unit 41 may display the ultraviolet intensity distribution and the ground temperature distribution in the plant factory 1 based on the ultraviolet image and the infrared image captured by the monitoring camera 31, respectively. Alternatively, the display unit 41 may display the remaining battery level detected by the remaining battery level detection circuit 38 of the helicopter 3.

  The CPU 42 is a processor and controls each component of the monitoring device 4. The CPU 42 reads the program 2P stored in the hard disk 45 into the RAM 44, and executes the program 2P read out into the RAM 44.

The ROM 43 is, for example, a nonvolatile semiconductor memory or a read-only storage medium other than the semiconductor memory. The ROM 43 stores a BIOS (Basic Input / Output System) executed by the CPU 42 when the monitoring device 4 is activated, firmware, and the like.
The RAM 44 is, for example, SRAM or DRAM, and temporarily stores work variables, data, and the like that are necessary in the course of processing executed by the CPU 42. The RAM 44 is an example of a main storage device, and a flash memory, a memory card, or the like may be used instead of the RAM 44.

  The hard disk 45 stores a program 2P executed by the CPU. The program 2P records the procedure of processing executed by the CPU 42. The processing executed by the CPU 42 includes processing of an image captured by the monitoring camera 31, communication with the helicopter 3 through the access point 5, and instructions to the charging mechanism 2 and the helicopter 3.

The hard disk 45 may be attached inside the monitoring device 4 or may be placed outside the monitoring device 4.
The hard disk 45 is an example of an auxiliary storage device, and is a flash memory capable of storing a large amount of information or an optical disk such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a BD (Blu-ray Disc, registered trademark). 4a may be substituted.

  The disk drive 46 reads information from an optical disk 4a such as a CD, DVD, BD or the like, which is an external storage medium, and records information on the optical disk 4a.

  The operation unit 47 includes input devices such as a keyboard, a mouse, a touch panel, a power switch, and an operation button for ejecting the optical disk 4a from the disk drive 46, on which the user performs various inputs. The operation unit 47 generates an input signal based on an operation by the user. The generated input signal is input to the CPU 42 via the bus 4b.

  The communication unit 48 includes a wired or wireless communication modem, a LAN card, a router, a USB terminal, a connection cable, and the like, and is connected to the access point 5, the LAN, and the Internet. The communication unit 48 may include a parallel port or a printer port.

  The program 2P for operating the monitoring device 4 that is a computer may be read from the optical disc 4a via the disc drive 46. Alternatively, the program 2P may be read from an information processing device or a recording device on the cloud via the communication unit 48. Furthermore, a semiconductor memory 4c such as a flash memory in which the program 2P is recorded may be mounted in the monitoring device 4.

Next, the operation of the monitoring system will be described.
FIG. 9 is an explanatory diagram showing a screen layout example of the monitoring screen 1f. The monitoring screen 1 f is a screen displayed on the display unit 41 of the monitoring device 4 by the CPU 42.
The monitoring screen 1f includes a monitoring camera image screen 11c, a start button 12c, a hover button 13c, a feedback button 14c, a battery remaining amount display button 15c, a combination button 16c, a save button 17c, and a read button 18c. The monitoring screen 1f includes a wavelength switching button 19c, a pan spin button 20c, a tilt spin button 21c, and a zoom spin button 22c. The start button 12c, the hovering button 13c, the feedback button 14c, the battery remaining amount display button 15c, the combination button 16c, the save button 17c, and the read button 18c are arranged in this order vertically from top to bottom on the right end of the monitoring screen 1f. Yes. The wavelength switching button 19c, the pan spin button 20c, the tilt spin button 21c, and the zoom spin button 22c are arranged in this order from left to right in the lower stage of the monitoring screen 1f. The surveillance camera image screen 11c is arranged in an area surrounded by various button groups and the upper and left sides of the surveillance screen 1f.

The surveillance camera image screen 11c displays an image captured by the surveillance camera 31 mounted on the helicopter 3. While the monitoring device 4 receives an image captured by the monitoring camera 31 from the helicopter 3, the monitoring camera image screen 11c continues to display the image.
For the above-described operation, the CPU 391 of the helicopter 3 transmits an image relating to the plant and the worker captured by the monitoring camera 31 to the monitoring device 4 via the communication unit 302. The CPU 42 of the monitoring device 4 receives the image transmitted by the CPU 391 of the helicopter 3 via the communication unit 48, and displays the received image on the monitoring camera image screen 11c.

  The start button 12 c is a button for causing the helicopter 3 landing on the parking space 21 to start flying. The helicopter 3 continues the automatic flight unless the feedback command from the monitoring device 4 to the parking area 21 is received or the battery 36 is not exhausted.

FIG. 10 is a flowchart illustrating an example of a procedure of processing in which the CPU 391 of the helicopter 3 controls automatic flight.
When the start button 12 c is pressed, the CPU 42 of the monitoring device 4 transmits a flight start command to the helicopter 3 via the communication unit 48. The CPU 391 of the helicopter 3 receives a flight start command (step S101). The CPU 391 rotates the motor 35 to take off the helicopter 3 upward from the parking lot 21 (step S102).

  The CPU 391 calculates the height at which the helicopter 3 is levitated from the size of the upper sign 111 (for example, S-shaped) imaged by the imaging unit 32 or the width of the guide wire 112 (step S103). The size of the sign 111 and the width of the guide line 112 are stored in the storage unit 301 in advance, but may be transmitted from the monitoring device 4 to the helicopter 3 at takeoff. The CPU 391 determines whether or not the helicopter 3 has reached a certain distance from the ceiling 11 downward (step S104).

  If the CPU 391 determines that the helicopter 3 has not reached a certain distance from the ceiling 11 (step S104: NO), the process returns to step S103. When it is determined that the helicopter 3 has reached a certain distance from the ceiling 11 (step S104: YES), the CPU 391 causes the helicopter 3 to hover (step S105). Thereafter, the CPU 391 starts moving in the extending direction (including the bending direction or the bending direction) of the guide wire 112 captured by the imaging unit 32 while maintaining the same altitude (step S106).

  In addition, when the plant factory 1 is built on the slope, the floor surface and the ceiling 11 of the plant factory 1 are substantially parallel to the slope. In such a case, the CPU 391 causes the helicopter 3 to fly along a plane substantially parallel to the floor surface and the ceiling 11. Specifically, the CPU 391 starts moving in the direction of the guide line 112 imaged by the imaging unit 32 while rising or descending along the ceiling 11 while maintaining the same altitude from the floor immediately below.

  The CPU 391 refers to the map 1M stored in the storage unit 301, and specifies the position of the helicopter 3 in the plant factory 1 from the sign 111 captured by the imaging unit 32 (step S107). The CPU 391 determines the direction of the helicopter 3 based on the extending direction of the guide wire 112 imaged by the imaging unit 32 (including the direction based on the bent or curved shape) and the detection values detected by the gyro sensor 393 and the acceleration sensor 394. Specify (step S108). The azimuth | direction of the helicopter 3 in step S108 is the front direction of the body of the helicopter 3 seen from the specific wall surface direction in the plant factory 1, for example.

  The CPU 391 adds the position and orientation information specified in steps S107 and S108 to the image captured by the monitoring camera 31 (step S109). The CPU 391 transmits the image with the position and orientation information added thereto to the monitoring device 4 via the communication unit 302 (step S110), and returns the process to step S106.

  The CPU 391 continues to fly along the guide line 111 until the remaining amount of the battery 36 detected by the battery remaining amount detection circuit 38 falls below a certain amount, and repeats the loop processing from step S106 to step S110. Note that while the helicopter 3 is flying, power supply to the monitoring camera 31 and the imaging unit 32 is always continued.

Returning to FIG. 9, the description of the monitoring screen 1f is continued.
The hovering button 13c is a button for stopping the helicopter 3 in the air. When the surveillance camera 31 is operated and a zoomed-up image of a plant is taken, for example, the hovering button 13c is pressed.

  The return button 14 c is a button for forcibly returning the helicopter 3 to the parking area 21. When the user ends the monitoring of the plant and the worker by the monitoring camera 31, the user presses the return button 14c. When the feedback button 14 c is pressed, the monitoring device 4 transmits a feedback command to the helicopter 3 via the communication unit 48. The helicopter 3 returns to the parking lot 21 when receiving a feedback command from the monitoring device 4 via the communication unit 302.

The guide wire 112 is installed with the position of the ceiling 11 directly above the parking area 21 as a starting point. The guide wire 112 is installed along a route returning to the ceiling 11 position directly above the parking lot 21. Therefore, the helicopter 3 can always return to the parking lot 21 regardless of the position in the plant factory 1.
In order to land the helicopter 3 on the parking space 21, the CPU 391 calculates the height at which the helicopter 3 floats from the size of the upper sign 111 captured by the imaging unit 32 or the width of the guide line 112. Then, the CPU 391 safely lowers the helicopter 3 toward the parking lot 21 installed at a certain height.

  The battery remaining amount display button 15c is a button for displaying the remaining amount of the battery 36 mounted on the helicopter 3 on a part of the monitoring camera image screen 11c. When the battery remaining amount display button 15 c is pressed, the CPU 42 transmits a command for returning the remaining amount of the battery 36 to the monitoring device 4 to the helicopter 3. When the CPU 391 receives the instruction from the monitoring device 4, the CPU 391 transmits the remaining amount of the battery 36 detected by the battery remaining amount detection circuit 38 to the monitoring device 4. Then, the CPU 42 displays the remaining amount of the battery 36 transmitted from the helicopter 3 on a part of the monitoring camera image screen 11c.

  The combining button 16c is a button for combining a plurality of partial overhead view still images of the plant and the worker in the plant factory 1 captured by the monitoring camera 31 to synthesize the entire overhead view still image of the plant factory 1. When the join button 16c is pressed, the CPU 42 displays an overhead still image of the whole plant factory 1 on the monitoring camera image screen 11c.

The save button 17c is a button for recording a moving image or a still image captured by the monitoring camera 31 in one monitoring flight as a file on the hard disk 45. The save button 17c is also pressed when recording a bird's-eye view still image of the whole plant factory 1 created by pressing the join button 16c.
When the save button 17c is pressed, the CPU 42 may record numerical values indicating the environment (temperature, humidity, luminous intensity, etc.) in the plant factory in association with the image as metadata of the image. Alternatively, the CPU 42 may record information related to the cultivation status (growth status, disease status, etc.) of the plant cultivated in the plant factory 1 in association with the image.

  The read button 18c is a button for reading an image recorded on the hard disk 45 and displaying the read image on the monitoring camera image screen 11c. By pressing the read button 18c, the CPU 42 can read a plurality of image files and simultaneously display a plurality of images on the surveillance camera image screen 11c. Thereby, the user can monitor the growing condition of a plant in time series.

  The wavelength switching button 19c, the pan spin button 20c, the tilt spin button 21c, and the zoom spin button 22c are buttons used by the user to operate the monitoring camera 31 of the helicopter 3. When these buttons are pressed, the CPU 42 transmits a signal for operating the monitoring camera 31 to the helicopter 3 via the communication unit 48. The CPU 391 controls the monitoring camera 31 according to a signal for operating the monitoring camera 31 received from the monitoring device 4 via the communication unit 302.

  The wavelength switching button 19c is a button for switching the wavelength of the electromagnetic wave sensed by the monitoring camera 31 between visible light, ultraviolet light, and infrared light. Each time the wavelength switching button 19c is pressed, the wavelength of the electromagnetic wave sensed by the monitoring camera 31 is switched in the order of visible light → ultraviolet light → infrared → visible light.

The pan spin button 20c is a button for causing the monitoring camera 31 to perform a pan operation.
The tilt spin button 21c is a button that causes the monitoring camera 31 to perform a tilt operation.
The zoom spin button 22c is a button for causing the monitoring camera 31 to perform zoom up and zoom back operations.
By selecting and pressing a spin button indicating two different directions on each of the pan spin button 20c, the tilt spin button 21c, and the zoom spin button 22c, the pan direction, the tilt direction, zoom up, and zoom back can be switched.

Next, the operation for replacing the battery 36 in the monitoring system will be described.
11 and 12 are flowcharts showing an example of the procedure of the battery 36 replacement process. The battery 36 has a specific charging capacity. For this reason, the flight duration of the helicopter 3 is limited.
The CPU 391 of the helicopter 3 calculates the amount of power required for the helicopter 3 in flight to return to the parking lot 21 from the current position at regular time intervals (step S201). The CPU 391 determines whether or not the remaining amount of the battery 36 detected by the battery remaining amount detection circuit 38 is equal to or less than the amount of power calculated in step S201 (step S202).

In step S202, the CPU 391 determines whether or not the remaining amount of the battery 36 detected by the remaining battery amount detection circuit 38 is equal to or less than the amount of power obtained by adding a predetermined threshold to the amount of charge when the battery 36 is fully charged. You may judge. The threshold here is stored in the storage unit 301.
Alternatively, in step S202, the CPU 391 determines whether or not the remaining amount of the battery 36 detected by the battery remaining amount detection circuit 38 is equal to or less than the amount of power obtained by adding a predetermined reserve power amount to the amount of power calculated in step S201. You may determine by an interval. The predetermined reserve power amount here is stored in the storage unit 301.

  If the CPU 391 determines that the remaining amount of the battery 36 exceeds the amount of power calculated in step S201 (step S202: NO), the process returns to step S201. That is, the CPU 391 continues the flight of the helicopter 3. When the CPU 391 determines that the remaining amount of the battery 36 is equal to or less than the calculated electric energy (step S202: YES), the helicopter 3 is returned to the parking lot 21 (step S203).

  The CPU 391 transmits a signal indicating that the battery 36 has been returned to the parking lot 21 to the monitoring device 4 via the communication unit 302 (step S204). The CPU 42 of the monitoring device 4 receives a signal indicating that the feedback has been received from the helicopter 3 via the communication unit 48 (step S205). The CPU 42 causes the robot arm to disconnect the battery 36 (step S206).

  The CPU 42 controls the motor 24 to rotate the turntable 23, and rotates the charged battery 36 to the front of the helicopter 3 waiting at the parking lot 21 (step S207). The CPU 42 causes the actuator 25 to push the charged battery 36 toward the battery holding mechanism 37 of the helicopter 3 (step S208). The charged battery 36 pushed by the actuator 25 is held in the battery holding mechanism 37 of the helicopter 3 by step S208.

  The CPU 391 of the helicopter 3 determines whether or not the remaining amount of the battery 36 is equal to or less than a certain amount of power based on the remaining amount from the remaining battery level detection circuit 38 (step S209). The constant amount of power in step S209 is the amount of charge that the battery 36 has when the battery 36 is fully charged. When the CPU 391 determines that the remaining amount of the battery 36 is equal to or less than a certain amount of power (step S209: YES), the CPU 391 transmits alert information to the monitoring device 4 (step S210). The process in step S210 is an exception process. CPU42 receives alert information from helicopter 3 via communications department 48 (Step S211), and ends processing.

  If the CPU 391 determines that the remaining amount of the battery 36 is not equal to or less than a certain amount of power (step S209: NO), the CPU 391 transmits a signal requesting resumption of flight to the monitoring device 4 via the communication unit 302 (step S212). . CPU42 receives the signal which requests flight resumption via the communication part 48 (step S213). The CPU 42 transmits a flight resumption instruction to the helicopter 3 via the communication unit 48 (step S214).

  The CPU 391 receives a flight resumption instruction from the monitoring device 4 via the communication unit 302 (step S215). The CPU 391 causes the helicopter 3 to resume flight (step S216). The process ends.

  In FIG.10 and FIG.11, the charging mechanism 2, the helicopter 3, and the monitoring apparatus 4 cooperated and performed battery 36 replacement | exchange. However, the monitoring device 4 may not control the charging mechanism 2 but the helicopter 3 may control the charging mechanism 2. In such a case, the helicopter 3 that has run out of the battery 36 is connected to the charging mechanism 2 after returning to the parking lot 21. The CPU 391 of the helicopter 3 out of the battery 36 may control the charging mechanism 2 to replace the battery 36 with a charged battery 36.

In the present embodiment, the helicopter 3 continued to fly and image by replacing the battery 36. However, when there are a plurality of helicopters 3 (see FIG. 1), as soon as the helicopter 3 with the battery 36 exhausted returns to the parking lot 21, another helicopter 3 equipped with the charged battery 36 may take over the flight and imaging. .
Alternatively, when the helicopter 3 out of the battery 36 returns to the parking area 21, the other helicopter 3 equipped with the charged battery 36 quickly takes over the flight and imaging, and the returned helicopter 3 is shown in FIG. 10 and FIG. The battery 36 may be slowly replaced according to the procedure described above.

  In the present embodiment, the helicopter 3 is handled as a flying object on which the monitoring camera 31 is mounted. However, the flying object is not limited to the helicopter 3 but may be an airship or a hot air balloon equipped with a propeller for propulsion.

  In the present embodiment, the CPU 391 determines the position and orientation of the helicopter 3 based on the image of the sign 111 and the guide line 112 captured by the imaging unit 32 and the map 1M. However, radio wave or infrared light sources for transmitting different signals may be installed at three or more specific positions in the plant factory 1. In such a case, the helicopter 3 is provided with a receiving unit that receives the radio wave or a light receiving unit that receives infrared rays. The CPU 391 determines the position and orientation of the helicopter 3 based on the radio wave received by the receiving unit or the light receiving unit or the received infrared ray.

  In the present embodiment, the helicopter 3 is guided by the guide line 112 and flew. However, the helicopter 3 may be guided by radio waves or infrared rays to fly. In that case, a plurality of transmission sources related to radio waves or infrared rays are installed in the plant factory 1, and a receiving unit that receives the radio waves or a light receiving unit that receives infrared rays is provided in the helicopter 3. The CPU 391 causes the helicopter 3 to fly based on the radio waves received by the receiving unit or the light receiving unit or the received infrared rays.

In the present embodiment, the robot arm disconnects the battery 36 from the helicopter 3. However, the battery 36 may be automatically disconnected when the helicopter 3 has landed on the parking lot 21.
For example, the body electrode 373 and the holding plate portion below the body electrode 373 in the battery holding mechanism 37 in FIGS. 5 and 6 may be configured to be coupled and separated by an electromagnetic lock or an actuator. The central part of the body electrode 373 and the holding portion 372 can be carried into the holding plate located under the right triangular prism portion, and can be carried out from the inside of the holding plate to the outside. Thereby, the helicopter 3 separates the central part of the battery holding mechanism 37 and releases the battery 36 from the battery holding mechanism 37. The battery 36 released from the battery holding mechanism 37 falls and is recovered in a battery recovery box formed of, for example, a sponge. The central portion of the battery holding mechanism 37 that has released the battery 36 is re-coupled by an electromagnetic lock or an actuator.

  The tip portion 3621 of the battery 36 is bent in an L shape, but may be configured to be rotatable around the bent portion by an electromagnetic lock or an actuator. For example, the distal end portion 3621 is rotated upward and outward in response to a command from the CPU 391 so that the L-shaped state changes to the I-shaped state. The battery 36 held in the battery holding mechanism 37 falls off the battery holding mechanism 37 by turning the tip end portion 3621 upward and outward to become an I shape. Further, the distal end portion 3621 returns to the L shape by rotating so as to close inward from the I-shaped state in response to a command from the CPU 391. In this case, the battery 36 is connected to the CPU 391 via the battery electrode 363 and the machine body electrode 373 until the battery 36 is disconnected from the battery holding mechanism 37.

The battery 36 may be replaced by disconnecting and attaching the battery 36 in a continuous operation.
FIG. 13 is an explanatory diagram showing a modified example related to holding and replacement of the battery 36. In FIG. 13, the body of the helicopter 3 is simplified as a rectangular parallelepiped. A rectangular parallelepiped battery holding mechanism 37 is provided on the lower surface of the body of the helicopter 3. A tunnel 374 having a rectangular cross section is provided at the center of the battery holding mechanism 37. The battery 36 has a rectangular parallelepiped shape that can slide in the tunnel 374, and is pushed from one direction and mounted in the tunnel 374 of the battery holding mechanism 37. The attached battery 36 is fixed to the battery holding mechanism 37 by a biasing force of a spring, for example. Alternatively, the battery 36 may be fixed to the battery holding mechanism 37 with a fixing member such as a simple claw or rib.

When the battery 36 fixed to the battery holding mechanism 37 is pushed through the charged battery 36 from the same direction as when it is attached by the actuator 25 with a force larger than the urging force of the spring, for example, It is discharged from the mouth on the opposite side. Alternatively, the battery 36 fixed to the battery holding mechanism 37 is pushed out from the opening on the opposite side of the tunnel 374 like a tokoroten via the charged battery 36 by the actuator 25 by releasing the fixing member, for example.
The battery 36 pushed out from the battery holding mechanism 37 is conveyed to the turntable 23 by a conveying means such as a belt conveyor, and is charged by the charge controller 22.

An electrode on the helicopter 3 side and an electrode on the battery 36 side are respectively provided on the inner wall of the tunnel 374 and the wall surface of the battery 36 in contact with the inner wall.
The charged battery 36 in which the battery 36 having a charge amount equal to or less than a certain amount is pushed out from the battery holding mechanism 37 is inserted into the tunnel 374 simultaneously with the pushing operation. When the charged battery 36 comes into contact with the electrode on the helicopter 3 side in the tunnel 374, the charged battery 36 is fixed to the battery holding mechanism 37 by a spring, a fixing member, or the like.

According to the monitoring system, a plant or an operator can be imaged at low cost without polluting the air in the plant factory 1.
When using an air vehicle equipped with an internal combustion engine, clean air in the plant factory 1 is contaminated by exhaust gas. However, since the helicopter 3 autonomously flies by electric power, the air in the plant factory 1 is not polluted. The charging mechanism 2, the helicopter 3 equipped with the monitoring camera 31, and the monitoring device 4 do not require expensive equipment or construction, and can be deployed in the plant factory 1 at a low cost.
The helicopter 3 picks up images of plants and workers from the vicinity of the ceiling 11 using the monitoring camera 31 while flying. By displaying the image captured by the monitoring camera 31 on the display unit 41 of the monitoring device 4, it is possible to grasp the growth status of the plant, check for pests, manage the labor of the worker, and prevent theft of the plant.

According to the monitoring system, the battery 36 can be automatically replaced.
A heavy battery cannot be mounted on a flying object, and the weight of a usable battery is limited. For this reason, there is a limit to the amount of power of the battery and the flight time of the aircraft, and efficient replacement of the battery is an essential function for the monitoring system.
When the helicopter 3 is flying, the charging mechanism 2 is already waiting for a plurality of charged batteries 36 or a plurality of helicopters 3 equipped with charged batteries 36. When the helicopter 3 that has run out of the battery 36 returns to the parking area 21, the motor 24, the turntable 23, and the actuator 25 cooperate to quickly replace the battery 36. Alternatively, when the helicopter 3 that has run out of the battery 36 returns to the parking area 21, the helicopter 3 equipped with the charged battery 36 can quickly take over the images of the plant and the operator. Thereby, the plant and the operator can be monitored without interruption.

  The disclosed embodiments should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 Plant factory (plant cultivation facility)
11 Ceiling 111 Sign 112 Guide wire 2 Charging mechanism (charging device)
21 Parking (predetermined position)
22 Charge controller (charging unit)
23 Turntable (exchange part)
24 Motor (exchange part)
25 Actuator (exchange part)
3 Helicopter (aircraft)
31 Surveillance camera (second imaging unit)
32 Imaging unit 33 Propeller (drive unit)
34 Propeller guard (drive unit)
35 Motor (electric motor)
36 Battery (rechargeable battery)
361 Battery main body 362 Battery locking portion 363 Battery electrode 37 Battery holding mechanism 371 Holding leg portion 372 Holding portion 373 Machine electrode 38 Battery remaining amount detection circuit (remaining amount detecting portion)
39 Control unit 391 CPU (detection unit, control unit)
301 storage unit 302 communication unit (transmission unit, signal reception unit)
4 Monitoring device (display device)
41 display unit 42 CPU
48 Communication unit (receiver, signal transmitter)
5 access points

Claims (9)

A flying object driven by a drive unit following the guide line through the internal space of a plant cultivation facility in which a guide line and a plurality of distinguishable signs are installed on the ceiling or floor,
An imaging unit for imaging the guide line and the sign;
Based on the image captured by the imaging unit, a detection unit that detects its own position in the plant cultivation facility and the direction in which the guide line extends;
A flying unit comprising: a control unit that controls a flight of the driving unit in a direction detected by the detection unit from a position detected by the detection unit. The detection unit is configured to detect an altitude in the plant cultivation facility from the size of the guide line or the sign imaged by the imaging unit,
The flying body according to claim 1, wherein the control unit is configured to control flight in a height direction in the plant cultivation facility based on an altitude detected by the detection unit. 3. The flight according to claim 1, wherein the detection unit is configured to detect a position in a plane substantially parallel to the ceiling or floor surface from a sign imaged by the imaging unit. body. The drive unit includes an electric motor,
A rechargeable battery for supplying power to the motor;
A remaining amount detecting unit for detecting the remaining amount of the rechargeable battery,
The said control part is made to fly to the predetermined position of the said plant cultivation facility which concerns on charge of the said rechargeable battery, when the residual amount detected by the said residual amount detection part is below a predetermined amount. The flying object according to any one of claims 1 to 3. The flying body according to claim 4, wherein the control unit is configured to resume flight from the predetermined position when the remaining amount detected by the remaining amount detecting unit increases beyond the predetermined amount. . A plurality of aircraft according to claim 4 or claim 5;
A vehicle system comprising: a charging device that is disposed at the predetermined position and charges the rechargeable battery;
A flying object system, wherein when one flying object flies to the predetermined position, another flying object having a rechargeable battery charged by the charging device starts to fly. The charging device is:
A charging unit for charging the rechargeable battery;
The flying object system according to claim 6, further comprising: an exchange unit that exchanges a rechargeable battery included in the flying object with another rechargeable battery charged by the charging unit. The aircraft is
A second imaging unit that images the inside of the plant facility;
A transmission unit that transmits an image captured by the second imaging unit;
A receiving unit for receiving an image transmitted by the transmitting unit;
The aircraft system according to claim 6, further comprising: a display device including: a display unit that displays an image received by the reception unit. The display device includes a signal transmission unit that transmits a signal for controlling the second imaging unit or the driving unit to the flying object,
The flying object has a signal receiving unit that receives a signal transmitted by the signal transmitting unit,
The flying object system according to claim 8, wherein the control unit of the flying object controls the second imaging unit or the driving unit based on a signal received by the signal receiving unit.

Images