Title:
UNMANNED AIRCRAFT, AND METHOD FOR CONTROLLING UNMANNED AIRCRAFT
Document Type and Number:
WIPO Patent Application WO/2021/070308
Kind Code:
A1
Abstract:
Provided are an unmanned aircraft capable of estimating a self-position with high precision even inside a manhole, and a method for controlling the unmanned aircraft. The unmanned aircraft (100) according to the present invention is used for inspection inside a manhole (200), wherein the unmanned aircraft (100) comprises: a camera sensor (10) that photographs the manhole hole; a plurality of range finders (21, 22) that measure the distance from the ground or a prescribed surface underground; and a control unit (30) that estimates the self-position on the basis of recognition information for the manhole hole in which recognition was performed on the basis of image information acquired from the camera sensor, and distance information for the distance from the ground or the prescribed surface acquired from the range finders.
Inventors:
UCHIBORI DAISUKE (JP)
HAMANO YUJIN (JP)
NAKAGAWA MASAFUMI (JP)
ARATAKE ATSUSHI (JP)
HAMANO YUJIN (JP)
NAKAGAWA MASAFUMI (JP)
ARATAKE ATSUSHI (JP)
Application Number:
PCT/JP2019/039916
Publication Date:
April 15, 2021
Filing Date:
October 09, 2019
Export Citation:
Assignee:
NIPPON TELEGRAPH & TELEPHONE (JP)
International Classes:
G05D1/10; G01S15/87
Domestic Patent References:
| WO2017199940A1 | 2017-11-23 | |||
| WO2019190398A1 | 2019-10-03 | |||
| WO2019139172A1 | 2019-07-18 | |||
| WO2018163699A1 | 2018-09-13 |
Foreign References:
| JP2007113240A | 2007-05-10 | |||
| JP2017226259A | 2017-12-28 |
Other References:
TAN,C.H ET AL.: "A smart unmanned aerial vehicle(UAV) based imaging system for inspection of deep hazardous tunnels", WATER PRACTICE AND TECHNOLOGY, vol. 13, no. 4, 1 December 2018 (2018-12-01), pages 991 - 1000, XP055816699
MOY DE VITRY, MATTHEW ET AL.: "Sewer Inlet Localization in UAV Image Clouds:Improving Performance with Multiview Detection", REMOTE SENSING, vol. 10, no. 5, 706, 4 May 2018 (2018-05-04), XP055816703
MOY DE VITRY, MATTHEW ET AL.: "Sewer Inlet Localization in UAV Image Clouds:Improving Performance with Multiview Detection", REMOTE SENSING, vol. 10, no. 5, 706, 4 May 2018 (2018-05-04), XP055816703
Attorney, Agent or Firm:
SUGIMURA Kenji (JP)
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