JP2015113100A - Information acquisition system and unmanned flight body controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a radio-controlled helicopter fly while fitting to a state in real time of a field where the helicopter flies.SOLUTION: An information acquisition system 1 comprises: an RC imaging unit 10 for acquiring information of an imaging target 100; and an RC controller 30 for controlling a flight state of the RC imaging unit 10 by radio communication and making the RC imaging unit 10 fly in an information acquisition possible area. A measurement unit 50 measures a position of the imaging target 100, a position of the RC imaging unit 10, and an obstacle during flight which may become an obstacle for flight of the RC imaging unit 10 flying in the information acquisition possible area. The RC controller 30 calculates a flight route which the RC imaging unit 10 can fly in the information acquisition possible area without contacting the obstacle during flight, based on the measurement result of the measurement unit 50, and makes the RC imaging unit 10 fly in the information acquisition possible area by controlling a flight state of the RC imaging unit 10 by radio communication with the RC imaging unit 10, based on the flight state of the RC imaging unit 10 during flight and the calculated flight route.

Description

  The present invention relates to a technique for controlling an unmanned air vehicle to fly by wireless communication and acquiring target information by the unmanned air vehicle.

  Patent Document 1 proposes an aerial imaging system for flying a radio controlled helicopter along a flight route stored in advance.

JP 2005-269413 A

By the way, the situation of the structure at the shooting site that flies changes in real time.
However, as in Patent Document 1, if a radio controlled helicopter is caused to fly along a flight route stored in advance regardless of the real-time situation at the shooting site where the aircraft is flying, the radio controlled helicopter comes into contact with the structure at the shooting site. there is a possibility.

  An object of the present invention is to allow a radio controlled helicopter to fly in conformity with the real-time situation of the field where the radio controlled helicopter flies.

  In order to solve the above-described problems, (1) one aspect of the present invention is a surveying device that performs surveying, an unmanned air vehicle that acquires information on an information acquisition target that is a target for acquiring information, and the unmanned air vehicle. An unmanned air vehicle control device that controls the flight state of the unmanned air vehicle by wireless communication with the unmanned air vehicle and causes the unmanned air vehicle to fly to an information obtainable area where the information of the information acquisition target can be obtained. The surveying device surveys a position of the information acquisition target, a position of the unmanned air vehicle, and an obstacle at the time of flight that may become an obstacle to the flight of the unmanned air vehicle flying in the information acquisition area. The unmanned aerial vehicle control device calculates a flight path on which the unmanned air vehicle can fly to the information acquirable area without contacting the obstacle during the flight, based on the survey result of the surveying device. Flying Based on the route and the flight state of the unmanned air vehicle in flight, the flight state of the unmanned air vehicle is controlled by wireless communication with the unmanned air vehicle, and the unmanned air vehicle is caused to fly to the information acquirable area. An information acquisition system characterized by the above is provided.

  (2) In an aspect of the present invention, the unmanned air vehicle control device further includes an estimation unit that estimates the flight obstacle larger than an actual size based on a survey result of the flight obstacle. Preferably, the flight path is calculated based on the flight obstacle estimated by the estimation unit.

  (3) In one aspect of the present invention, the surveying device measures the position of the unmanned air vehicle before the flight, and the unmanned air vehicle control device measures the position of the unmanned air vehicle before the flight surveyed by the surveying device. It is preferable to calculate the flight path from the position of the unmanned air vehicle before the flight to the information acquirable area based on the above.

  (4) In one aspect of the present invention, it is preferable that the unmanned air vehicle has a photographing unit, and the photographing unit acquires information on the appearance of the information acquisition target as a photographed image.

  (5) According to one aspect of the present invention, the unmanned air vehicle is controlled by controlling a flight state of the unmanned air vehicle by wireless communication with an unmanned air vehicle that acquires information of an information acquisition target that is a target for acquiring information. An unmanned aerial vehicle control apparatus that flies to an information acquisition possible area where information of the information acquisition target can be acquired, wherein the information acquisition target position, the position of the unmanned air vehicle, and the information acquisition possible area fly The unmanned air vehicle can fly to the information acquirable area without touching the flight obstacle based on the survey result of the surveying device on the flight obstacle that may be an obstacle to the flight of the unmanned air vehicle. Based on the flight path calculated by the flight path calculator and the flight state of the unmanned air vehicle in flight, the unmanned air vehicle is wirelessly communicated with the unmanned air vehicle. Providing unmanned air vehicle control device and a control unit for flying the unmanned air vehicle and controls the line status in the information acquisition area.

  (6) In an aspect of the present invention, the flight path calculation unit further includes an estimation unit that estimates the flight obstacle larger than an actual size based on a survey result of the flight obstacle. Preferably, the flight path is calculated based on the obstacle during flight estimated by the estimation unit.

  According to the inventions of the aspects of (1) and (5), the unmanned air vehicle control device includes the position of the information acquisition target acquired by the surveying device installed on the site, the position of the unmanned air vehicle, and the obstacle during flight. By calculating the flight path based on the survey results and flying the unmanned air vehicle to the information acquisition area based on the calculated flight path, the unmanned flight is adapted to the real-time situation of the site where the unmanned air vehicle flies. The body can fly to an information acquisition area.

  Further, according to the inventions of aspects (1) and (5), the unmanned air vehicle control device can calculate the flight route with high accuracy by calculating the flight route based on the survey result of the surveying device.

  According to the inventions of the aspects (2) and (6), the flight information acquisition system estimates the obstacle at the time of flight larger than the actual size, so that the unmanned air vehicle flies toward the information acquisition target. In such a case, the possibility of contact with an obstacle during flight can be reduced.

  According to the invention of the aspect of (3), the information acquisition system can fly the unmanned aerial vehicle to the information acquirable area without having to track the flying unmanned aerial vehicle with a surveying device or the like.

  According to the invention of the aspect of (4), the information acquisition system can acquire appearance information of the information acquisition target.

FIG. 1 is a diagram illustrating a configuration example of an information acquisition system according to the present embodiment. FIG. 2 is a block diagram illustrating a configuration example of the RC imaging device. FIG. 3 is a block diagram illustrating a configuration example of the inertial measurement unit. FIG. 4 is a block diagram illustrating a configuration example of the RC control device. FIG. 5 is a block diagram illustrating a configuration example of the surveying apparatus. FIG. 6 is a flowchart of an example of a flight path calculation process. FIG. 7 is a diagram for explaining an example of surveying obstacles during flight. FIG. 8 is a diagram illustrating an example of an obstacle at the time of flight (a quadrangular prism or a cylindrical object) estimated by the flight path calculation unit. FIG. 9 is a flowchart illustrating an operation example of the surveying apparatus. FIG. 10 is a side view showing an information acquisition system for explaining an example of the surveying work for setting the reference direction by the surveying device. FIG. 11 is a diagram showing an example of surveying work for setting a reference direction by the surveying instrument, and is a plan view showing only known points. FIG. 12 is a side view showing an information acquisition system for explaining an example of the surveying work for measuring the reference position of the RC imaging device by the surveying device. FIG. 13 is a diagram illustrating an example of a surveying operation for measuring the reference position of the RC imaging apparatus by the surveying apparatus, and is a plan view showing only the reference position and known points of the RC imaging apparatus. FIG. 14 is a side view showing an information acquisition system for explaining an example of the surveying work for measuring the position of the photographing target by the surveying device. FIG. 15 is a diagram illustrating an example of a surveying operation for measuring the position of the photographing target by the surveying device, and is a plan view showing only the reference position of the RC photographing device, the position of the photographing target, and a known point. is there. FIG. 16 is a flowchart illustrating an operation example of the RC control device. FIG. 17 is a diagram illustrating the azimuth angle v and the distance S when the RC imaging device moves on the imaging target. FIG. 18 is a diagram illustrating an example of processing when the RC imaging device flies to a new imaging target.

Embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, an information acquisition system for acquiring information on a target by flying a radio controlled helicopter near the target is described. Specifically, the information acquisition system causes a radio controlled helicopter to fly on a preset flight path and captures a target with a camera mounted on the radio controlled helicopter.

(Constitution)
FIG. 1 shows a configuration example of an information acquisition system 1 according to the present embodiment.
As shown in FIG. 1, the information acquisition system 1 includes a radio control helicopter (hereinafter referred to as an RC imaging device) 10 equipped with a camera 11 and a control device (hereinafter referred to as an RC control device) that controls the flight state of the RC imaging device 10. 30) and surveying device 50.

In FIG. 2, the structural example of RC imaging device 10 is shown.
As shown in FIG. 2, the RC imaging device 10 includes an inertial measurement unit 20, a camera 11, a storage unit 12, a wireless communication unit 13, a drive unit 14, and a drive control unit 15.
The inertial measurement unit 20 measures the flight state of the RC imaging device 10. In FIG. 3, the structural example of the inertial measurement part 20 is shown.

  As shown in FIG. 3, the inertial measurement unit 20 includes a three-axis gyroscope 21, a three-axis acceleration sensor 22, a three-axis magnetic sensor 23, an atmospheric pressure sensor 24, a ground altitude measurement sensor 25, and a horizontal velocity sensor 26. Yes. Here, the triaxial gyroscope 21 detects an angle and an angular velocity with respect to the triaxial direction (x axis, y axis, z axis) of the RC imaging device 10. The triaxial acceleration sensor 22 detects acceleration in the triaxial direction of the RC imaging device 10. The triaxial magnetic sensor 23 detects the azimuth angle of the RC imaging device 10 based on the detected values in the triaxial direction. The atmospheric pressure sensor 24 detects atmospheric pressure. The ground altitude measurement sensor 25 detects the flight altitude of the RC imaging device 10. Further, the horizontal speed sensor 26 detects the horizontal flight speed of the RC imaging device 10.

The camera 11 captures a shooting target (information acquisition target) to be shot. The storage unit 12 stores captured image data acquired by the camera 11 and measurement results of the inertial measurement unit 20.
For example, when photographing an object on the ground, the camera 11 is arranged in the lower part of the cabin 10a of the radio control helicopter as shown in FIG. Thus, the arrangement of the camera 11 in the radio control helicopter is determined according to the shooting target. For example, the photographing target is a concrete structure such as a dam or a bridge. If the back side of the bridge is to be photographed, the camera 11 is arranged so that the top can be photographed.

The storage unit 12 includes a ROM, a RAM, an HDD (Hard Disk Drive), and the like. The storage unit 12 stores various programs, fixed data, and the like.
The drive unit 14 is a main rotor, a tail rotor, or the like. The drive control unit 15 controls the drive of the drive unit 14. For example, the drive control unit 15 controls the drive unit 14 based on the drive control signal from the RC control device 30 received by the wireless communication unit 13. By the control by the drive control unit 15, the RC imaging device 10 flies along a preset flight path.

  The wireless communication unit 13 performs wireless communication with the RC control device 30. For example, the wireless communication unit 13 receives a drive control signal from the RC control device 30. In addition, the wireless communication unit 13 transmits the captured image data and the measurement results of the inertial measurement unit 20 (the inclination posture, the flight speed, the flight altitude, etc. of the RC imaging device 10) to the RC control device 30.

The RC control device 30 is configured to control the flight of the RC imaging device 10. The RC control device 30 may be a device dedicated to the RC imaging device 10 or a device capable of controlling the RC imaging device 10 such as a personal computer.
FIG. 4 shows a configuration example of the RC control device 30.

As illustrated in FIG. 4, the RC control device 30 includes first and second wireless communication units 31 and 32, a flight route calculation unit 33, a calculation unit 34, a storage unit 35, and a display unit 36.
The first wireless communication unit 31 performs wireless communication with the RC imaging device 10. For example, the first wireless communication unit 31 transmits the drive control signal calculated by the calculation unit 34 to the RC imaging device 10. Further, the first wireless communication unit 31 receives the measurement result of the inertia measurement unit 20 and the captured image data from the RC imaging device 10.

The second wireless communication unit 32 communicates with the surveying device 50. For example, the second wireless communication unit 32 receives a survey result from the surveying device 50.
The flight path calculation unit 33 calculates the flight path of the RC imaging device 10. Specifically, the flight route calculation unit 33 calculates the flight route based on the survey result of the surveying device 50 received by the second wireless communication unit 32. The flight path calculation process will be described in detail later.

  The calculation unit 34 performs various calculations. For example, the calculation unit 34 controls the flight state of the RC imaging device 10 based on the flight path data calculated by the flight path calculation unit 33 and the measurement result of the inertial measurement unit 20 received by the first wireless communication unit 31. The drive control signal is calculated. For example, the calculation unit 34 compares the flight path data calculated by the flight path calculation unit 33 with the measurement result of the inertial measurement unit 20 received by the first wireless communication unit 31, and on the flight path based on the comparison result. A drive control signal for the RC imaging device 10 to fly along is calculated.

  Various data are stored in the storage unit 35. The storage unit 35 is configured by, for example, a ROM, a RAM, an HDD, or the like. For example, the storage unit 35 stores flight path data calculated by the flight path calculation unit 33. In addition, the storage unit 35 stores the measurement result of the inertial measurement unit 20 and the captured image data from the RC imaging device 10 received by the first wireless communication unit 31.

The display unit 36 performs various displays. For example, a captured image is displayed on the display unit 36 based on the captured image data.
The RC control device 30 is configured as described above.
The surveying device 50 that can communicate with the RC control device 30 performs surveying of the survey target. In the present embodiment, the survey target is the RC imaging device 10, the imaging target 100, or the like.

  The surveying instrument 50 is, for example, a total station (hereinafter referred to as TS) in which the telescope is rotatable about two orthogonal axes. Here, examples of the TS include a manual TS (that is, MTS) that is manually operated, a motor-driven TS (that is, an STS) that automatically operates by motor driving, and the like. In addition, the motor-driven TS automatically tracks a moving target or an automatic collimating TS that has the function of automatically collimating a target (for example, a reflecting prism) that is a survey target in the field of view of the telescope. There is an automatic tracking TS having a function to perform. For example, in automatic tracking TS, surveying by one worker can be realized.

In FIG. 5, the structural example of the surveying apparatus 50 is shown.
As shown in FIG. 5, the surveying device 50 includes a distance measuring unit 51, an angle measuring unit 60, a horizontal rotation driving unit 52, a vertical rotation driving unit 53, a display unit 54, an information input unit 55, a drive command unit 56, and wireless communication. A unit 57, a storage unit 58, and a calculation unit 70.

The distance measuring unit 51 includes a telescope (not shown) as a part of its configuration, and measures the distance to the surveying object.
Here, generally, as a distance measuring method, there are a prism method using a reflector such as a reflecting prism and a non-prism method not using a reflecting prism. In the prism method, for example, the distance is measured from the time difference between irradiating the reflecting prism with laser light and receiving the reflected light. Further, since the non-prism method does not use a reflecting prism and it is not necessary to install a reflecting prism, the degree of freedom in surveying is higher than that of the prism method. That is, for example, in the non-prism method, it is possible to perform surveying from a remote place without entering the site. For example, in the present embodiment, the distance measuring unit 51 is configured using any one of these distance measuring methods.

The angle measuring unit 60 includes a horizontal angle detecting unit 61 and an altitude angle detecting unit 62. Here, the horizontal angle detection unit 61 detects the horizontal angle of the surveying object (in this embodiment, the RC imaging device 10 and the imaging target). Further, the altitude angle detector 62 detects the altitude angle of the survey target. For example, the horizontal angle detector 61 is a horizontal angle encoder, and the altitude angle detector 62 is an altitude angle encoder.
The horizontal rotation driving unit 52 performs driving for rotating the telescope in the horizontal direction. The vertical rotation driving unit 53 performs driving for rotating the telescope in the vertical direction.

The information input unit 55 is a part that is operated by a user to input information. For example, the information input unit 55 includes a push button switch such as a numeric keypad. The information input unit 55 outputs the input information to the calculation unit 70.
The drive command unit 56 is provided with a drive command switch for commanding the rotation directions of horizontal rotation and vertical rotation. Then, the drive command unit 56 outputs a command signal corresponding to the pressed drive switch to the calculation unit 70.

  The wireless communication unit 57 is an interface for performing data communication with an external device. Here, as the external device, in addition to the RC control device 30, a personal computer, a data collector (electronic field book), and the like can be cited. In the present embodiment, the wireless communication unit 57 transmits the survey result to the RC control device 30.

The storage unit 58 includes a ROM, a RAM, an HDD, and the like. The storage unit 58 stores various programs and fixed data, data acquired by the processing unit 70 through processing, and the like.
The calculation unit 70 performs various processes for the surveying device 50. For example, the calculation unit 70 includes a microcomputer and its peripheral circuits. Specifically, as illustrated in FIG. 5, the calculation unit 70 includes a surveying control unit 71 and a drive control unit 72.

  The surveying control unit 71 controls the distance measuring unit 51 and the angle measuring unit 60. The survey control unit 71 calculates a survey value based on the detection values of the distance measurement unit 51 and the angle measurement unit 60. The surveying control unit 71 displays the calculated survey value on the display unit 54 such as a liquid crystal display. Here, the surveying control unit 71 can calculate the coordinate value of the collimated point (that is, the target) based on the surveyed distance, altitude angle, and horizontal angle.

A command signal from the drive command unit 56 is input to the drive control unit 72. And the drive control part 72 controls the drive which rotates the telescope etc. by the horizontal rotation drive part 52 and the vertical rotation drive part 53 based on the command signal.
Next, the flight path calculation process will be described.

FIG. 6 shows a flowchart of an example of a flight path calculation process.
As shown in FIG. 6, first, in step S1, the surveying instrument 50 surveys the position of the survey target. In the present embodiment, the flight path of the RC imaging device 10 is calculated in consideration of obstacles during flight such as buildings around the imaging target. For this reason, first, in step S1, the surveying device 50 is operated by an operator to measure an obstacle during flight in addition to the position of the RC photographing device 10 and the position of the photographing target.

  FIG. 7 is a diagram for explaining an example of surveying obstacles during flight. In the example shown in FIG. 7, the obstacle during flight is a building 202 or a tree 203 on the side of the road 201. Obviously, the obstacle at the time of flight is not limited to the roadside building 202 and the tree 203 as in this example, and includes, for example, a car parked on the road 201.

  When such an obstacle at the time of flight exists, the operator measures the predetermined reference point A in the appearance of the obstacle at the time of flight by the surveying device 50. Here, the predetermined reference point is a predetermined flight time obstacle for specifying the size (width, depth, height, etc.) of the flight obstacle (for example, the building 202 or the tree 203). It is the position on the appearance of the object.

  Next, in step S <b> 2, the surveying device 50 transmits the survey result to the RC control device 30. Here, the survey result includes the position of the RC imaging device 10, the position of the imaging target, and the position of the reference point for the flight obstacle. Further, the survey result includes additional information that can respectively determine the position of the RC imaging device 10, the position of the imaging target, and the position of the reference point. Further, the survey result includes additional information that can determine whether the reference point indicates width, depth, or height.

  On the other hand, in step S3, the flight path calculation unit 33 of the RC control device 30 sets the flight obstacle 3 to the flight obstacle based on the position of the reference point indicating the width, depth, and height of the flight obstacle. Estimate as a quadrangular prism or cylinder object. Further, at this time, the flight path calculation unit 33 adds the correction values set in advance to the width, depth, and height, thereby converting the three-dimensional quadrangular prism or cylinder object into the original flight obstacle. Estimate as an object larger than the object. Here, the correction value is a value preset experimentally, empirically, or theoretically. Further, the correction value may be changeable by the user. Further, the flight path calculation unit 33 may estimate the height of the object to a preset height when there is no reference point information indicating the height.

  Here, FIG. 8 shows an example of a quadrangular or cylindrical object (an object indicated by a broken line in FIG. 8) estimated by the flight path calculation unit 33. As shown in FIG. 8, in this embodiment, the building 202 is estimated as a quadrangular prism object 202A larger than the actual size, and the tree 203 is estimated as a cylindrical object 203A larger than the actual size.

  In step S4, the flight path calculation unit 33 calculates the flight path based on the initial position of the RC imaging device 10 and the position of the shooting target measured by the surveying device 50 and the object estimated in step S3. calculate. At this time, the flight path calculation unit 33 does not contact the object estimated in step S3 by the RC imaging device 10 from the initial position of the RC imaging device 10 (i.e., above the imaging target). The flight route that the RC imaging device 10 reaches in the shortest time in the imaging possible area) is calculated.

  The calculation unit 34 controls the flight state of the RC imaging device 10 based on the flight path data calculated by the flight path calculation unit 33 and the measurement result of the inertial measurement unit 20 received by the first wireless communication unit 31. A drive control signal is calculated.

(Operation, action, etc.)
Next, an example of the operation in the information acquisition system 1 and its operation will be described.
In FIG. 9, the flowchart of the operation example of the surveying apparatus 50 is shown.
As shown in FIG. 9, first, in step S21, the surveying instrument 50 sets a reference direction.

Here, in FIG.10 and FIG.11, an example of the surveying operation | work for setting a reference direction with the surveying apparatus 50 is shown. Here, FIG. 10 is a side view of the information acquisition system 1. FIG. 11 is a plan view showing only known points.
As shown in FIG. 10, in order to set the reference direction, the operator installs the surveying device 50 on one known point (machine point), and then collimates the other known point with the surveying device 50. To do. Thereby, as shown in FIG. 11, the surveying instrument 50 calculates the reference direction of the horizontal angle based on the coordinate values (x1, y1) and (x2, y2) of these two known points.

If there is only one known point (machine point), the surveying instrument 50 sets true north as the reference direction of the horizontal angle.
Next, in step S22, the surveying device 50 measures the reference position of the RC imaging device 10 (the position where the RC imaging device 10 before flight is placed on the ground).

  Here, FIGS. 12 and 13 show an example of the surveying work for measuring the reference position of the RC imaging device 10 by the surveying device 50. Here, FIG. 12 is a side view of the information acquisition system 1. FIG. 13 is a plan view showing only the reference position and known points of the RC imaging device 10.

  As shown in FIG. 12, in order to measure the reference position of the RC imaging device 10, the operator collimates the RC imaging device 10 on the ground by the surveying device 50. Accordingly, as shown in FIGS. 12 and 13, the surveying device 50 has an oblique distance (a linear distance between the surveying device 50 and the RC imaging device 10) L0 from the surveying device 50 to the RC imaging device 10 on the ground. The vertical angle θ0 for the RC imaging device 10 and the horizontal angle a0 for the RC imaging device 10 are calculated. At this time, the surveying instrument 50 calculates the horizontal angle a0 based on the reference direction set in step S21. Then, the surveying device 50 calculates the coordinate value (mx, my) of the reference position on the ground of the RC imaging device 10 based on the values such as the vertical angle θ0.

In step S23, the surveying device 50 transmits the reference position coordinate value (mx, my) of the RC imaging device 10 calculated in step S22 to the RC control device 30 as a survey result.
Next, in step S <b> 24, the surveying instrument 50 measures the position of the shooting target 100.

  Here, FIGS. 14 and 15 show an example of a surveying work for measuring the position of the photographing target 100 by the surveying device 50. Here, FIG. 14 is a side view of the information acquisition system 1. FIG. 15 is a plan view showing only the reference position of the RC photographing apparatus 10, the position of the photographing target, and the known points.

  As shown in FIG. 14, in order to measure the position of the shooting target 100, the operator collimates the shooting target 100 with the surveying device 50. Accordingly, as shown in FIG. 15, the surveying device 50 has an oblique distance (straight distance between the surveying device 50 and the shooting target) L1 from the surveying device 50 to the shooting target 100, and a vertical angle with respect to the shooting target. θ1 and the horizontal angle a1 for the shooting target are calculated. At this time, the surveying instrument 50 calculates the horizontal angle a1 based on the reference direction set in step S21. Then, the surveying device 50 calculates the coordinate values (px1, py1) of the position of the shooting target 100 based on the values such as the vertical angle θ1.

In step S25, the surveying device 50 transmits the position coordinate values (px1, py1) of the shooting target 100 calculated in step S24 to the RC control device 30 as a survey result.
Next, in step S26, the surveying instrument 50 measures the position of the reference point of the obstacle during flight (see FIG. 7).

In step S27, the surveying device 50 transmits the reference point position coordinate value of the obstacle during flight calculated in step S26 to the RC control device 30 as a survey result.
The surveying device 50 operates as described above.
In FIG. 16, the flowchart of the operation example of RC control apparatus 30 is shown.

  As shown in FIG. 16, first, in step S <b> 41, the RC control device 30 determines whether or not all survey results for flight path creation have been received from the survey device 50. Here, the survey result for creating the flight path is the reference position coordinate value (mx, my) of the RC imaging device 10 transmitted from the surveying device 50 by the processing of Step S23, Step S25, and Step S27. The position coordinate value (px1, py1) of the shooting target 100, the reference point position coordinate value of the obstacle during flight, and the like.

  Next, in step S42, the RC control device 30 determines the RC imaging device 10 based on the survey result for flight path creation from the surveying device 50 (such as the reference position coordinate value (mx, my) of the RC imaging device 10). Calculate the flight path. Here, the RC control device 30 calculates a flight path that allows the RC imaging device 10 to fly to the imageable region without touching the obstacle at the time of flight. At this time, for example, as shown in FIG. 17, the RC control device 30 determines the RC based on the reference position coordinate values (mx, my) of the RC imaging device 10 and the position coordinate values (px1, py1) of the imaging target. The photographing apparatus 10 determines the azimuth angle v and the distance S to be moved to the photographing target.

  Next, in step S43, the RC control device 30 controls the RC imaging device 10 based on the flight path calculated in step S42. Specifically, the RC control device 30 calculates the drive control signal based on the flight path and the measurement result of the inertial measurement unit 20 from the RC imaging device 10 received by the first wireless communication unit 31. Then, the RC control device 30 causes the RC imaging device 10 to fly along the flight path by calculating and transmitting a drive control signal to the RC imaging device 10. At this time, the RC control device 30 moves the RC imaging device 10 over the imaging target by inertial navigation using the measurement result of the inertia measurement unit 20.

  Then, when the RC imaging device 10 reaches the sky above the imaging target, the RC control device 30 causes the RC imaging device 10 to hover and captures the imaging target with the camera 11. The RC imaging device 10 stores the captured image data acquired by capturing with the camera 11 in the storage unit 35 and transmits the captured image data to the RC control device 30 by the wireless communication unit 13.

  Here, inertial navigation is one of navigation methods for aircraft, ships, rockets, and the like. In this inertial navigation, for example, the acceleration of a moving aircraft or the like is measured with a gyroscope, an acceleration sensor, etc., and the speed or flight distance is calculated by integrating the measured values, while the aircraft or the like calculates its position. This is a method of navigating a predetermined route.

  As described above, the surveying device 50 has a flight time obstacle that can be an obstacle to the flight of the RC imaging device 10 flying in the position of the imaging target, the position of the RC imaging device 10, and the imageable region (information acquisition possible region). Survey the object. Then, the RC control device 30 calculates a flight path based on the survey result of the surveying device 50, and based on the calculated flight path and the flight state of the RC imaging device 10 in flight, the flight state of the RC imaging device 10 To control the RC imaging apparatus 10 to fly over the imaging target.

  In the description of the above-described embodiment, the RC imaging device 10 constitutes an unmanned air vehicle, for example. Further, the RC control device 30 constitutes an unmanned air vehicle control device, for example. Further, the flight path calculation unit 33 configures an estimation unit in addition to the flight path calculation unit, for example. Moreover, the camera 11 comprises an imaging | photography part, for example.

(Modifications of this embodiment, etc.)
In the present embodiment, the RC imaging device 10 is not limited to a radio control helicopter, but may be another type of unmanned air vehicle such as a balloon.
In the present embodiment, the information acquisition system 1 is not limited to the camera 11 and may acquire information on the information acquisition target by other means such as a measurement device. For example, the information acquisition system 1 may acquire the sound of the information acquisition target.

  In the present embodiment, the flight path may be calculated for a plurality of shooting targets. In this case, the surveying device 50 is operated by the operator, surveys the positions of the plurality of shooting targets, and transmits the survey results to the RC control device 30. The RC control device 30 (specifically, the flight path calculation unit 33) calculates the flight path based on the positions of a plurality of shooting targets.

As a result, the RC imaging device 10 flies toward the next imaging target when the imaging of one imaging target is completed.
FIG. 18 shows an example of processing when the RC imaging device 10 flies to the next imaging target.
As illustrated in FIG. 18, when the RC imaging device 10 finishes capturing the imaging target, the RC control device 30 adds the position coordinate value (X, my) of the imaging target to the position coordinate value (mx, my) of the RC imaging device 10. px1, py1) are substituted, and then the RC imaging device 10 is caused to fly to the next imaging target (coordinate values (px2, py2)) along the flight path.

In the present embodiment, the RC control device 30 may be configured integrally with the surveying device 50.
In the present embodiment, the shape of the obstacle at the time of flight estimated when the flight route calculation unit 33 calculates the flight route is not limited to a quadrangular column or a cylinder, and may be another shape. The shape may be selectable by the user with the RC control device 30 or the like. For example, the RC control device 30 can display the calculated flight path together with the flight obstacle on the display unit 36, and the user selects the estimated flight obstacle shape displayed on the display unit 36. can do. When the flight obstacle shape is selected by the user, the RC control device 30 recalculates the flight path based on the selected flight obstacle shape.

  Further, although the embodiments of the present invention have been specifically described, the scope of the present invention is not limited to the illustrated and described exemplary embodiments, and effects equivalent to those intended by the present invention. All embodiments that provide are also included. Further, the scope of the present invention is not limited to the combination of features of the invention defined by claim 1 but can be defined by any desired combination of specific features among all the disclosed features. .

  DESCRIPTION OF SYMBOLS 1 Information acquisition system, 10 RC imaging device, 11 Camera, 30 RC control apparatus, 33 Flight route calculation part, 50 Surveying device

Claims (6)

A surveying device that performs surveying, an unmanned air vehicle that acquires information of an information acquisition target that is a target of information acquisition, and a wireless communication with the unmanned air vehicle to control the flight state of the unmanned air vehicle and thereby the unmanned vehicle An unmanned air vehicle control device for flying an air vehicle to an information acquisition possible region where information of the information acquisition target can be acquired, and an information acquisition system comprising:
The surveying device measures a position of the information acquisition target, a position of the unmanned air vehicle, and an obstacle at the time of flight that may become an obstacle to the flight of the unmanned air vehicle flying in the information acquisition area,
The unmanned aerial vehicle control device calculates a flight path on which the unmanned air vehicle can fly to the information acquisition area without touching the obstacle during the flight based on the survey result of the surveying device, and the calculated flight Based on the route and the flight state of the unmanned air vehicle in flight, the flight state of the unmanned air vehicle is controlled by wireless communication with the unmanned air vehicle, and the unmanned air vehicle is caused to fly to the information acquirable area. An information acquisition system characterized by Based on the survey result of the flight obstacle, further has an estimation unit for estimating the flight obstacle larger than the actual size,
The information acquisition system according to claim 1, wherein the unmanned air vehicle control device calculates the flight path based on an obstacle during flight estimated by the estimation unit. The surveying device measures the position of the unmanned air vehicle before the flight,
The unmanned air vehicle control device calculates the flight path from the position of the unmanned air vehicle before the flight to the information acquirable area based on the position of the unmanned air vehicle before the flight measured by the surveying device. The information acquisition system according to claim 1, wherein the information acquisition system is an information acquisition system.   The information according to any one of claims 1 to 3, wherein the unmanned air vehicle includes a photographing unit, and the photographing unit acquires information on an appearance of the information acquisition target as a photographed image. Acquisition system. Information on the information acquisition target can be acquired from the unmanned air vehicle by controlling the flight state of the unmanned air vehicle by wireless communication with the unmanned air vehicle that acquires information on the information acquisition target that is the information acquisition target. An unmanned air vehicle control device for flying in an information acquisition area,
Based on the survey results of the surveying device on the position of the information acquisition target, the position of the unmanned air vehicle, and the flight obstacle that may be an obstacle to the flight of the unmanned air vehicle flying in the information acquisition area A flight path calculation unit that calculates a flight path through which the unmanned air vehicle can fly to the information acquisition area without touching the obstacle during flight;
Based on the flight path calculated by the flight path calculation unit and the flight state of the unmanned air vehicle in flight, the flight state of the unmanned air vehicle is controlled by wireless communication with the unmanned air vehicle. A control unit that flies to the information acquisition area;
An unmanned air vehicle control device. Based on the survey result of the flight obstacle, further has an estimation unit for estimating the flight obstacle larger than the actual size,
The unmanned air vehicle control apparatus according to claim 5, wherein the flight path calculation unit calculates the flight path based on the flight obstacle estimated by the estimation unit.

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