JP2017207514A - Aerial photographic system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an aerial photographing system that deals with a measurement object, whatever a pose of a small-sized air vehicle varies, and can stably photograph images vertically downward and vertically upward.SOLUTION: An aerial photographing system comprises: an air vehicle that is remotely controllable; a shaft 6 that is supported by the air vehicle tiltably in an arbitrary direction via a gimbal; a low camera 7 that is provided in a lower end of the shaft 6; an upper camera 8 that is provided in an upper end of the shaft 6; a prism 9 that tilts integrally with the upper camera 8 and low camera 7, is provided in a known relation between the upper camera 8 and the low camera 7, and serves as a measurement object; an imaging control unit that is provided in the air vehicle and controls photographing of the low camera 7 and upper camera 8; a total station 3 that tracks the prism 9, and measures a position of the prism 9; and a remote controller 5 that implements a remote operation of flight of the air vehicle, and shutters of the upper camera 8 and low camera 7. The imaging control unit is configured to select which any of the top camera 8 and the low camera 7 the photographing is executed by in accordance with the measurement object.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an aerial photographic system in which a photogrammetry camera is provided on a small aircraft.

  In recent years, with the progress of UAV (Unmanned Air Vehicle), photogrammetry camera is mounted on UAV, and photogrammetry using UAV has been developed.

  Usually, a UAV flies while tilting the aircraft in the propulsion direction, but the tilt of the UAV's fuselage is easily affected by the propulsion speed and wind, and the stability of the tilt is poor. On the other hand, aerial photogrammetry needs to capture a vertically lower image with high definition, and stability of the tilt of the camera is required.

  In aerial photogrammetry, the ground coordinates of the shooting point are necessary for ground orientation (absolute orientation) of the aerial photograph taken. Conventionally, as a method for obtaining the ground coordinates of the UAV, a GPS device is mounted on the UAV, and the ground coordinates of the UAV are obtained by the GPS device.

  However, since the GPS device obtains the ground coordinates using radio waves from the satellite, the GPS device obtains the UAV ground coordinates in places where radio waves cannot be received, for example, in urban areas where high-rise buildings stand in tunnels. I can't.

JP-A-8-285588 JP 2010-38822 A JP 2006-10376 A

In view of such circumstances, the present invention provides an aerial photography system that can stably take images vertically below and vertically above a measurement object regardless of how the attitude of the small flying object changes. To do.

The present invention relates to a remotely maneuverable air vehicle, a shaft supported by the air vehicle so as to be tiltable in any direction via a gimbal, a lower camera provided at the lower end of the shaft, and an upper end of the shaft. The upper camera provided, and the upper camera and the lower camera are integrally tilted, provided in a known relationship with the upper camera and the lower camera, provided as a retroreflector as a measurement object, and provided in the flying object An imaging control unit that controls imaging of the lower camera and the upper camera, a total station that tracks the retroreflector and measures the position of the retroreflector , flight of the flying object, the upper camera, and the lower camera the shutter comprises a manipulator for remotely controlling the imaging control unit, depending on the measurement object, aviation shooting for selecting whether to perform a shooting by either of the lower camera and the upper camera It relates to the system.

Further, the present invention relates to an aerial photography system in which the imaging control unit causes the upper camera and the lower camera to simultaneously photograph vertically upward and vertically downward .

Further, the present invention relates to an aerial photography system in which the imaging control unit captures a still image based on a programmed time interval and imaging timing .

Furthermore, the present invention relates to an aerial photography system in which a shooting point of the still image is selected and a shooting command is issued by the remote control device .

According to the present invention, a remotely maneuverable air vehicle, a shaft supported by the air vehicle so as to be tiltable in an arbitrary direction via a gimbal, a lower camera provided at a lower end of the shaft, The upper camera provided at the upper end, the upper camera and the lower camera are integrally tilted, provided in a known relationship with the upper camera and the lower camera, the retroreflector as a measurement object, and the flying object An imaging control unit that controls imaging of the lower camera and the upper camera, a total station that tracks the retroreflector and measures the position of the retroreflector, the flight of the flying object, the upper camera, and the the shutter of the lower camera and a manipulator for remotely controlling the imaging control unit, depending on the measurement object, selects whether to perform a shooting by either of the lower camera and the upper camera Therefore, even if the attitude of the small aircraft changes, images can be taken stably, and the ground coordinates of the small aircraft can be measured even in environments where radio waves from satellites cannot be received. Make it possible.

Further, according to the present invention, the imaging control unit causes the upper camera and the lower camera to photograph the vertically upper side and the vertically lower side at the same time, so that the crop, the ground structure, the bridge girder, or the tunnel Imaging of various measurement objects such as a ceiling can be executed.

Further, according to the present invention, the imaging control unit captures a still image based on the programmed time interval and imaging time, so that the position where the still image is captured can be specified.

Furthermore, according to the present invention, since the shooting point of the still image is selected and the shooting command is issued by the remote control device, an excellent effect that the shooting position of the still image can be specified is exhibited.

It is a block diagram which shows the aerial photography system which concerns on a present Example. 1 is a perspective view of an aerial photography apparatus according to the present embodiment. It is sectional drawing of this aerial photography apparatus. It is a block diagram of the control system of an aerial photographic device. It is a figure which shows the relationship between an aerial photography apparatus, a ground base, and a remote control. It is explanatory drawing which shows the flight state of a flying body. It is a timing chart which calculates | requires the imaging position in imaging | photography time.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, an aerial photograph system 1 according to the present embodiment will be described with reference to FIG.

  The aerial photograph system 1 mainly includes an aerial photograph apparatus 2, a total station (TS) 3, a ground base 4, and a remote control device 5.

  The aerial photography apparatus 2 includes a shaft 6 as a support member vertically supported by a flying body (described later) via a gimbal mechanism, a lower camera 7 provided at the lower end and the upper end of the shaft 6, respectively, Provided with a camera 8, a prism 9 as a retroreflector provided at the lower end of the shaft 6 and integrated with the lower camera 7, and an aircraft communication unit 11 that communicates with the ground base 4. doing. The optical axes of the lower camera 7 and the upper camera 8 are provided so as to coincide with the axis of the shaft 6 and to be always vertical. The optical axis of the prism 9 is also set to be vertical, and the positional relationship between the prism 9 and the lower camera 7 and the upper camera 8 is also known. Note that the lower camera 7, the upper camera 8, and the prism 9 need only be supported so that the optical axes thereof are vertical, and the axis of the shaft 6 is not necessarily vertical.

  The prism 9 is provided downward and has an optical characteristic of retroreflecting light incident from the entire range below the prism 9. Further, instead of the prism 9, a reflective seal may be provided at a predetermined position of the shaft 6.

  The total station 3 is provided at a known point, and measures the three-dimensional coordinates of the prism 9 while tracking the prism 9. The total station 3 is electrically connected to the ground base 4 by wire or wirelessly, and the measured three-dimensional coordinates are input to the ground base 4 as coordinate data.

  The ground base 4 is, for example, a PC, and includes an arithmetic device having an arithmetic function, a storage unit for storing data and a program, and a base communication unit 12, and the base communication unit 12 and the aircraft communication unit 11 Wireless communication is possible between them.

  The remote control device 5 remotely controls the flight of the aerial photography apparatus 2 and can remotely control the shutters of the lower camera 7 and the upper camera 8.

  An outline of the operation of the aerial photography system 1 will be described.

  The aerial photographic device 2 is caused to fly on the planned flight course by the remote operation by the remote control 5. While the aerial photography apparatus 2 is flying, the total station 3 tracks the prism 9 and measures the three-dimensional coordinates of the prism 9 in real time.

  The lower camera 7 and the upper camera 8 of the aerial photographic apparatus 2 are set to take still images for photogrammetry at predetermined time intervals. The still image is transmitted to the ground base 4 as still image data, and the timing (shooting time) at which the still image is captured is transmitted to the ground base 4.

  The ground base 4 receives the still image data and the shooting time when the still image data is acquired via the base communication unit 12. Still image data and shooting time are stored in the storage unit. The ground base 4 receives the measurement result from the total station 3, acquires the three-dimensional coordinates of the photographing time, and associates the three-dimensional coordinates with the still image. The still image may be stored in the aerial photography apparatus 2. In this case, the still image may be associated with the photographing time, and the still image may be associated with the three-dimensional coordinates based on the photographing time at the ground base 4 after the flight.

  Still image capturing by the lower camera 7 and the upper camera 8 may be manually performed by the remote controller 5. Also in this case, the photographing time is transmitted from the aerial photograph apparatus 2 to the ground base 4.

  Which of the lower camera 7 and the upper camera 8 is used for shooting is appropriately selected according to the measurement object. For example, when a crop or a structure on the surface of the earth is a measurement object, the lower camera 7 is used to photograph vertically downward, and when the bridge girder or tunnel ceiling is the measurement object, the upper camera 8 is used to photograph vertically above. Further, in measurement of a bridge girder, a tunnel ceiling, or the like, the lower camera 7 and the upper camera 8 may be used to photograph vertically downward and vertically upward simultaneously.

  Still images are acquired by the lower camera 7 and the upper camera 8, and the total station 3 measures the three-dimensional coordinates (ground coordinates) of the prism 9 when the still images are taken. The measured three-dimensional coordinates are transmitted to the ground base 4 as coordinate data.

  When the lower camera 7 and the upper camera 8 are separated from the prism 9 by a known value, but the measurement accuracy is not required, the position of the prism 9 is the same as the position of the lower camera 7 and the upper camera 8. Is done. When accuracy is required, the flying object detected by the azimuth sensor 29 (described later) from the known relationship between the lower camera 7, the upper camera 8 and the prism 9 at the ground base 4. Based on the position of the prism 9 from the direction 15 (described later), the positions of the lower camera 7 and the upper camera 8 are obtained.

  When still images at two points are shot and the coordinates of the two shooting points are measured, the distance (baseline length) between the two points is obtained. Thus, the coordinates and baseline lengths of the two still images required for photogrammetry are obtained. Furthermore, since the coordinates of the shooting point of the still image are measured by the total station 3, it is highly accurate, and highly accurate photogrammetry is possible.

  Next, the aerial photographic apparatus 2 will be described with reference to FIGS.

  The flying body 15 has a plurality of even-numbered propeller frames 17 extending radially, and a propeller unit is provided at the tip of each propeller frame 17. The propeller unit includes a propeller motor 18 attached to the tip of the propeller frame 17 and a propeller 19 attached to the output shaft of the propeller motor 18. The propeller 19 is rotated by the propeller motor 18 so that the flying body 15 flies.

  The flying body 15 has a hollow cylindrical main frame 21 at the center, an outer flange 22 extending outward at the upper end of the main frame 21, and an inner extension extending toward the center at the lower end. A flange 23 is provided. A circular hole 24 is formed at the center of the inner flange 23.

  The propeller frame 17 has a rod shape and is disposed in a plane orthogonal to the axis of the main frame 21. The propeller frame 17 has a predetermined number (at least four, preferably eight, eight in the drawing) at equal angular intervals in the horizontal direction. 17a-17h) are provided. An inner end portion of the propeller frame 17 penetrates the main frame 21 and is fixed to the outer flange 22.

  The shaft 6 is provided so as to penetrate the main frame 21 vertically, and the shaft 6 is supported so as to be vertical by a gimbal 25, and the gimbal 25 is provided on the inner flange 23 via a vibration isolation member 26. It has been.

  The gimbal 25 has two orthogonal swing axes 27a and 27b, and supports the shaft 6 so as to be swingable in two orthogonal directions. The anti-vibration member 26 absorbs vibration when the propeller motor 18 and the propeller 19 are rotated, so that the vibration is not transmitted to the shaft 6.

  The tilt sensor 28 is provided at the lower end of the shaft 6 and detects a steep tilt of the gimbal 25 caused by a change in acceleration of the flying object 15. The tilt sensor 28 detects the angle between the vertical line and the axis of the shaft 6 when the shaft 6 is tilted with respect to the vertical. The detection result of the tilt sensor 28 is a control device 35 which will be described later. (See FIG. 4).

  An orientation sensor 29 is provided at a required position of the main frame 21, and the orientation sensor 29 detects the orientation of the flying object 15. As the direction of the flying object 15, for example, the direction perpendicular to the plane including the axis of the shaft 6 and the optical axis of the prism 9 is the front-rear direction.

  A control box 31 is provided at the lower end of the shaft 6. The control device 35 (see FIG. 4) is accommodated in the control box 31. The lower camera 7 is provided on the lower surface of the control box 31, a prism support 32 is suspended from the lower camera 7 at a known distance L, and the prism 9 is provided at the lower end of the prism support 32. It is done.

  The upper camera 8 is provided at the upper end of the shaft 6. The optical axis of the upper camera 8 and the optical axis of the lower camera 7 coincide with the axis of the shaft 6, and the optical axis of the prism 9 is parallel to the axis of the shaft 6. The lower camera 7 photographs a vertically lower part, and the upper camera 8 photographs a vertically upper part.

  The control box 31, the lower camera 7, the prism 9, etc. function as balance weights, and when the external force does not act on the shaft 6, that is, in a free state, the shaft 6 is in a vertical state. The weight balance of the control box 31, the lower camera 7, and the prism 9 is set.

  If the balance weight function of the control box 31, the lower camera 7, the prism 9, etc. can sufficiently hold the shaft 6 vertically, it may not be provided, but the shaft 6 can be stably held in a vertical posture. Therefore, a balance assisting member may be provided so that the shaft 6 can be quickly returned to the vertical state when the shaft 6 is inclined sharply (when the attitude of the flying object 15 is rapidly changed).

  The following example demonstrates the case where the damper spring 16 is provided as a balance auxiliary member.

  The damper spring 16 is stretched between the propeller frame 17 and the shaft 6. It is preferable that at least three, preferably four, of the damper springs 16 are provided, and the damper springs 16 are provided between the propeller frame 17 and the shaft 6 extending in parallel with the swing shafts 27a and 27b.

  The four damper springs 16 apply tension between the shaft 6 and the propeller frame 17, respectively, and balance the tension when the flying body 15 is in a horizontal posture (the propeller frame 17 is horizontal). Thus, the shaft 6 is set so as to maintain a vertical state. Further, the tension and the spring constant of the damper spring 16 are set small, and when the flying object 15 is tilted, the shaft 6 is directed in the vertical direction by the action of gravity.

  The damper spring 16 is a biasing means that biases the shaft 6 to a vertical state. When the shaft 6 swings and vibrates, the damper spring 16 quickly returns to the vertical state and attenuates the vibration. It is. The biasing means may be a torsion coil spring that rotates in the return direction when the swing shafts 27a and 27b of the gimbal 25 rotate in addition to the damper spring 16 described above.

  The control system of the aerial photograph apparatus 2 will be described with reference to FIG.

  The control device 35 is accommodated in the control box 31.

  The control device 35 mainly includes a control calculation unit 36, a clock signal generation unit 37, a storage unit 38, an imaging control unit 39, a flight control unit 41, a gyro unit 42, a motor driver unit 43, and an aircraft communication unit 11. ing.

  Imaging of the lower camera 7 and the upper camera 8 is controlled by the imaging control unit 39, and an image captured by the lower camera 7 and the upper camera 8 is input to the imaging control unit 39 as image data. The

  As the lower camera 7 and the upper camera 8, a digital camera is used so that a still image can be taken and a moving image can also be taken. In addition, a CCD, CMOS sensor, or the like, which is an aggregate of pixels, is used as the image sensor, and the position of each pixel in the image sensor can be specified. As described above, the optical axes of the lower camera 7 and the upper camera 8 coincide with the axis of the shaft 6, and the optical axis of the prism 9 is parallel to the axis of the shaft 6. . The optical axis of the prism 9 and the optical axis of the lower camera 7 have a known positional relationship.

  The storage unit 38 includes a program storage unit and a data storage unit. The program storage unit transmits an imaging program for controlling imaging of the lower camera 7 and the upper camera 8, a flight control program for driving and controlling the propeller motor 18, and acquired data to the ground base 4. In addition, a communication program for receiving a flight command or the like from the remote controller 5, a data processing program for processing and storing data acquired by the lower camera 7 and the upper camera 8, and a moving image are used. A program such as an image tracking program for tracking is stored.

  The data storage unit stores still image data, moving image data, and the like acquired by the lower camera 7 and the upper camera 8.

  The imaging control unit 39 performs control relating to imaging of the lower camera 7 and the upper camera 8 based on a control signal issued from the control calculation unit 36. Control modes include selection of a camera to be used according to the measurement object, synchronization control of the lower camera 7 and the upper camera 8, control of acquiring still images at predetermined time intervals while acquiring moving images, and the like. In addition, the photographing time of the lower camera 7 and the upper camera 8 is controlled based on the clock signal generated from the clock signal generator 37 or is synchronously controlled.

  The azimuth sensor 29 detects the orientation of the flying object 15 and inputs the detection result to the control calculation unit 36. The gyro unit 42 detects the attitude of the flying object 15 in the flight state, and the detection result is Input to the control calculation unit 36.

  When the flight of the flying object 15 is remotely controlled by the remote controller 5, the aircraft communication unit 11 receives a control signal from the remote controller 5 and sends the control signal to the control calculation unit 36. input. Alternatively, it has a function of transmitting image data captured by the lower camera 7 and the upper camera 8 to the ground base 4 on the ground side.

  The control calculation unit 36 performs control necessary for image acquisition based on a required program stored in the storage unit 38. The control calculation unit 36 calculates a control signal related to flight based on the steering signal and the detection result of the gyro unit 42 and outputs the control signal to the flight control unit 41.

  When a control signal related to flight is input from the control calculation unit 36, the flight control unit 41 drives the propeller motor 18 to a required state via the motor driver unit 43 based on the control signal.

  FIG. 5 is a diagram showing the relationship among the aerial photograph apparatus 2, the total station 3, the ground base 4, and the remote control machine 5.

  The ground base 4 includes the base communication unit 12, a computing device 44, and a base storage unit 45.

  The base communication unit 12 performs communication between the aerial photograph apparatus 2 and the total station 3. The base communication unit 12 receives image data from the aerial photography apparatus 2, shutter timing information at the time when the image data was taken, and coordinate data from the total station 3. The arithmetic unit 44 includes a clock signal generation unit, associates the received image data, shutter timing information, and coordinate data with the clock signal, processes them as time-series data based on the clock signal, and stores them in the base storage unit 45 To do.

  The base storage unit 45 has a storage area for storing image data and coordinate data, and an arithmetic program necessary for photogrammetry, communication for performing communication between the base communication unit 12 and the flying object communication unit 11 A program such as a program for calculating a shooting position where a still image is acquired based on the program, shutter timing, and survey data is stored.

  Hereinafter, the operation of the aerial photography apparatus 2 according to the present embodiment will be described.

  When the flight of the flying object 15 is controlled, the propeller drive is controlled with two propeller motors 18 as a set. For example, the propeller motors 18a and 18b, the propeller motors 18c and 18d, the propeller motors 18e and 18f, the propeller motors 18g and 18h are set as one set, and the propellers 19a and 19b, the propellers 19c and 19d, the propellers 19e and 19f, and the propellers 19g and 19h The rotational drive of each is controlled individually.

  For example, if the propeller motors 18a to 18h are evenly driven and the thrust generated by the rotation of the propellers 19a to 19h is controlled to be the same, the flying object 15 rises vertically.

  When flying (moving) in the horizontal direction, for example, as shown in FIG. 6, when moving to the left in the figure, the propeller motors 18e and 18f are rotated at an increased speed, and the thrust of the propellers 19e and 19f is increased. When the propellers 19a and 19b are increased, the flying body 15 tilts and the thrust acts obliquely downward, so that a horizontal component is generated and the flying body 15 moves in the horizontal direction.

  Even when the flying object 15 is tilted, the shaft 6 is kept vertical by the action of gravity. Accordingly, the optical axes of the lower camera 7 and the upper camera 8 are also maintained in the vertical state, and at the same time, the optical axes of the prism 9 are also maintained in the vertical state. The lower camera 7 acquires a vertically lower image, and the upper camera 8 acquires a vertically upper image. Here, a case where a lower image is acquired by the lower camera 7 will be described.

  The total station 3 collimates the prism 9 and measures the position (three-dimensional coordinates) of the prism 9 in real time while tracking.

  The aerial photographic device 2 is operated by the remote control device 5, and during the flight of the aerial photographic device 2, a still image is acquired at a required time interval while taking a moving image by the lower camera 7. It should be noted that the time interval and the shooting time for taking a still image may be programmed in advance, or the shooting point of the still image may be selected by the remote controller 5 and a shooting command may be issued. In the following description, a case where still images are taken at preprogrammed time intervals will be described.

  The control calculation unit 36 issues a control command relating to shooting of the lower camera 7 to the imaging control unit 39. The imaging control unit 39 issues a shutter signal to the lower camera 7 based on a control command. The lower camera 7 captures a still image based on the shutter signal. The shutter signal from the imaging control unit 39 is transmitted to the ground base 4 via the flying body communication unit 11, and the shooting time for each still image is recorded in the ground base 4.

  Furthermore, the measurement result by the total station 3 of the prism 9 when the shutter time is received is acquired, and the position (three-dimensional position) where the still image is acquired is specified.

  The positional relationship between the lower camera 7 and the prism 9 is known and fixed. Further, since the direction of the flying object 15 is detected by the direction sensor 29, the measured value can be corrected from the known positional relationship and the direction of the flying object 15, and the three-dimensional position of the lower camera 7 can be corrected. That is, the photographing position of the lower camera 7 can be obtained.

  Next, in order to perform photogrammetry with still images taken at two adjacent points, it is necessary to perform relative orientation of the two images at the two locations. It is necessary to determine at least 5 feature points common to the images.

  To set feature points, image processing such as edge processing is performed from the first image to extract feature points, and feature points common to the next still image are identified by moving image tracking.

  Note that moving image tracking is described in Patent Document 3.

  After the relative orientation, photogrammetry is performed by performing absolute orientation based on the three-dimensional coordinates of the photographing point.

  The photogrammetry may be executed in real time every time still image data is transmitted to the ground base 4, or still image data and survey data until the completion of flight are stored in the ground base 4. Photogrammetry may be executed based on still image data after flight and survey data.

  As described above, since the still image shooting position is measured by the total station 3, it is highly accurate, and further, photogrammetry by the aerial photographic device 2 is possible even in an environment where satellite radio waves do not reach.

  In the above description, the position of the prism 9 is measured in real time by the total station 3 and the still image shooting position is acquired in synchronization with the shutter timing. However, the total station 3 acquires distance measurement data at predetermined time intervals. Will be explained.

  There are cases where the photographing timing (shutter timing) by the aerial photography apparatus 2 and the timing at which the total station 3 acquires coordinate data do not necessarily coincide.

  FIG. 7 shows a method for acquiring the three-dimensional coordinates of the shooting position when the shooting timing and survey data are acquired but the timing is not synchronized.

  If the shooting by the lower camera 7 is executed at the time interval of I1, and the survey result by the total station 3 is executed at the time interval of I2 (I2 <I1), the measurement result is acquired in accordance with the shooting time. There is almost no.

  When the shutter timing is received from the aerial photography apparatus 2, the shutter timing time is determined from the clock signal 47. Further, survey results are acquired at time intervals of I2, and the time when each survey result is acquired can also be specified from the clock signal 47.

  Measurement results d1 and d2 positioned before and after the shutter timing s (time ts) are selected, and times (t1, t2) when the measurement results d1 and d2 are measured from the clock signal 47 are specified. .

  Using the relationship between the time ts and the times t1 and t2, the measurement values at the shutter timing s of the measurement results d1 and d2 can be obtained by interpolation.

  Thus, accurate position measurement can be performed even if the photographing timing and the measurement timing are not synchronized.

  In the above description, the lower camera 7 and the upper camera 8 are provided at the lower end and the upper end of the shaft 6, respectively, but either one may be omitted. Further, when the lower camera 7 is omitted, the prism 9 may be provided at the lower end of the shaft 6. When the prism 9 is provided at the lower end of the shaft 6, since the optical axes of the upper camera 8 and the prism 9 coincide with each other, it is not necessary to correct the measurement result by the total station 3.

  Further, the shaft 6 is supported by the gimbal 25 so as to be directed in the vertical direction by the action of gravity, but a motor is connected to each of the swing shafts 27a and 27b (see FIG. 3). The swinging shafts 27a and 27b may be forcibly rotated in the direction opposite to the tilt based on the tilt signal to maintain the vertical state.

DESCRIPTION OF SYMBOLS 1 Aerial photograph system 2 Aerial photograph apparatus 3 Total station 4 Ground base 5 Remote control 7 Lower camera 8 Upper camera 9 Prism 11 Aircraft communication part 12 Base communication part 15 Aircraft 18 Propeller motor 25 Gimbal 26 Vibration isolator 28 Tilt sensor 29 Direction sensor 31 Control box 36 Control operation unit 37 Clock signal generation unit 38 Storage unit 39 Imaging control unit 41 Flight control unit 42 Gyro unit 44 Arithmetic unit 45 Base storage unit

Claims (4)

A remotely maneuverable vehicle, a shaft supported by the vehicle via a gimbal so as to be tiltable in an arbitrary direction, a lower camera provided at the lower end of the shaft, and an upper provided at the upper end of the shaft A camera, the upper camera and the lower camera that are integrally tilted , provided in a known relationship with the upper camera and the lower camera, a retroreflector as a measurement object, and the lower camera provided on the flying object; An imaging control unit that controls the photographing of the upper camera, a total station that tracks the retroreflector and measures the position of the retroreflector, the flight of the flying object, and the shutters of the upper camera and the lower camera are remotely controlled comprising an operation to manipulator, the imaging control unit, depending on the measurement object, and selects whether to perform a shooting by either said on camera of the lower camera Sky photo system. The aerial photography system according to claim 1, wherein the imaging control unit causes the upper camera and the lower camera to photograph vertically upward and vertically downward simultaneously . The aerial photography system according to claim 1, wherein the imaging control unit captures a still image based on a programmed time interval and imaging timing . 4. The aerial photography system according to claim 3, wherein a shooting point of the still image is selected and a shooting command is issued by the remote controller .

Images