JP2020036362A - Unmanned flight imaging apparatus - Google Patents

Abstract

To allow for agile response to such an abnormality as missing of data obtained by photographing in an unmanned flight imaging apparatus.SOLUTION: A multicopter 40 includes a flying object, a multi-spectrum camera 2, an image data storage unit 15, and a data abnormality determination unit 18. The flying object flies unmanned. The multi-spectrum camera 2 is mounted on the flying object, and shoots multiple units of the shooting object. The image data storage unit 15 stores the image data obtained by shooting with the multi-spectrum camera 2. A data abnormality determination unit 18 refers to the image data stored in the image data storage unit, and determines that there is an abnormality in the image data, when invalid data is included in the image data, or when a necessary image data is missing. When a determination is made that there is an abnormality in the image data by the data abnormality determination unit 18, the multicopter 40 displays information about the area requiring re-shooting of the shooting object.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an unmanned flight photographing apparatus that photographs a survey target while flying.

  An unmanned flight imaging apparatus of this type is disclosed in, for example, Patent Document 1. The unmanned flight imaging device (unmanned helicopter) of Patent Document 1 has a configuration including an imaging device, a capture device, and a video transmission device. This imaging device captures an image of a field, which is a survey target, from the air. The capture device cuts out and saves a desired still image from a video shot by the imaging device. The video transmission device transmits a video captured by the imaging device to the base station.

  In this patent document 1, not only the data obtained by shooting with the imaging device is stored in the capture device, but also information such as the storage status of the video obtained by shooting is transmitted using the wireless LAN communication standard. , On the base station side. Patent Document 1 states that this configuration allows the base station to constantly check the storage status of measurement data.

JP 2011-254711 A

  However, at present, wireless LANs can only be used for communication at relatively short distances. For example, if the field is vast and an unmanned helicopter that photographs the field from the air is far away from the position of the base station, wireless communication may be interrupted. As described above, in the configuration described in Patent Literature 1, after landing of the unmanned helicopter, the data stored in the helicopter is read out to an external computer by any method, and whether there is any abnormality such as missing data is determined. Without confirmation, it was not possible to know whether or not the data was acquired substantially without omission.

  If it turns out that the data was not complete, it may be possible to re-flight and retake the image, but if the time has elapsed since the original shooting, the whole situation There is a case where it is necessary to fix it, and a lot of trouble is required. Therefore, it has been desired to be able to quickly determine whether or not there is an abnormality such as missing data.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to enable an unmanned flight imaging device to quickly determine whether there is an abnormality such as a lack in data obtained by imaging. Rather, it is necessary to be able to respond flexibly when there is an abnormality.

Means and effects for solving the problem

  The problem to be solved by the present invention is as described above. Next, means for solving the problem and its effects will be described.

  According to an aspect of the present invention, there is provided an unmanned flight imaging apparatus having the following configuration. That is, this unmanned flight imaging device includes a flying object, an imaging device, an image data storage unit, an image data abnormality determination unit, and a notification unit. The flying object flies unmanned. The photographing device is mounted on the flying object and photographs a plurality of portions of a photographing target. The image data storage unit is mounted on the flying object and stores image data obtained by photographing with the photographing device. The image data abnormality determination unit refers to the image data stored in the image data storage unit, when invalid image data is included, or when necessary image data is missing, It is determined that the data is abnormal. The notification unit notifies the image data abnormality determination unit when the image data abnormality determination unit determines that the image data is abnormal. The unmanned flight imaging device displays information of an area where re-imaging of the imaging target is required when the image data abnormality determination unit determines that the image data has an abnormality.

  Thereby, on the side of the unmanned flight imaging device, referring to image data obtained by imaging with the imaging device, determine whether invalid image data is included or necessary image data is missing, If any of those cases is met, the fact is notified, so that when the photographing needs to be restarted, the operator or a surrounding monitor can know the situation early and respond flexibly. Further, since the abnormality of the image data can be detected at a stage before the image data is combined by another device, for example, in order to analyze the entire investigation target, the integrity of the image data collected by imaging is checked. It can be easily secured.

  In the unmanned flight imaging apparatus, it is preferable that information on the area requiring re-imaging is displayed on a remote operation terminal used by an operator to remotely operate the flying object.

  Thereby, the operator who remotely controls the flying object can easily know the area where the flight / photographing needs to be redone by referring to the remote control terminal at hand, and can smoothly perform the rephotographing. it can.

  In the above-described unmanned flight imaging device, it is preferable to have the following configuration. That is, the unmanned flight imaging apparatus includes a flight path generation unit. The flight path generation unit generates a flight path for flying the flying object for the re-imaging.

  This makes it possible to easily supplement substantially missing image data by causing the flying object to fly along the flight path generated by the flight path generation unit and performing re-imaging.

  It is preferable that the unmanned flight imaging device further includes an autonomous flight control unit that autonomously flies the flying object along the flight path generated by the flight path generation unit.

  This allows the unmanned flight imaging device to fly autonomously and perform redoing of imaging, thereby reducing the work load on the operator.

  In the above-mentioned unmanned flight imaging device, the notification unit indicates that there is an abnormality in the image data, when the imaging of all the imaging targets is completed, and when the imaging of one of the plurality of imaging targets is completed. Alternatively, it is preferable to notify the current photographing target during photographing.

  Thereby, when it is necessary to redo the shooting, it is possible to know substantially on the spot, so that the shooting can be immediately performed again under almost the same conditions.

FIG. 1 is a schematic diagram illustrating an overall configuration of a multicopter according to a first embodiment of the present invention. FIG. 2 is a block diagram showing a main electrical configuration of the multicopter. 9 is a flowchart illustrating a process performed by the multicopter to notify a user of an abnormality such as a loss in image data obtained by shooting when the image data is missing. FIG. 13 is a block diagram showing a main electrical configuration of the multicopter according to the third embodiment. FIG. 14 is a diagram showing an example of display information displayed on a display of a wireless communication terminal, which is information indicating an area which requires imaging for supplementing data in the multicopter according to the third embodiment. The figure which shows the example of generation of the flight path | route which re-flights in the multicopter of 3rd Embodiment in order to supplement required image data.

<First embodiment>
Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an overall configuration of a multicopter 40 according to the first embodiment of the present invention. FIG. 2 is a block diagram showing a main electrical configuration of the multicopter 40.

  A multicopter (unmanned flight imaging device) 40 shown in FIG. 1 is equipped with an imaging device for collecting information and can be remotely operated by an operator using a wireless communication terminal (remote operation terminal) 41. The multicopter 40 according to the present embodiment includes, as main components, a flying object 1, a multispectral camera (imaging device) 2, a gimbal device 3, a battery 4, a positioning antenna 8, and a control unit 10. ing.

  The flying object 1 is a multicopter main body (airframe), and has a plurality of propellers (rotary wings, wings) 5. Further, the flying object 1 includes an electric motor (for example, an electric motor) 6 for driving the propeller 5. The number of rotations of the plurality of propellers 5 is controlled by appropriately driving the electric motor 6, and the lift obtained by the rotation of the propellers 5 is changed in relation to the gravity of the multicopter 40, so that the rotation of the multicopter 40 is changed. In addition to ascent and descent, hovering and level flight can be realized.

  The multispectral camera 2 is configured as, for example, a digital camera that can simultaneously capture images of two bands (visible infrared light and near infrared light). The multispectral camera 2 is attached to a lower part of the flying object 1 while being supported by the gimbal device 3. With this multispectral camera 2, a field (photographing target) 70 where agricultural products are grown can be imaged from above to obtain image data. Photographing by the multispectral camera 2 can be performed remotely by an operator operating the wireless communication terminal 41.

  The gimbal device 3 supports the multispectral camera 2 so that the lens of the multispectral camera 2 always faces vertically downward. The gimbal device 3 operates so that the direction of the imaging optical axis of the multispectral camera 2 is always kept substantially constant regardless of the attitude of the flying object 1. This allows the multi-spectral camera 2 to image the field 70 from above in a planar manner.

  The battery 4 is a power storage device that can store power supplied to the electric motor 6 for rotating the propeller 5 and power supplied to various electronic devices mounted on the flying object 1. The battery 4 is configured to be detachable, and when the charged amount of the battery 4 decreases, the battery 4 can be manually replaced with another charged battery.

  The positioning antenna 8 is an antenna used to acquire the position information of the self (aircraft 1) based on a satellite positioning system such as GNSS. The acquired position information of the flying object 1 is transmitted to the wireless communication terminal 41, and the current position of the multicopter 40 is displayed on a display (not shown) provided in the wireless communication terminal 41 so that the operator can confirm the position information. . The position information of the flying object 1 is used for recording the position at the time of shooting by the multispectral camera 2.

  The wireless communication terminal 41 includes an operation lever for instructing the multicopter 40 to move up, down, move left and right, turn, and the like, and also includes a photographing button for instructing the multicopter 40 to photograph the field 70. In addition, the wireless communication terminal 41 includes a display with a touch panel, and the operator can refer to information displayed on the display (for example, information related to the current position of the multicopter 40) to check.

  By operating the wireless communication terminal 41 by the operator, the multicopter 40 having such a configuration captures an image of the field 70 with the multispectral camera 2 while flying using the propeller 5 and converts the still image data (data). Can be obtained. Usually, it is difficult to capture the entire area of the field 70 with one image data from the viewpoint of flight altitude and the like. Therefore, the operator moves the multicopter 40 horizontally to change the position of the field 70. The wireless communication terminal 41 is operated so as to repeat the photographing. From another point of view, if the image is taken so as to cover the entire area of the field 70 with one image data, the field 70 can be photographed only in a small size, and the accuracy of the image may be reduced. The operator divides the image data into a plurality of pieces of image data of the field 70 and shoots the image data. A large number of image data collected in this way are transferred from the multicopter 40 to a management computer (not shown) when the multicopter 40 returns to the station.

  The image data collected by the multicopter 40 is used for detailed analysis on the field 70. More specifically, the image data stored in the management computer is sent to another analysis computer, and a large number of image data are combined based on the positional information at the time of shooting to form one image representing the entire field 70. After the data is converted into data, a growth distribution image representing a variation in the growth state of the crop 71 in the field 70 is generated. This makes it possible to visually evaluate the variation in the growth state of the crop 71 in the field 70, and the like. The data captured by the multispectral camera 2 is used not only for generating a growth distribution image but also for various other uses.

  The multicopter 40 is operated by the operator when the photographing of all the image data to be collected is completed, when the remaining capacity of the battery 4 is low, or when the remaining capacity of the memory for storing the image data is low. Returns to the station. When the multicopter lands on the station, the transfer of image data to the management computer, the replacement of the battery 4, and the like are performed.

  Hereinafter, the electrical configuration of the multicopter 40 will be described with reference to FIG. FIG. 2 is a block diagram showing a main electrical configuration of the multicopter 40.

  The multicopter 40 of the present embodiment includes a control unit 10 for comprehensively controlling the flight, landing, and takeoff of the flying object 1 and the timing of shooting with the multispectral camera 2. For the control unit 10, via the system bus 31, the multispectral camera 2, the wireless communication unit 11, the flight control unit 12, the position information calculation unit (position information acquisition unit) 14, the image data storage unit 15, the data transfer unit 16, The planned flight area storage unit 17, the data abnormality determination unit (image data abnormality determination unit) 18, the notification unit 19, and the like are electrically connected.

  The control unit 10 is configured as a computer, and includes a CPU, a ROM, a RAM, and the like. Further, the ROM stores a program or the like for appropriately operating the multicopter 40 in accordance with, for example, the position information of the flying object 1, the content of the image data stored in the image data storage unit 15, and the like. . By the cooperation of the software and the hardware, the control unit 10 can function as a command unit for controlling each unit connected to the system bus 31.

  The wireless communication unit 11 receives a signal from the wireless communication terminal 41 operated by the user via the short-range wireless communication antenna 32, performs signal processing, and inputs the signal to the control unit 10. The wireless communication unit 11 performs signal processing on a signal transmitted from the control unit 10 to the wireless communication terminal 41, and then transmits the signal to the wireless communication terminal 41 via the short-range wireless communication antenna 32. In the present embodiment, the wireless communication performed between the wireless communication unit 11 and the wireless communication terminal 41 can be, for example, short-range wireless communication using a frequency band of 2.4 GHz. However, wireless communication according to another communication standard may be performed.

  The flight control unit 12 controls the driving state of the electric motor 6 to appropriately rotate the plurality of propellers 5 to cause the flying object 1 to ascend, descend, and horizontally move.

  The position information calculation unit 14 calculates the position information of the flying object 1 as, for example, latitude / longitude information based on the positioning signal from the positioning satellite system received by the positioning antenna 8.

  The image data storage unit 15 is a memory that stores image data obtained by shooting with the multispectral camera 2 as a file. The image data storage unit 15 records the position information of the flying object 1 acquired from the position information calculation unit 14 at the time of camera shooting in association with the image data. In the present embodiment, the association of the position information is realized by describing the information of the latitude and the longitude as the meta information in the file of each image data, but the association method is not limited to this.

  The data transfer section 16 performs processing for transferring the image data stored in the image data storage section 15 to the management computer when the multicopter 40 returns to the station on the ground.

  The scheduled flight area storage unit 17 stores the position information of the area where the flying object 1 is scheduled to fly (scheduled flight area) corresponding to the field 70 to be photographed. In the present embodiment, when the operator operates the wireless communication terminal 41, the position information of the planned flight area can be stored in the planned flight area storage unit 17. More specifically, in the present embodiment, when a map or an aerial photograph around the wireless communication terminal 41 is displayed on the display of the wireless communication terminal 41, a plurality of operators corresponding to the corners (apex) of the field 70 are displayed. By specifying a point by touching the touch panel, a polygonal area can be specified as a scheduled flight area. The designated scheduled flight area is stored in the scheduled flight area storage unit 17.

  The data abnormality determination unit 18 refers to the image data stored in the image data storage unit 15, and corresponds to either the case where invalid image data is included or the case where necessary image data is missing. This is to determine whether or not to do so. If the result of this determination is that it corresponds to at least one of the above two cases, the data abnormality determination unit 18 determines that there is an abnormality in the image data.

  When the image data obtaining operation for one field 70 is completed, the data abnormality determining unit 18 determines whether there is an abnormality in the image data. In an actual survey, image data of one field 70 may be obtained by one flight, or image data of a plurality of fields 70 physically separated from each other may be obtained by one flight. is there. When acquiring image data of a plurality of fields 70 in one flight, the photographing is performed in order for one field 70 at a time, and the data abnormality determination unit 18 ends the photographing for each of the plurality of fields 70 to be photographed. Each time, it is determined whether or not there is an abnormality in the image data acquired for the field 70. However, the determination of the data abnormality determining unit 18 may be performed after image data is obtained by photographing all of the plurality of fields 70.

  The notification unit 19 notifies, when the data abnormality determination unit 18 determines that the image data stored in the image data storage unit 15 has an abnormality, that fact. Specifically, the notification unit 19 of the present embodiment sends a signal for turning on the notification lamp 9 (see FIG. 1) attached to the flying object 1 to the notification lamp 9. As a result, when there is an abnormality in the image data, the notification lamp 9 is turned on, so that an operator who operates the multicopter 40 using the wireless communication terminal 41 or a worker who watches over the multicopter 40 takes a picture of the field 70. It is possible to know early that it is necessary to make a correction.

  In the following, in the present embodiment, a process performed by the control unit 10 in order to notify an operator or the like of an abnormality in the imaging result of the field 70 will be described in detail with reference to FIG. FIG. 3 is a flowchart showing a process performed by the multicopter 40 to notify the image data obtained by photographing when there is an abnormality such as a missing portion.

  First, the control unit 10 determines whether or not one image of one field 70 to be imaged this time has been completed (step S101). Specifically, the control unit 10 has determined that the position of the multicopter 40 was in the area of the field 70 immediately before, but is now outside the area of the field 70, and the state of the multicopter 40 is longer than a predetermined time. If it is continued, the photographing of the field 70 is completed, and if not, it is determined that the photographing is in progress. Whether or not the multicopter 40 is within the area of the field 70 is determined by the position of the multicopter 40 acquired by the position information calculation unit 14 and the information on the scheduled flight area stored in the scheduled flight area storage unit 17. , Can be determined.

  If the result of the determination in step S101 is that the shooting of the field 70 is in the middle (step S101, No), the process waits until the shooting of the field 70 is completed.

  As a result of the determination in step S101, when the imaging of the field 70 has been completed (step S101, Yes), the data abnormality determination unit 18 includes invalid image data in a large number of image data obtained by imaging. It is determined whether or not it has been performed.

  There are various methods for determining invalidity of image data.For example, when the file size is zero or when the image data is not recorded in a predetermined image file format, it is determined that the file is invalid because the file is damaged. can do. In addition, if pixels having extreme luminance appear in a wide area of the image in certain image data, it may be determined to be invalid because soil or the like is attached to the lens or halation is reflected in the lens. Conceivable. Further, when the image of the field 70 in which the green crop 71 should occupy the majority is captured, and the ratio of the green pixels in the image data is extremely low in the image, it is determined to be invalid. Can be. In addition, even when the image data is broken due to a large acceleration due to the vibration of the multicopter 40 or the image is largely blurred, the image data can be determined to be invalid. .

  When the data abnormality determination unit 18 determines that the image data includes invalid image data (step S102, Yes), the notification unit 19 turns on the notification lamp 9 by sending a signal (step S103).

  As a result of the determination in step S102, when the image data does not include invalid image data (No in step S102), subsequently, the data abnormality determination unit 18 determines whether the image data is missing. (Step S104).

  As described above, the image data needs to be acquired so as to cover the entire area of one field 70 as a whole. In consideration of this, the data abnormality determination unit 18 of the present embodiment determines the image data of the multi-spectral camera 2 for all the image data of the field 70 based on the position information associated with each image data. A rectangle corresponding to a range (photographing range) captured in image data by one photographing is virtually arranged in the field 70. Then, after arranging all the rectangles, the data abnormality determination unit 18 determines that data is missing when there is a portion in the field 70 that is not covered by any rectangle.

  When it is determined that the image data is missing (Step S104, Yes), the notification unit 19 sends a signal for turning on the notification lamp 9 to the notification lamp 9, and the notification lamp 9 is turned on (Step S103). .

  The operator who notices the lighting of the notification lamp 9 operates the wireless communication terminal 41 to return the multicopter 40 to the station in order to grasp the details of the abnormality. The multicopter 40 flies according to the instruction of the operator (step S105), and lands at the station. The operator checks which position of the field 70 is invalid, and also checks which part of the field 70 has not been photographed. The battery 4 is replaced, and the multicopter 40 is returned to the field 70 for re-photographing.

  On the other hand, as a result of the determination in step S104, if there is no image data missing (step S104, No), it is considered that all the necessary image data is available in this field 70, so that the notification lamp 9 is turned on. The flight is continued according to the operation of the operator (step S105). Then, for example, when the process shifts to shooting of the next field, the process returns to step S101.

  Here, if it is found after a long time that the image data (photographing result) acquired by the multicopter 40 has an abnormality, it becomes meaningless to take the image again due to a change in the situation, or the investigation may fail. In some cases, the quality was significantly reduced. Also, if the entire area is to be photographed again later at a later date, the initial work is wasted and the work load on the operator or the like is considerably increased. In this regard, in the present embodiment, when the photographing of one field 70 is completed, it is determined whether or not there is an abnormality in the stored image data, and if there is an abnormality, the notification lamp 9 is used when there is an abnormality. Notified immediately. Therefore, the work of re-taking can be quickly performed on the spot, and the work load can be greatly reduced.

  As described above, the multicopter 40 of the present embodiment includes the flying object 1, the multispectral camera 2, the image data storage unit 15, the data abnormality determination unit 18, and the notification unit 19. The flying object 1 flies unmanned. The multispectral camera 2 is mounted on the flying object 1 and photographs a plurality of locations in a field to be photographed. The image data storage unit 15 is mounted on the flying object 1 and stores image data obtained by photographing with the multispectral camera 2. The data abnormality determination unit 18 refers to the image data stored in the image data storage unit 15 and, when invalid image data is included or when necessary image data is missing, It is determined that there is an abnormality. When the data abnormality determination unit 18 determines that there is an abnormality in the image data, the notification unit 19 notifies the fact (step S103 in FIG. 3).

  Accordingly, the flying object 1 refers to the image data obtained by photographing with the multispectral camera 2 to determine whether invalid image data is included or necessary image data is missing. In the case where any of them is applicable, the fact can be notified. Therefore, when it is necessary to redo the photographing of the field 70, the operator or the observer around the flying object 1 can know the situation early and respond flexibly. In addition, since the abnormality of the image data storage unit 15 can be detected at a stage before the image data is combined by another device in order to analyze the entire field 70, for example, the integrity of the image data collected by photographing can be detected. Can be easily secured.

  Further, in the multicopter 40 of the present embodiment, when there is an abnormality in the image data, the notifying unit 19 notifies the user when the photographing of one of the plurality of fields 70 is completed.

  Thereby, when it is necessary to redo the imaging of the field 70, it is possible to know substantially on the spot, so that the imaging of the field 70 can be immediately redone under almost the same conditions.

<Second embodiment>
Next, a multicopter according to a second embodiment will be described. In the description of this embodiment, members that are the same as or similar to those of the above-described embodiment are given the same reference numerals in the drawings, and description thereof may be omitted.

  The multicopter of the present embodiment is different from the first embodiment in that it is determined whether or not there is an abnormality in the imaging result of the field 70 before the imaging of the field 70 to be imaged this time is completed. The form is different.

  The details will be described below. In the present embodiment, each time one image data is generated by photographing the field 70, the data abnormality determination unit 18 determines whether or not the image data is invalid. This determination can be made in the same manner as that described in the first embodiment (Step S102 in FIG. 3).

  In the present embodiment, a number of planned shooting positions for shooting so as to cover the entire area of the field 70 and the order of the planned shooting positions for performing shooting are specified in advance by the operator, and the multi-copter 40 side is designated. It is remembered. For example, when the field 70 has a rectangular shape, the planned shooting positions may be arranged in a matrix of m × n at predetermined intervals, but the present invention is not limited to this. By operating the wireless communication terminal 41, the operator causes the multicopter 40 to fly, and proceeds with shooting in the designated order.

  Each time the multispectral camera 2 captures an image of the field 70 and one image data is generated, the data abnormality determination unit 18 reads out the position information associated with the image data, and Calculate the positional deviation between the stored shooting scheduled position and the position. If the deviation is equal to or more than the predetermined value, the data abnormality determining unit 18 determines that image data is missing.

  When the data abnormality determining unit 18 determines that the image data is invalid or missing, the notification lamp 9 is turned on.

  In the present embodiment, unlike the first embodiment, it is possible to notify an operator or the like of an abnormality in image data even during photographing of one field 70. Therefore, for example, it is easy to immediately take a new image by replacing the image data obtained by the immediately preceding image capturing, or to immediately stop the image capturing of the field and restart from the beginning.

  As described above, in the multicopter of the present modified example, when there is an abnormality in the image data, the notifying unit 19 notifies the user of the fact during imaging of the current field 70 to be imaged.

  Thus, when it is necessary to redo the imaging of the field 70, it is possible to immediately know the imaging of the field 70 without finishing the imaging of the entire field 70, so that re-imaging of the field 70 can be performed more flexibly. Can be.

<Third embodiment>
Next, a multicopter 60 according to a third embodiment will be described with reference to FIG. FIG. 4 is a block diagram illustrating a main electrical configuration of the multicopter 60 according to the third embodiment. In the description of this embodiment, members that are the same as or similar to those of the above-described embodiment are given the same reference numerals in the drawings, and description thereof may be omitted.

  The multicopter 60 according to the third embodiment includes, in addition to the electrical configuration shown in the first embodiment, a re-imaging area acquisition unit 21, a re-imaging area information transmission unit 22, a flight path generation unit 24, and an autonomous flight control The third embodiment is different from the first embodiment in that the second embodiment includes a part 25 and the like.

  Further, the multicopter 60 of the present embodiment is configured not only to fly manually, but also to fly autonomously (hereinafter sometimes referred to as “autonomous flight”) as necessary. I have.

  Hereinafter, a configuration unique to the present embodiment will be described with reference to FIG.

  The re-shooting area acquiring unit 21 acquires (specifies) an area of the field 70 that requires re-shooting (re-shooting) when the data abnormality determining unit 18 determines that there is an abnormality in the image data. . The re-shooting area acquisition unit 21 stores the position information of the scheduled flight area read from the scheduled flight area storage unit 17 and the position information associated with the image data determined to be invalid by the data abnormality determination unit 18. By comparison, the position and the like of the area where the field 70 needs to be re-photographed are acquired.

  Specifically, the re-shooting area acquiring unit 21 determines, based on the position information associated with each image data, the data determined to be not invalid among all the image data obtained by photographing the field 70. A rectangle corresponding to a single photographing range of the multispectral camera 2 is virtually arranged in the field 70 (planned flight area). Then, after arranging all the rectangles, if there is a portion in the field 70 that is not covered by any of the rectangles, the re-imaging region acquisition section 21 sets the portion to be an area that requires re-imaging. Is determined.

  The re-shooting area information transmitting unit 22 creates display data for causing the wireless communication terminal 41 to display information about the re-shooting area (the area in which re-shooting is necessary) acquired by the re-shooting area acquiring unit 21; It transmits to the wireless communication terminal 41 via the wireless communication unit 11 and the short-range wireless communication antenna 32.

  FIG. 5 shows a state in which information on the re-imaging area is displayed on the display of the wireless communication terminal 41 based on the display data created by the re-imaging area information transmitting unit 22. As shown in FIG. 5, the display needs to be re-photographed because the image data is invalid, the image data itself is not present, or the flying object 1 is swept away by the wind and the photographing position is shifted. Is displayed graphically.

  The flight path generation unit 24 generates a flight path for causing the multicopter 60 to fly without fail in the re-imaging area acquired by the re-imaging area acquiring unit 21. The flight route generation unit 24 according to the present embodiment generates, by calculation, a flight route that can efficiently fly over the area that requires re-imaging, in consideration of the range of the field 70 that is captured in image data in one imaging operation. . FIG. 6 shows an example of a flight path generated by the flight path generation unit 24.

  The autonomous flight control unit 25 causes the multicopter 60 to fly autonomously along the flight path generated by the flight path generation unit 24. When the operator instructs the start of the autonomous flight by operating the wireless communication terminal 41, the autonomous flight control unit 25 controls the flight control unit 12 and the like instead of the control unit 10. Thereby, the multicopter 60 can be automatically flown along the flight path generated by the flight path generation unit 24, and re-photographing can be performed. The flight for re-imaging may be performed before the multicopter 60 returns to the station, or may be performed after returning to the station once and replacing the battery 4.

  As described above, the multicopter 60 of the present embodiment includes the position information calculation unit 14, the scheduled flight area storage unit 17, and the re-imaging area acquisition unit 21. The position information calculation unit 14 obtains position information of the flying object 1. The scheduled flight area storage unit 17 stores the position information of the scheduled flight area of the flying object 1 corresponding to the field 70 to be photographed. The re-shooting area acquiring unit 21 acquires an area of the field 70 that requires re-shooting when the data abnormality determining unit 18 determines that the image data has an abnormality. The image data storage unit 15 stores each image data in association with the position information of the flying object 1 at the time of shooting. The re-imaging area acquisition unit 21 stores the position information of the scheduled flight area read from the scheduled flight area storage unit 17 and the position information associated with the image data determined to be normal by the data abnormality determination unit 18. , The position information of the area of the field 70 that requires re-imaging is acquired.

  This makes it possible to automatically acquire a region that requires re-imaging, thereby improving the work efficiency of re-imaging.

  In addition, the multicopter 60 of the present embodiment further includes a wireless communication terminal (remote operation terminal) 41 and a re-imaging area information transmitting unit 22. The wireless communication terminal 41 is for an operator to remotely control the flying object 1. The re-imaging area information transmitting unit 22 transmits a signal for causing the wireless communication terminal 41 to display the information on the area acquired by the re-imaging area acquiring unit 21 (see a display example in FIG. 5).

  Thereby, the operator who is remotely operating the flying object 1 can easily know the area in which the flight / photographing needs to be redone by referring to the display of the wireless communication terminal 41 at hand. Can be redone smoothly.

  Further, the multicopter 60 according to the present embodiment is a flight that causes the flying object 1 to fly in order to image the field 70 to be imaged in the area (see the hatched area in FIG. 5) acquired by the re-imaging area acquisition unit 21. A flight path generation unit 24 that generates a path (see an arrow in FIG. 6) is provided.

  Accordingly, by causing the flying object 1 to fly along the flight path generated by the flight path generation unit 24 and performing re-imaging, it is possible to easily supplement substantially missing image data.

  Further, the multicopter 60 of the present embodiment further includes an autonomous flight control unit 25 that causes the flying object 1 to fly autonomously along the flight path (see the arrow in FIG. 6) generated by the flight path generation unit 24.

  Accordingly, the multicopter 60 can be made to fly autonomously and redo the shooting, thereby reducing the operator's work load.

  Although the preferred embodiment of the present invention has been described above, the above configuration can be changed as follows, for example.

  In the above-described embodiment, when the image data stored in the image data storage unit 15 has an abnormality such as a loss or the like, the notification is performed by turning on the notification lamp 9. However, the present invention is not limited to this. Instead, the notification may be made by sound or the like. The notification of the abnormality may be performed by turning on a lamp in the wireless communication terminal 41 or the like.

  In the above embodiment, the data abnormality determination unit 18 determines whether there is an abnormality in the image data, and the notification by the notification unit 19 is performed when the shooting of one field 70 is completed or when the current shooting target is Although the process is performed during the photographing of the field 70, the present invention is not necessarily limited to this. For example, when the multicopter 40 has landed at the station after the flight for imaging, the determination by the data abnormality determination unit 18 and the notification by the notification unit 19 may be performed. Also in this case, since it is highly possible that the field 70 can be re-taken during the day, it is not necessary to re-flight at a later date to re-take all the data as in the related art, and the work load can be reduced. It can be said.

  The multicopter 40 according to the first embodiment and the second embodiment uses the position information obtained by positioning instead of the configuration in which the operator manually controls the vehicle, and autonomously performs unmanned operation along a predetermined route. It is also possible to change the configuration to perform flight and photography. Also in the multicopter 60 of the third embodiment, not only re-photographing but also first photographing can be performed by autonomous flight.

  In the multicopter 60 according to the third embodiment, the operator may change the manual re-imaging by referring to the display on the display shown in FIG. 5 or the like. In this case, it is preferable to display the flight route generated by the flight route generation unit 24 on the display of the wireless communication terminal 41 because convenience is improved.

1 Aircraft 2 Multi-spectral camera (photographing device)
9 information lamp 15 image data storage unit 18 data abnormality judgment unit (image data abnormality judgment unit)
19 notification unit 40 multicopter (unmanned flight imaging device)

Claims (5)

A flying object flying unmanned,
A photographing device mounted on the flying object and photographing a plurality of places in a photographing target object,
An image data storage unit mounted on the flying object and storing image data obtained by shooting with the shooting device,
Referring to the image data stored in the image data storage unit, if invalid image data is included or necessary image data is missing, it is determined that the image data is abnormal. An image data abnormality determining unit;
When it is determined by the image data abnormality determination unit that there is an abnormality in the image data, a notification unit that notifies the fact,
With
An unmanned flight photographing apparatus, characterized in that, when it is determined by the image data abnormality determination section that there is an abnormality in the image data, information on an area where re-imaging of the imaging target is required is displayed. The unmanned flight imaging device according to claim 1,
An unmanned flight photographing apparatus, characterized in that a remote control terminal used by an operator to remotely control the flying object displays information on the area requiring re-imaging. The unmanned flight imaging device according to claim 1 or 2,
An unmanned flight imaging apparatus, comprising: a flight path generation unit configured to generate a flight path for flying the flying object for the re-imaging. The unmanned flight imaging device according to claim 3,
An unmanned flight photographing apparatus, further comprising an autonomous flight control unit that autonomously flies the flying object along the flight path generated by the flight path generation unit. An unmanned flight imaging device according to any one of claims 1 to 4,
The notifying unit may notify that there is an abnormality in the image data when the photographing of all the photographing objects is completed, when the photographing of one of the plurality of photographing objects is completed, or when the current photographing object is photographed. An unmanned flight photographing device that informs inside.

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