JP2021009481A - Unmanned aircraft control system - Google Patents

Abstract

To provide an unmanned aircraft control system capable of improving operability so as to prevent an unmanned aircraft from approaching an obstacle or the like or entering a flying inhibited region.SOLUTION: This unmanned aircraft control system comprises: an unmanned aircraft 10 that has a first azimuth sensor 19 for detecting a front azimuth; and a portable terminal 50 that has a control unit 59 for controlling flying of the unmanned aircraft 10. The control unit 59 comprises an azimuth setting unit 59c for setting a target azimuth, a turning angle calculation unit 59d that calculates the turning angle of the unmanned aircraft 10, and an azimuth control unit 59e that turns the unmanned aircraft 10 on the basis of the turning angle, and changes the front azimuth of the unmanned aircraft 10 to the target azimuth.SELECTED DRAWING: Figure 5

Description

The present invention relates to an unmanned aerial vehicle control system including an unmanned aerial vehicle and an operating device.

In recent years, a method of inspecting, for example, the position of a high place using an unmanned aerial vehicle has been known. In addition, various functions for assisting the operation of unmanned aerial vehicles have been studied. For example, Patent Document 1 proposes a method of reducing instability during takeoff of an unmanned aerial vehicle as a function of assisting the operation of the unmanned aerial vehicle.

Special Table 2017-501926

By the way, an unmanned aerial vehicle can fly even if it is several hundred meters to several kilometers away from the pilot, but when the distance between the pilot and the unmanned aerial vehicle is large, the pilot can determine the direction of the unmanned aerial vehicle. It will be difficult. As a result, it is difficult to steer the unmanned aerial vehicle in the direction intended by the pilot when the forward direction of the pilot and the forward direction of the unmanned aerial vehicle are different. For this reason, there is a problem that the unmanned aerial vehicle may approach obstacles and the like and invade the no-fly zone.

The present invention has been made in view of these points, and an object of the present invention is to provide an unmanned aerial vehicle control system capable of improving the maneuverability of an unmanned aerial vehicle.

The unmanned aerial vehicle control system according to the present invention has an unmanned aerial vehicle having a first azimuth sensor for detecting a forward direction and a control unit for controlling the flight of the unmanned aerial vehicle, and is an operating device for operating the flight of the unmanned aerial vehicle. An unmanned aerial vehicle control system comprising the above, wherein the operating device further has a change button for turning the unmanned aerial vehicle to change the forward orientation of the unmanned aerial vehicle, and the control unit sets a target orientation. Based on the turning angle calculation unit that calculates the turning angle of the unmanned aerial vehicle from the target direction and the detection direction detected by the first direction sensor when the change button is input, and the turning angle. It includes a direction control unit that turns the unmanned aerial vehicle and changes the direction in front of the unmanned aerial vehicle to the target direction.

In the present specification and claims, the "button" is a concept that includes not only physical buttons (also referred to as physical keys) but also non-mechanical buttons such as a touch panel.

According to the unmanned aerial vehicle control system of the present invention, the operator operates the change button even when the distance between the operator and the unmanned aerial vehicle is so large that the operator cannot determine the direction of the unmanned aerial vehicle. By inputting), the direction control unit turns the unmanned aerial vehicle based on the turning angle calculated by the turning angle calculation unit, and changes the front direction of the unmanned aerial vehicle to the target direction. Therefore, since the unmanned aerial vehicle can be operated in the direction intended by the operator, it is possible to prevent the unmanned aerial vehicle from approaching obstacles and the like and entering the no-fly zone. In this way, the maneuverability of the unmanned aerial vehicle can be improved.

In the unmanned aerial vehicle control system, preferably, the directional setting unit sets the detected directional sensor detected by the first directional sensor at the timing when the unmanned aerial vehicle takes off as the target directional control. With this configuration, the operator can change the direction of the unmanned aerial vehicle (direction in front) to the direction at the takeoff position (direction at takeoff) by operating the change button. Therefore, the operator can easily operate the unmanned aerial vehicle in the intended direction only by remembering the direction (direction) of the unmanned aerial vehicle at the takeoff position.

In the unmanned aircraft control system, preferably, the operating device has a second directional sensor that detects the direction of the operating device, and the directional setting unit uses the second directional sensor when the change button is input. The detected detection direction is set to the target direction. With this configuration, the operator can change the direction of the unmanned aerial vehicle (direction in front) to the direction (direction) of the operating device by operating the change button. For this reason, the pilot simply points the operating device in the direction of the unmanned aerial vehicle, that is, the operator simply turns the body in the direction of the unmanned aerial vehicle, and the orientation of the operating device matches the orientation of the unmanned aerial vehicle. Can easily steer an unmanned aerial vehicle in the intended direction.

In the unmanned aerial vehicle control system, preferably, the unmanned aerial vehicle is equipped with an imaging device for imaging the roof of a building, and the directional setting unit is a plurality of straight lines constituting the contour line of the roof of the building. Among the parts, the direction orthogonal to the predetermined straight line part is set as the target direction. With this configuration, the front-back and left-right directions of the unmanned aerial vehicle and the direction of the straight line portion forming the contour line of the roof are parallel to each other, so that the unmanned aerial vehicle can be easily moved along the contour line of the roof.

In this case, the turning angle calculation unit corrects the target azimuth so that the predetermined straight line portion is captured along the lateral direction of the image captured by the imaging device, and the turning from the corrected target azimuth and the detected directional direction. The angle may be calculated. With this configuration, even if the pan angle of the image pickup device is other than 0 degrees (when the optical axis direction of the image pickup device and the front-rear direction of the unmanned aerial vehicle do not match), the straight part of the roof is imaged. It can be projected along the horizontal direction of the image.

In the unmanned aircraft control system, preferably, the unmanned aircraft is equipped with an image pickup device for imaging a structure, and the operation device further includes an image pickup button for imaging by the image pickup device, and the control unit. Stores the detection orientation detected by the first orientation sensor at the time of inputting the imaging button in association with the captured image data, and the orientation setting unit stores the detected orientation stored in association with the captured image data. Set to the target direction. With this configuration, for example, when the same structure is repeatedly inspected, the orientation of the unmanned aerial vehicle is stored in association with the captured image data at the first inspection, and the unmanned aerial vehicle is stored at the second and subsequent inspections. The orientation can be changed to the orientation memorized during the first inspection. As a result, the captured image at the first inspection and the captured image at the second and subsequent inspections can be oriented in the same direction, so that the images can be easily confirmed.

In this case, preferably, the unmanned aerial vehicle further includes a position detecting device for detecting the position of the unmanned aerial vehicle, and the control unit obtains the detection position detected by the position detecting device at the time of inputting the imaging button. It is stored in association with the captured image data together with the stored detection direction, and the position of the unmanned aerial vehicle is controlled to the detection position as the target direction is changed by the control unit. With this configuration, the position of the unmanned aerial vehicle can be stored in association with the captured image data at the time of the first inspection, and the position of the unmanned aerial vehicle can be moved to the position stored at the time of the first inspection at the second and subsequent inspections. As a result, the imaging position at the time of the first inspection and the imaging position at the time of the second and subsequent inspections can be set to the same position, so that the image can be confirmed more easily.

In the unmanned aerial vehicle control system, preferably, the unmanned aerial vehicle is equipped with an imaging device capable of changing a pan angle, which is an angle formed by an optical axis in a horizontal direction with respect to the front of the unmanned aerial vehicle. The unit has a pan angle control unit that changes the pan angle at the time of inputting the change button to an initial set value. With this configuration, for example, the orientation of the unmanned aerial vehicle and the orientation of the optical axis of the image pickup apparatus can be easily matched. As a result, the operator can operate the unmanned aerial vehicle while looking at the display screen of the operating device, so that the maneuverability of the unmanned aerial vehicle can be further improved.

According to the present invention, it is possible to provide an unmanned aerial vehicle control system capable of improving the maneuverability of an unmanned aerial vehicle.

It is a schematic diagram which shows the unmanned aerial vehicle control system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the structure of the unmanned aerial vehicle of the unmanned aerial vehicle control system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the structure of the control device of the operation device of the unmanned aerial vehicle control system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the structure of the mobile terminal of the operation device of the unmanned aerial vehicle control system which concerns on 1st Embodiment of this invention. It is a control block diagram of the mobile terminal of the unmanned aerial vehicle control system which concerns on 1st Embodiment of this invention. It is a figure which shows the flow of the roof inspection method using the unmanned aerial vehicle control system which concerns on 1st Embodiment of this invention. It is a figure which shows the image which is displayed on the display part of a mobile terminal when an unmanned aerial vehicle autonomously flies to the upper part of the takeoff position and returns. It is a figure which shows the image which is displayed on the display part of a mobile terminal in the state that the direction of an unmanned aerial vehicle and the direction of the optical axis of an image pickup device are different. It is a block diagram which shows the structure of the control device of the operation device of the unmanned aerial vehicle control system which concerns on 2nd Embodiment of this invention. It is a control block diagram of the mobile terminal of the unmanned aerial vehicle control system which concerns on 2nd Embodiment of this invention. It is a figure which shows the flow of the roof inspection method using the unmanned aerial vehicle control system which concerns on 2nd Embodiment of this invention. It is a control block diagram of the mobile terminal of the unmanned aerial vehicle control system which concerns on 3rd Embodiment of this invention. It is a figure which shows the flow of the roof inspection method using the unmanned aerial vehicle control system which concerns on 3rd Embodiment of this invention. It is a figure which shows the state which the straight line part which becomes the longitudinal direction of a roof is taken along the lateral direction of the image captured by the image pickup apparatus. It is a block diagram which shows the structure of the unmanned aerial vehicle of the unmanned aerial vehicle control system which concerns on 4th Embodiment of this invention. It is a control block diagram of the mobile terminal of the unmanned aerial vehicle control system which concerns on 4th Embodiment of this invention.

Hereinafter, the unmanned aerial vehicle control system according to the embodiment of the present invention will be described with reference to the drawings.

(First Embodiment)
FIG. 1 is a schematic view showing an unmanned aerial vehicle control system 1 according to the first embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of an unmanned aerial vehicle 10 of the unmanned aerial vehicle control system 1 according to the first embodiment of the present invention. FIG. 3 is a block diagram showing a configuration of a control device 30 of the operation device 2 of the unmanned aerial vehicle control system 1 according to the first embodiment of the present invention. FIG. 4 is a block diagram showing a configuration of a mobile terminal 50 of the operation device 2 of the unmanned aerial vehicle control system 1 according to the first embodiment of the present invention.

As shown in FIG. 1, the unmanned aerial vehicle control system 1 according to the present embodiment is composed of an unmanned aerial vehicle (UAV) 10 and an operating device 2 for controlling the unmanned aerial vehicle 10. In the present embodiment, the unmanned aerial vehicle control system 1 is used, for example, when inspecting whether or not an abnormality such as damage has occurred on the roof of a building.

The unmanned aerial vehicle 10 is a so-called drone, and autonomously flies to above the target roof and images the roof based on the image pickup position data and the like transmitted from the operation device 2. The unmanned aerial vehicle 10 transmits the captured image to the operating device 2.

The operation device 2 is composed of a control device 30 and a mobile terminal 50. The mobile terminal 50 is fixed at a predetermined position of the control device 30. The mobile terminal 50 is, for example, a smartphone, a tablet terminal, a personal computer, or the like on which a predetermined program (application software) is installed, and is a smartphone in the present embodiment. The operating device 2 acquires an image captured by the unmanned aerial vehicle 10 and displays the image on a display unit 52 described later.

Hereinafter, the unmanned aerial vehicle 10 and the operating device 2 will be described more specifically.

[Structure of unmanned aerial vehicle 10]
As shown in FIG. 2, the unmanned aerial vehicle 10 controls the transmission / reception unit 11, the receiver 12, the height sensor 13, the image pickup device 14, the drive unit 16, the first direction sensor 19, and the gyro sensor 20. It includes a unit 21 and.

The transmission / reception unit 11 wirelessly transmits / receives data to / from the control device 30. The main data received by the transmission / reception unit 11 from the control device 30 includes flight height data, imaging position data, turning angle data, and the like. Examples of the main data transmitted by the transmission / reception unit 11 to the control device 30 include captured image data, orientation data, and the like.

The receiver 12 receives the GPS signal and detects the position (longitude, latitude) of the receiver 12, that is, the position of the unmanned aerial vehicle 10 itself based on the received GPS signal.

The height sensor 13 includes, for example, a barometric pressure sensor that measures barometric pressure, and detects the height position of the unmanned aerial vehicle 10 with respect to the ground. The height sensor 13 may not be provided, and the height position of the unmanned aerial vehicle 10 with respect to the ground may be detected based on the GPS signal received by the receiver 12.

The image pickup device 14 includes a camera (imaging unit) capable of capturing a color digital image, and images the roof to acquire image data. Imaging position data may be associated with this image data. The image pickup apparatus 14 has a pan function for moving the optical axis of the lens included in the camera in the horizontal direction and a tilt function for moving the optical axis in the vertical direction. The image pickup apparatus 14 includes an adjustment unit 14a for adjusting the pan angle and tilt angle of the optical axis of the camera. The pan angle is an angle formed by the optical axis in the horizontal direction with respect to the front of the unmanned aerial vehicle 10, and the range of the pan angle is, for example, an angle of about 75 degrees in the left-right direction centered on the front of the unmanned aerial vehicle 10. The range. The tilt angle is an angle formed by the optical axis in the vertical direction with respect to the front of the unmanned aerial vehicle 10, and the range of the tilt angle is, for example, from a position of 30 degrees upward to the lower side with respect to the front of the unmanned aerial vehicle 10. It is an angle range up to a position of 90 degrees (a position directly below the unmanned aerial vehicle 10).

The drive unit 16 includes a plurality of rotor blades, a motor that generates a driving force applied to the rotor blades, and a storage battery that supplies electric power to the motors. By individually controlling the rotation speeds of the plurality of rotor blades, the flight height, flight path, flight speed, levelness, orientation, etc. of the unmanned aerial vehicle 10 can be changed.

The first direction sensor 19 detects the direction (forward direction) in which the unmanned aerial vehicle 10 is facing.

The gyro sensor 20 detects the angular velocities around the pitch axis, roll axis, and yaw axis of the unmanned aerial vehicle 10. This makes it possible to control the attitude and turning angle (rotation angle in the horizontal plane) of the unmanned aerial vehicle 10.

The control unit 21 includes an arithmetic unit (CPU) 21a and a storage device (for example, RAM, ROM, etc.) 21b. The arithmetic unit 21a executes an operation program stored in the storage device 21b.

The control unit 21 stores flight height data, imaging position data, turning angle data, and the like received by the transmission / reception unit 11. Further, the control unit 21 controls the drive unit 16 based on the imaging position data and the flight height data to autonomously fly the unmanned aerial vehicle 10. Further, the control unit 21 controls the imaging device 14 based on the imaging position data to image the roof at the imaging position. Further, the control unit 21 controls the drive unit 16 based on the turning angle data to turn the unmanned aerial vehicle 10 at a predetermined angle in the horizontal direction. Further, the control unit 21 stores the image data acquired by the image pickup device 14 and transmits the image data to the control device 30. Further, the control unit 21 stores the detection result (detection direction) of the first direction sensor 19 as aircraft direction data and transmits it to the control device 30.

Further, the control unit 21 moves the unmanned aerial vehicle 10 in a predetermined direction, turns a predetermined angle, changes the pan angle and the tilt angle of the image pickup device 14, based on various control signals from the control device 30. An image is taken by the image pickup device 14. Further, as will be described later, the control unit 21 changes the pan angle and the tilt angle of the image pickup device 14 to the initial setting values by the initial setting signal from the control device 30.

[Configuration of operating device 2]
As shown in FIG. 1, the operation device 2 is composed of a control device 30 and a mobile terminal 50.

The control device 30 is for operating the flight of the unmanned aerial vehicle 10, and includes a transmission / reception unit 31, an operation unit 32, an input unit 34, and a control unit 39, as shown in FIG. .. The control unit 39 and the control unit 59 described later of the mobile terminal 50 are examples of the "control unit" of the present invention.

The transmission / reception unit 31 transmits / receives data to / from the unmanned aerial vehicle 10, and also transmits / receives data to / from the mobile terminal 50 as described later.

The operation unit 32 includes an operation lever, an operation button, a dial, and the like. For example, the operating lever 32a (see FIG. 1) is for moving the unmanned aerial vehicle 10 forward and backward and turning horizontally, and the operating lever 32b (see FIG. 1) moves the unmanned aerial vehicle 10 in the vertical and horizontal directions. It is for letting you. In addition to the operation levers 32a and 32b, the operation unit 32 is provided with a dial (not shown) for changing the pan angle and tilt angle of the image pickup device 14 of the unmanned aerial vehicle 10.

The input unit 34 includes an image pickup button 34a and a change button 34b for taking an image by the image pickup device 14 of the unmanned aerial vehicle 10. The change button 34b is a button for turning the unmanned aerial vehicle 10 and changing the direction (forward direction) of the unmanned aerial vehicle 10 to the target direction, as will be described later. The change button 34b is a button provided in advance in the control device 30 as a change button for changing the direction of the unmanned aerial vehicle 10 to the target direction.

The control unit 39 controls the flight, imaging, and the like of the unmanned aerial vehicle 10 by operating the operation unit 32 and inputting from the input unit 34. The control unit 39 includes an arithmetic unit (CPU) 39a and a storage device (for example, RAM, ROM, etc.) 39b. The arithmetic unit 39a executes an operation program stored in the storage device 39b. Further, the control unit 39 stores image data, aircraft orientation data (detection result of the first orientation sensor 19 of the unmanned aerial vehicle 10) and the like received by the transmission / reception unit 31.

As shown in FIG. 4, the mobile terminal 50 includes a transmission / reception unit 51, a display unit 52, an input unit 53, and a control unit 59.

The transmission / reception unit 51 transmits / receives data to / from the control device 30. Here, an example of performing wireless communication between the transmission / reception unit 51 of the mobile terminal 50 and the transmission / reception unit 31 of the control device 30 will be described, but communication is performed by connecting the mobile terminal 50 and the control device 30 by wire. May be good.

The display unit 52 includes, for example, a liquid crystal display panel, and displays map data or an image captured by the image pickup device 14 of the unmanned aerial vehicle 10. The map data may be acquired via the Internet or may be stored in advance in a storage device 59b described later.

The input unit 53 is operated and input by the operator, and includes, for example, a touch panel arranged on the display unit 52 and physical buttons. The input unit 53 includes an image pickup button 53a, a change button 53b, and the like for taking an image by the image pickup device 14 of the unmanned aerial vehicle 10. The image pickup button 53a and the change button 53b have the same functions as the image pickup button 34a and the change button 34b of the control device 30, respectively.

The control unit 59 controls the flight, imaging, and the like of the unmanned aerial vehicle 10 via the control device 30 by the input of the input unit 53. The control unit 59 includes an arithmetic unit (CPU) 59a and a storage device (for example, RAM, ROM, etc.) 59b. The arithmetic unit 59a executes an operation program stored in the storage device 59b. By executing the program by the control unit 59, each process described later can be realized. Such a program is acquired, for example, by downloading via the Internet and stored in the storage device 59b. The control unit 59 stores image data received by the transmission / reception unit 51, aircraft orientation data (detection result of the first orientation sensor 19 of the unmanned aerial vehicle 10), and the like.

FIG. 5 is a control block diagram of the mobile terminal 50 of the unmanned aerial vehicle control system 1 according to the first embodiment of the present invention. Next, the control unit 59 of the mobile terminal 50 of the present embodiment will be described in detail with reference to FIG. The control unit 59 includes a direction setting unit 59c, a turning angle calculation unit 59d, a direction control unit 59e, and a pan angle control unit 59f as software.

The direction setting unit 59c sets a target direction when turning the unmanned aerial vehicle 10 to direct the front of the unmanned aerial vehicle 10 to a certain direction. The detection signal of the first direction sensor 19 is input to the direction setting unit 59c. In the present embodiment, the direction setting unit 59c sets the detection direction detected by the first direction sensor 19 as the target direction at the timing when the first direction sensor 19 takes off. The direction setting unit 59c outputs the set target direction to the turning angle calculation unit 59d.

The turning angle calculation unit 59d calculates the turning angle of the unmanned aerial vehicle 10 required to turn the unmanned aerial vehicle 10 and change the front direction of the unmanned aerial vehicle 10 to the target direction. The turning angle calculation unit 59d includes the target direction and the detection direction detected by the first direction sensor 19 when the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50 is input (when pressed by the operator). , The turning angle of the unmanned aerial vehicle 10 is calculated from.

Specifically, in the present embodiment, the turning angle calculation unit 59d includes the target direction set by the direction setting unit 59c, the detection signal of the first direction sensor 19, the change button 34b of the control device 30, and the mobile terminal 50. The input signal of the change button 53b of is input. The turning angle calculation unit 59d calculates the angle difference between the target direction and the detection direction detected by the first direction sensor 19 when the change button 34b or 53b is input. This angle difference is the turning angle of the unmanned aerial vehicle 10 required to set the front direction of the unmanned aerial vehicle 10 as the target direction. The turning angle calculation unit 59d outputs the calculated turning angle to the directional control unit 59e.

The directional control unit 59e transmits a control signal to the unmanned aerial vehicle 10 based on the input turning angle. As a result, the unmanned aerial vehicle 10 turns by the turning angle calculated by the turning angle calculation unit 59d, and the direction (forward direction) of the unmanned aerial vehicle 10 is changed to the target direction.

The input signals of the change button 34b of the control device 30 and the change button 53b of the mobile terminal 50 are input to the pan angle control unit 59f. When the change button 34b or 53b is input, the pan angle control unit 59f sends an initial setting signal for changing the pan angle and tilt angle to the initial set values by the adjusting unit 14a of the imaging device 14 via the control device 30 to the unmanned aerial vehicle 10 Send to.

Next, the roof inspection method of the present embodiment will be described in detail. Here, the aspect ratio of the image captured by the imaging device 14 is 3: 4, the initial setting value of the pan angle of the imaging device 14 is 0 degrees, and the initial setting value of the tilt angle of the imaging device 14 is −90 degrees ( That is, the optical axis of the image pickup apparatus 14 is in the vertical direction).

In step S1, the operator (inspector) inputs the address and the like of the building to be inspected into the mobile terminal 50. As a result, the display unit 52 of the mobile terminal 50 displays a map image from the sky around the input address, and the operator specifies the roof of the building to be inspected and the outline of the roof from the map image. To do. The contour line can be easily specified on the map image by using the input unit 53 such as a touch panel. Since the map image contains position information (latitude, longitude) and direction information, contour line data including position information (latitude, longitude) and direction information is generated so as to correspond to the specified contour line. .. The generated contour line data is stored in the storage device 59b and transmitted to the unmanned aerial vehicle 10 via the control device 30.

In step S2, the operator inputs the height of the roof to the input unit 53. As a result, the flight height of the unmanned aerial vehicle 10 is set at a position higher than the roof by a predetermined height, and the flight height data is transmitted to the unmanned aerial vehicle 10 via the control device 30.

In step S3, the unmanned aerial vehicle 10 takes off from the takeoff position (also referred to as the home point). When the unmanned aerial vehicle 10 rises from the takeoff position, the first orientation sensor 19 of the unmanned aerial vehicle 10 detects the front orientation of the unmanned aerial vehicle 10, and the detection result (aircraft orientation data) is transmitted to the portable terminal via the control device 30. Send to 50. The mobile terminal 50 stores the detection result in the storage device 59b.

In step S4, the direction setting unit 59c sets the detection direction detected by the first direction sensor 19 when the first direction sensor 19 takes off as the target direction. The direction setting unit 59c outputs the set target direction to the turning angle calculation unit 59d.

In step S5, the unmanned aerial vehicle 10 autonomously flies to a target position above the building. Further, the unmanned aerial vehicle 10 captures an image of the roof by the image pickup device 14, stores the image pickup data in the storage device 21b, and transmits the image pickup data to the mobile terminal 50 via the control device 30. The mobile terminal 50 stores the captured data in the storage device 59b and displays the captured image on the display unit 52.

When the unmanned aerial vehicle 10 reaches the target position in the sky above the building, for example, even if a message or the like for notifying that the unmanned aerial vehicle 10 has reached the sky above the building is displayed on the display unit 52 of the mobile terminal 50. Good.

In the inspection of the roof of the building, the operator manually operates the unmanned aerial vehicle 10 as needed. Specifically, in the present embodiment, the pan angle is set to 0 degrees by the adjusting unit 14a of the image pickup device 14, and the tilt angle of the image pickup device 14 is set to −90 degrees (that is, the optical axis of the image pickup device 14 is in the vertical direction). Therefore, the captured image is an image from directly above the roof. However, for example, the side wall of the building may be inspected, or the roof may be inspected from diagonally above. In this case, the operator changes the pan angle and tilt angle of the image pickup device 14, and moves or turns the unmanned aerial vehicle 10 back and forth and left and right. Further, the unmanned aerial vehicle 10 is moved back and forth and left and right for the purpose of keeping the unmanned aerial vehicle 10 away from obstacles and the like and preventing it from entering the no-fly zone.

At this time, if the distance between the operator and the unmanned aerial vehicle 10 is large, it is difficult for the operator to determine the direction of the unmanned aerial vehicle 10, so the unmanned aerial vehicle 10 is operated in the direction intended by the operator. It is difficult.

Therefore, in the present embodiment, when manually maneuvering the unmanned aerial vehicle 10, the operator presses the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50. As a result, the unmanned aerial vehicle 10 turns by a predetermined angle, and the direction (direction) of the unmanned aerial vehicle 10 is changed to the direction (direction) of the unmanned aerial vehicle 10 at the takeoff position.

Specifically, when the operator presses the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50, it is determined in step S6 that the change button 34b or 53b has been input, and the process proceeds to step S7. If the operator does not manually operate the unmanned aerial vehicle 10, the process proceeds to step S10.

In step S7, the turning angle calculation unit 59d calculates the turning angle from the target direction and the detection direction detected by the first direction sensor 19 when the change button 34b or 53b is input. The turning angle calculation unit 59d outputs the calculated turning angle to the directional control unit 59e.

In step S8, the directional control unit 59e transmits a control signal to the unmanned aerial vehicle 10 based on the input turning angle. As a result, the unmanned aerial vehicle 10 turns by the turning angle calculated by the turning angle calculation unit 59d. At this time, the unmanned aerial vehicle 10 turns exactly by the above turning angle using the gyro sensor 20. As a result, the unmanned aerial vehicle 10 faces the same direction as the direction (direction) of the unmanned aerial vehicle 10 at the takeoff position. Therefore, the operator can easily operate the unmanned aerial vehicle 10 in the intended direction only by remembering the direction (direction) of the unmanned aerial vehicle 10 at the takeoff position.

In step S9, the pan angle control unit 59f transmits an initial setting signal for changing the pan angle and tilt angle of the image pickup apparatus 14 to the initial set values to the unmanned aerial vehicle 10. As a result, the pan angle is changed to 0 degrees and the tilt angle is changed to −90 degrees by the adjusting unit 14a of the image pickup device 14, and the front-back and left-right directions of the unmanned aerial vehicle 10 coincide with the up-down and left-right directions of the captured image. Therefore, the operator can easily operate the unmanned aerial vehicle 10 in the intended direction while looking at the display unit 52.

When the manual operation of the unmanned aerial vehicle 10 is completed, in step S10, the operator presses the return button (not shown) of the control device 30. As a result, a return signal is transmitted from the control device 30 to the unmanned aerial vehicle 10, and the unmanned aerial vehicle 10 autonomously flies to above the takeoff position and returns. At this time, an image as shown in FIG. 7 is displayed on the display unit 52 of the mobile terminal 50. The area R in FIG. 7 indicates a position (planned landing position) directly below the unmanned aerial vehicle 10.

When the area R of the displayed image is at the home point, the pilot presses a landing button (not shown) of the pilot device 30. As a result, the unmanned aerial vehicle 10 lands at the home point. When the unmanned aerial vehicle 10 autonomously flies above the home point and returns, a message asking the pilot to land or not (for example, "Do you want to land?") Is displayed on the display unit 52. May be good. Then, the unmanned aerial vehicle 10 may be landed at the home point by the operator pressing the "OK" button displayed on the display unit 52.

Further, for example, when the landing range of the unmanned aerial vehicle 10 is narrow, the area R of the image may deviate from the home point even if the receiver 12 such as GPS is used. In this case, the pilot steers the unmanned aerial vehicle 10 to move the area R of the displayed image to the home point, and then lands the unmanned aerial vehicle 10 manually or by autonomous flight. Also, even when the wind is strong, the pilot corrects the position and lands while gradually lowering the unmanned aerial vehicle 10. Even when the pilot needs to control the aircraft at the time of landing, the direction (orientation) of the unmanned aerial vehicle 10 can be set by using the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50 as described above. The direction (orientation) of the unmanned aerial vehicle 10 at the point (takeoff position) may be changed.

Further, as shown in FIG. 8, the orientation of the unmanned aerial vehicle 10 (airframe) and the orientation of the imaging device 14 may be different. Specifically, in FIG. 8, the unmanned aerial vehicle 10 faces the upper left direction in the figure, and the image pickup device 14 sets the pan angle (here, about 45 degrees) to the right with respect to the forward direction of the unmanned aerial vehicle 10. Has been done. In this state, it is difficult for the operator to operate the unmanned aerial vehicle 10 in the intended direction. Therefore, the orientation of the unmanned aerial vehicle 10 (displayed in the upper left in the figure), the operating direction of the control device 30 (displayed in the upper right in the figure), and the moving direction of the unmanned aerial vehicle 10 (in the figure) are displayed on the display unit 52 of the mobile terminal 50. , Center display) may be displayed. In this case, an arrow indicating the operation direction of the control device 30 and the corresponding movement direction of the unmanned aerial vehicle 10 are shown so that the correspondence relationship between the operation direction of the control device 30 and the movement direction of the unmanned aerial vehicle 10 can be easily understood. The same coloring or hatching as the arrow may be applied. In this case, the operator can easily operate the unmanned aerial vehicle 10 in the intended direction while looking at the display unit 52.

In the present embodiment, as described above, even when the distance between the operator and the unmanned aerial vehicle 10 is large and the operator cannot determine the direction of the unmanned aerial vehicle 10, the operator can use the change button 34b or By operating (inputting) 53b, the direction control unit 59e can turn the unmanned aerial vehicle 10 and change the front direction of the unmanned aerial vehicle 10 to the target direction based on the turning angle calculated by the turning angle calculation unit 59d. .. Therefore, the unmanned aerial vehicle 10 can be operated in the direction intended by the operator. As a result, it is possible to prevent the unmanned aerial vehicle 10 from approaching obstacles and the like and entering the no-fly zone. In this way, the maneuverability of the unmanned aerial vehicle 10 can be improved.

Further, as described above, the direction setting unit 59c sets the detection direction detected by the first direction sensor 19 at the timing when the unmanned aerial vehicle 10 takes off as the target direction. As a result, the operator can change the direction of the unmanned aerial vehicle 10 (direction in front) to the direction at the takeoff position (direction at takeoff) by operating the change button 34b or 53b. Therefore, the operator can easily operate the unmanned aerial vehicle 10 in the intended direction only by remembering the direction (direction) of the unmanned aerial vehicle 10 at the takeoff position.

Further, as described above, the control unit 59 has a pan angle control unit 59f that changes the pan angle to the initial set value when the change button 34b or 53b is input. As a result, the orientation of the unmanned aerial vehicle 10 and the orientation of the optical axis of the imaging device 14 can be easily matched. Therefore, since the operator can operate the unmanned aerial vehicle 10 while looking at the display unit 52 of the mobile terminal 50, the maneuverability of the unmanned aerial vehicle 10 can be further improved.

(Second Embodiment)
FIG. 9 is a block diagram showing a configuration of a control device 30 of the operation device 2 of the unmanned aerial vehicle control system 1 according to the second embodiment of the present invention. In the second embodiment, unlike the first embodiment, a case where the direction (direction) of the unmanned aerial vehicle 10 is changed to the direction (direction) of the control device 30 will be described.

As shown in FIG. 9, the control device 30 includes a second direction sensor 37 in addition to the transmission / reception unit 31, the operation unit 32, the input unit 34, and the control unit 39.

The second direction sensor 37 detects the direction of the control device 30. Here, the orientation of the control device 30 is the direction in the direction from the lower part to the upper part of the control device 30 when the control device 30 is viewed from above. For example, in FIG. 1, it is an upward direction.

The control unit 39 stores the detection result of the second direction sensor 37 as the control device direction data and transmits it to the mobile terminal 50.

FIG. 10 is a control block diagram of the mobile terminal 50 of the unmanned aerial vehicle control system 1 according to the second embodiment of the present invention. Next, the control unit 59 of the mobile terminal 50 of the present embodiment will be described with reference to FIG.

In the present embodiment, the detection signal of the first direction sensor 19 is not input to the direction setting unit 59c, but the detection signal of the second direction sensor 37 is input. Further, the input signals of the change buttons 34b and 53b are input to the direction setting unit 59c.

In the present embodiment, the direction setting unit 59c sets the detection direction detected by the second direction sensor 37 when the change button 34b or 53b is input as the target direction.

Other configurations of the second embodiment are the same as those of the first embodiment.

Next, the roof inspection method of the present embodiment will be described.

As shown in FIG. 11, the roof inspection method of the present embodiment is different from the first embodiment, and there is no step S4, and a step S11 for setting a target direction is provided between the steps S6 and S7. ..

In the present embodiment, when the operator presses the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50, it is determined in step S6 that the change button 34b or 53b has been input, and the process proceeds to step S11.

In step S11, the orientation setting unit 59c sets the detection orientation detected by the second orientation sensor 37 when the change button 34b or 53b is input as the target orientation. The direction setting unit 59c outputs the set target direction to the turning angle calculation unit 59d.

In step S8, the unmanned aerial vehicle 10 turns by a predetermined turning angle and faces the same direction as the direction (direction) of the control device 30.

The other inspection methods of the second embodiment are the same as those of the first embodiment.

In the present embodiment, as described above, the orientation setting unit 59c sets the detection orientation detected by the second orientation sensor 37 when the change button 34b or 53b is input as the target orientation. As a result, the operator can change the direction of the unmanned aerial vehicle 10 to the direction (direction) of the control device 30 by operating the change button 34b or 53b. Therefore, the pilot only points the control device 30 in the direction of the unmanned aerial vehicle 10, that is, the operator only turns his body in the direction of the unmanned aerial vehicle 10, and the direction of the control device 30 and the direction of the unmanned aerial vehicle 10 match. Therefore, the operator can easily operate the unmanned aerial vehicle 10 in the intended direction.

Other effects of the second embodiment are the same as those of the first embodiment.

(Third Embodiment)
FIG. 12 is a control block diagram of the mobile terminal 50 according to the third embodiment of the present invention. In the third embodiment, unlike the first and second embodiments, the linear portion 71a in the longitudinal direction of the roof 71 (see FIG. 14) is captured along the lateral direction of the image captured by the imaging device 14. A case where the direction (direction) of the unmanned aerial vehicle 10 is changed will be described. Further, a case where the roof 71 to be inspected is a hipped roof and has a rectangular shape in a plan view will be described.

In the present embodiment, as shown in FIG. 12, the control unit 59 further includes a map image data storage unit 59g as software. The map image data storage unit 59g stores map image data from the sky including position information (latitude, longitude) and azimuth information.

In the present embodiment, the detection signal of the first direction sensor 19 is not input to the direction setting unit 59c. The direction setting unit 59c sets the direction orthogonal to the predetermined straight line portion (here, the straight line portion 71a) as the target direction among the plurality of straight line portions constituting the contour line of the roof 71 of the building 70 in the map image from the sky. Set.

Other configurations of the third embodiment are the same as those of the first embodiment.

Next, an inspection method of the roof 71 of the present embodiment will be described.

As shown in FIG. 13, the inspection method of the roof 71 of the present embodiment is different from the first embodiment, and there is no step S4, and a step S21 for setting a target direction is provided between the steps S1 and S2. There is.

In the present embodiment, in step S21, the orientation setting unit 59c determines a straight line portion 71a in the longitudinal direction and a straight line portion 71b in the lateral direction of the roof 71 based on the contour line data generated in step S1. To do. Then, the orientation setting unit 59c sets the orientation orthogonal to the straight line portion 71a as the target orientation. As a result, when the unmanned aerial vehicle 10 turns by a predetermined turning angle in step S8, as shown in FIG. 14, the straight portion 71a, which is the longitudinal direction of the roof 71, is captured along the lateral direction of the image captured by the imaging device 14.

The other inspection methods of the third embodiment are the same as those of the first embodiment.

In the present embodiment, as described above, the orientation setting unit 59c sets the orientation orthogonal to the predetermined straight line portion 71a among the plurality of straight line portions constituting the contour line of the roof 71 of the building 70 as the target orientation. .. As a result, the front-back and left-right directions of the unmanned aerial vehicle 10 and the directions of the straight lines 71b and 71a forming the contour line of the roof 71 become parallel, so that the unmanned aerial vehicle 10 can be easily moved along the contour line of the roof 71. Can be done.

Other effects of the third embodiment are the same as those of the first embodiment.

(Fourth Embodiment)
FIG. 15 is a block diagram showing a configuration of an unmanned aerial vehicle 10 of the unmanned aerial vehicle control system 1 according to the fourth embodiment of the present invention. In the fourth embodiment, unlike the third embodiment, a case where the pan angle is not changed to the initial set value when the change button 34b or 53b is input will be described.

In the unmanned aerial vehicle 10, as shown in FIG. 15, the image pickup device 14 includes a pan angle detection sensor 14b that detects the pan angle of the camera (imaging unit) from the operation of the adjustment unit 14a. The pan angle detection sensor 14b outputs the detected pan angle to the control unit 21.

The control unit 21 stores the input pan angle and transmits it to the mobile terminal 50 via the control device 30.

FIG. 16 is a control block diagram of the mobile terminal 50 of the unmanned aerial vehicle control system 1 according to the fourth embodiment of the present invention. Next, the control unit 59 of the mobile terminal 50 of the present embodiment will be described with reference to FIG.

In the present embodiment, as shown in FIG. 16, the control unit 59 is not provided with the pan angle control unit 59f. Therefore, even if the direction of the unmanned aerial vehicle 10 is changed as in the third embodiment, if the pan angle of the image pickup device 14 is other than 0 degrees, the straight lines 71b and 71a are in the vertical and horizontal directions of the captured image. Not parallel. That is, the roof 71 is displayed obliquely with respect to the display unit 52. Therefore, in the present embodiment, the control unit 59 is configured as follows.

In the present embodiment, the detection signal of the pan angle detection sensor 14b is input to the turning angle calculation unit 59d. Further, the turning angle calculation unit 59d corrects the target direction from the input pan angle so that the straight line unit 71a is captured along the lateral direction of the image captured by the imaging device 14. Specifically, for example, when the pan angle is set to 45 degrees to the right, the target direction is corrected by 45 degrees to the left. Further, the turning angle calculation unit 59d calculates the turning angle from the corrected target direction and the detection direction detected by the first direction sensor 19.

As a result, when the unmanned aerial vehicle 10 turns by a predetermined turning angle in the step S8 for controlling the orientation of the unmanned aerial vehicle 10, the linear portion 71a in the longitudinal direction of the roof 71 is imaged by the imaging device 14 as in the third embodiment. It appears along the horizontal direction of the image. At this time, the unmanned aerial vehicle 10 is facing a direction inclined by, for example, 45 degrees with respect to the straight lines 71a and 71b.

The other configurations and inspection methods of the fourth embodiment are the same as those of the third embodiment.

In the present embodiment, as described above, the turning angle calculation unit 59d corrects the target direction so that the predetermined straight line part is captured along the lateral direction of the image captured by the image pickup device 14, and detects the corrected target direction. The turning angle is calculated from the direction. As a result, even when the pan angle of the image pickup device 14 is other than 0 degrees (when the optical axis direction of the image pickup device 14 and the front-rear direction of the unmanned aerial vehicle 10 do not match), the straight portion 71a of the roof 71 can be formed. It can be captured along the horizontal direction of the captured image. Further, since the orientation of the roof 71 drawn on the paper drawing of the building 70 and the orientation of the roof 71 in the image can be matched, for example, the inspection workability of the roof 71 can be improved.

Other effects of the fourth embodiment are the same as those of the third embodiment.

(Fifth Embodiment)
In the fifth embodiment, unlike the first to fourth embodiments, for example, a configuration that is particularly effective when the same structure is repeatedly inspected will be described.

In the inspection by the unmanned aerial vehicle 10 (see FIG. 1), for example, it is assumed that the part that may need repair is inspected again after a certain period of time. Examples of parts that may need repair include discolored parts that may develop into cracks in the roofing material of a house (structure), cracked parts that occur in structures such as bridges, and the like. In addition, when grasping the progress of the construction status of the structure, it is assumed that a certain range will be inspected again after a certain period of time. When performing repeated inspections and the like at the same position in this way, if the orientation of the image pickup apparatus 14 is the same, it is possible to easily confirm the image.

Therefore, in the present embodiment, as shown in FIGS. 3 and 4, the control unit 59 of the mobile terminal 50 associates the detection direction detected by the first direction sensor 19 when the image pickup button 34a or 53a is input with the captured image data. It is stored in the storage device 59b. Specifically, when the image pickup button 34a or 53a is input, the first orientation sensor 19 detects the orientation of the unmanned aerial vehicle 10, and the detection result is transmitted to the mobile terminal 50. In addition, the captured image captured by the imaging device 14 is also transmitted to the mobile terminal 50. Then, the control unit 59 stores the orientation of the unmanned aerial vehicle 10 in association with the captured image data. This makes it possible to later read out the orientation of the unmanned aerial vehicle 10 when the structure is imaged, for example, by selecting the captured image using the input unit 53.

In the present embodiment, the control unit 59 determines not only the direction of the unmanned aerial vehicle 10 at the time of input of the image pickup button 34a or 53a, but also the image pickup position (longitude, latitude and flight height), the pan angle and tilt angle of the image pickup device 14. Similarly, the zoom (focal length) is stored in the storage device 59b in association with the captured image data. The receiver 12 and the height sensor 13 that detect the position (longitude, latitude, and flight height) of the unmanned aerial vehicle 10 are examples of the "position detection device" of the present invention.

When the change button 34b or 53b is input (pressed) by the operator, the direction setting unit 59c sets the direction stored in association with the captured image data as the target direction, and as in the above embodiment, the unmanned aerial vehicle 10 The direction (direction) of is changed to the target direction. Further, in the present embodiment, the imaging position of the unmanned aerial vehicle 10 and the pan angle, tilt angle, and zoom of the imaging device 14 are also captured in association with the captured image data as the target orientation is changed by the control unit 59. It is controlled by the position, the pan angle, the tilt angle, and the zoom of the image pickup device 14.

In the present embodiment, when the roof that needs to be inspected again is imaged, the image pickup button 34a or 53a is input by the operator. As a result, the direction (direction) of the unmanned aerial vehicle 10 when the roof is imaged is stored. Then, after a certain period of time has elapsed, when the same roof is imaged again, the change button 34b or 53b is input by the operator, so that the target direction is set to the direction stored in the storage device 59b, and the unmanned aerial vehicle 10 The orientation is changed to the orientation when the same roof was previously imaged. Further, in the present embodiment, the imaging position, the pan angle, the tilt angle, and the zoom of the imaging device 14 are also changed to the same settings as when the same roof was imaged before. Therefore, it is possible to image the same roof under the same conditions as when the previous image was taken.

Further, in the present embodiment, when the image pickup button 34a or 53a is input by the operator, not only the direction of the unmanned aerial vehicle 10 but also the image pickup position is stored, so that the operator simply inputs the change button 34b or 53b. , The unmanned aerial vehicle 10 can autonomously fly from the takeoff position to the target roof sky and move to the same position in the same direction as when the image was previously taken.

It is assumed that there are a plurality of structures that require repeated inspection. In this case, a plurality of sets of data relating to the orientation of the unmanned aerial vehicle 10, the imaging position, the pan angle, the tilt angle, and the zoom of the imaging device 14 are stored in the storage device 59b. When the operator uses the mobile terminal 50 to select an image of the target structure, the target data set is extracted from the plurality of data sets. When the operator inputs the change button 34b or 53b, the orientation, the imaging position, the pan angle, the tilt angle, and the zoom of the imaging device 14 are stored in association with the captured image data of the target structure. It is controlled by the orientation, the imaging position, the pan angle, the tilt angle, and the zoom of the imaging device 14.

The other structure and inspection method of the fifth embodiment are the same as those of the first embodiment.

In the present embodiment, as described above, the control unit 59 stores the detected direction detected by the first direction sensor 19 at the time of input of the image pickup button 34a or 53a in the storage device 59b in association with the captured image data, and sets the direction. The unit 59c sets the stored detection direction as the target direction. As a result, for example, when the same structure is repeatedly inspected, the orientation of the unmanned aerial vehicle 10 is stored in association with the captured image data at the first inspection, and the orientation of the unmanned aerial vehicle 10 is stored at the second and subsequent inspections. The orientation can be changed to the one memorized at the time of the first inspection. As a result, the captured image at the first inspection and the captured image at the second and subsequent inspections can be oriented in the same direction, so that the images can be easily confirmed.

Further, as described above, the control unit 59 stores the detection position detected by the receiver 12 and the height sensor 13 at the time of input of the image pickup button 34a or 53a in association with the image pickup image data, and the target orientation by the control unit 59. With the change of, the position of the unmanned aerial vehicle 10 is controlled to the detection position stored in association with the captured image data. Thereby, the position of the unmanned aerial vehicle 10 can be stored in association with the captured image data at the time of the first inspection, and the position of the unmanned aerial vehicle 10 can be moved to the position stored at the time of the first inspection at the second and subsequent inspections. Therefore, the imaging position at the time of the first inspection and the imaging position at the time of the second and subsequent inspections can be set to the same position, so that the image can be confirmed more easily.

Other effects of the fifth embodiment are the same as those of the first embodiment.

It should be noted that the embodiments disclosed this time are exemplary in all respects and are not considered to be restrictive. The scope of the present invention is shown by the scope of claims rather than the description of the above-described embodiment, and further includes all modifications within the meaning and scope equivalent to the scope of claims.

For example, in the above embodiment, the operation device 2 is configured by the control device 30 and the mobile terminal 50, but the present invention is not limited to this. For example, the operation device 2 may be configured only by the mobile terminal 50 having the function of the control device 30, or only by the control device 30 having the function of the control device 50.

Further, in the above embodiment, an example in which the gyro sensor 20 is provided in the unmanned aerial vehicle 10 has been shown, but the present invention is not limited to this. For example, an acceleration sensor may be provided instead of the gyro sensor 20.

Further, in the above embodiment, an example in which the unmanned aerial vehicle 10 is manually moved when the area R of the displayed image deviates from the home point at the time of landing is shown, but the present invention is not limited to this. For example, a seat or board that can be identified as a home point by the unmanned aerial vehicle control system 1 is arranged at the home point, and the unmanned aerial vehicle 10 is arranged so that the area R of the displayed image and the position of the seat or board match. May be configured to land while automatically adjusting its position.

Further, the display size of the area R of the display image may change according to the height of the unmanned aerial vehicle 10. For example, when the unmanned aerial vehicle 10 is in a high position, the display size of the area R may be reduced, and the display size of the area R may be increased as the unmanned aerial vehicle 10 becomes lower.

Further, in the above embodiment, an example is shown in which the image pickup device 14 faces directly downward at the time of landing (pan angle is 0 degrees, tilt angle is −90 degrees), and the region R is arranged at the center of the displayed image. The present invention is not limited to this. For example, the image pickup device 14 may face diagonally downward, and in this case, it corresponds to directly below the unmanned aerial vehicle 10 in the display image based on the pan angle and tilt angle of the image pickup device 14 and the height of the unmanned aerial vehicle 10. The area R may be displayed by calculating the position to be used.

Further, in the second embodiment, an example in which the second azimuth sensor 37 is provided in the control device 30 in order to detect the direction (direction) of the operation device 2 is shown, but the present invention is not limited to this, and the mobile terminal 50 is not limited to this. The direction (direction) of the operating device 2 may be detected by using the direction sensor provided in the above.

Further, in the case of a strong wind or the like, the landing position may be predicted and the area R may be displayed according to the shaking of the unmanned aerial vehicle 10 and the moving speed due to the wind.

Further, in the fifth embodiment, an example in which the direction (direction) of the unmanned aerial vehicle 10 when the roof is imaged is stored in association with the captured image data has been shown, but the present invention is not limited to this. For example, at least one of the input unit 34 of the control device 30 and the input unit 53 of the mobile terminal 50 has a direction storage button (not shown) for storing the direction (direction) of the unmanned aerial vehicle 10 as an image pickup button 34a or 53a. Will be provided separately. Then, the operator may input the direction storage button to store the direction of the unmanned aerial vehicle 10 in the storage device 59b.

Further, a configuration obtained by appropriately combining the configurations of the above-described embodiments and modifications is also included in the technical scope of the present invention. For example, the configurations of the first to fifth embodiments may be combined. In this case, a plurality of change buttons corresponding to each of the change buttons of the first to fifth embodiments may be provided.

1: Unmanned aircraft control system, 2: Operating device, 10: Unmanned aircraft, 14: Imaging device, 19: First direction sensor, 34b: Change button, 37: Second direction sensor, 39: Control unit, 53b: Change button , 59: Control unit, 59c: Direction setting unit, 59d: Turning angle calculation unit, 59e: Direction control unit, 59f: Pan angle control unit, 70: Building, 71: Roof, 71a, 71b: Straight unit

Claims (8)

An unmanned aerial vehicle with a first directional sensor that detects the directional direction ahead,
An unmanned aerial vehicle control system having a control unit for controlling the flight of the unmanned aerial vehicle and an operating device for operating the flight of the unmanned aerial vehicle.
The operating device further comprises a change button that turns the unmanned aerial vehicle to change the forward orientation of the unmanned aerial vehicle.
The control unit calculates the turning angle of the unmanned aircraft from the direction setting unit for setting the target direction and the detection direction detected by the first direction sensor when the target direction and the change button are input. An unmanned aircraft control system comprising a unit and a directional control unit that turns the unmanned aircraft based on the turning angle and changes the front direction of the unmanned aircraft to the target directional direction. The unmanned aerial vehicle control system according to claim 1, wherein the directional setting unit sets the detection directional sense detected by the first directional sensor at the timing when the unmanned aerial vehicle takes off. The operating device has a second directional sensor that detects the direction of the operating device.
The unmanned aerial vehicle control system according to claim 1, wherein the directional setting unit sets the detection directional detected by the second directional sensor at the time of inputting the change button to the target directional. The unmanned aerial vehicle is equipped with an imaging device that images the roof of a building.
The first aspect of claim 1, wherein the orientation setting unit sets an orientation orthogonal to a predetermined straight line portion as the target orientation among a plurality of straight line portions constituting the contour line of the roof of the building. Unmanned aircraft control system. The turning angle calculation unit corrects the target direction so that the predetermined straight line portion is captured along the lateral direction of the image captured by the imaging device, and calculates the turning angle from the corrected target direction and the detected direction. The unmanned aerial vehicle control system according to claim 4, wherein the unmanned aerial vehicle control system. The unmanned aerial vehicle is equipped with an imaging device that images a structure.
The operating device further includes an imaging button for imaging by the imaging device.
The control unit stores the detection direction detected by the first direction sensor at the time of inputting the image pickup button in association with the pictured image data.
The unmanned aerial vehicle control system according to claim 1, wherein the direction setting unit sets the detected direction stored in association with the captured image data to the target direction. The unmanned aerial vehicle further comprises a position detecting device for detecting the position of the unmanned aerial vehicle.
The control unit
The detection position detected by the position detection device at the time of inputting the image pickup button is stored together with the stored detection direction in association with the captured image data.
The unmanned aerial vehicle control system according to claim 6, wherein the position of the unmanned aerial vehicle is controlled to the detection position according to the change of the target direction by the control unit. The unmanned aerial vehicle is equipped with an imaging device capable of changing the pan angle, which is an angle formed by the optical axis in the horizontal direction with respect to the front of the unmanned aerial vehicle.
The unmanned aerial vehicle control system according to claim 1, wherein the control unit includes a pan angle control unit that changes the pan angle at the time of inputting the change button to an initial set value.