JP6515367B1 - Imaging system and imaging method - Google Patents

Abstract

An imaging system and an imaging method capable of imaging an object simply and efficiently. In an imaging system for imaging a vertically long structure with a camera mounted on a flight device, a flight control unit autonomously descends the flight device from the upper side to the lower side of the structure While flying around the structure, the first imaging step S2 of imaging the structure with the camera at an arbitrary fixed imaging angle in advance, and in the first imaging step, the flight device takes an arbitrary height of the structure When the flight device descends to the position, the flight device autonomously orbits around the structure at the height position to displace the camera below the structure to change the imaging angle of the camera in the first imaging step And performing a second imaging step S3 of imaging the structure. [Selected figure] Figure 6

Description

  The present invention relates to an imaging system and an imaging method, and more particularly, to an imaging system and an imaging method for imaging a long structure in the vertical direction by a camera mounted on a flight device.

  In the case of observing an object from a high place or aerially photographing the ground from above, in recent years, a flying device such as a so-called drone or multicopter flying by rotating a plurality of propellers may be used. Patent Document 1 discloses that a three-dimensional image is generated from an image obtained by capturing an object with a camera mounted on a flight device.

JP 2018-10630

  By the way, when imaging an object with a camera mounted on a flight device as in the above-mentioned Patent Document 1, the operator operates the flight device to perform imaging with the camera, and from the flight of the flight device and the flight device If the imaging of the target object can be automatically controlled, an image obtained by imaging the target object can be acquired simply and efficiently.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an imaging system and an imaging method capable of imaging an object simply and efficiently.

  An imaging system according to the present invention for achieving the above object is an imaging system for imaging a vertically long structure with a camera mounted on a flight device, wherein the flight device autonomously operates from above the structure In the first imaging step, the flight device is structured in the first imaging step in which the camera is imaged by the camera at an arbitrary imaging angle fixed in advance by circling around the structure while descending toward the lower side and flying around the structure When the aircraft descends to an arbitrary height position of the object, the flight device autonomously orbits around the structure at the height position to fly and displace the camera below the structure so that the camera in the first imaging step And a second imaging step of imaging the structure by changing the imaging angle.

  In the second imaging step of this imaging system, the flight device travels around the structure a plurality of times at an arbitrary height position of the structure, and the camera is moved to the next circulation flight. To shift the imaging angle of the structure by the camera.

  Furthermore, in the imaging system, an arbitrary height position of the structure moving from the first imaging step to the second imaging step is set based on the height position of the surrounding structure existing around the structure. And

  According to this imaging system, the flight device autonomously executes the first imaging step and the second imaging step under the control of the flight control unit. Can easily and efficiently capture an image of the lower structure at any height position set based on the height position of the peripheral structure present around the structure, which can not be lowered Can.

  Furthermore, the first imaging step of the imaging system is characterized in that the camera is positioned towards the lower side of the structure with respect to the height position of the structure corresponding to the flight altitude of the flight device.

  Thus, when unnecessary information is present at a position above the frame of the captured image captured in the first imaging step, such unnecessary information is prevented from being reflected in the frame of the captured image. Can.

  In this imaging system, using an arbitrary distance from the central position of the structure as a radius, it is possible to model the structure into a substantially cylindrical shape surrounding all sides of the structure based on the radius and the height of the structure. It is characterized.

  Therefore, even when the structure has a complicated shape, the structure can be grasped in a simple shape, and therefore, the setting of the orbiting flight by the flight device can be easily performed.

  In this imaging system, in the first imaging step, the area of the airspace grasped by the flight trajectory in which the flight device travels around the structure and the flight area travels around the structure in the second imaging step It is characterized in that the area of the airspace grasped by the flight trajectory is the same.

  Therefore, since the image quality of the captured image captured in the first imaging step and the image quality of the captured image captured in the second imaging step can be equalized, the quality of the captured image is improved.

  Furthermore, in the flight control unit of this imaging system, the flight device travels around the structure a plurality of times, and the camera is displaced below the structure when the flight device shifts to the next circulation flight. It is characterized in that an aerial imaging step of imaging the structure by changing the imaging angle of the structure is performed.

  In addition, the flight control unit of the imaging system is characterized in that the aerial imaging step is performed before the first imaging step is performed. However, the first imaging step, the second imaging step, and the aerial imaging step described above may be performed in this order, or may be performed in another order.

  This aerial image capturing step can be acquired as a captured image including the peripheral environment of the structure such as the peripheral structure existing around the structure from the upper side to the lower side of the structure.

  In this imaging system, when the flight device reaches preset flight conditions, the imaging of the flight of the flight device and the imaging of the structure being executed by the flight device are interrupted and the structure of the flight where the flight and imaging are interrupted is suspended. It is characterized in that when the flight conditions are released, the flight device returns to the stored position on the structure and starts the orbiting flight and imaging of the structure from the position on the returned structure. And

  An imaging method according to the present invention for achieving the above object is an imaging method for imaging a long structure in the vertical direction by a camera mounted on a flight device, wherein the flight device goes from the upper side to the lower side of the structure In the first imaging step, the flying device takes an optional step of the first imaging step in which the camera captures an image of the structure at an arbitrary predetermined imaging angle by flying around the structure while descending toward the lower imaging angle. When it descends to the height position, the flight device orbits around the structure at the height position and displaces the camera below the structure to change the imaging angle of the camera in the first imaging step. And a second imaging step of imaging a structure.

  According to the present invention, it is possible to simply and efficiently capture an image of a structure using a flight device that flies autonomously.

It is a figure explaining an outline of composition of an imaging system concerning an embodiment of the invention. Similarly, it is a block diagram explaining the hardware constitutions of the flight device concerning this embodiment. Similarly, it is a block diagram explaining the software configuration of the flight controller of the flight device according to the present embodiment. Similarly, it is a block diagram explaining the hardware constitutions of the server of the imaging system concerning this embodiment. Similarly, it is a block diagram explaining the software configuration of the server of the imaging system according to the present embodiment. Similarly, it is a block diagram explaining the outline of the processing performed by the flight control unit of the server of the imaging system according to the present embodiment. Similarly, it is a figure explaining the outline of the aerial imaging step performed by the flight control part of the server of the imaging system concerning this embodiment. Similarly, it is a figure explaining an outline of the 1st imaging step performed with a flight control part of a server of an imaging system concerning this embodiment. Similarly, it is a figure explaining an outline of the 2nd imaging step performed with a flight control part of a server of an imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the 1st imaging step performed by the flight control part of the server of the imaging system concerning this embodiment, and the 2nd imaging step. Similarly, it is a figure explaining an outline of a procedure of imaging a structure using an imaging system concerning this embodiment. Similarly, it is a figure explaining an outline of a procedure of imaging a structure using an imaging system concerning this embodiment. Similarly, it is a figure explaining an outline of a procedure of imaging a structure using an imaging system concerning this embodiment. Similarly, it is a figure explaining an outline of a procedure of imaging a structure using an imaging system concerning this embodiment. Similarly, it is a figure explaining an outline of a procedure of imaging a structure using an imaging system concerning this embodiment. Similarly, it is a figure explaining an outline of a procedure of imaging a structure using an imaging system concerning this embodiment.

  Next, an imaging system according to the embodiment of the present invention will be described based on FIGS.

  In the present embodiment, the case where a structure to be imaged by the imaging system is a steel tower, a tower, a high-rise building or the like which is long in the vertical direction and erected on the ground will be described.

  FIG. 1 is a diagram for explaining an outline of a configuration of an imaging system according to the present embodiment. As illustrated, the imaging system 10 includes a flight device 20 and a server 30 communicably connected to the flight device 20 via a communication network 40.

  The imaging system 10 creates a three-dimensional model of the tower 1 based on a plurality of captured images of the tower 1 captured by the flight device 20, and analyzes the captured image to detect an abnormal location and detect an abnormal location. Maps on a three-dimensional model.

  FIG. 2 is a block diagram for explaining the hardware configuration of the flight device 20 according to the present embodiment. As illustrated, the flight device 20 includes a transmission / reception unit 21, a flight controller 22 connected to the transmission / reception unit 21, a battery 23 that supplies power via the flight controller 22, and a speed control unit controlled by the flight controller 22 (Electronic A speed controller (ESC) 24, a motor 25, and four propellers 26 driven by the motor 25 are provided.

  Furthermore, the flight device 10 is provided with a camera 27 fixed to the airframe and capturing a part or all of the tower 1.

  The transmission / reception unit 21 is a communication interface configured to transmit and receive data from a plurality of external devices such as, for example, a transceiver (propo), an information terminal, a display device, or another remote controller. In the embodiment, communication with the server 30 is mainly performed.

  The transmission / reception unit 21 may be, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication Etc. can be used.

  Furthermore, the transmitting / receiving unit 21 transmits / receives a plurality of acquired data, processing results generated by the flight controller 22, various control data, and a plurality of data such as user commands from a terminal or a remote controller.

  The flight controller 22 mainly includes a processor 22A, a memory 22B, and sensors 22C.

  In the present embodiment, the processor 22A is formed of, for example, a CPU (Central Processing Unit), controls the operation of the flight controller 22, controls transmission and reception of data between each element, and performs processing necessary for executing a program. .

  The memory 22B is provided with a main storage device configured by volatile storage devices such as a dynamic random access memory (DRAM) and an auxiliary storage device configured by non-volatile storage devices such as a flash memory and a hard disc drive (HDD). .

  The memory 22B is used as a work area of the processor 22A, and stores various setting information and the like such as logic, code, or program instruction that can be executed by the flight controller 22.

  Furthermore, data acquired from the camera 27 or the sensors 22C may be directly transmitted and stored in the memory 22B.

  In the present embodiment, the sensors 22C include a GPS sensor 22Ca that receives radio waves from GPS satellites, an atmospheric pressure sensor 22Cb that measures atmospheric pressure, a temperature sensor 22Cc that measures temperature, and an acceleration sensor 22Cd.

  The camera 27 can change the imaging angle according to the imaging direction in which the steel tower 1 is imaged by the gimbal, and in the present embodiment, an RGB image capturing visible light is captured. On the other hand, a thermal image capturing infrared light may be taken, or both an RGB image and a thermal image may be taken simultaneously or sequentially.

  FIG. 3 is a block diagram for explaining the software configuration of the flight controller 22 of the flight device 20 according to the present embodiment. As illustrated, the flight controller 22 includes an instruction reception unit 22Ba, a machine control unit 22Bb, a position and orientation information acquisition unit 22Bc, an imaging processing unit 22Bd, an imaging information transmission unit 22Be, a position and orientation information storage unit 22Bf, and an imaging information storage unit 22Bg. Equipped with

  The instruction reception unit 22Ba, the machine control unit 22Bb, the position and orientation information acquisition unit 22Bc, the imaging processing unit 22Bd, and the imaging information transmission unit 22Be are realized by the processor 22A executing a program stored in the memory 22B.

  On the other hand, the position and orientation information storage unit 22Bf and the imaging information storage unit 22Bg are realized as storage areas provided by the memory 22B.

  The instruction receiving unit 22Ba receives various commands (hereinafter, referred to as "flight operation commands") for instructing the operation of the flight device 20. In the present embodiment, the flight operation command is received from the server 30, but it may be configured to receive the flight operation command from a transmitter / receiver such as a prop.

  In the present embodiment, the aircraft control unit 22Bb controls the operation of the flight device 20 according to the flight operation command received by the instruction receiving unit 22Ba, and has, for example, six degrees of freedom (translational motion x, y and The motor 25 is controlled via the ESC 24 in order to adjust the spatial arrangement, velocity and / or acceleration of the flight device 20 with z and rotational motions θx, θy and θz).

  The motor 25 is driven by the control of the airframe control unit 22Bb to rotate the propeller 26, thereby generating lift for the flight device 20 to fly.

  On the other hand, the aircraft control unit 22Bb can also execute various controls so that the flight device 20 autonomously flies without using the flight operation command.

  The position and orientation information acquisition unit 22Bc acquires information indicating the current position and orientation of the flight device 20 (hereinafter referred to as “position and orientation information”). In the present embodiment, the position and orientation information includes the position on the map of the flight device 20 represented by latitude and longitude, the flight altitude of the flight device 20, and the inclinations of the x, y, and z axes of the flight device 20, respectively. included.

  The position and orientation information acquisition unit 22Bc calculates the position on the map of the flight device 20 from the radio waves received by the GPS sensor 22Ca from the GPS satellites.

  The position and orientation information acquisition unit 22Bc refers to the atmospheric pressure measured by the atmospheric pressure sensor 22Cb (hereinafter referred to as "reference atmospheric pressure") and the atmospheric pressure measured by the atmospheric pressure sensor 22Cb during flight (hereinafter referred to as "current atmospheric pressure"). And the air temperature measured by the temperature sensor 22Cc during flight, to calculate the flight altitude of the flight device 20.

  Further, the position and orientation information acquisition unit 22Bc determines the attitude of the flight device 20 based on the output from the acceleration sensor 22Cd, and determines the optical axis (viewpoint axis) of the camera 27 from the attitude of the flight device 20.

  The position on the map of the flight device 20, the flight altitude of the flight device 20, and the attitude of the flight device 20 (the inclination of the optical axis of the camera 27) are stored in the position and attitude information storage unit 22Bf.

  The imaging processing unit 22 </ b> Bd controls the camera 27 to image part or all of the steel tower 1, and acquires a captured image captured by the camera 27.

  In the present embodiment, the imaging processing unit 22Bd performs imaging at a preset timing, and can perform imaging at every arbitrarily designated time such as 5 seconds and 30 seconds, for example. is there. On the other hand, it may be configured to pick up an image based on an instruction from the server 30.

  The acquired captured image is captured by the imaging processor 22Bd at the imaging date and time, latitude and longitude (imaging position) on the map of the flying device 20 at the time of imaging, flight altitude (imaging height) of the flying device 20 at the imaging, The imaging information is generated by associating the attitude (the inclination of the optical axis of the camera 27), and the imaging information is stored in the imaging information storage unit 22Bg.

  The imaging information transmission unit 22Be transmits the image captured by the camera 27 to the server 30. In the present embodiment, imaging information in which an imaging date, an imaging position, an imaging height, and an inclination are associated with a captured image is transmitted to the server 30.

  FIG. 4 is a block diagram for explaining the hardware configuration of the server 30 according to the present embodiment. As illustrated, the server 30 includes a CPU 31, a memory 32, a storage device 33, a communication device 34, an input device 35, and an output device 36.

  The CPU 31 controls the operation of the server 30, and performs control of transmission and reception of data between elements constituting the server 30, processing required for executing a program, and the like.

  The memory 32 includes a main storage device configured of a volatile storage device such as a DRAM, and an auxiliary storage device configured of a non-volatile storage device such as a flash memory or an HDD.

  The storage device 33 is a storage medium for storing various data and programs, and is implemented by, for example, an HDD, a solid state drive (SSD), or a flash memory.

  The communication device 34 communicates with other devices via the communication network 40, and communicates with the flight device 20 in the present embodiment. The communication device 34 is, for example, an adapter for connection to Ethernet (registered trademark), a modem for connection to a public telephone network, a wireless communication device for performing wireless communication, a USB connector for serial communication, and an RS232C connector And so on.

  The input device 35 is an interface capable of inputting data, such as a keyboard, a mouse, a touch panel, a button, a microphone, etc., and the output device 36 can output data, such as a display, a printer, a speaker, etc. It is a possible device.

  FIG. 5 is a block diagram for explaining the software configuration of the server 30 according to the present embodiment. As illustrated, the server 30 includes a flight control unit 33A, an imaging information reception unit 33B, a three-dimensional model creation unit 33C, an abnormality detection unit 33D, a three-dimensional model display unit 33E, an imaged image display unit 33F, and an imaging information storage unit 33G. And a three-dimensional model storage unit 33H and an abnormality information storage unit 33I.

  In the flight control unit 33A, the imaging information receiving unit 33B, the three-dimensional model creating unit 33C, the abnormality detecting unit 33D, the three-dimensional model display unit 33E, and the captured image display unit 33F, the CPU 31 included in the server 30 is stored in the storage device 33 This is realized by reading out the program to the memory 32 and executing it.

  On the other hand, the imaging information storage unit 33G, the three-dimensional model storage unit 33H, and the abnormality information storage unit 33I are realized as part of the storage area provided by the storage device 33 provided in the server 30.

  The flight control unit 33A is a module that controls the flight of the flight device 20. In the present embodiment, the flight device 20 is controlled based on a preset program (data) related to the flight of the flight device 20. Make it fly autonomously. An outline of processing in the flight control unit 33A will be described later.

  The imaging information receiving unit 33B receives the imaging information transmitted from the flight device 20, and stores the received imaging information in the imaging information storage unit 33G.

  The three-dimensional model creation unit 33C creates a three-dimensional model representing a three-dimensional structure from a plurality of captured images, and in the present embodiment, the world coordinate system of the three-dimensional model is latitude, longitude The position and viewpoint direction of the camera 27 in the world coordinate system can be indicated by the imaging position, the imaging height, and the tilt of the optical axis, which are expressed by the altitude and are included in the imaging information.

  The three-dimensional model creating unit 33C extracts feature points from the image data included in the imaging information, and extracts feature points extracted from a plurality of image data based on the imaging position, imaging height, and inclination included in the imaging information. To obtain a three-dimensional point group in the world coordinate system, also referred to as a point cloud.

  The three-dimensional model (three-dimensional point group in the present embodiment) created in this manner is stored in the three-dimensional model storage unit 33H.

  The abnormality detection unit 33D analyzes an image captured by the flight device 20 and detects an abnormality of the steel tower 1.

  Specifically, using a learned model generated by machine learning such as a neural network, an abnormality is determined based on a captured image captured by the flight device 20, an image of the steel tower 1 when normal and a captured image, The anomaly of the steel tower 1 is detected using a method such as comparing the two to determine the anomaly.

  The abnormality detection unit 33D specifies the position of the world coordinate system for an abnormal part on the detected captured image.

  For example, for each of the points included in the three-dimensional point group, an image on the image captured in the direction indicated by the inclination included in the imaging information from the imaging position included in the imaging information and the camera installed at the imaging height To determine whether or not this position constitutes an abnormal part, depending on whether or not the specified position on the image is included in the area detected as an abnormal part, to form an abnormal part. Identify the coordinates of as the location of the anomaly.

  Information on the abnormality detected in this manner (hereinafter referred to as "abnormal information") is stored in the abnormality information storage unit 33I.

  The three-dimensional model display unit 33E displays an image obtained by projecting the three-dimensional model created by the three-dimensional model creation unit 33C onto a plane (hereinafter referred to as "three-dimensional projected image"). May be displayed using a point group (point group data), or the captured image may be mapped to a three-dimensional model.

  The captured image display unit 33F displays, for example, a captured image on a display connected to the server 30.

  FIG. 6 is a block diagram for explaining an outline of processing performed by the flight control unit 33A according to the present embodiment. As illustrated, the flight control unit 33A executes an aerial imaging step S1, a first imaging step S2, a second imaging step S3 and a flight condition processing step S4 based on a preset flight program.

  FIG. 7 is a diagram for explaining the outline of the upper sky imaging step S1. As shown in the figure, in the aerial image pickup step S1, the flight device 20 flies around the tower 1 in multiple turns while keeping the height position from the ground E constant based on a preset flight program. At this time, the tower 27 is imaged by the camera 27.

  In the present embodiment, the flight device 20 is set to execute, for example, a first round flight shown by a flight track f1 or a third round flight shown by a flight track f3, It is set so that the tower 1 is imaged while changing the imaging angle of the camera 27 with the gimbal when performing.

  In the aerial image capturing step S1, the flying device 20 performs the first round of flight indicated by the flight locus f1, and after the first round of flight, the radius of the round for the first round of flight is expanded. Transition to the second round flight shown by the flight path f 2 to fly around, and after the second round flight, the radius of the round flight is expanded for the second round flight, and the flight path f 3 It is set to shift to the third round flight shown (round flight setting S1a).

  The camera 27 is positioned by the gimbal at a position where the camera 27 of the flight device 20 can capture the upper side of the steel tower 1 during the first round of flight together with the setting of the round of flight, and the second time During circling flight, the camera 27 of the flight device 20 is gimbaled below the tower 1 and the imaging angle of the tower 1 is changed by the camera 27 so as to be positioned at a position where the inside of the tower 1 is imaged During the third round of flight, the camera 27 of the flight device 20 is moved further down the tower 1 by gimbal to change the imaging angle of the tower 1 by the camera 27 and position the lower side of the tower 1 at a position It is set to be set (setting of imaging angle S1 b).

  When the change of the imaging angle of the steel tower 1 by the camera 27 is set in the setting of the imaging angle, the imaging angle is set such that at least a part of the imaging region can be imaged continuously so as to overlap in the vertical direction of the steel tower 1 Ru.

  On the other hand, the imaging interval at the time of imaging the steel tower 1 with the camera 27 while flying around the upper tower of the steel tower 1 by the flight device 20 is an interval that can be imaged continuously so that at least a part of the imaging region overlaps in the circulation direction. Is set (setting of imaging interval S1c).

  In the aerial image capturing step S1, the surrounding environment of the steel tower 1 such as a tree 2 and a house 3 which are peripheral structures existing around the steel tower 1 is acquired as a photographed image from the upper side to the lower side of the steel tower 1.

  FIG. 8 is a diagram for explaining an outline of the first imaging step S2. The first imaging step S2 is performed subsequent to the aerial imaging step S1 and, as illustrated, the flight device 20 is lowered from the upper side to the lower side of the steel tower 1 based on a preset flight program. It flies around the tower 1 while descending to L, and at this time, the tower 27 is imaged by the camera 27.

  In the present embodiment, the flight device 20 performs, for example, a circular flight shown by a flight trajectory f4 or a flight trajectory f10 shown by a flight trajectory f4 while descending from the upper side to the lower side of the steel tower 1 to the lower limit position L. The steel tower 1 is imaged by the camera 27 fixed by gimbals at an arbitrary imaging angle when making a circular flight.

  In the execution of the first imaging step S2, the lowering lower limit position L is at the height position of the peripheral structure having the highest height position among the tree 2 and the house 3 which are the peripheral structures existing around the tower 2 And an arbitrary distance d1 is added and set in the height direction (setting the lower limit position S2a).

  In the present embodiment, for convenience of explanation, it is assumed that the height positions of the tree 2 and the house 3 are at the same level.

  In the first imaging step S2, the vertical interval of the steel tower 1 between the circling flight shown by the flight trajectory f4 by the flight device 20 and the circling flight shown by the flight trajectory f5 and the circling flight or flight trajectory f10 shown by the flight trajectory f5 The vertical interval in the tower 1 at the time of transition to the next orbiting flight until the orbiting flight is the orbiting flight around the tower 1 while the flight device 20 descends from the top to the bottom of the tower 1 An interval at which imaging can be performed continuously such that at least a part of the imaging region overlaps in the vertical direction is set (setting S2b of the circling flight).

  In the first imaging step S2, for example, the camera 27 moves downward of the steel tower 1 with respect to the height position of the steel tower 1 corresponding to the flight altitude when the flight device 20 is making a circular flight indicated by the flight trajectory f4. It is positioned and set so as to be fixed by gimbals in this state (setting of imaging angle S2c).

  The imaging angle is an angle formed by the center of the imaged image and the upper end of the imaged image, and is set to an optimal angle calculated according to the situation in the present embodiment. Thereby, when unnecessary information exists when creating a three-dimensional model, such as a cloud floating above the tower 1, for example, above the frame of the captured image captured in the first imaging step S2, Unnecessary information can be suppressed from being reflected in a frame of a captured image.

  On the other hand, the imaging interval at the time of imaging the steel tower 1 with the camera 27 while flying around the steel tower 1 by the flight device 20 is an interval that allows continuous imaging so that at least a part of the imaging region overlaps in the circulation direction. (Setting of imaging interval S2d).

  FIG. 9 is a diagram for explaining an outline of the second imaging step S3. The second imaging step S3 is performed when the flight device 20 descends to the lower limit lower position L in the first imaging step S1.

  As illustrated, in the second imaging step S3, the flight device 20 flies around the tower 1 a plurality of times at the descent lower limit position L based on a preset flight program, and at this time, the camera 27 Capture 1

  In the second imaging step S3, the flying device 20 is set to execute, for example, the circular flight indicated by the flight locus f11 or the circular flight indicated by the flight locus f14 at the lower limit d. (Setting S3a of circling flight).

  On the other hand, when transitioning from the circling flight shown by flight trajectory f11 to the circling flight shown by flight trajectory f12, and during the transition to the next circling flight between the circling flight shown by flight trajectory f12 or the circling flight shown by flight trajectory f14 It is set so that the tower 1 is imaged while changing the imaging angle of the camera 27 with the gimbal (setting S3b of imaging angle).

  Specifically, when the flight device 20 performs the orbiting flight indicated by the flight locus f11, the camera 27 of the flight device 20 is moved by the gimbal downward from the position positioned in the first imaging step S2, The imaging angle of the steel tower 1 according to is changed so as to be positioned at a position in the imaging direction a1.

  Subsequently, when the flight device 20 performs the orbiting flight indicated by the flight locus f12, the camera 27 of the flight device 20 is displaced by the gimbal further downward from the imaging direction a1 to change the imaging angle of the steel tower 1 by the camera 27 It is set so that it may be positioned in the imaging direction a2.

  Subsequently, when the flight device 20 performs the orbiting flight indicated by the flight locus f13, the camera 27 of the flight device 20 is displaced by the gimbal further downward from the imaging direction a2 to change the imaging angle of the steel tower 1 by the camera 27 It is set so that it may be positioned in the imaging direction a3.

  Subsequently, when the flight device 20 performs an orbiting flight indicated by the flight locus f12, the camera 27 of the flight device 20 is displaced by the gimbal further downward from the imaging direction a3, and the imaging angle of the steel tower 1 by the camera 27 is It is set so as to be changed and positioned at the position in the imaging direction a4.

  In this setting of the imaging angle, when the imaging angle of the steel tower 1 by the camera 27 is set so as to be changed to the imaging directions a1 to a4, continuous at least a part of the imaging region is overlapped in the vertical direction of the steel tower 1 It is set to the imaging angle which can be made to image.

  On the other hand, the imaging interval at the time of imaging the steel tower 1 with the camera 27 while flying around the steel tower 1 by the flight device 20 is an interval that allows continuous imaging so that at least a part of the imaging region overlaps in the circulation direction. Is set (setting of imaging interval S3c).

  FIG. 10 is a diagram for explaining an outline of the first imaging step S2 and the second imaging step S3. As illustrated, in the first imaging step S2, the area s1 of the airspace grasped by the flight trajectories f4 to f10 in which the flight device 20 flies around the tower 1 and the flight device 20 in the second imaging step S3. The area s2 of the airspace grasped by the flight trajectories f11 to f14 orbiting around the steel tower 1 is the same in the present embodiment.

  Therefore, since the image quality of the captured image captured in the first imaging step S2 and the image quality of the captured image captured in the second imaging step S3 can be made uniform, the quality of the captured image is improved.

  In the flight condition processing step S4, when the flight device 20 reaches the preset flight conditions, any one of the steps executed by the flight device 20 at the time when the flight device 20 reaches the flight condition (upper sky imaging step S1, first imaging step S2 , And the second imaging step S3) is interrupted, and the position on the steel tower 1 at which any step is interrupted is stored in the memory (not shown) of the server 30 of the flight device 20.

  In the execution of the flight condition processing step S4, for example, in the present embodiment, "when the remaining amount of the battery 23 of the flight device 20 reaches 20%" or "the flight time of the flight device 20 exceeds 20 minutes. Is set as a flight condition (flight condition setting S4a).

  Next, based on FIGS. 11-16, the procedure which images the iron tower 1 using the imaging system 10 which concerns on this Embodiment is demonstrated.

  As shown in FIG. 11, first, it is confirmed whether the ground E on which the steel tower 1 to be imaged is erected is the flightable site E1 where the flight device 20 is allowed to fly above it In the case of the flightable site E1, it is checked whether there is a surrounding structure around the tower 1.

  As illustrated, when there are trees 2 and houses 3 as peripheral structures around the steel tower 1, the flight device 20 is operated to position the flight devices 20 at the height position of the peripheral structures. As described above, the flight altitude of the flight device 20 is adjusted, and the height position of the surrounding structure is acquired based on the flight altitude of the flight device 20 displayed on the operation screen or the like.

  Similarly, the flying height of the flying device 20 is adjusted so that the flying device 20 is positioned at the height position of the tower 1, and the height of the tower 1 is based on the flying height of the flying device 20 displayed on the operation screen or the like. Get the position. At this time, when the height of the steel tower 1 is known in advance, the height can be used, but when the height is unknown, the flight device 20 is used as in the present embodiment. You should do it.

  The height position of the acquired peripheral structure and the height position of the steel tower 1 are input to the server 30 in the present embodiment.

  Subsequently, as shown in FIG. 11, the distance from the center position O of the steel tower 1 to the corner of the steel tower 1 measured is acquired, and the acquired distance is input to the server 30 as the radius r.

  When the height position of the surrounding structure is input to the server 30, as shown in FIG. 12, the surrounding structure is set in the flyable airspace A in which the flight device 20 can fly, which is set above the flyable site E1. The descent lower limit position L in the first imaging step S2 is set in which the arbitrary distance d1 is added in the height direction to the height position of d (setting S2a of descent lower limit position).

  On the other hand, when the height position and radius r of the steel tower 1 are input to the server 30, the steel tower 1 is modeled in a substantially cylindrical shape surrounding all sides of the steel tower 1, and a steel tower model M is generated.

  As a result, since the steel tower 1 having a complex shape can be grasped with a simple shape, having components such as a plurality of arms and the like, the setting of the orbiting flight by the flight device 20 can be easily performed.

  Subsequently, as shown in FIG. 13, the flight device 20 is disposed at the center position O of the steel tower 1, the position at which the flight device 20 is disposed is acquired as GPS coordinates by the GPS sensor 22 Ca, and the acquired GPS coordinates are the server 30. Is input to

  The GPS coordinates input to the server 30 are grasped as coordinates indicating the center position O of the tower 1, and the flight when the flying device 20 autonomously flies above and around the tower 1 is controlled.

  If the flight device 20 can not be placed at the center position O of the tower 1, the flight device 20 is placed at a diagonal position of the tower 1 in the plane direction, and the GPS coordinates of that position are acquired. It is also possible to grasp the central position of the connecting diagonal as the central position O of the steel tower 1.

  Thereafter, the setting of the aerial imaging step S1 is performed. In the setting of the aerial image capturing step S1, setting S1a of the circling flight, setting S1b of the imaging angle, and setting S1c of the imaging interval are performed.

  In the present embodiment, in the setting S1a of the circumferential flight, the radius of the flight trajectory f3 in the third round of flight is set to be the height of the steel tower 1, and the flight device 20 flies above the steel tower 1 The height position (flying altitude) from the surface E was compared with the height of 1.5 times the height of the tower 1 and the desired height for securing a safe flying height to the tower height. The height of the higher one is set to be the flight altitude.

  In the present embodiment, the setting S1a of the round flight is set to perform three round flights, but the number of round flights can be set appropriately, and further, the radius of the flight trajectory of the round flight It is also possible to set so that a plurality of orbits of flight may all have the same radius of flight without expanding.

  Next, the setting of the first imaging step S2 is performed. In the setting of the first imaging step S2, setting S2b of circumferential flight, setting S2c of imaging angle, and setting S2d of imaging interval are performed.

  In addition, since setting S2a of a descent lower limit position is performed when the height position of a surrounding structure is input into the server 30, the effort set in the setting of 1st imaging step S2 is abbreviate | omitted.

  In this embodiment, as shown in FIG. 14, in the setting S2b of the circling flight, a desired distance d2 at which a safe flight distance can be secured between the steel tower 1 and the radius Mr of the steel tower model M during the circling flight. The flying device 20 is set to execute the orbiting flight shown by a flight trajectory f4 or the orbiting flight shown by a flight trajectory f10 at a flight radius fr added with.

  In the present embodiment, the flight device 20 is set to perform seven rounds of flight in the setting S2b of the round-off flight, but the number of rounds of flight can be set as appropriate.

  Next, the setting of the second imaging step S3 is performed. In the setting of the second imaging step S3, setting S3a of circumferential flight, setting S3b of imaging angle, and setting S3c of imaging interval are performed.

  In the present embodiment, in the setting S3a of the circulation flight, at the flight radius fr the same as the flight radius fr set in the setting S2b of the circulation flight in the first imaging step S2, the flight device 20 carries out It is set to carry out the circular flight shown by the flight locus f14.

  In the present embodiment, the flight device 20 is set to perform four rounds of flight in the setting S3a of the round-off flight, but the number of rounds of flight may be set as appropriate.

  Next, the flight condition processing step S4 is set. In the setting of the flight condition processing step S4, setting of the flight condition setting S4a is performed, and in the present embodiment, "when the remaining amount of the battery 23 of the flight device 20 reaches 20%" is set as the flight condition. .

  The setting of the flight program is completed by setting the above-described settings, and the flight control unit 33A performs the aerial image pickup step S1, the first image pickup step S2, and the second image pickup step S3 based on the set flight program. In some cases, flight condition processing step S4 is performed.

  As shown in FIG. 15, the execution of the aerial image pickup step S1 causes the flight device 20 to make a circular flight indicated by the flight locus f1, and the camera 27 positioned by the gimbal at a position where the upper side of the steel tower 1 can be imaged. The imaging angle of the steel tower 1 by the camera 27 is changed as the upper side of the steel tower 1 is imaged at and the circular flight shown by the flight trajectory f2 and the circular flight shown by the flight trajectory f3 are changed. Take an image.

  As a result, the surroundings of the steel tower 1 such as trees 2 and houses 3 which are peripheral structures existing around the steel tower 1 are acquired as captured images from the upper side to the lower side of the steel tower 1. A three-dimensional model close to the actual environment of the tower 1 can be created.

  After the sky imaging step S1 is completed, the process proceeds to the first imaging step S2. By the execution of the first imaging step S2, while the descent lower limit position L is lowered, the flying device 20 makes a circular flight shown by a circular flight or a flight trajectory f10 shown by a flight trajectory f4 from the upper side to the lower side of the tower 1. When the circular flight is performed, the steel tower 1 is imaged at the imaging angle of the camera 27 set in the setting S2c of the imaging angle.

  Here, in the present embodiment, when the flight device 20 is making a circular flight indicated by the flight locus f7, the flight conditions set in the setting S4a of the flight conditions are reached ("the battery 23 of the flight device 20 is When the remaining amount reaches 20% ”), the first imaging step S2 executed by the flight device 20 is interrupted in the round flight indicated by the flight locus f7 by the flight condition processing step S4, and the steel tower 1 Imaging is also interrupted.

  At this time, the GPS sensor 22Ca acquires as GPS coordinates the position on the steel tower 1 at which the circling flight indicated by the flight locus f7 and the imaging of the steel tower 1 are interrupted, and the acquired GPS coordinates are stored in the memory (not shown) of the server 30. Be done.

  Thereafter, the flight device 20 returns to the preset return position of the flight device 20, and the flight condition is released when it is replaced with the battery 23 which has been charged.

  When the flight conditions are released, the flight device 20 returns to the position on the steel tower 1 at which the circular flight and imaging of the steel tower 1 are interrupted as indicated by the flight trajectory f7 based on the GPS coordinates stored in the memory of the server 30. As shown in FIG. 16, from the position on the restored steel tower 1, the circular flight shown by the flight trajectory f8 or the circular flight shown by the flight trajectory f10 is performed, and from the position on the recovered steel tower 1, the setting of the imaging angle S2c The imaging of the steel tower 1 is resumed at the imaging angle of the camera 27 that has been set.

  When the flight device 20 descends to the descent lower limit position L and the first imaging step S2 is completed, the process proceeds to the second imaging step S3. In the second imaging step S3, the flight device 20 makes a circumferential flight indicated by a flight trajectory f11 indicated by a flight trajectory f11 at the lower d lower limit position L, and a circumferential flight or a flight trajectory f14 indicated by a flight trajectory f11 The imaging angle of the steel tower 1 by the camera 27 is changed according to transition to the circular flight shown in, and the steel tower 1 is imaged from the position which becomes the imaging direction a1 to a4.

  By this second imaging step S3, it is possible to acquire an imaged image by imaging the steel tower 1 below the lower limit lower position L where the flight device 20 can not further descend.

  In this second imaging step S3, the circling flight shown by the flight trajectory f11 of the flight device 20 or the orbiting flight shown by the flight trajectory f14 and the orbiting flight shown by the flight trajectory f10 of the flight device 20 in the first imaging step S2 In the embodiment of the present invention, it is carried out at the same lower limit position L as the same height position.

  As described above, the flight device 20 autonomously executes the first imaging step S2 and the second imaging step S3 under the control of the flight control unit 33A of the server 30 of the imaging system 10. , Furthermore, the flight device 20 can not descend any further, an image of the steel tower 1 below the lowering lower limit position L set based on the height position of the tree 2 and the house 3 around the steel tower 1, Imaging can be performed simply and efficiently.

  In particular, peripheral structures such as trees 2 and houses 3 existing around the steel tower 1 by continuously executing the aerial imaging step S1, the first imaging step S2, and the second imaging step S3 by the flight control unit 33A. And all directions of the tower 1 can be precisely imaged.

  The present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. Although the case where the structure is the steel tower 1 has been described in the above embodiment, for example, a high-rise apartment, a chimney, an antenna tower, a lighthouse, a windmill, a tree, or even a Kannon image if it is a vertically long structure. It is also possible to capture an image.

1 Tower (structure)
2 trees (surrounding structure)
3 houses (surrounding structure)
10 imaging system 20 flight device 22 flight controller 22B memory 22Ca GPS sensor 30 server 33A flight control unit f1 to f14 flight trajectory L descending lower limit position M tower model O center position r radius S1 upper sky imaging step S2 first imaging step S3 second imaging Step S4 Flight Condition Processing Step

Claims (10)

In an imaging system for imaging a vertically long structure with a camera mounted on a flight device,
A first imaging step in which the flight device orbits around the structure while changing its height autonomously, and the camera captures an image of the structure at an arbitrary fixed imaging angle;
The flying device can change the imaging angle of the by displacing the imaging direction of the camera the camera any height position of the structure, the flying autonomously orbiting the periphery of the structure A second imaging step for imaging a structure;
An imaging system comprising: a flight control unit for performing In the second imaging step,
The flight device orbits the structure a plurality of times at any height position of the structure, and the imaging direction of the camera is changed to the structure when the flight device shifts to the next circulation flight. The imaging system according to claim 1, wherein the imaging angle of the structure by the camera is changed by displacing downward of the image.   An arbitrary height position of the structure to be transferred from the first imaging step to the second imaging step is set based on a height position of a peripheral structure existing around the structure. The imaging system according to claim 1. In the first imaging step,
The said camera is positioned toward the downward direction of the said structure with respect to the height position of the said structure corresponding to the flight altitude of the said flight device, The said structure is characterized by the above-mentioned. Imaging system.   Using an arbitrary distance from the center position of the structure as a radius, and based on the radius and the height of the structure, modeling the structure into a substantially cylindrical shape surrounding all sides of the structure The imaging system according to any one of claims 1 to 4, characterized in that:   In the first imaging step, the area of the airspace grasped by the flight trajectory in which the flight device orbits around the structure and the area of the flight region orbits around the structure in the second imaging step The imaging system according to any one of claims 1 to 5, wherein the area of the airspace grasped by the flight trajectory to fly is the same. The flight control unit
The flight device travels around the structure a plurality of times above the structure, and when the flight device shifts to the next circulation flight, the imaging direction of the camera is displaced below the structure to move the structure by the camera The imaging system according to any one of claims 1 to 6, wherein an aerial imaging step of imaging the structure while changing an imaging angle of an object is performed. The flight control unit
The imaging system according to claim 7, wherein the sky-imaging step is performed before the first imaging step is performed.   On the structure on which the imaging of the orbiting flight of the flight device and the structure being executed by the flight device is interrupted and the orbiting flight and the imaging are interrupted when the flight device reaches a preset flight condition The position of the structure is stored, and when the flight condition is released, the flight device is returned to the stored position on the structure and the orbiting flight and imaging of the structure from the position on the structure returned. An imaging system according to any one of the preceding claims, characterized in that it starts. In an imaging method for imaging a vertically elongated structure with a camera mounted on a flight device,
A first imaging step in which the flight device orbits around the structure while changing the height of the structure autonomously, and the camera captures an image of the structure at an arbitrary fixed imaging angle; ,
The flying device can change the imaging angle of the by displacing the imaging direction of the camera the camera any height position of the structure, the flying autonomously orbiting the periphery of the structure A second imaging step for imaging a structure;
An imaging method comprising: