JP6611152B1 - Imaging system and imaging method - Google Patents

Abstract

An imaging system and an imaging method capable of easily and efficiently imaging an object. In an imaging system for imaging a vertically long structure with a camera mounted on a flying device, the flying device autonomously moves from one to the other in the vertical direction of the structure. A flight control unit that executes an imaging step of imaging an object with the camera, the imaging step including a step of acquiring a height position of a peripheral structure existing around the structure, and a height of the flying device And a step of restricting the descent when the position reaches a descent lower limit position set based on a height position of the peripheral structure, and the height position of the peripheral structure is set to the height position of the peripheral structure. It is set by adjusting the flight altitude of the flying device so that the flying device is located, and acquiring based on the flight altitude. [Selection] Figure 11

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 structure that is long in the vertical direction with a camera mounted on a flying device.

  When observing an object from a high place or taking an aerial image of the ground from the sky, a so-called drone or multi-copter flying device that flies by rotating a plurality of propellers may be used in recent years. 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 flying device.

JP 2018-10630 A

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

  This invention is made | formed in view of the said situation, and makes it a subject to provide the imaging system and imaging method which can image a target object simply and efficiently.

  In order to achieve the above object, an imaging system according to the present invention is an imaging system in which a camera mounted on a flying device images a structure that is long in the vertical direction. A flight control unit that executes an imaging step of imaging the structure with the camera while moving from one to the other in the vertical direction, and the imaging step includes a height position of a peripheral structure existing around the structure And the step of restricting the descent when the height position of the flying device reaches a descent lower limit position set based on the height position of the surrounding structure, and the height position of the surrounding structure Is set by adjusting the flight altitude of the flying device so that the flying device is positioned at the height position of the surrounding structure and acquiring it based on the flight altitude.

  In order to achieve the above object, an imaging method according to the present invention includes an imaging step of imaging the structure with the camera while the flying device autonomously moves from one to the other in the vertical direction of the structure. The imaging step includes a step of obtaining a height position of a peripheral structure existing around the structure, and a descent in which a height position of the flying device is set based on a height position of the peripheral structure. A step of limiting the descent when reaching a lower limit position, the height position of the peripheral structure adjusts the flight altitude of the flying device so that the flying device is located at the height position of the peripheral structure; It is set by acquiring based on the said flight altitude.

  According to the present invention, an image of a structure can be easily and efficiently captured using a flying device that flies autonomously.

It is a figure explaining the outline of the composition of the imaging system concerning an embodiment of the invention. Similarly, it is a block diagram explaining the hardware constitutions of the flying apparatus which concerns on this Embodiment. Similarly, it is a block diagram explaining the software configuration of the flight controller of the flying 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 process performed by the flight control part of the server of the imaging system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the aerial imaging step performed in the flight control part of the server of the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the 1st imaging step performed in the flight control part of the server of the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the 2nd imaging step performed in the flight control part of the server of the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the 1st imaging step and the 2nd imaging step which are performed in the flight control part of the server of the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system concerning this embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system concerning this embodiment.

  Next, based on FIGS. 1-16, the imaging system which concerns on embodiment of this invention is demonstrated.

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

  FIG. 1 is a diagram for explaining an outline of the configuration of the imaging system according to the present embodiment. As illustrated, the imaging system 10 includes a flying device 20 and a server 30 that is connected to the flying device 20 via a communication network 40 so as to communicate with each other.

  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 flying device 20, analyzes the captured image to detect abnormal locations, and detects the detected abnormal locations. Are mapped onto a three-dimensional model.

  FIG. 2 is a block diagram illustrating a hardware configuration of the flying device 20 according to the present embodiment. As illustrated, the flying 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 (Electronic that is controlled by the flight controller 22. A speed controller (ESC) 24, a motor 25, and four propellers 26 driven by the motor 25 are provided.

  Further, the flying device 10 includes a camera 27 that is fixed to the airframe and photographs a part or all of the tower 1.

  The transmission / reception unit 21 is a communication interface configured to transmit / receive data from a plurality of external devices such as a transmitter / receiver (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 includes, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication. A plurality of communication networks such as can be used.

  Further, the transmission / reception unit 21 transmits / receives a plurality of data such as various types of acquired data, processing results generated by the flight controller 22, various control data, user commands from a terminal or a remote controller.

  The flight controller 22 includes a processor 22A, a memory 22B, and sensors 22C as main components.

  In the present embodiment, the processor 22A is configured by a CPU (Central Processing Unit), for example, and controls the operation of the flight controller 22 to perform control of data transmission / reception between elements, processing necessary for program execution, and the like. .

  The memory 22B includes a main storage device including a volatile storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary storage device including a nonvolatile storage device such as a flash memory and an HDD (Hard Disc Drive). .

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

  Furthermore, the memory 22B may be configured such that data acquired from the camera 27, sensors 22C, etc. is directly transmitted and stored.

  In this 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. In the present embodiment, the camera 27 captures an RGB image capturing visible light. On the other hand, a thermal image capturing infrared rays may be captured, or both an RGB image and a thermal image may be captured simultaneously or sequentially.

  FIG. 3 is a block diagram illustrating a software configuration of the flight controller 22 of the flying device 20 according to the present embodiment. As illustrated, the flight controller 22 includes an instruction receiving unit 22Ba, an airframe 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. Is provided.

  The instruction receiving unit 22Ba, the body control unit 22Bb, the position / 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 / orientation information storage unit 22Bf and the imaging information storage unit 22Bg are realized as a storage area provided by the memory 22B.

  The instruction receiving unit 22Ba receives various commands for instructing the operation of the flying device 20 (hereinafter referred to as “flight operation commands”). In the present embodiment, the flight operation command is received from the server 30, but the flight operation command may be received from a transceiver such as a transmitter.

  In the present embodiment, the airframe control unit 22Bb controls the operation of the flying device 20 in accordance with the flight operation command received by the instruction receiving unit 22Ba. For example, the airframe control unit 22Bb has 6 degrees of freedom (translational motion x, y and The motor 25 is controlled via the ESC 24 in order to adjust the spatial arrangement, speed and / or acceleration of the flying device 20 having z and rotational movements θx, θy and θz).

  When the motor 25 is driven and the propeller 26 is rotated under the control of the body control unit 22Bb, lift force that the flying device 20 flies is generated.

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

  The position and orientation information acquisition unit 22Bc acquires information indicating the current position and orientation of the flying 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 flying device 20 expressed by latitude and longitude, the flight altitude of the flying device 20, and the inclinations of the x, y, and z axes of the flying device 20. included.

  The position / orientation information acquisition unit 22Bc calculates the position of the flying device 20 on the map from the radio wave received from the GPS satellite by the GPS sensor 22Ca.

  The position and orientation information acquisition unit 22Bc is referred to as an atmospheric pressure (hereinafter referred to as “reference atmospheric pressure”) measured by the atmospheric pressure sensor 22Cb before the flight and an atmospheric pressure (hereinafter referred to as “current atmospheric pressure”) measured by the atmospheric pressure sensor 22Cb during the flight. ) And the air temperature measured by the temperature sensor 22Cc during the flight, the flight altitude of the flying device 20 is calculated.

  Further, the position / orientation information acquisition unit 22Bc obtains the attitude of the flying 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 flying device 20.

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

  The imaging processing unit 22Bd controls the camera 27 to image a 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. For example, the imaging processing unit 22Bd can perform imaging every arbitrarily specified time such as 5 seconds or 30 seconds. is there. On the other hand, you may comprise so that it may image based on the instruction | indication from the server 30. FIG.

  The acquired captured image is captured by the imaging processing unit 22Bd, the imaging date and time, the latitude and longitude (imaging position) on the map of the flying device 20 at the time of imaging, the flight altitude (imaging altitude) of the flying device 20 at the time of imaging, Imaging information is generated by associating the posture (the inclination of the optical axis of the camera 27), and this 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 the imaging date / time, imaging position, imaging altitude, and tilt are associated with the captured image is transmitted to the server 30.

  FIG. 4 is a block diagram illustrating a 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 data transmission / reception between elements constituting the server 30, processing necessary for program execution, and the like.

  The memory 32 includes a main storage device configured by a volatile storage device such as a DRAM and an auxiliary storage device configured by a nonvolatile storage device such as a flash memory or an HDD.

  The storage device 33 is a storage medium that stores various data and programs, and is implemented by, for example, an HDD, an SSD (Solid State Drive), or a flash memory.

  The communication device 34 communicates with other devices via the communication network 40, and communicates with the flying device 20 in the present embodiment. This communication device 34 includes, for example, an adapter for connecting to Ethernet (registered trademark), a modem for connecting to a public telephone line 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, and a microphone. The output device 36 can output data such as a display, a printer, and a speaker. It is a possible device.

  FIG. 5 is a block diagram illustrating a 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 3D model creation unit 33C, an anomaly detection unit 33D, a 3D model display unit 33E, a captured image display unit 33F, and an imaging information storage unit 33G. 3D model storage unit 33H and abnormality information storage unit 33I.

  The flight control unit 33A, the imaging information receiving unit 33B, the 3D model creation unit 33C, the abnormality detection unit 33D, the 3D model display unit 33E, and the captured image display unit 33F are stored in the storage device 33 by the CPU 31 included in the server 30. This is realized by reading the program stored in the memory 32 and executing it.

  On the other hand, the imaging information storage unit 33G, the 3D model storage unit 33H, and the abnormality information storage unit 33I are realized as part of a 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 flying device 20. In the present embodiment, the flight control unit 33A controls the flying device 20 based on a program (data) relating to the autonomous flight of the flying device 20 set in advance. Let it fly autonomously. An outline of processing in the flight control unit 33A will be described later.

  The imaging information receiving unit 33B receives imaging information transmitted from the flying 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 that represents a three-dimensional structure from a plurality of captured images. In the present embodiment, the world coordinate system of the three-dimensional model includes latitude and longitude. The position and viewpoint direction of the camera 27 in the world coordinate system can be indicated by the imaging position, the imaging altitude, and the tilt of the optical axis that are expressed by altitude and are included in the imaging information.

  In the 3D model creation unit 33C, feature points are extracted from image data included in the imaging information, and feature points extracted from the plurality of image data based on the imaging position, imaging altitude, and inclination included in the imaging information. To obtain a three-dimensional point cloud in the world coordinate system, also referred to as a point cloud.

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

  The abnormality detection unit 33D analyzes the captured image captured by the flying device 20 and detects an abnormality in the 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 flying device 20, or an image and a captured image of the steel tower 1 in a normal state. The abnormality of the steel tower 1 is detected by using a technique such as determining abnormality by comparing the two.

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

  For example, for each of the points included in the 3D point group, on the image when captured in the direction indicated by the tilt included in the imaging information from the camera installed at the imaging position and imaging altitude included in the imaging information The position of the image is specified, and whether or not the position on the image is included in the area detected as the abnormal location is determined whether or not this position constitutes the abnormal location, and the abnormal location is configured. Is specified as the position of the abnormal part.

  Information relating to the abnormality thus detected (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 projection image”). May be displayed using a point cloud (point cloud data), or a captured image may be mapped to a three-dimensional model.

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

  FIG. 6 is a block diagram illustrating an outline of processing executed by the flight control unit 33A according to the present embodiment. As shown in the figure, the flight control unit 33A executes the sky imaging step S1, the first imaging step S2, the second imaging step S3, and the flight condition processing step S4 based on a preset flight program.

  FIG. 7 is a diagram for explaining the outline of the sky imaging step S1. As shown in the figure, in the sky imaging step S1, based on a preset flight program, the flying device 20 flies around the tower 1 by making a plurality of rounds while holding the height position from the ground surface E constant. At this time, the steel tower 1 is imaged by the camera 27.

  In the present embodiment, the flying device 20 is set to execute, for example, the first round flight indicated by the flight trajectory f1 to the third round flight indicated by the flight trajectory f3, and performs the round flight of multiple rounds. When performing, it sets so that the steel tower 1 may be imaged, changing the imaging angle of the camera 27 with a gimbal.

  In this aerial imaging step S1, the flying device 20 performs the first round flight indicated by the flight trajectory f1, and after the first round flight, expands the radius that circulates with respect to the first round flight. A transition to the second orbital flight indicated by the flight trajectory f2 that makes a circular flight, and after the second orbital flight, the flight trajectory f3 that orbits the radius of the orbital flight relative to the second orbital flight. It is set to shift to the third round flight shown (round flight setting S1a).

  In conjunction with the setting of the orbital flight, the camera 27 is positioned by the gimbal at a position where the upper side of the tower 1 can be imaged by the camera 27 of the flying device 20 during the first orbital flight. During the orbital flight, the camera 27 of the flying device 20 is displaced by a gimbal below the tower 1 to change the imaging angle of the tower 1 by the camera 27, and is positioned at a position where the middle part of the tower 1 is imaged. During the third round flight, the camera 27 of the flying device 20 is displaced further below the tower 1 by a gimbal to change the imaging angle of the tower 1 by the camera 27 and is positioned at a position where the lower side of the tower 1 is imaged. (Imaging angle setting S1b).

  In the setting of the imaging angle, when the imaging angle of the steel tower 1 is changed by the camera 27, the imaging angle is set so that at least a part of the imaging area can be continuously imaged so as to overlap in the vertical direction of the steel tower 1. The

  On the other hand, the imaging interval when the flying device 20 images the tower 1 with the camera 27 while flying around the tower 1 is an interval that allows continuous imaging so that at least a part of the imaging region overlaps in the rotation direction. (Imaging interval setting S1c).

  In this sky imaging step S <b> 1, the surrounding environment of the tower 1 such as the tree 2 and the house 3 that are peripheral structures existing around the tower 1 is acquired as a captured image from the upper side to the lower side of the tower 1.

  FIG. 8 is a diagram for explaining the outline of the first imaging step S2. The first imaging step S2 is executed following the sky imaging step S1, and as shown in the drawing, the lower limit position where the flying device 20 descends from the upper side to the lower side of the tower 1 based on a preset flight program. While descending to L, the aircraft flies around the steel tower 1 and images the steel tower 1 with the camera 27 at this time.

  In the present embodiment, the flying device 20 performs, for example, the orbital flight indicated by the flight trajectory f4 or the orbital flight f10 while descending from the upper side to the lower side of the tower 1 to the lower limit position L. The pylon 1 is imaged by the camera 27 that is set so as to perform the orbital flight and fixed at an arbitrary imaging angle by a gimbal.

  In the execution of the first imaging step S2, the lowering lower limit position L is the height position of the peripheral structure having the highest height among the trees 2 and the houses 3 that are peripheral structures existing around the steel tower 2. An arbitrary distance d1 is added and set in the height direction (setting of lowering 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 approximately the same height position.

  In the first imaging step S2, the vertical distance of the pylon 1 between the orbiting flight indicated by the flight trajectory f4 and the orbiting flight indicated by the flight trajectory f5 by the flying device 20, and the orbiting flight or flight trajectory f10 indicated by the flight trajectory f5 are shown. The vertical interval in the tower 1 when shifting to the next orbital flight until the orbital flight is such that the flying device 20 orbits around the tower 1 while descending from the upper side to the lower side of the tower 1. The interval is set so that at least a part of the imaging region can be continuously imaged so as to overlap in the vertical direction (circumferential flight setting S2b).

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

  The imaging angle is an angle formed by the center of the captured image and the upper end of the captured image, and is set to an optimum angle calculated according to the situation in the present embodiment. Thereby, in the case where unnecessary information exists when creating a three-dimensional model such as a cloud floating above the steel tower 1 above the frame of the captured image captured in the first imaging step S2, It is possible to suppress unnecessary information from being reflected in the frame of the captured image.

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

  FIG. 9 is a diagram for explaining the outline of the second imaging step S3. The second imaging step S3 is executed when the flying device 20 is lowered to the lower limit position L in the first imaging step S1.

  As shown in the drawing, in the second imaging step S3, the flying device 20 flies around the tower 1 at the lower-lower limit position L based on a preset flight program. 1 is imaged.

  In the second imaging step S3, the flying device 20 is set to execute, for example, the orbital flight indicated by the flight trajectory f11 to the orbital flight indicated by the flight trajectory f14 at the lower limit position L. (Circular flight setting S3a).

  On the other hand, when shifting from the orbital flight indicated by the flight trajectory f11 to the orbital flight indicated by the flight trajectory f12 and when changing to the next orbital flight between the orbital flight indicated by the flight trajectory f12 or the orbital flight indicated by the flight trajectory f14. The imaging angle of the camera 27 is set to be imaged while changing the imaging angle with the gimbal (imaging angle setting S3b).

  Specifically, when the flying device 20 performs the orbital flight indicated by the flight trajectory f11, the camera 27 of the flying device 20 is displaced downward with a gimbal from the position positioned in the first imaging step S2, and the camera 27 The imaging angle of the steel tower 1 is changed so as to be positioned at a position corresponding to the imaging direction a1.

  Subsequently, when the flying device 20 performs the orbital flight indicated by the flight trajectory f12, the camera 27 of the flying device 20 is displaced further downward from the imaging direction a1 by a gimbal to change the imaging angle of the steel tower 1 by the camera 27. Thus, it is set to be positioned at a position corresponding to the imaging direction a2.

  Subsequently, when the flying device 20 performs the orbital flight indicated by the flight trajectory f13, the camera 27 of the flying device 20 is displaced further downward from the imaging direction a2 by a gimbal, and the imaging angle of the tower 1 by the camera 27 is changed. Thus, it is set so as to be positioned at a position corresponding to the imaging direction a3.

  Subsequently, when the flying device 20 performs the orbital flight indicated by the flight trajectory f12, the camera 27 of the flying device 20 is further displaced downward from the imaging direction a3 by a gimbal, and the imaging angle of the tower 1 by the camera 27 is changed. It is set to be changed and positioned at the position where the imaging direction is a4.

  In the setting of the imaging angle, when the imaging angle of the steel tower 1 by the camera 27 is set to be changed to the imaging directions a <b> 1 to a <b> 4, at least a part of the imaging area is continuously overlapped in the vertical direction of the steel tower 1. The imaging angle is set so that the image can be captured.

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

  FIG. 10 is a diagram for explaining the outline of the first imaging step S2 and the second imaging step S3. As shown in the drawing, the airspace area s1 grasped by the flight trajectories f4 to f10 in which the flying device 20 circulates around the tower 1 in the first imaging step S2 and the flying device 20 in the second imaging step S3. The airspace area s2 grasped by the flight trajectories f11 to f14 that circulate 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 flying device 20 reaches a preset flight condition, any step (the sky imaging step S1, the first imaging step S2) executed by the flying device 20 at the time of arrival is reached. The second imaging step S3) is interrupted, and the position on the tower 1 at which any step is interrupted is stored in the memory (not shown) of the server 30 of the flying device 20.

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

  Next, based on FIGS. 11-16, the procedure which images the steel 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 surface E on which the tower 1 to be imaged is erected is a flightable site E1 in which the flying device 20 is allowed to fly over it. In the case of the flightable site E1, it is confirmed whether or not a surrounding structure exists around the steel tower 1.

  As shown in the figure, when a tree 2 or a house 3 which is a peripheral structure exists around the steel tower 1, the flying device 20 is operated and the flying device 20 is positioned at the height position of the peripheral structure. The flight altitude of the flying device 20 is adjusted as described above, and the height positions of the surrounding structures are acquired based on the flight altitude of the flying device 20 displayed on the operation screen or the like.

  Similarly, the flight altitude 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 flight altitude of the flying device 20 displayed on the operation screen or the like. Get the position. At this time, if the height of the steel tower 1 is known in advance, the height can be used. If the height is unknown, the flying device 20 is used as in the present embodiment. You can do that.

  The acquired height position of the surrounding 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 tower 1 to the corner of the tower 1 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 flying space A where the flying device 20 can fly, which is set above the flightable site E1. A lower lower limit position L in the first imaging step S2 in which an arbitrary distance d1 is added to the height position in the height direction is set (Descent lower limit position setting S2a).

  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 into a substantially cylindrical shape surrounding all sides of the steel tower 1, and a steel tower model M is generated.

  As a result, the tower 1 having a complex shape with a plurality of components such as armrests can be grasped in a simple shape, so that the orbiting flight 20 can be easily set.

  Subsequently, as shown in FIG. 13, the flying device 20 is arranged at the center position O of the steel tower 1, the GPS sensor 22Ca acquires the position where the flying device 20 is arranged as the GPS coordinates, and the acquired GPS coordinates are the server 30. Is input.

  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 over and around the tower 1 is controlled.

  If the flying device 20 cannot be placed at the center position O of the tower 1, the flying device 20 is placed at a position on the diagonal line of the tower 1 in the plane direction, the GPS coordinates of that position are obtained, and the GPS coordinates are obtained. It is also possible to grasp the center position of the connecting diagonal line as the center position O of the steel tower 1.

  Thereafter, the setting of the sky imaging step S1 is performed. In the setting of the sky imaging step S1, the orbital flight setting S1a, the imaging angle setting S1b, and the imaging interval setting S1c are made.

  In the present embodiment, in the orbital flight setting S1a, the radius of the flight trajectory f3 at the time of the third orbital flight is set to be the height of the tower 1, and the flying device 20 flies over the tower 1. The height position (flight altitude) from the ground surface E was compared with the height of 1.5 times the height of the tower 1 and the height of the tower added a desired height that can ensure a safe flight altitude. The higher height of the time is set to be the flight altitude.

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

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

  The setting of the lowering lower limit position S2a is executed when the height position of the surrounding structure is input to the server 30, so that the trouble of setting in the setting of the first imaging step S2 is omitted.

  In the present embodiment, in the orbital flight setting S2b, as shown in FIG. 14, a desired distance d2 that can secure a safe flight distance from the tower 1 to the radius Mr of the tower model M during the orbital flight. Is set so that the flying device 20 performs the orbital flight indicated by the flight trajectory f4 or the orbital flight indicated by the flight trajectory f10.

  In this embodiment, in the orbital flight setting S2b, the flying device 20 is set to perform seven orbiting flights, but the number of orbiting flights can be set as appropriate.

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

  In the present embodiment, in the orbital flight setting S3a, the flying device 20 has the same flight radius fr as the flight radius fr set in the orbital flight setting S2b in the first imaging step S2, and the orbiting flight 20 is indicated by the flight trajectory f11. It is set to execute the orbital flight indicated by the flight locus f14.

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

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

  By making each of the above settings, the setting of the flight program is completed, and based on the set flight program, the flight control unit 33A performs the sky imaging step S1, the first imaging step S2, and the second imaging step S3. In some cases, the flight condition processing step S4 is executed.

  As shown in FIG. 15, the camera 27 positioned by the gimbal at a position where the flying device 20 makes a circular flight indicated by the flight trajectory f <b> 1 and can image the upper side of the tower 1 by executing the sky imaging step S <b> 1. The upper side of the pylon 1 is imaged, and the imaging angle of the pylon 1 by the camera 27 is changed by moving to the orbital flight indicated by the flight trajectory f2 and the orbital flight indicated by the flight trajectory f3. Take an image.

  Thereby, from the upper side to the lower side of the steel tower 1 and further, it is acquired as a captured image including the surrounding environment of the steel tower 1 such as the trees 2 and the houses 3 which are peripheral structures existing around the steel tower 1. A three-dimensional model close to the actual environment of the steel tower 1 can be created.

  After the sky imaging step S1 is completed, the process proceeds to the first imaging step S2. While the first imaging step S2 is executed, the flying device 20 performs the orbital flight indicated by the flight trajectory f4 or the orbital flight indicated by the flight trajectory f10 from the upper side to the lower side of the tower 1 while descending to the lower limit position L. When the orbital flight is performed, the steel tower 1 is imaged at the imaging angle of the camera 27 set in the imaging angle setting S2c.

  Here, in the present embodiment, when the flying device 20 is making the orbital flight indicated by the flight locus f7, the flight condition set by the setting of the flight condition setting S4a is reached (“the battery 23 of the flying device 20”). Therefore, the first imaging step S2 executed by the flying device 20 is interrupted in the orbital flight indicated by the flight trajectory f7 by the flight condition processing step S4. Imaging is also interrupted.

  At this time, the GPS sensor 22Ca acquires the GPS coordinates of the position on the tower 1 where the orbital flight indicated by the flight trajectory f7 and the imaging of the tower 1 are interrupted, and the acquired GPS coordinates are stored in a memory (not shown) of the server 30. Is done.

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

  When the flight condition is canceled, the flying device 20 returns to the position on the tower 1 where the orbital flight indicated by the flight trajectory f7 and the imaging of the tower 1 are interrupted based on the GPS coordinates stored in the memory of the server 30. 16, the orbital flight indicated by flight trajectory f8 to the orbital flight indicated by flight trajectory f10 is made from the position on the restored tower 1, and the imaging angle setting S2c is set from the restored position on the tower 1 as shown in FIG. The imaging of the steel tower 1 is resumed at the imaging angle of the camera 27 that has been set.

  When the flying device 20 is lowered to the 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, when the flying device 20 is at the lower-lower limit position L, the flying device 20 performs the orbital flight indicated by the flight trajectory f11 or the circular flight indicated by the flight trajectory f14, and the circular flight indicated by the flight trajectory f11 or the flight trajectory f14. The imaging angle of the steel tower 1 by the camera 27 is changed as the transition to the orbital flight shown in FIG.

  By this second imaging step S3, it is possible to capture a captured image by capturing an image of the steel tower 1 below the lower limit position L where the flying device 20 cannot descend any further.

  The orbiting flight indicated by the flight trajectory f11 of the flying device 20 in the second imaging step S3 or the orbiting flight indicated by the flight trajectory f14 in the second imaging step S3 and the orbiting flight indicated by the flight trajectory f10 of the flying device 20 in the first imaging step S2 are performed in this embodiment. In this embodiment, the lower limit position L, which is the same height position, is executed.

  Thus, since the flying 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, the upper side to the lower side of the tower 1 In addition, an image of the tower 1 below the lower lower limit position L set based on the height positions of the trees 2 and the houses 3 around the tower 1 that the flying device 20 cannot descend any further, Simple and efficient imaging can be performed.

  In particular, the flight control unit 33A executes the sky imaging step S1, the first imaging step S2, and the second imaging step S3 in succession, so that peripheral structures such as trees 2 and houses 3 around the steel tower 1 are obtained. It is possible to accurately image all directions of the steel tower 1 including

  Note that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention. In the above embodiment, the case where the structure is the steel tower 1 has been described. However, if the structure is long in the vertical direction, for example, a high-rise apartment, a chimney, an antenna tower, a lighthouse, a windmill, a tree, and further a kannon image It is also possible to pick up an image.

1 Steel tower (structure)
2 trees (neighboring structures)
3 houses (neighboring structures)
DESCRIPTION OF SYMBOLS 10 Imaging system 20 Flight apparatus 22 Flight controller 22B Memory 22Ca GPS sensor 30 Server 33A Flight control part f1-f14 Flight locus L Falling lower limit position M Steel tower model O Center position r Radius S1 Sky imaging step S2 1st imaging step S3 2nd imaging Step S4 Flight condition processing step

Claims (2)

In an imaging system that images a structure that is long in the vertical direction with a camera mounted on a flying device,
A flight control unit that executes an imaging step of imaging the structure with the camera while the flying device autonomously moves from one to the other in the vertical direction of the structure;
The imaging step includes
Obtaining a height position of a surrounding structure existing around the structure;
Limiting the descent when the height position of the flying device reaches a descent lower limit position set based on the height position of the surrounding structure,
The height position of the surrounding structure is set by adjusting the flight altitude of the flying device so that the flying device is positioned at the height position of the surrounding structure, and obtaining based on the flight altitude. An imaging system characterized by the above. In an imaging method for imaging a vertically long structure with a camera mounted on a flying device,
An imaging step of imaging the structure with the camera while the flying device autonomously moves from one to the other in the vertical direction of the structure;
The imaging step includes
Obtaining a height position of a surrounding structure existing around the structure;
Limiting the descent when the height position of the flying device reaches a descent lower limit position set based on the height position of the surrounding structure,
The height position of the surrounding structure is set by adjusting the flight altitude of the flying device so that the flying device is positioned at the height position of the surrounding structure, and obtaining based on the flight altitude. An imaging method characterized by the above.