JP6737521B2 - Height position acquisition system and imaging system, height position acquisition method, and imaging method - Google Patents

Description

The present invention relates to a height position acquisition system and an imaging system, a height position acquisition method, and an imaging method.

In the case of observing an object from a high place or taking an aerial image of the ground from the sky, a flying device such as a so-called drone or multicopter that fly by rotation of a plurality of propellers has been 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 flight device.

JP, 2018-10630, A

By the way, as in the above-mentioned Patent Document 1, when an image of an object is taken by a camera mounted on a flight device, an operator operates the flight device to take an image by the camera. If it is possible to automatically control the imaging of the target object, it is possible to easily and efficiently acquire an image of the target object.

The present invention has been made in view of the above circumstances, and obtains a height position so that an image of the target can be captured easily and efficiently even when the height position of the target is unknown. It is an object of the present invention to provide a height position acquisition system and a height position acquisition method therefor.

In order to achieve the above object, the height position acquisition system according to the present invention is a height position acquisition system for acquiring the height position of an object by a flight device, and a step of acquiring the height position of the object. A step of acquiring a height position of the object, which comprises a flight control unit that executes, adjusts a flight altitude of the flight device so that the flight device is located at a height position of the object, It is characterized by acquiring.

In order to achieve the above object, a height position acquisition method according to the present invention is a height position acquisition method of acquiring a height position of an object by a flight device, the step of acquiring the height position of the object. The step of acquiring the height position of the object includes adjusting the flight altitude of the flight device so that the flight device is located at the height position of the object, and acquiring the flight altitude. I am trying.

According to the present invention, even when the height position of the object is unknown, the height of the structure can be easily and efficiently captured by using the autonomously flying device. The position can be obtained.

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 configuration of the flight device according to the present embodiment. Similarly, it is a block diagram explaining the software configuration of the flight controller of the flight device which concerns on this Embodiment. Similarly, it is a block diagram explaining the hardware constitutions of the server of the imaging system which concerns on this Embodiment. Similarly, it is a block diagram explaining the software configuration of the server of the imaging system which concerns on this Embodiment. Similarly, it is a block diagram explaining the outline of the processing executed 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 sky imaging step 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 1st imaging step 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 2nd imaging step 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 1st imaging step and the 2nd imaging step 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 procedure which images a structure using the imaging system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the procedure which images a structure using the imaging system which concerns on this Embodiment.

Next, an imaging system according to the embodiment of the present invention will be described based on FIGS. 1 to 16.

In the present embodiment, a case where the structure imaged by the imaging system is a vertically long elongated tower, a tower, a high-rise building or the like that is erected on the ground will be described as an example.

FIG. 1 is a diagram illustrating the 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 communicably connected to the flying device 20 via a communication network 40.

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

FIG. 2 is a block diagram illustrating 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 electric power via the flight controller 22, and a speed control unit (Electronic) 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 fixed to the airframe to take an image of part or all of the steel 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 transceiver (propo), an information terminal, a display device, or another remote controller. In the form, it mainly communicates with the server 30.

The transmitting/receiving unit 21 is, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication. , And so on.

Further, the transmission/reception unit 21 executes transmission/reception of various data such as various kinds of acquired data, processing results generated by the flight controller 22, various kinds of control data, and 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 formed of, for example, a CPU (Central Processing Unit), controls the operation of the flight controller 22, controls the transmission and reception of data between the respective elements, and performs the processing necessary for executing the program. ..

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 non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). ..

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

Furthermore, the data acquired from the camera 27, the sensors 22C, etc. may be directly transmitted to 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 for imaging the tower 1 with the gimbal, and in the present embodiment, an RGB image capturing visible light is captured. On the other hand, a thermal image capturing infrared rays may be captured, or both the RGB image and the 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 flight device 20 according to the present embodiment. As illustrated, the flight controller 22 includes an instruction receiving unit 22Ba, a body control unit 22Bb, a position/orientation information acquisition unit 22Bc, an imaging processing unit 22Bd, an imaging information transmission unit 22Be, a position/orientation information storage unit 22Bf, and an imaging information storage unit 22Bg. Equipped with.

The instruction receiving unit 22Ba, the machine 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 storage areas provided by the memory 22B.

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

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

The motor 25 is driven by the control of the machine body control unit 22Bb to rotate the propeller 26, so that lift force for flying the flying device 20 is generated.

On the other hand, the airframe controller 22Bb can also execute various controls so that the flying device 20 can fly autonomously without depending on the flight operation command.

The position/orientation information acquisition unit 22Bc acquires information indicating the current position and attitude of the flying device 20 (hereinafter referred to as “position/orientation information”). In the present embodiment, the position and orientation information includes the position of the flying device 20 on the map represented 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 waves received by the GPS sensor 22Ca from the GPS satellites.

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

Furthermore, the position/orientation information acquisition unit 22Bc determines 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 device 20 (the inclination of the optical axis of the camera 27) are stored in the position/orientation information storage unit 22Bf.

The image capturing processing unit 22Bd controls the camera 27 to capture an image of part or all of the steel tower 1, and acquires a captured image captured by the camera 27.

In the present embodiment, the image pickup processing unit 22Bd takes an image at a preset timing, and it is possible to take an image at any designated 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.

The captured image obtained by the image capturing processing unit 22Bd is the date and time of image capturing, the latitude and longitude (image capturing position) on the map of the flight device 20 at the time of image capturing, the flight altitude (image capturing altitude) of the flight device 20 at the time of image capturing, and the flight device 20. Imaging information is generated by associating the orientation (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, image pickup information in which the image pickup date and time, the image pickup position, the image pickup height, and the tilt are associated with the picked up image is transmitted to the server 30.

FIG. 4 is a block diagram illustrating the hardware configuration of the server 30 according to this 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, controls the transmission and reception of data between the respective elements forming the server 30, and performs the processing necessary for executing the program.

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 non-volatile 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), a flash memory, or the like.

The communication device 34 communicates with another device via the communication network 40, and in the present embodiment, communicates with the flight device 20. The communication device 34 is, 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 or RS232C connector for serial communication. It is composed by including.

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

FIG. 5 is a block diagram illustrating the software configuration of the server 30 according to this embodiment. As illustrated, the server 30 includes a flight control unit 33A, an imaging information receiving unit 33B, a three-dimensional model creating unit 33C, an abnormality detecting unit 33D, a three-dimensional model display unit 33E, a captured image display unit 33F, and an imaging information storage unit 33G. , A three-dimensional model storage unit 33H and an abnormality information storage unit 33I.

The CPU 31 included in the server 30 stores the flight control unit 33A, the imaging information receiving unit 33B, the three-dimensional model creating unit 33C, the abnormality detection unit 33D, the three-dimensional model display unit 33E, and the captured image display unit 33F in the storage device 33. It is realized by reading the stored program into 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 a part of the storage area provided by the storage device 33 included in the server 30.

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

The imaging information receiving unit 33B receives the 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 is latitude and longitude. And the altitude, and the imaging position, the imaging altitude, and the tilt of the optical axis included in the imaging information can indicate the position of the camera 27 in the world coordinate system and the viewpoint direction.

The three-dimensional model creation unit 33C extracts feature points from the image data included in the imaging information, and the feature points extracted from the plurality of image data based on the imaging position, the imaging height, and the tilt included in the imaging information. To obtain a three-dimensional point cloud in the world coordinate system, which is also called a point cloud.

The three-dimensional model (three-dimensional point group in this embodiment) created in this way 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 to detect an abnormality in 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 flying device 20, or an image of the steel tower 1 at a normal time and a captured image are acquired. The abnormality of the steel tower 1 is detected by using a method such as comparing the above to determine an abnormality.

The abnormality detection unit 33D identifies the position of the world coordinate system with respect to the detected abnormal portion on the captured image.

For example, for each of the points included in the three-dimensional point cloud, on the image when an image is taken in the direction indicated by the tilt included in the imaging information from the camera installed at the imaging position and the imaging altitude included in the imaging information. The position on the specified image is determined and whether or not this position constitutes an abnormal place is determined by whether or not the position on the identified image is included in the area detected as the abnormal place. The coordinates of are specified as the position of the abnormal place.

Information on the detected abnormality (hereinafter, referred to as “abnormality 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 on a plane (hereinafter referred to as "three-dimensional projection image"). May be displayed using a point cloud (point cloud data), or the captured image may be mapped to a three-dimensional model.

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

FIG. 6 is a block diagram illustrating the outline of the processing executed by the flight control unit 33A according to the present embodiment. As illustrated, 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, the flight device 20 makes a plurality of orbits over the tower 1 while maintaining a constant height position from the ground surface E based on a preset flight program. At this time, the camera 27 images the tower 1.

In the present embodiment, the flight device 20 is set to execute, for example, the first orbiting flight indicated by the flight trajectory f1 to the third orbiting flight indicated by the flight trajectory f3, and performs a plurality of orbiting flights. When performing, it is set to image the tower 1 while changing the imaging angle of the camera 27 with the gimbal.

In this sky imaging step S1, the flying device 20 performs the first orbiting flight indicated by the flight trajectory f1 and, after the first orbiting flight, widens the orbiting radius with respect to the first orbiting flight. After the second orbital flight shown by the orbital flight trajectory f2, and after the second orbital flight, the orbital flight trajectory f3 is performed in which the orbital flight is expanded with respect to the second orbital flight. It is set so as to shift to the third orbiting flight shown (orbiting flight setting S1a).

Together with the setting of the orbiting flight, the camera 27 is positioned by the gimbal at a position where the camera 27 of the flying device 20 can image the upper side of the steel tower 1 at the time of the first orbiting flight, and the second time When the orbiting flight is performed, the camera 27 of the flight device 20 is displaced below the tower 1 by the gimbal to change the imaging angle of the tower 1 by the camera 27, and the camera is positioned at a position where the middle part of the tower 1 is imaged. At the time of the third orbital flight, the camera 27 of the flight device 20 is displaced further below the steel tower 1 by the gimbal to change the imaging angle of the steel tower 1 by the camera 27 so that the lower side of the steel tower 1 is imaged. Are set to be performed (imaging angle setting S1b).

In the setting of the imaging angle, when the imaging angle of the tower 1 is changed by the camera 27, the imaging angle is set such that at least a part of the imaging area is continuously overlapped in the vertical direction of the tower 1. It

On the other hand, the imaging intervals when the flight device 20 takes an image of the tower 1 with the camera 27 while flying around the tower 1 are such that at least a part of the imaging regions overlap in the orbiting direction. Is set to (imaging interval setting S1c).

In the sky imaging step S1, the surrounding environment of the steel tower 1 such as trees 2 and houses 3 which are peripheral structures existing around the steel tower 1 from the upper side to the lower side of the steel tower 1 is acquired as a captured image.

FIG. 8 is a diagram illustrating an outline of the first imaging step S2. The first imaging step S2 is executed subsequent to the sky imaging step S1, and as shown in the figure, the flying device 20 moves downward from the upper side of the tower 1 to the lower limit position based on a preset flight program. While descending to L, it orbits around the tower 1 and flies. At this time, the camera 27 captures an image of the tower 1.

In the present embodiment, the flying device 20 executes the orbital flight indicated by the flight trajectory f4 to the orbital flight indicated by the flight trajectory f10 while descending from the upper side to the lower side of the tower 1 to the lower limit lower limit position L, for example. The camera 27 fixed to the gimbal at an arbitrary imaging angle is used to capture an image of the steel tower 1 when the orbiting flight is performed.

When the first imaging step S2 is executed, the lower limit lower limit position L is set to the height position of the peripheral structure having the highest height position among the trees 2 and the houses 3 which are the peripheral structures existing around the steel tower 2. , An arbitrary distance d1 is added and set in the height direction (lower limit lower limit position setting S2a).

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

In the first imaging step S2, the vertical spacing of the tower 1 between the orbiting flight indicated by the flight trajectory f4 and the orbiting flight indicated by the flight trajectory f5 by the flight device 20, and the orbiting flight or flight trajectory f10 indicated by the flight trajectory f5. The interval in the up-down direction in the tower 1 at the time of transitioning to the next orbit flight before the orbit flight is such that the flight device 20 orbits the tower 1 while descending from the upper side to the lower side of the tower 1. The intervals are set such that at least a part of the imaging regions can be continuously imaged so as to overlap in the vertical direction (circling flight setting S2b).

In the first imaging step S2, the camera 27 moves downward of the tower 1 with respect to the height position of the tower 1 corresponding to the flight altitude when the flying device 20 makes a round flight indicated by the flight trajectory f4, for example. It is positioned and is set 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. Accordingly, when unnecessary information exists when creating a three-dimensional model such as a cloud floating above the tower 1 above the frame of the captured image captured in the first imaging step S2, It is possible to prevent unnecessary information from being reflected in the frame of the captured image.

On the other hand, an imaging interval when the flight device 20 takes an image of the tower 1 with the camera 27 while flying around the tower 1 is such that at least a part of the imaging regions overlap in the orbiting direction. Is set to (imaging interval setting S2d).

FIG. 9 is a diagram illustrating an outline of the second imaging step S3. The second imaging step S3 is executed when the flying device 20 descends to the lower descent lower limit position L in the first imaging step S1.

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

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

On the other hand, at the time of transition from the orbital flight indicated by the flight trajectory f11 to the orbital flight indicated by the flight trajectory f12, and at the time of transition to the next orbital flight between the orbital flight indicated by the flight trajectory f12 to the orbital flight indicated by the flight trajectory f14. Is set so as to image the tower 1 while changing the imaging angle of the camera 27 with the gimbal (imaging angle setting S3b).

Specifically, when the flying device 20 makes an orbital flight indicated by the flight trajectory f11, the camera 27 of the flying device 20 is displaced downward by the gimbal from the position positioned in the first imaging step S2, and the camera 27 is moved. The imaging angle of the steel tower 1 is changed so that the steel tower 1 is positioned in the imaging direction a1.

Then, when the flying device 20 makes a round 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 the gimbal to change the imaging angle of the tower 1 by the camera 27. Then, it is set so as to be positioned at the position in the imaging direction a2.

Then, when the flying device 20 makes a round flight shown by the flight trajectory f13, the camera 27 of the flying device 20 is displaced further downward from the imaging direction a2 by the gimbal to change the imaging angle of the tower 1 by the camera 27. Then, it is set so as to be positioned at a position in the imaging direction a3.

Further subsequently, when the flight device 20 performs the orbital flight indicated by the flight trajectory f12, the camera 27 of the flight device 20 is displaced further downward from the imaging direction a3 by the gimbal, and the imaging angle of the tower 1 by the camera 27 is changed. It is set so as to be changed and positioned at a position in the imaging direction 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 a1 to a4, at least a part of the imaging area is continuously overlapped in the vertical direction of the steel tower 1. The image capturing angle is set so that the image can be captured.

On the other hand, an imaging interval when the flight device 20 takes an image of the tower 1 with the camera 27 while flying around the tower 1 is such that at least a part of the imaging regions overlap in the orbiting direction. Is set to (imaging interval setting S3c).

FIG. 10 is a diagram illustrating an outline of the first imaging step S2 and the second imaging step S3. As shown in the figure, in the first imaging step S2, the flight device 20 goes around the tower 1 and flies around the flight track f4 to f10. In the present embodiment, the area s2 of the air space grasped by the flight trajectories f11 to f14 flying around the steel tower 1 is the same.

Therefore, 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, so that the quality of the captured image is improved.

In the flight condition processing step S4, when the flight device 20 reaches a preset flight condition, one of the steps executed by the flight device 20 when the flight device 20 reaches the preset flight condition (the sky imaging step S1 and the first imaging step S2). 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 the flight condition processing step S4, in the present embodiment, for example, “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. "When" or the like is set as a flight condition (flight condition setting S4a).

Next, a procedure for capturing an image of the steel tower 1 using the image capturing system 10 according to the present embodiment will be described based on FIGS. 11 to 16.

As shown in FIG. 11, first, it is confirmed whether the ground surface E on which the steel tower 1 to be imaged is erected is the flyable site E1 in which the flight device 20 is allowed to fly over the ground surface E. However, if the site is the flyable site E1, it is confirmed whether or not surrounding structures exist around the steel tower 1.

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

Similarly, the flight altitude of the flight device 20 is adjusted so that the flight device 20 is located at the height position of the tower 1, and the height of the tower 1 is adjusted based on the flight altitude of the flight 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, but if the height is unknown, the flight device 20 is used as in the present embodiment. You can do that.

The obtained height position of the 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 central position O of the steel tower 1 to the corner of the steel tower 1 to be measured is acquired, and the acquired distance is input to the server 30 as the radius r.

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

On the other hand, when the height position and the radius r of the steel tower 1 are input to the server 30, the steel tower 1 is modeled into a substantially columnar shape surrounding the entire side surface of the steel tower 1, and the steel tower model M is generated.

Accordingly, since the steel tower 1 having a plurality of constituent members such as armbands and having a complicated shape can be grasped with a simple shape, it is possible to easily set the orbit flight by the flying device 20.

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

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

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

After that, the setting of the sky imaging step S1 is performed. In the setting of the sky imaging step S1, the orbiting flight setting S1a, the imaging angle setting S1b, and the imaging interval setting S1c are performed.

In the present embodiment, in the orbital flight setting S1a, the radius of the flight trajectory f3 during the third orbital flight is set to be the height of the tower 1, and the flight device 20 flies over the tower 1. The height position from the surface E (flying height) was compared with 1.5 times the height of the tower 1 and the height of the tower with a desired height to secure a safe flying height. The higher height is set as 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 appropriately, and the radius of the flight trajectory of the orbital flight can be further set. It is also possible to set such that the orbits of a plurality of orbits all have flight trajectories of the same radius without widening.

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

The setting of the lower limit lowering position S2a is executed by inputting the height position of the peripheral structure 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 orbiting flight setting S2b, as shown in FIG. 14, a desired distance d2 that can secure a safe flight distance with the steel tower 1 during the orbiting flight is set to the radius Mr of the steel tower model M. The flight device 20 is set to execute the orbiting flight indicated by the flight trajectory f4 to the orbiting flight indicated by the flight trajectory f10 with the flight radius fr added with.

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

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

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

In the present embodiment, in the orbiting flight setting S3a, the flying device 20 is set to perform four orbiting flights, but the number of orbiting flights can be set appropriately.

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

By setting each of the above-mentioned settings, the setting of the flight program is completed, and based on the set flight program, the flight control unit 33A causes 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 flight device 20 makes an orbital flight indicated by the flight trajectory f1 and an image of the upper side of the tower 1 can be captured by performing the sky imaging step S1. The upper side of the steel tower 1 is imaged with and the imaging angle of the steel tower 1 is changed by the camera 27 as the orbiting flight indicated by the flight trajectory f2 and the orbiting flight indicated by the flight trajectory f3 are changed, and the middle and lower portions of the steel tower 1 are changed. Take an image.

With this, from the upper side to the lower side of the steel tower 1, the surrounding environment of the steel tower 1 such as the trees 2 and the houses 3, which are the peripheral structures existing around the steel tower 1, is acquired as a captured image. It is possible to create a three-dimensional model that is close to the actual environment of the steel tower 1.

After the completion of the sky imaging step S1, the process proceeds to the first imaging step S2. By performing the first imaging step S2, while descending to the lower limit descent position L, the flight device 20 performs the orbital flight indicated by the flight trajectory f4 to the orbital flight indicated by the flight trajectory f10 from the upper side to the lower side of the tower 1. When the orbiting 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 orbiting flight indicated by the flight trajectory f7, the flight condition set by the setting of the flight condition setting S4a is reached (“the battery 23 of the flying device 20”). When the remaining amount of 20% has reached 20%”), the flight condition processing step S4 interrupts the first imaging step S2 executed by the flying device 20 in the orbit flight indicated by the flight trajectory f7, and the 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 orbiting flight 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. To be done.

After that, the flight device 20 returns to the preset return position of the flight device 20, and when the battery 23 is replaced with the fully charged battery 23, the flight condition is canceled.

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

When the flying device 20 descends 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, at the lower limit position L of the flight device 20, the flight device 20 makes the orbital flight indicated by the flight trajectory f11 or the orbital flight indicated by the flight trajectory f14, and the orbital flight or the flight trajectory f14 indicated by the flight trajectory f11. As the flight to the orbit is changed, the imaging angle of the steel tower 1 by the camera 27 is changed, and the steel tower 1 is imaged from the positions in the imaging directions a1 to a4.

By this 2nd imaging step S3, the flight device 20 can image the steel tower 1 below the lower descent lower limit position L which cannot descend further, and can acquire an imaged image.

The orbiting flight indicated by the flight trajectory f11 to the flight trajectory f14 of the flying device 20 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 the present implementation. In the above form, the lower limit position L, which is the same height position, is executed.

In this way, since 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, the upper side to the lower side of the tower 1 Furthermore, the flight device 20 cannot descend further, and an image of the steel tower 1 below the lower limit lowering position L set based on the height positions of the trees 2 and houses 3 around the steel tower 1, Imaging can be performed simply and efficiently.

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

It should be noted 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-described embodiment, the case where the structure is the steel tower 1 has been described, but if the structure is a vertically long structure, for example, a high-rise apartment, a chimney, an antenna tower, a lighthouse, a windmill, trees, and even a Kannon image. It is also possible to take an image of the image.

1 Steel tower (structure)
2 trees (peripheral structures)
3 houses (peripheral structures)
10 Imaging System 20 Flight Device 22 Flight Controller 22B Memory 22Ca GPS Sensor 30 Server 33A Flight Control Units f1 to f14 Flight Trail L Lower Descent Position M Tower Model O Center Position r Radius S1 Aerial Imaging Step S2 First Imaging Step S3 Second Imaging Step S4 Flight condition processing step

Claims (4)

In an imaging system that images an object with a camera mounted on a flight device,
Acquiring the height position of the object by the flight device,
The height based on the position flying height set upper flight as altitude of the object, imaging the object the object ambient the sequentially moving the height direction of the object while orbiting at the camera And a flight controller that executes the imaging step
The step of acquiring the height position of the object includes
Adjusting the flight altitude of the flying device so that the flying device is located at the height position of the object, and acquiring the flight altitude as the height position of the object during air flight,
An imaging system characterized by the above. In an imaging method of imaging an object with a camera mounted on a flight device,
Acquiring the height position of the object by the flight device,
The height based on the position flying height set upper flight as altitude of the object, imaging the object the object ambient the sequentially moving the height direction of the object while orbiting at the camera And the imaging step to be performed by the flight control unit ,
The step of acquiring the height position of the object includes
Adjusting the flight altitude of the flying device so that the flying device is located at the height position of the object, and acquiring the flight altitude as the height position of the object during flight in the air,
An imaging method characterized by the above. A program that causes a server to execute an imaging method of imaging an object with a camera mounted on a flying device,
The imaging method is
Acquiring the height position of the object by the flight device,
With the flight altitude set on the basis of the height position of the target object as an upper limit flight altitude, the height of the target object is sequentially moved while orbiting around the target object, and the target object is imaged by the camera. The flight control section executes the imaging step and
The step of acquiring the height position of the object includes
Adjusting the flight altitude of the flying device so that the flying device is located at the height position of the object, and acquires the flight altitude as the height position of the object during air flight,
A program characterized by that. A server for controlling the flight device so as to image an object with a camera mounted on the flight device,
Acquiring the height position of the object by the flight device,
With the flight altitude set on the basis of the height position of the target object as an upper limit flight altitude, the height of the target object is sequentially moved while orbiting around the target object, and the target object is imaged by the camera. An imaging step, and a flight controller that causes the flight device to execute,
The step of acquiring the height position of the object includes
Adjusting the flight altitude of the flying device so that the flying device is located at the height position of the object, and acquiring the flight altitude as the height position of the object during air flight,
A server characterized by that.