JP6930123B2 - Control methods, flying objects, controls, generators, and programs - Google Patents

Description

The present invention relates to control methods, flying objects, control devices, generators, and programs.

Research and development are being conducted on technologies that control flying objects such as drones and allow them to perform predetermined tasks.

In this regard, the transmission line to be inspected is imaged from a plurality of positions by the flying object, and the three-dimensional shape in the region including the transmission line is represented based on the image captured by the flying object at each of the plurality of positions. A method for generating a three-dimensional point cloud is known (see Non-Patent Document 1).

Applicability of small unmanned aerial vehicles on evaluation of tree-wire distance for transmission instruments., Ko Nakaya, Yuji Oishi, and Jumpei Suzuki, Environmental Science Research Laboratory Rep. No.V15004.

However, in the conventional method, there is a case that the position where the captured image necessary for generating the three-dimensional point cloud that accurately represents the three-dimensional shape in the region including the power transmission line can be captured is not clear. As a result, in this method, it may be necessary to repeatedly image the transmission line while changing the flight path by the flying object until a three-dimensional point cloud that accurately represents the three-dimensional shape is generated.

Therefore, the present invention has been made in view of the above-mentioned problems of the prior art, and is a control method capable of suppressing repeated imaging of a plurality of captured images necessary for generating information representing a three-dimensional shape of an object. , Air vehicle, control device, generator, and program.

One aspect of the present invention is a method for controlling an air vehicle including an imaging unit, wherein the control method is based on imaging conditions including at least one of an imaging height, an overlap rate, and a maximum separation distance. The flying object is made to perform a movement in which a movement in a direction along a first direction determined according to an object connecting the two facilities and a movement in a direction orthogonal to the first direction are performed, and the imaging height is set. , The height at which the flying object is made to fly, and the overlap ratio is the image captured by the imaging unit at the first timing after a predetermined imaging cycle has elapsed, and the imaging cycle next to the first timing. It is the ratio of the overlapping portion with the image captured by the imaging unit at the second timing that has passed, and the maximum separation distance is one of the two facilities when the object is viewed in the direction of gravity. This is a control method in which the flying object is the maximum distance away from the object in a direction orthogonal to the direction from one of the two facilities toward the other.

One aspect of the present invention can suppress the repetition of imaging of a plurality of captured images necessary for generating information representing the three-dimensional shape of an object.

It is a block diagram which shows an example of the control system 1 which concerns on this embodiment. It is a figure which shows an example of the hardware composition of the aircraft body 2. It is a figure which shows an example of the hardware composition of the control device 3. It is a figure which shows an example of the functional structure of the control device 3. It is a figure which shows an example of the flow of the process which a control device 3 generates a control program. It is a figure which shows an example of the flight path generated by the control program generation unit 363. It is a figure which shows an example of the flow of the process which a control device 3 causes a flying object 2 to perform an image pickup. It is a figure which shows an example of the flow of the process which a control device 3 generates a three-dimensional point cloud. It is a figure which shows an example of the state of the flying object 2 which image | images the object O which connects the electric equipment T1 and the electric equipment T3. It is a figure which shows an example of the flight path of the flight body 2 when the control device 3 changes the height of the flight body 2.

<Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram showing an example of the control system 1 according to the present embodiment.

<Control system configuration>
First, the configuration of the control system 1 will be described. The control system 1 includes a flying object 2 and a control device 3 for controlling the flying object 2.

The aircraft body 2 is, for example, a drone. The flying object 2 may be another object that can fly in the direction indicated by the control device 3 by the control device 3 such as a radio-controlled airplane, helicopter, or airship instead of the drone. Further, the flying object 2 includes an imaging unit 10 and a GPS (Global Positioning System) unit (not shown). The aircraft body 2 is communicably connected to the control device 3 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

The image pickup unit 10 is, for example, a stereo camera including an image pickup element that converts the focused light into an electric signal. The imaging unit 10 images an imageable range in response to a request from the control device 3. The imaging unit 10 may be configured to capture a still image in the range, or may be configured to capture a moving image in the range. The imaging unit 10 may have a configuration in which the direction of the lens (direction of the optical axis) can be changed in a direction according to an instruction from the control device 3, and the orientation of the lens cannot be changed. May be good. The image pickup unit 10 is communicably connected to the control device 3 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

The GPS unit includes a GPS antenna, and calculates the latitude, longitude, and altitude of the flying object 2 based on signals received from a plurality of artificial satellites by the GPS antenna.

The control device 3 is a controller that controls the flying object 2. The control device 3 is, for example, a notebook PC (Personal Computer), a tablet PC, a multifunctional mobile phone (smartphone), a PDA (Personal Digital Assistant), or the like.

The control device 3 generates a flight path, which is a path for flying the flying object 2, based on the imaging conditions received from the user. The control device 3 generates a control program for flying the flying object 2 along the generated flight path. The control device 3 flies the flying object 2 based on the generated control program. Further, the control device 3 causes the image pickup unit 10 to take an image of a range in which the image pickup unit 10 can take an image each time the image pickup cycle received in advance from the user elapses while the flying object 2 is flying. The control device 3 acquires a plurality of captured images captured by the imaging unit 10 from the imaging unit 10. The control device 3 generates information indicating the three-dimensional shape of the object captured in the captured image based on the acquired plurality of captured images. In the following, as an example, a case where the information indicating the three-dimensional shape of the object is a three-dimensional point cloud representing the three-dimensional shape of the object will be described. The information indicating the three-dimensional shape of the object may be other information indicating the three-dimensional shape of the object instead of the three-dimensional point cloud.

<Overview of control of the flying object by the control device>
The outline of the control of the flying object 2 by the control device 3 will be described below.

The control device 3 causes the flying object 2 to image an object connecting the two facilities. The two equipments are, for example, two electrical equipments. In addition, at least one of the two facilities may be another building such as a house instead of the electric facility. In the example shown in FIG. 1, the control device 3 causes the flying object 2 to image a region including an object O connecting the electric equipment T1 and the electric equipment T2, which are two electric equipments. The electric equipment T1 and the electric equipment T2 are steel towers for supporting the transmission line, respectively. In addition, either one of the electric equipment T1 and the electric equipment T2 may be another electric equipment such as a substation instead of the steel tower. The object O is, in this example, a power transmission line. The object O may be another linear object such as a communication line or a distribution line instead of the transmission line.

The object O as shown in FIG. 1 may come into contact with an obstacle such as a tree or a building between the electric equipment T1 and the electric equipment T2. Therefore, the manager who manages the object O, such as an electric power company, needs to measure the separation distance between the obstacle and the object O. When such a separation distance is measured visually by a human being, in addition to a large error, it takes time and effort. Therefore, the administrator wants to image the region including the object O by the flying object 2 and generate a three-dimensional point cloud representing the three-dimensional shape in the region including the object O.

However, since the position where the captured image necessary for generating the three-dimensional point cloud in the region including the object O can be accurately represented is not clear, the control device X (for example, different from the control device 3) is different from the control device 3. In the conventional control device), it may be necessary to repeatedly image the object O while changing the flight path by the flying object 2 until a three-dimensional point cloud that accurately represents the three-dimensional shape is generated. ..

In order to solve such a problem, the control device 3 combines the movement in the direction along the first direction determined according to the object connecting the two facilities and the movement in the direction orthogonal to the first direction. Let the flying object 2 perform the movement. As a result, the control device 3 can make the flying object 2 take an image captured in order to generate a three-dimensional point cloud that accurately represents the three-dimensional shape in the region including the object O, and as a result. It is possible to suppress the repetition of imaging of a plurality of captured images necessary for generating information representing the three-dimensional shape of the region including the object O. Hereinafter, a method of controlling the flying object 2 by the control device 3 will be described in detail.

<Hardware configuration of the flying object>
Hereinafter, the hardware configuration of the aircraft 2 will be described with reference to FIG. FIG. 2 is a diagram showing an example of the hardware configuration of the flying object 2. The aircraft body 2 includes, for example, a CPU (Central Processing Unit) 21, a storage unit 22, and a communication unit 24. Further, the flying object 2 communicates with the control device 3 via the communication unit 24. These components are communicably connected to each other via the bus Bus1.

The CPU 21 controls the entire flying object 2. The CPU 21 operates the actuator included in the flying object 2 based on the instruction from the control device 3, and causes the flying object 2 to fly in the direction instructed by the control device 3.
The storage unit 22 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), and the like. The storage unit 22 stores various information and the like processed by the flying object 2. The storage unit 22 may be an external storage device connected by a digital input / output port or the like such as USB (Universal Serial Bus) instead of the one built in the flying object 2.
The communication unit 24 includes, for example, a digital input / output port such as Wi-Fi (registered trademark).

<Hardware configuration of control device 3>
Hereinafter, the hardware configuration of the control device 3 will be described with reference to FIG. FIG. 3 is a diagram showing an example of the hardware configuration of the control device 3. The control device 3 includes, for example, a CPU 31, a storage unit 32, an input reception unit 33, a communication unit 34, and a display unit 35. Further, the control device 3 communicates with the flying object 2 and the imaging unit 10 via the communication unit 34. These components are communicably connected to each other via the bus Bus2.

The CPU 31 executes various programs stored in the storage unit 32.
The storage unit 32 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), and the like. The storage unit 32 stores various information, various programs, various images, and the like processed by the flying object 2. The storage unit 32 may be an external storage device connected by a digital input / output port such as USB, instead of the one built in the control device 3.

The input receiving unit 33 is, for example, a keyboard, a mouse, a touch pad, or other input device. The input receiving unit 33 may be integrally configured with the display unit 35 as a touch panel.
The communication unit 34 includes, for example, a digital input / output port such as Wi-Fi (registered trademark), an Ethernet (registered trademark) port, and the like.
The display unit 35 is, for example, a liquid crystal display panel or an organic EL (ElectroLuminescence) display panel.

<Functional configuration of control device>
Hereinafter, the functional configuration of the control device 3 will be described with reference to FIG. FIG. 4 is a diagram showing an example of the functional configuration of the control device 3. The control device 3 includes a storage unit 32, an input reception unit 33, a communication unit 34, a display unit 35, and a control unit 36.

The control unit 36 controls the entire control device 3. The control unit 36 includes a display control unit 361, a control program generation unit 363, an air vehicle control unit 365, an image pickup control unit 367, an image acquisition unit 369, and a three-dimensional information generation unit 371. Some or all of these functional units included in the control unit 36 are realized, for example, by the CPU 31 executing various programs stored in the storage unit 32. Further, a part or all of these functional parts may be hardware functional parts such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit).

The display control unit 361 generates various images to be displayed on the display unit 35 based on the operation received from the user. The display control unit 361 causes the display unit 35 to display the generated image.
The control program generation unit 363 receives an imaging condition from the user. The control program generation unit 363 generates a flight path to be flown to the flying object 2 based on the received imaging conditions. The control program generation unit 363 generates a control program for flying the flying object 2 along the generated flight path.
The vehicle body control unit 365 flies the aircraft body 2 based on the control program generated by the control program generation unit 363.
The image pickup control unit 367 causes the image pickup unit 10 to take an image of a range in which the image pickup unit 10 can take an image.
The image acquisition unit 369 acquires an image captured by the image pickup unit 10 from the image pickup unit 10.
The three-dimensional information generation unit 371 generates a three-dimensional point cloud showing a three-dimensional shape in a region including an object captured in the captured image based on a plurality of captured images acquired by the image acquisition unit 369.

<Processing by the control device to generate a control program>
Hereinafter, the process of generating the control program by the control device 3 will be described with reference to FIG. FIG. 5 is a diagram showing an example of a processing flow in which the control device 3 generates a control program. In the following, a case where the operation screen for receiving the operation from the user is displayed in advance on the display unit 35 by the display control unit 361 at the timing before the processing of the flowchart shown in FIG. 5 is executed will be described.

The control program generation unit 363 receives an imaging condition from the user via the operation screen displayed on the display unit 35 (step S110). Specifically, the control program generation unit 363 waits until the image pickup condition is received from the user via the operation screen displayed on the display unit 35. When the user clicks the button to end the acceptance of the imaging condition after the user inputs the imaging condition on the operation screen, the control program generation unit 363 determines that the imaging condition has been accepted.

Here, the imaging conditions will be described. In this example, the imaging conditions include the above-mentioned imaging cycle, overlap rate, number of pixels, lens focal length, imaging height, position of electrical equipment T1, position of electrical equipment T2, imaging start position, imaging end position, and maximum. The separation distance and the flight speed of the flying object 2 are included. The imaging period is, for example, 3 seconds. The imaging cycle may be shorter than 3 seconds or longer than 3 seconds. The duplication rate is the ratio of the overlapping portion between the image captured by the imaging unit 10 at a certain timing when the imaging cycle has elapsed and the image captured by the imaging unit 10 at the timing when the next imaging cycle of the timing has elapsed. That is. In order to generate a three-dimensional point cloud that accurately represents a three-dimensional shape in a region containing an object captured in the captured image based on a plurality of captured images, the ratio of overlapping portions of these captured images is about 90%. It is known that it needs to be more than that. Therefore, the duplication rate is, for example, 90%. The duplication rate may be any rate as long as it is 90% or more. The overlap rate may be less than 90% when there is a high possibility that a three-dimensional point cloud that accurately represents the three-dimensional shape in the region cannot be generated. The number of pixels is the number of pixels of the image pickup device included in the image pickup unit 10, and is, for example, 4000 × 3000 pixels (that is, 12000000 pixels). The number of pixels may be smaller than 4000 × 3000 pixels, or may be larger than 4000 × 3000 pixels. The focal length of the lens is the focal length of the lens included in the imaging unit 10, and is, for example, 20 mm. The focal length of the lens may be shorter than 20 mm or longer than 20 mm. The imaging height is the height at which the flying object 2 is flown based on the lowest portion of the height from the ground to the object O, and is, for example, 70 m. The imaging height may be lower than 70 m and higher than 70 m. The position of the electrical equipment T1 is, for example, the latitude and longitude of the electrical equipment T1. The position may be another position associated with the electric equipment T1. The position of the electrical equipment T2 is, for example, the latitude and longitude of the electrical equipment T2. The position may be another position associated with the electric equipment T2. The imaging start position is the latitude and longitude of the position where the flying object 2 starts imaging. The imaging end position is the latitude and longitude of the position where the flying object 2 ends imaging. The maximum separation distance is the maximum distance that the flying object 2 separates from the object O in a direction orthogonal to the direction from the electric equipment T1 to the electric equipment T2 along the object O when the object O is viewed in the direction of gravity. Is. In this example, the flight speed of the flying object 2 is the maximum reaching speed of the flying object 2 when the image pickup unit 10 is performing an image pickup.

After accepting the imaging conditions in step S110, the control program generation unit 363 generates a flight path for flying the flying object 2 based on the accepted imaging conditions (step S120). Here, the process of step S120 will be described with reference to FIG.

FIG. 6 is a diagram showing an example of a flight path generated by the control program generation unit 363. The point SP shown in FIG. 6 shows an example of the imaging start position. Further, the point EP indicates an example of the imaging end position. The control program generation unit 363 generates a flight path connecting the image pickup start position received from the user in step S110 to the image pickup end position. The flight path has a relay position that is one or more positions that change the direction in which the flying object 2 flies. Here, a case where there are N relay positions will be taken as an example (N is an integer of 1 or more), the imaging start position will be the 0th relay position, and the imaging end position will be described as the N + 1th relay position. In the flight path, the path that moves from the nth relay position (n is an integer of 1 or more and N or less) to the n + 1th relay position is a straight line. Further, in the flight path, the path from the nth relay position to the n + 1th relay position intersects the object O once when the object O is viewed in the direction of gravity. Further, in the flight path, in this case, the distance from the line segment extending in the direction along the object O, which is the distance along the direction orthogonal to the object O, to each relay position is the same distance from each other. Further, in the flight path, the distance between the 2nth relay position and the 2 (n + 1) th relay position, and the distance between the 2n + 1st relay position and the 2 (n + 1) + 1st relay position are , The same distance from each other. In the following, these distances will be referred to as survey line intervals. In the example shown in FIG. 6, the distance L1 between the points NP1 and the point NP3 is the survey line interval between the first relay position and the third relay position. The control program generation unit 363 calculates the maximum distance that can be selected as the line spacing based on the imaging conditions received from the user in step S110. That is, the survey line interval is a distance equal to or less than the distance calculated by the control program generation unit 363. The control program generation unit 363 has a path connecting the nth relay position and the n + 1th relay position, and an n + 2nd relay position based on the measurement line interval, the imaging start position, the imaging end position, and the maximum separation distance. Each relay position is calculated so that the path connecting the relay position and the n + 3rd relay position is parallel. Here, each relay position is represented by latitude and longitude. In the example shown in FIG. 6, each of the points NP1 to NP5 is each of the first relay position to the fifth relay position calculated by the control program generation unit 363, and the point SP is the 0th relay position. And the point EP is the sixth relay position. After calculating each relay position, the control program generation unit 363 generates a flight path in which each relay position is sequentially connected by a straight line. The route TR shown in FIG. 6 is an example of such a flight route. The path TR is a flight path when the object O is viewed in the direction of gravity, and is a flight path in which the object O repeatedly flies in a zigzag manner while intersecting the object O repeatedly from the imaging start position to the imaging end position. In this example, the control program generation unit 363 calculates a flight path that keeps the height of the flying object 2 at the above-mentioned imaging height.

When the flying object 2 flies along the flight path calculated by the control program generation unit 363, the flying object 2 is an object connecting the electric equipment T1 and the electric equipment T2, which are two facilities, as shown in FIG. The movement is performed by combining the movement in the direction along the first direction determined according to O and the movement in the direction orthogonal to the first direction. Further, in this case, when the locus of the flying object 2 is viewed from a direction perpendicular to the plane including the locus of the flying object 2, the locus intersects the object O at least once. The first direction is the direction from the electric equipment T1 to the electric equipment T2 along the object O when the object O is viewed in the direction of gravity. Further, in this example, the orthogonal direction is a direction parallel to a plane orthogonal to the gravitational direction.

After the flight path is generated in step S120, the control program generation unit 363 generates a control program for flying the flying object 2 along the generated flight path (step S130). The control program generation method may be a known method or a method to be developed in the future. Next, the control program generation unit 363 stores the control program generated in step S130 in the storage unit 32 (step S140), and ends the process.

<Processing by the control device to make the flying object take an image>
Hereinafter, a process in which the control device 3 causes the flying object 2 to perform imaging will be described with reference to FIG. 7. FIG. 7 is a diagram showing an example of a processing flow in which the control device 3 causes the flying object 2 to perform imaging. In the following, a case where the processing of the flowchart shown in FIG. 5 is executed in advance before the processing of the flowchart shown in FIG. 7 is executed will be described. Further, in the following, at the timing before the processing of the flowchart shown in FIG. 7 is executed, the control device 3 is made to start the processing of causing the flying object 2 to take an image through the operation screen that accepts the operation from the user. The case where the operation has already been accepted will be described.

The aircraft body control unit 365 reads out the control program stored in advance in the storage unit 32 from the storage unit 32 (step S210). Next, the flying object control unit 365 flies the flying object 2 based on the control program read in step S210, and moves the flying object 2 to the imaging start position (that is, the 0th relay position described above) (step). S220). Next, the flight body control unit 365 acquires information indicating the latitude, longitude, and altitude of the flight body 2 from the GPS unit of the flight body 2. The flight body control unit 365 determines whether or not the position of the flight body 2 coincides with the imaging start position based on the acquired latitude, longitude, and altitude of the flight body control unit 365 (step S230). When it is determined that the position of the flying object 2 does not match the imaging start position (step S230-NO), the flying object control unit 365 continues to move the flying object 2 to the imaging start position. On the other hand, when it is determined that the position of the flying object 2 coincides with the imaging start position (step S230-YES), the flying object control unit 365 starts the flight of the flying object 2 along the flight path indicated by the control program. The image pickup control unit 367 causes the image pickup unit 10 to take an image of a range in which the image pickup unit 10 can take an image each time the image pickup cycle received from the user elapses (step S240). Here, the image acquisition unit 369 acquires the image captured by the image pickup unit 10 from the image pickup unit 10 each time the imaging cycle elapses, and stores the acquired image acquisition image in the storage unit 32 in chronological order.

Next, the flight body control unit 365 acquires information indicating the latitude, longitude, and altitude of the flight body 2 from the GPS unit of the flight body 2. The flight body control unit 365 determines whether or not the position of the flight body 2 coincides with the imaging end position based on the acquired latitude, longitude, and altitude of the flight body control unit 365 (step S250). When it is determined that the position of the flying object 2 does not match the imaging end position (step S250-NO), the flying object control unit 365 continues the flight of the flying object 2. On the other hand, when it is determined that the position of the flying object 2 coincides with the imaging end position (step S250-YES), the flying object control unit 365 moves the flying object 2 to the position where the flying object 2 starts flying to the imaging start position. (Step S260) to end the process. The flight path of the flying object 2 in step S260 may be any path. Further, in the flight of the flying object 2 in step S260, the image of the region including the object O by the flying object 2 may or may not be performed.

<Processing by the control device to generate a 3D point cloud>
Hereinafter, a process in which the control device 3 generates a three-dimensional point cloud will be described with reference to FIG. FIG. 8 is a diagram showing an example of a processing flow in which the control device 3 generates a three-dimensional point cloud. In the following, a case where the processing of the flowchart shown in FIG. 7 is executed in advance before the processing of the flowchart shown in FIG. 8 is executed will be described. Further, in the following, an operation of causing the control device 3 to start a process of generating a three-dimensional point cloud via an operation screen that accepts an operation from a user at a timing before the process of the flowchart shown in FIG. 8 is executed. Will be described when the above is already accepted.

The three-dimensional information generation unit 371 reads out a plurality of captured images stored in the storage unit 32 in chronological order from the storage unit 32 (step S310). Next, the three-dimensional information generation unit 371 generates a three-dimensional point cloud representing the three-dimensional shape in the region including the object O based on the plurality of captured images read in step S310 (step S320). Specifically, the three-dimensional information generation unit 371 generates a three-dimensional point cloud based on SfM / MVS (Structure from Motion / Multi-View Stereo) analysis. The three-dimensional information generation unit 371 may be configured to generate a three-dimensional point cloud by another method.

Next, the display control unit 361 displays the three-dimensional point cloud generated by the three-dimensional information generation unit 371 in the display unit 35 in step S320 (step S330), and ends the process. As a result, the user can calculate the separation distance between the object O and another object (tree or building) based on the three-dimensional point cloud displayed on the display unit 35 in step S330.

<Modified example of the embodiment>
Hereinafter, a modified example of the embodiment will be described with reference to FIG. In the embodiment, the control device 3 has generated a flight path that does not change the height of the flying object 2. In a modified example of the embodiment, the control device 3 generates a flight path that changes the height of the flying object 2, that is, its position in the direction of gravity.

FIG. 9 is a diagram showing an example of a state of the flying object 2 in which the object O connecting the electric equipment T1 and the electric equipment T3 is imaged. The electric equipment T3 is an electric equipment whose height is lower than the height of the electric equipment T1. In such a case, the control device 3 determines the distance between the flying object 2 and the object O at one or more positions intersecting the object O in the flight path of the flying object 2 when the object O is viewed in the direction of gravity. The height of the flying object 2 may be changed accordingly. The control device 3 may change the height of the flying object 2 stepwise, and moves the object O along a direction orthogonal to the direction of gravity and orthogonal to the above-mentioned first direction. It may be changed according to the shape of the object O when viewed, or may be changed by another method. For example, as shown in FIG. 10, when the distance becomes a predetermined distance H2 or more, the control device 3 lowers the height of the flying object 2 by the distance H3. FIG. 10 is a diagram showing an example of a flight path of the flight body 2 when the control device 3 changes the height of the flight body 2. The path TRH shown in FIG. 10 is an example of the flight path of the flying object 2 when the control device 3 changes the height of the flying object 2. As a result, the control device 3 can generate a three-dimensional point cloud that accurately represents the three-dimensional shape of an object connecting two facilities having a height difference.

In the example described above, the control device 3 has a configuration in which the flying object 2 is made to fly so that the plane including the locus of the flying object 2 is parallel to the plane orthogonal to the direction of gravity. Alternatively, the flying object 2 may be flown so that the plane including the locus of the flying object 2 is non-parallel to the plane orthogonal to the direction of gravity. Further, as shown in FIG. 6, the control device 3 has a configuration in which flight paths are generated so that all the survey line intervals are the same as each other, but instead of this, a part of the survey line intervals is generated. Alternatively, the flight paths may be generated so that all of them are spaced apart from each other. Further, the control device 3 may be configured to generate one linear path connecting the imaging start position and the imaging end position as a flight path. In this case, when the object O is viewed in the direction of gravity, the path intersects the object O once. Further, the control device 3 may have a configuration in which the flying object 2 is made to image a region including a part of the object O. Further, the electric equipment T1 and the electric equipment T2 (or the electric equipment T3) may be connected by two or more objects O.

As described above, the control method in the present embodiment is a control method for an air vehicle (air vehicle 2 in the example described above) including an image pickup unit (imaging unit 10 in the example described above). A first determined according to an object (object O in the example described above) connecting two facilities (electrical equipment T1 and electric equipment T2 in the above-described example, or electric equipment T1 and electric equipment T3). The flying object is made to move by combining the movement in the direction along the direction and the movement in the direction orthogonal to the first direction. Thereby, the control method can suppress the repetition of imaging of a plurality of captured images necessary for generating information representing the three-dimensional shape of the object.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and changes, substitutions, deletions, etc. are made as long as the gist of the present invention is not deviated. May be done.

Further, a program for realizing the function of an arbitrary component in the device (for example, control device 3) described above is recorded on a computer-readable recording medium, and the program is read into a computer system and executed. You may do so. The term "computer system" as used herein includes hardware such as an OS (Operating System) and peripheral devices. The "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD (Compact Disk) -ROM, or a storage device such as a hard disk built in a computer system. .. Furthermore, a "computer-readable recording medium" is a volatile memory (RAM) inside a computer system that serves as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, it shall include those that hold the program for a certain period of time.

Further, the above program may be transmitted from a computer system in which this program is stored in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting a program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the above-mentioned functions. Further, the above program may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

1 ... control system, 2 ... flying object, 3 ... control device, 10 ... imaging unit, 21, 31 ... CPU, 22, 32 ... storage unit, 24, 34 ... communication unit, 33 ... input reception unit, 35 ... display unit , 36 ... Control unit, 361 ... Display control unit, 363 ... Control program generation unit, 365 ... Air vehicle control unit, 376 ... Imaging control unit, 369 ... Image acquisition unit, 371 ... Three-dimensional information generation unit

Claims (14)

It is a control method for an air vehicle equipped with an imaging unit.
The control method is
Movement in a direction along a first direction determined according to an object connecting two facilities based on an imaging condition including at least one of an imaging height, an overlap rate, and a maximum separation distance, and the first direction. To make the flying object perform a movement that is a combination of movement in a direction orthogonal to the above.
The imaging height is the height at which the flying object is made to fly.
The overlap rate is captured by the imaging unit at the first timing when the predetermined imaging cycle has elapsed and at the second timing when the imaging cycle has elapsed after the first timing. It is the ratio of the overlapping part with the captured image.
The maximum separation distance is such that when the object is viewed in the direction of gravity, the flying object is the object in a direction orthogonal to the direction from one of the two facilities toward the other of the two facilities. The maximum distance away from
Control method. The first direction is a direction along the object when the object is viewed in the direction of gravity.
The control method according to claim 1. The equipment is electrical equipment.
The control method according to claim 1 or 2. The object is a linear object,
The control method according to any one of claims 1 to 3. The direction orthogonal to the first direction is a direction parallel to the plane orthogonal to the direction of gravity.
The control method according to any one of claims 1 to 4. The two facilities are connected by two or more of the objects.
The control method according to any one of claims 1 to 5. When the locus of the air vehicle is viewed from a direction perpendicular to the plane including the locus of the air vehicle, the locus intersects the object at least once.
The control method according to any one of claims 1 to 6. The air vehicle is a drone,
The control method according to any one of claims 1 to 7. The position of the flying object in the direction of gravity is changed according to the shape of the object.
The control method according to any one of claims 1 to 8. Let the imaging unit image the object.
The control method according to any one of claims 1 to 9. It ’s an air vehicle,
Movement in a direction along a first direction determined according to an object connecting two facilities based on an imaging condition including at least one of an imaging height, an overlap rate, and a maximum separation distance, and the first direction. while moving a combination of a movement in the direction perpendicular to the, imaging the object by the imaging unit,
The imaging height is the height at which the flying object is made to fly.
The overlap rate is captured by the imaging unit at the first timing when the predetermined imaging cycle has elapsed and at the second timing when the imaging cycle has elapsed after the first timing. It is the ratio of the overlapping part with the captured image.
The maximum separation distance is such that when the object is viewed in the direction of gravity, the flying object is the object in a direction orthogonal to the direction from one of the two facilities toward the other of the two facilities. The maximum distance away from
Aircraft. A control device that controls an air vehicle equipped with an image pickup unit.
Movement in a direction along a first direction determined according to an object connecting two facilities based on an imaging condition including at least one of an imaging height, an overlap rate, and a maximum separation distance, and the first direction. To make the flying object perform a movement that is a combination of movement in a direction orthogonal to the above.
The imaging height is the height at which the flying object is made to fly.
The overlap rate is captured by the imaging unit at the first timing when the predetermined imaging cycle has elapsed and at the second timing when the imaging cycle has elapsed after the first timing. It is the ratio of the overlapping part with the captured image.
The maximum separation distance is such that when the object is viewed in the direction of gravity, the flying object is the object in a direction orthogonal to the direction from one of the two facilities toward the other of the two facilities. The maximum distance away from
Control device. A control program generator that controls an air vehicle equipped with an image pickup unit.
The generator is
Movement in a direction along a first direction determined according to an object connecting two facilities based on an imaging condition including at least one of an imaging height, an overlap rate, and a maximum separation distance, and the first direction. the movement that combines the movement in the direction perpendicular to the causes to the aircraft, and generating the control program,
The imaging height is the height at which the flying object is made to fly.
The overlap rate is captured by the imaging unit at the first timing when the predetermined imaging cycle has elapsed and at the second timing when the imaging cycle has elapsed after the first timing. It is the ratio of the overlapping part with the captured image.
The maximum separation distance is such that when the object is viewed in the direction of gravity, the flying object is the object in a direction orthogonal to the direction from one of the two facilities toward the other of the two facilities. The maximum distance away from
Generator. A computer that controls an air vehicle equipped with an image pickup unit
Movement in a direction along a first direction determined according to an object connecting two facilities based on an imaging condition including at least one of an imaging height, an overlap rate, and a maximum separation distance, and the first direction. It is a program that causes the flying object to perform a movement that combines movement in a direction orthogonal to the above.
The imaging height is the height at which the flying object is made to fly.
The overlap rate is captured by the imaging unit at the first timing when the predetermined imaging cycle has elapsed and at the second timing when the imaging cycle has elapsed after the first timing. It is the ratio of the overlapping part with the captured image.
The maximum separation distance is such that when the object is viewed in the direction of gravity, the flying object is the object in a direction orthogonal to the direction from one of the two facilities toward the other of the two facilities. The maximum distance away from
program.

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