JP6975818B2 - Location information acquisition system, location information acquisition method and program - Google Patents

Description

The present invention relates to a location information acquisition system, a location information acquisition method and a program.

Inspections, surveys, surveillance, environmental surveys, etc. are carried out using images obtained by autonomously flying autonomous mobile objects equipped with cameras such as drones and taking pictures of structures and the surface of the ground from the air. ing. Such an autonomous mobile body is a signal transmitted by a satellite positioning system such as GPS (Global Positioning System), receives a signal indicating the position of the autonomous mobile body, and moves autonomously based on the position indicated by the received signal. do.

Kengo Okumura, Takashi Yoshino "Proposal of Indoor Navigation System Using 2D Code and Sensor", 2011 Information Processing Society of Japan Kansai Branch Meeting, C-08

However, depending on the place where the autonomous mobile body moves, such as under a bridge, there are places where the GPS signal does not reach. In such a case, the autonomous moving body may not be able to grasp the position of its own device and may move to a position deviating from an appropriate position. For example, Visual-SLAM (Simultaneous Localization and Mapping) has been proposed as a method for a moving body to grasp its own position in an environment where a signal transmitted by a satellite positioning system cannot be received. Visual-SLAM simultaneously creates a map for grasping its own position by a camera mounted on the moving body. Visual-SLAM grasps the relative position between the object grasped by the camera and the self-position, and cannot grasp the absolute position unlike the satellite positioning system. For example, when moving a place where a predetermined structure repeatedly appears, such as under a bridge, there is a possibility that the self-position may be lost when a technique for grasping a relative position such as Visual-SLAM is used.

In view of the above circumstances, it is an object of the present invention to provide a technique for a mobile body to acquire a position of its own device in an environment in which a signal transmitted by a satellite positioning system cannot be received.

One aspect of the present invention includes a first position information acquisition unit that acquires first position information that is position information of its own device using a satellite positioning system, a survey unit that measures the position of a survey target, and the first position. A second position information acquisition unit that acquires second position information that is information about the position of the measurement target based on the information and the measurement result by the measurement unit, and a notification unit that notifies the second position information. It is a position information acquisition system including one moving body and a second moving body which is the object of measurement and acquires the position of the own device based on the second position information.

One aspect of the present invention is the above-mentioned position information acquisition system, in which the second position information indicates the actual position of the second moving body.

One aspect of the present invention is the above-mentioned position information acquisition system, in which the second position information is an actual position of the second moving body and a position where the second moving body is expected to exist. Show the difference.

One aspect of the present invention includes a first position information acquisition unit that acquires first position information that is position information of its own device using a satellite positioning system, a survey unit that measures the position of a survey target, and the first position. A second position information acquisition unit that acquires second position information that is information about the position of the measurement target based on the information and the measurement result by the measurement unit, and a notification unit that notifies the second position information. A position information acquisition method performed by a position information acquisition system comprising one moving body and a second moving body which is the object of measurement and acquires the position of the own device based on the second position information. A first position information acquisition step in which the position information acquisition unit acquires the first position information which is the position information of the own device using the satellite positioning system, and a survey step in which the survey unit measures the position of the second moving object. , The second position information acquisition step in which the second position information acquisition unit acquires the second position information which is information about the position of the measurement target based on the first position information and the measurement result by the survey unit, and the notification. A position information acquisition method including a notification step in which a unit notifies the second position information and an actual position acquisition step in which the second moving body acquires the position of the second moving body based on the second position information. be.

One aspect of the present invention is a program for operating a computer as the above-mentioned location information acquisition system.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible for a mobile body to acquire the position of its own device in an environment where it cannot receive a signal transmitted by a satellite positioning system.

An explanatory diagram illustrating an outline of the position information acquisition system 100 of the embodiment. The figure which shows an example of the hardware composition of the reference moving body 1 and the moving body 2 for photography provided in the position information acquisition system 100 of an embodiment. The figure which shows an example of the functional structure of the control part 11 in an embodiment. The figure which shows an example of the functional structure of the control part 21 in an embodiment. The flowchart which shows an example of the flow of the process executed by the position information acquisition system 100 of an embodiment.

(Embodiment)
FIG. 1 is an explanatory diagram illustrating an outline of the position information acquisition system 100 of the embodiment. The position information acquisition system 100 is a system for photographing a photographing target. The subject of photography is, for example, a bridge. The bridge 9 in FIG. 1 is an example of an object to be photographed.

The position information acquisition system 100 includes a reference moving body 1 and a moving body for photographing 2. The reference mobile body 1 is a signal transmitted by a satellite positioning system such as GPS (Global Positioning System), and receives a signal indicating reference mobile body position information. The reference moving body position information is information indicating the position of the reference moving body 1. Hereinafter, for the sake of simplicity, the position information acquisition system 100 will be described by taking the case where the satellite positioning system is GPS as an example. Further, hereinafter, a signal indicating reference moving object position information transmitted by GPS is referred to as a GPS signal.

The reference mobile body 1 includes a surveying device 10. The surveying device 10 measures the position of the surveying object as seen from the surveying device 10. That is, the position measured by the surveying device 10 is the relative position of the surveying object with respect to the surveying device 10. The surveying device 10 is, for example, a device equipped with a light wave rangefinder and measures the position of a surveying object as seen from the surveying device 10 by light. The surveying device 10 is, for example, a total station. The surveying target of the surveying device 10 is the moving body 2 for photographing.

The reference moving body 1 is based on the reference moving body position information indicated by the received GPS signal and the survey result of the surveying device 10, and the information regarding the actual position of the photographing moving body 2 (hereinafter referred to as “actual position”) (hereinafter referred to as “actual position”). "Actual location information") is acquired. The reference moving body 1 transmits the actual position information to the moving body 2 for photographing.

The actual position information indicates, for example, the actual position itself. The actual position information may indicate the difference between the position where the moving body 2 for photographing is expected to exist (hereinafter referred to as “expected position”) and the actual position (hereinafter referred to as “expected position deviation”). The expected position may be, for example, a predetermined position, or may be an estimation result of the position of the own device estimated by the moving body 2 for photographing based on the history of control regarding the movement of the own device.

The reference mobile body 1 is an autonomous mobile body that moves on a predetermined route (hereinafter referred to as “reference route”) while adjusting the position of the own device based on the received GPS signal. An autonomous mobile body is a mobile body such as a drone that moves autonomously.

Note that adjusting the position means moving to a position that satisfies the predetermined condition when the position deviates from the position that satisfies the predetermined condition.

The photographing moving body 2 is an autonomous moving body including a camera. The photographing moving body 2 photographs the surroundings of its own device by a camera. The moving body 2 for photographing receives the actual position information. The photographing moving body 2 moves based on the received actual position information.

The photographing moving body 2 moves, for example, on a predetermined path determined in advance based on the position indicated by the actual position information. The moving body 2 for photographing includes a reflector 20 that reflects light emitted by the surveying device 10 for surveying.

Hereinafter, for the sake of simplicity of explanation, the position information acquisition system 100 will be described by taking as an example the case where the autonomous moving body is a drone that moves autonomously by flying. Further, for the sake of simplicity of the following description, the position information acquisition system 100 will be described by taking the case where the photographing target is the bridge 9 as an example.

A specific example of the movement between the reference moving body 1 and the photographing moving body 2 will be described with reference to FIG. In FIG. 1, each of the pier 901, the pier 902, and the pier 903 is the pier of the bridge 9. The pier 902 is a pier adjacent to the pier 901. The pier 903 is a pier adjacent to the pier 902, not the pier 901.

The reference mobile body 1 moves in the GPS space. The reference moving body 1 measures the position of the moving body 2 for photographing while moving in the GPS space. The reference mobile body 1 acquires an actual position based on the reference mobile body position information indicated by the GPS signal and the survey result. The reference moving body 1 transmits the acquired actual position information indicating the actual position to the photographing moving body 2.

The photographing moving body 2 receives the actual position information and moves based on the received actual position information. The moving body 2 for shooting shoots a shooting target while moving.

FIG. 1 shows that the photographing moving body 2 moves between the space between the pier 901 and the pier 902 and the space between the pier 902 and the pier 903. The space between the pier 901 and the pier 902 and the space between the pier 902 and the pier 903 are the spaces under the bridge 9 and are non-GPS spaces. The non-GPS space is a space where GPS signals do not reach.

In this way, the photographing mobile body 2 moves in the non-GPS space. However, the moving body 2 for photographing can acquire the position of its own device by receiving the actual position information even when moving in the non-GPS space.

FIG. 2 is a diagram showing an example of the hardware configuration of the reference moving body 1 and the photographing moving body 2 included in the position information acquisition system 100 of the embodiment.

The reference mobile unit 1 includes a control unit 11 including a processor 91 such as a CPU (Central Processing Unit) connected by a bus and a memory 92, and executes a reference mobile unit control program. The reference mobile body control program is a program that controls the operation of each functional unit included in the reference mobile body 1. The reference mobile body 1 functions as a device including a control unit 11, an input / output unit 12, a storage unit 13, a rotor 14, and a surveying device 10 by executing a reference mobile body control program.

More specifically, in the reference moving body 1, the processor 91 reads out the reference moving body control program stored in the storage unit 13, and stores the read reference moving body control program in the memory 92. By executing the reference moving body control program stored in the memory 92 by the processor 91, the reference moving body 1 is a device including a control unit 11, an input / output unit 12, a storage unit 13, a rotor 14, and a surveying device 10. Function.

The control unit 11 controls the reference mobile body 1. The control unit 11 controls, for example, the flight of the reference mobile body 1. Specifically, the flight control of the reference moving body 1 is performed by controlling the operation of the rotor 14. The control unit 11 controls, for example, the operation of the input / output unit 12. The control unit 11 controls, for example, the operation of the surveying device 10. The control unit 11 acquires, for example, the survey result of the surveying device 10. The control unit 11 acquires, for example, actual position information.

The input / output unit 12 includes a GPS communication unit 120, an operation communication unit 121, and an inter-mobile information input / output unit 122.

The GPS communication unit 120 includes a communication interface for receiving GPS signals. The GPS communication unit 120 receives GPS signals via the communication interface. The GPS communication unit 120 outputs the received GPS signal to the control unit 11.

The operation communication unit 121 includes a communication interface for connecting to the operator terminal 3. The operator terminal 3 is a terminal device for operating the reference moving body 1 and the photographing moving body 2. The operator terminal 3 is, for example, a smartphone. The operator terminal 3 operates the reference moving body 1 and the shooting moving body 2 by transmitting an operation signal for operating the reference moving body 1 and the photographing moving body 2.

The operation signal is, for example, a signal instructing the reference moving body 1 and the photographing moving body 2 to start the flight. The operation signal is, for example, a signal transmitted to the photographing moving body 2 and is a signal instructing the transfer of the image data of the image taken by the photographing moving body 2 to the operator terminal 3. The operator terminal 3 receives the image data of the image taken by the moving body 2 for shooting. The operation communication unit 121 receives the operation signal transmitted by the operator terminal 3. The operation communication unit 121 outputs the received operation signal to the control unit 11.

The information input / output unit 122 between moving bodies exchanges information with the moving body 2 for photographing. The inter-mobile information input / output unit 122 includes a first inter-mobile output unit 123 and a first inter-mobile input input unit 124.

The first output unit 123 between moving bodies includes an interface for outputting information to the moving body 2 for photographing. The interface is, for example, a communication interface for wirelessly connecting to the photographing mobile body 2. The radio may be light, sound, or radio waves. The interface is, for example, a light emitting device such as an LED, and may show actual position information depending on how the light blinks. The first output unit 123 between moving bodies outputs, for example, actual position information.

The inter-moving body first input unit 124 is configured to include an interface for acquiring information output by the photographing moving body 2. The interface is, for example, a communication interface for wirelessly connecting to the photographing mobile body 2. The radio may be light, sound, or radio waves. The interface may include, for example, a light receiving device to acquire information based on the light received. The first input unit 124 between moving bodies outputs the acquired information to the control unit 11.

The storage unit 13 is configured by using a storage device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 13 stores various information about the reference mobile body 1. The storage unit 13 stores, for example, a reference mobile control program in advance. The storage unit 13 stores information related to the reference route in advance. The reference path-related information is predetermined information indicating the position of the reference moving body 1 on the reference path (hereinafter referred to as “reference position”) at each time. The storage unit 13 stores, for example, actual position information. The storage unit 13 stores, for example, the history of control regarding the movement of the reference moving body 1.

The rotor 14 is a power unit that generates lift for freely flying the reference mobile body 1 in the air according to the control of the control unit 11. In FIG. 2, the number of rotors 14 included in the reference mobile body 1 is one, but it is not necessarily limited to one. The number of rotors 14 included in the reference mobile body 1 may be a plurality of 3, 4, 6, 8 or the like depending on the flight performance or the like required for the reference mobile body 1.

The rotor 14 includes a motor 141 and a blade 142. The motor 141 is, for example, a DC brushless motor. A blade 142 is attached to the rotating shaft of the motor 141. The motor 141 rotates the blade 142 according to the control of the control unit 11. The blade 142 rotates to generate lift in the reference moving body 1. That is, the blade 142 is a so-called propeller. Since the method of flying the reference mobile body 1 by driving the rotor 14 is known, detailed description thereof will be omitted.

The moving body 2 for shooting includes a control unit 21 including a processor 93 such as a CPU connected by a bus and a memory 94, and executes a moving body control program for shooting. The shooting mobile body 2 functions as a device including a control unit 21, an input / output unit 22, a storage unit 23, a rotor 24, a shooting unit 25, and a driving unit 26 by executing a shooting mobile body control program.

More specifically, in the shooting moving body 2, the processor 93 reads out the shooting moving body control program stored in the storage unit 23, and stores the read shooting moving body control program in the memory 94. When the processor 93 executes the shooting moving body control program stored in the memory 94, the shooting moving body 2 is driven by the control unit 21, the input / output unit 22, the storage unit 23, the rotor 24, the photographing unit 25, and the driving unit 2. It functions as a device including the unit 26.

The control unit 21 controls the moving body 2 for photographing. The control unit 21 controls, for example, the flight of the photographing moving body 2. Specifically, the flight control of the moving body 2 for photographing is performed by controlling the operation of the rotor 24. The control unit 21 controls, for example, the operation of the input / output unit 22. The control unit 21 controls, for example, the operation of the photographing unit 25. The control unit 21 controls, for example, the operation of the drive unit 26.

The input / output unit 22 includes an operation communication unit 221 and an inter-mobile information input / output unit 222. The operation communication unit 221 is configured to include a communication interface for connecting to the operator terminal 3. The operation communication unit 221 receives the operation signal transmitted by the operator terminal 3. The operation communication unit 221 outputs the received operation signal to the control unit 21.

The inter-mobile information input / output unit 222 exchanges information with the reference mobile body 1. The inter-mobile information input / output unit 222 includes a second inter-mobile output unit 223 and a second inter-mobile input input unit 224.

The second output unit 223 between mobiles includes an interface for outputting information to the reference mobile 1. The interface is, for example, a communication interface for connecting to the reference mobile body 1 via radio. The radio may be light, sound, or radio waves. The interface is, for example, a light emitting device such as an LED, and may show actual position information depending on how the light blinks.

The second input unit 224 between mobiles includes an interface for acquiring information output by the reference mobile body 1. The interface is, for example, a communication interface for connecting to the reference mobile body 1 via radio. The radio may be light, sound, or radio waves. The interface may include, for example, a light receiving device to acquire information based on the light received. The second input unit 224 between mobiles outputs the acquired information to the control unit 21.

The storage unit 23 is configured by using a storage device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 23 stores various information about the moving body 2 for photographing. The storage unit 23 stores in advance, for example, a program for controlling the operation of each functional unit included in the moving body 2 for photographing. The storage unit 23 stores, for example, an image of a shooting result by the shooting unit 25. The storage unit 23 stores, for example, actual position information. The storage unit 23 stores, for example, the history of control regarding the movement of the photographing moving body 2.

The rotor 24 is a power unit that generates lift for freely flying the moving body 2 for photographing in the air under the control of the control unit 21. In FIG. 2, the number of rotors 24 included in the photographing moving body 2 is one, but it is not necessarily limited to one. The number of rotors 24 included in the photographing moving body 2 may be a plurality of 3, 4, 6, 8 or the like depending on the flight performance or the like required for the photographing moving body 2.

The rotor 24 includes a motor 241 and a blade 242. The motor 241 is, for example, a DC brushless motor. A blade 242 is attached to the rotating shaft of the motor 241. The motor 241 rotates the blade 242 according to the control of the control unit 21. The blade 242 rotates to generate lift in the photographing moving body 2. That is, the blade 242 is a so-called propeller. Since the method of flying the moving body 2 for photographing by driving the rotor 24 is known, detailed description thereof will be omitted.

In the following description, when one direction corresponding to the advance in the horizontal plane penetrating the center of gravity of the main body (not shown) in the horizontal flight posture of the moving body 2 for photographing is defined as "forward direction", 180 with respect to the front direction in the horizontal plane. The direction of degree is "rear direction", the direction of 90 degrees to the left with respect to the front direction in the horizontal plane is "left direction", the direction of 90 degrees to the right with respect to the front direction in the horizontal plane is "right direction", and the horizontal plane is concerned. The sky side is defined as "upward", and the ground surface side is defined as "downward" with respect to the horizontal plane.

The photographing unit 25 is a camera that generates image data by photographing according to the control by the control unit 21. The image data generated by the photographing unit 25 is recorded in the storage unit 23 under the control of the control unit 21. The shooting unit 25 can shoot a video (moving image) or a still image according to the control by the control unit 21.

The photographing unit 25 is provided on the main body of the photographing moving body 2 so that a predetermined range including the downward direction from the photographing moving body 2 can be photographed. Specifically, it seems that the photographing unit 25 can be tilted by a predetermined angle (for example, a specific angle between 0 degree and 90 degrees) from the shooting vertical axis in a state of being mounted on the moving body 2 for photographing. It is configured in. The shooting vertical axis is a vertical axis in which the optical axis of a camera lens (not shown) penetrates the center of gravity of the shooting unit 25 in the horizontal flight posture of the moving body 2 for shooting. Further, the photographing unit 25 is configured to be rotatable (pan) about the vertical axis for photographing while being mounted on the moving body 2 for photographing.

The photographing unit 25 has a predetermined angle (for example, 0 to 180 degrees) to the left with respect to the front direction about the vertical axis for photography, and a predetermined angle to the right with respect to the front direction about the vertical axis for photography. It is rotatable by an angle (eg, 0 to 180 degrees). The rotation angle when the photographing unit 25 is rotated by a predetermined angle to the left with respect to the front direction around the shooting vertical axis, and the photographing unit 25 is predetermined to the right side with respect to the front direction with respect to the photographing vertical axis. The angle of rotation when the angle is rotated is called the pan angle.

By rotating the photographing unit 25, an image is taken in all directions in the horizontal plane including the front direction, the left direction, the right direction, and the rear direction, and the downward side (for example, the ground or a structure on the ground, the sea, etc.). be able to. The photographing unit 25 may be provided so as to be rotatable 360 degrees around the photographing vertical axis.

A drive unit 26 is connected to the photographing unit 25. The drive unit 26 is, for example, a DC (direct current) brushless motor. The drive unit 26 changes the shooting direction of the shooting unit 25 according to the control of the shooting direction by the control unit 21.

The angle (tilt angle) at which the driving unit 26 is tilted from the vertical axis of the photographing unit 25 may be changed according to the control of the photographing direction by the control unit 21.

FIG. 3 is a diagram showing an example of the functional configuration of the control unit 11 in the embodiment. The control unit 11 includes a GPS communication control unit 110, an operation communication control unit 111, a first output control unit 112 between mobile bodies, a first input control unit 113 between mobile bodies, a flight control unit 114, a recording unit 115, and a survey control unit 116. And the actual position information acquisition unit 117 is provided.

The GPS communication control unit 110 controls the operation of the GPS communication unit 120. The GPS communication control unit 110 controls the operation of the GPS communication unit 120, and acquires the information indicated by the GPS signal via the GPS communication unit 120. The GPS communication control unit 110 outputs the information indicated by the acquired GPS signal to the flight control unit 114 and the actual position information acquisition unit 117.

The operation communication control unit 111 controls the operation of the operation communication unit 121. The operation communication control unit 111 controls the operation of the operation communication unit 121, and acquires the information indicated by the operation signal via the operation communication unit 121.

The inter-mobile first output control unit 112 controls the operation of the inter-mobile first output control unit 123. The inter-mobile first output control unit 112 controls the operation of the inter-mobile first output unit 123 to cause the inter-mobile first output unit 123 to output information. The inter-mobile first output control unit 112 controls the operation of the inter-mobile first output unit 123 so that the inter-mobile first output unit 123 outputs, for example, actual position information.

The inter-mobile first input control unit 113 controls the operation of the inter-mobile first input control unit 124. The inter-moving body first input control unit 113 acquires the information output by the photographing moving body 2 via the inter-moving body first input unit 124.

The flight control unit 114 controls the rotor 14 based on the information indicated by the GPS signal according to the reference moving object control program, and controls the flight operation including the flight attitude and the flight speed of the reference moving object 1.

The flight control unit 114 includes an ESC (Electronic Speed Controller) (not shown) for adjusting the rotation speed of the motor 141 of the rotor 14. Further, the flight control unit 114 is provided with, for example, an inertial measurement unit (IMU) (not shown), and is provided with natural wind (strong wind, gust, etc.), rain and snow, etc. with respect to the reference moving body 1 without being based on an operation signal. Attitude control is performed autonomously in order to maintain the attitude against external factors.

The recording unit 115 records various information in the storage unit 13. Various types of information include, for example, information indicated by GPS signals (that is, reference moving body position information). Various information includes, for example, survey results. Various types of information include, for example, actual position information. The various information includes, for example, a history of control by the flight control unit 114.

The survey control unit 116 controls the operation of the survey device 10. The survey control unit 116 acquires the survey result of the survey device 10. The survey control unit 116 outputs the acquired survey result to the actual position information acquisition unit 117.

The actual position information acquisition unit 117 acquires the actual position information based on the GPS signal and the survey result. For example, when the position indicated by the GPS signal and the position of the measurement result are represented by a vector, the actual position information acquisition unit 117 is a composite vector of a position vector representing the position indicated by the GPS signal and a relative vector indicated by the measurement result. Is acquired as actual position information. In such a case, the composite vector represents the actual position itself.

The actual position information acquisition unit 117 may acquire the expected position deviation, which is the difference between the actual position and the expected position. In such a case, the actual position information acquired by the actual position information acquisition unit 117 may indicate an expected position deviation instead of the actual position.

FIG. 4 is a diagram showing an example of the functional configuration of the control unit 21 in the embodiment. The control unit 21 includes an operation communication control unit 211, a mobile second output control unit 212, a mobile second input control unit 213, a flight control unit 214, a recording unit 215, an imaging control unit 216, and an actual position acquisition unit 217. And the expected position acquisition unit 218 is provided.

The operation communication control unit 211 controls the operation of the operation communication unit 221. The operation communication control unit 211 controls the operation of the operation communication unit 221 and communicates with the operator terminal 3 via the operation communication unit 221. The operation communication control unit 211 transmits, for example, the shooting result of the shooting unit 25 to the driver terminal 3 by communication with the driver terminal 3.

The inter-mobile second output control unit 212 controls the operation of the inter-mobile second output control unit 223. The inter-mobile second output control unit 212 controls the operation of the inter-mobile second output unit 223 to cause the inter-mobile second output unit 223 to output information. The second output control unit 212 between mobile bodies controls the operation of the second output unit 223 between mobile bodies to, for example, obtain an expected position, which is the acquisition result of the expected position acquisition unit 218, on the second output unit 223 between mobile bodies. Output.

The inter-mobile second input control unit 213 controls the operation of the inter-mobile second input control unit 224. The inter-mobile second input control unit 213 acquires the information output by the reference mobile body 1 via the inter-mobile second input unit 224. The inter-mobile second input control unit 213 acquires, for example, the actual position information output by the reference mobile body 1 via the inter-mobile second input unit 224.

The flight control unit 214 controls the rotor 24 according to the moving body control program for photographing. The flight control unit 214 controls the flight operation including the flight attitude and the flight speed of the photographing moving body 2 by controlling the rotor 24. The flight control unit 214 controls the rotor 24 based on actual position information according to, for example, a moving object control program for photographing.

The process of controlling the rotor 24 by the flight control unit 214 is, for example, a process of controlling the rotor 24 so as to move the photographing moving body 2 to the expected position based on the position indicated by the actual position information.

The flight control unit 214 includes an ESC (not shown) for adjusting the rotation speed of the motor 241 of the rotor 24. Further, the flight control unit 214 is provided with, for example, an inertial measurement unit (not shown) to counter external factors such as natural wind (strong wind, gust, etc.) and rain / snow on the moving body 2 for photographing without being based on an operation signal. In order to maintain the posture, the posture is controlled autonomously.

The recording unit 215 records various information in the storage unit 23. Various information includes, for example, the shooting result of the shooting unit 25. Various types of information include, for example, actual position information. Various information includes, for example, a history of control by the flight control unit 214.

The shooting control unit 216 controls the shooting operation of the shooting unit 25. The shooting operation includes shooting standby, shooting, and shooting stop modes of the shooting unit 25. Further, the shooting control unit 216 controls the shooting direction of the shooting unit 25. That is, the photographing control unit 216 controls the operation of the drive unit 26. The shooting operation and the shooting direction may be the movement and the direction instructed by the operation signal, or may be a predetermined movement and the direction programmed in the moving body control program for shooting in advance.

The actual position acquisition unit 217 acquires the actual position based on the actual position information. For example, when the actual position information indicates the actual position itself, the actual position acquisition unit 217 acquires the information indicated by the actual position information as the actual position. For example, when the actual position information indicates the expected position deviation, the actual position acquisition unit 217 acquires the actual position by using the expected position and the expected position deviation.

The expected position acquisition unit 218 acquires the expected position. The expected position acquisition unit 218 acquires the expected position by reading the expected position from the storage unit 23, for example, when the expected position is stored in the storage unit 23 in advance. The expected position acquisition unit 218 may estimate the position of the photographing moving body 2 based on the history of control by the flight control unit 214. In such a case, the estimation result is the expected position.

FIG. 5 is a flowchart showing an example of the flow of processing executed by the position information acquisition system 100 of the embodiment.

The expected position acquisition unit 218 acquires the expected position (step S101). Next, the inter-mobile second output control unit 212 causes the inter-mobile second output unit 223 to output the expected position (step S102). Next, the inter-moving body first input control unit 113 acquires the expected position output by the photographing moving body 2 by the inter-moving body first input unit 124 (step S103). Next, the GPS communication unit 120 receives the GPS signal, and the GPS communication control unit 110 acquires the reference moving body position information indicated by the received GPS signal (step S104). Next, the surveying device 10 surveys the photographing moving body 2 (step S105). By the survey, the position of the moving body 2 for photographing as seen from the surveying device 10 is acquired.

Next, the actual position information acquisition unit 117 acquires the actual position information based on the reference moving body position information and the survey result (step S106). The actual position information acquisition unit 117 may acquire the expected position deviation as the actual position information based on the acquired expected position.

Next, the inter-mobile first output control unit 112 causes the inter-mobile first output unit 123 to output the actual position information (step S107). Next, the inter-mobile second input control unit 213 acquires the actual position information output by the reference mobile body 1 by the inter-mobile second input unit 224 (step S108). Next, the actual position acquisition unit 217 acquires the actual position based on the actual position information (step S109). The flight control unit 214 controls the flight of the moving body 2 for photographing based on the actual position (step S110).

The position information acquisition system 100 configured in this way includes a reference moving body 1 that acquires the position of the moving body 2 for photographing based on the position information acquired by using the satellite positioning system and the survey result. Therefore, in the position information acquisition system 100, the photographing mobile body 2 can acquire the position of its own device even when moving in a non-GPS environment.

(Modification example)
The process of step S104 and the process of step S105 do not necessarily have to be executed first. The process of step S104 may be executed after the process of step S105.

The reference mobile body 1 does not necessarily have to acquire the expected position. The reference moving body 1 may only acquire the actual position information at a predetermined timing and output the acquired actual position information by the first output unit 123 between the moving bodies.

The timing at which the reference moving body 1 acquires the actual position information does not necessarily have to be the timing at which the shooting moving body 2 acquires the expected position output. For example, the reference moving body 1 may acquire actual position information when the moving body 2 for photographing stays at the same point for a predetermined period. When it stays at the same point for a predetermined period, for example, it is a period during which the moving body 2 for photographing is hovering.

All or part of each function of the reference moving object 1 and the photographing moving object 2 uses hardware such as ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), and FPGA (Field Programmable Gate Array). May be realized. The program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, or a storage device such as a hard disk built in a computer system. The program may be transmitted over a telecommunication line.

The reference mobile body 1 is an example of the first mobile body. The moving body 2 for photographing is an example of the second moving body. The GPS communication control unit 110 is an example of the first position information acquisition unit. The reference moving body position information is an example of the first position information. The survey control unit 116 is an example of the survey unit. The actual position information acquisition unit 117 is an example of the second position information acquisition unit. The first output control unit 112 between mobiles is an example of a notification unit. The actual position information is an example of the second position information. The output by the first output unit 123 between mobiles is an example of notification.

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 includes designs and the like within a range that does not deviate from the gist of the present invention.

100 ... location information acquisition system, 1 ... reference moving body, 2 ... shooting moving body, 3 ... operator terminal, 10 ... surveying device, 11 ... control unit, 12 ... input / output unit, 120 ... GPS communication unit, 121 ... Operation communication unit, 122 ... Mobile information input / output unit, 123 ... Mobile first output unit, 124 ... Mobile first input unit, 13 ... Storage unit, 14 ... Rotor, 141 ... Motor, 142 ... Blade , 20 ... Reflector, 21 ... Control unit, 22 ... Input / output unit, 221 ... Operation communication unit, 222 ... Mobile information input / output unit, 223 ... Mobile second output unit, 224 ... Mobile second Input unit, 23 ... Storage unit, 24 ... Rotor, 241 ... Motor, 242 ... Blade, 25 ... Imaging unit, 26 ... Drive unit, 110 ... GPS communication control unit, 111 ... Operation communication control unit, 112 ... Mobile unit 1 Output control unit, 113 ... First input control unit between moving objects, 114 ... Flight control unit, 115 ... Recording unit, 116 ... Survey control unit, 117 ... Actual position information acquisition unit, 211 ... Operation communication control unit, 212 ... 2nd output control unit between moving bodies, 213 ... 2nd input control unit between moving bodies, 214 ... flight control unit, 215 ... recording unit, 216 ... shooting control unit, 217 ... actual position acquisition unit, 218 ... expected position acquisition unit , 9 ... Bridge, 901, 902, 903 ... Bridge pedestal, 91 ... Processor, 92 ... Memory, 93 ... Processor, 94 ... Memory

Claims (4)

A first position information acquisition unit that acquires the first position information that is the position information of the own device using a satellite positioning system, a survey unit that measures the position of the survey target, and a survey by the first position information and the survey unit. A first moving body including a second position information acquisition unit that acquires second position information that is information about the position of the survey target based on the result, and a notification unit that notifies the second position information.
A second mobile body that is the target of the survey and acquires the position of its own device based on the second position information, and
Equipped with
The second position information indicates the difference between the actual position of the second moving body and the expected position which is the position where the second moving body is expected to exist.
The second moving body acquires the expected position and outputs the expected position to the first moving body.
The second position information acquisition unit of the first moving body, get the second position information on the basis of the expected position output from the second movable body,
Location information acquisition system. The second position information indicates the actual position of the second moving body.
The location information acquisition system according to claim 1. The first position information acquisition unit that acquires the first position information that is the position information of the own device using the satellite positioning system, the survey unit that measures the position of the object to be surveyed, and the first position information and the survey by the survey unit. A first moving body including a second position information acquisition unit that acquires second position information that is information about the position of the survey target based on the result, and a notification unit that notifies the second position information, and the survey. It is a position information acquisition method performed by a position information acquisition system, which is a target and includes a second moving body that acquires the position of the own device based on the second position information.
The first position information acquisition step in which the first position information acquisition unit acquires the first position information which is the position information of the own device using the satellite positioning system, and the first position information acquisition step.
A surveying step in which the surveying unit measures the position of the second moving body, and
An output step in which the second moving body acquires an expected position, which is a position where the own device is expected to exist, and outputs the expected position to the first moving body.
The second position information acquiring unit, based on the survey results and the expected position of said surveying unit and the first position information, the position and the expected position of the survey results of the a surveying object and the second moving member The second position information acquisition step for acquiring the second position information which is the information indicating the difference, and
A notification step in which the notification unit notifies the second position information,
The actual position acquisition step in which the second moving body acquires the position of the second moving body based on the second position information, and
Location information acquisition method. A program for operating a computer as the location information acquisition system according to claim 1 or 2.

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