JP7025157B2 - Shooting method and shooting program - Google Patents

Description

The present invention relates to a technique for surveying using photographs taken from an aircraft.

A technique for using an unmanned aerial vehicle (UAV) for aerial photography is known. In this technique, a three-dimensional model of a surveying object is created by using a photographic image of a surveying object such as the ground surface taken from a UAV. In this process, first, orientation is performed using multiple photographic images with overlapping shooting targets, the external orientation elements (position and orientation) of the UAV-equipped camera are obtained, and the external orientation elements are used to create a three-dimensional model. Such processing is performed. This technique is described in, for example, Patent Document 1.

Japanese Unexamined Patent Publication No. 2014-6148

In photogrammetry such as topography by an unmanned aerial vehicle such as UAV, the accuracy of the photograph that is the basis of the survey changes greatly depending on the setting of the control point. However, the installation of the control point requires time and effort, which poses a work problem. Furthermore, if civil engineering work is being carried out at the site to be surveyed, it may be difficult to set a control point on the ground. Therefore, an object of the present invention is to provide a technique capable of improving the efficiency of setting a control point.

INDUSTRIAL APPLICABILITY The present invention flies an aircraft equipped with a camera for taking an image for aerial photography over a plurality of unmanned aerial vehicles equipped with a target for orientation, and the camera is used for the orientation. An area including the plurality of unmanned aerial vehicles equipped with a target is photographed from the sky, and at the time of the photographing, the plurality of unmanned aerial vehicles equipped with the target for orientation are a photographing method in which the aircraft is flying in a formation. ..

A program for aerial photography that is read and executed by a computer , and a camera that takes images for aerial photography over the sky where multiple unmanned aerial vehicles equipped with targets for orientation fly. The equipped aircraft was flown, and the camera was used to control the area including the plurality of unmanned aerial vehicles equipped with the target for orientation from the sky, and the target for orientation was provided at the time of the shooting. The plurality of unmanned aerial vehicles are shooting programs that are flying in a formation .

According to the present invention, a technique capable of efficiently setting a control point can be obtained. For example, a plurality of small aircraft that can be control points are automatically flown to a position where the control points are required by setting a route to a shooting area in photogrammetry. By setting the control points with the plurality of small aircraft, the control points can be set more efficiently than the conventional method even at a civil engineering work site where it is difficult to set the control points.

It is a conceptual diagram of an embodiment. It is a block diagram of a UAV for photography. It is a block diagram of a UAV for a control point. It is a block diagram of the control device provided in the UAV for photography. It is a block diagram of the control device provided in the UAV for a control point. It is a flowchart which shows an example of a process. It is a conceptual diagram of an embodiment. It is a flowchart which shows an example of a process. It is a flowchart which shows an example of a process. It is a flowchart which shows an example of a process.

1. 1. First Embodiment (Overview)
FIG. 1 shows a UAV 100 for photography that takes a picture in photogrammetry and a UAV 200 for a control point that forms a control point for photogrammetry. In this example, the UAV100 for photography flies further above the UAV200 for the control point, and the area including the UAV200 for the control point is photographed from the sky. At the time of this shooting, the UAV200 for the control point is stationary and functions as a target for the control (anti-aircraft marker for the control). The timing of taking a picture of the UAV 100 for photography and the timing of stopping the UAV 200 for a control point in the present embodiment are set in advance. According to this set schedule, the UAV 200 for locating repeatedly moves, stands still, moves, stands still, and so on, and the UAV 100 for taking a picture takes a picture from the sky.

The UAV 100 for photography is equipped with a camera 101 and takes a plurality of aerial photographs while flying. The UAV 200 for a control point is provided with a control point display 201, which will be described later, and a control point is formed by the control point display 201. Therefore, the UAV200 for the control point uses the number of aircraft that is equal to or larger than the number of control points required for one shooting.

For example, if at least ○ points are required for absolute positioning, prepare UAV200 for control points or more. The UAV100 for photography repeats photography every 1 second or 2 seconds while flying. At this time, it is necessary that a predetermined number or more of UAV200s for control points are shown in each photographed image. For example, in the case of operation of the UAV200 for the control point as shown in the second and fourth embodiments described later, there is a UAV200 for the control point that is not in the shooting range, so it is necessary to prepare the UAV200 for the control point in anticipation of that amount. There is.

It is also possible to use a manned aircraft instead of the UAV100 for photography and set a control point on an unmanned aircraft. Further, the setting of the control point is not limited to the air, and it is also possible to take a picture from the UAV 100 for photography with the UAV 200 for the control point landing on the ground (stationary on the ground). The above description of the UAV 100 for photography and the UAV 200 for a control point is the same in the second to fourth embodiments described later.

(Composition of UAV for photography)
The UAV100 for photography used for photography autonomously flies on a predetermined flight route, but flight control by radio control is also possible.

FIG. 2 is a block diagram of the UAV100 for photography. The UAV 100 for photography includes a camera 101, a GNSS position specifying device (GNSS receiver) 102 using GNSS, an IMU (inertial measurement unit) 103, an altimeter 104, a control device 105, a storage device 106, and a communication device 107. ..

The camera 101 takes aerial photographs during flight. In this example, the camera 101 takes a picture on the ground. The image to be used is a still image, and usually, the still image is repeatedly taken at a specific timing (for example, every second). It is also possible to shoot a moving image and extract a frame image constituting the moving image to obtain a still image. The subject of photography is not limited to the ground, but may be an artificial structure such as a bridge or a building.

The GNSS position specifying device 102 receives a navigation signal from a navigation satellite represented by a GPS satellite, and performs positioning (position identification) based on the navigation signal. The GNSS position specifying device 102 specifies the position (longitude, latitude, altitude) of the GNSS position specifying device 102 (position of the antenna of the GNSS position specifying device 102) in the map coordinate system. The map coordinate system is a global coordinate system used when handling map data. The position data usually obtained by a GNSS position specifying device (for example, a general-purpose GPS receiver) is obtained as that in a map coordinate system.

The positioning performed by the GNSS position specifying device 102 is a single positioning where the mounting cost is low but low accuracy, or a relative positioning where the mounting cost is high but high accuracy. Although the present invention can be used in either case, in photogrammetry, the high measurement accuracy of the positional relationship between the photography point and the control point set by the moving object affects the quality, so relative positioning, etc., etc. It is desirable that the measurement accuracy is high. Examples of the highly accurate relative positioning technique include highly accurate (error number cm or less) position measurement using RTK (Real Time Kinematic) positioning. Regarding RTK positioning, for example, it is described on the homepage of the Geographical Survey Institute (http://terras.gsi.go.jp/geo_info/GNSS_iroiro.html).

In RTK positioning, a fixed reference station (GNSS or TS with GNSS device (total station), etc.) is prepared at the site where photogrammetry is performed, and positioning is performed while the fixed reference station, UAV100 for photography, and UAV200 for control points communicate with each other. .. By this positioning, the positional relationship between the UAV 100 for photography and the UAV 200 for the control point is realized with high accuracy.

Further, the GNSS position specifying device 102 has a clock function, and the photogrammetric data is stored in the flight log together with the information of the time when the shooting was performed. The above description of the GNSS position specifying device 102 is the same for the GNSS position specifying device 202.

The IMU 103 measures the acceleration applied to the UAV 100 for photography during flight. The output of the IMU 103 is used for attitude control of the UAV100 for photography during flight. In addition, information on the attitude of the UAV100 for photography during flight can be obtained from the output of the IMU103. The altimeter 104 measures the atmospheric pressure and measures the altitude of the UAV100 for photography. The above description is the same for the IMU 203 and the altimeter 204.

The control device 105 performs various controls related to the UAV 100 for photography, in addition to transmitting and receiving signals to and from the UAV 200 for a control point, which will be described later. Various controls relating to the UAV 100 for photography include flight control, control relating to photography of the camera 101, control relating to management of data stored in the storage device 106, and control relating to operation of the communication device 107.

The storage device 106 stores a flight plan and a flight log for flying a predetermined flight path. The flight log is data that stores the data of the position (longitude, latitude, altitude) during flight and the measurement time thereof. The measurement of the position during flight is performed at specific time intervals such as every 0.5 seconds or every 1 second (of course, it may be irregular timing), and the data of the position measured every moment is the measurement time. It is associated with and stored in the flight log. Further, the time and image data of the shooting by the camera 101, the data on the posture of the UAV100 for photography measured by the IMU 103, and the altitude data measured by the altimeter 104 are also stored in the storage device 106 in a state associated with the flight log. .. The above description is the same for the storage device 206.

The communication device 107 has a wireless communication function. The communication device 107 transmits and receives an operation signal between the UAV 100 for photography and an operation device (a controller operated by a person who operates the UAV 100 for photography on the ground) and between the UAV 200 for a control point by a wireless communication function. Transmission and reception of control signals performed in, communication for position positioning performed between the UAV200 for control points and a fixed reference station, and transmission of image data and positioning data taken by the UAV100 for photography in flight to other devices. conduct.

The communication device 107 has a wired communication function in addition to the wireless communication function. The communication device 107 uses a wired communication function to communicate with the UAV100 for photography, the UAV200 for a control point, and other devices in a non-flying state (landing state). For example, the communication device 107 performs reception of signals related to flight operations (reception of control signals from the operation controller), reception of flight plan data, transmission of log data to other devices, and the like. The communication device 107 may have an optical communication function.

(Structure of UAV for control point)
The UAV 200 for a control point is used as a control point when taking a picture with the UAV 100 for photography. Further, although the UAV200 for a control point autonomously flies on a predetermined flight route, flight control by radio control is also possible.

FIG. 3 is a block diagram of the UAV200 for a control point. The UAV200 for a control point includes a control point display 201, a GNSS position specifying device (GNSS receiver) 202 using GNSS, an IMU (inertial measurement unit) 203, an altimeter 204, a control device 205, a storage device 206, and a communication device 207. ing. These equipments are common to all control point UAV200s used in this embodiment.

The control point display 201 can serve as a control point in photogrammetry, and also has a function as an anti-aircraft marker. Examples of the control point display 201 include a plate with a circular mark or the like. When the control point display 201 has a structure capable of changing the angle according to the shooting angle of the UAV 100 for photography, it becomes easy to shoot the photogrammetric object from an angle. Further, the control point display 201 is not limited to a flat plate shape, and may be a three-dimensional spherical shape. If it is a three-dimensional spherical shape, it is easy to take a photogrammetric object from an angle even if there is no structure that changes the angle according to the UAV100 for photography, but the UAV100 for photography is a spherical control point as a control point and an anti-aircraft marker. The condition is that the display 201 can be identified.

The control point display 201 includes a display that can be distinguished from the control point display of the UAV200 for other control points. The control point display 201 is arranged above the control point UAV 200 so that it can be easily seen when looking down on the control point UAV 200 from the sky. As the control point display 201, a color code target that displays a code by a combination of a color and a figure can be used. Techniques related to color code targets are described in, for example, Japanese Patent Application Laid-Open No. 2011-053031 and Japanese Patent Application Laid-Open No. 2011-053030. In addition, numbers and characters, two-dimensional bar codes and patterns, combinations of various figures, combinations of colors, and the like can be used as the control point display 201.

By identifying the plurality of control points displayed 201 in the image, the information on the control points and their positions is linked, and the relationship between the plurality of control points in the image and their positions in the map coordinate system is specified. This is the same as when using a normal target for orientation (anti-aircraft sign) installed on the ground.

The control device 205 receives control point information, which will be described later, selects a control point setting machine, sends and receives a signal to and from the UAV 100 for photography, and performs various controls related to the UAV 200 for control points. Various controls related to the UAV 200 for a control point include flight control, control related to management of data stored in the storage device 207, and control related to the operation of the communication device 207.

(Configuration of UAV control device for photography)
FIG. 4 is a block diagram of the control device 105. The control device 105 in the present embodiment includes a flight path reception unit 301, a position information reception unit 302, and an airframe control unit 303.

Each functional unit of the control device 105 shown in FIG. 4 includes, for example, a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device) represented by an FPGA (Field Programmable Gate Array), or the like. It is composed of electronic circuits. It is also possible to configure some functions with dedicated hardware and some others with a general-purpose microcomputer.

Whether each functional unit is configured with dedicated hardware or software-like configuration by executing a program on the CPU is determined in consideration of the required calculation speed, cost, power consumption, and the like. It should be noted that configuring the functional unit with dedicated hardware and configuring it as software are equivalent from the viewpoint of realizing a specific function. The above description of the configuration of the control device is the same for the control device 205.

The flight path reception unit 301 receives the position information of the shooting point where the photograph is taken and the flight path around the shooting point while the UAV100 for photography is flying. The position information and flight route to be accepted are given in advance on the map coordinate system. As the data of the flight path given in advance, for example, the data in which the passing point and the speed at the position are specified in advance, the data in which the passing point and the passing time are specified in advance, and the relationship between the time and the velocity vector are specified in advance. Data etc. can be mentioned.

The position information receiving unit 302 receives the position information of the UAV100 for photography specified by the GNSS position specifying device 102. The above description is the same for the location information receiving unit 402.

The aircraft control unit 303 received the UAV100 for photography by determining the movement vector from the flight path around the shooting point received by the flight path reception unit 301 and the current position information obtained from the position information reception unit 302. Perform a maneuvering operation to move along the flight path. In addition, position control is performed to make the positional relationship with the UAV200 for the control point specified by the GNSS position specifying device 102 constant for each shooting.

(Configuration of UAV control device for control points)
FIG. 5 is a block diagram of the control device 205. The control device 205 includes a flight path reception unit 401, a position information reception unit 402, and an airframe control unit 403.

The flight path reception unit 401 receives the position information of the shooting area corresponding to the shooting point of the UAV 100 for photography and the flight path around the shooting area, which the UAV 200 for the control point goes around in one flight. The received position information and flight route are shown in advance on the map coordinate system as well as the position (longitude, latitude, altitude) in the map coordinate system. Here, the UAV 100 for photography can also accept the number of control points corresponding to the pictures taken in one flight and the shooting area in which each control point is required.

The aircraft control unit 403 determines the movement vector from the flight path around the shooting area accepted by the flight path reception unit 401 and the current position information obtained from the position information reception unit 402, thereby making the flight path that accepts the aircraft. Move along. In addition, position control is performed to keep the positional relationship with the UAV100 for photography specified by the GNSS position specifying device 202 constant for each shooting.

(Example of processing)
FIG. 6 shows an example of the processing in this embodiment. First, the UAV 100 for photography is given the position information of the photography point that the UAV 100 for photography will go around in one flight and the flight route around the photography point. For the position information and the flight path of the shooting point, for example, the position information of each shooting point is given in the map coordinate system, and the flight path is given along the position in the map coordinate system of each shooting point. Then, in the UAV200 for the control point, the position information of the shooting area (range) corresponding to the shooting point of the UAV100 for photography, in which the UAV200 for the control point goes around in one flight, and the flight path around the shooting range. (Step S101).

Next, the shooting timing (shooting interval) of the camera 101 provided in the UAV 100 for photography is set. The shooting timing to be set is set at a specific time interval such as every 2 seconds or every 4 seconds, but an irregular time interval may be set. Shooting with an irregular time interval setting is, for example, shooting 5 times at a shooting interval of 2 seconds, shooting once at a 10-second interval, and then shooting at a 3-second interval (step). S102).

Next, the UAV100 for photography moves to the first shooting point using the information of the shooting point and the flight path acquired in step S101. The movement of the UAV100 for photography is _a constant speed from the start of shooting to the end of shooting, or a speed determined for _each time (speed v1 from time A1 to time _B1 and from time _A2 ). Until _time B2, the flight will be at speed _v2 ). Further, the shooting start time of the UAV 100 for photography is set in advance in order to set the stationary time of the UAV 200 for the control point, which will be described later (step S103).

Then, after the UAV100 for photography arrives at the first shooting point, shooting is performed. In the subsequent shooting, shooting is performed based on the shooting timing set in step S102 (step S104). That is, in the present embodiment, the UAV100 for photography, which moves at a predetermined speed, shoots at a set time interval, so that a target (point) scheduled for shooting that can be calculated by the product of speed and time is taken. Realize the shooting of.

Next, the UAV100 for photography inquires about the information of the shooting point acquired in step S101, and if the scheduled shooting point remains, the process returns to step S103 and heads for the next shooting point. If not, the UAV100 for photography is returned or recovered, and the process is completed (step S105).

While the UAV 100 for photography performs the processing of steps S102 to S105, the UAV 200 for the control point performs the processing of steps S106 to S109 described later. First, in the UAV 200 for a control point, a resting time (time) is set in the shooting area of the UAV 100 for photography, which is the planned movement destination. For example, the resting time (time) is set as time C (○ hour ○ minute ○. ○ second) to time D (○ hour ○ minute ○. ○ second). Here, the time C is the arrival time, the time D is the movement start time, and the UAV200 for the control point is stationary at the designated point between the times C and D.

The stationary time (time) of the UAV 200 for the control point is determined based on the time (time) when the UAV 100 for photography arrives at the shooting point. That is, the time when the UAV 200 for the control point is stationary at the designated point is estimated as a time interval such as 0.5 seconds or 1 second before and after the time (time) when the UAV 100 for photography arrives at the shooting point. The resting time (time) of the UAV200 for the control point is set (step S106).

Next, the UAV200 for the control point moves into the shooting area of the UAV100 for photography based on the shooting area and the flight path acquired in step S101 by the time set in step S106 (step S107). Then, it stands still until the time set in step S106 (step S108).

After the rest time has elapsed, the existence of the next shooting range is inquired, and if the scheduled shooting point remains, the process returns to step S107 and the process returns to the next shooting area. If it does not remain, the UAV200 for the control point is returned or recovered, and the process is completed (step S109).

2. 2. Second embodiment (overview)
The present invention uses a UAV200 for a control point consisting of two or more formations, and divides the formation into a formation that becomes a control point in the shooting range of the photography UAV100 and a formation that moves to the next shooting range, thereby setting a control point. It is also possible to provide an embodiment in which the time can be shortened and the control point can be set more efficiently. FIG. 7 shows an outline of the present embodiment.

The UAV200 for a control point in the present embodiment uses a number of aircraft that can have two or more formations, with the number of aircraft that is equal to or more than the number of control points required for one shooting as one formation. The same applies to the number of aircraft constituting the formation in the fourth embodiment described later.

(Composition of UAV for photography and UAV for control point)
Similar to the first embodiment, the configuration of the UAV 100 for photography is as shown in FIG. 2, and the UAV for a control point is as shown in FIG.

(Configuration of UAV control device for photography)
The control device 105 in the present embodiment includes the flight path reception unit 301, the position information reception unit 302, the aircraft control unit 303, and the aircraft position signal generation unit 304 in FIG.

The aircraft position signal generation unit 304 generates an aircraft position signal that causes the UAV 200 for the control point to recognize the position of the UAV 100 for photography. As for the position information of the UAV 100 for photography, the one acquired by the GNSS position specifying device 102 is added to the aircraft position signal.

(Configuration of UAV control device for control points)
The control device 205 in the present embodiment includes the flight path reception unit 401, the position information reception unit 402, the aircraft control unit 403, and the shooting range determination unit 404 in FIG.

The shooting range determination unit 404 is provided from the position information of the UAV 100 for photography given to the aircraft position signal received from the UAV 100 for photography and the information of the shooting area of the UAV 100 for photography acquired by the flight path reception unit. It is determined whether the UAV 200 for the control point is within the shooting range of the UAV 100 for photography. For example, if the positions of the UAV 100 for photography and the UAV 200 for the control point are given in the two-dimensional space (x ₁₀₀ , y ₁₀₀ ) and (x ₂₀₀ , y ₂₀₀ ) excluding the altitude, the UAV 100 for photography is taken. Since the range is represented by a plane region centered on the position (x ₁₀₀ , y ₁₀₀ ) of the UAV 100 for photography, the position (x ₂₀₀ , y ₂₀₀ ) of the UAV 200 for the control point is included in this plane region. If, it can be determined that the image is within the shooting area.

(Example of processing)
An example of the processing in this embodiment is shown in FIG. Unless otherwise specified, the processing with the same name as in FIG. 6 shall be performed in the same manner in principle. The UAV200 for the control point shall consist of two formations.

First, for the UAV 100 for photography and the UAV 200 for the control point, a flight path is set in the same manner as in the process of step S101. However, in this embodiment, in order to assume that the UAV200 for a control point consisting of two formations is used and the control points are alternately set in the shooting range of the UAV100 for photography, in addition to the processing setting in step S101, of the two formations. 1. Set as a flight plan (position of each formation at the time of the first shooting by the UAV100 for photography) so that one formation is always within the shooting range of the UAV100 for photography and one formation can move to the next shooting range (the position of each formation at the time of the first shooting by the UAV100 for photography). Step S201).

Next, the shooting timing is set in the UAV100 for photography (step S202), and the movement is started (step S203). Then, after arriving at the shooting point, the aircraft position signal is transmitted to the UAV200 for the control point (step S204), and then shooting is performed (step S205). After the end of shooting, if there is a next shooting target, the process of step S203 or lower is performed again, and if there is no next shooting target, the process ends (step S206).

On the other hand, in the UAV200 for the control point, the stationary time is set (step S207), and then the moving to the shooting range (step S208). The still time is set as a period equal to or longer than the time required to stay within the shooting range of a plurality of shot images performed from the UAV 100 for photography. This period varies depending on the flight speed of the UAV100 for photography, the size of the shooting range, and the shooting interval, and is adjusted according to the shooting conditions.

After arriving at the shooting range, the UAV 200 for the control point stops there and waits for the aircraft position signal transmitted from the UAV 100 for photography. Then, when the aircraft position signal transmitted from the UAV100 for photography is received (step 209), the UAV100 for photography recognizes the shooting range in the nearest future shooting, and the own machine recognizes the shooting range in the nearest future of the UAV100 for photography. It is determined whether or not it is within the shooting range in the shooting (step S210). If it is within the shooting range in the near future, the UAV200 for the control point continues to stand still and becomes the control point (step S211). If it is not within the shooting range in the closest future shooting, the UAV200 for the control point goes around to determine whether the next shooting range of step S212 exists (step S212), and if the next shooting range exists, the next shooting range. Move to.

3. 3. Third embodiment (overview)
The first and second embodiments are a method of adjusting the timing of taking a picture with the UAV 100 for photography and setting the control point with the UAV 200 for the control point according to a set time. As a method other than the time setting, there is a method of adjusting the timing of photography and setting of the control point by transmitting and receiving a signal between the UAV 100 for photography and the UAV 200 for the control point.

If the timing of shooting and setting of the control point is matched with each other's time setting, it will be processed continuously according to the time schedule, so due to strong winds during flight, flying objects, obstacles, etc., the UAV100 for photography or the control point If a time delay occurs in the UAV200 for use, the timing of shooting and the formation of a control point will be different thereafter, which will lead to a decrease in photographic measurement accuracy. However, if the timing of shooting and setting the control point is adjusted by transmitting and receiving signals as in the present embodiment, the UAV 100 for photography or the UAV 200 for the control point may be used due to strong winds during flight, flying objects, obstacles, etc. Even if there is a time delay, the timing is adjusted for each shooting, so there is little difference in the timing between shooting and setting the control point.

(Composition of UAV for photography and UAV for control point)
Similar to the first embodiment, the configuration of the UAV 100 for photography is as shown in FIG. 2, and the UAV for a control point is as shown in FIG. By equipping the UAV 100 for photography and the UAV 200 for a control point with a laser scanner for detecting obstacles, a UAV that can avoid obstacles on the flight path may be used.

(Configuration of UAV control device for photography)
The control device 105 in the present embodiment includes a flight path reception unit 301, a position information reception unit 302, an aircraft control unit 303, a control point recognition unit 305, and a shooting end signal generation unit 306 in FIG.

Upon receiving the stationary confirmation signal sent from the UAV200 for the control point, which will be described later, the control point recognition unit 305 recognizes that the UAV200 for the control point exists in the photographing area. Then, it is determined whether or not there are more than the specified number of control points required for the photographic image for photogrammetry in the shooting area, and when the specified number or more of the control points are recognized, the photo for photogrammetry is transferred to the camera 101. Let me take a picture.

The shooting end signal generation unit 306 generates a shooting end signal for recognizing the end of shooting for the UAV 200 for the control point, which was the control point in the shooting after the photo for photo measurement is finished by the camera 101. The shooting end signal is generated at each shooting end.

(Configuration of UAV control device for control points)
The control device 205 in the present embodiment includes the flight path reception unit 401, the position information reception unit 402, the aircraft control unit 403, the shooting range determination unit 404, the stillness confirmation signal generation unit 405, and the shooting end recognition unit 406 in FIG. ing.

When the stationary confirmation signal generation unit 405 arrives at an arbitrary point in the photographing area, the stationary confirmation signal generation unit 405 generates a stationary confirmation signal for notifying the UAV 100 for photography of the arrival of the UAV 200 for a stationary point. Since this stillness confirmation signal is transmitted by the UAV200 for the control point that has arrived in the shooting area, if the stillness confirmation signal is received, the UAV100 for photography has the UAV200 for the control point in the shooting area. To estimate. However, if the position information of the UAV200 for the control point is added to the stillness confirmation signal, it can be confirmed on the UAV100 side for photography that the UAV200 for the control point exists in the shooting area. That is, by adding the position information of the UAV200 for the control point to the stationary confirmation signal, it can be expected that the reliability of the existence of the control point in the photographic area is improved.

Upon receiving the shooting end signal sent from the UAV 100 for photography, the shooting end recognition unit 406 recognizes that the shooting in the corresponding shooting area has been completed.

(Example of processing)
An example of the processing in this embodiment is shown in FIG. The outline of the embodiment is shown in FIG.

First, a flight path is set for the UAV 100 for photography and the UAV 200 for a control point. The setting method is the same as in step S101 (step S301). Next, the UAV100 for photography moves to the shooting point using the information of the shooting point and the flight path acquired in step S301 (step S302).

Then, when the UAV 100 for photography arrives at the shooting point, it waits for the stationary confirmation signal transmitted from the UAV 200 for the control point to be received in a predetermined number or more required for photography (step S303). That is, in step S303, it is determined whether or not the number of UAV200s for standardization required for standardization is stationary within the shooting range. Next, when the UAV 100 for photography receives a predetermined number or more of static confirmation signals, the UAV 100 for photography takes a picture of the measurement target (step S304). Next, when the photography is completed, the photography UAV 100 transmits a photography end signal to the control point UAV 200 (step S305).

Finally, the UAV100 for photography determines whether or not there is a next shooting point from the information of the shooting point acquired in step S301, and if there is a next shooting point, returns to step S302, and if there is no next shooting point, , Finish the process (step S306).

While the UAV 100 for photography performs the processing of steps S302 to S306, the UAV 200 for the control point performs the processing of steps S307 to S311 described later. The UAV200 for the control point moves to the shooting range based on the shooting range acquired in step S301 and the flight path around the shooting range (step S307).

After arriving at the shooting range, the UAV200 for the control point makes the aircraft stationary (step S308), and transmits a stillness confirmation signal to the UAV100 for photography (step S309). Then, the UAV 200 for the control point is stopped within the shooting range until the shooting end signal is received from the UAV 100 for shooting (step S310). The UAV200 for a control point that has received the shooting end signal returns from step S311 to step S307 if there is a next shooting range, and ends the process if there is no next shooting point (step S306).

4. Fourth Embodiment (Overview)
It may be an embodiment in which the timing of photography by the UAV 100 for photography and the formation of the control point by the UAV 200 for the control point are adjusted by transmitting and receiving signals, and the control point is efficiently formed by using the UAV 200 for control points of two or more formations.

(Structure of UAV, etc.)
The configurations of the UAV 100 for photography, the UAV 200 for a control point, and the control device 105 in the present embodiment are the same as those in the third embodiment.

(Configuration of UAV control device for control points)
The control device 205 in the present embodiment has a flight path reception unit 401, a position information reception unit 402, an aircraft control unit 403, a shooting range determination unit 404, a stillness confirmation signal generation unit 405, a shooting end recognition unit 406, and a marker in FIG. It is equipped with a fixed point installation machine selection unit 407.

The aircraft (formation) selection unit 407 for setting a control point selects a formation to be a control point from two or more formations consisting of UAV200 for a plurality of control points, and installs a control point on the aircraft constituting the selected formation. The setting as the aircraft of is given. The setting as the machine for setting the control point is canceled after receiving the shooting end signal transmitted from the UAV100 for photography. In addition, the aircraft (formation) to be the control point is selected from the aircraft (formation) to which the setting as the aircraft for setting the control point is not given.

The aircraft selection unit 407 for the control point performs processing while communicating with the communication device 207 of each control point UAV200, but the processing performed here is performed by an external data processing device, and the processing result is used for the control point. It may be transmitted to UAV200. Of course, the machine selection process may be performed as a functional unit of the control device 105 provided in the UAV 100 for photography.

(Example of processing)
An example of the processing in this embodiment is shown in FIG. The configuration of the embodiment is shown in FIG.

Step S401 to set the flight route to the UAV100 for photography and UAV200 for the control point and steps S402 to S406, which are the flows of the UAV100 for photography, are the same as in steps S301 and S302 to S306 of the third embodiment. (Step S401 to step S406).

While the UAV 100 for photography performs the processing of steps S402 to S406, the UAV 200 for the control point performs the processing of steps S407 to S413 described later.

The UAV200 for the control point selects a formation for setting the control point for the shooting range acquired in step S301. The aircraft constituting the formation for setting the control point is given a setting as the aircraft for installing the control point (step S407). Next, in each control point UAV200, it is determined whether or not the setting as the control point installation machine is given (step S408). Then, the UAV200 for the control point to which the setting as the control point setting machine is given moves to the shooting range in which the control point is installed (step S409). Further, the control point UAV200 to which the setting as the control point installation machine is not given performs the process of step S413 described later.

After arriving at the shooting range, the control point UAV 200 for setting the control point makes the aircraft stationary (step S410), and transmits a stillness confirmation signal to the photography UAV 100 (step S411). After that, the photograph is kept still within the photographing range until the photographing end signal is received from the photographing UAV 100. When the shooting end signal is received, the setting as the control point setting machine is canceled, and the control point setting machine can be used in other shooting ranges (step S412).

The UAV200 for the control point whose setting as the machine for setting the control point was canceled in step S412 and the UAV200 for the control point which was not selected as the machine for setting the control point in step S407, that is, the setting as the machine for setting the control point is given. If the UAV200 for the control point that has not been set has the next shooting range, the process of step S407 or less is repeated, and if there is no next shooting range, the process ends (step S413).

In addition, since the UAV200 for the control point to which the setting as the machine for setting the control point was given in step S407 moves to the photography range and stands still, the setting as the machine for setting the control point was not given. Compared with the UAV200 for the control point, a time delay occurs. Therefore, in the next selection of the aircraft for setting the control point, the UAV200 for the control point to which the setting is not given has priority over the UAV200 for the control point to which the setting as the aircraft for setting the control point is given, in the next shooting. Is selected.

Claims (2)

Flying an aircraft equipped with a camera that takes images for aerial photography, flying further over the sky where multiple unmanned aerial vehicles equipped with targets for orientation fly.
The camera photographs an area including the plurality of unmanned aerial vehicles equipped with the target for orientation from the sky.
At the time of the shooting
The shooting method in which the plurality of unmanned aerial vehicles equipped with the target for orientation are flying in formation . A program for aerial photogrammetry that is read and executed by a computer.
On the computer
Flying an aircraft equipped with a camera that takes images for aerial photography, flying further over the sky where multiple unmanned aerial vehicles equipped with targets for orientation fly.
The camera controls the shooting of an area including the plurality of unmanned aerial vehicles equipped with the target for orientation from the sky.
At the time of the shooting
The plurality of unmanned aerial vehicles equipped with the target for orientation are a shooting program in which they are flying in formation .

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