JP7347651B2 - 飛行体制御装置、飛行体制御方法、及びプログラム - Google Patents

飛行体制御装置、飛行体制御方法、及びプログラム Download PDF

Info

Publication number
JP7347651B2
JP7347651B2 JP2022507071A JP2022507071A JP7347651B2 JP 7347651 B2 JP7347651 B2 JP 7347651B2 JP 2022507071 A JP2022507071 A JP 2022507071A JP 2022507071 A JP2022507071 A JP 2022507071A JP 7347651 B2 JP7347651 B2 JP 7347651B2
Authority
JP
Japan
Prior art keywords
inspection target
line
image
flying object
aircraft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022507071A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2021181554A5 (https=
JPWO2021181554A1 (https=
Inventor
達彦 中林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp filed Critical NEC Corp
Publication of JPWO2021181554A1 publication Critical patent/JPWO2021181554A1/ja
Publication of JPWO2021181554A5 publication Critical patent/JPWO2021181554A5/ja
Priority to JP2023144190A priority Critical patent/JP7574899B2/ja
Application granted granted Critical
Publication of JP7347651B2 publication Critical patent/JP7347651B2/ja
Priority to JP2024181279A priority patent/JP2025011271A/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/17—Helicopters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2247—Optic providing the operator with simple or augmented images from one or more cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions [3D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/686—Maintaining a relative position with respect to moving targets, e.g. following animals or humans
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/689—Pointing payloads towards fixed or moving targets
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—Two-dimensional [2D] image generation
    • G06T11/20—Drawing from basic elements
    • G06T11/23—Drawing from basic elements using straight lines or curves
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Quality & Reliability (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
JP2022507071A 2020-03-11 2020-03-11 飛行体制御装置、飛行体制御方法、及びプログラム Active JP7347651B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2023144190A JP7574899B2 (ja) 2020-03-11 2023-09-06 飛行体制御装置、飛行体制御方法、及びプログラム
JP2024181279A JP2025011271A (ja) 2020-03-11 2024-10-16 プログラム及び飛行体制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/010479 WO2021181554A1 (ja) 2020-03-11 2020-03-11 飛行体制御装置、飛行体制御方法、及びプログラム

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2023144190A Division JP7574899B2 (ja) 2020-03-11 2023-09-06 飛行体制御装置、飛行体制御方法、及びプログラム

Publications (3)

Publication Number Publication Date
JPWO2021181554A1 JPWO2021181554A1 (https=) 2021-09-16
JPWO2021181554A5 JPWO2021181554A5 (https=) 2022-11-18
JP7347651B2 true JP7347651B2 (ja) 2023-09-20

Family

ID=77671325

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2022507071A Active JP7347651B2 (ja) 2020-03-11 2020-03-11 飛行体制御装置、飛行体制御方法、及びプログラム
JP2023144190A Active JP7574899B2 (ja) 2020-03-11 2023-09-06 飛行体制御装置、飛行体制御方法、及びプログラム
JP2024181279A Pending JP2025011271A (ja) 2020-03-11 2024-10-16 プログラム及び飛行体制御方法

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2023144190A Active JP7574899B2 (ja) 2020-03-11 2023-09-06 飛行体制御装置、飛行体制御方法、及びプログラム
JP2024181279A Pending JP2025011271A (ja) 2020-03-11 2024-10-16 プログラム及び飛行体制御方法

Country Status (3)

Country Link
US (2) US12189403B2 (https=)
JP (3) JP7347651B2 (https=)
WO (1) WO2021181554A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12326729B2 (en) * 2020-10-23 2025-06-10 Deere &Company Methods, apparatus, and articles of manufacture to display acquisition paths
JP7490103B1 (ja) 2023-02-27 2024-05-24 Ｔｅｐｃｏ光ネットワークエンジニアリング株式会社 飛行ルート設定方法、飛行制御方法、保守点検方法、飛行ルート設定システムおよびプログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005265699A (ja) 2004-03-19 2005-09-29 Chugoku Electric Power Co Inc:The 無人飛行体を用いた送電線点検システムおよび方法
WO2015163106A1 (ja) 2014-04-25 2015-10-29 ソニー株式会社 制御装置、撮像装置、制御方法、撮像方法及びコンピュータプログラム
JP2018156491A (ja) 2017-03-17 2018-10-04 東京電力ホールディングス株式会社 設備点検システム
JP2018169995A (ja) 2017-03-30 2018-11-01 株式会社スカイマティクス ドローンを用いた作業を支援するシステムおよび方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014212479A (ja) * 2013-04-19 2014-11-13 ソニー株式会社 制御装置、制御方法及びコンピュータプログラム
WO2015160362A1 (en) 2014-04-18 2015-10-22 Hewlett-Packard Development Company, L.P. Providing combined data from a cache and a storage device
KR101769718B1 (ko) 2016-09-21 2017-08-18 한국전력공사 송전선로 전자계 및 순시 점검 영상 취득 장치 및 방법
JP2018160228A (ja) 2017-03-21 2018-10-11 株式会社東芝 経路生成装置、経路制御システム、及び経路生成方法
JP2019196980A (ja) 2018-05-09 2019-11-14 株式会社センシンロボティクス 検査システム
KR102344195B1 (ko) * 2020-01-10 2021-12-28 한국전력공사 전력선 촬영 방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005265699A (ja) 2004-03-19 2005-09-29 Chugoku Electric Power Co Inc:The 無人飛行体を用いた送電線点検システムおよび方法
WO2015163106A1 (ja) 2014-04-25 2015-10-29 ソニー株式会社 制御装置、撮像装置、制御方法、撮像方法及びコンピュータプログラム
JP2018156491A (ja) 2017-03-17 2018-10-04 東京電力ホールディングス株式会社 設備点検システム
JP2018169995A (ja) 2017-03-30 2018-11-01 株式会社スカイマティクス ドローンを用いた作業を支援するシステムおよび方法

Also Published As

Publication number Publication date
WO2021181554A1 (ja) 2021-09-16
JP7574899B2 (ja) 2024-10-29
JP2023171742A (ja) 2023-12-05
JP2025011271A (ja) 2025-01-23
JPWO2021181554A1 (https=) 2021-09-16
US12189403B2 (en) 2025-01-07
US20230094918A1 (en) 2023-03-30
US20250085709A1 (en) 2025-03-13

Similar Documents

Publication Publication Date Title
JP2025011271A (ja) プログラム及び飛行体制御方法
US11029352B2 (en) Unmanned aerial vehicle electromagnetic avoidance and utilization system
CN114721419B (zh) 基于无人机的输电线路的杆塔巡检方法、装置、以及设备
JP2021534481A (ja) 障害物又は地面の認識及び飛行制御方法、装置、機器及び記憶媒体
EP3961578B1 (en) Perception-based autonomous landing for aircraft
JP7051616B2 (ja) 画像表示システムおよび方法
US9235923B1 (en) Systems and methods for providing a visualization of satellite sightline obstructions
JP7004374B1 (ja) 移動体の移動経路生成方法及びプログラム、管理サーバ、管理システム
JP2018077626A (ja) 飛行制御装置、飛行制御方法、及びプログラム
JP2023100642A (ja) 検査システム
CN119273945A (zh) 用于单目3d对象检测和/或低级别传感器融合的跨域空间匹配
JP6929211B2 (ja) 航空機の飛行経路の安全性を判断するための方法、プログラムおよび装置
JP2022037971A (ja) 無人飛行体の飛行経路作成方法及びシステム
CN111750888A (zh) 信息交互方法、装置、电子设备和计算机可读存储介质
WO2021181553A1 (ja) ルート設定装置、ルート設定方法、及びプログラム
WO2021181578A1 (ja) 表示制御装置、表示制御方法、及びプログラム
JP2022052779A (ja) 点検システム及び管理サーバ、プログラム、ヒビ割れ情報提供方法
KR101440503B1 (ko) 위성영상 기반의 교관석 화면을 제공하는 비행시뮬레이터 장치
JP7072311B1 (ja) 移動体の移動経路生成方法及びプログラム、管理サーバ、管理システム
WO2014156169A1 (ja) 管制支援システム、管制支援方法および管制支援プログラム
JP7020418B2 (ja) 情報処理装置、情報処理方法、およびプログラム
JP7605417B1 (ja) 情報処理方法、情報処理システム及びプログラム
JP7573826B1 (ja) 情報処理システム、情報処理方法及びプログラム
CN117150754B (zh) 基于仿真的激光雷达外参获取方法、电子设备和存储介质
JP2024022449A (ja) 情報処理システム及びプログラム、情報処理方法、サーバ

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220901

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220901

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230509

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230710

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20230808

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20230821

R151 Written notification of patent or utility model registration

Ref document number: 7347651

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151