JP7351033B1 - Information processing device, information processing method and program - Google Patents

Abstract

An object of the present invention is to relax restrictions on the time period or direction for photographing an object. [Solution] A flight plan acquisition unit 131 that acquires a flight plan of a first flying object that flies to photograph an object that is a photographing target; and a first flying object that flies based on the flight plan. A second flying object, which is a different flying object, flies the second flying object so as to block sunlight entering the imaging means of the first flying object when the first flying object photographs an object. The information processing device 1 includes a flight control section 132. [Selection diagram] Figure 2

Description

The present invention relates to an information processing device, an information processing method, and a program.

A flight management system is known in which a flying device is flown to photograph an inspection target (for example, see Patent Document 1).

JP2023-022807A

In the conventional technology, it is necessary to fly the flying device so as to photograph the object from a direction that is not backlit by the sun, which poses a problem in that the direction and time period in which the object can be photographed is limited.

The present invention has been made in view of these points, and it is an object of the present invention to ease restrictions on the time period or direction for photographing an object.

The information processing device according to the first aspect of the present invention includes a flight plan acquisition unit that acquires a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target; A second flying object, which is a different flying object from the first flying object, which flies based on a plan, enters an imaging means of the first flying object when the first flying object photographs the object. and a flight control unit that causes the second flying object to fly so as to block sunlight.

The flight plan acquisition unit is configured to obtain a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target, and a flight plan that is a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target, and a flight plan that is a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target. The flight control unit acquires the flight plan including a certain photographing position, and the flight control unit controls the solar rays of the second flying object to be incident on the imaging means of the first flying object flying at the photographing position indicated by the flight plan. The second flying object may be flown so as to block the air flow.

The flight control section further includes a flight object information acquisition section that acquires information indicating a position where the first flight object flies, and the flight control section is configured to perform flight control based on the position of the first flight object acquired by the flight object information acquisition section. The second flying object may be flown so as to block sunlight from entering an imaging means of the first flying object.

The flight control unit further includes an environmental information acquisition unit that acquires environmental information in which a position and a direction of incidence of sunlight at the position are associated with each time, and the flight control unit causes the imaging means of the first aircraft to: The second flying object may be flown so as to block sunlight entering from the direction indicated by the environmental information at the time when the first flying object is flying.

The flight controller further includes a backlight detection unit that acquires image data captured by the first flying object and detects backlight included in the acquired image data, and the flight control unit detects the image captured by the backlight detection unit. When backlight is detected in the data, the second flying object may be flown so as to block sunlight entering the imaging means of the first flying object.

The second flying object includes a light shielding means for blocking sunlight, and the flight control unit controls the second flying object so that the light blocking means blocks sunlight entering the imaging means of the first flying object. You may also make your body fly.

The flight control unit may cause the second flying object to fly so that the object to be photographed and the second flying object do not overlap when the first flying object photographs the object. good.

In the information processing method of the second aspect of the present invention, the step of acquiring a flight plan of a first flying object that is a flying object that flies to photograph an object to be photographed, which is executed by a computer; A second flying object, which is a different flying object from the first flying object, which flies based on the flight plan, uses an imaging means of the first flying object when the first flying object photographs the object. and the step of flying the second flying object so as to block the incident sunlight.

In the program according to the third aspect of the present invention, the step of acquiring a flight plan of a first flying object that is a flying object that flies to photograph an object to be photographed; A second flying object, which is a different flying object than the first flying object, flies based on solar rays that enter the imaging means of the first flying object when the first flying object photographs the object. and causing the second flying object to fly so as to interrupt the flow.

According to the present invention, there is an effect that restrictions on the time period or direction for photographing an object to be photographed are relaxed.

1 is a diagram illustrating an overview of an information processing system S according to an embodiment. 1 is a block diagram showing the configuration of an information processing device 1. FIG. 3 is a diagram illustrating an example of a data structure of flight plan information acquired by a flight plan acquisition unit 131. FIG. 3 is a diagram illustrating an example of a data structure of environmental information acquired by an environmental information acquisition unit 134. FIG. 3 is a flowchart showing the flow of processing in the information processing device 1. FIG. It is a figure explaining the outline of information processing system SA concerning a modification.

[Overview of information processing system S]
FIG. 1 is a diagram illustrating an overview of an information processing system S according to an embodiment. The information processing system S is a system for photographing an object using a flying object. The object photographed by the information processing system S is, for example, equipment to be inspected. The information processing system S includes an information processing device 1, a first flying object 2, and a second flying object 3. The information processing device 1, the first flying object 2, and the second flying object 3 are each communicably connected via a network.

The information processing device 1 is a device that controls an aircraft. The information processing device 1 is, for example, a server. When photographing an object with the first flying object 2, the information processing device 1 controls the second flying object 3 to fly so as to prevent the shooting from failing due to backlight. Specifically, the information processing device 1 calculates the position where the second flying object 3 flies based on the flight plan of the first flying object 2, and transmits the calculated position to the second flying object 3.

The first flying object 2 is a flying object that flies to photograph an object to be photographed. The first flying object 2 flies based on a flight plan. The first flying object 2 has an imaging means for photographing an object. The imaging means is, for example, a camera. The flight plan includes a route that the first flying object 2 will fly. The first flying object 2 and the second flying object 3 are, for example, drones.

The second flying object 3 flies in order to block sunlight entering the photographing means of the first flying object 2 to prevent backlighting when the first flying object 2 photographs an object. The second flying object 3 hovers at the position transmitted from the information processing device 1, for example. As shown in FIG. 1, the second flying object 3 blocks sunlight by the casing of the second flying object 3 at the position transmitted from the information processing device 1, and the imaging means of the first flying object 2 is affected. Fly as if dropping. The second flying object 3 blocks sunlight by absorbing or polarizing the sunlight. Note that the second flying object 3 only needs to be able to block sunlight to such an extent that backlight is not detected in the image taken by the first flying object 2, and may be configured to block part of the sunlight.

By configuring the information processing system S in this way, restrictions on the time period or direction for photographing an object can be relaxed.

[Configuration of information processing device 1]
FIG. 2 is a block diagram showing the configuration of the information processing device 1. As shown in FIG. The information processing device 1 includes a communication section 11, a storage section 12, and a control section 13. The control unit 13 includes a flight plan acquisition unit 131 , a flight control unit 132 , an aircraft information acquisition unit 133 , an environment information acquisition unit 134 , a backlight detection unit 135 , and an image analysis unit 136 .

The communication unit 11 is a communication interface for transmitting and receiving data to and from other devices via a network. The storage unit 12 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), an SSD (Solid State Drive), a hard disk drive, and the like. The storage unit 12 stores in advance a program to be executed by the control unit 13.

The control unit 13 is, for example, a processor such as a CPU (Central Processing Unit). The control unit 13 executes the programs stored in the storage unit 12 to acquire a flight plan acquisition unit 131, a flight control unit 132, an aircraft information acquisition unit 133, an environment information acquisition unit 134, a backlight detection unit 135, and an image analysis unit. 136.

The flight plan acquisition unit 131 acquires the flight plan of the first flying object 2. The flight plan of the first flying object 2 may be stored in the storage unit 12 or may be obtained from an external device (not shown) via a network. FIG. 3 is a diagram illustrating an example of the data structure of flight plan information acquired by the flight plan acquisition unit 131. The flight plan information shown in FIG. 3(a) includes a flight plan ID, flight date and time, and flight route. The flight plan ID is an ID (IDentification) for identifying a flight plan. The flight date and time has a start date and time and an end date and time. The start date and time and the end date and time indicate the date and time when the first flying object 2 starts flying and the date and time when the first flying object 2 ends its flight, respectively. The flight route indicates the route on which the first flying object 2 flies. The flight path includes, for example, a plurality of positions where the first flying object 2 flies. The flying position is expressed by coordinates and altitude, for example. In the flight plan information, the position where the first flying object 2 flies and the time when the first flying object 2 is scheduled to fly the position may be associated with each other.

The flight plan acquisition unit 131 acquires a flight plan including a photographing position where the first flying object 2 photographs a target object. The flight plan information shown in FIG. 3(b) further includes a plurality of photographing positions indicating positions at which the first flying object 2 photographs objects. The photographing position includes, for example, the position and direction of photographing. The photographing direction is expressed, for example, as a rotational attitude in three-dimensional space that the first flying object 2 takes.

The flight control unit 132 controls the second flying object 3 so that when the first flying object 2 photographs an object, the second flying object 3 blocks sunlight entering the imaging means of the first flying object 2. Fly 3. Specifically, the flight control unit 132 determines whether the second flying object 3 overlaps with the sun at the time when the first flying object 2 is flying with respect to the position where the first flying object 2 is flying as indicated by the flight plan. The position of casting a shadow on the first flying object 2 is calculated from the direction. Specifically, the storage unit 12 stores the size of the second flying object 3, and the flight control unit 132 controls the first flight based on the size of the second flying object 3 stored in the storage unit 12. The distance between the first flying object 2 and the second flying object 3 (hereinafter referred to as the "calculated distance") is such that the apparent size of the second flying object 3 viewed from the position of the flying object 2 is larger than the apparent size of the sun. ) is calculated.

The flight control unit 132 calculates the direction in which the second flying object 3 and the sun overlap when viewed from the position of the first flying object 2 (hereinafter referred to as the "calculated direction"). The flight control unit 132 calculates the position where the second flying object 3 will fly based on the position of the first flying object 2 indicated by the flight plan information, the calculated direction, and the calculated distance. The flight control unit 132 transmits the calculated position to the second flying object 3 and controls the second flying object 3 to fly at the position. With respect to the position of the first flying object 2 indicated by the flight plan information, the flight control unit 132 casts a shadow on the first flying object 2 from a direction in which the second flying object 3 overlaps with the sun at the time when it is scheduled to fly at the position. Calculate the drop position.

The flight control unit 132 causes the second flying object 3 to fly so that the second flying object 3 blocks sunlight entering the imaging means of the first flying object 2 flying at the photographing position indicated by the flight plan. It's okay. Specifically, the flight control unit 132 refers to the shooting position indicated by the flight plan, and the second flying object 3 is located in the sun at the time when the first flying object 2 is flying with respect to the shooting position indicated by the flight plan. The position of casting a shadow on the first flying object 2 is calculated from the direction that overlaps with the first flying object 2.

By configuring the information processing device 1 in this way, there is an effect that restrictions on the time period or direction for photographing the photographic object are relaxed.

The information processing device 1 may be configured to control the second flying object 3 based on the position of the first flying object 2.

The flying object information acquisition unit 133 acquires information indicating the position where the first flying object 2 flies. The first flying object 2 periodically transmits position information indicating the coordinates and altitude of the position where the first flying object 2 is flying to the information processing device 1, and the flying object information acquisition unit 133 acquires this.

Based on the position of the first flying object 2 acquired by the flying object information acquisition section 133, the flight control section 132 controls the second flying object 3 to block sunlight entering the imaging means of the first flying object 2. make it fly The flight control unit 132 calculates and calculates the position where the second flying object 3 casts a shadow on the first flying object 2 from the direction in which it overlaps with the sun, with respect to the position of the first flying object 2 indicated by the acquired position information. The position is controlled so that the second flying object 3 flies.

By configuring the information processing device 1 in this way, it becomes possible to flexibly control the second flying object 3 based on the position of the first flying object 2.

The information processing device 1 may be configured to obtain the direction of the sun. The environmental information acquisition unit 134 acquires environmental information that associates a position and a direction in which sunlight is incident at the position for each time. FIG. 4 is a diagram illustrating an example of environmental information acquired by the environmental information acquisition unit 134. In the environmental information, date, time, position, solar altitude, and solar azimuth are associated. The flight control unit 132 causes the second flying object 3 to fly so as to block sunlight entering the imaging means of the first flying object 2 from the direction indicated by the environmental information at the time when the first flying object 2 flies. .

When backlight is detected in the image data taken by the first flying object 2, the second flying object 3 may be flown so as to block sunlight entering the first flying object 2.

The backlight detection unit 135 acquires image data captured by the first flying object 2 and detects backlight included in the acquired image data. The first flying object 2 transmits image data of the object to the information processing device 1, and the backlight detection unit 135 acquires the image data. The backlight detection unit 135 detects backlight included in the acquired image data using a known backlight detection technique.

If backlight is detected in the image data acquired by the backlight detection section 135, the flight control section 132 causes the second flying object 3 to fly so as to block sunlight entering the imaging means of the first flying object 2. That is, the flight control unit 132 calculates the position to fly the second flying object 3 on the condition that backlight is detected in the image data acquired by the backlight detection unit 135, and causes the second flying object 3 to fly to the calculated position. It may be controlled as follows.

In addition, when backlight is detected in the image data acquired by the backlight detection unit 135, the flight control unit 132 controls the flight control unit 132 to block sunlight entering from a direction corresponding to a pixel in which backlight is detected in the acquired image data. Two flying objects 3 may be flown. As an example, the flight control unit 132 is configured to control the image data based on the pixel in which a high brightness value is detected in the acquired image data and the direction in which the first flying object 2 takes the image at the time when the image data is taken, which is indicated by the flight plan information. Calculate the direction of incidence of sunlight. The flight control unit 132 calculates the position at which the second flying object 3 is to fly based on the calculated distance.

By configuring the information processing device 1 in this way, the second flying object 3 can be flown if necessary, and the efficiency of photographing when backlight is not detected is improved.

If the object to be photographed and the second flying object 3 overlap, it will cause failure in photographing. Therefore, the information processing device 1 may be configured to control the second flying object 3 so that the object to be photographed and the second flying object 3 do not overlap.

The flight control unit 132 causes the second flying object 3 to fly so that the object to be photographed and the second flying object 3 do not overlap when the first flying object 2 photographs the object. As an example, the image analysis unit 136 acquires image data obtained by photographing an object by the first flying object 2. The image analysis unit 136 determines whether the object to be photographed and the second flying object 3 overlap based on the acquired image data. When it is sufficient that a part of the object to be photographed is reflected, the image analysis unit 136 may determine whether a part of the object to be photographed and the second flying object 3 overlap. For example, the image analysis unit 136 determines whether the object to be photographed and the second flying object 3 overlap in image data acquired by a known image analysis technique.

If the object to be photographed and the second flying object 3 overlap in the acquired image data, for example, the flight control unit 132 may control the image data of the second flying object 3 that is reflected in the image data taken by the first flying object 2. The position of the second flying object 3 is determined by increasing the distance between the first flying object 2 and the second flying object 3 (for example, by adding or multiplying the calculated distance by a predetermined coefficient) so that the apparent size becomes smaller. Calculate.

By configuring the information processing device 1 in this way, it is possible to prevent failure in photographing the object due to the object being photographed overlapping the second flying object 3.

[Flow of processing in information processing device 1]
FIG. 5 is a flowchart showing the flow of processing in the information processing device 1. As shown in FIG. The flowchart shown in FIG. 5 starts from the timing when the first flying object 2 starts flying. The flight plan acquisition unit 131 acquires the flight plan of the first flying object 2 (S01). The flight control unit 132 determines whether photographing is completed (S02). As an example, the flight control unit 132 determines that photographing has been completed when photographing has been completed at all photographing positions indicated by the flight plan, or when information indicating that photographing has been completed has been obtained. If the photographing is completed (YES in S02), the information processing device 1 ends the process.

If the photographing is not completed (NO in S02), the flying object information acquisition unit 133 acquires the position of the first flying object 2 (S03). The flight control unit 132 controls the second flying object 3 based on the acquired position of the first flying object 2 (S04). Specifically, the flight control unit 132 calculates a position for flying the second flying object 3 based on the acquired position of the first flying object 2, and instructs the second flying object 3 to fly to the calculated position. 2 to control the aircraft 3. The information processing device 1 advances the process to S02. Note that the information processing device 1 may advance the process to S02 when it acquires information indicating that imaging of the acquired position has been completed.

<Modified example>
In the above explanation, an example was explained in which the casing of the second flying object 3 blocks sunlight entering the imaging means of the first flying object 2. However, the shading means of the second flying object 3 blocks sunlight rays. The information processing system may be configured to do so. FIG. 6 is a diagram illustrating an overview of the information processing system SA in this case. In the example shown in FIG. 6, the second flying object 3 includes a light blocking means 31 for blocking sunlight. The second flying object 3 is flying in such a way that sunlight entering the first flying object 2 is blocked by the light shielding means 31 . The light blocking means 31 blocks sunlight by absorbing or polarizing the sunlight. The light shielding means 31 is, for example, a panel of a predetermined size covered with a member having a property of absorbing or polarizing visible light. The predetermined size is a size that allows the second flying object 3 to which the light shielding means 31 is attached to fly, and that can be seen from a certain distance to be larger than the apparent size of the sun.

The flight control unit 132 causes the second flying object 3 to fly so that the sunlight entering the imaging means of the first flying object 2 is blocked by the light shielding means. As an example, the storage unit 12 stores the size of the light shielding means that the second flying object 3 has, and the flight control unit 132 uses the size of the light shielding means stored in the storage unit 12 as described above. The distance between the first flying object 2 and the second flying object 3 is calculated so that the apparent size of the second flying object 3 viewed from the position of the flying object 2 is larger than the apparent size of the sun, and the distance between the first flying object 2 and the second flying object 3 is calculated. Calculate the position to fly 3.

With the information processing system SA configured in this way, the second flying object 3 can be flown in order to block sunlight entering the first flying object 2, regardless of the size or shape of the second flying object 3. The location can be determined.

Furthermore, the present invention makes it possible to contribute to Goal 9 of the Sustainable Development Goals (SDGs) led by the United Nations, "Create a foundation for industry and technological innovation."

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. be. For example, all or part of the device can be functionally or physically distributed and integrated into arbitrary units. In addition, new embodiments created by arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiment resulting from the combination have the effects of the original embodiment.

1 Information processing device 2 First flight object 3 Second flight object 11 Communication section 12 Storage section 13 Control section 131 Flight plan acquisition section 132 Flight control section 133 Flight object information acquisition section 134 Environmental information acquisition section 135 Backlight detection section 136 Image analysis Department

Claims (9)

a flight plan acquisition unit that acquires a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target;
A second flying object, which is a different flying object from the first flying object, which flies based on the flight plan, uses an imaging means of the first flying object when the first flying object photographs the object. a flight control unit that causes the second flying object to fly so as to block incident sunlight;
An information processing device having: The flight plan acquisition unit is configured to obtain a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target, and a flight plan that is a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target, and a flight plan that is a flight plan of a first flying object that is a flying object that flies to photograph an object that is a photographing target. obtaining the flight plan including a certain shooting position;
The flight control unit controls the flight of the second flying object so that the second flying object blocks sunlight entering an imaging means of the first flying object flying at the photographing position indicated by the flight plan. let,
The information processing device according to claim 1. further comprising an aircraft information acquisition unit that acquires information indicating a position where the first aircraft flies,
The flight control section controls the second flight object to block sunlight entering an imaging means of the first flight object based on the position of the first flight object acquired by the flight object information acquisition section. make it fly,
The information processing device according to claim 1 or 2. further comprising an environmental information acquisition unit that acquires environmental information that associates a position and a direction of incidence of sunlight at the position for each time;
The flight control unit controls the second flying object to block sunlight entering the imaging means of the first flying object from the direction indicated by the environmental information at the time when the first flying object flies. make it fly,
The information processing device according to claim 1 or 2. further comprising a backlight detection unit that acquires image data captured by the first flying object and detects backlight included in the acquired image data,
When backlight is detected in the image data acquired by the backlight detection section, the flight control section causes the second flying object to fly so as to block sunlight entering the imaging means of the first flying object. ,
The information processing device according to claim 1 or 2. The second flying object includes a shading means for blocking sunlight,
The flight control unit causes the second flying object to fly so that the sunlight rays entering the imaging means of the first flying object are blocked by the light shielding means.
The information processing device according to claim 1 or 2. The flight control unit causes the second flying object to fly so that the object to be photographed and the second flying object do not overlap when the first flying object photographs the object.
The information processing device according to claim 1 or 2. computer executes
obtaining a flight plan of a first flying object that is a flying object that flies to photograph an object to be photographed;
A second flying object, which is a different flying object from the first flying object, which flies based on the flight plan, uses an imaging means of the first flying object when the first flying object photographs the object. Flying the second flying object to block incident sunlight;
An information processing method having to the computer,
obtaining a flight plan of a first flying object that is a flying object that flies to photograph an object to be photographed;
A second flying object, which is a different flying object from the first flying object, which flies based on the flight plan, uses an imaging means of the first flying object when the first flying object photographs the object. Flying the second flying object to block incident sunlight;
A program to run.

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