WO2022259799A1 - 制御装置、飛行体システム、制御方法、及びプログラム - Google Patents

制御装置、飛行体システム、制御方法、及びプログラム Download PDF

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Publication number
WO2022259799A1
WO2022259799A1 PCT/JP2022/019850 JP2022019850W WO2022259799A1 WO 2022259799 A1 WO2022259799 A1 WO 2022259799A1 JP 2022019850 W JP2022019850 W JP 2022019850W WO 2022259799 A1 WO2022259799 A1 WO 2022259799A1
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WO
WIPO (PCT)
Prior art keywords
imaging
flying object
marker
instruction
light emission
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.)
Ceased
Application number
PCT/JP2022/019850
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English (en)
French (fr)
Japanese (ja)
Inventor
哲 和田
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.)
Fujifilm Corp
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Fujifilm 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 Fujifilm Corp filed Critical Fujifilm Corp
Priority to JP2023527575A priority Critical patent/JPWO2022259799A1/ja
Publication of WO2022259799A1 publication Critical patent/WO2022259799A1/ja
Priority to US18/523,880 priority patent/US12461541B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
    • 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
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/60—Tethered aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • 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
    • G05D1/2248—Optic providing the operator with simple or augmented images from one or more cameras the one or more cameras located remotely from the vehicle
    • 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
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • 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
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
    • 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
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/89—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for inspecting structures, e.g. wind mills, bridges, buildings or vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/90—Building sites; Civil engineering
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • G05D2109/254—Flying platforms, e.g. multicopters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects

Definitions

  • the technology of the present disclosure relates to a control device, an aircraft system, a control method, and a program.
  • Japanese Unexamined Patent Application Publication No. 2020-032804 discloses an unmanned flying carrier comprising a flightable aircraft having a plurality of rotor blades, and a fork provided to fly together with the aircraft and on which a workpiece is placed. It is
  • Japanese Patent Application Laid-Open No. 2017-024616 describes a flying object that flies using a propulsive force generated by a propulsion device, which includes an attitude detection unit that detects the attitude of the flying object, a light receiving unit that receives light, The propulsion force of the propulsion system is controlled based on the attitude angle obtained from the attitude detector and the intensity of the light obtained from the light receiver so that the flying object maintains a constant position with respect to the luminous body that emits light. and a flight control for controlling the position and/or velocity of the vehicle.
  • Japanese Patent Application Laid-Open No. 2019-055780 discloses an aircraft control system used for controlling an aircraft, which is arranged on a flight route of the aircraft, and control information for controlling the aircraft is an image or text, or a combination thereof. a mark portion displayed as a combination; a flight control portion that controls the flying object based on the control information; an imaging portion that captures an image or characters displayed on the mark portion, or a combination thereof; Alternatively, a control system for an flying object is disclosed that includes a correcting unit that corrects control information based on the positional relationship between the flying object and the mark portion when capturing an image of characters or a combination thereof.
  • Japanese Patent Application Laid-Open No. 2019-156242 discloses a system for an aircraft that flies by the driving force of a motor, which is installed on the ground and has a ground part having a power supply device, and a first end connected to the ground part A cable, a flying object connected to the second end of the cable, a reel device installed on the ground for winding the surplus cable, and a controller for operating the flying object, the flying object having a main rotor.
  • a flying object altitude measuring means for measuring its own altitude, and a flying object position grasping means for grasping its own position
  • the reel device is a cylindrical drum on which the cable is wound a motor for rotationally driving the drum; a rotation sensor capable of measuring the direction and speed of rotation of the drum; current detection means for detecting current flowing through the coil of the motor; It has a motor controller that controls the torque generated by the motor, a reel device altitude measurement means that measures its own altitude, and a reel device position grasping means that grasps its position, and the motor controller basically consists of
  • the drum By matching the current value detected by the current detection means with a preset standard value, the drum generates torque in the direction in which the cable is wound to control the motor, and the operator controls the controller is operated, based on the information obtained from the flying object altitude measuring means, the flying object position grasping means, the reel device altitude measuring means, and the reel device position grasping means, and the operation information of the controller,
  • a flying object system that corrects and controls the set
  • JP-A-2018-095105 a main rope stretched along the object to be inspected and a part on one end side are joined to a flying object provided with an inspection unit for inspecting the object to be inspected, and the other end side A connecting rope engages the main rope so that the portion of the main rope is movable in the longitudinal direction of the main rope.
  • Japanese Patent Application Laid-Open No. 2019-144052 discloses an inspection device for an inspection object that evaluates the inspection object based on the inspection result of the state of the inspection object, detecting the state of the inspection object and detecting the inspection object a detection unit that generates inspection information representing the state of the inspection object; an index unit that is provided in the detection unit and indicates the inspection location of the inspection object; a flying object that moves along the inspection object; A power supply unit connected via a cable and capable of continuously supplying power to the flying vehicle, and a plurality of reference points and indicators mounted on the flying vehicle and set at at least two locations separated from each other on the surface of the object to be inspected.
  • an imaging unit for generating image information by capturing an image of a range including a plurality of reference points and an index unit.
  • a control unit an inspection position information generation unit that generates inspection position information of an object to be inspected based on the image information captured by the imaging unit, the position of the index unit relative to the positions of the plurality of reference points, and a detection unit.
  • an inspection object evaluation information generation unit that generates evaluation information for evaluating the state of the inspection object in which the inspection information and the inspection position information are associated with each other.
  • One embodiment of the technology of the present disclosure provides, for example, a control device, an aircraft system, a control method, and a program that can position an aircraft in the vertical direction without using a satellite positioning system.
  • a first aspect of the technology of the present disclosure includes a processor and a memory connected to or built into the processor, and the processor is mounted on an aircraft for a marker whose vertical position is variable by a displacement mechanism.
  • a control device that obtains the vertical position of the marker detected by the optical sensor and controls the aircraft to maintain or change the vertical position of the aircraft based on the vertical position of the marker. be.
  • a second aspect of the technology of the present disclosure is the control device according to the first aspect, wherein the optical sensor has a first imaging device.
  • a third aspect of the technology of the present disclosure is the control device according to the second aspect, wherein the processor controls the first imaging device to capture an imaging scene partially including the marker. be.
  • a fourth aspect of the technology of the present disclosure is the control device according to the third aspect, wherein the imaging scene includes a first inspection object positioned around the marker.
  • a fifth aspect of the technology of the present disclosure is the control device according to the third aspect or the fourth aspect, wherein the vertical position of the marker is obtained by imaging the imaging scene with the first imaging device. is the position detected based on the image obtained.
  • a sixth aspect of the technology of the present disclosure is the control device according to the fifth aspect, wherein the processor adjusts the height of the flying object so that the marker is arranged in the center of the image in the vertical direction on the image. It is a control device that performs control for setting the vertical position of the aircraft.
  • a seventh aspect of the technology of the present disclosure is the control device according to any one of the first to sixth aspects, wherein the processor determines the vertical position of the flying object with respect to the flying object. It is a control device that controls setting to the same position as the vertical position of the marker.
  • An eighth aspect of the technology of the present disclosure is the control device according to the first aspect or the second aspect, wherein the optical sensor has a LiDAR scanner, and the vertical position of the marker is determined by the LiDAR scanner.
  • the control device is a position detected based on scan data obtained by scanning a target area included in a part.
  • a ninth aspect of the technology of the present disclosure is the control device according to any one of the first to eighth aspects, wherein the marker has a light emitter.
  • a tenth aspect of the technology of the present disclosure is the control device according to the ninth aspect, wherein the processor performs first control on the flying object according to a first light emission mode of the light emitter. .
  • An eleventh aspect of the technology of the present disclosure is the control device according to the tenth aspect, wherein the first control includes control for maintaining or changing the vertical position of the aircraft.
  • a twelfth aspect of the technology of the present disclosure is the control device according to the tenth aspect or the eleventh aspect, wherein the first control includes control for maintaining or changing the movement speed of the flying object.
  • a thirteenth aspect of the technology of the present disclosure is the control device according to any one of the tenth to twelfth aspects, wherein the first control includes movement control for horizontally moving the flying object. It is a control device.
  • a fourteenth aspect of the technology of the present disclosure is the control device according to the thirteenth aspect, wherein the movement control adjusts the first distance between the marker and the flying object by horizontally moving the flying object. It is a control device containing controls.
  • a fifteenth aspect of the technology of the present disclosure is the control device according to any one of the tenth to fourteenth aspects, wherein the first light emission mode includes blinking.
  • a sixteenth aspect of the technology of the present disclosure is the control device according to any one of the ninth to fifteenth aspects, wherein the processor causes the aircraft to emit light in the second light emission mode. It is a control device that performs control to hover in response.
  • a seventeenth aspect of the technology of the present disclosure is the control device according to the sixteenth aspect, wherein the second light emission mode is a mode including turning off.
  • An eighteenth aspect of the technology of the present disclosure is the control device according to any one of the ninth aspect to the seventeenth aspect, wherein the processor is configured to: The control device performs imaging control for imaging a still image according to a third light emission mode of the light emitter.
  • a nineteenth aspect of the technology of the present disclosure is the control device according to the eighteenth aspect, wherein the processor performs imaging control when the flying object is hovering.
  • a twentieth aspect of the technology of the present disclosure is the control device according to the eighteenth aspect or the nineteenth aspect, wherein the light emitter includes a plurality of light sources, and the third light emission aspect comprises alternate blinking of the plurality of light sources. It is a control device which is an aspect including
  • a twenty-first aspect of the technology of the present disclosure is the control device according to any one of the ninth to twentieth aspects, wherein the processor controls the flying object according to the fourth light-emitting aspect of the light-emitting body.
  • control to move the flying object in the horizontal direction while maintaining the vertical position of the flying object, and control to image the second object to be inspected by the third imaging device mounted on the flying object are repeatedly performed. It is a control device.
  • a twenty-second aspect of the technology of the present disclosure is an aircraft system including the control device according to any one of the first to twenty-first aspects, a displacement mechanism, a marker, and an aircraft. be.
  • a twenty-third aspect of the technology of the present disclosure is the aircraft system according to the twenty-second aspect, wherein the displacement mechanism includes a cable provided with a marker, and a reel for winding and delivering the cable. System.
  • a twenty-fourth aspect of the technology of the present disclosure is the flying object system according to the twenty-third aspect, wherein the displacement mechanism includes a sensor that detects the amount of delivery of the cable to the reel.
  • a twenty-fifth aspect of the technology of the present disclosure is the flying object system according to the twenty-second aspect, wherein the displacement mechanism includes an elevating mechanism for elevating and lowering the marker.
  • a twenty-sixth aspect of the technology of the present disclosure is the flying object system according to any one of the twenty-second to twenty-fifth aspects, wherein the flying object system includes a rope that connects the displacement mechanism and the flying object. .
  • a twenty-seventh aspect of the technology of the present disclosure is the flying object system according to the twenty-sixth aspect, wherein the displacement mechanism and the rope include a power transmission cable that transmits power to the flying object.
  • a twenty-eighth aspect of the technology of the present disclosure is the flying object system according to any one of the twenty-second to twenty-seventh aspects, wherein the fourth imaging device is provided in the displacement mechanism and captures an image of the flying object. It is an aircraft system equipped.
  • a twenty-ninth aspect of the technology of the present disclosure is the flying object system according to the twenty-eighth aspect, wherein the processor, based on an image obtained by capturing an image of the flying object by the fourth imaging device, It is an aircraft system that controls.
  • a thirtieth aspect of the technology of the present disclosure is the flying object system according to the twenty-ninth aspect, wherein the processor controls the flying object to move the flying object to the center of the angle of view of the fourth imaging device. It is an aircraft system.
  • a thirty-first aspect of the technology of the present disclosure is the flying vehicle system according to any one of the twenty-eighth to thirtieth aspects, wherein the fourth imaging device is arranged at a position adjacent to the marker It is an aircraft system.
  • a 32nd aspect of the technology of the present disclosure is the aircraft system according to any one of the 22nd to 31st aspects, comprising a rangefinder provided in the displacement mechanism, wherein the rangefinder includes: , an air vehicle system for measuring a second distance between a range finder and an air vehicle.
  • a thirty-third aspect of the technology of the present disclosure is the flying vehicle system according to the thirty-second aspect, wherein the processor, based on the ranging information obtained by measuring the second distance with the ranging device, An air vehicle system that provides secondary control over a body.
  • a thirty-fourth aspect of the technology of the present disclosure is an aircraft system according to the thirty-third aspect, wherein the second control is control for setting the second distance to a predetermined distance.
  • a thirty-fifth aspect of the technology of the present disclosure is the flying vehicle system according to any one of the thirty-second to thirty-fourth aspects, wherein the ranging device is arranged at a position adjacent to the marker. body system.
  • a thirty-sixth aspect of the technology of the present disclosure is to acquire the vertical position of the marker, which is detected by an optical sensor mounted on the aircraft, for a marker whose vertical position is variable by a displacement mechanism, and A control method comprising controlling a flying object to maintain or change the vertical position of the flying object based on the vertical position of the marker.
  • a thirty-seventh aspect of the technology of the present disclosure is to acquire the vertical position of the marker detected by an optical sensor mounted on the aircraft, for a marker whose vertical position is variable by a displacement mechanism, and A program for causing a computer to execute processing including controlling a flying object to maintain or change the vertical position of the flying object based on the vertical position of the marker.
  • FIG. 1 is a side view showing an example of the overall configuration of an inspection system according to an embodiment of the technology of the present disclosure
  • FIG. 1 is a block diagram showing an example of an electrical configuration of an imaging support device according to this embodiment
  • FIG. It is a block diagram showing an example of the electrical configuration of the lifting device according to the present embodiment.
  • It is a block diagram showing an example of an electrical configuration of a marker device according to the present embodiment.
  • 1 is a block diagram showing an example of an electrical configuration of an imaging rangefinder according to this embodiment
  • FIG. 1 is a block diagram showing an example of an electrical configuration of an aircraft according to an embodiment
  • FIG. It is a block diagram showing an example of functional composition of an imaging support device concerning this embodiment.
  • FIG. 1 is a block diagram showing an example of a functional configuration of an image pickup and distance measuring device according to this embodiment
  • FIG. 1 is a block diagram showing an example of a functional configuration of an aircraft according to this embodiment
  • FIG. 2 is a block diagram showing an example of the operation of an imaging distance measuring device capturing an image of a flying object based on control by the imaging support device according to the present embodiment
  • FIG. 1 is a block diagram showing an example of a functional configuration of an image pickup and distance measuring device according to this embodiment
  • FIG. 1 is a block diagram showing an example of a functional configuration of an aircraft according to this embodiment
  • FIG. 2 is a block diagram showing an example of the operation of an imaging distance measuring device capturing an image of a flying object based on control by the imaging support device according to the present embodiment
  • FIG. 2 is a block diagram showing an example of the operation of the imaging distance measuring device to measure the distance between the imaging distance measuring device and the flying object based on the control by the imaging support device according to the present embodiment
  • 4 is a block diagram showing an example of the operation of the imaging support device when an operator inputs an instruction to the imaging support device according to the present embodiment
  • FIG. FIG. 10 is a block diagram showing an example of an operation in which the lifting device lifts and lowers the marker based on control by the imaging support device according to the present embodiment
  • FIG. 4 is a block diagram showing an example of the operation of setting the vertical position of the flying object based on the vertical position of the marker according to the present embodiment
  • FIG. 3 is a block diagram showing an example of an operation in which a light emitter emits light in a first light emission mode based on control by the imaging support device according to the present embodiment
  • FIG. 4 is a block diagram showing an example of an operation in which a flying object flies based on light emitted by a light emitter according to the present embodiment in a first light emission mode
  • FIG. 4 is a block diagram showing an example of an operation in which the flying object ascends based on the first example of the first light emission mode of the light emitter according to the present embodiment
  • FIG. 10 is a block diagram showing an example of an operation in which the flying object descends based on the second example of the first light emission mode of the light emitter according to the present embodiment
  • FIG. 10 is a block diagram showing an example of an operation in which the flying object moves to the right based on the third example of the first light emission mode of the light emitter according to the present embodiment
  • FIG. 11 is a block diagram showing an example of an operation in which the flying object moves to the left based on the fourth example of the first light emission mode of the light emitter according to the present embodiment
  • FIG. 11 is a block diagram showing an example of the movement of the flying object moving forward based on the fifth example of the first light emission mode of the light emitter according to the present embodiment
  • FIG. 11 is a block diagram showing an example of an operation in which the flying object moves backward based on the sixth example of the first light emission mode of the light emitter according to the present embodiment
  • FIG. 5 is a block diagram showing an example of an operation in which a light emitter emits light in a second light emission mode based on control by the imaging support device according to the embodiment;
  • FIG. 5 is a block diagram showing an example of the operation of hovering by the flying object based on the second light emission mode of the light emitter according to the present embodiment;
  • FIG. 10 is a block diagram showing an example of an operation in which a light emitter emits light in a third light emission mode based on control by the imaging support device according to the present embodiment;
  • FIG. 10 is a block diagram showing an example of the operation of the flying object capturing an image based on the third light emission mode of the light emitter according to the present embodiment;
  • FIG. 11 is a block diagram showing an example of an operation in which a light emitter emits light in a fourth light emission mode based on control by the imaging support device according to the present embodiment
  • FIG. 12 is a block diagram showing an example of the operation of the flying object performing lateral movement and imaging based on the fourth light emission mode of the light emitter according to the present embodiment
  • FIG. 2 is a block diagram showing an example of the operation of an imaging distance measuring device capturing an image of a flying object based on control by the imaging support device according to the present embodiment;
  • 5 is a block diagram showing an example of an operation in which a light emitter emits light in a first light emission mode or a second light emission mode based on a positional deviation determination result by the imaging support device according to the present embodiment
  • 6 is a flow chart showing an example of the flow of the first process in the imaging support process according to the embodiment
  • 9 is a flow chart showing an example of the flow of second processing of the imaging support processing according to the present embodiment
  • 9 is a flow chart showing an example of the flow of third processing in the imaging support processing according to the present embodiment
  • It is a flow chart which shows an example of the flow of the 4th processing of the imaging support processing concerning this embodiment.
  • 6 is a flowchart showing an example of the flow of lifting processing according to the embodiment; 5 is a flowchart showing an example of the flow of light emission mode control processing according to the present embodiment; 6 is a flow chart showing an example of the flow of imaging and ranging processing according to the present embodiment; It is a flowchart which shows an example of the flow of the 1st process of the flight imaging processes which concern on this embodiment. It is a flow chart which shows an example of the flow of the 2nd processing of flight imaging processing concerning this embodiment. It is a flow chart which shows an example of the flow of the 3rd processing of flight imaging processing concerning this embodiment.
  • FIG. 11 is a side view showing an example in which a LiDAR scanner is mounted on an aircraft as a first modified example of the present embodiment; It is a side view which shows an example using the raising/lowering apparatus which has a ladder as a 2nd modification of this embodiment.
  • CPU is an abbreviation for "Central Processing Unit”.
  • GPU is an abbreviation for "Graphics Processing Unit”.
  • RAM is an abbreviation for "Random Access Memory”.
  • IC is an abbreviation for "Integrated Circuit”.
  • ASIC is an abbreviation for "Application Specific Integrated Circuit”.
  • PLD is an abbreviation for "Programmable Logic Device”.
  • FPGA is an abbreviation for "Field-Programmable Gate Array”.
  • SoC is an abbreviation for "System-on-a-chip.”
  • SSD is an abbreviation for "Solid State Drive”.
  • HDD is an abbreviation for "Hard Disk Drive”.
  • EEPROM is an abbreviation for "Electrically Erasable and Programmable Read Only Memory”.
  • SRAM is an abbreviation for "Static Random Access Memory”.
  • I/F is an abbreviation for "Interface”.
  • USB is an abbreviation for "Universal Serial Bus”.
  • CMOS is an abbreviation for "Complementary Metal Oxide Semiconductor”.
  • CCD is an abbreviation for "Charge Coupled Device”.
  • LED is an abbreviation for "light emitting diode”.
  • EL is an abbreviation for "Electro Luminescence”.
  • LiDAR is an abbreviation for “light detection and ranging”.
  • vertical means an error that is generally allowed in the technical field to which the technology of the present disclosure belongs, in addition to perfect verticality, and does not go against the spirit of the technology of the present disclosure. It refers to the vertical in the sense of including the error of
  • the “vertical position” is an error generally allowed in the technical field to which the technology of the present disclosure belongs, in addition to the complete vertical position. It refers to the vertical position in the sense of including an error that does not go against the purpose of .
  • parallel means, in addition to complete parallelism, an error that is generally allowed in the technical field to which the technology of the present disclosure belongs, and does not go against the spirit of the technology of the present disclosure.
  • horizontal means an error that is generally allowed in the technical field to which the technology of the present disclosure belongs, in addition to being completely horizontal, and is not contrary to the spirit of the technology of the present disclosure. It refers to the horizontal in the sense of including the error of
  • an inspection system 1 includes an imaging system S and an image analysis device 230, and inspects an inspection target 3.
  • the inspection object 3 is the pier of the bridge 5.
  • the piers are made of reinforced concrete.
  • Road facilities include, for example, road surfaces, tunnels, guardrails, traffic lights, and/or windbreak fences.
  • the inspection object 3 may be social infrastructure other than road facilities (for example, airport facilities, port facilities, water storage facilities, gas facilities, medical facilities, firefighting facilities, and/or educational facilities, etc.). , may be private property. Also, the inspection object 3 may be land (for example, state-owned land and/or private land).
  • the bridge piers illustrated as the inspection object 3 may be bridge piers other than those made of reinforced concrete.
  • inspection refers to inspection of the state of the inspection object 3, for example.
  • the inspection system 1 inspects whether or not the inspection object 3 is damaged and/or the extent of the damage.
  • the inspection target 3 is an example of an "inspection target" according to the technology of the present disclosure.
  • the imaging system S includes an imaging support device 10, a power supply device 40, an elevating device 50, a marker device 90, an imaging ranging device 130, and an aircraft 180.
  • the flying object 180 has a function of capturing an image of a subject (the inspection target 3 in the example shown in FIG. 1).
  • the imaging system S is a system that provides the image analysis device 230 with an image obtained by imaging the inspection object 3 by the flying vehicle 180 .
  • the image analysis device 230 performs image analysis processing on the image provided from the inspection system 1 to inspect the presence or absence of damage and/or the degree of damage to the inspection object 3, and outputs inspection results.
  • the image analysis process is a process of analyzing an image using artificial intelligence or the like.
  • the imaging system S is an example of the “aircraft system” according to the technology of the present disclosure.
  • the imaging support device 10 is, for example, a notebook personal computer.
  • a laptop personal computer is exemplified as the imaging support device 10, but this is merely an example, and a desktop personal computer may also be used.
  • it is not limited to a personal computer, and may be a server.
  • the server may be a mainframe or an external server realized by cloud computing.
  • the server may also be an external server implemented by network computing such as fog computing, edge computing, or grid computing.
  • the imaging support device 10 may be a tablet terminal and/or a smartphone or the like.
  • the imaging support device 10 is communicably connected to the lifting device 50 , the marker device 90 , the imaging distance measuring device 130 , and the image analysis device 230 .
  • the operator 7 operates the imaging support device 10 .
  • the imaging support device 10 transmits various commands to the lifting device 50 , the marker device 90 , and the imaging and ranging device 130 according to the operation by the operator 7 .
  • the operator 7 who operates the imaging support device 10 is on the bridge girder of the bridge 5, but the operator 7 is on the ground (for example, the ground below the bridge girder). It may well be in a remote location away from the bridge 5.
  • the remote location away from the bridge 5 may be a position where the imaging support device 10 can communicate with the lifting device 50 , the marker device 90 , the imaging ranging device 130 and the image analysis device 230 .
  • the power supply device 40 is connected to the lifting device 50 via a power cable 42 .
  • the power supply device 40 is, for example, a battery or a generator, and supplies DC power to the lifting device 50 .
  • the power supply 40 is placed on a bridge girder, but the power supply 40 may be placed on the ground or in a remote location away from the bridge 5. .
  • the lifting device 50 includes an electric reel mechanism 54 and a cable 86.
  • the electric reel mechanism 54 has a reel 82 .
  • the reel 82 is formed in a drum shape and selectively rotates in both the first direction and the second direction by the power of the electric reel mechanism 54 .
  • Cable 86 is wound around reel 82 .
  • Cable 86 is wound onto reel 82 when reel 82 rotates in a first direction, and cable 86 is unwound from reel 82 when reel 82 rotates in a second direction opposite to the first direction.
  • the lifting device 50 is arranged on a bridge girder, and the cable 86 is suspended along the pier below the bridge girder.
  • the lifting device 50 is an example of the “lifting mechanism” and the “displacement mechanism” according to the technology of the present disclosure.
  • the marker device 90 is attached to the cable 86.
  • Marker device 90 comprises marker 94 .
  • a balloon B in FIG. 1 shows a view of the marker 94 from the AA direction (that is, a view of the marker 94 viewed from the front).
  • the marker 94 is a triangular plate material when viewed from the front.
  • the marker 94 is arranged parallel to the surface 3A of the inspection object 3 .
  • the flying object 180 is positioned in front of the marker 94.
  • FIG. The following description assumes that the flying object 180 is positioned in front of the marker 94 unless otherwise specified.
  • the predetermined separation distance is, for example, a distance in which the entire marker 94 fits within the imaging range when the marker 94 is imaged by the aircraft 180 and the position of the marker 94 fits within the depth of field. / Or refers to a distance derived in advance by computer simulation or the like.
  • the imaging and ranging device 130 is attached to the cable 86 .
  • the imaging and ranging device 130 is arranged at a position adjacent to the marker 94 .
  • the imaging distance measuring device 130 is arranged above the marker 94 , but the imaging distance measuring device 130 may be arranged below the marker 94 .
  • the imaging and ranging device 130 may be arranged on the side of the marker 94 .
  • the imaging rangefinder 130 may be held beside the marker 94 by a bracket or the like attached to the cable 86 .
  • the imaging and ranging device 130 is separate from the marker device 90 , but may be integrated with the marker device 90 .
  • the image ranging device 130 was adjacent to the marker 94 preferably when the total length of the vehicle 180 was approximately 30 cm, and the distance between the vehicle 180 and the image ranging device 130 was approximately 100 cm. In this case, the distance between the imaging distance measuring device 130 and the marker 94 should be within 20 cm, more preferably within 17 cm. Furthermore, regarding the distance between the imaging distance measuring device 130 and the marker 94, calibration processing of the position information given to the image so that the center of the image acquired by the imaging distance measuring device 130 is the center of the marker 94. may be performed.
  • the imaging and ranging device 130 includes an imaging device 160 and a ranging device 170 .
  • the imaging device 160 is a device having an imaging function.
  • the imaging function of the imaging device 160 is implemented by, for example, a digital camera or a video camera.
  • the imaging device 160 is an example of a “fourth imaging device” according to the technology of the present disclosure.
  • the distance measuring device 170 is a device having a distance measuring function.
  • the ranging function of the ranging device 170 is implemented by, for example, an ultrasonic ranging device, a laser ranging device, a radar ranging device, or the like. Note that a LiDAR scanner may be used as the distance measuring device 170 .
  • the imaging device 160 captures an image of the flying object 180 , and the ranging device 170 measures the distance between the ranging device 170 and the flying object 180 .
  • the orientation of the imaging device 160 and the orientation of the distance measuring device 170 are set as follows. That is, when the flying object 180 is positioned in front of the marker 94 and is separated from the marker 94 by a predetermined separation distance, the flying object 180 is positioned within the imaging range 160A of the imaging device 160. , the orientation of the imaging device 160 is set. Similarly, when the flying object 180 is positioned in front of the marker 94 and the flying object 180 is separated from the marker 94 by a predetermined separation distance, the flying object 180 is within the range 170A of the ranging device 170. The orientation of the distance measuring device 170 is set so that .
  • the imaging device 160 is fixed to the cable 86 so that when the cable 86 is parallel to the vertical direction, it faces obliquely downward with respect to the horizontal direction.
  • the imaging device 160 may be fixed to the cable 86 so as to be horizontal when the cable 86 is parallel to the vertical direction.
  • the distance measuring device 170 is fixed to the cable 86 so that it faces obliquely downward with respect to the horizontal direction when the cable 86 is parallel to the vertical direction, but this is only an example.
  • the distance measuring device 170 may be fixed to the cable 86 so as to be horizontal when the cable 86 is parallel to the vertical direction.
  • the imaging and ranging device 130 includes the imaging device 160 and the ranging device 170, but this is merely an example, and the imaging and ranging device 130 has an imaging function and a ranging device.
  • An imaging device having functions may be used.
  • An imaging device having an imaging function and a ranging function includes, for example, a stereo camera or a phase difference pixel camera.
  • the marker device 90 and the imaging and ranging device 130 are lifted.
  • the marker device 90 and the imaging and ranging device 130 descend.
  • the vertical position of the marker 94 is variable by the lifting device 50 . That is, when the cable 86 is wound on the reel 82, the vertical position of the marker 94 is changed to the vertical upper side, and when the cable 86 is fed out on the reel 82, the vertical position of the marker 94 is changed to It is changed vertically downward.
  • the flying body 180 is an unmanned aerial vehicle such as a drone, and includes a flying body body 184 and an imaging device 210 .
  • the aircraft body 184 is, for example, a multicopter having a plurality of rotor blades 222 .
  • the number of multiple rotor blades 222 is, for example, three or more.
  • the imaging device 210 is a device having an imaging function.
  • the imaging function of the imaging device 210 is implemented by, for example, a digital camera or a video camera.
  • the imaging device 210 is mounted on the upper part of the aircraft main body 184, but this is only an example, and the imaging device 210 is mounted on the lower part of the aircraft main body 184. good too.
  • the imaging device 210 is arranged so as to image the front of the aircraft 180 .
  • the imaging device 210 is fixed to the aircraft main body 184 so that the optical axis of the imaging device 210 is horizontal when the aircraft 180 is horizontal.
  • the flying object 180 may also include an angle changing mechanism that changes the angle of the imaging device 210 with respect to the horizontal direction.
  • the imaging device 210 is an example of an “optical sensor”, a “first imaging device”, a “second imaging device”, and a “third imaging device” according to the technology of the present disclosure.
  • the flying object 180 is connected to the cable 86 via a rope 186.
  • a first end of rope 186 is connected to the lower portion of vehicle body 184 and a second end of rope 186 is connected to cable 86 below marker device 90 .
  • a power transmission cable 44 is provided on the cable 86 and the rope 186 .
  • the power transmission cable 44 is indicated by an imaginary line (that is, a two-dot chain line).
  • the power transmission cable 44 may be provided inside the cable 86 and the rope 186 or may be provided outside the cable 86 and the rope 186 . Also, the power transmission cable 44 itself may be configured as the cable 86 and the rope 186 .
  • the lifting device 50 has a power supply circuit 64 .
  • the power supply circuit 64 is connected to the power supply device 40 via the power cable 42 and receives power from the power supply device 40 via the power cable 42 .
  • the power supply circuit 64 receives power supplied from the power supply device 40 via the power cable 42 as power for driving the lifting device 50 .
  • the power supply circuit 64 supplies power received from the power supply device 40 to various electronic devices mounted on the lifting device 50 .
  • the power supply circuit 64 is connected to the marker device 90 , the imaging and ranging device 130 and the aircraft 180 via the power transmission cable 44 .
  • the marker device 90 , the imaging and ranging device 130 , and the aircraft 180 may be connected to the power supply device 40 without going through the power supply circuit 64 .
  • the power supply circuit 64 may be provided inside the lifting device 50 or may be provided outside the lifting device 50 .
  • the power relay circuit 66 may be provided in a power relay device (not shown) that is a device different from the elevator device 50 .
  • a power supply relay circuit 66 is built into the power supply circuit 64 .
  • the power supply relay circuit 66 relays power supplied from the power supply device 40 to the power supply circuit 64 via the power supply cable 42 to the marker device 90 , the imaging rangefinder 130 , and the aircraft 180 . That is, the power supply relay circuit 66 supplies the power generated by the power supply device 40 to the marker device 90 , the imaging and ranging device 130 , and the aircraft 180 via the power transmission cable 44 .
  • the imaging support device 10 includes a computer 12, a reception device 14, a display 16, an external I/F 18, a first communication I/F 20, a second communication I/F 22, and a third communication I/F 24. , and a fourth communication I/F 26 .
  • the computer 12 includes a processor 30, storage 32, and RAM34.
  • Processor 30, storage 32, RAM 34, external I/F 18, first communication I/F 20, second communication I/F 22, third communication I/F 24, and fourth communication I/F 26 are connected to bus 36.
  • bus 36 In the example shown in FIG. 2, one bus is shown as the bus 36 for convenience of illustration, but a plurality of buses may be used.
  • Bus 36 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.
  • the processor 30 has, for example, a CPU, and controls the imaging support device 10 as a whole. Although an example in which the processor 30 has a CPU is given here, this is merely an example.
  • processor 30 may have a CPU and a GPU. In this case, for example, the GPU operates under the control of the CPU and is responsible for executing image processing.
  • the storage 32 is a nonvolatile storage device that stores various programs and various parameters. Examples of the storage 32 include HDDs and SSDs. Note that the HDD and SSD are merely examples, and flash memory, magnetoresistive memory, and/or ferroelectric memory may be used in place of or together with the HDD and/or SSD. .
  • the RAM 34 is a memory that temporarily stores information, and is used by the processor 30 as a work memory. Examples of the RAM 34 include DRAM and/or SRAM.
  • the reception device 14 has a keyboard, mouse, touch pad, etc., and receives instructions from the worker 7.
  • the display 16 displays various information (eg, images, characters, etc.) under the control of the processor 30 .
  • Examples of the display 16 include an EL display (such as an organic EL display or an inorganic EL display). Note that the display is not limited to the EL display, and other types of display such as a liquid crystal display may be used.
  • the external I/F 18 manages exchange of various information with devices existing outside the imaging support device 10 (for example, smart devices, personal computers, servers, USB memories, memory cards, and/or printers, etc.).
  • An example of the external I/F 18 is a USB interface.
  • Various devices such as smart devices, personal computers, servers, USB memories, memory cards, and/or printers are directly or indirectly connected to the USB interface.
  • the first communication I/F 20 is communicably connected to the lifting device 50 .
  • the first communication I/F 20 is wirelessly communicably connected to the lifting device 50 according to a predetermined wireless communication standard.
  • the predefined wireless communication standard includes, for example, Bluetooth (registered trademark). Note that wireless communication standards other than this (for example, Wi-Fi, 5G, etc.) may be used. Although wireless communication is exemplified here, the technology of the present disclosure is not limited to this, and wired communication may be applied instead of wireless communication.
  • the first communication I/F 20 is in charge of exchanging information with the lifting device 50 .
  • the first communication I/F 20 transmits information requested by the processor 30 to the lifting device 50 .
  • the first communication I/F 20 also receives information transmitted from the lifting device 50 and outputs the received information to the processor 30 via the bus 36 .
  • the second communication I/F 22 is communicably connected to the marker device 90 .
  • the second communication I/F 22 is wirelessly communicably connected to the marker device 90 according to a predetermined wireless communication standard.
  • wireless communication is exemplified here, the technology of the present disclosure is not limited to this, and wired communication may be applied instead of wireless communication.
  • the second communication I/F 22 is in charge of exchanging information with the marker device 90 .
  • the second communication I/F 22 transmits information requested by the processor 30 to the marker device 90 .
  • Second communication I/F 22 also receives information transmitted from marker device 90 and outputs the received information to processor 30 via bus 36 .
  • the third communication I/F 24 is communicably connected to the imaging and ranging device 130 .
  • the third communication I/F 24 is connected so as to be able to communicate wirelessly with the imaging and ranging device 130 according to a predetermined wireless communication standard.
  • wireless communication is exemplified here, the technology of the present disclosure is not limited to this, and wired communication may be applied instead of wireless communication.
  • the third communication I/F 24 is in charge of exchanging information with the imaging and ranging device 130 .
  • the third communication I/F 24 transmits information in response to a request from the processor 30 to the imaging and ranging device 130 .
  • the third communication I/F 24 receives information transmitted from the imaging and ranging device 130 and outputs the received information to the processor 30 via the bus 36 .
  • the fourth communication I/F 26 is communicably connected to the image analysis device 230 .
  • the fourth communication I/F 26 is wirelessly communicably connected to the image analysis device 230 according to a predetermined wireless communication standard.
  • wireless communication is exemplified here, the technology of the present disclosure is not limited to this, and wired communication may be applied instead of wireless communication.
  • the fourth communication I/F 26 is in charge of exchanging information with the image analysis device 230 .
  • the fourth communication I/F 26 transmits information requested by the processor 30 to the image analysis device 230 .
  • the fourth communication I/F 26 also receives information transmitted from the image analysis device 230 and outputs the received information to the processor 30 via the bus 36 .
  • the lifting device 50 includes a computer 52, an electric reel mechanism 54, a motor driver 56, a sensor 58, an input/output I/F 60, a communication I/F 62, and a power supply circuit 64.
  • the computer 52 includes a processor 70, storage 72, and RAM74.
  • Processor 70 , storage 72 , and RAM 74 are interconnected via bus 76 , and bus 76 is connected to input/output I/F 60 .
  • bus 76 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.
  • the storage 72 is a non-temporary storage medium and stores various parameters and various programs.
  • storage 72 is an EEPROM.
  • this is merely an example, and an HDD and/or an SSD or the like may be applied as the storage 72 instead of or together with the EEPROM.
  • the RAM 74 temporarily stores various information and is used as a work memory.
  • the processor 70 has, for example, a CPU.
  • the processor 70 reads necessary programs from the storage 72 and executes the read programs in the RAM 74 .
  • the processor 70 controls the entire lifting device 50 according to programs executed on the RAM 74 .
  • the electric reel mechanism 54 has a reel 82 and a motor 84.
  • the reel 82 is connected to a motor 84 via a deceleration mechanism (not shown).
  • the motor 84 is, for example, a motor such as a DC brushed motor, a brushless motor, or a stepping motor.
  • Motor driver 56 and sensor 58 are connected to processor 70 via input/output I/F 60 and bus 76 .
  • Motor driver 56 controls motor 84 according to instructions from processor 70 .
  • the sensor 58 is a sensor having a function of detecting the amount of rotation, such as a rotary encoder, potentiometer, or pickup sensor.
  • the sensor 58 detects the amount of rotation of the reel 82 and outputs a signal corresponding to the detected amount of rotation to the processor 70 .
  • the amount of rotation of the reel 82 is proportional to the amount of delivery of the cable 86 (see FIG. 1) relative to the reel 82 .
  • the reel 82 may be provided with a scale indicating the amount of rotation of the reel 82. FIG. In the case where the reel 82 is provided with a scale indicating the amount of rotation of the reel 82, the operator 7 (see FIG.
  • the communication I/F 62 controls transmission and reception of information to and from the imaging support device 10 by the lifting device 50 .
  • the communication I/F 62 controls information transfer between the processor 30 (see FIG. 2) of the imaging support device 10 and the processor 70 of the lifting device 50 .
  • the communication I/F 62 transmits information requested by the processor 70 to the imaging support device 10 .
  • the communication I/F 62 receives information transmitted from the processor 30 of the imaging support device 10 via the first communication I/F 20 (see FIG. 2), and transmits the received information to the processor 70 via the bus 76. output to
  • the power supply circuit 64 is connected to the power supply device 40 via the power cable 42 . DC power is supplied from the power supply device 40 to the power supply circuit 64 via the power cable 42 . When DC power is supplied to the power supply circuit 64 , DC power is supplied to each part of the lifting device 50 .
  • the power supply circuit 64 is also connected to a marker device 90 , an imaging rangefinder 130 , and an aircraft 180 via a power transmission cable 44 .
  • the marker device 90 includes a computer 92, a marker 94, a light emitter control circuit 96, an input/output I/F 100, a communication I/F 102, and a power supply circuit 104, as shown in FIG.
  • the computer 92 comprises a processor 110, a storage 112 and a RAM 114.
  • Processor 110 , storage 112 , and RAM 114 are interconnected via bus 116 , which is connected to input/output I/F 100 .
  • bus 116 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.
  • the storage 112 is a non-temporary storage medium and stores various parameters and various programs.
  • storage 112 is an EEPROM.
  • this is merely an example, and an HDD and/or an SSD or the like may be applied as the storage 112 instead of or together with the EEPROM.
  • the RAM 114 temporarily stores various information and is used as a work memory.
  • the processor 110 has, for example, a CPU.
  • Processor 110 reads a necessary program from storage 112 and executes the read program in RAM 114 .
  • Processor 110 controls the entire marker device 90 according to programs executed on RAM 114 .
  • the marker 94 has a luminous body 120.
  • Light emitter 120 includes a plurality of light sources 122A and 122B. As an example, in the example shown in FIG. 4, two light sources 122A and 122B are provided on the light emitter 120, but the number of multiple light sources 122A and 122B may be three or more.
  • Light sources 122A and 122B are, for example, LEDs or filament bulbs.
  • one of the two light sources 122A and 122B will be referred to as the first light source 122A, and the other of the two light sources 122A and 122B will be referred to as the second light source 122B.
  • the light emitter control circuit 96 is connected to the processor 110 via the input/output I/F 100 and the bus 116 .
  • the light emitter control circuit 96 controls the light emitters 120 according to instructions from the processor 110 . Specifically, the light emitter control circuit 96 outputs a first control signal to the first light source 122A and outputs a second control signal to the second light source 122B. The light emitter control circuit 96 switches the level of the first control signal between a HIGH level (hereinafter referred to as H level) and a LOW level (hereinafter referred to as L level). The first light source 122A is turned on when the first control signal is at H level, and turned off when the first control signal is at L level.
  • H level HIGH level
  • L level LOW level
  • the first light source 122A When the first control signal is maintained at the H level, the first light source 122A is maintained in the ON state, and when the first control signal is maintained at the L level, the first light source 122A is maintained in the OFF state. . Also, when the first control signal is alternately and repeatedly switched between the H level and the L level, the first light source 122A blinks.
  • the light emitter control circuit 96 switches the level of the second control signal between H level and L level.
  • the second light source 122B is turned on when the second control signal is at H level, and turned off when the second control signal is at L level.
  • the second control signal is maintained at the H level
  • the second light source 122B is maintained in the ON state
  • the second control signal is maintained at the L level
  • the second light source 122B is maintained in the OFF state.
  • the second control signal is alternately and repeatedly switched between the H level and the L level, the second light source 122B blinks.
  • the communication I/F 102 controls transmission and reception of information to and from the imaging support device 10 by the marker device 90 .
  • the communication I/F 102 manages exchange of information between the processor 30 (see FIG. 2) of the imaging support device 10 and the processor 110 of the marker device 90 .
  • the communication I/F 102 transmits information requested by the processor 110 to the imaging support apparatus 10 .
  • the communication I/F 102 receives information transmitted from the processor 30 of the imaging support device 10 via the second communication I/F 22 (see FIG. 2), and transmits the received information to the processor 110 via the bus 116 . output to
  • the power supply circuit 104 is connected to the power relay circuit 66 of the lifting device 50 via the power transmission cable 44 .
  • DC power is supplied to the power supply circuit 104 from the power supply device 40 via the power cable 42 , the power relay circuit 66 , and the power transmission cable 44 .
  • DC power is supplied to the power supply circuit 104 , DC power is supplied to each part of the marker device 90 .
  • the imaging and ranging device 130 includes a computer 132, an imaging device 160, a ranging device 170, an input/output I/F 140, a communication I/F 142, and a power supply circuit 144.
  • the computer 132 comprises a processor 150, a storage 152 and a RAM 154.
  • Processor 150 , storage 152 , and RAM 154 are interconnected via bus 156 , which is connected to input/output I/F 140 .
  • bus 156 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.
  • the storage 152 is a non-temporary storage medium and stores various parameters and various programs.
  • storage 152 is an EEPROM.
  • this is merely an example, and an HDD and/or an SSD or the like may be applied as the storage 152 instead of or together with the EEPROM.
  • the RAM 154 temporarily stores various information and is used as a work memory.
  • the processor 150 has, for example, a CPU.
  • Processor 150 reads a necessary program from storage 152 and executes the read program in RAM 154 .
  • the processor 150 controls the overall imaging and ranging device 130 according to programs executed on the RAM 154 .
  • the imaging device 160 has an image sensor 162 and an image sensor driver 164 .
  • Image sensor 162 is, for example, a CMOS image sensor. Although a CMOS image sensor is exemplified as the image sensor 162 here, the technology of the present disclosure is not limited to this, and other image sensors may be used.
  • Image sensor 162 and image sensor driver 164 are connected to processor 150 via input/output I/F 140 and bus 156 .
  • Image sensor driver 164 controls image sensor 162 according to instructions from processor 150 .
  • the image sensor 162 captures an image of a subject (for example, the aircraft 180 shown in FIG. 1) under the control of the image sensor driver 164 and outputs the captured image to the processor 150 .
  • the imaging device 160 includes optical components such as an objective lens, a focus lens, a zoom lens, and an aperture. Also, although not shown, the imaging device 160 includes a driving mechanism for driving optical components such as a focus lens, a zoom lens, and an aperture. When imaging is performed by the imaging device 160, optical components such as a focus lens, a zoom lens, and an aperture are driven by controlling the drive mechanism.
  • the ranging device 170 includes a ranging sensor 172 and a ranging sensor driver 174 .
  • the ranging sensor 172 is a sensor having a ranging function.
  • the ranging function of the ranging sensor 172 is implemented by, for example, an ultrasonic ranging sensor, a laser ranging sensor, a radar ranging sensor, or the like.
  • the ranging sensor 172 and the ranging sensor driver 174 are connected to the processor 150 via the input/output I/F 140 and the bus 156 .
  • a ranging sensor driver 174 controls the ranging sensor 172 according to instructions from the processor 150 .
  • the ranging sensor 172 measures the distance between the ranging device 170 and the ranging object (for example, the aircraft 180 shown in FIG. 1) under the control of the ranging sensor driver 174, and responds to the measured distance.
  • distance measurement information for example, information indicating the distance itself
  • the communication I/F 142 controls transmission and reception of information to and from the imaging support device 10 by the imaging ranging device 130 .
  • the communication I/F 142 manages exchange of information between the processor 30 (see FIG. 2) of the imaging support device 10 and the processor 150 of the imaging distance measuring device 130 .
  • the communication I/F 142 transmits information requested by the processor 150 to the imaging support device 10 .
  • the communication I/F 142 receives information transmitted from the processor 30 of the imaging support device 10 via the third communication I/F 24 (see FIG. 2), and transmits the received information to the processor 150 via the bus 156. output to
  • the power supply circuit 144 is connected to the power relay circuit 66 of the lifting device 50 via the power transmission cable 44 .
  • DC power is supplied to the power supply circuit 144 from the power supply device 40 via the power cable 42 , the power relay circuit 66 , and the power transmission cable 44 .
  • DC power is supplied to the power supply circuit 144 , DC power is supplied to each part of the imaging and ranging device 130 .
  • the aircraft 180 includes a computer 182, an imaging device 210, a flight device 220, an input/output I/F 190, an image memory 196, an external I/F 198, and a power supply circuit 194.
  • the computer 182 is an example of a "control device” and a "computer” according to the technology of the present disclosure.
  • Computer 182 includes processor 200 , storage 202 and RAM 204 .
  • the processor 200 is an example of a "processor” according to the technology of the present disclosure
  • the RAM 204 is an example of a "memory” according to the technology of the present disclosure.
  • Processor 200 , storage 202 , and RAM 204 are interconnected via bus 206 , and bus 206 is connected to input/output I/F 190 .
  • bus 206 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.
  • the storage 202 is a non-temporary storage medium and stores various parameters and various programs.
  • storage 202 is an EEPROM.
  • this is merely an example, and an HDD and/or an SSD or the like may be applied as the storage 202 instead of or together with the EEPROM.
  • the RAM 204 temporarily stores various information and is used as a work memory.
  • the processor 200 has, for example, a CPU.
  • the processor 200 reads necessary programs from the storage 202 and executes the read programs on the RAM 204 .
  • Processor 200 controls the entire aircraft 180 according to programs executed on RAM 204 .
  • the imaging device 210 includes an image sensor 212 and an image sensor driver 214 .
  • Image sensor 212 is, for example, a CMOS image sensor. Although a CMOS image sensor is exemplified as the image sensor 212 here, the technology of the present disclosure is not limited to this, and other image sensors may be used.
  • the image sensor 212 and image sensor driver 214 are connected to the processor 200 via the input/output I/F 190 and bus 206 .
  • Image sensor driver 214 controls image sensor 212 according to instructions from processor 200 .
  • the image sensor 212 captures an object (for example, the marker 94 and/or the inspection object 3 shown in FIG. 1) under the control of an image sensor driver 214, and transmits the captured image to the processor 200. Output.
  • the imaging device 210 includes optical components such as an objective lens, a focus lens, a zoom lens, and an aperture. Also, although not shown, the imaging device 210 includes a driving mechanism for driving optical components such as a focus lens, a zoom lens, and an aperture. When imaging is performed by the imaging device 210, optical components such as a focus lens, a zoom lens, and an aperture are driven by controlling the drive mechanism.
  • the flight device 220 has multiple rotor blades 222 , multiple motors 224 , and a motor driver 226 .
  • the number of multiple rotor blades 222 is four.
  • the number of motors 224 is the same as the number of rotor blades 222 .
  • Motor driver 226 is connected to processor 200 via input/output I/F 190 and bus 206 .
  • Motor drivers 226 individually control a plurality of motors 224 according to instructions from processor 200 .
  • a rotating blade 222 is fixed to the rotating shaft of each motor 224 .
  • Each motor 224 rotates the rotor blades 222 .
  • the aircraft 180 flies by rotating the plurality of rotor blades 222 .
  • the aircraft 180 ascends, and as the number of rotations of the plurality of rotors 222 decreases, the aircraft 180 descends.
  • the flying object 180 stops in the air (that is, hovers). Further, by creating a difference in the number of rotations of the plurality of rotors 222, the aircraft 180 turns, advances, retreats, and/or traverses.
  • the image memory 196 is, for example, an EEPROM. However, this is merely an example, and an HDD and/or an SSD or the like may be applied as the image memory 196 instead of or together with the EEPROM. Also, the image memory 196 may be a memory card. The image memory 196 stores an image captured by the image sensor 212 .
  • the external I/F 198 is in charge of exchanging various information with devices existing outside the aircraft 180 (for example, smart devices, personal computers, servers, USB memories, memory cards, and/or printers, etc.).
  • An example of the external I/F 198 is a USB interface.
  • Various devices such as smart devices, personal computers, servers, USB memories, memory cards, and/or printers are directly or indirectly connected to the USB interface.
  • the flying object 180 is connected to the imaging support device 10 through the external I/F 198 and provides the imaging support device 10 with images stored in the image memory 196 .
  • the power supply circuit 194 is connected to the power relay circuit 66 of the lifting device 50 via the power transmission cable 44 .
  • the power supply circuit 194 is supplied with DC power from the power supply device 40 via the power cable 42 , the power relay circuit 66 , and the power transmission cable 44 .
  • DC power is supplied to the power supply circuit 194 , DC power is supplied to each part of the aircraft 180 .
  • the storage 32 of the imaging support device 10 stores an imaging support processing program 300 .
  • the processor 30 reads the imaging support processing program 300 from the storage 32 and executes the read imaging support processing program 300 on the RAM 34 .
  • the processor 30 performs imaging support processing according to an imaging support processing program 300 executed on the RAM 34 .
  • the processor 30 controls a first imaging instruction unit 302, a first image input determination unit 304, a first image display control unit 306, a distance measurement instruction unit 308, a distance measurement information input determination unit. 310, distance measurement information display control unit 312, first reception information determination unit 314, elevation instruction unit 316, completion report input determination unit 318, second reception information determination unit 320, first light emission mode instruction unit 322, third reception information determination unit 324, second light emission mode instruction unit 326, fourth reception information determination unit 328, hovering determination unit 330, third light emission mode instruction unit 332, fifth reception information determination unit 334, fourth light emission mode instruction unit 336, 6 reception information determination unit 338, second imaging instruction unit 340, second image input determination unit 342, second image display control unit 344, misalignment determination unit 346, fifth light emission mode instruction unit 348, and sixth light emission mode instruction It operates as part 350 .
  • the storage 72 of the lifting device 50 stores a lifting processing program 400 .
  • the processor 70 reads the lifting process program 400 from the storage 72 and executes the read lifting process program 400 on the RAM 74 .
  • the processor 70 performs elevation processing according to an elevation processing program 400 executed on the RAM 74 .
  • the processor 70 By executing the elevation processing program 400, the processor 70 operates as an elevation instruction input determination unit 402, an elevation control unit 404, a movement amount determination unit 406, an elevation stop control unit 408, and a completion report output control unit 410.
  • the storage 112 of the marker device 90 stores a light emission mode control processing program 500 .
  • the processor 110 reads the elevation instruction processing program from the storage 112 and executes the read elevation instruction processing program on the RAM 114 .
  • Processor 110 performs light emission mode control processing in accordance with an elevation instruction processing program executed on RAM 114 .
  • processor 110 By executing the lifting instruction processing program, processor 110 performs first instruction input determination section 502, first lighting mode control section 504, second instruction input determination section 506, second lighting mode control section 508, third instruction input It operates as a determination unit 510 , a third lighting mode control unit 512 , a fourth instruction input determination unit 514 , and a fourth lighting mode control unit 516 .
  • the storage 152 of the imaging and ranging device 130 stores an imaging and ranging processing program 600 .
  • the processor 150 reads out the imaging ranging processing program 600 from the storage 152 and executes the read imaging ranging processing program 600 on the RAM 154 .
  • the processor 150 performs imaging and ranging processing according to an imaging and ranging processing program 600 executed on the RAM 154 .
  • the processor 150 By executing the imaging and ranging processing program 600, the processor 150 performs an imaging instruction input determination unit 602, an imaging control unit 604, an image output control unit 606, a ranging instruction input determination unit 608, a ranging control unit 610, and It operates as the distance information output control section 612 .
  • the flight imaging processing program 700 is stored in the storage 202 of the flying object 180 .
  • the flight imaging processing program 700 is an example of a “program” according to the technology of the present disclosure.
  • the processor 200 reads the flight imaging processing program 700 from the storage 202 and executes the read flight imaging processing program 700 on the RAM 204 .
  • the processor 200 performs flight imaging processing according to a flight imaging processing program 700 executed on the RAM 204 .
  • the processor 200 By executing the flight imaging processing program 700, the processor 200 performs a first imaging control unit 702, a marker position change determination unit 704, a change direction determination unit 706, an elevation control unit 708, a descent control unit 710, and a second imaging control unit. 712, aircraft position determination unit 714, first hovering control unit 716, first light emission mode determination unit 718, first movement control unit 720, second light emission mode determination unit 722, second hovering control unit 724, third light emission mode determination unit 726, third imaging control unit 728, first image storage control unit 730, fourth light emission mode determination unit 732, second movement control unit 734, fourth imaging control unit 736, second image storage control unit 738, image It operates as a memory count determination unit 740 , a feedback control unit 742 , a fifth imaging control unit 744 , a return completion determination unit 746 and a third hovering control unit 748 .
  • the first imaging instruction unit 302 outputs an imaging instruction to the imaging ranging device 130 .
  • the imaging instruction input determination unit 602 determines whether or not the imaging instruction from the imaging support device 10 has been input to the imaging distance measuring device 130 .
  • the imaging control unit 604 controls the image sensor 162 via the image sensor driver 164. Then, control is performed to image the flying object 180 .
  • the image output control unit 606 outputs an image obtained by imaging the aircraft 180 with the image sensor 162 to the imaging support device 10 .
  • the first image input determination unit 304 determines whether or not the image from the image capturing and ranging device 130 has been input to the image capturing support device 10 .
  • the first image display control unit 306 causes the display 16 to display the image when the first image input determination unit 304 determines that the image from the imaging and ranging device 130 has been input to the imaging support device 10 .
  • the operator 7 can confirm the attitude and/or position of the aircraft 180 based on the image displayed on the display 16 .
  • the distance measurement instruction unit 308 outputs a distance measurement instruction to the imaging distance measurement device 130 .
  • a ranging instruction input determination unit 608 determines whether or not a ranging instruction from the imaging support device 10 has been input to the imaging ranging device 130 .
  • the distance measurement control unit 610 performs measurement via the distance measurement sensor driver 174 .
  • the distance sensor 172 is controlled to measure the distance between the distance measuring device 170 and the aircraft 180 .
  • the distance between the marker 94 and the flying object 180 and the distance between the inspection object 3 and the flying object 180 are proportional to the distance between the rangefinder 170 and the flying object 180, respectively.
  • the distance between the marker 94 and the flying object 180 is an example of the "first distance” according to the technology of the present disclosure.
  • the distance between rangefinder 170 and flying object 180 is an example of the "second distance” according to the technology of the present disclosure.
  • the ranging information output control unit 612 outputs ranging information obtained by measuring the distance by the ranging sensor 172 to the imaging support device 10 .
  • the ranging information input determination unit 310 determines whether or not the ranging information from the imaging ranging device 130 has been input to the imaging support device 10 .
  • the ranging information display control unit 312 displays the ranging information on the display 16. Control is performed to display information (for example, a numerical value representing the distance between the rangefinder 170 and the aircraft 180).
  • Worker 7 can confirm the distance between rangefinder 170 and flying object 180 based on the distance information displayed on display 16 .
  • the distance between rangefinder 170 and flying object 180 may be converted to the distance between marker 94 and flying object 180 .
  • Elevating instruction for the lifting device includes either the first ascending instruction or the first descending instruction.
  • the first raise instruction is an instruction to raise the marker 94 and the first lower instruction is an instruction to lower the marker 94 .
  • the “lifting instruction for the lifting device” includes instructions for the amount of movement of the marker 94 .
  • “Moving instruction for the flying object” includes any of the second ascending instruction, second descending instruction, rightward movement instruction, leftward movement instruction, advance instruction, and retreat instruction.
  • the second climb instruction is an instruction to raise the flying object 180 .
  • the second descending instruction is an instruction to descend the flying object 180 .
  • the right movement instruction is an instruction to move the aircraft 180 to the right.
  • the left movement instruction is an instruction to move the aircraft 180 to the left.
  • the advance instruction is an instruction to advance the flying object 180 .
  • the retreat instruction is an instruction to retreat the flying object 180 .
  • the “movement instruction for the flying object” includes an instruction of the moving speed of the flying object 180 .
  • “Hovering instruction for flying object” is an instruction to hover the flying object 180.
  • the “imaging instruction for flying object” is an instruction to cause the imaging device 210 of the flying object 180 to take an image.
  • “Lateral movement and imaging instruction for flying object” is an instruction to repeatedly perform lateral movement control and imaging control. Lateral movement control is control for moving the aircraft 180 sideways. Imaging control is control for imaging by the imaging device 210 of the flying object 180 .
  • the “position correction instruction for flying object” is an instruction to correct the position of flying object 180 .
  • the operator 7 gives instructions to the reception device 14 based on the image displayed on the display 16 and/or the distance measurement information.
  • the worker 7 issues a movement instruction (that is, a first raise instruction, a first lowering instruction, a second raising instruction, a second lowering instruction, or , right movement instruction, left movement instruction, forward instruction, and/or backward instruction) may be given to the receiving device 14 .
  • the operator 7 sets the distance between the rangefinder 170 and the aircraft 180 to the predetermined distance based on the distance measurement information obtained by the measurement by the rangefinder 170.
  • An advance instruction or a retreat instruction may be given to the reception device 14 .
  • the first reception information determination unit 314 determines whether or not the reception device 14 has received an "elevation instruction for the lifting device" as reception information.
  • the lifting instruction unit 316 outputs the lifting instruction to the lifting device 50 when the first reception information determination unit 314 determines that the reception device 14 has received the “lifting instruction for the lifting device” as the reception information. .
  • the lifting instruction input determination unit 402 determines whether or not the lifting instruction from the imaging support device 10 has been input to the lifting device 50 .
  • the elevation control unit 404 controls the motor 84 via the motor driver 56 according to the elevation instruction. to control the reel 82 to rotate.
  • the elevation control unit 404 controls the motor 84 via the motor driver 56 to rotate the reel 82 in the first direction.
  • the cable 86 is wound on the reel 82, thereby raising the marker 94. As shown in FIG.
  • the elevation control unit 404 controls the motor 84 via the motor driver 56 to rotate the reel 82 in the second direction.
  • the cable 86 is fed from the reel 82, thereby lowering the marker 94.
  • the sensor 58 outputs a signal corresponding to the amount of rotation of the reel 82 .
  • the amount of rotation of the reel 82 is proportional to the amount of movement of the marker 94 .
  • the movement amount determination unit 406 determines whether or not the movement amount of the marker 94 has reached the designated movement amount designated by the elevation instruction.
  • the elevation stop control unit 408 controls the motor 84 to stop rotating via the motor driver 56 .
  • the motor 84 stops rotating the reel 82 stops rotating, thereby stopping the marker 94 from ascending or descending.
  • the completion report output control unit 410 sends an elevation completion report to the imaging support device 10 to the effect that the elevation of the marker 94 is completed. to output
  • the completion report input determination unit 318 determines whether or not the lifting completion report from the lifting device 50 has been input to the imaging support device 10 .
  • the first imaging control unit 702 controls the image sensor 212 via the image sensor driver 214 to capture an imaging scene including the marker 94 as a part thereof. conduct.
  • the marker 94 appears as an image in part of the image obtained by being imaged by the image sensor 212 .
  • the vertical position of the marker 94 with respect to the aircraft 180 is detected by reflecting the marker 94 as an image in a part of the image. That is, when the marker 94 is reflected as an image above the central portion of the image, it is detected that the marker 94 is positioned above the aircraft 180 in the vertical direction, and the central portion of the image is detected.
  • the first imaging control unit 702 can determine the light emission mode including blinking of the light emitter 120 as an image.
  • the image sensor 212 is caused to pick up images of the number of frames.
  • the marker position change determination unit 704 compares the image obtained in the previous flight imaging process (hereinafter referred to as the previous image) and the image obtained in the current flight imaging process (hereinafter referred to as the previous image). , referred to as the current image).
  • a marker position change determination unit 704 compares the previous image with the current image, and determines whether or not the position of the marker 94 has changed in the vertical direction, for example, by using object detection processing. In this manner, the vertical position of the marker 94 is detected based on an image obtained by imaging the imaging scene with the image sensor 212 according to instructions from the first imaging control unit 702 . Note that in the first flight imaging process, the marker position change determination unit 704 determines that the position of the marker 94 has not changed in the vertical direction.
  • the change direction determination unit 706 determines that the position of the marker 94 has changed upward based on the previous image and the current image. Determine whether or not When the change direction determination unit 706 determines that the position of the marker 94 has changed upward, the elevation control unit 708 controls the plurality of motors 224 to increase the number of revolutions via the motor driver 226 . When the number of rotations of the plurality of motors 224 increases, the thrust force generated by the plurality of rotor blades 222 increases, causing the aircraft 180 to ascend. As the flying object 180 ascends, the vertical position of the flying object 180 changes upward.
  • the descent control unit 710 controls the plurality of motors 224 via the motor driver 226 to decrease the number of revolutions. .
  • the thrust force generated by the plurality of rotor blades 222 decreases, causing the aircraft 180 to descend.
  • the vertical position of the flying object 180 changes downward.
  • the second imaging control unit 712 controls the image sensor 212 via the image sensor driver 214 to capture an imaging scene that partially includes the marker 94 .
  • the marker 94 appears as an image in part of the image obtained by being imaged by the image sensor 212 .
  • the flying object position determination unit 714 acquires an image captured by the image sensor 212 according to an instruction from the second imaging control unit 712 . Then, the flying object position determining unit 714 determines whether the marker 94 is placed in the center of the image in the vertical direction. It is determined whether or not the position is the same as the position of .
  • the number of pixels in the vertical direction of the image sensor 212 is 1000 pixels, and When the distance between the imaging device 210 and the marker 94 is approximately 100 cm, the position includes an error within 10 cm in the vertical direction, and more preferably, the position includes an error within 10 mm in the vertical direction. That is.
  • the first hovering control unit 716 causes the flying object 180 to hover when the flying object position determining unit 714 determines that the vertical position of the flying object 180 is the same as the vertical position of the marker 94 .
  • a motor driver 226 to control the number of rotations of a plurality of motors 224 .
  • the imaging device 210 is fixed to the flying object main body 184 in a horizontal state, but the imaging device 210 is attached to the flying object main body 184 in a state inclined with respect to the horizontal direction. If fixed relative to, the vertical position of the vehicle 180 relative to the vertical position of the marker 94 may be derived based on the elevation or depression angle of the imaging device 210 .
  • the second reception information determination unit 320 determines that the first reception information determination unit If determined by 314, it is determined whether or not the reception device 14 has received the "movement instruction for the flying object" as the reception information.
  • the first light emission mode instruction unit 322 instructs the marker device 90 to move.
  • a first light emission mode instruction corresponding to the instruction is output.
  • first light emission mode instruction section 322 outputs to marker device 90 the first light emission instruction corresponding to the second raise instruction.
  • the first light emission mode instruction section 322 outputs a first light emission mode instruction corresponding to the second lowering instruction to the marker device 90 when the movement instruction includes the second lowering instruction.
  • the first light emission mode instruction section 322 outputs a first light emission mode instruction corresponding to the right movement instruction to the marker device 90 .
  • first light emission mode instruction section 322 When the movement instruction includes a left movement instruction, first light emission mode instruction section 322 outputs a first light emission mode instruction corresponding to the left movement instruction to marker device 90 .
  • the first light emission mode instruction section 322 When the movement instruction includes a forward movement instruction, the first light emission mode instruction section 322 outputs a first light emission mode instruction corresponding to the forward movement instruction to the marker device 90 .
  • the first light emission mode instruction section 322 outputs a first light emission mode instruction corresponding to the backward movement instruction to the marker device 90 .
  • the first light emission mode instruction unit 322 includes an instruction corresponding to the moving speed designated by the movement instruction in the first light emission mode instruction.
  • the first instruction input determination unit 502 determines whether or not the first light emission mode instruction from the imaging support device 10 has been input to the marker device 90 .
  • the first light emission mode control unit 504 follows the first light emission mode instruction, The light emitter 120 is controlled to emit light in the first light emission mode via the light emitter control circuit 96 .
  • the first light emission mode determination unit 718 determines that the marker position change determination unit 704 determines that the position of the marker 94 has not changed. It is determined whether or not the light emission mode of the light emitter 120 is the first light emission mode, based on the image obtained by being imaged by the image sensor 212 in accordance with the instruction. The first light emission mode of light emitter 120 will be described in detail later with reference to FIGS. 19 to 24. FIG.
  • the first movement control unit 720 causes the flying object 180 to move in accordance with the first light emission mode.
  • control is performed to adjust the number of rotations of the plurality of motors 224 via the motor driver 226 .
  • the control performed by the first movement control unit 720 according to the first light emission mode is an example of the "first control" according to the technology of the present disclosure.
  • the first light emission mode control unit 504 receives, as the first light emission mode instruction, the first light emission mode instruction corresponding to the second raise instruction.
  • a rectangular signal is output as the first control signal to the circuit 96, and the level of the second control signal is held at the H level.
  • the first light emission mode control section 504 causes the light emitter control circuit 96 to output a rectangular signal as the first control signal at a frequency corresponding to the moving speed designated by the first light emission mode instruction. Therefore, when the first light emission mode control unit 504 receives the first light emission mode instruction corresponding to the rise instruction, the frequency corresponding to the moving speed designated by the first light emission mode instruction is set as the first light emission mode of the light emitter 120. , the first light source 122A blinks and the second light source 122B lights.
  • the first movement control unit 720 controls the number of rotations of the motors 224 via the motor driver 226 in response to the blinking of the first light source 122A and the lighting of the second light source 122B. Control to increase.
  • the number of rotations of the plurality of motors 224 increases, the thrust force generated by the plurality of rotor blades 222 increases, causing the aircraft 180 to ascend.
  • the vertical position of the flying object 180 changes upward.
  • the first movement control unit 720 adjusts the number of rotations of the plurality of motors 224 via the motor driver 226 so that the flying object 180 ascends at a movement speed corresponding to the frequency at which the first light source 122A blinks. to control.
  • the first movement control unit 720 maintains the ascending speed of the flying object 180 when the frequency at which the first light source 122A blinks is constant. On the other hand, the first movement control unit 720 changes the ascending speed of the flying object 180 when the frequency at which the first light source 122A blinks is changed. For example, the first movement control unit 720 increases the speed of the aircraft 180 by increasing the number of rotations of the motors 224 as the frequency at which the first light source 122A blinks increases.
  • the first light emission mode control unit 504 receives the first light emission mode instruction corresponding to the second lowering instruction as the first light emission mode instruction. It causes the circuit 96 to hold the level of the first control signal at the H level and output a rectangular signal as the second control signal. The first light emission mode control section 504 also causes the light emitter control circuit 96 to output a rectangular signal as a second control signal at a frequency corresponding to the moving speed specified by the first light emission mode instruction.
  • the first light emission mode control unit 504 receives the first light emission mode instruction corresponding to the lowering instruction, the first light source 122A is turned on as the first light emission mode of the light emitter 120, and the first light source 122A is turned on as specified by the first light emission mode instruction.
  • the second light source 122B blinks at a frequency corresponding to the determined moving speed.
  • the first movement control unit 720 controls the number of rotations of the motors 224 via the motor driver 226 in response to the lighting of the first light source 122A and the blinking of the second light source 122B. Control to decrease.
  • the number of rotations of the plurality of motors 224 decreases, the thrust force generated by the plurality of rotor blades 222 decreases, causing the aircraft 180 to descend.
  • the vertical position of the flying object 180 changes downward.
  • the first movement control unit 720 adjusts the number of rotations of the motors 224 via the motor driver 226 so that the flying object 180 descends at a movement speed corresponding to the frequency at which the second light source 122B blinks. to control.
  • the first movement control unit 720 maintains the descending speed of the flying object 180 when the frequency at which the second light source 122B blinks is constant. On the other hand, the first movement control unit 720 changes the descent speed of the flying object 180 when the frequency at which the second light source 122B blinks is changed. For example, the first movement control unit 720 increases the descending speed of the aircraft 180 by decreasing the number of rotations of the plurality of motors 224 as the frequency at which the second light source 122B blinks increases.
  • the first light emission mode control section 504 when the first light emission mode control section 504 receives the first light emission mode instruction corresponding to the right movement instruction as the first light emission mode instruction, the light emitter control circuit 96 is caused to output a rectangular signal as the first control signal and hold the level of the second control signal at the L level. Also, the first light emission mode control section 504 causes the light emitter control circuit 96 to output a rectangular signal as the first control signal at a frequency corresponding to the moving speed designated by the first light emission mode instruction.
  • the first light emission mode control unit 504 receives the first light emission mode instruction corresponding to the instruction to move to the right, the first light emission mode of the light emitter 120 corresponds to the moving speed designated by the finger in the first light emission mode.
  • the frequency causes the first light source 122A to blink and the second light source 122B to turn off.
  • the first movement control unit 720 causes the aircraft 180 to move to the right via the motor driver 226 in response to the first light source 122A blinking and the second light source 122B turning off. is used to control the number of rotations of the plurality of motors 224 .
  • the first movement control unit 720 controls the rotation speed of the motors 224 via the motor driver 226 so that the flying object 180 moves to the right at a movement speed corresponding to the frequency at which the first light source 122A blinks. control to adjust the The first movement control unit 720 maintains the rightward movement speed of the flying object 180 when the frequency of blinking of the first light source 122A is constant.
  • the first movement control unit 720 changes the rightward movement speed of the flying object 180 .
  • the first movement control unit 720 increases the rightward movement speed of the flying object 180 as the frequency at which the first light source 122A blinks increases. Control by the first movement control unit 720 to move the aircraft 180 to the right is an example of “movement control” according to the technology of the present disclosure.
  • the first light emission mode control section 504 receives the first light emission mode instruction corresponding to the left movement instruction as the first light emission mode instruction. 96, the level of the first control signal is held at L level, and the rectangular signal is output as the second control signal. The first light emission mode control section 504 also causes the light emitter control circuit 96 to output a rectangular signal as a second control signal at a frequency corresponding to the moving speed specified by the first light emission mode instruction.
  • the first light emission mode control unit 504 receives the first light emission mode instruction corresponding to the leftward movement instruction, the first light source 122A is turned off as the first light emission mode of the light emitter 120, and the first light emission mode instruction The second light source 122B blinks at a frequency corresponding to the designated moving speed.
  • the first movement control unit 720 causes the aircraft 180 to move leftward in response to the first light source 122A turning off and the second light source 122B blinking, via the motor driver 226. is used to control the number of rotations of the plurality of motors 224 . By moving the aircraft 180 to the left, the horizontal position of the aircraft 180 is changed to the left. Further, the first movement control unit 720 controls the rotation speed of the motors 224 via the motor driver 226 so that the flying object 180 moves to the left at a movement speed corresponding to the frequency at which the second light source 122B blinks. control to adjust the The first movement control unit 720 maintains the left movement speed of the flying object 180 when the frequency at which the second light source 122B blinks is constant.
  • the first movement control unit 720 changes the leftward movement speed of the flying object 180 when the frequency at which the second light source 122B blinks is changed. As an example, the first movement control unit 720 increases the leftward movement speed of the flying object 180 as the frequency at which the second light source 122B blinks increases. Control by the first movement control unit 720 to move the flying object 180 to the left is an example of “movement control” according to the technology of the present disclosure.
  • the first light emission mode control section 504 when the first light emission mode control section 504 receives the first light emission mode instruction corresponding to the forward movement instruction as the first light emission mode instruction, the light emitter control circuit 96 , a first rectangular signal is output as the first control signal, and a second rectangular signal having a period twice that of the first rectangular signal is output as the second control signal. Further, the first light emission mode control unit 504 supplies the light emitter control circuit 96 with the first rectangular signal and the second control signal as the first control signal at the frequency corresponding to the moving speed designated by the first light emission mode instruction. A second rectangular signal is output as a signal.
  • the first light emission mode control unit 504 receives the first light emission mode instruction corresponding to the forward movement instruction, the first light source 122A blinks and the second light source 122B turns on and off as the first light emission mode of the light emitter 120. It blinks at twice the period of the light source 122A. Also, the first light source 122A and the second light source 122B flash at a frequency corresponding to the moving speed designated by the first light emission mode instruction.
  • the first movement control unit 720 causes the flying object 180 to move in response to the blinking of the first light source 122A and the blinking of the second light source 122B at twice the cycle of the first light source 122A.
  • a plurality of motors 224 are controlled to adjust the number of rotations via a motor driver 226 so as to move forward. As the flying object 180 moves forward, the horizontal position of the flying object 180 is changed forward, thereby increasing the distance between the marker 94 and the flying object 180 and the distance between the inspection object 3 and the flying object 180. distance becomes shorter.
  • the first movement control unit 720 controls the plurality of motors 224 via the motor driver 226 so that the flying object 180 moves forward at a movement speed corresponding to the frequency at which the first light source 122A and the second light source 122B blink. control to adjust the rotation speed.
  • the first movement control unit 720 maintains the forward speed of the flying object 180 when the flickering frequency of the first light source 122A and the second light source 122B is constant.
  • the first movement control unit 720 changes the forward speed of the flying object 180 when the frequency at which the first light source 122A and the second light source 122B blink is changed.
  • the first movement control unit 720 increases the forward speed of the flying object 180 as the frequency at which the first light source 122A and the second light source 122B blink increases.
  • Control by which the first movement control unit 720 advances the flying object 180 is an example of “movement control” according to the technology of the present disclosure.
  • the first light emission mode control section 504 when the first light emission mode control section 504 receives the first light emission mode instruction corresponding to the retreat instruction as the first light emission mode instruction, the light emitter control circuit 96 , a first rectangular signal is output as the first control signal, and a second rectangular signal having a period 1/2 times that of the first rectangular signal is output as the second control signal. Further, the first light emission mode control unit 504 supplies the light emitter control circuit 96 with the first rectangular signal and the second control signal as the first control signal at the frequency corresponding to the moving speed designated by the first light emission mode instruction. A second rectangular signal is output as a signal.
  • the first light emission mode control unit 504 receives the first light emission mode instruction corresponding to the backward direction instruction, the first light source 122A blinks and the second light source 122B turns on and off as the first light emission mode of the light emitter 120. It blinks at a cycle that is 1/2 times that of the light source 122A. Also, the first light source 122A and the second light source 122B flash at a frequency corresponding to the moving speed designated by the first light emission mode instruction.
  • the first movement control unit 720 causes the first light source 122A to blink and the second light source 122B to blink at half the cycle of the first light source 122A.
  • a plurality of motors 224 are controlled to adjust the number of rotations via the motor driver 226 so that the motor 180 moves backward. As the flying object 180 retreats, the horizontal position of the flying object 180 is changed rearward, thereby increasing the distance between the marker 94 and the flying object 180 and the distance between the inspection object 3 and the flying object 180. the distance between them increases.
  • the first movement control unit 720 controls the plurality of motors 224 via the motor driver 226 so that the flying object 180 moves backward at a movement speed corresponding to the frequency at which the first light source 122A and the second light source 122B blink. control to adjust the rotation speed.
  • the first movement control unit 720 maintains the backward speed of the flying object 180 when the flickering frequency of the first light source 122A and the second light source 122B is constant.
  • the first movement control unit 720 changes the backward speed of the flying object 180 when the frequency at which the first light source 122A and the second light source 122B blink is changed.
  • the first movement control unit 720 increases the backward speed of the flying object 180 as the frequency at which the first light source 122A and the second light source 122B blink increases.
  • the control by which the first movement control unit 720 causes the aircraft 180 to retreat is an example of the “movement control” according to the technology of the present disclosure.
  • the operator 7 sets the distance between the range finder 170 and the flying object 180 to the predetermined distance based on the distance measurement information obtained by the measurement by the range finder 170.
  • An advance instruction or a retreat instruction may be given to the imaging support device 10 .
  • the third reception information determination unit 324 determines that the second reception information determination unit If determined by 320, it is determined whether or not the receiving device 14 has received "a hovering instruction for the flying object" as the received information.
  • the second light emission mode instruction unit 326 instructs the marker device 90 to hover. A second light emission mode instruction corresponding to the instruction is output.
  • the second instruction input determination unit 506 performs imaging support when the first instruction input determination unit 502 determines that the first light emission mode instruction from the imaging support device 10 has not been input to the marker device 90. It is determined whether or not the second light emission mode instruction from the device 10 has been input to the marker device 90 .
  • the second light emission mode control unit 508 follows the second light emission mode instruction, The light emitter control circuit 96 controls the light emitter 120 to emit light in the second light emission mode.
  • the second light emission mode control section 508 sets the level of the first control signal and the level of the second control signal to L level for the light emitter control circuit 96 in accordance with the second light emission mode instruction. to hold. Therefore, when the second light emission mode control unit 508 receives the second light emission mode instruction, the first light source 122A and the second light source 122B are turned off as the second light emission mode of the light emitter 120 .
  • the second light emission mode determination section 722 follows the instruction from the first imaging control section 702. Based on the image obtained by being imaged by the image sensor 212, it is determined whether or not the light emission mode of the light emitter 120 is the second light emission mode.
  • the second hovering control unit 724 controls the flying object 180 to hover in accordance with the second light emission mode when the second light emission mode determination unit 722 determines that the light emission mode of the light emitter 120 is the second light emission mode. Then, control is performed to adjust the number of rotations of the plurality of motors 224 via the motor driver 226 . That is, the second hovering control unit 724 causes the flying object 180 to hover in response to turning off the first light source 122A and the second light source 122B. When the vehicle 180 is hovering, the vertical position of the vehicle 180 is maintained.
  • the fourth reception information determination unit 328 determines that the third reception information determination unit 328 determines that the reception device 14 has not received the "hovering instruction for the flying object" as the reception information. If determined by 324, it is determined whether or not the reception device 14 has received the "imaging instruction for the flying object" as the reception information.
  • the hovering determination unit 330 determines whether or not the flying object 180 is hovering. When the hovering determining unit 330 determines that the flying object 180 is hovering, the third lighting mode instruction unit 332 outputs a third lighting mode instruction corresponding to the imaging instruction to the marker device 90. .
  • the hovering determination unit 330 determines that the flying object 180 is not hovering, information to the effect that the flying object 180 is to hover may be displayed to the operator 7 on the display 16 . Thereby, the worker 7 can be urged to give the hovering instruction to the reception device 14 .
  • the third instruction input determination unit 510 performs imaging support when the second instruction input determination unit 506 determines that the second light emission mode instruction from the imaging support device 10 has not been input to the marker device 90. It is determined whether or not the third lighting mode instruction from the device 10 has been input to the marker device 90 .
  • the third instruction input determination unit 510 determines that the third light emission mode instruction from the imaging support device 10 is input to the marker device 90
  • the third light emission mode control unit 512 follows the third light emission mode instruction, The light emitter 120 is controlled to emit light in the third light emission mode via the light emitter control circuit 96 .
  • the third light emission mode control unit 512 causes the light emitter control circuit 96 to output the first rectangular signal as the first control signal in accordance with the third light emission mode instruction, thereby causing the second control signal to be output.
  • a second rectangular signal having a phase opposite to that of the first rectangular signal is output as a signal. Therefore, when the third light emission mode control unit 512 receives the third light emission mode instruction, the first light source 122A and the second light source 122B blink alternately as the third light emission mode of the light emitter 120 .
  • the second light source 122B is turned off when the first light source 122A is turned on, and the second light source 122B is turned off when the first light source 122A is turned off.
  • the state in which the light source 122B is turned on is alternately repeated.
  • the third light emission mode determination section 726 determines that the light emission mode of the light emitter 120 is not the second light emission mode. 26), it is determined whether or not the light emission mode of the light emitter 120 is the third light emission mode.
  • the third imaging control section 728 sends the marker image to the image sensor 212 via the image sensor driver 214 .
  • 94 is partly captured.
  • the imaging scene includes the inspection object 3 located around the marker 94 .
  • the third imaging control unit 728 causes the image sensor 212 to perform still image imaging.
  • the marker 94 and the inspection object 3 positioned around the marker 94 are captured as an image in the image captured by the image sensor 212 .
  • the first image storage control unit 730 causes the image memory 196 to store an image captured by the image sensor 212 in accordance with an instruction from the third imaging control unit 728 .
  • the still image as an image stored in the image memory 196 is later analyzed by the image analysis device 230 (see FIG. 1).
  • Control by which the third imaging control unit 728 causes the image sensor 212 to perform imaging is an example of “imaging control” according to the technology of the present disclosure.
  • the fifth reception information determination unit 334 determines that the fourth reception information determination unit If determined by 328, it is determined whether or not the receiving device 14 has received the "instruction for lateral movement and imaging of the flying object" as the received information.
  • the fourth light emission mode instruction unit 336 instructs the marker device 90 to and outputs a fourth light emission mode instruction corresponding to the lateral movement and imaging instruction.
  • the fourth instruction input determination unit 514 performs imaging support when the third instruction input determination unit 510 determines that the third light emission mode instruction from the imaging support device 10 has not been input to the marker device 90. It is determined whether or not the fourth lighting mode instruction from the device 10 has been input to the marker device 90 .
  • the fourth lighting mode control unit 516 follows the fourth lighting mode instruction, The light emitter 120 is controlled to emit light in the fourth light emission mode via the light emitter control circuit 96 .
  • the fourth light emission mode control section 516 causes the light emitter control circuit 96 to output the first rectangular signal as the first control signal in accordance with the fourth light emission mode instruction, thereby causing the second control signal to be output.
  • a second rectangular signal having the same phase as the first rectangular signal is output as a signal. Therefore, when the fourth light emission mode control unit 516 receives the fourth light emission mode instruction, the first light source 122A and the second light source 122B blink simultaneously as the fourth light emission mode of the light emitter 120 .
  • the fourth light emission mode determination section 732 determines that the light emission mode of the light emitter 120 is not the third light emission mode by the third light emission mode determination section 726, the first imaging control section 702 (FIG. 26 ), it is determined whether or not the light emission mode of the light emitter 120 is the fourth light emission mode, based on the image (see FIG. 26) obtained by being imaged by the image sensor 212 according to the instruction.
  • the fourth light emission mode determination section 732 determines that the light emission mode of the light emitter 120 is the fourth light emission mode
  • the second movement control section 734 controls the predetermined movement of the flying body 180 while maintaining the position in the vertical direction.
  • Control is performed to adjust the number of rotations of the plurality of motors 224 via the motor driver 226 so as to hover after moving in the horizontal direction (in this case, in the left direction as an example) by the set movement distance.
  • the aircraft 180 moves to the left along the surface of the inspection object 3 as an example of lateral movement.
  • the flying object 180 may move to the right along the surface of the inspection object 3 as an example of lateral movement.
  • the predetermined moving distance is, for example, set to a distance at which adjacent still images partly overlap when moving in the horizontal direction and capturing still images are repeatedly performed, as will be described later. .
  • the fourth imaging control unit 736 controls the image sensor 212 via the image sensor driver 214 to image the front of the flying object 180 while the flying object 180 is hovering.
  • the fourth imaging control unit 736 causes the image sensor 212 to perform still image imaging.
  • the inspection object 3 appears as an image in the image obtained by being imaged by the image sensor 212 .
  • the second image storage control section 738 causes the image memory 196 to store an image captured by the image sensor 212 in accordance with an instruction from the fourth imaging control section 736 .
  • a still image as an image stored in the image memory 196 is later analyzed by the image analysis device 230 (see FIG. 1).
  • the image storage number determination unit 740 determines whether or not the number of image frames stored in the image memory 196 has reached a predetermined number according to the instruction from the second image storage control unit 738 . If the image storage number determination unit 740 determines that the number of frames of images stored in the image memory 196 has not reached the predetermined number, the process by the second movement control unit 734 and the process by the fourth imaging control unit 736 are performed. , and the processing by the second image storage control unit 738 are repeatedly executed. That is, leftward movement of the flying object 180, imaging by the flying object 180, and image storage are repeatedly executed. As a result, a plurality of horizontal regions of the inspection object 3 are imaged to obtain a plurality of images, and the plurality of images are stored in the image memory 196 .
  • the feedback control unit 742 causes the aircraft 180 to A plurality of motors 224 are controlled via a motor driver 226 to adjust the number of rotations so as to move laterally toward the position in front of the marker 94 (i.e., return to the original position). .
  • the aircraft 180 moves to the right along the surface of the inspection object 3 as an example of lateral movement.
  • the fifth imaging control unit 744 controls the image sensor 212 via the image sensor driver 214 to image the front of the aircraft 180 .
  • the marker 94 does not appear as an image in the image captured by the image sensor 212 .
  • the image captured by the image sensor 212 includes the marker 94 as an image.
  • the return completion determination unit 746 determines whether or not the marker 94 is reflected as an image in the image obtained by being imaged by the image sensor 212 in accordance with the instruction from the fifth imaging control unit 744 . has moved to the position in front of the marker 94 or not.
  • a third hovering control unit 748 controls a plurality of hovering objects via the motor driver 226 so that the flying object 180 hovers when the return completion determining unit 746 determines that the flying object 180 has moved to a position in front of the marker 94 . It controls the rotation speed of the motor 224 .
  • the sixth reception information determination unit 338 determines that the fifth reception is performed if the reception device 14 has not received the reception information “horizontal movement and imaging instruction for the flying object”. If determined by the information determination unit 334, it is determined whether or not the reception device 14 has received the "position correction instruction for the flying object" as the reception information.
  • the second imaging instruction unit 340 instructs the imaging and ranging device 130 to perform imaging. to output
  • the imaging instruction input determination unit 602 determines whether or not an imaging instruction has been input to the imaging distance measuring device 130 .
  • the imaging control unit 604 directs the flying object 180 to the image sensor 162 via the image sensor driver 164 . Perform control for imaging.
  • the image output control unit 606 outputs an image obtained by imaging the aircraft 180 with the image sensor 162 to the imaging support device 10 .
  • the second image input determination unit 342 determines whether or not the image from the imaging distance measuring device 130 has been input to the imaging support device 10 .
  • the second image display control unit 344 causes the display 16 to display the image when the second image input determination unit 342 determines that the image from the imaging and ranging device 130 has been input to the imaging support device 10. control.
  • the operator 7 can confirm the attitude and/or position of the aircraft 180 based on the image displayed on the display 16 .
  • the positional deviation determination unit 346 converts the image into an image based on the image (see FIG. 31) input to the imaging support device 10 from the imaging distance measuring device 130. It is determined whether or not the position of the captured flying object 180 is deviated from the central portion of the angle of view of the imaging device 160 .
  • the fifth light emission mode instruction unit 348 instructs the marker device 90 to position the flying object 180.
  • a first light emission mode instruction corresponding to a movement instruction for correcting the deviation is output.
  • the first instruction input determination unit 502 determines whether or not the first light emission mode instruction from the imaging support device 10 has been input to the marker device 90 .
  • the first light emission mode control unit 504 follows the first light emission mode instruction,
  • the light emitter 120 is controlled to emit light in the first light emission mode via the light emitter control circuit 96 .
  • the flying object 180 moves according to the first light emitting mode of the light emitting object 120, thereby correcting the positional deviation. That is, the flying object 180 moves to the central portion of the angle of view of the imaging device 160 .
  • the sixth light emission mode instruction unit 350 when the position deviation determination unit 346 determines that the position of the flying object 180 is not deviated from the central portion of the angle of view of the imaging device 160 , the marker device 90, a second light emission mode instruction corresponding to the hovering instruction is output.
  • the second instruction input determination unit 506 performs imaging support when the first instruction input determination unit 502 determines that the first light emission mode instruction from the imaging support device 10 has not been input to the marker device 90. It is determined whether or not the second light emission mode instruction from the device 10 has been input to the marker device 90 .
  • the second light emission mode control unit 508 follows the second light emission mode instruction,
  • the light emitter control circuit 96 controls the light emitter 120 to emit light in the second light emission mode. As a result, the flying object 180 hovers according to the second light emitting mode of the light emitter 120 .
  • FIG. 33 the action of the imaging system S will be described with reference to FIGS. 33 to 42.
  • FIG. 33 An example of the flow of imaging support processing performed by the processor 30 of the imaging support device 10 will be described with reference to FIGS. 33 to 36.
  • FIG. 33 An example of the flow of imaging support processing performed by the processor 30 of the imaging support device 10 will be described with reference to FIGS. 33 to 36.
  • step ST10 the first imaging instruction section 302 outputs an imaging instruction to the imaging distance measuring device .
  • step ST10 the imaging support process proceeds to step ST11.
  • step ST11 the first image input determination unit 304 determines whether or not the image from the imaging ranging device 130 has been input to the imaging support device 10. In step ST11, if the image from the imaging distance measuring device 130 has not been input to the imaging support device 10, the determination is negative, and the determination in step ST11 is performed again. In step ST11, if the image from the imaging ranging device 130 is input to the imaging support device 10, the determination is affirmative, and the imaging support processing proceeds to step ST12.
  • step ST12 the first image display control unit 306 causes the display 16 to display the image input from the imaging distance measuring device 130 to the imaging support device 10. After the process of step ST12 is executed, the imaging support process proceeds to step ST13.
  • step ST13 the distance measurement instruction section 308 outputs a distance measurement instruction to the imaging distance measurement device .
  • the imaging support process proceeds to step ST14.
  • step ST14 the ranging information input determination unit 310 determines whether or not ranging information from the imaging ranging device 130 has been input to the imaging support device 10. In step ST14, if the ranging information from the imaging ranging device 130 has not been input to the imaging support device 10, the determination is negative, and the determination in step ST14 is performed again. In step ST15, if the distance measurement information is input to the imaging support device 10, the determination is affirmative, and the imaging support process proceeds to step ST15.
  • step ST15 the distance measurement information display control unit 312 causes the display 16 to display the distance measurement information input from the imaging distance measurement device 130 to the imaging support device 10.
  • step ST15 the imaging support process proceeds to step ST16 shown in FIG.
  • the first reception information determination unit 314 determines whether or not the reception device 14 has received the "lifting instruction for the lifting device" as the reception information. In step ST16, if the reception device 14 has not received the "lifting instruction for the lifting device” as the reception information, the determination is negative, and the imaging support process proceeds to step ST19. In step ST16, if the acceptance device 14 accepts the "elevation instruction for the elevation device" as the acceptance information, the determination is affirmative, and the imaging support process proceeds to step ST17.
  • step ST ⁇ b>17 the elevation instruction section 316 outputs an elevation instruction to the elevation device 50 .
  • the imaging support process proceeds to step ST18.
  • step ST18 the completion report input determining unit 318 determines whether or not the lifting completion report from the lifting device 50 has been input to the imaging support device 10. In step ST18, if the lifting completion report from the lifting device 50 has not been input to the imaging support device 10, the determination is negative, and the determination of step ST18 is performed again. In step ST18, if the lifting completion report from the lifting device 50 is input to the imaging support device 10, the determination is affirmative, and the imaging support processing proceeds to step ST35 shown in FIG.
  • step ST19 the second reception information determination unit 320 determines whether or not the reception device 14 has received "instruction to move the flying object" as reception information. In step ST19, if the reception device 14 has not received the "movement instruction for the flying object" as the reception information, the determination is negative, and the imaging support process proceeds to step ST21. In step ST19, if the acceptance device 14 accepts the "movement instruction for the flying object" as the acceptance information, the determination is affirmative, and the imaging support process proceeds to step ST20.
  • step ST20 the first light emission mode instruction section 322 outputs to the marker device 90 a first light emission mode instruction corresponding to the movement instruction.
  • step ST21 the third received information determination unit 324 determines whether or not the receiving device 14 has received "a hovering instruction for the flying object" as received information. In step ST21, if the reception device 14 has not received the "hovering instruction for the flying object" as the reception information, the determination is negative, and the imaging support process proceeds to step ST23. In step ST21, if the acceptance device 14 accepts the "hovering instruction for the flying object" as the acceptance information, the determination is affirmative, and the imaging support process proceeds to step ST22.
  • step ST22 the second lighting mode instruction section 326 outputs a second lighting mode instruction corresponding to the hovering instruction to the marker device 90.
  • step ST23 the fourth reception information determination unit 328 determines whether or not the reception device 14 has received an "imaging instruction for the flying object" as the reception information. In step ST23, if the reception device 14 has not received the "imaging instruction for the flying object" as the reception information, the determination is negative, and the imaging support process proceeds to step ST26. In step ST23, if the acceptance device 14 accepts the "imaging instruction for the flying object" as the acceptance information, the determination is affirmative, and the imaging support process proceeds to step ST24.
  • the hovering determination unit 330 determines whether or not the flying object 180 is hovering. In step ST24, if the flying object 180 is not hovering, the determination is negative, and the imaging support process proceeds to step ST10. In step ST24, if the flying object 180 is hovering, the determination is affirmative, and the imaging support process proceeds to step ST25.
  • step ST25 the third lighting mode instruction section 332 outputs to the marker device 90 a third lighting mode instruction corresponding to the imaging instruction.
  • the imaging support process proceeds to step ST35 shown in FIG.
  • the fifth reception information determination unit 334 determines whether or not the reception device 14 has received "instruction to laterally move and image the flying object" as reception information. In step ST26, if the receiving device 14 has not received the "lateral movement and imaging instruction for the flying object" as the received information, the determination is negative, and the imaging support process proceeds to step ST28. In step ST26, if the acceptance device 14 accepts the "horizontal movement and imaging instruction for the flying object" as the acceptance information, the determination is affirmative, and the imaging support process proceeds to step ST27.
  • step ST27 the fourth lighting mode instruction section 336 outputs to the marker device 90 a fourth lighting mode instruction corresponding to the lateral movement and imaging instructions.
  • the imaging support process proceeds to step ST35.
  • the sixth reception information determination unit 338 determines whether or not the reception device 14 has received "position correction instruction for the flying object" as reception information. In step ST28, if the reception device 14 has not received the "position correction instruction for the flying object" as the reception information, the determination is negative, and the imaging support process proceeds to step ST10. In step ST28, if the acceptance device 14 accepts the "position correction instruction for the flying object" as the acceptance information, the determination is affirmative, and the imaging support process proceeds to step ST29.
  • step ST29 the second imaging instruction section 340 outputs an imaging instruction to the imaging distance measuring device .
  • the imaging support process proceeds to step ST30.
  • step ST30 the second image input determination unit 342 determines whether or not the image from the imaging ranging device 130 has been input to the imaging support device 10. In step ST30, if the image from the imaging distance measuring device 130 has not been input to the imaging support device 10, the determination is negative, and the determination in step ST30 is performed again. In step ST30, if the image from the imaging ranging device 130 is input to the imaging support device 10, the determination is affirmative, and the imaging support processing proceeds to step ST31.
  • step ST31 the second image display control unit 344 causes the display 16 to display the image input from the imaging distance measuring device 130 to the imaging support device 10. After the process of step ST31 is executed, the imaging support process proceeds to step ST32.
  • step ST32 the positional deviation determination unit 346 determines that the position of the flying object 180 appearing as an image in the image is the center of the angle of view of the imaging device 160, based on the image input from the imaging and ranging device 130 to the imaging support device 10. It is determined whether or not there is deviation with respect to the part. In step ST32, if the position of the flying object 180 does not deviate from the central portion of the angle of view of the imaging device 160, the determination is negative, and the imaging support process proceeds to step ST34. In step ST32, if the position of the flying object 180 is deviated from the central portion of the angle of view of the imaging device 160, the determination is affirmative, and the imaging support process proceeds to step ST33.
  • step ST33 the fifth lighting mode instruction section 348 outputs to the marker device 90 a first lighting mode instruction corresponding to the movement instruction for correcting the positional deviation.
  • step ST34 the sixth lighting mode instruction section 350 outputs a second lighting mode instruction corresponding to the hovering instruction to the marker device 90.
  • step ST35 the processor 30 determines whether or not a condition for ending the imaging support process (hereinafter referred to as "imaging support process end condition") is satisfied.
  • a condition for ending the imaging support process is that the receiving device 14 has received an instruction to end the imaging support process.
  • the imaging support process end condition is not satisfied, the determination is negative, and the imaging support process proceeds to step ST10 shown in FIG.
  • step ST35 if the imaging support process end condition is satisfied, the determination is affirmative, and the imaging support process ends.
  • control method described as the action of the imaging system S described above is an example of the "control method” according to the technology of the present disclosure.
  • step ST40 the lifting instruction input determination unit 402 determines whether or not the lifting instruction from the imaging support device 10 has been input to the lifting device 50 .
  • step ST40 if the elevation instruction from the imaging support device 10 is not input to the elevation device 50, the determination is negative, and the determination in step ST40 is performed again.
  • step ST40 if the lifting instruction from the imaging support device 10 is input to the lifting device 50, the determination is affirmative, and the lifting process proceeds to step ST41.
  • step ST41 the elevation control unit 404 raises or lowers the marker 94 according to the elevation instruction. After the process of step ST41 is executed, the lifting process proceeds to step ST42.
  • step ST42 the movement amount determination unit 406 determines whether or not the movement amount of the marker 94 has reached the designated movement amount designated by the elevation instruction. In step ST42, if the amount of movement of the marker 94 has not reached the designated amount of movement, the determination is negative, and the determination of step ST42 is performed again. In step ST42, when the amount of movement of the marker 94 has reached the specified amount of movement, the determination is affirmative, and the lifting process proceeds to step ST43.
  • step ST43 the elevation stop control section 408 stops the elevation or descent of the marker 94 by stopping the rotation of the motor 84. After the process of step ST43 is executed, the lifting process proceeds to step ST44.
  • step ST44 the completion report output control unit 410 outputs a lifting completion report indicating that the lifting of the marker 94 has been completed to the imaging support device 10. After the process of step ST44 is executed, the lifting process proceeds to step ST40.
  • step ST50 the first instruction input determining section 502 determines whether or not the first light emission mode instruction from the imaging support device 10 has been input to the marker device 90. In step ST50, if the first lighting mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is negative, and the lighting mode control process proceeds to step ST52. In step ST50, when the first light emission mode instruction from the imaging support device 10 is input to the marker device 90, the determination is affirmative, and the light emission mode control process proceeds to step ST51.
  • step ST51 the first light emission mode control section 504 causes the light emitter 120 to emit light in the first light emission mode according to the first light emission mode instruction. After the process of step ST51 is executed, the light emission mode control process proceeds to step ST50.
  • step ST52 the second instruction input determination unit 506 determines whether or not the second light emission mode instruction from the imaging support device 10 has been input to the marker device 90 . In step ST52, if the second lighting mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is negative, and the lighting mode control process proceeds to step ST54. In step ST52, when the second light emission mode instruction from the imaging support device 10 is input to the marker device 90, the determination is affirmative, and the light emission mode control process proceeds to step ST53.
  • step ST53 the second light emission mode control section 508 causes the light emitter 120 to emit light in the second light emission mode according to the second light emission mode instruction. After the process of step ST53 is executed, the light emission mode control process proceeds to step ST50.
  • step ST54 the third instruction input determination section 510 determines whether or not the third light emission mode instruction from the imaging support device 10 has been input to the marker device 90. In step ST54, if the third lighting mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is negative, and the lighting mode control process proceeds to step ST56. In step ST54, when the third lighting mode instruction from the imaging support device 10 is input to the marker device 90, the determination is affirmative, and the lighting mode control process proceeds to step ST55.
  • step ST55 the third light emission mode control section 512 causes the light emitter 120 to emit light in the third light emission mode according to the third light emission mode instruction. After the process of step ST55 is executed, the light emission mode control process proceeds to step ST50.
  • step ST56 the fourth instruction input determination unit 514 determines whether or not the fourth light emission mode instruction from the imaging support device 10 has been input to the marker device 90. In step ST56, if the fourth lighting mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is negative, and the lighting mode control process proceeds to step ST50. In step ST56, if the fourth lighting mode instruction from the imaging support device 10 is input to the marker device 90, the determination is affirmative, and the lighting mode control process proceeds to step ST57.
  • step ST57 the fourth light emission mode control section 516 causes the light emitter 120 to emit light in the fourth light emission mode according to the fourth light emission mode instruction. After the process of step ST57 is executed, the light emission mode control process proceeds to step ST50.
  • step ST60 the imaging instruction input determination unit 602 determines whether or not the imaging instruction from the imaging support device 10 has been input to the imaging distance measuring device 130 .
  • step ST60 if the imaging instruction from the imaging support device 10 has not been input to the imaging ranging device 130, the determination is negative, and the imaging ranging processing proceeds to step ST63.
  • step ST60 if the image capturing instruction from the image capturing support device 10 is input to the image capturing distance measuring device 130, the determination is affirmative, and the image capturing support process proceeds to step ST61.
  • step ST61 the imaging control unit 604 causes the image sensor 162 to image the flying object 180. After the process of step ST61 is executed, the imaging ranging process proceeds to step ST62.
  • step ST62 the image output control unit 606 outputs the image obtained in step ST61 to the imaging support device 10. After the process of step ST62 is executed, the imaging ranging process proceeds to step ST60.
  • step ST63 the distance measurement instruction input determination unit 608 determines whether or not a distance measurement instruction from the imaging support device 10 has been input to the imaging distance measurement device 130. In step ST63, if the ranging instruction from the imaging support device 10 has not been input to the imaging ranging device 130, the determination is negative, and the imaging ranging processing proceeds to step ST60. In step ST63, if the distance measurement instruction from the imaging support device 10 is input to the imaging distance measuring device 130, the determination is affirmative, and the imaging support processing proceeds to step ST64.
  • step ST64 the ranging control section 610 causes the ranging sensor 172 to measure the distance between the ranging device 170 and the flying object 180. After the process of step ST64 is executed, the imaging ranging process proceeds to step ST65.
  • step ST65 the distance measurement information output control unit 612 outputs the distance measurement information obtained at step ST65 to the imaging support device 10.
  • the imaging ranging process proceeds to step ST60.
  • step ST70 the first imaging control unit 702 causes the image sensor 212 to capture an imaging scene including the marker 94 as part of it. After the process of step ST70 is executed, the flight imaging process proceeds to step ST71.
  • step ST71 the marker position change determination unit 704 divides the image obtained in step ST70 of the previous flight imaging process (hereinafter referred to as the previous image) and the image obtained in step ST70 of the current flight imaging process ( (referred to as the current image), and it is determined whether or not the position of the marker 94 has changed in the vertical direction. In step ST71, if the position of the marker 94 has not changed in the vertical direction, the determination is negative, and the flight imaging process proceeds to step ST78. In step ST71, if the position of the marker 94 has changed in the vertical direction, the determination is affirmative, and the flight imaging process proceeds to step ST72.
  • step ST72 the change direction determination unit 706 determines whether the position of the marker 94 has changed upward based on the previous image and the current image. In step ST72, if the position of the marker 94 has not changed upward, the determination is negative, and the flight imaging process proceeds to step ST74. In step ST72, if the position of the marker 94 has changed upward, the determination is affirmative, and the flight imaging process proceeds to step ST73.
  • step ST73 the ascent control unit 708 increases the number of rotations of the plurality of motors 224 to ascend the flying object 180. After the process of step ST73 is executed, the flight imaging process proceeds to step ST75.
  • step ST74 the descent control unit 710 lowers the flying object 180 by decreasing the number of rotations of the motors 224. After the process of step ST74 is executed, the flight imaging process proceeds to step ST75.
  • step ST75 the second imaging control unit 712 causes the image sensor 212 to capture an imaging scene including the marker 94 as a part thereof. After the process of step ST75 is executed, the flight imaging process proceeds to step ST76.
  • step ST76 the flying object position determining unit 714 determines whether or not the vertical position of the flying object 180 is the same as the vertical position of the marker 94 based on the image obtained in step ST75. . In step ST76, if the vertical position of the flying object 180 is not the same as the vertical position of the marker 94, the determination is negative, and the flight imaging process proceeds to step ST75. In step ST76, if the vertical position of the flying object 180 is the same as the vertical position of the marker 94, the determination is affirmative, and the flight imaging process proceeds to step ST77.
  • the number of pixels in the vertical direction of the image sensor 212 is 1000 pixels, and When the distance between the imaging device 210 and the marker 94 is approximately 100 cm, the position includes an error within 10 cm in the vertical direction, and more preferably, the position includes an error within 10 mm in the vertical direction. That is.
  • step ST77 the first hovering control unit 716 adjusts the number of rotations of the plurality of motors 224 to cause the flying object 180 to hover.
  • step ST77 the flight imaging process proceeds to step ST94 shown in FIG.
  • the first light emission mode determination unit 718 determines whether or not the light emission mode of the light emitter 120 is the first light emission mode based on the image obtained at step ST70. In step ST78, if the light emission mode of light emitter 120 is not the first light emission mode, the determination is negative, and the flight imaging process proceeds to step ST80. In step ST78, when the light emission mode of the light emitter 120 is the first light emission mode, the determination is affirmative, and the flight imaging process proceeds to step ST79.
  • step ST79 the first movement control section 720 adjusts the number of rotations of the plurality of motors 224 so that the flying object 180 moves corresponding to the first light emission mode.
  • step ST79 the flight imaging process proceeds to step ST94 shown in FIG.
  • the second light emission mode determination unit 722 determines whether or not the light emission mode of the light emitter 120 is the second light emission mode based on the image obtained at step ST70. In step ST80, if the light emission mode of light emitter 120 is not the second light emission mode, the determination is negative, and the flight imaging process proceeds to step ST82. In step ST80, if the light emission mode of light emitter 120 is the second light emission mode, the determination is affirmative, and the flight imaging process proceeds to step ST81.
  • step ST81 the second hovering control unit 724 adjusts the number of rotations of the motors 224 so that the flying object 180 hovers in response to the second light emission mode.
  • step ST81 the flight imaging process proceeds to step ST94 shown in FIG.
  • the third light emission mode determination unit 726 determines whether or not the light emission mode of the light emitter 120 is the third light emission mode based on the image obtained at step ST70. In step ST82, if the light emission mode of the light emitter 120 is not the third light emission mode, the determination is negative, and the flight imaging process proceeds to step ST85. In step ST82, when the light emission mode of the light emitter 120 is the third light emission mode, the determination is affirmative, and the flight imaging process proceeds to step ST83.
  • step ST83 the third imaging control unit 728 causes the image sensor 212 to image the imaging scene including the marker 94 and the inspection object 3. After the process of step ST83 is executed, the flight imaging process proceeds to step ST84.
  • step ST84 the first image storage control section 730 stores the image obtained at step ST83 in the image memory 196. After the process of step ST84 is executed, the flight imaging process proceeds to step ST94 shown in FIG.
  • step ST85 based on the image obtained at step ST70, it is determined whether or not the light emission mode of the light emitter 120 is the fourth light emission mode. In step ST85, if the light emission mode of the light emitter 120 is not the fourth light emission mode, the determination is negative, and the flight imaging process proceeds to step ST94. In step ST85, when the light emission mode of light emitter 120 is the fourth light emission mode, the determination is affirmative, and the flight imaging process proceeds to step ST86.
  • step ST86 the second movement control unit 734 adjusts the number of rotations of the plurality of motors 224 to move the flying object 180 by a predetermined movement distance while maintaining the vertical position of the flying object 180. Move horizontally and then hover.
  • step ST86 the flight imaging process proceeds to step ST87.
  • step ST87 the fourth imaging control unit 736 causes the image sensor 212 to image the front of the flying object 180.
  • step ST87 the fourth imaging control unit 736 causes the image sensor 212 to image the front of the flying object 180.
  • step ST88 the second image storage control section 738 stores the image obtained at step ST87 in the image memory 196. After the process of step ST88 is executed, the flight imaging process proceeds to step ST89.
  • step ST89 the number-of-stored-images determining unit 740 determines whether or not the number of frames of images stored in the image memory 196 in step ST88 has reached a predetermined number as the flight imaging process is repeatedly performed. . In step ST89, if the number of frames of images stored in the image memory 196 has not reached the predetermined number, the determination is negative, and the flight imaging process proceeds to step ST86. In step ST89, if the number of frames of images stored in the image memory 196 has reached the predetermined number, the determination is affirmative, and the flight imaging process proceeds to step ST90.
  • step ST90 the feedback control unit 742 adjusts the number of rotations of the motors 224 to move the flying object 180 laterally toward the position in front of the marker 94.
  • step ST90 the flight imaging process proceeds to step ST91.
  • step ST91 the fifth imaging control unit 744 causes the image sensor 212 to image the front of the flying object 180. After the process of step ST91 is executed, the flight imaging process proceeds to step ST92.
  • step ST92 the return completion determination unit 746 determines whether or not the marker 94 appears as an image in the image obtained in step ST91. In step ST92, if the marker 94 is not captured as an image in the image, the determination is negative, and the flight imaging process proceeds to step ST91. In step ST92, when the marker 94 is reflected as an image in the image, the determination is affirmative, and the flight imaging process proceeds to step ST93.
  • step ST93 the third hovering control unit 748 adjusts the number of rotations of the plurality of motors 224 to cause the flying object 180 to hover.
  • step ST93 the flight imaging process proceeds to step ST94.
  • step ST94 the processor 200 determines whether or not a condition for terminating the flight imaging process (hereinafter referred to as "flight imaging process termination condition") is satisfied.
  • a condition for terminating the flight imaging process is a condition that the reception device 14 has received an instruction to terminate the flight imaging process.
  • step ST94 if the condition for terminating the flight imaging process is not satisfied, the determination is negative, and the flight imaging process proceeds to step ST70 shown in FIG.
  • step ST94 if the condition for ending the flight imaging process is satisfied, the determination is affirmative and the flight imaging process ends.
  • the processor 200 of the flying object 180 obtains an image of the marker 94 whose position in the vertical direction is variable by the lifting device 50 by imaging the imaging device 210. Obtaining the vertical position of the detected marker 94 based on the captured image, and maintaining or changing the vertical position of the aircraft 180 relative to the aircraft 180 based on the vertical position of the marker 94 control.
  • the aircraft 180 can be vertically positioned without using a satellite positioning system. Further, for example, even if communication between the imaging support device 10 and the flying object 180 is not possible, the flying object 180 can be moved vertically by changing the vertical position of the marker 94 .
  • the aircraft 180 also includes an imaging device 210 to acquire the vertical position of the marker 94 . Therefore, for example, in order to obtain the vertical position of the marker 94, it is possible to reduce the size and cost of the flying object 180 as compared with the case where a LiDAR scanner is provided.
  • the vertical position of the marker 94 is detected based on an image obtained by imaging the marker 94 with the imaging device 210 . Therefore, for example, compared to the case where the flying object 180 includes a detection device that detects the vertical position of the marker 94 separately from the imaging device 210, the flying object 180 can be reduced in size and cost. .
  • the processor 200 of the flying object 180 controls the imaging device 210 to capture an imaging scene including the marker 94 as a part thereof. Therefore, the position of the marker 94 in the vertical direction can be detected based on the image captured by the imaging device 210 .
  • the imaging scene includes the inspection object 3 located around the marker 94 . Therefore, an image in which the inspection object 3 is reflected as an image can be obtained.
  • the processor 200 of the flying object 180 controls the flying object 180 to set the vertical position of the flying object 180 at a height where the marker 94 is arranged in the center of the image in the vertical direction. conduct. Therefore, for example, the vertical position of the flying object 180 is set at a height where the marker 94 is located at the longitudinal edge of the image, compared to the case where the vertical position of the flying object 180 is set on the image. Even if the marker 94 moves upward or downward after is set, it is possible to prevent the image corresponding to the marker 94 from immediately deviating from the image.
  • the processor 200 of the flying object 180 controls the flying object 180 to set the vertical position of the flying object 180 to the same position as the marker 94 in the vertical direction. Therefore, for example, compared to the case where the vertical position of the flying object 180 is set to a position different from the vertical position of the marker 94, the vertical position of the flying object 180 changes according to the movement of the marker 94 above or below. Control to change the position of the direction can be easily performed. Further, by setting the vertical position of the flying object 180 to the same position as the vertical position of the marker 94, the flying object 180 falls within the imaging range 160A of the imaging device 160 of the imaging and ranging device 130. The trouble of controlling the imaging range 160A of the imaging device 160 can be saved.
  • the marker 94 has a light emitter 120 . Therefore, it is possible to send an instruction to the flying object 180 according to the light emission mode of the light emitter 120 .
  • the processor 200 of the flying object 180 controls the flying object 180 according to the first light emitting mode of the light emitter 120 . Therefore, by setting the light emission mode of the light emitter 120 to the first light emission mode, the flying body 180 can be controlled according to the first light emission mode of the light emitter 120 .
  • control according to the first light emission mode of the light emitter 120 includes control for maintaining or changing the vertical position of the flying body 180 . Therefore, by setting the light emission mode of the light emitter 120 to the first light emission mode, the vertical position of the flying body 180 can be maintained or changed.
  • control according to the first light emission mode of the light emitter 120 includes control for maintaining or changing the moving speed of the flying object 180 . Therefore, by setting the light emission mode of the light emitter 120 to the first light emission mode, the moving speed of the flying body 180 can be maintained or changed.
  • control according to the first light emission mode of the light emitter 120 includes control for moving the flying body 180 in the horizontal direction (that is, the front-rear direction and the lateral direction). Therefore, by setting the light emission mode of the light emitter 120 to the first light emission mode, the flying body 180 can be moved in the horizontal direction.
  • control according to the first light emitting mode of the light emitter 120 includes control for adjusting the distance between the marker 94 and the flying body 180 by moving the flying body 180 in the front-rear direction. Therefore, the distance between the marker 94 and the flying object 180 can be adjusted by moving the flying object 180 in the longitudinal direction by setting the lighting mode of the light emitting body 120 to the first lighting mode.
  • the first light emission mode of the light emitter 120 is a mode including blinking of the light emitter 120 . Therefore, by blinking the light emitter 120, the light emission mode of the light emitter 120 can be set to the first light emission mode.
  • the processor 200 of the flying object 180 controls the flying object 180 to hover according to the second light emitting mode of the light emitter 120 . Therefore, by setting the light emission mode of the light emitter 120 to the second light emission mode, the flying object 180 can be hovered.
  • the second light emission mode of the light emitter 120 is a mode including turning off the light emitter 120 . Therefore, by turning off the light emitter 120, the light emission mode of the light emitter 120 can be set to the second light emission mode. In addition, since the second light emission mode of the light emitter 120 includes turning off the light emitter 120, in the unlikely event that the light emitter 120 is turned off due to a failure or the like, the aircraft 180 can be hovered.
  • the processor 200 of the aircraft 180 controls the imaging device 210 mounted on the aircraft 180 to capture a still image according to the third light emitting mode of the light emitter 120 . Therefore, by setting the light emission mode of the light emitter 120 to the third light emission mode, the image capturing device 210 can be caused to capture a still image.
  • the processor 200 of the flying object 180 causes the imaging device 210 to pick up a still image when the flying object 180 is hovering. Therefore, compared with the case where the still image is captured while the flying object 180 is moving, it is possible to suppress the occurrence of image blurring in the still image captured by the imaging device 210. can be done.
  • the light emitter 120 also includes a plurality of light sources 122A and 122B. Therefore, for example, compared with the case where the light emitter 120 has only one light source, it is possible to increase the variation of the light emission mode of the light emitter 120 .
  • the third light emission mode of the light emitter 120 is a mode including alternate blinking of the plurality of light sources 122A and 122B. Therefore, by alternately blinking the plurality of light sources 122A and 122B, the light emission mode of the light emitter 120 can be set to the third light emission mode.
  • the processor 200 of the flying object 180 controls the flying object 180 to move laterally while maintaining the vertical position of the flying object 180 according to the fourth light emitting mode of the light emitting body 120;
  • the imaging device 210 is repeatedly controlled to image the inspection object 3 . Therefore, an image can be obtained for each of a plurality of horizontal regions of the inspection object 3 .
  • the lifting device 50 also includes a cable 86 provided with a marker 94 and a reel 82 for winding and feeding the cable 86 . Therefore, by rotating the reel 82, the vertical position of the marker 94 can be changed.
  • the lifting device 50 also includes a sensor 58 that detects the feed amount of the cable 86 with respect to the reel 82 . Therefore, the vertical position of the marker 94 can be grasped based on the detection of the feed amount of the cable 86 by the sensor 58 .
  • the flying object 180 is connected to the cable 86 of the lifting device 50 via a rope 186 . Therefore, the range of movement of the flying object 180 can be limited within the length of the rope 186 .
  • Cables 86 and ropes 186 also include power transmission cables 44 that transmit power to aircraft 180 . Therefore, power can be sent to the aircraft 180 through the power transmission cable 44 .
  • the cable 86 is provided with an imaging distance measuring device 130 , and an imaging device 160 of the imaging distance measuring device 130 images the flying object 180 . Therefore, by being imaged by the imaging device 160, an image in which the flying object 180 is reflected as an image can be obtained.
  • the worker 7 issues a movement instruction (that is, a first upward instruction, a first downward instruction, a second upward instruction, a second downward instruction, a right movement instruction, left movement instruction, forward instruction, and/or backward instruction) is given to the imaging support device 10 .
  • a movement instruction that is, a first upward instruction, a first downward instruction, a second upward instruction, a second downward instruction, a right movement instruction, left movement instruction, forward instruction, and/or backward instruction
  • the processor 30 of the imaging support device 10 controls the flying object 180 by setting the light emitting mode of the light emitting object 120 according to the movement instruction given by the operator 7 . Therefore, the attitude and/or position of the flying object 180 can be adjusted based on the image captured by the imaging device 160 .
  • the processor 30 of the imaging support device 10 controls the flying object 180 by setting the light emission mode of the light emitter 120 so that the flying object 180 moves to the center of the angle of view of the imaging device 160 . Therefore, the position of the flying object 180 that appears as an image in the image can be set at the center of the angle of view of the imaging device 160 .
  • the imaging device 160 is arranged at a position adjacent to the marker 94 . Therefore, for example, the image can include an image closer to the image of the flying object 180 as seen from the position of the marker 94 than if the imaging device 160 were arranged at a position distant from the marker 94 .
  • the imaging rangefinder 130 provided on the cable 86 includes a rangefinder 170 , and the rangefinder 170 measures the distance between the rangefinder 170 and the aircraft 180 . Therefore, distance measurement information can be obtained by measuring the distance between the distance measurement device 170 and the aircraft 180 by the distance measurement device 170 .
  • the operator 7 gives an advance instruction or a retreat instruction to the imaging support device 10 based on distance measurement information obtained by being measured by the distance measurement device 170 .
  • the processor 30 of the imaging support device 10 controls the flying object 180 by setting the light emission mode of the light emitter 120 according to the forward direction or backward direction given by the operator 7 . Therefore, the distance between the ranging device 170 and the flying object 180 can be adjusted based on the ranging information.
  • the operator 7 sets the distance between the rangefinder 170 and the aircraft 180 to the predetermined distance based on the distance measurement information obtained by the measurement by the rangefinder 170.
  • An advance instruction or a retreat instruction may be given to the imaging support device 10 .
  • the distance between the rangefinder 170 and the aircraft 180 can be adjusted to a predetermined distance.
  • the distance measuring device 170 is arranged at a position adjacent to the marker 94 . Therefore, for example, the distance between the rangefinder 170 and the flying object 180 measured by the rangefinder 170 is measured by the marker 94 compared to the case where the rangefinder 170 is arranged at a position distant from the marker 94 . The distance between 94 and the vehicle 180 can be approximated.
  • the flying object 180 may include a LiDAR scanner 250.
  • the LiDAR scanner 250 scans the target area including the marker 94 as part thereof to obtain scan data.
  • a processor 200 (see FIG. 6) of the aircraft 180 detects the vertical position of the marker 94 based on the scan data.
  • a technique for detecting the vertical position of the marker 94 based on scan data will be exemplified below.
  • a point cloud 252 represents a plurality of points scanned by the LiDAR scanner 250.
  • the distance between marker 94 and LiDAR scanner 250 is measured by LiDAR scanner 250, and at points off marker 94, the distance between the background surrounding marker 94 and LiDAR scanner 250 is measured.
  • Measured by LiDAR scanner 250 Scanning by the LiDAR scanner 250 provides distance information 254 representing the relationship between the scan position and the measured distance for the point cloud 252 .
  • FIG. 43 shows, as an example, distance information 254 obtained at scan position 254A.
  • Edge extraction processing (that is, processing for extracting points corresponding to distances equal to or less than a predetermined value) is performed on the distance information 254, for example, to extract a first point group corresponding to the shape of the marker 94 from the point group 252.
  • 252A ie, the point cloud located on the marker
  • the It is determined whether the shape represented by the one point group 252A corresponds to the marker 94 or not.
  • the shape of the marker 94 is determined based on the irradiation angle of the laser corresponding to each point forming the first point group 252A.
  • a vertical position is derived. In this way, when the flying vehicle 180 includes the LiDAR scanner 250, the vertical position of the marker 94 is determined based on scan data obtained by scanning the target area including the marker 94 with the LiDAR scanner 250. detected by
  • the flying object 180 may include a LiDAR scanner 250 instead of the imaging device 210 (see FIG. 1), or may include the LiDAR scanner 250 in addition to the imaging device 210. If the flying object 180 includes the imaging device 210 and the LiDAR scanner 250, imaging by the imaging device 210 and measurement by the LiDAR scanner 250 can be performed separately.
  • the imaging system S may include an elevating device 260 instead of the elevating device 50 (see FIG. 1).
  • the lifting device 260 has a telescoping ladder 262 .
  • ladder 262 is placed on the ground.
  • a marker device 90 and an imaging and ranging device 130 are provided above the ladder 262 .
  • the ladder 262 may extend and retract electrically or manually.
  • the extension and contraction of the ladder 262 allows the marker device 90 and the imaging and ranging device 130 to be raised and lowered.
  • the ladder 262 is exemplified as one means for raising and lowering the marker device 90 and the imaging and ranging device 130.
  • a telescoping member or telescoping mechanism such as a telescoping strut may be used.
  • the telescoping member or telescoping mechanism may be placed on the ground or suspended from the bridge girders of the bridge 5 .
  • the operator 7 issues a movement instruction (i.e., first ascent instruction, first 1 lowering instruction, 2nd raising instruction, 2nd lowering instruction, right movement instruction, left movement instruction, forward instruction, and/or backward instruction) is given to the imaging support device 10 .
  • a movement instruction i.e., first ascent instruction, first 1 lowering instruction, 2nd raising instruction, 2nd lowering instruction, right movement instruction, left movement instruction, forward instruction, and/or backward instruction
  • the processor 30 of the imaging support device 10 controls the flying object 180 by setting the light emitting mode of the light emitting object 120 according to the movement instruction given by the operator 7 .
  • the processor 30 of the imaging support device 10 determines the attitude and/or position of the flying object 180 based on the image obtained by imaging the flying object 180 with the imaging device 160, and may be used to control the flying object 180 .
  • the operator 7 gives the imaging support device 10 an advance instruction or a retreat instruction based on the distance measurement information obtained by being measured by the distance measurement device 170 .
  • the processor 30 of the imaging support device 10 controls the flying object 180 by setting the light emission mode of the light emitter 120 according to the forward direction or backward direction given by the operator 7 .
  • the processor 30 of the imaging support device 10 sets the light emission mode of the light emitter 120 based on the distance measurement information obtained by the measurement by the distance measurement device 170, thereby moving the flying object 180 forward or backward. You may let Also, in this case, the processor 30 of the imaging support device 10 may move the flying object 180 forward or backward so that the distance between the rangefinder 170 and the flying object 180 is set to a predetermined distance.
  • the lifting device 50 and the marker device 90 are controlled in accordance with the instructions received by the receiving device 14.
  • the lifting device 50 and the marker device 90 are controlled in a predetermined order.
  • the imaging device 160 is provided on the cable 86 of the lifting device 50, but the imaging device 160 may be omitted.
  • the imaging system S is used for inspection purposes, but may be used for purposes other than inspection, such as transportation, photography, surveying, pesticide spraying, maintenance, or security.
  • the vertical position of the aircraft 180 is changed in accordance with the change in the vertical position of the marker 94, but the position of the marker 94 is changed in directions other than the vertical direction. , the position of the vehicle 180 may be changed accordingly.
  • the imaging support processing is executed by the imaging support device 10
  • the elevation processing is executed by the lifting device 50
  • the light emission mode control processing is executed by the marker device 90
  • the imaging and ranging device 130 performs imaging and ranging.
  • the imaging support device 10 may collectively execute the imaging support processing, elevation processing, light emission mode control processing, and imaging ranging processing.
  • Two devices or three devices of the distance device 130 may perform the imaging support processing, the elevation processing, the lighting mode control processing, and the imaging ranging processing in a distributed manner.
  • the imaging support processing program 300 may be stored in a portable storage medium such as an SSD or USB memory.
  • the storage medium is a non-transitory storage medium.
  • the imaging support processing program 300 stored in the storage medium is installed in the computer 12 of the imaging support device 10 .
  • the processor 30 of the imaging support device 10 executes imaging support processing according to the imaging support processing program 300 .
  • the lifting processing program 400 is stored in the storage 72 of the lifting device 50 , but the technology of the present disclosure is not limited to this.
  • the elevation processing program 400 may be stored in a portable storage medium such as an SSD or USB memory.
  • the storage medium is a non-transitory storage medium.
  • a lifting processing program 400 stored in a storage medium is installed in the computer 52 of the lifting device 50 .
  • the processor 70 of the lifting device 50 executes lifting processing according to the lifting processing program 400 .
  • the light emission mode control processing program 500 is stored in the storage 112 of the marker device 90, but the technology of the present disclosure is not limited to this.
  • the lighting mode control processing program 500 may be stored in a portable storage medium such as an SSD or USB memory.
  • the storage medium is a non-transitory storage medium.
  • a lighting mode control processing program 500 stored in a storage medium is installed in the computer 92 of the marker device 90 .
  • the processor 110 of the marker device 90 executes lighting mode control processing according to the lighting mode control processing program 500 .
  • the storage 152 of the imaging and ranging device 130 stores the imaging and ranging processing program 600, but the technology of the present disclosure is not limited to this.
  • the imaging and ranging processing program 600 may be stored in a portable storage medium such as an SSD or USB memory.
  • the storage medium is a non-transitory storage medium.
  • the imaging and ranging processing program 600 stored in the storage medium is installed in the computer 132 of the imaging and ranging device 130 .
  • the processor 150 of the image pickup and ranging device 130 executes the image pickup and ranging processing according to the image pickup and ranging processing program 600 .
  • the flight imaging processing program 700 may be stored in a portable storage medium such as an SSD or USB memory.
  • the storage medium is a non-transitory storage medium.
  • a flight imaging processing program 700 stored in a storage medium is installed in the computer 182 of the aircraft 180 .
  • the processor 200 of the flying object 180 executes flight imaging processing according to the flight imaging processing program 700 .
  • the image capturing support processing program 300 is stored in a storage device such as another computer or server device connected to the image capturing support apparatus 10 via a network, and the image capturing support processing program 300 is stored in response to a request from the image capturing support apparatus 10 .
  • the imaging support processing program 300 may be downloaded and installed in the computer 12 of the imaging support device 10 .
  • imaging support processing program 300 it is not necessary to store all of the imaging support processing program 300 in a storage device such as another computer or server device connected to the imaging support device 10 or in the storage 32 of the imaging support device 10. A part of 300 may be stored.
  • the lifting processing program 400 is stored in a storage device such as another computer or a server device connected to the lifting device 50 via the network, and the lifting processing program 400 is stored in response to a request from the lifting device 50. 400 may be downloaded and installed on the computer 52 of the elevator 50 .
  • the lifting processing program 400 it is not necessary to store all of the lifting processing program 400 in a storage device such as another computer or server device connected to the lifting device 50, or in the storage 72 of the lifting device 50. may be stored.
  • the light emission mode control processing program 500 is stored in a storage device such as another computer or server device connected to the marker device 90 via a network, and light emission is performed in response to a request from the marker device 90 .
  • the modal control processing program 500 may be downloaded and installed on the computer 92 of the marker device 90 .
  • the light emission mode control processing program 500 may be stored in a storage device such as another computer or server device connected to the marker device 90, or in the storage 112 of the marker device 90. 500 may be stored.
  • the imaging and ranging processing program 600 is stored in another computer connected to the imaging and ranging device 130 via a network or in a storage device such as a server device. , the imaging and ranging processing program 600 may be downloaded and installed in the computer 132 of the imaging and ranging device 130 .
  • imaging and ranging processing program 600 it is not necessary to store all of the imaging and ranging processing program 600 in a storage device such as another computer or server device connected to the imaging and ranging device 130, or in the storage 152 of the imaging and ranging device 130. Part of the distance measurement processing program 600 may be stored.
  • the flight imaging processing program 700 is stored in a storage device such as another computer or server device connected to the aircraft 180 via the network, and the flight imaging processing program 700 is stored in response to a request from the aircraft 180 .
  • Processing program 700 may be downloaded and installed on computer 182 of air vehicle 180 .
  • flight imaging processing program 700 it is not necessary to store all of the flight imaging processing program 700 in a storage device such as another computer or server device connected to the flying object 180, or in the storage 202 of the flying object 180. A part may be stored.
  • the computer 12 is built in the imaging support device 10, but the technology of the present disclosure is not limited to this, and the computer 12 may be provided outside the imaging support device 10, for example.
  • the computer 52 is built in the lifting device 50, but the technology of the present disclosure is not limited to this, and the computer 52 may be provided outside the lifting device 50, for example.
  • the computer 92 is built in the marker device 90, but the technology of the present disclosure is not limited to this, and the computer 92 may be provided outside the marker device 90, for example.
  • the computer 132 is built in the imaging and ranging device 130, but the technology of the present disclosure is not limited to this. good.
  • the computer 182 is built in the flying object 180, but the technology of the present disclosure is not limited to this, and the computer 182 may be provided outside the flying object 180, for example.
  • the computer 12 is used for the imaging support device 10, but the technology of the present disclosure is not limited to this, and a device including ASIC, FPGA, and/or PLD may be used instead of the computer 12. may apply. Also, instead of the computer 12, a combination of hardware configuration and software configuration may be used.
  • the computer 52 is used in the lifting device 50, but the technology of the present disclosure is not limited to this, and instead of the computer 52, a device including ASIC, FPGA, and/or PLD is applied. You may also, instead of the computer 52, a combination of hardware configuration and software configuration may be used.
  • the computer 92 is used in the marker device 90, but the technology of the present disclosure is not limited to this, and instead of the computer 92, a device including ASIC, FPGA, and/or PLD is applied. You may also, instead of the computer 92, a combination of hardware configuration and software configuration may be used.
  • the computer 132 is used for the imaging and ranging device 130, but the technology of the present disclosure is not limited to this, and instead of the computer 132, a device including ASIC, FPGA, and/or PLD may apply. Also, instead of the computer 132, a combination of hardware and software configurations may be used.
  • the computer 182 is used in the aircraft 180, but the technology of the present disclosure is not limited to this, and instead of the computer 182, a device including ASIC, FPGA, and/or PLD is applied. You may Also, instead of the computer 182, a combination of hardware and software configurations may be used.
  • processors can be used as hardware resources for executing the various processes described in the above embodiments.
  • processors include CPUs, which are general-purpose processors that function as hardware resources that execute various processes by executing software, that is, programs.
  • the processor includes, for example, a dedicated electric circuit, which is a processor having a circuit configuration specially designed for executing specific processing such as FPGA, PLD, or ASIC.
  • a memory is built in or connected to each processor, and each processor executes processing by using the memory.
  • hardware resources for executing various processes may be configured with one of these various processors, or a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA).
  • the hardware resource that executes the processing may be one processor.
  • one processor is configured by combining one or more CPUs and software, and this processor functions as a hardware resource that executes various processes.
  • this processor functions as a hardware resource that executes various processes.
  • SoC SoC, etc.
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