Control device, imaging system, control method, and control program

Abstract

The invention provides a control device, an imaging system, a control method, and a control program capable of efficiently performing split imaging of a subject. A control device (60) is provided with a CPU 6 (0A) for controlling a camera (10) and a swing mechanism (16) capable of changing the imaging direction of the camera (10). A CPU (6) (0A) sets a first imaging path, which is an imaging path of a power transmission line (1 (0) 2a), on the basis of imaging information at discrete positions (1 (1) 1a-(1 (1) 1d) of the power transmission line (1 (0) 2a), which is a first subject, and subject information relating to the power transmission line (1 (0) 2a), and controls imaging of the power transmission line (1 (0) 2a) on the basis of the first imaging path.

Description

Technical Field

[0001] The invention relates to a control device, a camera system, a control method and a control program. Background Art

[0002] Patent document 1 describes an overhead line camera device, which is composed of a telescope and a camera device and a pan-tilt mechanism. The telescope and the camera device are supported on the pan-tilt mechanism in a manner that allows them to rotate in a deflection (horizontal) direction and a tilt (up and down) direction. The pan-tilt mechanism has a deflection direction drive unit and a tilt direction drive unit.

[0003] Patent Document 2 describes an unmanned aircraft configured to photograph overhead wires in sections using cameras, and when the overhead wires appear out of frame or out of focus, the aircraft determines that the photographing has failed and re-photographs the failed portion.

[0004] Patent document 3 describes an unmanned aerial vehicle, which is configured to capture images of surrounding scenery through a camera unit, calculate a catenary curve of an electric wire suspended between two towers based on the scenery image, determine a flight path along the catenary curve, and detect the extent of corona discharge caused by damage or deterioration of the electric wire.

[0005] Patent document 4 describes a method for reproducing the shape of an electric wire, which obtains data of a point group related to a transmission line erected between a pair of adjacent towers by means of an unmanned aerial vehicle, etc., calculates the least square plane, performs parallel projection of the point group onto the least square plane, rotates the point group after parallel projection into an orthogonal coordinate system, and finally calculates a suspension curve (catenary curve) of the overhead transmission line suitable for the rotated point group.

[0006] Previous technical literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Utility Model Registration No. 3220181

[0009] Patent Document 2: Japanese Patent Application Publication No. 2020-191523

[0010] Patent Document 3: Japanese Patent Application Publication No. 2017-077080

[0011] Patent Document 4: Japanese Patent Application Publication No. 2019-144153 Summary of the invention Summary of the invention

[0013] One embodiment of the technology according to the present invention provides a control device, an imaging system, a control method, and a control program capable of efficiently performing split imaging of a subject.

[0014] Means for solving technical problems

[0015] (1) A control device comprising a processor for controlling an imaging device and an imaging direction changing device capable of changing the imaging direction of the imaging device, wherein the processor performs the following processing:

[0016] setting a first imaging path of the first object based on imaging information at discrete positions of the first object and object information related to the first object; and

[0017] The imaging of the first object is controlled according to the first imaging path.

[0018] (2) The control device according to (1), wherein:

[0019] The subject information is the shape of the first subject on a two-dimensional plane.

[0020] (3) The control device according to (1), wherein:

[0021] The imaging information is a control value based on a field angle of the imaging device for imaging the discrete positions.

[0022] (4) The control device according to (3), wherein:

[0023] The imaging information includes a control value of the imaging direction changing device for imaging the discrete positions.

[0024] (5) The control device according to (3), wherein:

[0025] The imaging information includes a distance between the first object used to image the discrete positions and the imaging device.

[0026] (6) The control device according to any one of (3) to (5), wherein:

[0027] The imaging information includes a focus position of the imaging device used to image the discrete positions.

[0028] (7) The control device according to (6), wherein:

[0029] The imaging device includes a zoom lens.

[0030] The processor acquires a focus position of the imaging device by causing the imaging device to perform distance measurement in a state where the zoom lens is set to a telephoto region.

[0031] (8) The control device according to any one of (1) to (7), wherein:

[0032] The first imaging path includes a control value for segmentally imaging the first object.

[0033] (9) The control device according to any one of (1) to (8), wherein:

[0034] The discrete positions include at least one of three adjacent points among a plurality of points in the first object, two points at the ends of the plurality of points, and one point different from the two points.

[0035] (10) The control device according to (9), wherein:

[0036] The two end points are located in an end region of the first object.

[0037] (11) The control device according to any one of (1) to (10), wherein:

[0038] The discrete positions are calculated based on a result of analyzing an image obtained by capturing the first object.

[0039] (12) The control device according to any one of (1) to (11), wherein:

[0040] The above processor performs the following processing:

[0041] Acquire differential information between a first position of the first photographed object and a second position of the second photographed object;

[0042] setting a second imaging path, which is an imaging path of the second object, based on the first imaging path and the difference information; and

[0043] The imaging of the second object is controlled according to the second imaging path.

[0044] (13) The control device according to (12), wherein:

[0045] The first position is a position of a region of the first object close to the imaging device.

[0046] The second position is a position of a region of the second object close to the imaging device.

[0047] (14) The control device according to (12) or (13), wherein:

[0048] The first subject is a subject that is closer to the imaging device than the second subject.

[0049] (15) The control device according to any one of (12) to (14), wherein:

[0050] The above processor performs the following processing:

[0051] When it is determined that photographing on the second photographing path cannot be performed within the movable range of the photographing direction changing device, calculating an installation position of the photographing direction changing device at which photographing on the second photographing path can be performed within the movable range of the photographing direction changing device; and

[0052] Output the above setting location.

[0053] (16) The control device according to any one of (12) to (15), wherein:

[0054] The above processor performs the following processing:

[0055] generating a composite image by synthesizing a plurality of camera images of the first subject obtained by the camera device on the first camera path and a plurality of camera images of the second subject obtained by the camera device on the second camera path, and outputting the composite image to a display device,

[0056] Based on the distance information between the first subject and the camera device and the distance information between the second subject and the camera device, the composite image is generated in which the subject closer to the camera device among the first subject and the second subject appears closer to the camera device than the subject farther from the camera device among the first subject and the second subject.

[0057] (17) The control device according to any one of (1) to (16), wherein:

[0058] The imaging device includes a zoom lens.

[0059] The first camera path includes information about the camera distance.

[0060] The processor changes a zoom amount of the zoom lens according to the imaging distance in controlling imaging of the first object based on the first imaging path.

[0061] (18) The control device according to (17), wherein:

[0062] The above-mentioned zoom amount is an amount corresponding to the set resolution.

[0063] (19) The control device according to any one of (1) to (18), wherein:

[0064] The processor associates information related to the imaging angle of the first object based on the first imaging path with the first object and stores the information in a storage device.

[0065] (20) The control device according to any one of (1) to (19), wherein:

[0066] The above processor performs the following processing:

[0067] generating a composite image by combining the camera images captured by the camera device on the first camera path, and outputting the composite image to a display device;

[0068] receiving a designation of a location in the composite image; and

[0069] The captured image corresponding to the designated position among the captured images is output to the display device.

[0070] (21) The control device according to any one of (1) to (20), wherein:

[0071] The above processor performs the following processing:

[0072] Information related to a plurality of photographing operations of the first subject controlled in a state where the imaging device is installed at different locations is associated with the first subject and stored in a storage device.

[0073] (22) The control device according to any one of (1) to (21), wherein the first object is a linear structure that does not fall entirely within a set angle of view.

[0074] (23) A camera system comprising:

[0075] Camera device;

[0076] A camera direction changing device capable of changing the camera direction of the camera device; and

[0077] A control device controls the above-mentioned camera device and the above-mentioned camera direction changing device,

[0078] The processor of the control device performs the following processing:

[0079] setting a first imaging path of the first object based on imaging information at discrete positions of the first object and object information related to the first object; and

[0080] The imaging of the first object is controlled according to the first imaging path.

[0081] (24) A control method performed by a control device that controls an imaging device and an imaging direction changing device capable of changing the imaging direction of the imaging device, wherein:

[0082] The processor of the above control device performs the following processing:

[0083] setting a first imaging path of the first object based on imaging information at discrete positions of the first object and object information related to the first object; and

[0084] The imaging of the first object is controlled according to the first imaging path.

[0085] (25) A control program for controlling an imaging device and an imaging direction changing device capable of changing the imaging direction of the imaging device, wherein:

[0086] The control program is used to cause the processor of the control device to perform the following processing:

[0087] setting a first imaging path of the first object based on imaging information at discrete positions of the first object and object information related to the first object; and

[0088] The imaging of the first object is controlled according to the first imaging path.

[0089] Effects of the Invention

[0090] According to the present invention, it is possible to provide a control device, an imaging system, a control method, and a control program capable of efficiently performing split imaging of a subject. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 This is a diagram showing an example of an imaging system 1 equipped with a control device 60 according to the present embodiment.

[0092] Figure 2 This is a diagram showing an example of rotation of the camera 10 in the pitch direction by the rotation mechanism 16 .

[0093] Figure 3 FIG. 1 is a diagram showing an example of rotation of the camera 10 in the deflection direction by the rotation mechanism 16.

[0094] Figure 4 It is a block diagram showing an example of the configuration of the optical system and the electrical system of the camera 10 .

[0095] Figure 5 It is a diagram showing an example of the configuration of the electric system of the turning mechanism 16 and the management device 11 .

[0096] Figure 6 This is a diagram showing a state where a power transmission line 102 connected between towers 101a and 101b is inspected using a camera 10.

[0097] Figure 7 This is a flowchart showing an example of image pickup processing by the CPU 60A.

[0098] Figure 8 This is a flowchart showing an example of automatic imaging of the first power transmission line executed based on auxiliary information set by an operator.

[0099] Fig. 9 This is a flowchart showing another example of automatic imaging of the first power transmission line executed based on auxiliary information set by the operator.

[0100] Fig.10 This is a flowchart showing an example of automatic imaging of the first power transmission line executed based on auxiliary information set by image analysis.

[0101] Fig.11 This is a flowchart showing an example of automatic imaging of the second and subsequent power transmission lines executed based on the auxiliary information set by the operator.

[0102] Fig.12 This is a flowchart showing an example of automatic imaging of the second and subsequent power transmission lines executed based on the auxiliary information set by image analysis.

[0103] Fig.13 This figure shows the end of the power transmission line specified when automatically photographing the second and subsequent power transmission lines.

[0104] Fig.14 This is a diagram showing power transmission lines 132a and 132b connected between towers 101a and 101b and a camera 10 photographing these as viewed from above.

[0105] Fig.15 is observed from the camera 10 side Fig.14 Figure 1 shows the towers 101a, 101b and the transmission lines 132a, 132b.

[0106] Fig.16 This is a diagram of the camera 10 photographing the tower 101a and the power transmission lines 102a, 102b, 103a, 103b, 104a, and 104b as viewed from the lateral direction of the camera 10.

[0107] Fig.17 This is a diagram of the camera 10 photographing the towers 101a and 101b and the power transmission lines 142a, 142b, 143a, and 143b as viewed from behind the camera 10.

[0108] Fig.18 This is a flowchart for calculating the imaging distance of the camera 10 for imaging the power line.

[0109] Fig.19 This is a diagram showing an example of images obtained by zooming in on a plurality of positions at different imaging distances.

[0110] Fig. 20 This is a diagram showing a state where a subject is photographed by a camera.

[0111] Fig.21 This is a picture showing two transmission lines arranged overlapping each other in the front-rear direction.

[0112] Fig. 22 This is a diagram showing a composite image 194 of two power transmission lines arranged to overlap in the front-rear direction.

[0113] Fig.23 This is a diagram showing a state where a power transmission line is photographed by cameras 10a and 10b installed at two locations.

[0114] Fig.24 This is a diagram showing an example of a manner in which the information processing program is installed in the control device 60 of the management device 11 from a storage medium storing the information processing program for management control. DETAILED DESCRIPTION

[0115] Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.

[0116] <Image capture system according to the embodiment>

[0117] Figure 1 FIG. 1 is a diagram showing an example of an imaging system 1 equipped with a control device according to the present embodiment. Figure 1 As shown, as an example, the imaging system 1 includes a camera 10 and a management device 11. The camera 10 is an example of an imaging device in the present invention.

[0118] The camera 10 is a camera used to inspect facilities (infrastructure) that are the basis of life or industrial activities. The camera 10 inspects linear structures such as power transmission lines. In addition, the camera 10 can also inspect artificially planted trees (trees arranged at constant intervals and with predictable shapes), etc. The camera 10 uses a camera capable of telephoto photography, an ultra-high-resolution camera, etc. In addition, the camera 10 can use a wide-angle camera. The camera 10 is set via the rotating mechanism 16 described later, and shoots the subject, i.e., the object being photographed. The camera 10 sends the camera image obtained by shooting and the camera information related to its shooting to the management device 11 via the communication line 12.

[0119] The management device 11 includes a display 13a, a keyboard 13b, a mouse 13c, and a secondary storage device 14. Examples of the display 13a include a liquid crystal display, a plasma display, an organic EL (Electro-Luminescence) display, a CRT (Cathode Ray Tube) display, etc. The display 13a is an example of a display device of the present invention.

[0120] An example of the secondary storage device 14 is a hard disk drive (HDD). The secondary storage device 14 is not limited to a HDD, and may be any nonvolatile memory such as a flash memory, a solid state drive (SSD), or an electrically erasable and programmable read only memory (EEPROM).

[0121] The management device 11 receives the captured image or the captured image information transmitted from the camera 10 , and displays the received captured image or the captured image information on the display 13 a or stores it in the secondary storage device 14 .

[0122] The management device 11 performs imaging control for controlling imaging by the camera 10. For example, the management device 11 performs imaging control by communicating with the camera 10 via the communication line 12. The imaging control is a control for setting imaging parameters for the camera 10 to perform imaging in the camera 10 and causing the camera 10 to perform imaging. The imaging parameters include parameters related to exposure or parameters of zoom position, etc.

[0123] Furthermore, the management device 11 controls the rotation mechanism 16 to control the shooting direction (pan or tilt) of the camera 10. For example, the management device 11 sets the rotation direction, rotation amount, rotation speed, etc. of the camera 10 according to the operation of the keyboard 13b or the mouse 13c or the touch operation on the screen of the display 13a.

[0124] <Rotation of Camera 10 by Rotation Mechanism 16>

[0125] Figure 2 This is a diagram showing an example of rotation of the camera 10 in the pitch direction by the rotation mechanism 16 . Figure 3 1 is a diagram showing an example of the rotation of the yaw direction of the camera 10 by the rotation mechanism 16. The camera 10 is mounted on the rotation mechanism 16. The rotation mechanism 16 can change the imaging direction of the camera 10 by rotating the camera 10. The rotation mechanism 16 is an example of the imaging direction changing device in the present invention.

[0126] Specifically, if Figure 2 As shown in FIG. 1 , as an example, the rotation mechanism 16 is capable of rotating the camera 10 in a rotation direction (pitch direction) that intersects the yaw direction and has the pitch axis PA as the center axis, and in a rotation direction (pitch direction) that intersects the yaw direction and Figure 3 The double-axis rotating mechanism shown as an example rotates in the rotation direction (deflection direction) with the deflection axis YA as the central axis. In addition, in the rotating mechanism 16 involved in this embodiment, an example of a double-axis rotating mechanism is shown, but the technology of the present invention is not limited to this, and it can be a three-axis rotating mechanism or a single-axis rotating mechanism.

[0127] <Configuration of the Optical and Electrical Systems of Camera 10>

[0128] Figure 4 1 is a block diagram showing an example of the structure of the optical system and the electrical system of the camera 10. Figure 4 As shown, as an example, the camera 10 includes an optical system 15 and an imaging element 25. The imaging element 25 is located at the rear section of the optical system 15. The optical system 15 includes an objective lens 15A and a lens group 15B. The objective lens 15A and the lens group 15B are arranged in the order of the objective lens 15A and the lens group 15B along the optical axis OA of the optical system 15 from the object subject side (object side) to the light receiving surface 25A side (image side) of the imaging element 25. The lens group 15B includes an anti-vibration lens 15B1, a focusing lens (not shown) and a zoom lens 15B2. The zoom lens 15B2 is supported so as to be movable along the optical axis OA by a lens actuator 21 described later. The anti-vibration lens 15B1 is supported so as to be movable in a direction orthogonal to the optical axis OA by a lens actuator 17 described later.

[0129] The zoom lens 15B2 increases the focal length and sets the camera 10 to the telephoto side, so the angle of view decreases (the imaging range becomes narrower). The zoom lens 15B2 decreases the focal length and sets the camera 10 to the wide-angle side, so the angle of view increases (the imaging range becomes wider).

[0130] In addition, the optical system 15 may include various lenses not shown in the figure in addition to the objective lens 15A and the lens group 15B. In addition, the optical system 15 may include an aperture. The positions of the lenses, lens groups, and apertures included in the optical system 15 are not limited. Figure 4 The technology of the present invention is also applicable to positions different from the positions shown.

[0131] The anti-vibration lens 15B1 is movable in a direction perpendicular to the optical axis OA, and the zoom lens 15B2 is movable along the optical axis OA.

[0132] The optical system 15 includes lens actuators 17 and 21. The lens actuator 17 causes a force to be applied to the anti-vibration lens 15B1 to cause the force to be varied in a direction perpendicular to the optical axis of the anti-vibration lens 15B1. The lens actuator 17 is controlled by an OIS (Optical Image Stabilizer) driver 23. By driving the lens actuator 17 under the control of the OIS driver 23, the position of the anti-vibration lens 15B1 varies in a direction perpendicular to the optical axis OA.

[0133] The lens actuator 21 causes a force for moving along the optical axis OA of the optical system 15 to act on the zoom lens 15B2. The lens actuator 21 is controlled by the lens driver 28. The position of the zoom lens 15B2 moves along the optical axis OA by driving the lens actuator 21 under the control of the lens driver 28. The position of the zoom lens 15B2 moves along the optical axis OA, whereby the focal length of the camera 10 changes.

[0134] In addition, when the outline of the camera image is, for example, a rectangle having short sides in the pitch axis PA direction and long sides in the yaw axis YA direction, the field angle in the pitch axis PA direction is narrower than the field angle in the yaw axis YA direction and narrower than the diagonal field angle.

[0135] By the optical system 15 configured in this way, light representing the imaging target region is imaged on the light receiving surface 25A of the imaging element 25 , and the imaging target region is captured by the imaging element 25 .

[0136] The vibrations applied to the camera 10 include, for example, the vibrations caused by the passing of cars, the vibrations caused by wind, and the vibrations caused by road construction outdoors, and for example, the vibrations caused by the operation of an air conditioner and the vibrations caused by people coming in and out indoors. Therefore, the camera 10 is shaken due to the vibrations applied to the camera 10 (hereinafter, also simply referred to as "vibrations").

[0137] In addition, in the present embodiment, "jitter" refers to a phenomenon in which the image of the object subject on the light receiving surface 25A of the imaging element 25 in the camera 10 changes due to a change in the positional relationship between the optical axis OA and the light receiving surface 25A. In other words, "jitter" can also be said to be a phenomenon in which the optical image obtained by imaging on the light receiving surface 25A changes due to the tilt of the optical axis OA caused by the vibration applied to the camera 10. The change of the optical axis OA refers to, for example, the tilt of the optical axis OA relative to the reference axis (for example, the optical axis OA before the jitter occurs). Hereinafter, the jitter caused by vibration is also referred to as "jitter".

[0138] The camera 10 includes a lens-side shake correction mechanism 29, an imaging element-side shake correction mechanism 45, and an electronic shake correction unit 33 to correct the shake in order to remove the noise component caused by the shake and included in the captured image.

[0139] The lens-side shake correction mechanism 29 and the imaging element-side shake correction mechanism 45 are mechanical shake correction mechanisms. The mechanical shake correction mechanism is a mechanism that corrects shake by applying power generated by a driving source such as a motor (for example, a voice coil motor) to a shake correction element (for example, the anti-vibration lens 15B1 and / or the imaging element 25) to move the shake correction element in a direction perpendicular to the optical axis of the imaging optical system.

[0140] Specifically, the lens-side shake correction mechanism 29 is a mechanism that corrects the shake by applying power generated by a driving source such as a motor (for example, a voice coil motor) to the anti-vibration lens 15B1, thereby moving the anti-vibration lens 15B1 in a direction perpendicular to the optical axis of the imaging optical system. The imaging element-side shake correction mechanism 45 is a mechanism that corrects the shake by applying power generated by a driving source such as a motor (for example, a voice coil motor) to the imaging element 25, thereby moving the imaging element 25 in a direction perpendicular to the optical axis of the imaging optical system. The electronic shake correction unit 33 performs image processing on the captured image according to the amount of shake, thereby correcting the shake. That is, the shake correction unit (shake correction component) performs shake correction mechanically or electronically through a hardware structure and / or a software structure. Here, mechanical shake correction refers to shake correction achieved by mechanically moving shake correction elements such as the anti-vibration lens 15B1 and / or the imaging element 25 using power generated by a driving source such as a motor (e.g., a voice coil motor), and electronic shake correction refers to shake correction achieved, for example, by performing image processing using a processor.

[0141] like Figure 4 As shown, the lens-side image stabilization mechanism 29 includes, as an example, an anti-vibration lens 15B1 , a lens actuator 17 , an OIS driver 23 , and a position sensor 39 .

[0142] As the shake correction method by the lens-side shake correction mechanism 29, various well-known methods can be adopted. In the present embodiment, as the shake correction method, a method is adopted in which the anti-vibration lens 15B1 is moved according to the shake amount detected by the shake amount detection sensor 40 (described later) to correct the shake. Specifically, the anti-vibration lens 15B1 is moved in the direction to eliminate the shake only by the amount to eliminate the shake, thereby performing the shake correction.

[0143] The anti-vibration lens 15B1 is provided with a lens actuator 17. The lens actuator 17 is a displacement mechanism equipped with a voice coil motor, and drives the voice coil motor to move the anti-vibration lens 15B1 in a direction perpendicular to the optical axis of the anti-vibration lens 15B1. In addition, here, as the lens actuator 17, a displacement mechanism equipped with a voice coil motor is used, but the technology of the present invention is not limited to this, and other power sources such as a stepping motor or a piezoelectric element can also be used instead of the voice coil motor.

[0144] The lens actuator 17 is controlled by the OIS driver 23. By driving the lens actuator 17 under the control of the OIS driver 23, the position of the anti-vibration lens 15B1 is mechanically changed within a two-dimensional plane perpendicular to the optical axis OA.

[0145] The position sensor 39 detects the current position of the anti-vibration lens 15B1 and outputs a position signal indicating the detected current position. Here, as an example of the position sensor 39, a device including a Hall element is used. Here, the current position of the anti-vibration lens 15B1 refers to the current position within the two-dimensional plane of the anti-vibration lens. The two-dimensional plane of the anti-vibration lens refers to a two-dimensional plane perpendicular to the optical axis of the anti-vibration lens 15B1. In addition, in the present embodiment, as an example of the position sensor 39, a device including a Hall element is used, but the technology of the present invention is not limited to this, and a magnetic sensor or an optical sensor may be used instead of the Hall element.

[0146] The lens-side shake correction mechanism 29 corrects the shake by moving the anti-vibration lens 15B1 in at least one of the pitch axis PA direction and the yaw axis YA direction within the actual shooting range. That is, the lens-side shake correction mechanism 29 corrects the shake by moving the anti-vibration lens 15B1 within the two-dimensional plane of the anti-vibration lens by an amount of movement corresponding to the amount of shake.

[0147] The imaging element side shake correction mechanism 45 includes the imaging element 25 , a BIS (Body Image Stabilizer) driver 22 , an imaging element actuator 27 , and a position sensor 47 .

[0148] As with the shake correction method by the lens-side shake correction mechanism 29, the shake correction method by the imaging element-side shake correction mechanism 45 can also adopt various well-known methods. In the present embodiment, as the shake correction method, a method of correcting the shake by moving the imaging element 25 according to the shake amount detected by the shake amount detection sensor 40 is adopted. Specifically, the imaging element 25 is moved in a direction to eliminate the shake by an amount to eliminate the shake, thereby performing the shake correction.

[0149] An imaging element actuator 27 is mounted on the imaging element 25. The imaging element actuator 27 is a displacement mechanism equipped with a voice coil motor, and by driving the voice coil motor, the imaging element 25 is moved in a vertical direction relative to the optical axis of the anti-vibration lens 15B1. In addition, here, as the imaging element actuator 27, a displacement mechanism equipped with a voice coil motor is used, but the technology of the present invention is not limited to this, and other power sources such as a stepping motor or a piezoelectric element can be applied instead of the voice coil motor.

[0150] The imaging element actuator 27 is controlled by the BIS driver 22. By driving the imaging element actuator 27 under the control of the BIS driver 22, the position of the imaging element 25 is mechanically changed in a direction perpendicular to the optical axis OA.

[0151] The position sensor 47 detects the current position of the imaging element 25 and outputs a position signal indicating the detected current position. Here, as an example of the position sensor 47, a device including a Hall element is used. Here, the current position of the imaging element 25 refers to the current position within the two-dimensional plane of the imaging element. The two-dimensional plane of the imaging element refers to a two-dimensional plane perpendicular to the optical axis of the anti-vibration lens 15B1. In addition, in the present embodiment, as an example of the position sensor 47, a device including a Hall element is used, but the technology of the present invention is not limited to this, and a magnetic sensor or an optical sensor, etc. can be used instead of the Hall element.

[0152] The camera 10 includes a computer 19, a DSP (Digital Signal Processor) 31, an image memory 32, an electronic shake correction unit 33, a communication I / F 34, a shake amount detection sensor 40, and a UI (User Interface) system device 43. The computer 19 includes a memory 35, a storage device 36, and a CPU (Central Processing Unit) 37.

[0153] The imaging element 25, DSP 31, image memory 32, electronic shake correction unit 33, communication I / F 34, memory 35, storage device 36, CPU 37, shake amount detection sensor 40, and UI system device 43 are connected to the bus 38. In addition, the OIS driver 23 is also connected to the bus 38. Figure 4 In the example shown, for convenience of illustration, one bus is shown as the bus 38, but a plurality of buses may be provided. The bus 38 may be a serial bus or a parallel bus such as a data bus, an address bus, and a control bus.

[0154] The memory 35 temporarily stores various information and is used as a working memory. As an example of the memory 35, a RAM (Random Access Memory) can be cited, but it is not limited to this and can be other types of storage devices. Various programs for the camera 10 are stored in the storage device 36. The CPU 37 reads various programs from the storage device 36 and executes the read various programs on the memory 35, thereby controlling the entire camera 10. As the storage device 36, for example, a flash memory, an SSD, an EEPROM, or an HDD can be cited. In addition, for example, various non-volatile memories such as a magnetoresistive memory and a ferroelectric memory can be used instead of the flash memory or in combination with the flash memory.

[0155] The imaging element 25 is a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging element 25 captures the target subject at a predetermined frame rate under the instruction of the CPU 37. The "predetermined frame rate" mentioned here refers to, for example, tens of frames per second to hundreds of frames per second. In addition, a control device (imaging element control device) can also be built into the imaging element 25 itself. In this case, the imaging element control device performs detailed control inside the imaging element 25 according to the shooting instruction output by the CPU 37. In addition, the imaging element 25 can capture the target subject at a predetermined frame rate under the instruction of the DSP 31. In this case, the imaging element control device performs detailed control inside the imaging element 25 according to the shooting instruction output by the DSP 31. In addition, the DSP 31 is sometimes also referred to as an ISP (Image Signal Processor).

[0156] The light receiving surface 25A of the imaging element 25 is formed by a plurality of photosensitive pixels (not shown) arranged in a matrix. In the imaging element 25, each photosensitive pixel is exposed, and photoelectric conversion is performed for each photosensitive pixel. The charge obtained by photoelectric conversion for each photosensitive pixel is an analog imaging signal representing the object. Here, as the plurality of photosensitive pixels, a plurality of photoelectric conversion elements having sensitivity to visible light (for example, a photoelectric conversion element having a color filter) are used. In the imaging element 25, as the plurality of photoelectric conversion elements, a photoelectric conversion element having sensitivity to R (red) light (for example, a photoelectric conversion element having an R color filter corresponding to R), a photoelectric conversion element having sensitivity to G (green) light (for example, a photoelectric conversion element having a G color filter corresponding to G), and a photoelectric conversion element having sensitivity to B (blue) light (for example, a photoelectric conversion element having a B color filter corresponding to B) are used. In the camera 10, shooting based on visible light (for example, light on the short wavelength side of about 700 nanometers or less) is performed by using these photosensitive pixels. However, the present embodiment is not limited thereto, and photography based on infrared light (for example, light with a wavelength longer than about 700 nanometers) can be performed. In this case, as a plurality of photosensitive pixels, a plurality of photoelectric conversion elements having sensitivity to infrared light can be used. In particular, for photography related to SWIR (Short-wavelength infrared), for example, an InGaAs sensor and / or a Type-II quantum well (T2SL; Simulation of Type-II Quantum Well) sensor can be used.

[0157] The imaging element 25 performs signal processing such as A / D (Analog / Digital) conversion on the analog imaging signal and generates a digital imaging signal, that is, a digital image. The imaging element 25 is connected to the DSP 31 via the bus 38 and outputs the generated digital image to the DSP 31 via the bus 38 in units of frames.

[0158] In addition, here, as an example of the imaging element 25, a CMOS image sensor is cited for explanation, but the technology of the present invention is not limited to this, and a CCD (Charge Coupled Device) image sensor can be applied as the imaging element 25. In this case, the imaging element 25 is connected to the bus 38 via an AFE (Analog Front End) not shown in the figure built into the CCD driver, and the AFE generates a digital image by performing signal processing such as A / D conversion on the analog camera signal obtained by the imaging element 25, and outputs the generated digital image to the DSP 31. The CCD image sensor is driven by a CCD driver built into the AFE. Of course, the CCD driver can be set separately.

[0159] The DSP 31 performs various digital signal processing on the digital image. The various digital signal processing refers to, for example, demosaic processing, noise removal processing, grayscale correction processing, and color correction processing. The DSP 31 outputs the digital image after the digital signal processing to the image memory 32 for each frame. The image memory 32 stores the digital image from the DSP 31.

[0160] The shake amount detection sensor 40 is a device including a gyro sensor, for example, and detects the shake amount of the camera 10. In other words, the shake amount detection sensor 40 detects the shake amount for each of a pair of axial directions. The gyro sensor detects the respective axes (reference numerals 14 and 15 ) around the pitch axis PA, the yaw axis YA, and the roll axis RA (axis parallel to the optical axis OA). Figure 1 The shake amount detection sensor 40 converts the rotational shake amount around the pitch axis PA and the rotational shake amount around the yaw axis YA detected by the gyro sensor into the shake amount in a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA, thereby detecting the shake amount of the camera 10.

[0161] Here, a gyro sensor is cited as an example of the shake amount detection sensor 40, but this is only an example, and the shake amount detection sensor 40 may be an acceleration sensor. The acceleration sensor detects the shake amount in a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA. The shake amount detection sensor 40 outputs the detected shake amount to the CPU 37.

[0162] Here, an example of a form in which the shake amount is detected by the physical sensor of the shake amount detection sensor 40 is given, but the technology of the present invention is not limited to this. For example, a motion vector obtained by comparing the captured images before and after the time series stored in the image memory 32 can be used as the shake amount. In addition, the shake amount to be finally used can be derived from the shake amount detected by the physical sensor and the motion vector obtained by image processing.

[0163] The CPU 37 acquires the amount of shake detected by the shake amount detection sensor 40, and controls the lens-side shake correction mechanism 29, the imaging element-side shake correction mechanism 45, and the electronic shake correction section 33 according to the acquired shake amount. The amount of shake detected by the shake amount detection sensor 40 is used for shake correction by each of the lens-side shake correction mechanism 29 and the electronic shake correction section 33.

[0164] The electronic shake correction unit 33 is a device including an ASIC (Application Specific Integrated Circuit) and corrects the shake by performing image processing on the captured image in the image memory 32 according to the shake amount detected by the shake amount detection sensor 40 .

[0165] In addition, here, as the electronic jitter correction unit 33, a device including an ASIC is exemplified, but the technology of the present invention is not limited thereto, and for example, it may be a device including an FPGA (Field Programmable Gate Array) or a PLD (Programmable Logic Device). Also, for example, the electronic jitter correction unit 33 may be a device including multiple of ASIC, FPGA, and PLD. Also, as the electronic jitter correction unit 33, a computer including a CPU, a storage device, and a memory may be used. The CPU may be single or multiple. Also, the electronic jitter correction unit 33 may be implemented by a combination of a hardware structure and a software structure.

[0166] The communication I / F 34 is, for example, a network interface, and controls the transmission of various information with the management device 11 via a network. The network is, for example, a WAN (Wide Area Network) such as the Internet or a LAN (Local Area Network). The communication I / F 34 performs communication between the camera 10 and the management device 11.

[0167] The UI system device 43 includes a receiving device 43A and a display 43B. The receiving device 43A is, for example, a hardware key or a touch panel, and receives various instructions from the user. The CPU 37 acquires various instructions received by the receiving device 43A and operates according to the acquired instructions.

[0168] The display 43B displays various information under the control of the CPU 37. Examples of the various information displayed on the display 43B include the contents of various instructions received by the receiving device 43A and captured images.

[0169] <Structure of the electrical system of the rotary mechanism 16 and the management device 11>

[0170] Figure 5 1 is a diagram showing an example of the structure of the electrical system of the rotary mechanism 16 and the management device 11. Figure 5 As shown, the swivel mechanism 16 includes a yaw axis swivel mechanism 71 , a pitch axis swivel mechanism 72 , motors 73 , 74 , drivers 75 , 76 , and communication I / Fs 79 , 80 , as an example.

[0171] The yaw axis rotation mechanism 71 rotates the camera 10 in the yaw direction. The motor 73 generates power by being driven under the control of the driver 75. The yaw axis rotation mechanism 71 rotates the camera 10 in the yaw direction by receiving the power generated by the motor 73. The pitch axis rotation mechanism 72 rotates the camera 10 in the pitch direction. The motor 74 generates power by being driven under the control of the driver 76. The pitch axis rotation mechanism 72 rotates the camera 10 in the pitch direction by receiving the power generated by the motor 74.

[0172] The communication I / Fs 79 and 80 are, for example, network interfaces, and control the transmission of various information with the management device 11 via a network. The network is, for example, a WAN such as the Internet or a LAN. The communication I / Fs 79 and 80 perform communication between the rotation mechanism 16 and the management device 11.

[0173] like Figure 5 As shown, as an example, the management device 11 includes a display 13a, a secondary storage device 14, a control device 60, a receiving device 62, and communication I / Fs 66, 67, and 68. The control device 60 includes a CPU 60A, a storage device 60B, and a memory 60C. The CPU 60A is an example of a processor in the present invention. The memory 60C is an example of a storage device in the present invention.

[0174] Each of the receiving device 62, the display 13a, the secondary storage device 14, the CPU 60A, the storage device 60B, the memory 60C, and the communication I / F 66 is connected to the bus 70. Figure 5 In the example shown, for convenience of illustration, one bus is shown as the bus 70, but a plurality of buses may be provided. The bus 70 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.

[0175] The memory 60C temporarily stores various information and is used as a working memory. As an example of the memory 60C, a RAM can be cited, but it is not limited to this and can be other types of storage devices. Various programs for the management device 11 (hereinafter referred to as "management device programs") are stored in the storage device 60B.

[0176] The CPU 60A reads out the management device program from the storage device 60B and executes the read management device program on the memory 60C, thereby controlling the entire management device 11. The management device program includes the information processing program in the present invention.

[0177] The communication I / F 66 is, for example, a network interface. The communication I / F 66 is connected to the communication I / F 34 of the camera 10 via a network so as to be communicable, and performs transmission control of various information with the camera 10. The communication I / Fs 67 and 68 are, for example, network interfaces. The communication I / F 67 is connected to the communication I / F 79 of the rotation mechanism 16 via a network so as to be communicable, and performs transmission control of various information with the yaw axis rotation mechanism 71. The communication I / F 68 is connected to the communication I / F 80 of the rotation mechanism 16 via a network so as to be communicable, and performs transmission control of various information with the pitch axis rotation mechanism 72.

[0178] The CPU 60A receives captured images, captured image information, and the like from the camera 10 via the communication I / F 66 and the communication I / F 34. The CPU 60A controls the image capturing operation of the image capturing object by the camera 10 via the communication I / F 66 and the communication I / F 34.

[0179] The CPU 60A controls the driver 75 and the motor 73 of the rotation mechanism 16 via the communication I / F 67 and the communication I / F 79, thereby controlling the rotation operation of the yaw axis rotation mechanism 71. Furthermore, the CPU 60A controls the driver 76 and the motor 74 of the rotation mechanism 16 via the communication I / F 68 and the communication I / F 80, thereby controlling the rotation operation of the pitch axis rotation mechanism 72.

[0180] The CPU 60A obtains the image capturing information at discrete positions of the first subject, which is the image capturing object of the camera 10, and the subject information related to the first subject. The first subject is a linear structure, for example, which is not within the set field of view as a whole. The first subject includes, for example, a transmission line, a suspension cable of a suspension bridge, a cable of a ropeway, a cable of a ski resort cable car, etc.

[0181] The discrete positions of the first subject refer to, for example, a plurality of positions on a transmission line selected from among the transmission lines connected between the towers, and are a plurality of positions spaced apart from each other. Specifically, the discrete positions are at least three adjacent points among a plurality of points automatically extracted based on the image analysis of the first subject. The discrete positions may be three points obtained by adding two points located in the end region of the first subject and one point different from the two points at the end of the first subject among a plurality of points extracted by the image analysis of the first subject. The discrete positions are calculated based on the analysis results of, for example, a wide-angle image obtained by photographing the first subject. In addition, the discrete positions may be a plurality of points specified by the user.

[0182] The imaging information includes control values ​​for capturing discrete positions, for example, based on the field of view of the camera 10. Furthermore, the imaging information includes control values ​​for the swivel mechanism 16, for example, for capturing discrete positions. The control value of the swivel mechanism 16 refers to, for example, a pan / tilt value for controlling the imaging direction of the camera 10. Furthermore, the imaging information includes control values ​​for capturing discrete positions, for example, based on the distance between the first subject and the camera 10. Furthermore, the imaging information includes control values ​​for the camera 10, for example, for capturing discrete positions. The control value of the camera 10 refers to, for example, the focus position of the camera 10. Regarding the focus position, when it is acquired through image analysis, it is acquired based on, for example, the number of pixels of the subject in the image of multiple positions (points) automatically extracted. Furthermore, regarding the focus position, when the user specifies multiple positions (points), the user aligns the direction of the camera with the specified position and presses the autofocus button to acquire the focus position.

[0183] The focus position of the camera 10 is acquired by performing distance measurement with the zoom lens 15B2 in the telephoto region. When the focus position is acquired by image analysis, the zoom adjustment of the zoom lens 15B2 is automatically adjusted to the telephoto region. When the user presses the auto focus button to acquire the focus position, the user is notified to adjust the zoom lens 15B2 to the telephoto region before pressing the auto focus button.

[0184] The subject information related to the first subject refers to the shape of the suspension line of the power transmission line connected between the towers. The subject information is the shape in the two-dimensional plane of the field of view of the first subject. The subject information can be information provided in advance, information determined by image analysis, or information set by the user.

[0185] The CPU 60A sets the first imaging path, which is the imaging path of the first subject, based on the imaging information and the subject information. The CPU 60A controls the imaging action of the first subject based on the camera 10 based on the set first imaging path. The first imaging path includes, for example, a control value for splitting the imaging of the first subject. The control value for splitting the imaging refers to a control value for setting the pan / tilt value for controlling the imaging direction of the camera 10 based on the swivel mechanism 16 and the focus position of the camera 10 to a plurality of groups.

[0186] The CPU 60A controls the camera 10 to capture the second object based on the information of the first object. The second object is, for example, a power transmission line different from the first object. Specifically, the second object is a second power transmission line different from the first power transmission line among a plurality of power transmission lines connected between the towers.

[0187] CPU60A obtains the imaging information (pan / tilt value, focus position, etc.) of the first position in the first subject and the imaging information (pan / tilt value, focus position, etc.) of the second position in the second subject. The first position refers to the position of the first subject in the area close to the camera 10. The second position refers to the position of the second subject in the area close to the camera 10. The first subject is a subject that exists at a position closer to the camera 10 than the second subject. CPU60A obtains the differential information of the imaging information of the first position in the first subject and the imaging information of the second position in the second subject. CPU60A sets the imaging path of the second subject, i.e., the second imaging path, based on the first imaging path of the first subject and the differential information between the first position of the first subject and the second position of the second subject. CPU60A controls the imaging action of the second subject based on the camera 10 based on the set second imaging path.

[0188] When the CPU 60A is photographing the second subject on the second imaging path of the second subject, if it is determined that the second subject cannot be photographed in its entirety within the movable range of the rotating mechanism 16, the CPU 60A calculates the installation position of the rotating mechanism 16 relative to the second subject so that the second subject can be photographed in its entirety on the second imaging path. The CPU 60A outputs the calculated installation position of the rotating mechanism 16 to the display 13a of the management device 11, for example, as notification information.

[0189] The CPU 60A generates a composite image by synthesizing a plurality of camera images of the first subject obtained by shooting on the first shooting path by the camera 10 and a plurality of camera images of the second subject obtained by shooting on the second shooting path by the camera 10, and outputs the generated composite image to the display 13a. Based on the distance information between the first subject and the camera 10 and the distance information between the second subject and the camera 10, the CPU 60A generates a composite image in which the subject closer to the camera 10 of the first subject and the second subject appears to be closer to the camera 10 than the subject farther from the camera 10 of the first subject and the second subject.

[0190] In the control of photographing the first subject based on the first photographing path, the CPU 60A changes the zoom amount of the zoom lens 15B2 according to the information of the photographing distance from the camera 10 to the first subject on the first photographing path. The information of the photographing distance includes information of the distance measurement result between the camera 10 and the first subject, information of the focus position of the camera 10 based on the distance measurement result, etc. The zoom amount is an amount corresponding to the set resolution.

[0191] The CPU 60A associates the information on the imaging angle of the first subject based on the first imaging path with the first subject and stores the information in the memory 60C or the secondary storage device 14 .

[0192] The CPU 60A generates a composite image by synthesizing a plurality of camera images of the first subject obtained by the camera 10 on the first imaging path and a plurality of camera images of the second subject obtained by the camera 10 on the second imaging path, and outputs the generated composite image to the display 13a. The CPU 60A receives the designation of a position in the composite image, and outputs the camera image corresponding to the designated position to the display 13a. In addition, the display that displays the composite image and the display that displays the designated camera image may be different displays.

[0193] The CPU 60A associates information on a plurality of imaging operations of the first subject controlled when the camera 10 is installed at different locations with the first subject and stores the information in the memory 60C or the secondary storage device 14 .

[0194] The receiving device 62 is, for example, a keyboard 13b, a mouse 13c, or a touch panel of the display 13a, and receives various instructions from the user. The CPU 60A obtains various instructions received by the receiving device 62 and operates according to the instructions obtained. For example, when the receiving device 62 receives processing content for the camera 10 and / or the rotating mechanism 16, the CPU 60A operates the camera 10 and / or the rotating mechanism 16 according to the instruction content received by the receiving device 62.

[0195] The display 13a displays various information under the control of the CPU 60A. Examples of the various information displayed on the display 13a include the contents of various instructions received by the receiving device 62 and the captured images or captured information received by the communication I / F 66. The CPU 60A displays the contents of various instructions received by the receiving device 62 and the captured images or captured information received by the communication I / F 66 on the display 13a.

[0196] The secondary storage device 14 is, for example, a nonvolatile memory, and stores various information under the control of the CPU 60A. Examples of the various information stored in the secondary storage device 14 include a captured image or captured image information received by the communication I / F 66. The CPU 60A stores the captured image or captured image information received by the communication I / F 66 in the secondary storage device 14.

[0197] <Image Capture Processing by CPU 60A of Control Device 60>

[0198] Figure 6This is a diagram showing an example of inspecting a power transmission line 102 connected between towers 101a and 101b using a camera 10. In the example shown in the figure, two rows and three sections (a total of six) of power transmission lines 102a, 102b, 103a, 103b, 104a, and 104b are connected between adjacent towers 101a and 101b.

[0199] When there are multiple camera objects and these camera objects have similar structures, the camera information of the camera object initially selected for shooting (in this case, the power line) is obtained, and the camera information related to the initially acquired camera object is used to calculate the camera information of the second and subsequent power lines.

[0200] For example, in Figure 6 Among the multiple transmission lines shown, transmission line 102a is selected as the initial imaging object to obtain the imaging information of transmission line 102a, and the imaging information of other transmission lines 102b, 103a, 103b, 104a, and 104b after the second one is calculated based on the positional relationship with transmission line 102a.

[0201] Figure 7 FIG. 1 is a flowchart showing an example of an image capturing process of an image capturing object by the CPU 60A of the control device 60. In this example, the image capturing process of the image capturing object using the camera 10 is performed. Figure 6 A case where video inspection is performed on the transmission lines 102a, 102b, 103a, 103b, 104a, and 104b between the towers 101a and 101b shown in the figure will be described.

[0202] The camera 10 is placed toward the object to be photographed, and the zoom position of the zoom lens is set to the wide-angle end. The data of the wide-angle image photographed by the camera 10 is transmitted to the management device 11 via the communication line 12.

[0203] The operator (user) is located in front of the management device 11 and observes the image captured by the camera 10 displayed on the display 13a. The operator operates the camera 10 via the communication line 12 while operating the keyboard 13b or mouse 13c of the management device 11 or touching the display 13a.

[0204] The CPU 60A of the management device 11 starts the image acquisition process in response to the operator's designation of the image acquisition target while the wide-angle image is displayed on the display 13a. Figure 7 Processing shown.

[0205] The CPU 60A sets auxiliary information, i.e., auxiliary information, for photographing the first object to be photographed, i.e., the first transmission line (step S11). The auxiliary information is the translation / tilt values ​​of the rotation mechanism 16 at multiple positions (points) on the transmission line and the focus position of the camera 10. For example, the auxiliary information is set by an operator specifying multiple positions (points) on the transmission line.

[0206] Specifically, if Figure 6 As shown, the transmission line 102a on the front side of the lower section of the transmission line with two rows and three sections is selected as the first transmission line. In the selected transmission line 102a, a plurality of positions 111a to 111d, for example, which are spaced apart from each other, are selected by an operator. Thus, auxiliary information on the selected plurality of positions 111a to 111d is set. The first transmission line, i.e., the transmission line closest to the camera 10, is selected as the initial imaging object. The transmission line 102a is an example of the first subject in the present invention. In addition, the setting of the above-mentioned auxiliary information may be a setting based on the extraction of a plurality of points by image analysis, rather than a setting based on the selection of the operator.

[0207] Next, the CPU 60A calculates automatic imaging information for automatically photographing the entire first transmission line 102a based on the auxiliary information set in step S11 and the known information that the shape of the transmission line is a suspension line (step S12). The automatic imaging information is, for example, curve information of the transmission line 102a. The automatic imaging information may be continuous multiple position information (translation / tilt values, focus position) on the curve of the transmission line 102a. The calculated automatic imaging information becomes the first imaging path of the first subject, i.e., the transmission line 102a.

[0208] Next, the CPU 60A obtains the information of the endpoints in the second and subsequent power transmission lines (step S13). For example, the endpoint information is input by a designated operation from an operator. The operator specifies the endpoints of the second and subsequent power transmission lines by touch operation in the wide-angle image displayed on the display 13a. The endpoint information is the translation / tilt value of the rotation mechanism 16 and the focus position of the camera 10. In addition, the endpoint information can be detected by image analysis.

[0209] Specifically, if Figure 6 As shown, information of the second and subsequent transmission lines, namely, endpoint 112a of transmission line 102b, information of endpoint 113a of transmission line 103a, information of endpoint 114a of transmission line 103b, information of endpoint 115a of transmission line 104a, and information of endpoint 116a of transmission line 104b are obtained.

[0210] Next, the CPU 60A calculates the automatic camera information for automatically photographing each of the second and subsequent power lines 102b to 104b from one end to the other end based on the information obtained in steps S11 to S13 (step S14). For example, the CPU 60A compares the information related to the first power line 102a obtained in steps S11 and S12 with the information of the endpoints 112a, 113a, 114a, 115a, and 116a in the second and subsequent power lines 102b, 103a, 103b, 104a, and 104b obtained in step S13, and calculates the respective differential information. The CPU 60A calculates the automatic camera information of the second and subsequent power lines 102b, 103a, 103b, 104a, and 104b based on the calculated differential information. The automatic imaging information is, for example, curve information of the power lines 102b, 103a, 103b, 104a, and 104b, which becomes the second imaging path of the second subject, namely, the power lines 102b, 103a, 103b, 104a, and 104b.

[0211] CPU 60A automatically photographs the power lines 102a, 102b, 103a, 103b, 104a, and 104b based on the automatic photographing information calculated in steps S12 and S14. The automatic photographing of the power lines 102a, 102b, 103a, 103b, 104a, and 104b may be performed each time the automatic photographing information of each power line is calculated, or may be performed after the automatic photographing information of all power lines is calculated.

[0212] <Example of automatic photography of the first power transmission line>

[0213] Figure 8 1 is a flowchart showing an example of automatic imaging of the first transmission line which is the first imaging target. The automatic imaging in this example is performed based on auxiliary information of the transmission line set by the operator.

[0214] When the CPU 60A of the management device 11 displays the wide-angle image of the transmission line, which is the object of imaging, on the display 13a, and an operator selects any position (point) on the transmission line by, for example, clicking or touching the first transmission line, the CPU 60A of the management device 11 starts the operation. Figure 8 Specifically, when you select Figure 6 When the position 111a-111d on the power transmission line 102a is reached, the CPU 60A starts the processing.

[0215] The CPU 60A receives the designation of a position on the first power transmission line 102a selected by the operator (step S21).

[0216] Next, the CPU 60A obtains information on the translation / tilt value of the position on the power line 102a specified in step S21 (step S22). For example, the CPU 60A can calculate the relationship between each coordinate on the power line 102a in the wide-angle image displayed on the display 13a and its translation / tilt value based on the size and position relationship between the wide-angle image and the power line 102a. The calculated translation / tilt value is associated with each coordinate of the power line 102a and stored as corresponding information in the memory 60C or the secondary storage device 14. The CPU 60A obtains the translation / tilt value corresponding to the position on the specified power line 102a based on the pre-calculated corresponding information.

[0217] Next, the CPU 60A determines whether information on the translation / tilt values ​​of three or more positions on the power transmission line 102a has been acquired (step S23).

[0218] In step S23, if the information of the translation / tilt values ​​of three or more positions is not obtained (step S23: No), the CPU 60A returns to step S21 and repeats each process. In step S23, if the information of the translation / tilt values ​​of three or more positions is obtained (step S23: Yes), the CPU 60A determines whether the information acquisition of the translation / tilt values ​​of the positions on the power transmission line 102a has been completed (step S24). For example, the CPU 60A determines the completion of the information acquisition based on whether the operator receives the end operation of the content of the selection of the position designation.

[0219] Next, the CPU 60A calculates the curves of three positions among the positions where the information of the pan / tilt value is obtained (step S25). The three positions refer to three points if three positions are specified, and three adjacent points or points at both ends and any other point if four or more points are obtained. The curve refers to the hanging line that is the shape of the transmission line 102a. However, the curve may be a quadratic curve or other curve.

[0220] Next, CPU 60A obtains distance information about a plurality of points on the power line 102a (step S26). The distance from the camera 10 to the point on the power line 102a can be estimated from the information of the focus position of the point on the power line 102a. Therefore, for example, by having an operator focus on a plurality of points on the power line 102a, the distance information of the plurality of points is obtained from the information of the focus position. The plurality of points on the power line 102a can be points arbitrarily selected by the operator. In addition, focusing is performed with the zoom lens 15B2 set to the telephoto end.

[0221] Next, the CPU 60A calculates the curve of the power transmission line 102a in the real space based on the curve calculated in step S25 and the distance information acquired in step S26 (step S27).

[0222] Next, the CPU 60A calculates information on translation, tilt, zoom, and focus for segmented shooting of the power line 102a (step S28). Specifically, the CPU 60A calculates information on translation, tilt, zoom, and focus for each predetermined interval position on the curve of the power line 102a calculated in step S27. The information combined with the calculated information on translation, tilt, zoom, and focus on the curve of the power line 102a becomes the first shooting path of the first object, i.e., the power line 102a.

[0223] The CPU 60A divides and images the power transmission line 102a based on the first imaging route calculated in step S28 (step S29).

[0224] Fig. 9 This is a flowchart showing another example of automatic photography performed based on auxiliary information of the power transmission line set by the operator. Figure 6 The current processing starts at the position 111a to 111d on the power transmission line 102a in Figure 8 The same treatment is applied.

[0225] The CPU 60A receives the position on the first selected power line 102a and the designation of the focus position (step S31). By receiving the designation of the focus position, the CPU 60A acquires the distance information according to the automatic focusing. In the processing of this example, the acquisition of the distance information of the point on the power line 102a in step S31 is different from the acquisition of the distance information after the acquisition of the pan / tilt value information is completed. Figure 8 The processing is different.

[0226] Each process from step S32 to step S34 is Figure 8 The processing from step S22 to step S24 is the same, so the description is omitted.

[0227] Next, the CPU 60A calculates the curve of the power transmission line 102a in the real space based on the distance information acquired in step S31 and the information of the translation / tilt values ​​acquired in step S32 (step S35).

[0228] The processing from step S36 to step S37 is the same as Figure 8 The processing from step S28 to step S29 is the same, so the description is omitted.

[0229] Fig.10 This process starts when, for example, an image analysis and shooting button (not shown) is touched while a wide-angle image of a power line, which is an imaging target, is displayed on the display 13a.

[0230] When the image analysis camera button is touched, the CPU 60A acquires three or more positions and a focus position on the power line 102a by image analysis (step S41). Based on the image analysis, three or more positions are automatically extracted. And the focus position of the extracted three or more positions is automatically acquired.

[0231] Next, the CPU 60A obtains information on the translation / tilt value of the position on the power transmission line 102a obtained in step S41 (step S42). The information on the translation / tilt value is obtained in the same manner as in step S41. Figure 8 The processing of step S22 in is the same.

[0232] Next, the CPU 60A calculates the curve of the power transmission line 102a in the real space based on the distance information based on the focus position acquired in step S41 and the information on the pan / tilt values ​​acquired in step S42 (step S43).

[0233] The processing from step S44 to step S45 is the same as Figure 8 The processing from step S28 to step S29 is the same, so the description is omitted.

[0234] <Example of automatic photography of the second and subsequent power transmission lines>

[0235] Fig.11 1 is a flowchart showing an example of automatic imaging of the second and subsequent power transmission lines that are the next imaging target of the power transmission line 102a. The automatic imaging in this example is performed based on auxiliary information of the power transmission line set by the operator.

[0236] The CPU 60A of the management device 11 starts the process of designating the end points of the power transmission line by, for example, clicking or touching the second and subsequent power transmission lines while the wide-angle image of the power transmission line being the imaging target is displayed on the display 13a. Fig.11 Specifically, when specifying Figure 6 When the endpoint 112a of the transmission line 102b, the endpoint 113a of the transmission line 103a, the endpoint 114a of the transmission line 103b, the endpoint 115a of the transmission line 104a and the endpoint 116a of the transmission line 104b (hereinafter also referred to as the endpoints 112a, 113a, 114a, 115a, 116a of the transmission lines 102b, 103a, 103b, 104a, 104b), CPU60A starts processing.

[0237] CPU 60A obtains translation, tilt and focus information of the end points 112a, 113a, 114a, 115a, 116a of the second and subsequent power lines 102b, 103a, 103b, 104a, 104b specified by the operator (step S51). The end points of the power lines mentioned here are the end points of each power line close to the camera 10.

[0238] Next, CPU60A compares the translation, tilt and focus information of the endpoints 112a, 113a, 114a, 115a, 116a of the transmission lines 102b, 103a, 103b, 104a, 104b obtained in step S51 and the translation, tilt and focus information of the endpoints on the same side of the first transmission line 102a, and calculates the displacement from the first transmission line 102a as their differential information (step S52).

[0239] Next, the CPU 60A calculates the curves in the actual space of the second and subsequent power lines 102b, 103a, 103b, 104a, and 104b based on the curve in the actual space of the first power line 102a and the displacement calculated in step S52 (step S53). In addition, instead of calculating the curves in the actual space of the power lines 102b, 103a, 103b, 104a, and 104b, for example, the displacement amount may be applied to the information of translation, tilt, and focus for segmenting and photographing the first power line 102a to calculate the information of translation, tilt, and focus for segmenting and photographing the second and subsequent power lines 102b, 103a, 103b, 104a, and 104b. That is, the imaging path may be displaced.

[0240] Next, the CPU 60A calculates information on translation, tilt, zoom, and focus for segmented shooting of the power lines 102b, 103a, 103b, 104a, and 104b (step S54). Specifically, the CPU 60A calculates information on translation, tilt, zoom, and focus for each predetermined interval position on the curve of the power lines 102b, 103a, 103b, 104a, and 104b calculated in step S53. The information combined with the information on translation, tilt, zoom, and focus on the curve of the power lines 102b, 103a, 103b, 104a, and 104b calculated becomes the second shooting path of the second object, i.e., the power lines 102b, 103a, 103b, 104a, and 104b.

[0241] The CPU 60A divides and captures the power transmission lines 102b, 103a, 103b, 104a, and 104b based on the second imaging route calculated in step S54 (step S55).

[0242] Fig.12This process starts when, for example, an image analysis and shooting button (not shown) is touched while a wide-angle image of a power line, which is an imaging target, is displayed on the display 13a.

[0243] When the image analysis camera button is touched, the CPU 60A obtains the translation, tilt and focus information of the endpoints 112a, 113a, 114a, 115a, 116a of the second and subsequent power lines 102b, 103a, 103b, 104a, 104b through image analysis (step S61). Based on the image analysis, the position of the endpoint is automatically extracted. And the focus information of the extracted endpoint is automatically obtained. The endpoint of the power line is the endpoint of each power line close to the camera 10 side.

[0244] Each process from step S62 to step S65 is Fig.11 The processing from step S52 to step S55 is the same, so the description is omitted.

[0245] As described above, the CPU 60A of the control device 60 sets the camera path of the transmission line 102a based on the camera information at discrete positions 111a~111d on the transmission line 102a and the subject information related to the suspension line shape of the transmission line 102a, and controls the shooting of the transmission line 102a according to the set camera path.

[0246] According to this configuration, by simply specifying a plurality of points on the power line 102a, it is possible to set an imaging path for imaging the power line 102a using known information of the power line 102a, namely, information on the shape of the suspension line. Therefore, the power line 102a can be efficiently segmented and imaged according to the set imaging path.

[0247] Furthermore, CPU 60A obtains differential information between the video information of the endpoint (position 111a) of the transmission line 102a and the video information of the endpoints 112a, 113a, 114a, 115a, and 116a of the second and subsequent transmission lines 102b, 103a, 103b, 104a, and 104b, and sets the video path of the second and subsequent transmission lines 102b, 103a, 103b, 104a, and 104b according to the video path of the transmission line 102a and the differential information, and controls the shooting of the second and subsequent transmission lines 102b, 103a, 103b, 104a, and 104b according to the set video path.

[0248] According to this structure, by only specifying the end points 112a, 113a, 114a, 115a, 116a of the second and subsequent power transmission lines 102b, 103a, 103b, 104a, 104b, the imaging path of the second and subsequent power transmission lines 102b, 103a, 103b, 104a, 104b can be set according to the imaging path of the first power transmission line 102a. Therefore, the second and subsequent power transmission lines 102b, 103a, 103b, 104a, 104b can be efficiently divided and photographed according to the set imaging path.

[0249] Furthermore, the CPU 60A can automatically extract multiple positions on the power line 102a and automatically acquire the focus position through image analysis. Furthermore, the CPU 60A can extract the endpoints of the second and subsequent power lines 102b, 103a, 103b, 104a, 104b and automatically acquire the focus position of the endpoints through image analysis. Therefore, it is easy to set the imaging path of the power line 102a and the imaging paths of the second and subsequent power lines 102b, 103a, 103b, 104a, 104b, and it is possible to efficiently split and shoot the power line 102a and the second and subsequent power lines 102b, 103a, 103b, 104a, 104b.

[0250] Then, the CPU 60A causes the camera 10 to perform distance measurement with the zoom lens 15B2 set to the telephoto region to obtain the focus position of the camera 10. Thus, by setting the zoom lens 15B2 to the telephoto region during distance measurement, the distance measurement accuracy of the camera 10 can be improved.

[0251] Fig.13 This is a diagram showing the end of the transmission line specified when automatically photographing the second and subsequent transmission lines. Fig.13 As shown, the camera 10 is set so that the transmission line 102n after the second transmission line is included in the range of the field of view angle θ of the camera 10. The transmission line 102n is connected between the towers 101a and 101b. In the case of the positional relationship between the camera 10 and the towers 101a and 101b in this example, the distance from the camera 10 to the tower 101b is closer than the distance from the camera 10 to the tower 101a.

[0252] In this case, when automatically photographing the power line 102n, for example, the end 121 of the power line 102n on the tower 101b side close to the camera 10 is specified. The distance information of the subject can be converted from the focus information, but the closer the distance from the camera to the subject, the higher the accuracy of the distance information.

[0253] Therefore, when automatically photographing the second and subsequent transmission lines 102n, the displacement of the second and subsequent transmission lines 102n relative to the first transmission line can be calculated with high accuracy by specifying the end 121 on the tower 101b side close to the camera 10. This can improve the focus accuracy when automatically photographing the second and subsequent transmission lines 102n.

[0254] <Selection of the first transmission line>

[0255] Fig.14 This is a diagram showing power transmission lines 132a and 132b connected between towers 101a and 101b and a camera 10 photographing these as viewed from above. Fig.15 is observed from the camera 10 side Fig.14 FIG. 1 shows the towers 101a, 101b and the transmission lines 132a, 132b. Fig.14 and Fig.15 As shown in FIG. 1 , the transmission lines 132a and 132b are connected in parallel to the positions of the towers 101a and 101b at approximately the same height. Fig.15 As shown, when viewed from the camera 10 side, it sometimes appears that the power lines 132a and 132b cross at a midway position between the towers 101a and 101b.

[0256] As described in the above embodiment, in order to perform automatic photography, it is necessary to obtain information on pan, tilt, and focus at multiple locations on the first power line (the first subject). Fig.14 and Fig.15 In the case of the power lines 132a and 132b shown, for example, if the power line 132b on the inner side when viewed from the camera 10 is selected as the first subject, when trying to obtain the focus information of the first subject at the intersection of the power lines 132a and 132b, the focus information of the power line 132a on the front side is sometimes obtained by mistake.

[0257] If the focus information is acquired incorrectly, there is a high possibility that the curve of the power line 132b cannot be properly calculated. Therefore, the first power line is selected as the power line located closest to the camera 10. Fig.14 and Fig.15 In this case, the power line 132a is selected. Thus, when the focus information is acquired at a plurality of positions on the first power line, the focus information of the power line closest to the camera 10 can be accurately acquired.

[0258] <Upper limit of camera tilt angle and control of camera position>

[0259] Fig.16This is a diagram of the camera 10 photographing the tower 101a and the power transmission lines 102a, 102b, 103a, 103b, 104a, and 104b as viewed from the lateral direction of the camera 10. Fig.17 This is a diagram of the camera 10 photographing the towers 101a and 101b and the power transmission lines 142a, 142b, 143a, and 143b as viewed from behind the camera 10.

[0260] Depending on the type of rotating mechanism 16 on which the camera 10 is installed, the tilt angle is limited. Therefore, when the distance between the camera 10 and the towers 101a and 101b is close, the tilt angle required for shooting near the end point of the transmission line exceeds the upper limit of the tilt angle of the rotating mechanism 16, and sometimes a part of the transmission line cannot be photographed.

[0261] Fig.16 and Fig.17 The camera 10 shown is in the shooting state when the tilt angle of the swivel mechanism 16 is adjusted to the upper limit angle. Fig.16 In the case where the camera 10 is at a distance X1, the upper range that can be photographed by the camera 10 is the photographing range Y1, and when the camera 10 is at a distance X2 that is farther than the distance X1, the upper range that can be photographed by the camera 10 is the photographing range Y2. Fig.17 In the case where the shooting position of the camera 10 is at a distance X3, the upper range that the camera 10 can shoot is the shooting range Y3. When the shooting position of the camera 10 is at a distance X4 that is farther than the distance X3, the upper range that the camera 10 can shoot is the shooting range Y4.

[0262] like Fig.16 As shown, when the distance between the camera 10 and the tower 101a is close (for example, the distance X1), the end point 114a of the transmission line 103b, the end point 115a of the transmission line 104a, and the end point 116a of the transmission line 104b cannot be photographed. Fig.17 As shown, when the distance between the camera 10 and the tower 101b is close (for example, the distance is X3), the end point 153b of the power line 143a and the end point 154b of the power line 143b cannot be photographed.

[0263] So, for example, in Fig.16 In the case of , in order to be able to photograph the end point 114a of the power line 103b, the end point 115a of the power line 104a, and the end point 116a of the power line 104b, the setting position of the camera 10 and its rotating mechanism 16 is moved to a distance X2 farther than the distance X1 as shown by the arrow A. Similarly, in Fig.17In this case, in order to be able to photograph the end point 153b of the power line 143a and the end point 154b of the power line 143b, the setting position of the camera 10 and its rotating mechanism 16 is moved to a distance X4 farther than the distance X3 as shown by the arrow B.

[0264] Fig.18 This is a flowchart for calculating the imaging distance of the camera 10 for photographing the power line. When a camera distance calculation button (not shown) for detecting the imaging position of the camera 10 is pressed, the CPU 60A of the management device 11 starts to perform Fig.18 Processing shown.

[0265] When the CPU 60A captures a plurality of transmission lines as the imaging target from the current installation position of the camera 10, it determines whether the end point of any transmission line can be captured within the tilt angle of the camera 10 (step S71). Fig.17 When the power transmission lines 142a, 142b, 143a, and 143b are shown, it is determined whether there is a power transmission line among these power transmission lines that can capture the entire power transmission line from one end to the other end.

[0266] In step S71, when the endpoint of any power line can be photographed within the tilt angle of the camera 10 (step S71: Yes), the CPU 60A compares the power line whose endpoint can be photographed with the power line whose endpoint cannot be photographed, and calculates the displacement between the two power lines (step S72). Fig.17 In the case where the camera 10 is at a distance X3, the end point 151b of the power line 142a can be photographed within the tilt angle of the camera 10, but the end point 153b of the power line 143a cannot be photographed. In this case, a point on the power line 143a that can be photographed by the camera 10 at a distance X3 is selected, and the displacement between the selected point (for example, the end point 153a on the side opposite to the end point 153b) and the end point 151a corresponding to the end point 153a of the power line 143a in the power line 142a is calculated.

[0267] Next, the CPU 60A calculates the height and distance of the end point that cannot be photographed by adding the displacement calculated in step S72 to the end point of the transmission line that can be photographed (step S73). Fig.17 By adding the displacement of endpoint 153a of power line 143a relative to endpoint 151a of power line 142a to endpoint 151b of power line 142a, the height and distance from camera 10 of endpoint 153b of power line 143a that cannot be photographed are calculated.

[0268] Next, the CPU 60A calculates how far the camera 10 must be set from the subject (the tower connected to the power line) in order to make the currently unavailable endpoint available for photographing, based on the result calculated in step S73 (the height and distance of the endpoint that cannot be photographed) and the maximum tilt angle of the camera 10 (step S74). Fig.17 In order for the camera 10 to be able to capture the end point 153b of the transmission line 143a, it is calculated how far the camera 10 must be set from the tower 101b.

[0269] Next, the CPU 60A calculates how far the current location of the camera 10 is from the tower based on the end point of the transmission line that can be photographed in step S72 (step S75). Fig.17 In the figure, the current shooting position of the camera 10, that is, the distance X3, is calculated based on the end point 151b of the power line 142a that can be photographed.

[0270] Next, the CPU 60A calculates the distance that the camera 10 should be away from the tower based on the distance calculated in step S74 and the distance calculated in step S75 (step S76). Fig.17 In the example, the moving distance required to move the imaging position of the camera 10 from the distance X3 to the distance X4 is calculated.

[0271] Next, the CPU 60A displays the distance that the camera 10 should be kept away from the tower calculated in step S76 on, for example, the display 13a, and notifies the operator (step S77).

[0272] On the other hand, in step S71, if the end point of any power line cannot be photographed within the tilt angle of the camera 10 (step S71: No), the CPU 60A receives the position directly below the end point of the power line that cannot be photographed from the operator and sets the translation angle of the end point (step S78). Fig.17 In the image processing, it is assumed that any endpoint of the power lines 142a, 142b, 143a, 143b, i.e., endpoints 151b, 152b, 153b, 154b, cannot be photographed, and the upper range that the camera 10 can photograph is the camera range Y5. In this case, for example, the operator is required to specify a position directly below the endpoint 153b of the power line 143a, and an arbitrary position in the range that the camera 10 can photograph. The position is set, for example, to the designated position 161 directly below. The translation angle of the designated position 161 directly below is measured. By measuring the translation angle of the designated position 161 directly below, the translation angle of the endpoint 153b of the power line 143a that cannot be photographed and located above the designated position 161 directly below can be set.

[0273] Next, the CPU 60A calculates a curve that passes through three points on the transmission line other than the end point and that can be photographed by the camera 10, and calculates the height of the end point of the transmission line based on the calculated curve and the translation angle of the end point of the transmission line set in step S78 (step S79). Fig.17 In the figure, a curve is calculated that passes through the points 162, 163, and 164 on the line that can be photographed by the camera 10 and that are on the transmission line 143a where the end point 153b cannot be photographed. The height of the end point 153b of the transmission line 143a is calculated based on the calculated curve and the translation angle of the end point 153b of the transmission line 143a set by the translation angle of the designated position 161 directly below.

[0274] Next, the CPU 60A calculates how far the camera 10 must be set from the subject (the tower connected to the power line) in order to make the currently unavailable endpoint available for photographing, based on the result calculated in step S79 (the height of the endpoint that cannot be photographed) and the maximum tilt angle of the camera 10 (step S80). Fig.17 In order for the camera 10 to be able to capture the end point 153b of the transmission line 143a, it is calculated how far the camera 10 must be set from the tower 101b.

[0275] Next, the CPU 60A detects a point on the tower that is located directly below the end point of the transmission line that cannot be photographed and that can be photographed by the camera 10, and calculates how far the current position where the camera 10 is installed is from the tower based on the detected point on the tower and the tilt angle of the camera 10 used to photograph the point (step S81). Fig.17 In the present invention, a point located directly below the end point 153b of the transmission line 143a and a point on the tower 101b that can be photographed by the camera 10, such as the tower point 165, is detected. Based on the detected tower point 165 and the tilt angle of the camera 10 used to photograph the tower point 165, it is calculated how far the current camera 10 is from the tower.

[0276] Next, the CPU 60A calculates the distance that the camera 10 should be away from the tower based on the distance calculated in step S80 and the distance calculated in step S81 (step S76). Then, the CPU 60A displays the distance that the camera 10 should be away from the tower calculated in step S76 on, for example, the display 13a and notifies the operator (step S77). This makes it easy to determine the installation position of the camera 10 relative to the subject.

[0277] <Zoom Amount of Zoom Lenses versus Image Capture Distance>

[0278] Fig.19 1 is a diagram showing an example of an image captured by zooming in on a plurality of positions at different imaging distances. Fig.19 As shown, a power line 170 is connected between the tower 101a and the tower 101b. The camera 10 for photographing the power line 170 is located closer to the tower 101b than the tower 101a. That is, the distance from the camera 10 to the tower 101b is shorter than the distance from the camera 10 to the tower 101a.

[0279] A plurality of different transmission line positions 171, 172, and 173 are selected as positions on the transmission line 170, and the images of the transmission line positions 171, 172, and 173 are taken with the camera 10 adjusted to the telephoto end as telephoto images 171a, 172a, and 173a. The transmission line position 171 is a position close to the tower 101a, and the transmission line position 173 is a position close to the tower 101b. Therefore, with respect to the distance from the camera 10, the transmission line position 173 is the shortest, and the transmission line position 171 is the longest.

[0280] When the power line positions 171, 172, and 173 are photographed with the camera 10 adjusted to the telephoto end, the telephoto image 173a of the power line position 173 may be excessively magnified beyond necessity because the power line position 173 is close to the camera 10. In this case, the photographing may be performed by changing the zoom amount of the zoom lens 15B2 (reducing the focal length) to obtain a field of view angle that obtains at least the resolution required for inspecting the power line.

[0281] For example, shooting can be performed in a manner that reduces the focal length of the zoom lens 15B2 (increases the angle of view) to a changed angle of view 174 that enables a telephoto image 174a having the same resolution as the telephoto image 172a of the power line position 172 to be obtained.

[0282] In addition, the change in the zoom can be set, for example, until the resolution is the same as that of the position of the farthest power line, or until a preset resolution is satisfied. This can suppress the increase in the number of shooting locations on the shooting path of the power line 170, thereby shortening the shooting time.

[0283] <Management of camera information>

[0284] Fig. 20 is a diagram showing a state where a subject is photographed by a camera. Fig. 20 As shown, when the camera 10 for photographing the power line 180 is arranged on a side surface of the power line 180 relative to the power line 180, the camera 10 photographs the opposite peripheral portion 181 of the power line 180 on the side opposite to the camera 10, but does not photograph the opposite peripheral portion 182 of the power line 180 on the side not opposite to the camera 10.

[0285] In this case, the captured image of the opposing peripheral portion 181 is associated with the information of the pan / tilt value of the camera 10 and stored in the memory 60C or the secondary storage device 14. Thus, when the power line 180 is captured again, it is possible to identify which peripheral portion of the power line 180 was captured by the previously captured image. Furthermore, when the power line 180 is captured using a drone, it is possible to easily identify images other than the captured peripheral portion and capture them.

[0286] <Display of overlapping subjects>

[0287] Fig.21 This is a picture of two transmission lines arranged overlapping in the front-to-back direction. Fig.21 As shown, there are shown a plurality of camera images 191a to 191l of the power line 191 obtained by segmentally photographing the camera path of the power line 191 which is arranged on the side close to the camera 10 (the front side) relative to the camera 10, and a plurality of camera images 192a to 192l of the power line 192 which are segmented and photographed on the camera path of the power line 192 which is arranged on the side far from the camera 10 (the rear side) relative to the camera 10.

[0288] A plurality of camera images 191a to 191l of the power line 191 are displayed on the layer directly in front (the first layer), and a plurality of camera images 192a to 192l of the power line 192 are displayed on the layer directly in front (the second layer). Furthermore, the background portion (for example, the oblique line portion 193a of the camera image 191a) in the plurality of camera images 191a to 191l of the power line 191 displayed on the layer directly in front is displayed in a transparent manner. In this way, when the two power lines 191 and 192 are arranged to overlap when viewed from the camera 10, the power line 191 on the side closer to the camera 10 appears to be closer to the front than the power line 192 on the side farther from the camera 10 to generate a composite image 194.

[0289] Thus, a synthetic image 194 can be generated in which the power line 192 of the rear layer is visible through the transparent background portion of the power line 191. In addition, a synthetic image 194 can be generated in which the power line 191 close to the camera 10 and the power line 192 far from the camera 10 are focused.

[0290] <Display of the specified subject>

[0291] Fig. 22 FIG. 1 is a diagram showing a composite image 194 of two transmission lines arranged overlapping in the front-rear direction. The composite image 194 is similar to the above-mentioned Fig.21The composite image 194 is the same as the composite image 194, which is an image synthesized by a plurality of camera images 191a to 191l obtained by segmenting and photographing on the camera path of the power line 191 and a plurality of camera images 192a to 192l obtained by segmenting and photographing on the camera path of the power line 192. The camera images 191a to 191l of the power line 191 and the camera images 192a to 192l of the power line 192 are associated with the position information on the composite image 194 and stored in the memory 60C or the secondary storage device 14.

[0292] like Fig. 22 As shown, when the operator clicks an arbitrary position on the composite image 194 with the cursor 201, the power line close to the clicked position is selected among the power lines 191 and 192. Then, among the selected power lines, the captured image including the clicked position is determined.

[0293] For example, the position clicked by cursor 201 in composite image 194 is close to power line 191. In this case, power line 191 is selected, and, among the captured images 191a to 191l of power line 191 including the position clicked by cursor 201, captured image 191g is determined.

[0294] Then, the determined camera image 191g is read out from the memory 60C and displayed in an enlarged manner on the display 13a. Thus, in the composite image 194 showing a plurality of subjects (power lines 191, 192, etc.), a predetermined camera image of any power line can be easily displayed, thereby improving usability.

[0295] <Management of video information captured from two locations>

[0296] Fig.23 1 is a diagram showing a state where a power transmission line is photographed by cameras 10a and 10b installed at two locations. Fig.23 As shown, for example, a transmission line 211 that crosses an elevated highway 210 may have a blind spot on one side, and the entire transmission line 211 cannot be photographed by only the camera 10a installed on one side. In the figure, the photographable range of the camera 10a is the field of view angle θa. The photographable range of the camera 10b is the field of view angle θb.

[0297] In this case, another camera 10b is set on the other side of the highway 210, and the entire power line 211 can be photographed by combining the camera image of the camera 10a with the camera image of the camera 10b. The imaging information photographed by the camera 10a is stored in the memory 60C or the secondary storage device 14 as information of the camera 10a related to the power line 211.

[0298] The image information captured by the camera 10b is stored in the memory 60C or the secondary storage device 14 as information of the camera 10b related to the power line 211. The image information includes, for example, the installation positions of the cameras 10a and 10b, the curve formula of the power line 211, the pan / tilt value, the zoom value, the focus position information, etc. In this way, by establishing a corresponding association with the power line 211 and storing the image information of the power line 211 captured by each camera, it is possible to manage each other's image information efficiently without duplication.

[0299] <Storage Medium of Information Processing Program>

[0300] In the above management controls, an example is given in which the information processing program of each embodiment is stored in the storage device 60B of the management device 11, and the CPU 60A of the management device 11 executes the information processing program through the memory 60C. However, the technology of the present invention is not limited to this.

[0301] Fig.24 1 is a diagram showing an example of a method in which an information processing program is installed in the control device 60 of the management device 11 from a storage medium storing the information processing program for management control. Fig.24 As shown, as an example, the information processing program 221 can be stored in a non-temporary storage medium, that is, a storage medium 220. Fig.24 In the illustrated example, the information processing program 221 stored in the storage medium 220 is installed in the control device 60 , and the CPU 60A executes the above-described processes according to the information processing program 221 .

[0302] Various embodiments have been described above, but the present invention is certainly not limited to these examples. Obviously, those skilled in the art can think of various variations or modifications within the scope described in the technical solution, and it should be understood that these variations or modifications also naturally fall within the technical scope of the present invention. Furthermore, the constituent elements in the above embodiments can be arbitrarily combined within the scope of the purpose of the invention.

[0303] In addition, this application is based on the Japanese patent application (Japanese Patent Application No. 2022-133011) filed on August 24, 2022, and the contents thereof are incorporated herein by reference.

[0304] Explanation of symbols

[0305] 1-camera system, 10, 10a, 10b-camera, 11-management device, 12-communication line, 13a, 43B-display, 13b-keyboard, 13c-mouse, 14-secondary storage device, 15-optical system, 15B-lens group, 15B1-anti-vibration lens, 15B2-zoom lens, 16-rotation mechanism, 17, 21-lens actuator, 19-computer, 22-BIS driver, 23-OIS driver, 25-imaging element, 25A-light receiving surface, 27-imaging element actuator, 28-lens drive 29, 45-correction mechanism, 31-DSP, 32-image memory, 33-correction unit, 34, 66-68, 79, 80-communication I / F, 35, 60C-memory, 36, 60B-storage device, 37, 60A-CPU, 38, 70-bus, 39, 47-position sensor, 40-jitter detection sensor, 43-UI system device, 43A, 62-receiving device, 60-control device, 71-yaw axis rotation mechanism, 72-pitch axis rotation mechanism, 73, 74-motor, 75, 76 -drive, 101a, 101b-tower, 102, 102a, 102b, 102n, 103a, 103b, 104a, 104b, 132a, 132b, 142a, 142b, 143a, 143b, 170, 180, 191, 192, 211-transmission line, 111a~111d-position, 112a, 113a, 114a, 115a, 116a, 151a, 151b, 152b, 153a, 153b, 154b-end point, 121-end, 1 61-specified position directly below, 162~164-points on the line, 165-points on the tower, 171~173-positions of transmission lines, 171a, 172a, 173a, 174a-telephoto images, 174-changing field of view angle, 181-opposite peripheral portion, 182-opposite peripheral portion, 191a~191l, 192a~192l-camera images, 193a-oblique line portion, 194-synthetic image, 201-cursor, 210-highway, 220-storage medium, 221-information processing program, Y1~Y5-camera range.

Claims

1. A control device comprising a processor for controlling an imaging device and an imaging direction changing device capable of changing the imaging direction of the imaging device, wherein the processor performs the following processing: setting a first imaging path of the first object based on imaging information at discrete positions of the first object and object information related to the first object; and The imaging of the first object is controlled according to the first imaging path.

2. The control device according to claim 1, wherein: The subject information is the shape of the first subject on a two-dimensional plane.

3. The control device according to claim 1, wherein: The imaging information is a control value based on the field angle of the imaging device for imaging the discrete positions.

4. The control device according to claim 3, wherein: The imaging information includes a control value of the imaging direction changing device for imaging the discrete positions.

5. The control device according to claim 3, wherein: The imaging information includes a distance between the first object used to image the discrete positions and the imaging device.

6. The control device according to claim 3, wherein: The imaging information includes a focus position of the imaging device used to image the discrete positions.

7. The control device according to claim 6, wherein: The imaging device includes a zoom lens. The processor acquires a focus position of the imaging device by causing the imaging device to perform distance measurement in a state where the zoom lens is set as a telephoto area.

8. The control device according to claim 1, wherein: The first imaging path includes a control value for segmentally imaging the first object.

9. The control device according to claim 1, wherein: The discrete positions include at least any one of three adjacent points among a plurality of points in the first object, two points at the ends of the plurality of points, and one point different from the two points.

10. The control device according to claim 9, wherein: The two end points are located in an end region of the first object.

11. The control device according to claim 1, wherein: The discrete positions are calculated based on an analysis result of an image obtained by capturing the first object.

12. The control device according to claim 1, wherein: The processor performs the following processing: Acquiring differential information between a first position of the first photographed object and a second position of the second photographed object; setting an imaging path of the second object, that is, a second imaging path, according to the first imaging path and the difference information; and The imaging of the second object is controlled according to the second imaging path.

13. The control device according to claim 12, wherein: The first position is a position of a region of the first object close to the imaging device. The second position is a position of a region of the second object close to the imaging device.

14. The control device according to claim 12, wherein: The first subject is a subject that is closer to the imaging device than the second subject.

15. The control device according to claim 12, wherein: The processor performs the following processing: When it is determined that photographing on the second photographing path cannot be performed within the movable range of the photographing direction changing device, calculating the installation position of the photographing direction changing device at which photographing on the second photographing path can be performed within the movable range of the photographing direction changing device; and The setting position is output.

16. The control device according to claim 12, wherein: The processor performs the following processing: generating a composite image by synthesizing a plurality of camera images of the first subject obtained by the camera device on the first camera path and a plurality of camera images of the second subject obtained by the camera device on the second camera path, and outputting the composite image to a display device, Based on the distance information between the first subject and the camera device and the distance information between the second subject and the camera device, a composite image is generated in which the subject closer to the camera device appears to be closer than the subject farther from the camera device.

17. The control device according to claim 1, wherein: The imaging device includes a zoom lens. The first imaging path includes information of imaging distance. The processor changes a zoom amount of the zoom lens according to the imaging distance in controlling imaging of the first object based on the first imaging path.

18. The control device according to claim 17, wherein: The zoom amount is an amount corresponding to the set resolution.

19. The control device according to claim 1, wherein: The processor associates information related to the imaging angle of the first object based on the first imaging path with the first object and stores the information in a storage device.

20. The control device according to claim 1, wherein: The processor performs the following processing: generating a composite image by combining the camera images captured by the camera device on the first camera path, and outputting the composite image to a display device; receiving a designation of a location in the composite image; and The captured image corresponding to the designated position among the captured images is output to the display device.

21. The control device according to claim 1, wherein: The processor performs the following processing: Information related to a plurality of photographing operations of the first subject controlled when the imaging device is installed at different locations is associated with the first subject and stored in a storage device.

22. The control device according to any one of claims 1 to 21, wherein: The first object is a linear structure that does not fall entirely within a set field of view.

23. A camera system, comprising: Camera device; A camera direction changing device capable of changing the camera direction of the camera device; and a control device for controlling the camera device and the camera direction changing device, The processor of the control device performs the following processing: setting a first imaging path of the first object based on imaging information at discrete positions of the first object and object information related to the first object; and The imaging of the first object is controlled according to the first imaging path.

24. A control method, which is performed by a control device that controls an imaging device and an imaging direction changing device capable of changing the imaging direction of the imaging device, wherein: The processor of the control device performs the following processing: setting a first imaging path of the first object based on imaging information at discrete positions of the first object and object information related to the first object; and The imaging of the first object is controlled according to the first imaging path.

25. A control program for controlling an imaging device and an imaging direction changing device capable of changing the imaging direction of the imaging device, wherein: The control program is used to cause the processor of the control device to perform the following processing: setting an imaging path of the first subject, that is, a first imaging path, based on imaging information at discrete positions of the first subject and subject information related to the first subject; and The imaging of the first object is controlled according to the first imaging path.

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