Program and flying-object control method

Abstract

To provide a technique for easily designating an electric wire and a pipe to be inspected, when inspecting the electric wire, the pipe, etc. by using a flying object.SOLUTION: A program for a flying-object control device causes the flying-object control device to perform processing of: (1) receiving an image captured by an imaging device provided in a flying object; (2) displaying the image on a display; (3) accepting an input for designating a subject from among objects shown in the image; (4) setting a subject on the basis of the input; and (5) when a plurality of subjects is set, generating a flight route for imaging the plurality of subjects and transmitting command information for causing the flying object to fly on the basis of the flight route, to the flying object.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a program and a method for controlling an aircraft. [Background technology]

[0002] In recent years, drones and other flying objects have been used to inspect inspection targets. For example, Patent Document 1 describes the use of drones to inspect structures such as steel towers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-196980 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventor has considered using an aircraft such as a drone to inspect objects having a certain length, such as electric wires and pipes. Here, a plurality of electric wires and pipes may be arranged in parallel. In such a case, the inspector needs to specify the electric wire or pipe to be inspected.

[0005] One example of an object of the present invention is to make it easier to specify electric wires or pipes to be inspected when inspecting electric wires, pipes, etc. using an aircraft. [Means for solving the problem]

[0006] In one aspect of the present disclosure, a program includes: A process of receiving images captured by an imaging device installed in the aircraft; displaying the image on a display; A process of receiving an input for specifying a subject from among objects appearing in the image; A process of setting a subject based on the input; When a plurality of subjects are set, a process of generating a flight route for capturing images of the plurality of subjects and transmitting command information to the aircraft to fly the aircraft based on the flight route; The aircraft control device performs the above.

[0007] According to one aspect of the present disclosure, there is provided a method for controlling an aircraft, comprising: The computer Receive images captured by an imaging device installed in the aircraft; Displaying the image on a display; Accepting an input for designating a subject from among objects appearing in the image; Setting a subject based on the input; When a plurality of subjects are set, a flight route for capturing images of the plurality of subjects is generated, and command information for flying the aircraft based on the flight route is transmitted to the aircraft. This includes:

[0008] This disclosure includes: an image receiving means for receiving an image captured by an imaging device provided in the aircraft; A display processing means for displaying the image on a display; an input receiving means for receiving an input for specifying a subject from among objects appearing in the image; a subject setting means for setting a subject based on the input; a flight control means for generating a flight route for capturing images of the plurality of subjects when the plurality of subjects are set, and transmitting command information to the flying object for flying the flying object based on the flight route; The present invention also includes an aircraft control device comprising:

[0009] According to the present invention, when inspecting electric wires, pipes, etc. using an aircraft, it becomes easier to specify the electric wires or pipes to be inspected. [Brief description of the drawings]

[0010] The above objects, as well as other objects, features and advantages, will become more apparent from the following preferred embodiments and the accompanying drawings.

[0011] [Figure 1] FIG. 2 is a diagram illustrating a usage environment of a route setting device and an aircraft control device (an example of a display control device) according to an embodiment. [Diagram 2] FIG. 2 illustrates an example of a functional configuration of a route setting device. [Diagram 3] FIG. 2 is a diagram illustrating an example of the functional configuration of an aircraft control device. [Figure 4] FIG. 2 is a diagram illustrating an example of the functional configuration of an aircraft. [Diagram 5] FIG. 2 illustrates an example of a hardware configuration of a route setting device. [Figure 6] 10 is a flowchart illustrating an example of a process performed by the route setting device. [Figure 7] FIG. 13 is a diagram showing an example of a screen displayed on a display in step S50. [Figure 8] 4 is a flowchart showing an example of a process in which an aircraft control device controls an aircraft. [Figure 9] FIG. 13 is a diagram showing an example of a screen displayed on the display in step S160. [Figure 10] FIG. 13 is a diagram illustrating an example of a process performed when a selection unit selects an inspection target. [Figure 11] 9 is a flowchart showing an example of details of step S180 in FIG. 8. [Figure 12] FIG. 13 is a diagram showing an example of a screen displayed on a display in step S210. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are given the same reference numerals and the description will be omitted as appropriate.

[0013] 1 is a diagram illustrating a usage environment of a route setting device 10 and an aircraft control device 20 (an example of a display control device) according to an embodiment. The route setting device 10 and the aircraft control device 20 are used when inspecting an inspection object using an aircraft 30. The route setting device 10 and the aircraft control device 20 may be integrated into one device.

[0014] The inspection object is a continuously extending object such as an electric wire or a pipe. The electric wire may be, for example, a power transmission line or a transmission line for transmitting signals. The power transmission line may be, for example, a high-voltage power line or an overhead line for a train. Moreover, the pipe may be, for example, a pipeline or a pipe installed within the premises of a factory.

[0015] The flying object 30 is, for example, a drone or an unmanned helicopter, and is externally operated using wireless communication. The flying object 30 has an imaging unit 350 (see FIG. 4) and captures an image of an inspection object during flight to generate image data. When capturing the image, the flying object 30 needs to fly at a certain distance from the inspection object. In particular, when the inspection object is an electric wire for power transmission, electromagnetic waves generated from the electric wire may affect the flight of the flying object 30, so when setting a flight route, it is necessary to ensure a distance between the flight route and the inspection object. The route setting device 10 is used when setting a flight route for the flying object 30. The flying object control device 20 performs processing for flying the flying object 30 according to the flight route set by the route setting device 10.

[0016] The aircraft control device 20 also controls the imaging direction and magnification of the imaging unit 350. Here, multiple electric wires and pipes may be installed in parallel with each other. In such a case, it is necessary to select an electric wire or pipe to be inspected from the multiple electric wires and pipes. The aircraft control device 20 is also used when selecting an inspection target from the multiple electric wires and pipes.

[0017] FIG. 2 is a diagram showing an example of a functional configuration of the route setting device 10. The route setting device 10 includes a first acquisition unit 130 and a route setting unit 140. The first acquisition unit 130 acquires designation information that designates a plurality of points. When these inspectors set the plurality of points, they make each of the plurality of points overlap with the inspection target. The route setting unit 140 sets a line connecting the plurality of points indicated by the designation information to points that are moved in the same direction and the same distance as the flight route of the flying object. In a first example, the route setting unit 140 sets a tentative flight route by connecting the plurality of points indicated by the designation information. Then, the route setting unit 140 sets a flight route by moving this tentative flight route. In a second example, the route setting unit 140 moves the plurality of points indicated by the designation information in the same direction and the same distance. Then, the route setting unit 140 sets a flight route of the flying object by connecting the plurality of points after the movement.

[0018] In the example shown in the figure, the route setting device 10 further includes a display unit 110, a data storage unit 112, a display 120, and a second acquisition unit 150.

[0019] The data storage unit 112 stores map data or images taken from the sky (e.g., aerial photographs or satellite photographs). The display unit 110 reads out map data or images of the inspection target and its surroundings and displays them on the display 120 in accordance with instructions from the user.

[0020] In the map data and images stored in the data storage unit 112, each point is associated with its location information (e.g., latitude and longitude information). The first acquisition unit 130 acquires information identifying multiple points selected on the map or image displayed on the display 120 as the above-mentioned designation information. The route setting unit 140 acquires location information for each of the multiple points designated by the designation information, and sets a tentative flight route using the location information.

[0021] The second acquisition unit 150 acquires information indicating the travel distances of the multiple points indicated by the designation information (hereinafter, referred to as travel instruction information). The travel instruction information may include the travel direction of each of the multiple points. Here, the same travel distance is applied to all of the multiple points. Then, the route setting unit 140 sets a flight route using the travel instruction information.

[0022] The first acquisition unit 130 and the second acquisition unit 150 acquire the necessary information via an input device such as a mouse. However, if the display 120 is a touch panel, at least one of the first acquisition unit 130 and the second acquisition unit 150 may acquire the necessary information via the display 120.

[0023] For example, the first acquisition unit 130 acquires, as the designation information, information indicating a point selected by a mouse or information indicating a point input by touch on the display 120. The second acquisition unit 150 acquires, as the movement instruction information, a slide input made on the display 120. In this case, the amount of sliding indicates the distance of movement. In some cases, the direction of sliding may indicate the direction of movement.

[0024] 3 is a diagram showing an example of the functional configuration of the aircraft control device 20. The aircraft control device 20 includes a display unit 210, a display 220, an input unit 230, a selection unit 240, and a command generation unit 250.

[0025] The command generating unit 250 acquires an image generated by the imaging unit 350 of the flying object 30. The display unit 210 displays the image acquired by the command generating unit 250 on the display 220. This image includes at least one electric wire or pipe that can be an inspection target. The input unit 230 displays a line in the image displayed on the display 220 according to an input from a user. The selection unit 240 selects an electric wire or pipe to be inspected using the line displayed by the input unit 230. For example, when multiple electric wires or pipes are included in the image, the selection unit 240 selects an inspection target from the multiple electric wires or pipes using the line displayed by the input unit 230. The command generating unit 250 generates command information for the flying object to photograph the inspection target while moving along the inspection target, and transmits the command information to the flying object 30. As an example, the command generating unit 250 generates command information to fly the flying object 30 according to the flight route generated by the route setting device 10.

[0026] In addition, when the flight route generated by the route setting device 10 is two-dimensional information (e.g., latitude and longitude information), the command generating unit 250 acquires information indicating the flight height of the flying object 30 (hereinafter referred to as height information) separately from the flight route. For example, a person inspecting the inspection target (hereinafter referred to as an inspector) inputs the height information to the input unit 230. The height information may be a fixed value or may change along the flight route. The command generating unit 250 includes this height information in the command information.

[0027] While flying, the flying object 30 repeatedly transmits position information of the flying object 30 to the flying object control device 20. Then, the command generation unit 250 of the flying object control device 20 uses this position information to repeatedly generate command information so that the flying object 30 moves along the flight route, and transmits the generated command information to the flying object 30.

[0028] Furthermore, while the flying object 30 is flying, the imaging unit 350 of the flying object 30 repeatedly generates images. The command generating unit 250 repeatedly acquires the images generated by the imaging unit 350. Then, each time the command generating unit 250 acquires an image, it generates command information based on the position of the inspection target in the image. For example, the command generating unit 250 controls the height of the flying object 30 so that the inspection target is centered in the image.

[0029] The command information also includes information for controlling the imaging unit 350 (hereinafter referred to as control information). This control information is information for controlling at least one of the imaging direction and magnification of the imaging unit 350. For example, the command generating unit 250 generates control information related to the imaging direction of the imaging unit 350 so that the object to be inspected is located at the center of the image. The command generating unit 250 also generates control information related to the magnification of the imaging unit 350 so that the size of the object to be photographed falls within a reference range.

[0030] The input unit 230 acquires the necessary information via an input device such as a mouse. However, if the display 220 is a touch panel, the input unit 230 may acquire the necessary information via the display 220. For example, the input unit 230 uses a line input (drawn) on the touch panel using a pen, a finger, or the like as information for selecting an inspection target.

[0031] Furthermore, each time the command generating unit 250 acquires an image from the flying object 30, the display unit 210 displays the image on the display 220. At this time, the display unit 210 identifies the position of the inspection object in the image and displays at least two markers indicating the inspection object. These two markers are arranged along the inspection object so that the inspection object is located between the two markers. The markers are, for example, solid lines, but may also be dotted lines or dashed lines.

[0032] At this time, the display unit 210 acquires information for identifying the inspection target (hereinafter, referred to as inspection target identifying information). The inspection target identifying information indicates, for example, the position of the inspection target in the previous image. In this case, the display unit 210 first generates the inspection target identifying information using information indicating the position of the inspection target in the image used by the selection unit 240 when identifying the inspection target. Then, the display unit 210 uses this inspection target identifying information to identify the position of the inspection target in the next image and generates the next inspection target identifying information. The display unit 210 repeats these processes to identify the position of the inspection target in each of the multiple images generated by the flying object 30.

[0033] The marker is preferably a predetermined color, for example, red. In this way, the inspector can easily recognize the electric wire or pipe that the aircraft control device 20 recognizes as the inspection target. As a result, if the aircraft control device 20 recognizes the wrong electric wire or pipe as the inspection target, the inspector can immediately deal with the mistake.

[0034] 4 is a diagram showing an example of the functional configuration of the flying object 30. In the example shown in this figure, the flying object 30 includes a communication unit 310, a flight control unit 320, a drive mechanism 330, an imaging control unit 340, and an imaging unit 350.

[0035] The communication unit 310 communicates with the flying object control device 20, receives command information from the flying object control device 20, and transmits the image generated by the imaging unit 350 to the flying object control device 20. The drive mechanism 330 has a motor that drives the propeller of the flying object 30 and a mechanism that controls the angle of the propeller. The flight control unit 320 controls the drive mechanism 330 according to the command information transmitted from the flying object control device 20. At this time, the flight control unit 320 grasps the current position of the flying object 30 using a GPS or the like. The flight control unit 320 then controls the movement of the flying object 30 using the current position of the flying object 30 and the command information. This allows the flying object 30 to fly according to the flight route set by the route setting device 10 while maintaining the height set by the flying object control device 20.

[0036] The imaging control unit 340 also controls the imaging unit 350 according to the control information included in the command information. For example, the imaging control unit 340 controls the imaging direction of the imaging unit 350 so that the inspection target is at the center of the image. The imaging control unit 340 also controls the magnification of the imaging unit 350 so that the size of the target falls within a reference range. The imaging control unit 340 then transmits the image generated by the imaging unit 350 to the aircraft control device 20 via the communication unit 310.

[0037] 5 is a diagram showing an example of the hardware configuration of the route setting device 10. The route setting device 10 includes a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input / output interface 1050, and a network interface 1060.

[0038] The bus 1010 is a data transmission path for transmitting and receiving data among the processor 1020, memory 1030, storage device 1040, input / output interface 1050, and network interface 1060. However, the method of connecting the processor 1020 and the like to each other is not limited to bus connection.

[0039] The processor 1020 is implemented by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like.

[0040] The memory 1030 is a main storage device realized by a RAM (Random Access Memory) or the like.

[0041] The storage device 1040 is an auxiliary storage device realized by a hard disk drive (HDD), a solid state drive (SSD), a memory card, a read only memory (ROM), or the like. The storage device 1040 stores program modules that realize each function of the route setting device 10 (for example, the display unit 110, the first acquisition unit 130, the route setting unit 140, and the second acquisition unit 150). The processor 1020 loads each of these program modules onto the memory 1030 and executes them, thereby realizing each function corresponding to the program module. The storage device 1040 also functions as a data storage unit 112.

[0042] The input / output interface 1050 is an interface for connecting the main part of the route setting device 10 to various input / output devices. For example, the display 120 communicates with the processor 1020 via the input / output interface 1050.

[0043] The network interface 1060 is an interface for connecting the route setting device 10 to a network. This network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The network interface 1060 may connect to the network wirelessly or by wire. The route setting device 10 may communicate with the aircraft control device 20 via the network interface 1060.

[0044] The hardware configuration of the aircraft control device 20 is also similar to the example shown in Fig. 5. In this case, the storage device 1040 stores program modules that realize each function of the aircraft control device 20 (e.g., the display unit 210, the input unit 230, the selection unit 240, and the command generation unit 250). The display 220 also communicates with the processor 1020 via an input / output interface 1050. The aircraft control device 20 may also communicate with the route setting device 10 and the aircraft 30 via a network interface 1060.

[0045] 6 is a flowchart showing an example of processing performed by the route setting device 10. In the processing shown in this figure, the route setting device 10 sets a flight route for the flying object 30.

[0046] First, the display unit 110 of the route setting device 10 reads map data or image data of the location where the inspection object is located from the data storage unit 112 in accordance with input from the inspector, and displays the map data or image data on the display 120 (step S10). Next, the inspector inputs designation information that designates multiple locations to the first acquisition unit 130 (step S20). For example, if the inspection object is an electric wire, the inspector selects locations where utility poles or transmission towers are located as the designated information.

[0047] Next, the route setting unit 140 generates a tentative route by connecting the multiple points indicated by the specification information. The display unit 110 displays this tentative route on the display 120 by superimposing it on the map or image displayed in step S10 (step S30).

[0048] Next, the inspector inputs movement instruction information to the second acquisition unit 150. This movement instruction information includes at least the distance to move the tentative route. Then, the route setting unit 140 generates a flight route by moving the tentative route according to the movement instruction information. Here, the movement direction of the tentative route may be, for example, perpendicular to the straight line indicating the tentative route. For example, if the tentative route is indicated by a broken line, the route setting unit 140 moves each straight line constituting the broken line in a direction perpendicular to the straight line. In this way, the flight route can be made parallel to the tentative route. At this time, the movement distance of each line is the distance indicated by the movement instruction information. Then, the display unit 110 displays the flight route on the display 120 by superimposing it on the map or image displayed in step S10 (step S50).

[0049] The inspector checks the flight route displayed on the display 120. If this flight route is acceptable (step S60: Yes), the inspector performs input to confirm the flight route in the second acquisition unit 150. The route setting unit 140 then transmits the generated flight route to the aircraft control device 20 (step S70). On the other hand, if the flight route is to be corrected (step S60: No), the process returns to step S40.

[0050] FIG. 7 shows an example of a screen displayed on the display 120 in step S50. In step S10, the display unit 110 displays a map or an image taken from the sky on the display 120. Then, in step S30, the display unit 110 displays a tentative route on the display 120 by superimposing it on the map or image. Furthermore, in step S50, the display unit 110 displays a flight route on the display 120 by superimposing it on the map or image. At this time, the display unit 110 displays the distance from the tentative route to the flight route, that is, the travel distance indicated by the travel instruction information, on the display 120. In this way, the inspector can confirm the distance between the tentative route and the flight route, that is, the distance from the inspection object to the flying object 30, making it easier to confirm the validity of the flight route. Note that, when the inspection object is a high-voltage power line, the distance between the tentative route and the flight route is preferably, for example, 10 m or more and 15 m or less.

[0051] 8 shows an example of a process in which the flying object control device 20 controls the flying object 30. In the process shown in this figure, the imaging unit 350 of the flying object 30 repeatedly generates images while the flying object 30 is flying. Then, the imaging control unit 340 of the flying object 30 transmits an image to the flying object control device 20 every time the imaging unit 350 generates an image.

[0052] First, the display unit 210 of the flying object control device 20 acquires a flight route from the route setting device 10 (step S110). Then, the command generation unit 250 of the flying object control device 20 generates command information indicating a start point of this flight route and transmits it to the flying object 30 (step S120).

[0053] The flight control unit 320 of the aircraft 30 then recognizes the starting point of the flight route and flies the aircraft 30 to this starting point (step S130). At this time, the aircraft 30 is at the specified height. This allows the imaging unit 350 of the aircraft 30 to generate an image at the starting point. This image includes the object to be inspected. The imaging control unit 340 of the aircraft 30 then transmits this image to the aircraft control device 20 (step S140).

[0054] The command generating unit 250 of the aircraft control device 20 receives the image transmitted from the aircraft 30. The display unit 210 then displays this image on the display 220 (step S150). This image includes a number of electric wires and pipes that may be inspection targets. The inspector then draws a line on the image via the input unit 230 of the aircraft control device 20 along the wiring or pipes to be inspected (step S160). The selection unit 240 of the aircraft control device 20 then selects the wiring or pipe closest to this line as the inspection target (step S170). A specific example of a method for selecting an inspection target will be described later with reference to other figures.

[0055] Thereafter, a control process is performed for the flight of the aircraft 30 (step S180). A detailed example of this control process will be described with reference to other figures.

[0056] When the inspection target is an electric wire, at least one electric pole or transmission tower may be included in one flight route. In this case, the processing from step S130 to step S180 is repeated every time the flying object 30 passes by an electric pole or transmission tower.

[0057] Fig. 9 shows an example of a screen displayed on the display 220 in step S160 of Fig. 8. As shown in this figure, the image captured by the imaging unit 350 of the aircraft 30 may include a plurality of electric wires and pipes (electric wires in this figure). In many cases, these electric wires and pipes are arranged in parallel with each other. For this reason, unless an input method for selecting the inspection object is devised, there is a high possibility that the aircraft control device 20 will erroneously recognize the inspection object.

[0058] In contrast, in the example shown in the figure, the inspector inputs a line along the inspection target into the display 220 that displays the image. The selection unit 240 of the aircraft control device 20 then selects the electric wire or pipe closest to this line as the inspection target. This makes it easier for the inspector to select the desired electric wire or pipe as the inspection target.

[0059] 10 shows an example of processing when the selection unit 240 selects an inspection target. In the example shown in this figure, the selection unit 240 processes an image to approximate electric wires and pipes that can be inspection targets with straight lines, and calculates the slope and y-intercept of the straight lines in the image. The selection unit 240 also performs the same processing on a line input by an inspector, and calculates the slope and y-intercept of this line. Then, the selection unit 240 selects, as the inspection target, the electric wire or pipe that is closest to the line input by the inspector in a two-dimensional plane consisting of the slope and y-intercept.

[0060] Fig. 11 is a flowchart showing a detailed example of step S180 in Fig. 8. The process shown in this figure is repeatedly performed while the flying object 30 flies along the inspection target.

[0061] First, the display unit 210 of the aircraft control device 20 displays the image transmitted from the aircraft 30 on the display 220, and also displays at least two markers indicating the inspection object on the display 220 (step S210). The command generation unit 250 of the aircraft control device 20 generates command information for photographing the inspection object while flying the aircraft 30 along the inspection object (step S220), and transmits this command information to the aircraft 30 (step S230). As described above, this command information also includes control information for controlling at least one of the shooting direction and magnification of the imaging unit 350.

[0062] The flight control unit 320 of the flying object 30 flies the flying object 30 according to the command information transmitted from the flying object control device 20 (step S240). The imaging control unit 340 of the flying object 30 controls at least one of the shooting direction and the magnification of the imaging unit 350 according to the control information (step S250). The imaging control unit 340 then transmits the image generated by the imaging unit 350 to the flying object control device 20 (step S260).

[0063] Thereafter, the display unit 210 of the aircraft control device 20 identifies the position of the inspection target in the newly acquired image, generates inspection target identification information using this position (step S270), and returns to step S210.

[0064] The flight control unit 320 of the flying object 30 may perform the processes shown in steps S220 and S270 in FIG. 11. In this case, the command generation unit 250 of the flying object control device 20 first transmits specific information for identifying the inspection object to the flying object 30. An example of this specific information is the coordinates of the inspection object on the two-dimensional plane shown in FIG. 10. After that, the flying object 30 repeatedly performs the processes shown in steps S220, S240, S250, and S270 to track the identified inspection object. In this case, the imaging control unit 340 of the flying object 30 also repeatedly transmits the image generated by the imaging unit 350 to the flying object control device 20 (step S260). In addition, the flying object control device 20 performs the processes shown in steps S270 and S210 every time it acquires an image.

[0065] Fig. 12 shows an example of a screen displayed on the display 220 in step S210 of Fig. 11. As shown in this figure, the display 220 displays two markers indicating electric wires and piping recognized by the aircraft control device 20 as inspection targets together with the image generated by the imaging unit 350 of the aircraft 30. These two markers are arranged along the inspection target such that the inspection target is located between the two markers. For this reason, the inspector can easily recognize the electric wires and piping recognized by the aircraft control device 20 as inspection targets.

[0066] In step S210, the display unit 210 may detect an abnormality (e.g., a scratch) occurring in the inspection target by performing image processing. In this case, it is preferable that the display unit 210 displays the detected abnormality on the display 220 in an identifiable manner. As an example, the display unit 210 may display a mark at the location where the abnormality exists. This mark is, for example, a frame of a predetermined color (e.g., red), but is not limited to this.

[0067] As described above, when inspecting electric wires or pipes using the aircraft 30, it is necessary to set the flight route to a location a certain distance away from the electric wire or pipe to be inspected. By using the route setting device 10, this flight route can be easily set.

[0068] In addition, multiple electric wires or pipes to be inspected may be located in parallel in the image captured by the aircraft 30. In this case, by using the aircraft control device 20, the inspector can easily select the electric wire or pipe that he or she desires to inspect from the multiple electric wires or pipes.

[0069] Furthermore, in the aircraft control device 20, two markers indicating the electric wires or piping that the aircraft control device 20 recognizes as the inspection target are also displayed together with the image generated by the imaging unit 350 of the aircraft 30. These two markers are arranged along the inspection target so that the inspection target is located between the two markers. Therefore, the inspector can easily recognize the electric wires or piping that the aircraft control device 20 recognizes as the inspection target. And, if the aircraft control device 20 recognizes the wrong electric wires or piping as the inspection target, the inspector can immediately deal with the mistake.

[0070] Although the embodiments of the present invention have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted.

[0071] In addition, in the flowcharts used in the above description, multiple steps (processes) are described in order, but the order of execution of the steps performed in each embodiment is not limited to the order described. In each embodiment, the order of the steps shown in the figures can be changed to the extent that the content is not affected. In addition, the above-mentioned embodiments can be combined to the extent that the content is not contradictory.

[0072] A part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes. 1. A display means for displaying on a display an image captured by an imaging means of an aircraft, the image including at least one electric wire or pipe that may be an inspection target; an input means for drawing a line within the image in accordance with an input from a user; A selection means for selecting an object to be inspected using the line; a command generating means for generating command information for the aircraft to photograph the inspection target while moving along the inspection target and transmitting the command information to the aircraft; An aircraft control device comprising: 2. In the aircraft control device described in 1 above, After the selection means selects the test object, The command generating means repeatedly acquiring the images generated by the aircraft; An aircraft control device that, when it acquires the image, generates the command information based on the position of the inspection object within the image. 3. In the aircraft control device described in 2 above, The imaging means is capable of controlling at least one of the imaging direction and the magnification, The command information includes control information for controlling at least one of the above. 4. In the aircraft control device described in 1 above, An aircraft control device, wherein the command information includes specific information for the aircraft to identify the inspection target. 5. In the aircraft control device described in 4 above, The selection means is approximating each of the at least one electric wire or pipe in the image with a straight line and also approximating the input line with a straight line; In a two-dimensional plane having a slope and a y-intercept as variables defining a line, the electric wire or pipe closest to the line is selected as the inspection target; The command generating means is an aircraft control device that includes the coordinates of the inspection object within the two-dimensional plane in the command information. 6. In the aircraft control device according to any one of 1 to 5 above, The inspection object is an electric wire, An aircraft control device in which the display means, the input means, the selection means, and the command generating means perform their respective processing each time the aircraft passes by a utility pole or a transmission tower. 7. The computer Displaying on a display an image captured by an imaging means of the aircraft, the image including at least one electric wire or pipe that may be an inspection target; Draw lines in the image according to input from a user; Using the line to select an object to be inspected; A method for controlling an aircraft, the method generating command information for photographing the inspection object while the aircraft moves along the inspection object and transmitting the command information to the aircraft. 8. In the flying object control method according to the above item 7, After selecting the test object, the computer repeatedly acquiring the images generated by the aircraft; An aircraft control method that, when an image is acquired, generates the command information based on the position of the inspection object within the image. 9. In the flying object control method according to the above item 8, The imaging means is capable of controlling at least one of the imaging direction and the magnification, An aircraft control method, wherein the command information includes control information for controlling at least one of the above. 10. In the flying object control method according to the above item 7, An aircraft control method, wherein the command information includes specific information for the aircraft to identify the inspection target. 11. In the flying object control method according to claim 10, The computer includes: approximating each of the at least one electric wire or pipe in the image with a straight line and also approximating the input line with a straight line; In a two-dimensional plane having a slope and a y-intercept as variables defining a line, the electric wire or pipe closest to the line is selected as the inspection target; An aircraft control method in which the command information includes coordinates of the inspection object within the two-dimensional plane. 12. In the aircraft control method according to any one of claims 7 to 11, The inspection object is an electric wire, A method for controlling an aircraft, in which the computer performs the above-mentioned processing each time the aircraft passes by a utility pole or a transmission tower. 13. On the computer, A display function for displaying an image captured by an imaging means of the aircraft, the image including at least one electric wire or pipe that may be an inspection target, on a display; an input function for drawing a line within the image according to an input from a user; A selection function for selecting an object to be inspected using the line; a command generating function that generates command information for the aircraft to photograph the inspection target while moving along the inspection target and transmits the command information to the aircraft; A program that allows you to have 14. In the program according to 13 above, After the selection function selects the test object, The command generation function includes: repeatedly acquiring the images generated by the aircraft; A program that, upon acquiring the image, generates the command information based on the position of the object to be inspected within the image. 15. In the program according to 14 above, The imaging means is capable of controlling at least one of the imaging direction and the magnification, The command information is a program including control information for controlling at least one of the above. 16. In the program according to 13 above, The command information is a program including specific information for the aircraft to identify the inspection target. 17. In the program according to 16 above, The selection function is approximating each of the at least one electric wire or pipe in the image with a straight line and also approximating the input line with a straight line; In a two-dimensional plane having a slope and a y-intercept as variables defining a line, the electric wire or pipe closest to the line is selected as the inspection target; The command generation function is a program that includes the coordinates of the object to be inspected within the two-dimensional plane in the command information. 18. In the program according to any one of the above 13 to 17, The inspection object is an electric wire, A program in which the display means, the input means, the selection means, and the command generating means perform their respective processing each time the aircraft passes by a utility pole or a transmission tower. [Explanation of symbols]

[0073] 10. Rooting Device 20 Aircraft control device 30 Flying Objects 110 Display section 112 Data storage unit 120 Display 130 First acquisition part 140 Route setting section 150 Second acquisition part 210 Display section 220 Display 230 Input section 240 Selection Section 250 Command generation section 310 Communications Department 320 Flight Control Unit 330 Drive Mechanism 340 Imaging control section 350 Imaging unit

Claims

1. A process of receiving images captured by an imaging device installed in the aircraft; displaying the image on a display; A process of receiving an input for specifying a subject from among objects appearing in the image; A process of setting a subject based on the input; When a plurality of subjects are set, a process of generating a flight route for capturing images of the plurality of subjects and transmitting command information to the aircraft to fly the aircraft based on the flight route; A program that causes an aircraft control device to perform the above.

2. causing the aircraft control device to perform a process of displaying map data around the specified subject or the flight route on the display; The program according to claim 1.

3. The command information includes height information of the flying object flying along the flight route or control information of the imaging unit of the flying object photographing the subject, 3. The program according to claim 1 or 2.

4. The aircraft control device is caused to perform a process of generating a tentative route by connecting the positions of the plurality of subjects, and generating a route by moving the tentative route in a vertical direction as the flight route. The program according to any one of claims 1 to 3.

5. A process of displaying a screen for confirming the generated flight route on the display; and in response to receiving an input to confirm the flight route on the confirmation screen, transmitting the command information to the aircraft. The program according to any one of claims 1 to 4.

6. The computer Receive images captured by an imaging device installed in the aircraft; Displaying the image on a display; Accepting an input for designating a subject from among objects appearing in the image; Setting a subject based on the input; When a plurality of subjects are set, a flight route for capturing images of the plurality of subjects is generated, and command information for flying the aircraft based on the flight route is transmitted to the aircraft. A method for controlling an aircraft, comprising:

7. The computer, Displaying map data around the specified subject or the flight route on the display. The method for controlling an aircraft according to claim 6.

8. The command information includes height information of the flying object flying along the flight route or control information of the imaging unit of the flying object photographing the subject, 8. The method for controlling an aircraft according to claim 6 or 7.

9. The computer, generating a tentative route by connecting the positions of the plurality of subjects, and generating a route by moving the tentative route in a vertical direction as the flight route. The method for controlling an aircraft according to any one of claims 6 to 8.

10. The computer, Displaying a screen for confirming the generated flight route on the display; In response to receiving an input to confirm the flight route on the confirmation screen, transmitting the command information to the aircraft. The method for controlling an aircraft according to any one of claims 6 to 9.

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