Aerial imaging device, control method for aerial imaging device, program

Abstract

The present invention provides an in-flight imaging device capable of acquiring terrain information along a flight path determined by wind information. [Solution] An aerial imaging device that flies over an area to be imaged and takes images includes a wind information acquisition unit that acquires wind information related to the area to be imaged, a determination unit that determines the flight path of the aerial imaging device according to the wind information acquired by the wind information acquisition unit, a control unit that controls the aerial imaging device based on the flight path, and an imaging unit that captures image data while the aerial imaging device is in flight, the control unit controls the imaging unit based on the wind information.

Description

Technical Field

[0001] The present invention relates to a flight imaging apparatus, a control method for a flight imaging apparatus, and a program.

Background Art

[0002] Patent Document 1 discloses a configuration in which a camera unit mounted on a drone captures images such that an overlapping rate between images is equal to or less than a predetermined value, and generates map data from a plurality of pieces of image data acquired while reducing unnecessary imaging times.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] There is a need for a flight imaging apparatus capable of efficiently acquiring topographic information along a flight path corresponding to wind information.

Means for Solving the Problem

[0005] In view of the above problem, the flight imaging apparatus of the present disclosure is a flight imaging apparatus that flies over an imaging target range to perform imaging, comprising: a wind information acquisition unit that acquires wind information related to the imaging target range; a determination unit that determines a flight path of the flight imaging apparatus according to the wind information acquired by the wind information acquisition unit; a control unit that controls the flight imaging apparatus based on the flight path; and an imaging unit that captures image data while the flight imaging apparatus is in flight, wherein the control unit controls the imaging unit based on the wind information.

Effects of the Invention

[0006] According to the present disclosure, it is possible to provide a flight imaging apparatus capable of efficiently acquiring topographic information along a flight path corresponding to wind information. [Brief explanation of the drawing]

[0007] [Figure 1] This is a block diagram of the flight imaging system according to Embodiment 1. [Figure 2] This is an external view of the flight imaging device according to Embodiment 1. [Figure 3] This is an explanatory diagram of the flight path and stopping position of the flight imaging device according to Embodiment 1. [Figure 4] This is a flowchart for determining the flight plan according to Embodiment 1. [Figure 5] This is a flowchart for performing flight and imaging according to Embodiment 1. [Figure 6] This is a flowchart for performing flight and imaging according to Embodiment 2. [Modes for carrying out the invention]

[0008] This embodiment will be described in detail below with reference to the accompanying drawings. Note that the configuration shown in the following embodiment is merely an example, and this disclosure is not limited to the illustrated configuration.

[0009] When acquiring terrain information within an imaging target area using an unmanned aerial imaging device, energy consumption due to crosswinds can occur. Therefore, the following describes an aerial imaging device that can efficiently acquire terrain information using a flight path adapted to wind conditions.

[0010] <Embodiment 1> A block diagram of the flight imaging system including the flight imaging device 100 and the external device 121 according to this embodiment will be described with reference to Figure 1.

[0011] Figure 1 is a block diagram of the system according to this embodiment.

[0012] The aerial imaging device 100 system in this embodiment includes a generation unit 111, a flight drive unit 112, an imaging drive unit 113, a wind information acquisition unit 114, a determination unit 115, a control unit 116, a storage unit 117, and a communication unit 118.

[0013] The imaging device 131 comprises an imaging optical system composed of a plurality of lenses and a holding member, and an image sensor 134. The imaging device 131 is controlled by the imaging unit 110 and the imaging drive unit 113.

[0014] The imaging optical system consists of a zoom lens, a focus lens and the like, and can condense light from a subject onto the light-receiving surface of the image sensor.

[0015] The zoom lens and the focus lens are movable in the optical axis direction by motors, and are configured to be capable of adjusting the imaging magnification and the focal position respectively.

[0016] Each motor is driven by the imaging drive unit 113. However, the present invention is not limited thereto, and the imaging optical system may further include an optical filter for transmitting or attenuating light of a specific wavelength, and an aperture mechanism for adjusting the amount of light transmitted through the lens.

[0017] The image sensor 134 is a full-size CMOS (Complementary Metal Oxide Semiconductor) sensor having 1920×1080 pixels. However, the present invention is not limited thereto, the image sensor may have any resolution and size, and may further be an image sensor of a different type such as a CCD (Charge Coupled Device) sensor.

[0018] The generation unit 111 performs various types of image processing such as development processing, color balance processing, gamma processing, and noise reduction processing on image data acquired from the imaging device 131. In addition, the generation unit 111 performs image processing on a plurality of pieces of image data obtained by dividing and imaging an imaging target range, then synthesizes the plurality of pieces of image data, and generates topographic information that is an overhead view image or point cloud data.

[0019] The flight drive mechanism 135 is composed of a plurality of propellers 135(A) to 135(D), an accelerometer, a self-position detection device based on GPS (Global Positioning System), and the like. The flight drive unit 114 controls flight conditions of the aerial imaging apparatus 100, including altitude, speed, position, posture, and the rotation speed of each of the plurality of propellers. In the present embodiment, the flight drive unit 114 controls the flight conditions so as to complete the flight plan determined by the determination unit 115.

[0020] In addition to controlling various lens driving motors that constitute the imaging apparatus 131 described above, the imaging drive unit 113 also drives a rotation mechanism for changing the imaging direction of the imaging apparatus 131. More specifically, the imaging drive unit 113 controls (drives) a mechanism capable of changing the orientation of the imaging apparatus 131 in the pan direction and tilt direction with respect to the aerial imaging apparatus 100.

[0021] The wind information acquisition unit 114 acquires wind information including wind direction and wind speed of an area including an imaging target range. In the present embodiment, the wind information acquisition unit 114 acquires wind information from a weather information providing server existing on the Internet via the network 120 and the communication unit 118.

[0022] However, the method for acquiring wind information is not limited to the method described above, and the wind information acquisition unit 114 may acquire, for example, measurement results from an anemoscope-anemometer installed nearby via the external device 121, the network 120, and the communication unit 118. Furthermore, the wind information acquisition unit 114 may acquire wind information from an anemoscope-anemometer provided in the aerial imaging apparatus 100 itself.

[0023] The flight drive unit 112 flies the flight imaging device 100 along the flight path 201 above the area to be imaged. The flight drive unit 112 moves the flight imaging device 100 to one of several stopping positions set along the flight path 201 determined by the determination unit 115 and stops it thereafter, the imaging unit 110 performs imaging and acquires image data near the ground surface. The flight imaging device 100 is driven to stop moving at the stopping positions. Even if the flight imaging device 100 is attempting to be at a stopping position, it may deviate from the stopping position due to wind or other factors. Even if the flight imaging device 100 moves due to wind or other factors, the flight imaging device 100 is considered to be in a state of being at a stopping position. The state in which the flight imaging device 100 is at a stopping position refers to a state in which it is attempting to remain at the stopping position, not a state in which it is moving toward the next destination.

[0024] In this process, the determination unit 115 determines the stopping position so that adjacent image data overlaps with each other, enabling the generation unit 111 to generate a composite image (terrain information) that covers the entire imaging target area.

[0025] Although the generation unit 111 is shown as being integrated into the aerial imaging device 100, it is not limited to this configuration. The aerial imaging device 100 may send data and information for generating a composite image (terrain information) to an external device such as a PC, and the external device that receives the data may generate the composite image (terrain information). In this configuration, the generation unit 111 functions as an image processing unit that performs image processing.

[0026] The determination unit 115 determines the flight path of the aerial imaging device 100, including its flight altitude within the specified imaging target range. The determination unit 115 also determines multiple stopping positions along the flight path 201 where the aerial imaging device 100 will acquire image data. The detailed determination method will be described later.

[0027] The control unit 116 is a system control unit that comprehensively controls each component of the aerial imaging device 100 and performs various parameter settings and data transmission / reception instructions.

[0028] The memory unit 117 can temporarily store and read generated image data and the decision results of the decision unit 115.

[0029] Furthermore, the memory unit 117 stores information on the imaging target range entered by the user and is also used as a program storage area for programs executed by the control unit 116, a storage area for various parameters, and a work area during program execution.

[0030] The communication unit 118 converts flight information such as the position and altitude of the aerial imaging device 100, imaging conditions, and generated image data in accordance with the communication protocol, and then transmits it to the external device 121.

[0031] Furthermore, the communication unit 118 receives setting commands for various parameters for the aerial imaging device 100 from the external device 121, outputs them to the control unit 116, and simultaneously sends a response to the external device 121.

[0032] Network 120 is a wireless LAN (Local Area Network) and consists of routers, switches, etc. that satisfy communication standards such as Wi-Fi (registered trademark). The aerial imaging device 100 can communicate with external devices 121, other aerial imaging devices (not shown), servers, etc. via network 120.

[0033] Furthermore, the network 120 is not limited in terms of its communication standard, scale, or configuration, as long as it allows the aerial imaging device 100 and the external device 121 to communicate, and may even be configured via the cloud.

[0034] The external device 121 is a device equipped with a CPU, such as a computer, PC, or mobile terminal. The external device 121 is connected to the aerial imaging device 100 via the network 120 in a state where it can communicate with each other, and can receive, display, and record image data and other data transmitted from the aerial imaging device 100.

[0035] Furthermore, the external device 121 can input and set various parameters, such as specifying the imaging target range to be transmitted to the flight imaging device 100 and inputting wind information.

[0036] This embodiment is not limited to the above configuration, and various modifications and changes are possible within the scope of its essence. For example, the determination unit 115 provided in the flight imaging unit 100 may be provided in an external device 121.

[0037] Alternatively, the aerial imaging device 100 may be configured to include various user interfaces, such as display and input means, that are provided in the external device 121.

[0038] Figure 2 is an external view of the aerial imaging device 100. Below the main body 130 is the imaging device 131, and on all four sides of the main body 130 are propellers 135(A) to 135(D), which are components of the flight drive mechanism 135.

[0039] The flight drive unit 112 can perform desired flight maneuvers such as ascending, descending, turning, and moving forward by setting each propeller to a predetermined rotation speed. The flight drive unit 112 performs automatic position control. In automatic position control, the flight drive unit 112 acquires position information of the flight imaging device 100 using a GPS located on the main body 130. If the acquired position deviates from the flight path, the flight drive unit 112 changes the rotation speed of each of the propellers 135(A) to 135(D) by an appropriate amount, tilts the attitude of the flight imaging device 100 to change its direction of travel, and returns it to the flight path.

[0040] In this embodiment, the propellers 135(A) to 135(D) consist of four blades, but this is not limited to any number of blades.

[0041] Furthermore, the aircraft may be configured to fly using a propulsion system other than a propeller.

[0042] The imaging drive unit 113 controls the imaging conditions and the acquisition of image data obtained from imaging. The imaging drive unit 113 also controls operations and conditions related to the imaging optical system, such as changing the zoom magnification and focus adjustment of the imaging device 131.

[0043] The main unit 130 and the imaging device 131 are connected by a connecting part 132. The connecting part 132 is equipped with a drive mechanism that allows rotation around the mounting shaft on both the main unit side and the imaging device side.

[0044] Furthermore, the imaging drive unit 113 can change the imaging direction of the imaging device 131 so that it faces downwards in Figure 2, for example, as shown in Figures 2(A) and 2(B), by rotating the imaging device 131 in the tilt direction relative to the main body 130 with respect to the tilt axis 133.

[0045] In this way, the imaging drive unit 113 directs the imaging direction of the imaging device 131 downward relative to the main body 130, making it possible to acquire image data near the ground surface during flight. On the other hand, if the imaging drive unit 113 rotates the imaging device 131 relative to the main body 130 so that it faces the direction of travel of the flight imaging device 100, the imaging device 131 can detect whether there are any obstacles in the direction of travel.

[0046] Figures 2(A) and 2(B) show the state before and after the imaging drive unit 113 rotates the imaging device 131 90 degrees relative to the main body 130 in the panning direction around a pan axis (not shown). By rotating the imaging drive unit 113 around the pan axis relative to the main body 130 in the panning direction, it is possible to select whether the direction of the long side or the short side of the captured image is parallel to the direction of movement of the main body 130.

[0047] Here, we will explain why flying in a crosswind consumes a lot of energy. When flying in a crosswind, the aircraft needs to be tilted in a rotational direction with the direction of travel as the axis. In this case, if the imaging direction of the imaging device 131 is pointed vertically downward, the imaging device 131 needs to be driven and controlled using a three-axis drive mechanism, which increases energy consumption. Also, when flying in a crosswind, the tilt direction is reversed on the outward and return flight paths, and the angle of drive becomes larger, so power consumption increases. When there is little crosswind, approximately one axis of drive is sufficient, resulting in a difference in energy consumption. Higher energy consumption means a shorter flight distance with the same battery.

[0048] Furthermore, the imaging device 131 may be configured to include a gimbal mechanism that eliminates fine vibrations that occur during flight between it and the main body 130, thereby enabling imaging with minimal image blur.

[0049] Using Figure 3, the flight path 201 and imaging conditions of the aerial imaging device 100 when acquiring image data of the imaging target area 200 will be explained.

[0050] In Figure 3, the dots scattered along the flight path 201 represent stopping positions. The flight drive unit 112 stops the movement of the flight imaging device 100 at each stopping position (performing stationary flight). Then, as shown below, the flight drive unit 112 drives the imaging device to take images and acquire image data of the area near the ground.

[0051] In Figure 3, the imaging areas captured by the aerial imaging device 100 at positions 202, 204, and 206 are shown as imaging area 203, imaging area 205, and imaging area 207, respectively.

[0052] Here, imaging region 203 and imaging region 205 are adjacent imaging regions on the same path, and imaging is performed such that the imaging regions have a predetermined amount of overlap. In this embodiment, the overlap is set to 60%, but this is not the only setting.

[0053] On the other hand, imaging region 203 and imaging region 207 are adjacent imaging regions on paths in different directions, and imaging is performed such that the imaging regions have a predetermined amount of overlap (side overlap). In this embodiment, the side overlap is set to 30%, but this is not the only setting.

[0054] In this way, the determination unit 115 sets the stopping position so that each imaging area maintains a predetermined amount of overlap, so the aerial imaging device 100 can acquire multiple image data that cover the entire area of ​​the imaging target range 200.

[0055] Furthermore, in this embodiment, the imaging drive unit 113 rotates (drives) the pan angle of the imaging device 131 relative to the main body 130 so that the direction of travel of the aerial imaging device 100 and the short side of the image acquired by the imaging unit 110 are parallel during imaging. Here, the short side of the image acquired by the imaging unit 110 corresponds to the short side of the image sensor 134, and the long side of the image acquired by the imaging unit 110 corresponds to the long side of the image sensor 134.

[0056] By rotating (driving) the pan angle of the imaging device 131 relative to the main body 130, the distance between different paths can be increased, thus minimizing the number of times the aerial imaging device 100 travels back and forth within the imaging target range 200.

[0057] Furthermore, in this embodiment, the determination unit 115 plans that the flight imaging device 100 will perform imaging after stopping its movement at a stopping position in a flight path where it is experiencing a tailwind or headwind relative to the wind direction.

[0058] As described above, in Embodiment 1, the determination unit 115 determines a flight path with a small crosswind component that the flight imaging device experiences, in accordance with the wind information acquired by the wind information acquisition unit. Therefore, the tilt in the rotational direction with respect to the direction of travel can be reduced during flight of the flight imaging device 100, thereby suppressing battery consumption.

[0059] In Figure 3, we explained the case where the wind blows parallel to the direction of the flight path 201 within the imaging target area 200. However, if the wind blows obliquely to the direction of the flight path 201, the wind may be divided into a component perpendicular to the flight path 201 and a component horizontal to the flight path 201, and the planned course may be set in the direction with the larger absolute value. Alternatively, the flight path may be planned to be selected in an oblique direction.

[0060] Alternatively, the aircraft may continue flying along the flight path 201 without stopping, and the control unit 116 may control the imaging unit 110 to take images at predetermined time intervals based on wind direction, which is wind information. In this case, it is conceivable to change the time interval for taking images based on the direction of travel (wind direction) as follows: That is, by setting the time interval for flying against a headwind to be longer than the time interval for flying with a tailwind, the imaging area can maintain a predetermined amount of overlap.

[0061] Figure 5 illustrates a flowchart showing the process for determining the flight plan according to this embodiment.

[0062] First, in S501, the control unit 116 acquires the imaging target range input by the user. In this embodiment, it is assumed that the user specifies the imaging range from a satellite image captured in advance using an external device 121, and sends this as coordinate information converted to latitude and longitude to the aerial imaging device 100. However, this is not the only option; for example, the aerial imaging device 110 itself may determine the imaging target range from an overhead image captured from above.

[0063] Next, in S502, the wind information acquisition unit 114 acquires wind direction and wind speed information for the area that includes the imaging target range. In this embodiment, wind information is obtained from a weather information server located on the internet via the network 120 and the communication unit 118.

[0064] However, the method for acquiring wind information is not limited to the method described above. For example, the wind information acquisition unit 114 may acquire measurement results from an anemometer installed in the area including the imaging target range via an external device 121, a network 120, and a communication unit 118. Furthermore, if the aerial imaging device 100 itself is equipped with an anemometer, the wind information acquisition unit 114 may acquire measurement results from the anemometer.

[0065] Next, in S503, the determination unit 115 determines the flight conditions and imaging conditions to cover the imaging target range.

[0066] As explained using Figure 3, the determination unit 115 determines the flight path and the panning direction of the imaging device 131 from the wind direction information of the region that includes the imaging target area.

[0067] Next, the determination unit 115 determines the flight altitude and zoom magnification to obtain the desired resolution, and determines the size of the imaging area that can be imaged in one pass.

[0068] Next, the stopping positions for imaging, as well as the spacing between each stopping position, are determined so that the predetermined overlap and side overlap are ensured. In this case, for paths with a tailwind, the stopping position spacing is set to provide a larger overlap than predetermined according to the expected wind speed, so that the predetermined overlap can be ensured even if the aircraft is blown downwind by the wind.

[0069] In S503, once the decision unit 115 has finished determining the flight plan, this flow terminates.

[0070] Next, Figure 5 illustrates the flow of flight based on the decided flight plan using a flowchart.

[0071] First, at S601, the flight drive unit 112 initiates the flight imaging device 100 to begin flying (moving) toward the stopping position. At this time, the flight drive unit 112 starts executing automatic position control to automatically move the flight imaging device 100 to the stopping position based on the acquired position information of the stopping position.

[0072] Next, in S602, the flight drive unit 112 determines whether the flight imaging device 100 has reached the stopping position and stopped moving.

[0073] If the flight drive unit 112 determines that the flight imaging device 100 has reached the stopping position and stopped moving, it proceeds to S603. In this embodiment, the flight drive unit 112 acquires position information of the flight imaging device 100 using a GPS located on the main body 130. The flight drive unit 112 determines whether the flight imaging device 100 has reached the stopping position and stopped moving by checking whether the difference between the acquired position information and the position information of the stopping position is within a predetermined range for a predetermined time. However, for example, it may also be determined whether the flight imaging device 100 has reached the stopping position and stopped moving based on the change in movement speed and movement time.

[0074] If the flight drive unit 112 determines in S602 that the flight imaging device 100 has stopped moving, the process proceeds to S603.

[0075] Next, in S603, the control unit 116 checks whether the aircraft's attitude is stable and whether the imaging direction of the imaging device 131 is facing a predetermined direction. The predetermined direction is basically vertically downward, but is not limited to this.

[0076] If, in S603, the control unit 116 confirms that there are no problems with the aircraft's attitude or imaging direction, then in S604, the imaging unit 110 performs imaging.

[0077] By having the aerial imaging device 100 perform imaging at a stationary position, it is possible to obtain images with less blur compared to when imaging is performed while moving. This makes it possible to generate high-quality terrain information.

[0078] Next, in S605, the imaging unit 110 acquires the captured image data, and in S606, it acquires the position information of the aerial imaging device 100 at the time of imaging.

[0079] Next, in S607, the control unit 116 determines whether all imaging has been completed.

[0080] If the control unit 116 determines that all imaging is complete, it proceeds to S608, the flight drive unit 112 returns the flight imaging device 100 to the base station, and this flowchart ends. If the control unit 116 determines that all imaging is not yet complete, it returns to the process in S6601.

[0081] Returning to S601, the flight drive unit 112 moves the flight imaging device 100 to the next stopping position and continues the execution of automatic position control.

[0082] If imaging is determined to be complete in S607, the process proceeds to S608. In S608, the aerial imaging device 100 returns to the base. After returning to the base, the generation unit generates terrain information. Generating terrain information while the aerial imaging device 100 is in flight would increase the amount of data processing required, potentially affecting stable flight. Therefore, it is preferable to generate the terrain information after returning to the base. However, it is also acceptable to generate the terrain information during flight before returning to the base.

[0083] <Embodiment 2> In Embodiment 2, when the flight drive unit 112 determines that the aerial imaging device 100 has stopped moving, the flight drive unit 112 is configured to stop the execution of automatic position control. This is because if automatic position control of the aerial imaging device 100 is continued during imaging, the flight drive unit 112 will tilt the attitude of the aerial imaging device 100 in order to correct the position change, which may take time before stable imaging can be achieved. Note that the other configurations are the same as in Embodiment 1, so a description will be omitted.

[0084] Figure 6 illustrates the flow of flight based on the determined flight plan in Embodiment 2 using a flowchart.

[0085] First, at S701, the flight drive unit 112 initiates the flight imaging device 100 to begin flying (moving) toward the stopping position. At this time, the flight drive unit 112 starts executing automatic position control to automatically move the flight imaging device 100 to the stopping position based on the acquired position information of the stopping position.

[0086] Next, in S702, the flight drive unit 112 determines whether the flight imaging device 100 has reached the stopping position and stopped moving.

[0087] If the flight drive unit 112 determines that the flight imaging device 100 has reached the stopping position and stopped moving, it proceeds to S703. In this embodiment, the flight drive unit 112 acquires position information of the flight imaging device 100 using a GPS located on the main body 130. The flight drive unit 112 determines whether the flight imaging device 100 has reached the stopping position and stopped moving by checking whether the difference between the acquired position information and the position information of the stopping position is within a predetermined range for a predetermined time. However, for example, it may also be determined whether the flight imaging device 100 has reached the stopping position and stopped moving based on the change in movement speed and movement time.

[0088] If the flight drive unit 112 determines in S702 that the flight imaging device 100 has stopped moving, the flight drive unit 112 stops executing automatic position control in S703. If automatic position control of the flight imaging device 100 continues, the flight drive unit 112 will tilt the aircraft's attitude to correct the position change, and it will take time until stable imaging is achieved. If the wind speed and direction immediately before stopping the execution of automatic position control do not change after stopping the execution of automatic position control, the flight imaging device 100 will remain at the stopped position. This is because the balance between the force trying to move the flight imaging device 100 due to the wind and the thrust force of the flight imaging device 100 that pushes it in the opposite direction to the wind force is maintained. Since the execution of automatic position control is stopped, the amount of tilt of the flight imaging device 100 does not change even if there are changes in wind speed and direction, so imaging can start in a short time, and even if there are wind changes during this time, the distance it is blown away can be shortened.

[0089] Next, in S704, the control unit 116 checks whether the aircraft's attitude is stable and whether the imaging direction of the imaging device 131 is facing a predetermined direction. The predetermined direction is basically vertically downward, but is not limited to this.

[0090] If, in S704, the control unit 116 confirms that there are no problems with the aircraft's attitude or imaging direction, then in S705, the imaging unit 110 performs imaging.

[0091] Next, in S706, the imaging unit 110 acquires the captured image data, and in S707, it acquires the position information of the aerial imaging device 100 at the time of imaging.

[0092] Next, in S708, the control unit 116 determines whether all imaging has been completed.

[0093] If the control unit 116 determines that all imaging is complete, it proceeds to S710, the flight drive unit 112 returns the flight imaging device 100 to the base station, and this flowchart ends. If the control unit 116 determines that all imaging is not yet complete, it proceeds to S609.

[0094] In S709, the determination unit 115 corrects the next stop position based on the difference between the position information of the next stop position and the position information of the position where the current image was taken, which was acquired in S707. This is because, in S703, in order to avoid unstable imaging associated with automatic position control, the execution of automatic position control by the flight drive unit 112 is stopped, and there is a possibility that the imaging position may have shifted from the stop position by the amount of wind fluctuations.

[0095] After the determination unit 115 corrects the next stopping position in S709, the control unit 116 returns the process to S701, and the flight drive unit 112 moves the flight imaging device 100 to the next stopping position and starts the execution of automatic position control.

[0096] The configuration of the second embodiment has been described above. With this configuration, the attitude of the aerial imaging device 100 during imaging can be stabilized, thereby shortening the time until imaging and reducing energy consumption. This embodiment includes the following in-flight imaging device, control method for the in-flight imaging device, and program.

[0097] (Composition 1) An aerial imaging device that performs imaging by flying over the target area, A wind information acquisition unit that acquires wind information related to the imaging target range, A determination unit determines the flight path of the flight imaging device according to the wind information acquired by the wind information acquisition unit, A control unit that controls the flight imaging device based on the aforementioned flight path, The aforementioned in-flight imaging device includes an imaging unit that captures image data while in flight, The control unit controls the imaging unit based on the wind information. An aerial imaging device characterized by the following features. (Configuration 2) The aerial imaging device according to configuration 1, further comprising a generation unit that generates terrain information from the image data captured by the imaging unit. (Composition 3) The determination unit determines the stopping position set in the flight path where the flight imaging device will stop moving. The imaging unit is characterized in that it takes images when the aerial imaging device has stopped moving at the stop position, as described in Configuration 1 or Configuration 2 of the aerial imaging device. (Composition 4) The aerial imaging device according to configuration 2, characterized in that the terrain information is an overhead view image or point cloud data obtained by combining a plurality of image data captured by dividing the target imaging area. (Composition 5) The aerial imaging device further comprises an imaging device and an imaging drive unit that drives the imaging device in the tilt direction and the pan direction relative to the aerial imaging device, and the imaging drive unit drives the imaging device so that the imaging direction of the imaging device during imaging is a predetermined direction, as described in any one of configurations 1 to 4. (Composition 6) The aerial imaging device further comprises an imaging device having an image sensor, and an imaging drive unit that drives the imaging device in the tilt direction and the pan direction relative to the aerial imaging device, and the imaging drive unit drives the imaging device such that the direction of the short side of the image sensor during imaging is parallel to the direction of the flight path of the aerial imaging device, as described in any one of configurations 1 to 4. (Composition 7) The flight imaging device according to any one of configurations 1 to 6, wherein the wind information includes wind speed information and wind direction information, and the determination unit determines the flight path with a small crosswind component that the flight imaging device receives, based on the wind direction acquired by the wind information acquisition unit. (Composition 8) The aerial imaging device according to configuration 3, characterized in that the stopping position corresponds to the latitude and longitude within the imaging target range. (Composition 9) The control unit repeatedly acquires position information of the aerial imaging device, and based on the position information, performs automatic position control to automatically move the position of the aerial imaging device until it stops at the stop position, and after the aerial imaging device has stopped at the stop position, it does not perform the automatic position control until the imaging is completed, as described in configuration 3 or configuration 8 of the aerial imaging device. (Composition 10) The flight imaging device according to configuration 9, characterized in that the determination unit corrects the next stop position based on the position information of the next stop position and the position information of the position where the current image was taken. (Composition 11) The flight imaging device according to configuration 2, characterized in that the generation unit generates the terrain information when the flight imaging device is not in flight. (Composition 12) A control method for an aerial imaging device that performs imaging by flying over an imaging target area, An acquisition step to acquire wind information relating to the imaging target range, A determination step of determining the flight path of the flight imaging device according to the acquired wind information, A control step for controlling the flight imaging device based on the aforementioned flight path, A method for controlling an aerial imaging device, characterized in that the aerial imaging device has an imaging step of capturing image data based on wind information while the aerial imaging device is in flight. (Composition 13) A program for causing a computer to execute each step of a control method for an aerial imaging device that flies over an imaging target area and performs imaging, wherein the program causes the computer to: An acquisition step to acquire wind information relating to the imaging target range, A determination step of determining the flight path of the flight imaging device according to the acquired wind information, A control step for controlling the flight imaging device based on the aforementioned flight path, A program characterized by causing the aforementioned in-flight imaging device to perform an imaging step of capturing image data based on the wind information while in flight.

[0098] Although this embodiment has been described above, this embodiment is not limited to the configuration described above, and various modifications and changes are possible within the scope of its essence. [Explanation of symbols]

[0099] Aerial imaging device 100 Imaging unit 110 Generation section 111 Flight drive unit 112 Wind information acquisition section 114 Decision Section 115

Claims

1. An aerial imaging device that performs imaging by flying over the target area, A wind information acquisition unit that acquires wind information related to the imaging target range, A determination unit determines the flight path of the flight imaging device according to the wind information acquired by the wind information acquisition unit, A control unit that controls the flight imaging device based on the aforementioned flight path, The aforementioned in-flight imaging device includes an imaging unit that captures image data while in flight, The control unit controls the imaging unit based on the wind information. An aerial imaging device characterized by the following features.

2. The aerial imaging device according to claim 1, further comprising a generation unit that generates terrain information from the image data captured by the imaging unit.

3. The determination unit determines the stopping position set in the flight path where the flight imaging device will stop moving. The aerial imaging device according to claim 1, characterized in that the imaging unit takes images when the aerial imaging device has stopped moving at the stop position.

4. The aerial imaging device according to claim 2, characterized in that the terrain information is an overhead view image or point cloud data obtained by combining a plurality of image data captured by dividing the target imaging area.

5. The aerial imaging device further comprises an imaging device and an imaging drive unit that drives the imaging device in the tilt direction and the pan direction relative to the aerial imaging device, wherein the imaging drive unit drives the imaging device so that the imaging direction of the imaging device during imaging is a predetermined direction, as described in claim 1.

6. The aerial imaging device further comprises an imaging device having an image sensor, and an imaging drive unit that drives the imaging device relative to the aerial imaging device in the tilt direction and the pan direction, respectively, wherein the imaging drive unit drives the imaging device such that the direction of the short side of the image sensor during imaging is parallel to the direction of the flight path of the aerial imaging device, as described in claim 1.

7. The flight imaging device according to claim 1, wherein the wind information includes wind speed information and wind direction information, and the determination unit determines the flight path with a small crosswind component that the flight imaging device receives, based on the wind direction acquired by the wind information acquisition unit.

8. The aerial imaging device according to claim 3, characterized in that the stopping position corresponds to the latitude and longitude within the imaging target range.

9. The control unit repeatedly acquires position information of the aerial imaging device, and based on the position information, performs automatic position control to automatically move the position of the aerial imaging device until it stops at the stop position, and after the aerial imaging device has stopped at the stop position, it does not perform the automatic position control until the imaging is completed, as described in claim 3.

10. The flight imaging device according to claim 9, characterized in that the determination unit corrects the next stop position based on the position information of the next stop position and the position information of the position where the current image was taken.

11. The aerial imaging device according to claim 2, characterized in that the generation unit generates the terrain information when the aerial imaging device is not in flight.

12. A control method for an aerial imaging device that performs imaging by flying over an imaging target area, A step of acquiring wind information related to the imaging target range, The steps include determining the flight path of the flight imaging device according to the acquired wind information, A step of controlling the flight imaging device based on the aforementioned flight path, A method for controlling an aerial imaging device, characterized by comprising the step of capturing image data based on wind information while the aerial imaging device is in flight.

13. A program for causing a computer to execute each step of a control method for an aerial imaging device that flies over an imaging target area and performs imaging, wherein the program causes the computer to: An acquisition step to acquire wind information relating to the imaging target range, A determination step of determining the flight path of the flight imaging device according to the acquired wind information, A control step for controlling the flight imaging device based on the aforementioned flight path, A program characterized by causing the aforementioned in-flight imaging device to perform an imaging step of capturing image data based on the wind information while in flight.

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