Control device, aircraft system, control method, and program

Abstract

A control device that comprises a processor and a memory that is connected to or housed in the processor. The processor: obtains the vertical position of a marker detected by an optical sensor mounted on a flight vehicle, for a marker that can change position in the vertical direction by using a displacement mechanism; and controls the flight vehicle on the basis of the vertical position of the marker, so as to maintain or change the vertical position of the flight vehicle.

Description

Technical Field

[0001] The technology of the present disclosure relates to a control device, an aircraft system, a control method, and a program.

Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2020-032804 discloses an unmanned flight conveyance device including a flyable aircraft having a plurality of rotary wings, and a fork provided to fly with the aircraft and on which a workpiece is placed.

[0003] Japanese Unexamined Patent Application Publication No. 2017-024616 discloses an aircraft that flies using propulsion force generated by a propulsion device, including an attitude detection unit that detects the attitude of the aircraft, a light receiving unit that receives light, and a flight control unit that controls the propulsion force of the propulsion device based on the attitude angle obtained from the attitude detection unit and the light intensity obtained from the light receiving unit so as to maintain a certain position with respect to a light emitting body that emits light from the aircraft, and controls the position and / or speed of the aircraft.

[0004] Japanese Unexamined Patent Application Publication No. 2019-055780 discloses a control system for an aircraft used for controlling the aircraft, including a landmark unit arranged on the flight route of the aircraft and displaying control information for controlling the aircraft as an image or characters, or a combination thereof, a flight control unit that controls the aircraft based on the control information, an imaging unit that images the image or characters, or a combination thereof displayed on the landmark unit, and a correction unit that corrects the control information based on the positional relationship between the aircraft and the landmark unit when the imaging unit images the image or characters, or a combination thereof.

[0005] Japanese Patent Publication No. 2019-156242 describes a system for an aircraft that flies using the driving force of a motor, comprising a ground-based unit installed on the ground and having a power supply device, a cable with a first end connected to the ground-based unit, an aircraft connected to a second end of the cable, a reel device installed on the ground for winding up excess cable, and a controller for operating the aircraft, wherein the aircraft has a DC motor for driving the main rotor, an aircraft altitude measuring means for measuring its own altitude, and an aircraft position determining means for determining its own position, and the reel device has a cylindrical drum on which the cable is wound, a motor for rotating the drum, a rotation sensor capable of measuring the rotation direction and rotation speed of the drum, a current detection means for detecting the current flowing through the motor's coil, and a motor that generates current based on the current value detected by the current detection means. A drone system is disclosed which includes a motor controller that controls the torque, a reel device altitude measuring means for measuring its own altitude, and a reel device position determining means for determining its own position. The motor controller basically controls the motor by generating torque in the direction that the drum winds the cable, so that the current value detected by the current detection means matches a preset standard setting value. When the pilot operates the controller, based on the information obtained from the drone altitude measuring means, the drone position determining means, the reel device altitude measuring means, the reel device position determining means, and the controller operation information, if it is determined that the drone is moving away from the reel device at a predetermined speed or more, the system corrects the detected current value so that the set value becomes smaller than the standard setting value and controls the drone.

[0006] Japanese Patent Publication No. 2018-095105 discloses a safety device for a flying object, which includes a main rope stretched along an object to be inspected, and a connecting rope whose one end is joined to a flying object equipped with an inspection section for inspecting the object to be inspected, and whose other end engages with the main rope so as to be movable in the longitudinal direction of the main rope.

[0007] Japanese Patent Publication No. 2019-144052 describes an inspection device for an object to be inspected, which evaluates the object based on the results of an inspection of the object's condition, comprising: a detection unit that detects the condition of the object to be inspected and generates inspection information representing the condition of the object; an indicator unit provided on the detection unit that indicates the inspection points of the object; an aircraft that moves along the object to be inspected; a power supply unit connected to the aircraft via a wired cable and capable of continuously supplying power to the aircraft; and a plurality of reference points and indicators mounted on the aircraft and set at least two separate locations on the surface of the object to be inspected. An inspection device for an object to be inspected is disclosed, comprising: an imaging unit that captures an area including a target portion and generates image information; a flight control unit that flies an aircraft to a position where an area including a plurality of reference points and an indicator portion can be captured by the imaging unit relative to the object to be inspected; an inspection position information generation unit that generates the relative position of the indicator portion with respect to the positions of a plurality of reference points as inspection position information for the object to be inspected based on the image information captured by the imaging unit; and an inspection object evaluation information generation unit that generates evaluation information for evaluating the state of the object to be inspected by associating the inspection information from the detection unit with the inspection position information. [Overview of the project]

[0008] One embodiment of the technology of this disclosure provides, for example, a control device, an aircraft system, a control method, and a program that can position an aircraft vertically without using a satellite positioning system. [Means for solving the problem]

[0009] A first aspect of the technology of this disclosure is a control device comprising a processor and a memory connected to or built into the processor, wherein the processor acquires the vertical position of a marker whose vertical position is variable by a displacement mechanism, detected by an optical sensor mounted on an aircraft, and controls the aircraft to maintain or change the vertical position of the aircraft based on the vertical position of the marker.

[0010] A second aspect of the technology of this disclosure is a control device according to the first aspect, wherein the optical sensor is a control device having a first imaging device.

[0011] A third aspect of the technology of this disclosure is a control device according to the second aspect, wherein the processor controls the first imaging device to capture an imaging scene that partially includes a marker.

[0012] A fourth aspect of the technology of this disclosure is a control device according to the third aspect, wherein the imaging scene includes a first object to be inspected located around a marker.

[0013] A fifth aspect of the technology of this disclosure is a control device according to the third or fourth aspect, wherein the vertical position of the marker is a position detected based on an image obtained when an imaging scene is captured by the first imaging device.

[0014] A sixth aspect of the technology of this disclosure is a control device according to the fifth aspect, wherein the processor controls the aircraft to set the vertical position of the aircraft at a height such that the marker on the image is positioned in the vertical center of the image.

[0015] A seventh aspect of the technology of this disclosure is a control device relating to any one of the first to sixth aspects, wherein the processor controls the aircraft to set the vertical position of the aircraft to the same position as the vertical position of the marker.

[0016] An eighth aspect of the technology of this disclosure is a control device according to the first or second aspect, wherein the optical sensor has a LiDAR scanner, and the vertical position of the marker is a position detected based on scan data obtained by scanning a target area including part of the marker with the LiDAR scanner.

[0017] A ninth aspect of the technology of this disclosure is a control device relating to any one of the first to eighth aspects, wherein the marker is a control device having a light-emitting element.

[0018] A tenth aspect of the technology of this disclosure is a control device according to the ninth aspect, wherein the processor is a control device that performs a first control on an aircraft according to a first light emission mode of a light emitter.

[0019] An eleventh aspect of the technology of this disclosure is a control device according to the tenth aspect, wherein the first control includes a control for maintaining or changing the vertical position of an aircraft.

[0020] A twelfth aspect of the technology of this disclosure is a control device according to the tenth or eleventh aspect, wherein the first control includes a control for maintaining or changing the speed of the aircraft.

[0021] A thirteenth aspect of the technology of this disclosure is a control device relating to any one of the tenth to twelfth aspects, wherein the first control includes a movement control for moving an aircraft horizontally.

[0022] A fourteenth aspect of the technology of this disclosure is a control device according to the thirteenth aspect, wherein the movement control includes control that adjusts a first distance between the marker and the aircraft by moving the aircraft horizontally.

[0023] A fifteenth aspect of the technology of this disclosure is a control device relating to any one of the tenth to fourteenth aspects, wherein the first light emission mode includes blinking.

[0024] A sixteenth aspect of the technology of this disclosure is a control device relating to any one of the ninth to fifteenth aspects, wherein the processor controls the aircraft to hover in accordance with a second emission mode of the light-emitting element.

[0025] A 17th aspect of the technology of this disclosure is a control device relating to the 16th aspect, wherein the second light emission mode includes a mode in which the light is turned off.

[0026] The 18th aspect of the technology according to the present disclosure is a control device according to any one of the 9th to 17th aspects, wherein the processor performs imaging control to cause a second imaging device mounted on the aircraft to perform imaging for a still image according to the third light emission mode of the light emitter.

[0027] The 19th aspect of the technology according to the present disclosure is a control device according to the 18th aspect, wherein the processor performs imaging control when the aircraft is hovering.

[0028] The 20th aspect of the technology according to the present disclosure is a control device according to the 18th or 19th aspect, wherein the light emitter includes a plurality of light sources, and the third light emission mode is a mode including alternating flashing of the plurality of light sources.

[0029] The 21st aspect of the technology according to the present disclosure is a control device according to any one of the 9th to 20th aspects, wherein the processor performs, according to the fourth light emission mode of the light emitter, control to move the aircraft horizontally while maintaining the vertical position of the aircraft, and control to cause a third imaging device mounted on the aircraft to image a second inspection object, repeatedly.

[0030] The 22nd aspect of the technology according to the present disclosure is an aircraft system including a control device according to any one of the 1st to 21st aspects, a displacement mechanism, a marker, and an aircraft.

[0031] The 23rd aspect of the technology according to the present disclosure is an aircraft system according to the 22nd aspect, wherein the displacement mechanism includes a cable provided with a marker and a reel that winds and unwinds the cable.

[0032] The 24th aspect of the technology according to the present disclosure is an aircraft system according to the 23rd aspect, wherein the displacement mechanism includes a sensor that detects the amount of cable delivered to the reel.

[0033] A 25th aspect of the technology of this disclosure is an aircraft system according to the 22nd aspect, wherein the displacement mechanism includes a lifting mechanism for raising and lowering a marker.

[0034] A 26th aspect of the technology of this disclosure is an aircraft system relating to any one of the 22nd to 25th aspects, wherein the aircraft system is equipped with a rope connecting a displacement mechanism and the aircraft.

[0035] A 27th aspect of the technology of this disclosure is an aircraft system according to the 26th aspect, wherein the displacement mechanism and ropes include a power transmission cable that supplies power to the aircraft.

[0036] A 28th aspect of the technology of this disclosure is an aircraft system relating to any one of the 22nd to 27th aspects, comprising a fourth imaging device provided in a displacement mechanism for imaging the aircraft.

[0037] A 29th aspect of the technology of this disclosure is an aircraft system according to the 28th aspect, wherein the processor controls the aircraft based on images obtained by imaging the aircraft with a fourth imaging device.

[0038] A 30th aspect of the technology of this disclosure is an aircraft system according to the 29th aspect, wherein the processor controls the aircraft to move to the center of the field of view of the fourth imaging device.

[0039] A 31st aspect of the technology of this disclosure is an aircraft system relating to any one of the 28th to 30th aspects, wherein the fourth imaging device is located adjacent to the marker.

[0040] A 32nd aspect of the technology of this disclosure is an aircraft system relating to any one of the 22nd to 31st aspects, wherein the aircraft system is provided with a rangefinder on a displacement mechanism, and the rangefinder measures a second distance between the rangefinder and the aircraft.

[0041] A 33rd aspect of the technology of this disclosure is an aircraft system according to the 32nd aspect, wherein the processor performs a second control over the aircraft based on ranging information obtained by measuring a second distance using a ranging device.

[0042] A 34th aspect of the technology of this disclosure is an aircraft system according to the 33rd aspect, wherein the second control is a control that sets the second distance to a predetermined distance.

[0043] A 35th aspect of the technology of this disclosure is an aircraft system relating to any one of the 32nd to 34th aspects, wherein the ranging device is located adjacent to the marker.

[0044] A 36th aspect of the technology of this disclosure is a control method for a marker whose vertical position is variable by a displacement mechanism, comprising acquiring the vertical position of the marker detected by an optical sensor mounted on an aircraft, and performing control on the aircraft to maintain or change the vertical position of the aircraft based on the vertical position of the marker.

[0045] A 37th aspect of the technology of this disclosure is a program for causing a computer to perform a process that includes obtaining the vertical position of a marker whose vertical position is variable by a displacement mechanism, detected by an optical sensor mounted on an aircraft, and controlling the aircraft to maintain or change its vertical position based on the vertical position of the marker. [Brief explanation of the drawing]

[0046] [Figure 1]This is a side view showing an example of the overall configuration of an inspection system according to one embodiment of the technology disclosed herein. [Figure 2] This block diagram shows an example of the electrical configuration of the imaging support device according to this embodiment. [Figure 3] This block diagram shows an example of the electrical configuration of the lifting device according to this embodiment. [Figure 4] Block diagram showing an example of the electrical configuration of the marker device according to this embodiment. [Figure 5] This block diagram shows an example of the electrical configuration of the imaging rangefinder according to this embodiment. [Figure 6] This block diagram shows an example of the electrical configuration of an aircraft according to this embodiment. [Figure 7] This block diagram shows an example of the functional configuration of the imaging support device according to this embodiment. [Figure 8] This block diagram shows an example of the functional configuration of the lifting device according to this embodiment. [Figure 9] This block diagram shows an example of the functional configuration of the marker device according to this embodiment. [Figure 10] This block diagram shows an example of the functional configuration of the imaging rangefinder according to this embodiment. [Figure 11] This block diagram shows an example of the functional configuration of an aircraft according to this embodiment. [Figure 12] This block diagram shows an example of the operation in which the imaging rangefinder captures an image of an aircraft based on control by the imaging support device according to this embodiment. [Figure 13] This block diagram shows an example of the operation in which the imaging rangefinder measures the distance between the imaging rangefinder and the aircraft based on control by the imaging support device according to this embodiment. [Figure 14] This block diagram shows an example of the operation of the imaging support device when an operator inputs instructions to the imaging support device according to this embodiment. [Figure 15] This block diagram shows an example of the operation in which the lifting device raises and lowers a marker based on control by the imaging support device according to this embodiment. [Figure 16] This block diagram shows an example of how an aircraft sets its vertical position based on the vertical position of a marker according to this embodiment. [Figure 17] This block diagram shows an example of the operation in which a light-emitting element emits light in a first light-emitting mode based on control by the imaging support device according to this embodiment. [Figure 18] This block diagram shows an example of how an aircraft flies based on the emission of light from the first emission mode of the light-emitting element according to this embodiment. [Figure 19] This block diagram shows an example of an aircraft ascending based on a first example of the first light emission mode of the light-emitting element according to this embodiment. [Figure 20] This block diagram shows an example of an aircraft descending based on a second example of the first light emission mode of the light-emitting element according to this embodiment. [Figure 21] This block diagram shows an example of an aircraft moving to the right based on a third example of the first light emission mode of the light-emitting element according to this embodiment. [Figure 22] This block diagram shows an example of an aircraft moving to the left based on a fourth example of the first light emission mode of the light-emitting element according to this embodiment. [Figure 23] This block diagram shows an example of an aircraft moving forward based on a fifth example of the first light emission mode of the light-emitting element according to this embodiment. [Figure 24] This block diagram shows an example of an aircraft moving backward based on a sixth example of the first light emission mode of the light-emitting body according to this embodiment. [Figure 25] This block diagram shows an example of the operation in which a light-emitting element emits light in a second light-emitting mode based on control by the imaging support device according to this embodiment. [Figure 26] This block diagram shows an example of an aircraft hovering based on a second light emission mode of the light-emitting element according to this embodiment. [Figure 27] This block diagram shows an example of the operation in which a light-emitting element emits light in a third light-emitting mode based on control by the imaging support device according to this embodiment. [Figure 28]This block diagram shows an example of an operation in which an aircraft performs imaging based on a third light emission mode of the light-emitting element according to this embodiment. [Figure 29] This block diagram shows an example of the operation in which a light-emitting element emits light in a fourth light-emitting mode based on control by the imaging support device according to this embodiment. [Figure 30] This block diagram shows an example of an aircraft moving laterally and taking images based on a fourth light emission mode of the light-emitting element according to this embodiment. [Figure 31] This block diagram shows an example of the operation in which the imaging rangefinder captures an image of an aircraft based on control by the imaging support device according to this embodiment. [Figure 32] This block diagram shows an example of the operation in which a light-emitting element emits light in a first or second emission mode based on the positional displacement determination result by the imaging support device according to this embodiment. [Figure 33] This flowchart shows an example of the flow of the first processing step in the imaging support process according to this embodiment. [Figure 34] This flowchart shows an example of the flow of the second processing step in the imaging support process according to this embodiment. [Figure 35] This flowchart shows an example of the flow of the third processing step in the imaging support process according to this embodiment. [Figure 36] This flowchart shows an example of the flow of the fourth processing step in the imaging support process according to this embodiment. [Figure 37] This flowchart shows an example of the lifting and lowering process according to this embodiment. [Figure 38] This flowchart shows an example of the flow of the light emission mode control process according to this embodiment. [Figure 39] This flowchart shows an example of the image imaging and distance measurement process according to this embodiment. [Figure 40] This flowchart shows an example of the flow of the first processing step in the aerial imaging process according to this embodiment. [Figure 41] This flowchart shows an example of the flow of the second processing step in the aerial imaging processing according to this embodiment. [Figure 42]This flowchart shows an example of the flow of the third processing step in the flight imaging process according to this embodiment. [Figure 43] This is a side view showing an example in which a LiDAR scanner is mounted on the aircraft as a first modification of this embodiment. [Figure 44] This is a side view showing an example in which a lifting device having a ladder is used as a second modification of this embodiment. [Modes for carrying out the invention]

[0047] Hereinafter, an example of an embodiment of the control device, aircraft system, control method, and program relating to the technology of this disclosure will be described with reference to the attached drawings.

[0048] First, let's explain the terminology used in the following explanation.

[0049] CPU stands for "Central Processing Unit". GPU stands for "Graphics Processing Unit". RAM stands for "Random Access Memory". IC stands for "Integrated Circuit". ASIC stands for "Application Specific Integrated Circuit". PLD stands for "Programmable Logic Device". FPGA stands for "Field-Programmable Gate Array". SoC stands for "System-on-a-chip". SSD stands for "Solid State Drive". HDD stands for "Hard Disk Drive". EEPROM stands for "Electrically Erasable and Programmable Read Only Memory". SRAM stands for "Static Random Access Memory". I / F stands for "Interface". USB stands for "Universal Serial Bus". CMOS stands for "Complementary Metal Oxide Semiconductor." CCD stands for "Charge Coupled Device." LED stands for "light emitting diode." EL stands for "Electro Luminescence." LiDAR stands for "light detection and ranging."

[0050] In this specification, “vertical” means vertical in the sense of including errors that are generally acceptable in the art to which the disclosed technology belongs, but not contrary to the spirit of the disclosed technology, in addition to perfect verticality. In this specification, “vertical position” means vertical in the sense of including errors that are generally acceptable in the art to which the disclosed technology belongs, but not contrary to the spirit of the disclosed technology, in addition to perfect vertical position. In this specification, “parallel” means parallel in the sense of including errors that are generally acceptable in the art to which the disclosed technology belongs, but not contrary to the spirit of the disclosed technology, in addition to perfect parallelism. In this specification, “horizontal” means horizontal in the sense of including errors that are generally acceptable in the art to which the disclosed technology belongs, but not contrary to the spirit of the disclosed technology, in addition to perfect horizontality.

[0051] As an example, as shown in Figure 1, an inspection system 1 according to one embodiment of the technology of this disclosure includes an imaging system S and an image analysis device 230, and inspects an object to be inspected 3.

[0052] For example, inspection target 3 is a bridge pier of bridge 5. For example, the bridge pier is made of reinforced concrete. Here, a bridge pier is given as an example of inspection target 3, but inspection target 3 may be other road facilities besides bridge piers. Examples of road facilities include road surfaces, tunnels, guardrails, traffic lights, and / or windbreak fences. Inspection target 3 may also be social infrastructure other than road facilities (e.g., airport facilities, port facilities, water storage facilities, gas facilities, medical facilities, fire-fighting facilities, and / or educational facilities), or it may be privately owned property. In addition, inspection target 3 may be land (e.g., state-owned land and / or privately owned land). The bridge pier exemplified as inspection target 3 may be a bridge pier made of a material other than reinforced concrete.

[0053] In this embodiment, inspection refers to, for example, an inspection of the condition of the object to be inspected 3. For example, the inspection system 1 checks for the presence and / or extent of damage to the object to be inspected 3. The object to be inspected 3 is an example of an "object to be inspected" related to the technology of this disclosure.

[0054] The imaging system S comprises an imaging support device 10, a power supply device 40, a lifting device 50, a marker device 90, an imaging rangefinder 130, and an aircraft 180. The aircraft 180 has the function of imaging a subject (in the example shown in Figure 1, the object to be inspected 3). The imaging system S is a system that provides an image obtained by imaging the object to be inspected 3 by the aircraft 180 to an image analysis device 230. The image analysis device 230 performs image analysis processing on the image provided by the inspection system 1 to check for the presence and / or degree of damage to the object to be inspected 3, and outputs the inspection results. As an example, the image analysis processing is a process that analyzes images using artificial intelligence or the like. The imaging system S is an example of an "aircraft system" related to the technology of this disclosure.

[0055] The imaging support device 10 is, for example, a notebook personal computer. Here, a notebook personal computer is used as an example of the imaging support device 10, but this is merely an example, and it may also be a desktop personal computer. Furthermore, it is not limited to a personal computer; it may also be a server. The server may be a mainframe, or an external server implemented by cloud computing. Alternatively, the server may be an external server implemented by network computing such as fog computing, edge computing, or grid computing. The imaging support device 10 may also be a tablet terminal and / or a smartphone. The imaging support device 10 is communicated with the lifting device 50, the marker device 90, the imaging distance measuring device 130, and the image analysis device 230.

[0056] Operator 7 operates the imaging support device 10. The imaging support device 10 transmits various commands to the lifting device 50, the marker device 90, and the imaging distance measuring device 130 in response to the operations performed by operator 7. In the example shown in Figure 1, operator 7, who operates the imaging support device 10, is on the bridge girder of the bridge 5, but operator 7 may also be on the ground (for example, the ground below the bridge girder) or in a remote location away from the bridge 5. The remote location away from the bridge 5 only needs to be a location from which the imaging support device 10 can communicate with the lifting device 50, the marker device 90, the imaging distance measuring device 130, and the image analysis device 230.

[0057] The power supply unit 40 is connected to the lifting device 50 via a power cable 42. The power supply unit 40 is, for example, a battery or a generator, and supplies DC power to the lifting device 50. In the example shown in Figure 1, the power supply unit 40 is located on the bridge girder, but the power supply unit 40 may be located on the ground or in a remote location away from the bridge 5.

[0058] The lifting device 50 comprises an electric reel mechanism 54 and a cable 86. The electric reel mechanism 54 has a reel 82. The reel 82 is formed in a drum shape and rotates selectively in both directions, a first direction and a second direction, by the power of the electric reel mechanism 54. The cable 86 is wound around the reel 82. When the reel 82 rotates in the first direction, the cable 86 is wound onto the reel 82, and when the reel 82 rotates in the second direction opposite to the first direction, the cable 86 is fed out from the reel 82. As an example, the lifting device 50 is positioned on a bridge girder, and the cable 86 hangs down below the bridge girder along the bridge pier. The lifting device 50 is an example of a "lifting mechanism" and a "displacement mechanism" related to the technology of this disclosure.

[0059] The marker device 90 is attached to the cable 86. The marker device 90 is equipped with a marker 94. Callout B in Figure 1 shows a view of the marker 94 from direction AA (i.e., a front view of the marker 94). The marker 94 is a triangular plate when viewed from the front. The marker 94 is positioned parallel to the surface 3A of the object to be inspected 3. In the example shown in Figure 1, the aircraft 180 is positioned in front of the marker 94. In the following explanation, unless otherwise specified, it is assumed that the aircraft 180 is positioned in front of the marker 94. In the following explanation, it is also assumed that the aircraft 180 flies in a direction such that the marker 94 is positioned in front of the aircraft 180. In the following explanation, unless otherwise specified, it is assumed that the aircraft 180 is at a predetermined distance from the marker 94. The predetermined separation distance refers to a distance that has been determined in advance through actual aircraft testing and / or computer simulations, for example, the distance at which the entire marker 94 fits within the imaging range when the marker 94 is imaged by the aircraft 180, and the position of the marker 94 falls within the depth of field.

[0060] The imaging rangefinder 130 is attached to the cable 86. The imaging rangefinder 130 is positioned adjacent to the marker 94. In the example shown in Figure 1, the imaging rangefinder 130 is positioned above the marker 94, but it may also be positioned below the marker 94. Alternatively, the imaging rangefinder 130 may be positioned to the side of the marker 94. In this case, the imaging rangefinder 130 can be held to the side of the marker 94 by a bracket attached to the cable 86. Also, in the example shown in Figure 1, the imaging rangefinder 130 is separate from the marker device 90, but it may also be integrated with the marker device 90. For example, when the imaging rangefinder 130 is positioned adjacent to the marker 94, it is preferable that the total length of the aircraft 180 is approximately 30 cm, and the aircraft 180 and imagingWhen the distance between the distance measuring device 130 and the marker 94 is approximately 100 cm, the distance between the imaging distance measuring device 130 and the marker 94 should be within 20 cm, and more preferably within 17 cm. Furthermore, regarding the distance between the imaging distance measuring device 130 and the marker 94, a calibration process of the position information added to the image may be performed so that the center of the image acquired by the imaging distance measuring device 130 becomes the center of the marker 94.

[0061] The imaging distance measuring device 130 comprises an imaging device 160 and a distance measuring device 170. The imaging device 160 is a device having an imaging function. The imaging function of the imaging device 160 is realized by, for example, a digital camera or a video camera. The imaging device 160 is an example of the "fourth imaging device" related to the technology of this disclosure. The distance measuring device 170 is a device having a distance measuring function. The distance measuring function of the distance measuring device 170 is realized by, for example, an ultrasonic distance measuring device, a laser distance measuring device, or a radar distance measuring device. A LiDAR scanner may be used as the distance measuring device 170.

[0062] The imaging device 160 images the aircraft 180, and the rangefinder 170 measures the distance between the rangefinder 170 and the aircraft 180. The orientation of the imaging device 160 and the rangefinder 170 are set as follows: The orientation of the imaging device 160 is set so that the aircraft 180 is within the imaging range 160A of the imaging device 160 when the aircraft 180 is positioned in front of the marker 94 and is separated from the marker 94 by a predetermined distance. Similarly, the orientation of the rangefinder 170 is set so that the aircraft 180 is within the ranging range 170A of the rangefinder 170 when the aircraft 180 is positioned in front of the marker 94 and is separated from the marker 94 by a predetermined distance.

[0063] As an example, in the example shown in Figure 1, the imaging device 160 is fixed to the cable 86 so that it is angled downwards with respect to the horizontal direction when the cable 86 is parallel to the vertical direction. However, this is merely an example, and the imaging device 160 may also be fixed to the cable 86 so that it is horizontal when the cable 86 is parallel to the vertical direction. Similarly, the distance measuring device 170 is fixed to the cable 86 so that it is angled downwards with respect to the horizontal direction when the cable 86 is parallel to the vertical direction. However, this is merely an example, and the distance measuring device 170 may also be fixed to the cable 86 so that it is horizontal when the cable 86 is parallel to the vertical direction.

[0064] For example, in the example shown in Figure 1, the imaging distance measuring device 130 includes an imaging device 160 and a distance measuring device 170. However, this is merely an example, and the imaging distance measuring device 130 may be an imaging device equipped with both imaging and distance measuring functions. Examples of imaging devices equipped with both imaging and distance measuring functions include stereo cameras and phase-difference pixel cameras.

[0065] When the reel 82 of the lifting device 50 rotates in a first direction, the cable 86 is wound onto the reel 82, causing the marker device 90 and the imaging rangefinder 130 to rise. Conversely, when the reel 82 of the lifting device 50 rotates in a second direction, the cable 86 is unwound from the reel 82, causing the marker device 90 and the imaging rangefinder 130 to descend. The vertical position of the marker 94 is variable by the lifting device 50. That is, when the cable 86 is wound onto the reel 82, the vertical position of the marker 94 is changed to the upper vertical side, and when the cable 86 is unwound from the reel 82, the vertical position of the marker 94 is changed to the lower vertical side.

[0066] The aircraft 180 is, for example, an unmanned aerial vehicle such as a drone, and comprises an aircraft body 184 and an imaging device 210. The aircraft body 184 is, for example, a multirotor having multiple rotors 222. The number of multiple rotors 222 is, for example, three or more.

[0067] The imaging device 210 is a device that has an imaging function. The imaging function of the imaging device 210 is realized by, for example, a digital camera or a video camera. In the example shown in Figure 1, the imaging device 210 is mounted on the top of the aircraft body 184, but this is just one example, and the imaging device 210 may also be mounted on the bottom of the aircraft body 184. The imaging device 210 is positioned to image the area in front of the aircraft body 180. In the example shown in Figure 1, the imaging device 210 is fixed to the aircraft body 184 such that the optical axis of the imaging device 210 is horizontal when the aircraft body 180 is horizontal, but this is just one example, and the imaging device 210 may be fixed to the aircraft body 184 such that the optical axis of the imaging device 210 is tilted with respect to the horizontal when the aircraft body 180 is horizontal. The aircraft body 180 may also be equipped with an angle changing mechanism to change the angle of the imaging device 210 with respect to the horizontal. The imaging device 210 is an example of the "optical sensor," "first imaging device," "second imaging device," and "third imaging device" related to the technology of this disclosure.

[0068] The aircraft 180 is connected to the cable 86 via a rope 186. For example, the first end of the rope 186 is connected to the lower part of the aircraft body 184, and the second end of the rope 186 is connected to the cable 86 below the marker device 90. A power transmission cable 44 is provided on the cable 86 and the rope 186. In Figure 1, the power transmission cable 44 is shown as a dashed line (i.e., a dotted line). The power transmission cable 44 may be provided inside the cable 86 and the rope 186, or outside the cable 86 and the rope 186. Alternatively, the power transmission cable 44 itself may be configured as the cable 86 and the rope 186.

[0069] The lifting device 50 has a power supply circuit 64. The power supply circuit 64 is connected to the power supply unit 40 via a power cable 42 and receives power from the power supply unit 40 via the power cable 42. The power supply circuit 64 receives the power supplied from the power supply unit 40 via the power cable 42 as the power to drive the lifting device 50.

[0070] The power supply circuit 64 supplies power received from the power supply unit 40 to various electronic devices mounted on the elevator 50. The power supply circuit 64 is connected to the marker device 90, the imaging rangefinder 130, and the aircraft 180 via the power transmission cable 44. This is merely an example, and the marker device 90, the imaging rangefinder 130, and the aircraft 180 may be connected to the power supply unit 40 without going through the power supply circuit 64. The power supply circuit 64 may be located inside the elevator 50 or outside the elevator 50. The power relay circuit 66 may be located in a power relay device (not shown), which is a separate device from the elevator 50.

[0071] The power supply circuit 64 incorporates a power relay circuit 66. The power relay circuit 66 relays the power supplied from the power supply unit 40 to the power supply circuit 64 via the power cable 42 to the marker device 90, the imaging rangefinder 130, and the aircraft 180. In other words, the power relay circuit 66 supplies the power generated by the power supply unit 40 to the marker device 90, the imaging rangefinder 130, and the aircraft 180 via the power transmission cable 44.

[0072] As an example, as shown in Figure 2, the imaging support device 10 includes a computer 12, a reception device 14, a display 16, an external I / F 18, a first communication I / F 20, a second communication I / F 22, a third communication I / F 24, and a fourth communication I / F 26.

[0073] Computer 12 includes a processor 30, storage 32, and RAM 34. The processor 30, storage 32, RAM 34, external I / F 18, first communication I / F 20, second communication I / F 22, third communication I / F 24, and fourth communication I / F 26 are connected to bus 36. In the example shown in Figure 2, for illustrative purposes, one bus is shown as bus 36, but there may be multiple buses. Bus 36 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0074] The processor 30, for example, has a CPU and controls the entire imaging support device 10. Here, an example is given where the processor 30 has a CPU, but this is only one example. For example, the processor 30 may have both a CPU and a GPU. In this case, for example, the GPU operates under the control of the CPU and is responsible for performing image processing.

[0075] Storage 32 is a non-volatile memory device that stores various programs and parameters. Examples of storage 32 include HDDs and SSDs. Note that HDDs and SSDs are merely examples, and flash memory, magnetoresistive memory, and / or ferroelectric memory may be used instead of, or in conjunction with, HDDs and / or SSDs.

[0076] RAM34 is memory that temporarily stores information and is used as work memory by the processor 30. Examples of RAM34 include DRAM and / or SRAM.

[0077] The reception device 14 has a keyboard, mouse, and touchpad, and receives instructions from the worker 7. The display 16 displays various information (e.g., images and text) under the control of the processor 30. Examples of the display 16 include EL displays (e.g., organic EL displays or inorganic EL displays). However, it is not limited to EL displays; other types of displays such as liquid crystal displays may also be used.

[0078] The external I / F 18 is responsible for the exchange of various types of information between the imaging support device 10 and devices located outside of it (e.g., smart devices, personal computers, servers, USB memory sticks, memory cards, and / or printers). An example of the external I / F 18 is a USB interface. Various devices (not shown) such as smart devices, personal computers, servers, USB memory sticks, memory cards, and / or printers are directly or indirectly connected to the USB interface.

[0079] The first communication interface 20 is connected to the lifting device 50 in a communicative manner. Here, the first communication interface 20 is connected to the lifting device 50 in a wireless communication manner using a predetermined wireless communication standard. A predetermined wireless communication standard is, for example, Bluetooth®. However, other wireless communication standards (for example, Wi-Fi or 5G) may also be used. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The first communication interface 20 is responsible for the exchange of information with the lifting device 50. For example, the first communication interface 20 transmits information to the lifting device 50 in response to a request from the processor 30. The first communication interface 20 also receives information transmitted from the lifting device 50 and outputs the received information to the processor 30 via the bus 36.

[0080] The second communication interface 22 is connected to the marker device 90 in a communicative manner. Here, the second communication interface 22 is connected to the marker device 90 in a wireless communication manner using a predetermined wireless communication standard. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The second communication interface 22 is responsible for the exchange of information with the marker device 90. For example, the second communication interface 22 transmits information to the marker device 90 in response to a request from the processor 30. The second communication interface 22 also receives information transmitted from the marker device 90 and outputs the received information to the processor 30 via the bus 36.

[0081] The third communication interface 24 is connected to the imaging rangefinder 130 in a communicative manner. Here, the third communication interface 24 is connected to the imaging rangefinder 130 wirelessly using a predetermined wireless communication standard. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The third communication interface 24 is responsible for the exchange of information with the imaging rangefinder 130. For example, the third communication interface 24 transmits information to the imaging rangefinder 130 in response to a request from the processor 30. The third communication interface 24 also receives information transmitted from the imaging rangefinder 130 and outputs the received information to the processor 30 via the bus 36.

[0082] The fourth communication interface 26 is connected to the image analysis device 230 in a communicative manner. Here, the fourth communication interface 26 is connected to the image analysis device 230 wirelessly using a predetermined wireless communication standard. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The fourth communication interface 26 is responsible for the exchange of information with the image analysis device 230. For example, the fourth communication interface 26 transmits information to the image analysis device 230 in response to a request from the processor 30. The fourth communication interface 26 also receives information transmitted from the image analysis device 230 and outputs the received information to the processor 30 via the bus 36.

[0083] As an example, as shown in Figure 3, the lifting device 50 includes a computer 52, an electric reel mechanism 54, a motor driver 56, a sensor 58, an input / output interface 60, a communication interface 62, and a power supply circuit 64.

[0084] Computer 52 comprises a processor 70, storage 72, and RAM 74. The processor 70, storage 72, and RAM 74 are interconnected via a bus 76, which is connected to an input / output interface 60. In the example shown in Figure 3, for illustrative purposes, only one bus is shown as bus 76, but there may be multiple buses. Bus 76 may be a serial bus or a parallel bus including a data bus, address bus, and control bus, etc.

[0085] Storage 72 is a non-temporary storage medium that stores various parameters and programs. For example, storage 72 is an EEPROM. However, this is merely one example, and an HDD and / or SSD may be used as storage 72 instead of, or in conjunction with, an EEPROM. RAM 74 temporarily stores various information and is used as work memory.

[0086] The processor 70, for example, has a CPU. The processor 70 reads the necessary program from the storage 72 and executes the read program in the RAM 74. The processor 70 controls the entire lifting device 50 according to the program executed on the RAM 74.

[0087] The electric reel mechanism 54 includes a reel 82 and a motor 84. The reel 82 is connected to the motor 84 via a reduction mechanism (not shown). The motor 84 is, for example, a DC brushed motor, a brushless motor, or a stepping motor. The motor driver 56 and sensor 58 are connected to the processor 70 via an input / output interface 60 and a bus 76. The motor driver 56 controls the motor 84 according to instructions from the processor 70.

[0088] Sensor 58 is a sensor that has the function of detecting the amount of rotation, such as a rotary encoder, potentiometer, or pickup sensor. Sensor 58 detects the amount of rotation of the reel 82 and outputs a signal to the processor 70 corresponding to the detected amount of rotation. The amount of rotation of the reel 82 is proportional to the amount of cable 86 (see Figure 1) fed out from the reel 82. Alternatively, instead of sensor 58, a scale indicating the amount of rotation of the reel 82 may be provided on the reel 82. If a scale indicating the amount of rotation of the reel 82 is provided on the reel 82, the operator 7 (see Figure 1) can understand the amount of rotation of the reel 82, and therefore the amount of cable 86 fed out, by checking the scale. In addition, instead of the electric reel mechanism 54, a manual reel mechanism that rotates the reel 82 manually may be used. If a manual reel mechanism is used, the operator 7 can wind up and feed out the cable 86 from the reel 82 by manually rotating the reel 82.

[0089] The communication interface 62 controls the transmission and reception of information between the lifting device 50 and the imaging support device 10. The communication interface 62 is responsible for the exchange of information between the processor 30 of the imaging support device 10 (see Figure 2) and the processor 70 of the lifting device 50. For example, the communication interface 62 transmits information to the imaging support device 10 in response to a request from the processor 70. The communication interface 62 also receives information transmitted from the processor 30 of the imaging support device 10 via the first communication interface 20 (see Figure 2) and outputs the received information to the processor 70 via the bus 76.

[0090] The power supply circuit 64 is connected to the power supply unit 40 via the power cable 42. DC power is supplied to the power supply circuit 64 from the power supply unit 40 via the power cable 42. When DC power is supplied to the power supply circuit 64, DC power is supplied to each part of the lifting device 50. In addition, the marker device 90, the imaging rangefinder 130, and the aircraft 180 are connected to the power supply circuit 64 via the power transmission cable 44.

[0091] As an example, as shown in Figure 4, the marker device 90 includes a computer 92, a marker 94, a light-emitting control circuit 96, an input / output I / F 100, a communication I / F 102, and a power supply circuit 104.

[0092] Computer 92 comprises a processor 110, storage 112, and RAM 114. The processor 110, storage 112, and RAM 114 are interconnected via a bus 116, which is connected to an input / output interface 100. In the example shown in Figure 4, for illustrative purposes, only one bus is shown as bus 116, but there may be multiple buses. Bus 116 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0093] Storage 112 is a non-temporary storage medium that stores various parameters and programs. For example, storage 112 is an EEPROM. However, this is merely an example, and an HDD and / or SSD may be used as storage 112 instead of, or in conjunction with, an EEPROM. RAM 114 temporarily stores various information and is used as work memory.

[0094] The processor 110 has, for example, a CPU. The processor 110 reads the necessary program from the storage 112 and executes the read program in the RAM 114. The processor 110 controls the entire marker device 90 according to the program executed on the RAM 114.

[0095] The marker 94 has a light-emitting body 120. The light-emitting body 120 includes a plurality of light sources 122A and 122B. In the example shown in Figure 4, two light sources 122A and 122B are provided on the light-emitting body 120, but the number of light sources 122A and 122B may be three or more. The light sources 122A and 122B are, for example, LEDs or filament bulbs. Hereafter, one of the two light sources 122A and 122B will be referred to as the first light source 122A, and the other of the two light sources 122A and 122B will be referred to as the second light source 122B. The light-emitting body control circuit 96 is connected to the processor 110 via an input / output I / F 100 and a bus 116.

[0096] The light-emitting circuit control 96 controls the light-emitting element 120 according to instructions from the processor 110. Specifically, the light-emitting circuit control 96 outputs a first control signal to the first light source 122A and a second control signal to the second light source 122B. The light-emitting circuit control 96 switches the level of the first control signal between a HIGH level (hereinafter referred to as the H level) and a LOW level (hereinafter referred to as the L level). The first light source 122A lights up when the first control signal is at the H level and turns off when the first control signal is at the L level. When the first control signal is maintained at the H level, the first light source 122A remains lit, and when the first control signal is maintained at the L level, the first light source 122A remains off. Also, when the first control signal repeatedly switches alternately between the H level and the L level, the first light source 122A blinks.

[0097] Similarly, the light-emitting control circuit 96 switches the level of the second control signal between H level and L level. The second light source 122B lights up when the second control signal is at H level and turns off when the second control signal is at L level. When the second control signal is maintained at H level, the second light source 122B remains lit, and when the second control signal is maintained at L level, the second light source 122B remains off. Also, when the second control signal repeatedly switches alternately between H level and L level, the second light source 122B blinks.

[0098] The communication interface 102 controls the transmission and reception of information between the marker device 90 and the imaging support device 10. The communication interface 102 is responsible for the exchange of information between the processor 30 of the imaging support device 10 (see Figure 2) and the processor 110 of the marker device 90. For example, the communication interface 102 transmits information to the imaging support device 10 in response to a request from the processor 110. The communication interface 102 also receives information transmitted from the processor 30 of the imaging support device 10 via the second communication interface 22 (see Figure 2) and outputs the received information to the processor 110 via the bus 116.

[0099] The power supply circuit 104 is connected to the power relay circuit 66 of the lifting device 50 via the power transmission cable 44. DC power is supplied to the power supply circuit 104 from the power supply unit 40 via the power cable 42, the power relay circuit 66, and the power transmission cable 44. When DC power is supplied to the power supply circuit 104, DC power is supplied to each part of the marker device 90.

[0100] As an example, as shown in Figure 5, the imaging distance measuring device 130 includes a computer 132, an imaging device 160, a distance measuring device 170, an input / output interface 140, a communication interface 142, and a power supply circuit 144.

[0101] Computer 132 comprises a processor 150, storage 152, and RAM 154. The processor 150, storage 152, and RAM 154 are interconnected via a bus 156, which is connected to an input / output interface 140. In the example shown in Figure 5, for illustrative purposes, a single bus is shown as bus 156, but there may be multiple buses. Bus 156 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0102] Storage 152 is a non-temporary storage medium that stores various parameters and programs. For example, storage 152 is an EEPROM. However, this is merely an example, and an HDD and / or SSD may be used as storage 152 instead of, or in conjunction with, an EEPROM. In addition, RAM 154 temporarily stores various information and is used as work memory.

[0103] The processor 150 has, for example, a CPU. The processor 150 reads the necessary program from the storage 152 and executes the read program in the RAM 154. The processor 150 controls the entire imaging distance measuring device 130 according to the program executed on the RAM 154.

[0104] The imaging device 160 includes an image sensor 162 and an image sensor driver 164. The image sensor 162 is, for example, a CMOS image sensor. Although a CMOS image sensor is used as an example for the image sensor 162 here, the technology of this disclosure is not limited to this, and other image sensors may be used. The image sensor 162 and the image sensor driver 164 are connected to the processor 150 via an input / output I / F 140 and a bus 156. The image sensor driver 164 controls the image sensor 162 according to instructions from the processor 150. Under the control of the image sensor driver 164, the image sensor 162 captures an image of a subject (for example, the aircraft 180 shown in Figure 1) and outputs the image obtained from the capture to the processor 150.

[0105] Although not specifically shown, the imaging device 160 includes optical components such as an objective lens, a focusing lens, a zoom lens, and an aperture. Also, although not specifically shown, the imaging device 160 includes a drive mechanism for driving the optical components such as the focusing lens, zoom lens, and aperture. When imaging is performed by the imaging device 160, the drive mechanism is controlled to drive the optical components such as the focusing lens, zoom lens, and aperture.

[0106] The distance measuring device 170 comprises a distance measuring sensor 172 and a distance measuring sensor driver 174. The distance measuring sensor 172 is a sensor having a distance measuring function. The distance measuring function of the distance measuring sensor 172 is realized by, for example, an ultrasonic distance measuring sensor, a laser distance measuring sensor, or a radar distance measuring sensor. The distance measuring sensor 172 and the distance measuring sensor driver 174 are connected to the processor 150 via an input / output I / F 140 and a bus 156. The distance measuring sensor driver 174 controls the distance measuring sensor 172 according to instructions from the processor 150. Under the control of the distance measuring sensor driver 174, the distance measuring sensor 172 measures the distance between the distance measuring device 170 and the object to be measured (for example, the flying object 180 shown in Figure 1) and outputs distance measuring information (for example, information indicating the distance itself) corresponding to the measured distance to the processor 150.

[0107] The communication interface 142 controls the transmission and reception of information between the imaging distance measuring device 130 and the imaging support device 10. The communication interface 142 is responsible for the exchange of information between the processor 30 of the imaging support device 10 (see Figure 2) and the processor 150 of the imaging distance measuring device 130. For example, the communication interface 142 transmits information to the imaging support device 10 in response to a request from the processor 150. The communication interface 142 also receives information transmitted from the processor 30 of the imaging support device 10 via the third communication interface 24 (see Figure 2) and outputs the received information to the processor 150 via the bus 156.

[0108] The power supply circuit 144 is connected to the power relay circuit 66 of the lifting device 50 via the power transmission cable 44. DC power is supplied to the power supply circuit 144 from the power supply unit 40 via the power cable 42, the power relay circuit 66, and the power transmission cable 44. When DC power is supplied to the power supply circuit 144, DC power is supplied to each part of the imaging distance measuring device 130.

[0109] As an example, as shown in Figure 6, the aircraft 180 includes a computer 182, an imaging device 210, a flight device 220, an input / output interface 190, an image memory 196, an external interface 198, and a power supply circuit 194.

[0110] Computer 182 is an example of a “control device” and a “computer” according to the technology of this disclosure. Computer 182 comprises a processor 200, storage 202, and RAM 204. The processor 200 is an example of a “processor” according to the technology of this disclosure, and the RAM 204 is an example of a “memory” according to the technology of this disclosure. The processor 200, storage 202, and RAM 204 are interconnected via a bus 206, which is connected to an input / output I / F 190. In the example shown in Figure 5, for illustrative purposes, one bus is shown as bus 206, but there may be multiple buses. Bus 206 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0111] Storage 202 is a non-temporary storage medium that stores various parameters and programs. For example, storage 202 is an EEPROM. However, this is merely an example, and an HDD and / or SSD may be used as storage 202 instead of, or in conjunction with, an EEPROM. RAM 204 temporarily stores various information and is used as work memory.

[0112] The processor 200 has, for example, a CPU. The processor 200 reads the necessary program from the storage 202 and executes the read program in the RAM 204. The processor 200 controls the entire aircraft 180 according to the program executed on the RAM 204.

[0113] The imaging device 210 includes an image sensor 212 and an image sensor driver 214. The image sensor 212 is, for example, a CMOS image sensor. Although a CMOS image sensor is used as an example of the image sensor 212 here, the technology of this disclosure is not limited to this, and other image sensors may be used. The image sensor 212 and the image sensor driver 214 are connected to the processor 200 via an input / output I / F 190 and a bus 206. The image sensor driver 214 controls the image sensor 212 according to instructions from the processor 200. Under the control of the image sensor driver 214, the image sensor 212 captures an image of a subject (for example, the marker 94 and / or the object to be inspected 3 shown in Figure 1) and outputs the image obtained from the capture to the processor 200.

[0114] Although not specifically shown, the imaging device 210 includes optical components such as an objective lens, a focusing lens, a zoom lens, and an aperture. Also, although not specifically shown, the imaging device 210 includes a drive mechanism for driving the optical components such as the focusing lens, zoom lens, and aperture. When imaging is performed by the imaging device 210, the drive mechanism is controlled to drive the optical components such as the focusing lens, zoom lens, and aperture.

[0115] The flying device 220 has multiple rotors 222, multiple motors 224, and a motor driver 226. In the example shown in Figure 6, there are four rotors 222. The number of motors 224 is the same as the number of rotors 222. The motor driver 226 is connected to the processor 200 via an input / output interface 190 and a bus 206. The motor driver 226 controls the multiple motors 224 individually according to instructions from the processor 200. A rotor 222 is fixed to the rotation axis of each motor 224. Each motor 224 rotates a rotor 222. The flying object 180 flies as the multiple rotors 222 rotate. When the rotation speed of the multiple rotors 222 increases, the flying object 180 ascends, and when the rotation speed of the multiple rotors 222 decreases, the flying object 180 descends. Furthermore, when the thrust of the multiple rotors 222 is balanced by gravity acting on the aircraft 180, the aircraft 180 will remain stationary in the air (i.e., hover). In addition, by creating a difference in the rotational speeds of the multiple rotors 222, the aircraft 180 will turn, move forward, backward, and / or move sideways.

[0116] The image memory 196 is, for example, an EEPROM. However, this is merely an example, and an HDD and / or SSD may be used as the image memory 196 instead of, or in conjunction with, an EEPROM. The image memory 196 may also be a memory card. Images obtained by imaging with the image sensor 212 are stored in the image memory 196.

[0117] The external I / F 198 is responsible for the exchange of various types of information between the aircraft 180 and devices located outside of it (e.g., smart devices, personal computers, servers, USB memory, memory cards, and / or printers). An example of the external I / F 198 is a USB interface. Various devices (not shown) such as smart devices, personal computers, servers, USB memory, memory cards, and / or printers are directly or indirectly connected to the USB interface. The aircraft 180 is also connected to the imaging support device 10 via the external I / F 198 and provides images stored in the image memory 196 to the imaging support device 10.

[0118] The power supply circuit 194 is connected to the power relay circuit 66 of the lifting device 50 via the power transmission cable 44. DC power is supplied to the power supply circuit 194 from the power supply unit 40 via the power cable 42, the power relay circuit 66, and the power transmission cable 44. When DC power is supplied to the power supply circuit 194, DC power is supplied to each part of the aircraft 180.

[0119] As an example, as shown in Figure 7, the storage 32 of the imaging support device 10 stores the imaging support processing program 300. In the imaging support device 10, the processor 30 reads the imaging support processing program 300 from the storage 32 and executes the read imaging support processing program 300 on the RAM 34. The processor 30 performs imaging support processing according to the imaging support processing program 300 executed on the RAM 34.

[0120] The processor 30 executes the imaging support processing program 300, which controls the first imaging instruction unit 302, the first image input determination unit 304, the first image display control unit 306, the distance measurement instruction unit 308, the distance measurement information input determination unit 310, the distance measurement information display control unit 312, the first reception information determination unit 314, the lifting / lowering instruction unit 316, the completion report input determination unit 318, the second reception information determination unit 320, the first light emission mode instruction unit 322, and the third reception information determination unit 3 24 operates as a second light emission mode instruction unit 326, a fourth received information determination unit 328, a hovering determination unit 330, a third light emission mode instruction unit 332, a fifth received information determination unit 334, a fourth light emission mode instruction unit 336, a sixth received information determination unit 338, a second imaging instruction unit 340, a second image input determination unit 342, a second image display control unit 344, a position shift determination unit 346, a fifth light emission mode instruction unit 348, and a sixth light emission mode instruction unit 350.

[0121] As an example, as shown in Figure 8, the storage 72 of the lifting device 50 stores the lifting process program 400. In the lifting device 50, the processor 70 reads the lifting process program 400 from the storage 72 and executes the read lifting process program 400 on the RAM 74. The processor 70 performs the lifting process according to the lifting process program 400 executed on the RAM 74.

[0122] The processor 70 operates as a lifting instruction input determination unit 402, a lifting control unit 404, a movement amount determination unit 406, a lifting stop control unit 408, and a completion report output control unit 410 by executing the lifting processing program 400.

[0123] As an example, as shown in Figure 9, the storage 112 of the marker device 90 stores a light emission mode control processing program 500. In the marker device 90, the processor 110 reads the lift-down instruction processing program from the storage 112 and executes the read lift-down instruction processing program on the RAM 114. The processor 110 performs light emission mode control processing according to the lift-down instruction processing program executed on the RAM 114.

[0124] The processor 110 operates as a first instruction input determination unit 502, a first light emission mode control unit 504, a second instruction input determination unit 506, a second light emission mode control unit 508, a third instruction input determination unit 510, a third light emission mode control unit 512, a fourth instruction input determination unit 514, and a fourth light emission mode control unit 516 by executing a lifting instruction processing program.

[0125] As an example, as shown in Figure 10, the storage 152 of the imaging distance measuring device 130 stores the imaging distance measuring processing program 600. In the imaging distance measuring device 130, the processor 150 reads the imaging distance measuring processing program 600 from the storage 152 and executes the read imaging distance measuring processing program 600 on the RAM 154. The processor 150 performs imaging distance measuring processing according to the imaging distance measuring processing program 600 executed on the RAM 154.

[0126] The processor 150 operates as an imaging instruction input determination unit 602, an imaging control unit 604, an image output control unit 606, a distance measurement instruction input determination unit 608, a distance measurement control unit 610, and a distance measurement information output control unit 612 by executing the imaging distance measurement processing program 600.

[0127] As an example, as shown in Figure 11, the flight imaging processing program 700 is stored in the storage 202 of the aircraft 180. The flight imaging processing program 700 is an example of a "program" related to the technology of this disclosure. In the aircraft 180, the processor 200 reads the flight imaging processing program 700 from the storage 202 and executes the read flight imaging processing program 700 on the RAM 204. The processor 200 performs flight imaging processing according to the flight imaging processing program 700 executed on the RAM 204.

[0128] The processor 200 operates as a first imaging control unit 702, a marker position change determination unit 704, a change direction determination unit 706, an ascent control unit 708, a descent control unit 710, a second imaging control unit 712, an aircraft position determination unit 714, a first hovering control unit 716, a first light emission mode determination unit 718, a first movement control unit 720, a second light emission mode determination unit 722, a second hovering control unit 724, a third light emission mode determination unit 726, a third imaging control unit 728, a first image storage control unit 730, a fourth light emission mode determination unit 732, a second movement control unit 734, a fourth imaging control unit 736, a second image storage control unit 738, an image storage count determination unit 740, a return control unit 742, a fifth imaging control unit 744, a return completion determination unit 746, and a third hovering control unit 748 by executing the flight imaging processing program 700.

[0129] As an example, as shown in Figure 12, in the imaging support device 10, the first imaging instruction unit 302 outputs an imaging instruction to the imaging distance measuring device 130.

[0130] In the imaging distance measuring device 130, the imaging instruction input determination unit 602 determines whether or not an imaging instruction has been input to the imaging distance measuring device 130 from the imaging support device 10. If the imaging instruction input determination unit 602 determines that an imaging instruction has been input to the imaging distance measuring device 130 from the imaging support device 10, the imaging control unit 604 controls the image sensor 162 via the image sensor driver 164 to image the aircraft 180. The image output control unit 606 outputs the image obtained by the image sensor 162 imaging the aircraft 180 to the imaging support device 10.

[0131] In the imaging support device 10, the first image input determination unit 304 determines whether or not an image from the imaging rangefinder 130 has been input to the imaging support device 10. If the first image input determination unit 304 determines that an image from the imaging rangefinder 130 has been input to the imaging support device 10, the first image display control unit 306 controls the display 16 to display the image. The operator 7 can confirm the attitude and / or position of the aircraft 180 based on the image displayed on the display 16.

[0132] As an example, as shown in Figure 13, in the imaging support device 10, the distance measurement instruction unit 308 outputs a distance measurement instruction to the imaging distance measuring device 130.

[0133] In the imaging rangefinder 130, the rangefinder instruction input determination unit 608 determines whether or not a rangefinder instruction from the imaging support device 10 has been input to the imaging rangefinder 130. If the rangefinder instruction input determination unit 608 determines that a rangefinder instruction from the imaging support device 10 has been input to the imaging rangefinder 130, the rangefinder control unit 610 controls the rangefinder sensor 172 via the rangefinder sensor driver 174 to measure the distance between the rangefinder 170 and the aircraft 180. The distance between the marker 94 and the aircraft 180, and the distance between the object to be inspected 3 and the aircraft 180 are proportional to the distance between the rangefinder 170 and the aircraft 180, respectively. The distance between the marker 94 and the aircraft 180 is an example of a "first distance" according to the technology of this disclosure. The distance between the rangefinder 170 and the aircraft 180 is an example of a "second distance" according to the technology of this disclosure. The distance measurement information output control unit 612 outputs distance measurement information obtained by the distance measurement sensor 172 to the imaging support device 10.

[0134] In the imaging support device 10, the distance measurement information input determination unit 310 determines whether or not distance measurement information from the imaging range measuring device 130 has been input to the imaging support device 10. If the distance measurement information display control unit 312 determines that distance measurement information from the imaging range measuring device 130 has been input to the imaging support device 10, it controls the display 16 to display the distance measurement information (for example, a numerical value representing the distance between the range measuring device 170 and the aircraft 180). The operator 7 then displays the information on the display 16. Distance measurement Based on the information, the distance between the rangefinder 170 and the aircraft 180 can be determined. The distance between the rangefinder 170 and the aircraft 180 may be converted to the distance between the marker 94 and the aircraft 180.

[0135] As an example, as shown in Figure 14, the display 16 of the imaging support device 10 displays GUI 38 related to "lifting / lowering instructions for the lifting device," "movement instructions for the aircraft," "hovering instructions for the aircraft," "imaging instructions for the aircraft," "lateral movement and imaging instructions for the aircraft," and "position correction instructions for the aircraft." The operator 7 can provide the following instructions to the receiving device 14 of the imaging support device 10 while viewing the GUI 38 displayed on the display 16: "lifting / lowering instructions for the lifting device," "movement instructions for the aircraft," "hovering instructions for the aircraft," "imaging instructions for the aircraft," "lateral movement and imaging instructions for the aircraft," and "position correction instructions for the aircraft." The receiving device 14 outputs reception information corresponding to the instructions received by the receiving device 14.

[0136] The "lifting / lowering instruction for the lifting device" includes either a first upward instruction or a first downward instruction. The first upward instruction is an instruction to raise marker 94, and the first downward instruction is an instruction to lower marker 94. The "lifting / lowering instruction for the lifting device" also includes an instruction for the amount of movement of marker 94.

[0137] "Movement instructions for the aircraft" include any of the following: second climb instruction, second descent instruction, move right instruction, move left instruction, forward instruction, and reverse instruction. The second climb instruction is an instruction to make aircraft 180 climb. The second descent instruction is an instruction to make aircraft 180 descend. The move right instruction is an instruction to make aircraft 180 move to the right. The move left instruction is an instruction to make aircraft 180 move to the left. The forward instruction is an instruction to make aircraft 180 move forward. The reverse instruction is an instruction to make aircraft 180 move backward. In addition, "Movement instructions for the aircraft" include instructions for the speed of movement of aircraft 180.

[0138] "Hovering instruction for the aircraft" is an instruction to make aircraft 180 hover. "Imaging instruction for the aircraft" is an instruction to make the imaging device 210 on aircraft 180 take an image. "Lateral movement and imaging instruction for the aircraft" is an instruction to repeatedly perform lateral movement control and imaging control. Lateral movement control is a control to move aircraft 180 laterally. Imaging control is a control to make the imaging device 210 on aircraft 180 take an image. "Position correction instruction for the aircraft" is an instruction to correct the position of aircraft 180.

[0139] Operator 7 gives instructions to the receiving device 14 based on the image and / or distance measurement information displayed on the display 16. In this case, operator 7 may give movement instructions (i.e., a first ascending instruction, a first descending instruction, a second ascending instruction, a second descending instruction, a right movement instruction, a left movement instruction, a forward instruction, and / or a backward instruction) to the receiving device 14 based on the image obtained by the imaging device 160. Alternatively, operator 7 may give a forward or backward instruction to the receiving device 14 based on distance measurement information obtained by the distance measuring device 170 so that the distance between the distance measuring device 170 and the aircraft 180 is set to a predetermined distance.

[0140] As an example, as shown in Figure 15, in the imaging support device 10, the first reception information determination unit 314 determines whether or not "lifting / lowering instruction for the lifting / lowering device" has been received as reception information by the reception device 14. If the first reception information determination unit 314 determines that "lifting / lowering instruction for the lifting / lowering device" has been received as reception information by the reception device 14, the lifting / lowering instruction unit 316 outputs a lifting / lowering instruction to the lifting / lowering device 50.

[0141] In the lifting device 50, the lifting instruction input determination unit 402 determines whether or not a lifting instruction from the imaging support device 10 has been input to the lifting device 50. If the lifting instruction input determination unit 402 determines that a lifting instruction from the imaging support device 10 has been input to the lifting device 50, the lifting control unit 404 controls the motor 84 to rotate the reel 82 via the motor driver 56 in accordance with the lifting instruction. Specifically, if the lifting instruction includes a first upward instruction, the lifting control unit 404 controls the motor 84 to rotate the reel 82 in a first direction via the motor driver 56. When the reel 82 rotates in the first direction, the cable 86 is wound onto the reel 82, causing the marker 94 to rise. On the other hand, if the lifting instruction includes a first downward instruction, the lifting control unit 404 controls the motor 84 to rotate the reel 82 in a second direction via the motor driver 56. When the reel 82 rotates in the second direction, the cable 86 is fed out from the reel 82, causing the marker 94 to descend. When the reel 82 rotates, a signal corresponding to the amount of rotation of the reel 82 is output from the sensor 58. The amount of rotation of the reel 82 is proportional to the amount of movement of the marker 94.

[0142] The movement amount determination unit 406 determines, based on the signal input from the sensor 58, whether the movement amount of the marker 94 has reached the specified movement amount specified by the lifting / lowering instruction. If the movement amount determination unit 406 determines that the movement amount of the marker 94 has reached the specified movement amount, the lifting / lowering stop control unit 408 controls the motor 84 to stop rotating via the motor driver 56. When the motor 84 stops rotating, the reel 82 stops rotating, and as a result, the upward or downward movement of the marker 94 stops. After the lifting / lowering stop control unit 408 has controlled the motor 84 to stop rotating, the completion report output control unit 410 outputs a lifting / lowering completion report to the imaging support device 10 indicating that the lifting / lowering of the marker 94 has been completed.

[0143] In the imaging support device 10, the completion report input determination unit 318 determines whether or not a lifting completion report from the lifting device 50 has been input to the imaging support device 10.

[0144] As an example, as shown in Figure 16, in the aircraft 180, the first imaging control unit 702 controls the image sensor 212 via the image sensor driver 214 to capture an imaging scene that includes the marker 94 in part. The marker 94 is captured as an image in part of the image obtained by the image sensor 212. By capturing the marker 94 as an image in part of the image, the vertical position of the marker 94 relative to the aircraft 180 is detected. That is, if the marker 94 is captured as an image above the center of the image, it is detected that the marker 94 is positioned vertically above the aircraft 180, and if the marker 94 is captured as an image below the center of the image, it is detected that the marker 94 is positioned vertically below the aircraft 180. As will be described later, since the light emission pattern including the blinking of the light emitter 120 is determined based on the image, the first imaging control unit 702 causes the image sensor 212 to capture an image with a number of frames that allows for the determination of the light emission pattern including the blinking of the light emitter 120.

[0145] The marker position change determination unit 704 acquires the image obtained in the previous flight imaging process (hereinafter referred to as the previous image) and the image obtained in the current flight imaging process (hereinafter referred to as the current image) as the flight imaging process is repeatedly executed. The marker position change determination unit 704 compares the previous image and the current image and determines whether the position of the marker 94 has changed in the vertical direction, for example by using object detection processing. In this way, the vertical position of the marker 94 is detected based on the image obtained when the imaging scene is captured by the image sensor 212 according to the instructions of the first imaging control unit 702. In the first flight imaging process, the marker position change determination unit 704 determines that the position of the marker 94 has not changed in the vertical direction.

[0146] If the change direction determination unit 704 determines that the position of marker 94 has changed vertically, the change direction determination unit 706 determines whether the position of marker 94 has changed upward based on the previous image and the current image. If the change direction determination unit 706 determines that the position of marker 94 has changed upward, the rise control unit 708 controls the rotation speed of the multiple motors 224 via the motor driver 226 to increase their rotation speed. As the rotation speed of the multiple motors 224 increases, the thrust from the multiple rotors 222 increases, causing the aircraft 180 to rise. As the aircraft 180 rises, its vertical position changes upward. If the change direction determination unit 706 determines that the position of marker 94 has not changed upward, the descent control unit 710 controls the rotation speed of the multiple motors 224 via the motor driver 226 to decrease their rotation speed. As the rotation speed of the multiple motors 224 decreases, the thrust from the multiple rotors 222 decreases, causing the aircraft 180 to descend. As aircraft 180 descends, its vertical position changes to a downward position.

[0147] The second imaging control unit 712 controls the image sensor 212 via the image sensor driver 214 to capture an image scene that includes the marker 94 in part. The marker 94 is captured as an image in part of the image obtained by the image sensor 212. The aircraft position determination unit 714 acquires the image obtained by the image sensor 212 according to the instructions of the second imaging control unit 712. The aircraft position determination unit 714 then determines whether the vertical position of the aircraft 180 is the same as the vertical position of the marker 94 by determining whether the marker 94 is located in the vertical center of the image. As an example, the vertical position of the aircraft 180 being the same as the vertical position of the marker 94 preferably means that the vertical number of pixels of the image sensor 212 is 1000 pixels, and the distance between the imaging device 210 and the marker 94 is approximately 100 cm, and that the position includes an error of 10 cm or less in the vertical direction, and more preferably the position includes an error of 10 mm or less in the vertical direction.

[0148] When the aircraft position determination unit 714 determines that the vertical position of the aircraft 180 is the same as the vertical position of the marker 94, the first hovering control unit 716 controls the rotation speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 hovers. By hovering, the vertical position of the aircraft 180 is set to a height where the marker 94 is positioned in the vertical center of the image. When the aircraft 180 is hovering, its vertical position is maintained.

[0149] For example, in the example shown in Figure 16, the imaging device 210 is fixed to the aircraft body 184 in a horizontal position. However, if the imaging device 210 is fixed to the aircraft body 184 in a tilted position relative to the horizontal, the vertical position of the aircraft body 180 relative to the vertical position of the marker 94 may be derived based on the elevation or depression angle of the imaging device 210.

[0150] As an example, as shown in Figure 17, in the imaging support device 10, if the first reception information determination unit 314 determines that "lifting / lowering instruction for the lifting / lowering device" has not been received by the reception device 14 as reception information, the second reception information determination unit 320 determines whether or not "movement instruction for the aircraft" has been received by the reception device 14 as reception information.

[0151] If the second reception information determination unit 320 determines that the reception device 14 has received a "movement instruction for an aircraft" as reception information, the first light emission mode instruction unit 322 outputs a first light emission mode instruction corresponding to the movement instruction to the marker device 90. Specifically, if the movement instruction includes a second ascending instruction, the first light emission mode instruction unit 322 outputs a first light emission mode instruction corresponding to the second ascending instruction to the marker device 90. If the movement instruction includes a second descending instruction, the first light emission mode instruction unit 322 outputs a first light emission mode instruction corresponding to the second descending instruction to the marker device 90. If the movement instruction includes a right movement instruction, the first light emission mode instruction unit 322 outputs a first light emission mode instruction corresponding to the right movement instruction to the marker device 90. If the movement instruction includes a left movement instruction, the first light emission mode instruction unit 322 outputs a first light emission mode instruction corresponding to the left movement instruction to the marker device 90. The first light emission mode indicator unit 322 outputs a first light emission mode instruction corresponding to the forward instruction to the marker device 90 when the movement instruction includes a forward instruction. The first light emission mode indicator unit 322 outputs a first light emission mode instruction corresponding to the reverse instruction to the marker device 90 when the movement instruction includes a reverse instruction. The first light emission mode indicator unit 322 includes an instruction corresponding to the movement speed specified by the movement instruction in the first light emission mode instruction.

[0152] In the marker device 90, the first instruction input determination unit 502 determines whether or not a first light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If the first instruction input determination unit 502 determines that a first light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the first light emission mode control unit 504 controls the light emitter 120 to emit light in the first light emission mode via the light emitter control circuit 96 in accordance with the first light emission mode instruction.

[0153] As an example, as shown in Figure 18, in the aircraft 180, if the marker position change determination unit 704 determines that there is no change in the position of the marker 94, the first light emission mode determination unit 718 determines whether the light emission mode of the light emitter 120 is the first light emission mode based on the image obtained by imaging with the image sensor 212 according to the instructions of the first imaging control unit 702. The first light emission mode of the light emitter 120 will be described in detail later with reference to Figures 19 to 24. If the first light emission mode determination unit 718 determines that the light emission mode of the light emitter 120 is the first light emission mode, the first movement control unit 720 controls the rotation speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 moves in accordance with the first light emission mode. The control performed by the first movement control unit 720 in accordance with the first light emission mode is an example of the "first control" related to the technology of this disclosure.

[0154] As an example, as shown in Figure 19, in the marker device 90, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a second upward instruction, it causes the light emitter control circuit 96 to output a rectangular signal as a first control signal and maintain the level of the second control signal at an H level. The first light emission mode control unit 504 also causes the light emitter control circuit 96 to output a rectangular signal as a first control signal at a frequency corresponding to the movement speed specified by the first light emission mode instruction. Therefore, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to an upward instruction, the first light source 122A blinks and the second light source 122B lights up as the first light emission mode of the light emitter 120 at a frequency corresponding to the movement speed specified by the first light emission mode instruction.

[0155] In the aircraft 180, the first movement control unit 720 controls the rotational speed of the multiple motors 224 via the motor driver 226 in response to the blinking of the first light source 122A and the illumination of the second light source 122B. As the rotational speed of the multiple motors 224 increases, the thrust from the multiple rotors 222 increases, causing the aircraft 180 to rise. As the aircraft 180 rises, its vertical position changes upward. The first movement control unit 720 also controls the rotational speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 rises at a speed corresponding to the blinking frequency of the first light source 122A. The first movement control unit 720 maintains the ascent speed of the aircraft 180 when the blinking frequency of the first light source 122A is constant. On the other hand, the first movement control unit 720 changes the ascent speed of the aircraft 180 when the blinking frequency of the first light source 122A is changed. As an example, the first movement control unit 720 increases the ascent speed of the aircraft 180 by increasing the rotational speed of the multiple motors 224 as the frequency of the blinking of the first light source 122A increases.

[0156] As an example, as shown in Figure 20, in the marker device 90, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a second downward instruction, it instructs the light emitter control circuit 96 to maintain the level of the first control signal at an H level and output a rectangular signal as the second control signal. The first light emission mode control unit 504 also instructs the light emitter control circuit 96 to output a rectangular signal as the second control signal at a frequency corresponding to the movement speed specified by the first light emission mode instruction. Therefore, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a downward instruction, the first light source 122A lights up as the first light emission mode of the light emitter 120, and the second light source 122B blinks at a frequency corresponding to the movement speed specified by the first light emission mode instruction.

[0157] In the aircraft 180, the first movement control unit 720 controls the rotational speed of the multiple motors 224 via the motor driver 226 in response to the first light source 122A lighting up and the second light source 122B blinking. As the rotational speed of the multiple motors 224 decreases, the thrust from the multiple rotors 222 decreases, causing the aircraft 180 to descend. As the aircraft 180 descends, its vertical position changes downward. The first movement control unit 720 also controls the rotational speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 descends at a speed corresponding to the blinking frequency of the second light source 122B. When the blinking frequency of the second light source 122B is constant, the first movement control unit 720 controls the rotational speed of the aircraft 180 descent Maintain speed. Meanwhile, the first movement control unit 720 will control the aircraft 180 if the frequency of the flashing of the second light source 122B is changed. descent The speed is changed. For example, the first movement control unit 720 increases the descent speed of the aircraft 180 by decreasing the rotational speed of the multiple motors 224 as the frequency of the flashing of the second light source 122B increases.

[0158] As an example, as shown in Figure 21, in the marker device 90, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a right movement instruction, it causes the light emitter control circuit 96 to output a rectangular signal as the first control signal and maintain the level of the second control signal at L level. Furthermore, the first light emission mode control unit 504 causes the light emitter control circuit 96 to output a rectangular signal as the first control signal at a frequency corresponding to the movement speed specified by the first light emission mode instruction. Therefore, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a right movement instruction, the first light emission mode of the light emitter 120 is set to the first light emission mode. instructions The first light source 122A blinks at a frequency corresponding to the specified movement speed, and the second light source 122B turns off.

[0159] In the aircraft 180, the first movement control unit 720 controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves to the right, corresponding to the blinking of the first light source 122A and the extinguishing of the second light source 122B. As the aircraft 180 moves to the right, its horizontal position is changed to the right. The first movement control unit 720 also controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves to the right at a speed corresponding to the blinking frequency of the first light source 122A. When the blinking frequency of the first light source 122A is constant, the first movement control unit 720 maintains the speed of the aircraft 180 moving to the right. On the other hand, when the blinking frequency of the first light source 122A is changed, the first movement control unit 720 changes the speed of the aircraft 180 moving to the right. As an example, the first movement control unit 720 increases the speed at which the aircraft 180 moves to the right as the frequency of the blinking of the first light source 122A increases. The control by the first movement control unit 720 to move the aircraft 180 to the right is an example of "movement control" related to the technology of this disclosure.

[0160] As an example, as shown in Figure 22, in the marker device 90, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a left movement instruction, it instructs the light emitter control circuit 96 to hold the level of the first control signal at an L level and output a rectangular signal as the second control signal. The first light emission mode control unit 504 also instructs the light emitter control circuit 96 to output a rectangular signal as the second control signal at a frequency corresponding to the movement speed specified by the first light emission mode instruction. Therefore, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a left movement instruction, the first light source 122A turns off and the second light source 122B blinks at a frequency corresponding to the movement speed specified by the first light emission mode instruction, as the first light emission mode of the light emitter 120.

[0161] In the aircraft 180, the first movement control unit 720 controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves to the left, corresponding to the first light source 122A turning off and the second light source 122B blinking. As the aircraft 180 moves to the left, its horizontal position is changed to the left. The first movement control unit 720 also controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves to the left at a speed corresponding to the blinking frequency of the second light source 122B. When the blinking frequency of the second light source 122B is constant, the first movement control unit 720 maintains the leftward movement speed of the aircraft 180. On the other hand, when the blinking frequency of the second light source 122B is changed, the first movement control unit 720 changes the leftward movement speed of the aircraft 180. As an example, the first movement control unit 720 increases the speed at which the aircraft 180 moves to the left as the frequency of the flashing of the second light source 122B increases. The control by the first movement control unit 720 to move the aircraft 180 to the left is an example of "movement control" related to the technology of this disclosure.

[0162] As an example, as shown in Figure 23, in the marker device 90, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a forward movement instruction, it causes the light emitter control circuit 96 to output a first rectangular signal as a first control signal and a second rectangular signal having twice the period of the first rectangular signal as a second control signal. Furthermore, the first light emission mode control unit 504 causes the light emitter control circuit 96 to output a first rectangular signal as a first control signal and a second rectangular signal as a second control signal at a frequency corresponding to the movement speed specified by the first light emission mode instruction. Therefore, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a forward movement instruction, the first light source 122A blinks and the second light source 122B blinks at twice the period of the first light source 122A as the first light emission mode of the light emitter 120. In addition, the first light source 122A and the second light source 122B blink at a frequency corresponding to the movement speed specified by the first light emission mode instruction.

[0163] In the aircraft 180, the first movement control unit 720 controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves forward in response to the blinking of the first light source 122A and the blinking of the second light source 122B at twice the frequency of the first light source 122A. As the aircraft 180 moves forward, its horizontal position is changed to the front, thereby shortening the distance between the marker 94 and the aircraft 180, and the distance between the object to be inspected 3 and the aircraft 180. The first movement control unit 720 also controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves forward at a speed corresponding to the blinking frequency of the first light source 122A and the second light source 122B. When the blinking frequency of the first light source 122A and the second light source 122B is constant, the first movement control unit 720 maintains the forward speed of the aircraft 180. On the other hand, the first movement control unit 720 changes the forward speed of the aircraft 180 when the frequency of blinking of the first light source 122A and the second light source 122B is changed. For example, the first movement control unit 720 increases the forward speed of the aircraft 180 as the frequency of blinking of the first light source 122A and the second light source 122B increases. The control by the first movement control unit 720 to move the aircraft 180 forward is an example of "movement control" related to the technology of this disclosure.

[0164] As an example, as shown in Figure 24, in the marker device 90, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a reversal instruction, it causes the light emitter control circuit 96 to output a first rectangular signal as a first control signal and a second rectangular signal having half the period of the first rectangular signal as a second control signal. Furthermore, the first light emission mode control unit 504 causes the light emitter control circuit 96 to output a first rectangular signal as a first control signal and a second rectangular signal as a second control signal at a frequency corresponding to the movement speed specified by the first light emission mode instruction. Therefore, when the first light emission mode control unit 504 receives a first light emission mode instruction corresponding to a reversal instruction, the first light source 122A blinks and the second light source 122B blinks at half the period of the first light source 122A as the first light emission mode of the light emitter 120. In addition, the first light source 122A and the second light source 122B blink at a frequency corresponding to the movement speed specified by the first light emission mode instruction.

[0165] In the aircraft 180, the first movement control unit 720 controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves backward in response to the blinking of the first light source 122A and the blinking of the second light source 122B at half the frequency of the first light source 122A. As the aircraft 180 moves backward, its horizontal position is changed to the rear, which increases the distance between the marker 94 and the aircraft 180, and the distance between the object to be inspected 3 and the aircraft 180. The first movement control unit 720 also controls the rotational speed of multiple motors 224 via the motor driver 226 so that the aircraft 180 moves backward at a speed corresponding to the blinking frequency of the first light source 122A and the second light source 122B. When the blinking frequency of the first light source 122A and the second light source 122B is constant, the first movement control unit 720 maintains the backward speed of the aircraft 180. On the other hand, the first movement control unit 720 changes the backward speed of the aircraft 180 when the frequency of blinking of the first light source 122A and the second light source 122B is changed. For example, the first movement control unit 720 increases the backward speed of the aircraft 180 as the frequency of blinking of the first light source 122A and the second light source 122B increases. The control by the first movement control unit 720 to move the aircraft 180 backward is an example of "movement control" related to the technology of this disclosure.

[0166] Furthermore, the operator 7 may give the imaging support device 10 a forward or backward command based on the distance measurement information obtained by the range measuring device 170, so that the distance between the range measuring device 170 and the aircraft 180 is set to a predetermined distance.

[0167] As an example, as shown in Figure 25, in the imaging support device 10, if the second reception information determination unit 320 determines that "movement instruction for the aircraft" has not been received by the reception device 14 as reception information, the third reception information determination unit 324 determines whether or not "hovering instruction for the aircraft" has been received by the reception device 14 as reception information. If the third reception information determination unit 324 determines that "hovering instruction for the aircraft" has been received by the reception device 14 as reception information, the second light emission mode instruction unit 326 outputs a second light emission mode instruction corresponding to the hovering instruction to the marker device 90.

[0168] In the marker device 90, if the first instruction input determination unit 502 determines that the first light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the second instruction input determination unit 506 determines whether or not the second light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If the second instruction input determination unit 506 determines that the second light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the second light emission mode control unit 508 controls the light emitter 120 to emit light in the second light emission mode via the light emitter control circuit 96 in accordance with the second light emission mode instruction.

[0169] As an example, as shown in Figure 26, the second light emission mode control unit 508, in accordance with the second light emission mode instruction, instructs the light emitter control circuit 96 to maintain the levels of the first control signal and the second control signal at L level. Therefore, when the second light emission mode control unit 508 receives the second light emission mode instruction, the first light source 122A and the second light source 122B are turned off as the second light emission mode of the light emitter 120.

[0170] In the aircraft 180, if the first light emission mode determination unit 718 determines that the light emission mode of the light emitter 120 is not the first light emission mode, the second light emission mode determination unit 722 determines whether the light emission mode of the light emitter 120 is the second light emission mode based on the image obtained by imaging with the image sensor 212 according to instructions from the first imaging control unit 702. If the second light emission mode determination unit 722 determines that the light emission mode of the light emitter 120 is the second light emission mode, the second hovering control unit 724 controls the rotation speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 hovers in accordance with the second light emission mode. In other words, the second hovering control unit 724 causes the aircraft 180 to hover in accordance with the first light source 122A and the second light source 122B turning off. When the aircraft 180 is hovering, the vertical position of the aircraft 180 is maintained.

[0171] As an example, as shown in Figure 27, in the imaging support device 10, if the third reception information determination unit 324 determines that the reception device 14 has not received a "hovering instruction for the aircraft" as reception information, the fourth reception information determination unit 328 determines whether the reception device 14 has received an "imaging instruction for the aircraft" as reception information. The hovering determination unit 330 determines whether the aircraft 180 is hovering. If the hovering determination unit 330 determines that the aircraft 180 is hovering, the third light emission mode instruction unit 332 outputs a third light emission mode instruction corresponding to the imaging instruction to the marker device 90. If the hovering determination unit 330 determines that the aircraft 180 is not hovering, information to make the aircraft 180 hover may be displayed on the display 16 to the operator 7. This allows the operator 7 to prompt the operator 7 to give a hovering instruction to the reception device 14.

[0172] In the marker device 90, if the second instruction input determination unit 506 determines that the second light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the third instruction input determination unit 510 determines whether or not the third light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If the third instruction input determination unit 510 determines that the third light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the third light emission mode control unit 512 controls the light emitter 120 to emit light in the third light emission mode via the light emitter control circuit 96 in accordance with the third light emission mode instruction.

[0173] As an example, as shown in Figure 28, the third light emission mode control unit 512, in accordance with the third light emission mode instruction, causes the light emitter control circuit 96 to output a first rectangular signal as the first control signal and a second rectangular signal with the opposite phase to the first rectangular signal as the second control signal. Therefore, when the third light emission mode control unit 512 receives the third light emission mode instruction, the first light source 122A and the second light source 122B blink alternately as the third light emission mode of the light emitter 120. In other words, the blinking modes of the first light source 122A and the second light source 122B alternate between a state where the first light source 122A is lit and the second light source 122B is off, and a state where the first light source 122A is off and the second light source 122B is lit.

[0174] In the aircraft 180, if the second light emission mode determination unit 722 determines that the light emission mode of the light emitter 120 is not the second light emission mode, the third light emission mode determination unit 726 determines whether the light emission mode of the light emitter 120 is the third light emission mode based on the image (see Figure 26) obtained by imaging with the image sensor 212 in accordance with instructions from the first imaging control unit 702 (see Figure 26). If the third light emission mode determination unit 726 determines that the light emission mode of the light emitter 120 is the third light emission mode, the third imaging control unit 728 controls the image sensor 212 via the image sensor driver 214 to capture an imaging scene that includes part of the marker 94. The imaging scene includes the inspection object 3 located around the marker 94. In this case, the third imaging control unit 728 causes the image sensor 212 to capture a still image. The image obtained by imaging with the image sensor 212 includes the marker 94 and the inspection object 3 located around the marker 94 as images.

[0175] The first image storage control unit 730 stores the image obtained by imaging by the image sensor 212 in the image memory 196 according to instructions from the third imaging control unit 728. The still image stored in the image memory 196 is later analyzed by the image analysis device 230 (see Figure 1). The control by the third imaging control unit 728 to cause the image sensor 212 to perform imaging is an example of "imaging control" related to the technology of this disclosure.

[0176] As an example, as shown in Figure 29, in the imaging support device 10, if the fourth reception information determination unit 328 determines that "imaging instruction for an aircraft" has not been received by the reception device 14 as reception information, the fourth reception information determination unit 334 determines whether or not "lateral movement and imaging instruction for an aircraft" has been received by the reception device 14 as reception information. If the fourth reception information determination unit 328 determines that "lateral movement and imaging instruction for an aircraft" has been received by the reception device 14 as reception information, the fourth light emission mode instruction unit 336 outputs a fourth light emission mode instruction corresponding to the lateral movement and imaging instruction to the marker device 90.

[0177] In the marker device 90, if the third instruction input determination unit 510 determines that the third light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the fourth instruction input determination unit 514 determines whether or not the fourth light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If the fourth instruction input determination unit 514 determines that the fourth light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the fourth light emission mode control unit 516 controls the light emitter 120 to emit light in the fourth light emission mode via the light emitter control circuit 96 in accordance with the fourth light emission mode instruction.

[0178] As an example, as shown in Figure 30, the fourth light emission mode control unit 516, in accordance with the fourth light emission mode instruction, causes the light emitter control circuit 96 to output a first rectangular signal as the first control signal and a second rectangular signal in phase with the first rectangular signal as the second control signal. Therefore, when the fourth light emission mode control unit 516 receives the fourth light emission mode instruction, the first light source 122A and the second light source 122B flash simultaneously as the fourth light emission mode of the light emitter 120. In other words, the flashing modes of the first light source 122A and the second light source 122B alternate between a state in which the first light source 122A and the second light source 122B are lit and a state in which the first light source 122A and the second light source 122B are off.

[0179] In the aircraft 180, if the third light emission mode determination unit 726 determines that the light emission mode of the light emitter 120 is not the third light emission mode, the fourth light emission mode determination unit 732 determines whether the light emission mode of the light emitter 120 is the fourth light emission mode based on the image (see Figure 26) obtained by imaging with the image sensor 212 according to instructions from the first imaging control unit 702 (see Figure 26). If the fourth light emission mode determination unit 732 determines that the light emission mode of the light emitter 120 is the fourth light emission mode, the second movement control unit 734 controls the rotation speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 moves laterally (in this case, to the left as an example) by a predetermined distance while maintaining its vertical position, and then hovers. In this case, as an example of lateral movement, the aircraft 180 moves to the left along the surface of the object to be inspected 3. Alternatively, as an example of lateral movement, the aircraft 180 may move to the right along the surface of the object to be inspected 3. The predetermined movement distance is set to a distance at which parts of adjacent still images overlap when lateral movement and still image capture are repeatedly performed, as described later.

[0180] The fourth imaging control unit 736 controls the image sensor 212 via the image sensor driver 214 to capture images in front of the aircraft 180 while the aircraft 180 is hovering. In this case, the fourth imaging control unit 736 instructs the image sensor 212 to capture still images. The image obtained by the image sensor 212 includes the object to be inspected 3 as an image. The second image storage control unit 738 stores the image obtained by the image sensor 212 in the image memory 196 according to the instructions of the fourth imaging control unit 736. The still image stored in the image memory 196 is later analyzed by the image analysis device 230 (see Figure 1).

[0181] The image storage count determination unit 740 determines whether the number of image frames stored in the image memory 196 has reached a predetermined number, in accordance with instructions from the second image storage control unit 738. If the image storage count determination unit 740 determines that the number of image frames stored in the image memory 196 has not reached a predetermined number, the processing by the second movement control unit 734, the processing by the fourth imaging control unit 736, and the processing by the second image storage control unit 738 are repeatedly executed. That is, the leftward movement of the aircraft 180, imaging by the aircraft 180, and image storage are repeatedly executed. As a result, multiple horizontal regions of the object to be inspected 3 are imaged, obtaining multiple images, and these multiple images are stored in the image memory 196.

[0182] If the image memory count determination unit 740 determines that the number of image frames stored in the image memory 196 has reached a predetermined number, the return control unit 742 controls the rotation speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 moves laterally toward the position in front of the marker 94 (i.e., returns to its original position). In this case, as an example of lateral movement, the aircraft 180 moves to the right along the surface of the object to be inspected 3. The fifth imaging control unit 744 controls the image sensor 212 via the image sensor driver 214 to image the area in front of the aircraft 180. If the aircraft 180 has not moved to the position in front of the marker 94, the marker 94 will not be captured as an image in the image obtained by the image sensor 212. On the other hand, if the aircraft 180 has moved to the position in front of the marker 94, the marker 94 will be captured as an image in the image obtained by the image sensor 212.

[0183] The return completion determination unit 746 determines whether the aircraft 180 has moved to a position directly in front of the marker 94 by determining whether the marker 94 is captured as an image in the image obtained by the image sensor 212 in accordance with the instructions of the fifth imaging control unit 744. If the return completion determination unit 746 determines that the aircraft 180 has moved to a position directly in front of the marker 94, the third hovering control unit 748 controls the rotation speed of the multiple motors 224 via the motor driver 226 so that the aircraft 180 hovers.

[0184] As an example, as shown in Figure 31, in the imaging support device 10, if the fifth reception information determination unit 334 determines that "lateral movement and imaging instruction for the aircraft" has not been received by the reception device 14 as reception information, the sixth reception information determination unit 338 determines whether or not "position correction instruction for the aircraft" has been received by the reception device 14 as reception information. If the sixth reception information determination unit 338 determines that "position correction instruction for the aircraft" has been received by the reception device 14 as reception information, the second imaging instruction unit 340 outputs an imaging instruction to the imaging rangefinder 130.

[0185] In the imaging rangefinder 130, the imaging instruction input determination unit 602 determines whether or not an imaging instruction has been input to the imaging rangefinder 130. If the imaging instruction input determination unit 602 determines that an imaging instruction has been input to the imaging rangefinder 130, the imaging control unit 604 controls the image sensor 162 via the image sensor driver 164 to image the aircraft 180. The image output control unit 606 outputs the image obtained by the image sensor 162 imaging the aircraft 180 to the imaging support device 10.

[0186] In the imaging support device 10, the second image input determination unit 342 determines whether or not an image from the imaging rangefinder 130 has been input to the imaging support device 10. If the second image input determination unit 342 determines that an image from the imaging rangefinder 130 has been input to the imaging support device 10, the second image display control unit 344 controls the display 16 to display the image. The operator 7 can confirm the attitude and / or position of the aircraft 180 based on the image displayed on the display 16.

[0187] As an example, as shown in Figure 32, in the imaging support device 10, the position shift determination unit 346 determines, based on the image input to the imaging support device 10 from the imaging rangefinder 130 (see Figure 31), whether the position of the aircraft 180, which is captured as an image in the image, is shifted relative to the center of the field of view of the imaging device 160. If the position shift determination unit 346 determines that the position of the aircraft 180 is shifted relative to the center of the field of view of the imaging device 160, the fifth light emission mode instruction unit 348 outputs a first light emission mode instruction to the marker device 90, which corresponds to a movement instruction to correct the position shift.

[0188] In the marker device 90, the first instruction input determination unit 502 determines whether or not a first light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If the first instruction input determination unit 502 determines that a first light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the first light emission mode control unit 504 controls the light emitter 120 to emit light in the first light emission mode via the light emitter control circuit 96, in accordance with the first light emission mode instruction. As a result, the aircraft 180 moves according to the first light emission mode of the light emitter 120, thereby correcting the positional misalignment. In other words, the aircraft 180 moves to the center of the field of view of the imaging device 160.

[0189] In the imaging support device 10, if the position deviation determination unit 346 determines that the position of the aircraft 180 is not shifted relative to the center of the field of view of the imaging device 160, the sixth light emission mode instruction unit 350 outputs a second light emission mode instruction corresponding to a hovering instruction to the marker device 90.

[0190] In the marker device 90, if the first instruction input determination unit 502 determines that the first light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the second instruction input determination unit 506 determines whether or not the second light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If the second instruction input determination unit 506 determines that the second light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the second light emission mode control unit 508 controls the light emitter 120 to emit light in the second light emission mode via the light emitter control circuit 96 in accordance with the second light emission mode instruction. As a result, the aircraft 180 hovers according to the second light emission mode of the light emitter 120.

[0191] Next, the operation of the imaging system S will be explained with reference to Figures 33 to 42.

[0192] First, an example of the flow of imaging support processing performed by the processor 30 of the imaging support device 10 will be explained with reference to Figures 33 to 36.

[0193] In the imaging support process shown in Figure 33, first, in step ST10, the first imaging instruction unit 302 outputs an imaging instruction to the imaging distance measuring device 130. After the process in step ST10 is executed, the imaging support process proceeds to step ST11.

[0194] In step ST11, the first image input determination unit 304 determines whether or not an image from the imaging distance measuring device 130 has been input to the imaging support device 10. If, in step ST11, an image from the imaging distance measuring device 130 has not been input to the imaging support device 10, the determination is denied, and the determination in step ST11 is repeated. If, in step ST11, an image from the imaging distance measuring device 130 has been input to the imaging support device 10, the determination is affirmed, and the imaging support process proceeds to step ST12.

[0195] In step ST12, the first image display control unit 306 displays the image input from the imaging distance measuring device 130 to the imaging support device 10 on the display 16. After the processing in step ST12 is completed, the imaging support process proceeds to step ST13.

[0196] In step ST13, the distance measurement instruction unit 308 outputs a distance measurement instruction to the imaging distance measuring device 130. After the processing in step ST13 is completed, the imaging support processing proceeds to step ST14.

[0197] In step ST14, the distance measurement information input determination unit 310 determines whether or not distance measurement information from the imaging distance measurement device 130 has been input to the imaging support device 10. If, in step ST14, distance measurement information from the imaging distance measurement device 130 has not been input to the imaging support device 10, the determination is denied, and the determination in step ST14 is repeated. In step ST15, if distance measurement information has been input to the imaging support device 10, the determination is affirmed, and the imaging support process proceeds to step ST15.

[0198] In step ST15, the distance measurement information display control unit 312 displays the distance measurement information input from the imaging distance measurement device 130 to the imaging support device 10 on the display 16. After the processing in step ST15 is completed, the imaging support process proceeds to step ST16 shown in Figure 34.

[0199] In step ST16 shown in Figure 34, the first reception information determination unit 314 determines whether or not "lifting / lowering instruction for the lifting device" has been received by the reception device 14 as reception information. If "lifting / lowering instruction for the lifting device" has not been received by the reception device 14 as reception information in step ST16, the determination is denied, and the imaging support process proceeds to step ST19. If "lifting / lowering instruction for the lifting device" has been received by the reception device 14 as reception information in step ST16, the determination is affirmed, and the imaging support process proceeds to step ST17.

[0200] In step ST17, the lifting instruction unit 316 outputs a lifting instruction to the lifting device 50. After the processing in step ST17 is completed, the imaging support process proceeds to step ST18.

[0201] In step ST18, the completion report input determination unit 318 determines whether or not a lifting completion report from the lifting device 50 has been input to the imaging support device 10. If, in step ST18, a lifting completion report from the lifting device 50 has not been input to the imaging support device 10, the determination is denied, and the determination in step ST18 is repeated. If, in step ST18, a lifting completion report from the lifting device 50 has been input to the imaging support device 10, the determination is affirmed, and the imaging support process proceeds to step ST35 shown in Figure 36.

[0202] In step ST19, the second reception information determination unit 320 determines whether or not "movement instruction for an aircraft" has been received as reception information by the reception device 14. If "movement instruction for an aircraft" has not been received as reception information by the reception device 14 in step ST19, the determination is denied, and the imaging support process proceeds to step ST21. If "movement instruction for an aircraft" has been received as reception information by the reception device 14 in step ST19, the determination is affirmed, and the imaging support process proceeds to step ST20.

[0203] In step ST20, the first light emission mode instruction unit 322 outputs a first light emission mode instruction corresponding to the movement instruction to the marker device 90. After the processing in step ST20 is completed, the imaging support processing proceeds to step ST35 shown in Figure 36.

[0204] In step ST21, the third reception information determination unit 324 determines whether or not "hovering instruction for the aircraft" has been received as reception information by the reception device 14. If "hovering instruction for the aircraft" has not been received as reception information by the reception device 14 in step ST21, the determination is denied, and the imaging support process proceeds to step ST23. If "hovering instruction for the aircraft" has been received as reception information by the reception device 14 in step ST21, the determination is affirmed, and the imaging support process proceeds to step ST22.

[0205] In step ST22, the second light emission mode instruction unit 326 outputs a second light emission mode instruction corresponding to the hovering instruction to the marker device 90. After the processing in step ST22 is completed, the imaging support processing proceeds to step ST10.

[0206] In step ST23, the fourth reception information determination unit 328 determines whether or not "imaging instruction for an aircraft" has been received as reception information by the reception device 14. If "imaging instruction for an aircraft" has not been received as reception information by the reception device 14 in step ST23, the determination is denied, and the imaging support process proceeds to step ST26. If "imaging instruction for an aircraft" has been received as reception information by the reception device 14 in step ST23, the determination is affirmed, and the imaging support process proceeds to step ST24.

[0207] In step ST24, the hovering determination unit 330 determines whether or not the aircraft 180 is hovering. If the aircraft 180 is not hovering in step ST24, the determination is denied, and the imaging support process proceeds to step ST10. If the aircraft 180 is hovering in step ST24, the determination is affirmed, and the imaging support process proceeds to step ST25.

[0208] In step ST25, the third light emission mode instruction unit 332 outputs a third light emission mode instruction corresponding to the imaging instruction to the marker device 90. After the processing in step ST25 is completed, the imaging support processing proceeds to step ST35 shown in Figure 36.

[0209] In step ST26, the fifth reception information determination unit 334 determines whether or not the reception device 14 has received "instruction to move laterally and image the aircraft" as reception information. If the reception device 14 has not received "instruction to move laterally and image the aircraft" as reception information in step ST26, the determination is denied and the imaging support process proceeds to step ST28. If the reception device 14 has received "instruction to move laterally and image the aircraft" as reception information in step ST26, the determination is affirmed and the imaging support process proceeds to step ST27.

[0210] In step ST27, the fourth light emission mode instruction unit 336 outputs a fourth light emission mode instruction to the marker device 90 that corresponds to lateral movement and imaging instruction. After the processing in step ST27 is executed, the imaging support processing proceeds to step ST35.

[0211] In step ST28, the sixth reception information determination unit 338 determines whether or not the reception device 14 has received "position correction instruction for the aircraft" as reception information. If the reception device 14 has not received "position correction instruction for the aircraft" as reception information in step ST28, the determination is denied and the imaging support process proceeds to step ST10. If the reception device 14 has received "position correction instruction for the aircraft" as reception information in step ST28, the determination is affirmed and the imaging support process proceeds to step ST29.

[0212] In step ST29, the second imaging instruction unit 340 outputs an imaging instruction to the imaging distance measuring device 130. After the processing in step ST29 is completed, the imaging support process proceeds to step ST30.

[0213] In step ST30, the second image input determination unit 342 determines whether or not an image from the imaging distance measuring device 130 has been input to the imaging support device 10. If, in step ST30, an image from the imaging distance measuring device 130 has not been input to the imaging support device 10, the determination is denied, and the determination in step ST30 is repeated. If, in step ST30, an image from the imaging distance measuring device 130 has been input to the imaging support device 10, the determination is affirmed, and the imaging support process proceeds to step ST31.

[0214] In step ST31, the second image display control unit 344 displays the image input from the imaging distance measuring device 130 to the imaging support device 10 on the display 16. After the processing in step ST31 is completed, the imaging support process proceeds to step ST32.

[0215] In step ST32, the position shift determination unit 346 determines, based on the image input from the imaging rangefinder 130 to the imaging support device 10, whether the position of the aircraft 180, which is captured as an image in the image, is shifted relative to the center of the field of view of the imaging device 160. In step ST32, if the position of the aircraft 180 is not shifted relative to the center of the field of view of the imaging device 160, the determination is denied, and the imaging support process proceeds to step ST34. In step ST32, if the position of the aircraft 180 is shifted relative to the center of the field of view of the imaging device 160, the determination is affirmed, and the imaging support process proceeds to step ST33.

[0216] In step ST33, the fifth light emission mode instruction unit 348 outputs a first light emission mode instruction to the marker device 90 that corresponds to a movement instruction for correcting positional misalignment. After the processing in step ST33 is completed, the imaging support processing proceeds to step ST35.

[0217] In step ST34, the sixth light emission mode instruction unit 350 outputs a second light emission mode instruction corresponding to the hovering instruction to the marker device 90. After the processing in step ST34 is completed, the imaging support processing proceeds to step ST35.

[0218] In step ST35, the processor 30 determines whether the conditions for terminating the imaging support process (hereinafter referred to as "imaging support process termination conditions") have been met. An example of an imaging support process termination condition is that an instruction to terminate the imaging support process has been received by the receiving device 14. If the imaging support process termination conditions are not met in step ST35, the determination is denied, and the imaging support process proceeds to step ST10 shown in Figure 33. If the imaging support process termination conditions are met in step ST35, the determination is affirmed, and the imaging support process terminates.

[0219] The control method described above as the operation of the imaging system S is an example of a "control method" relating to the technology of this disclosure.

[0220] Next, with reference to Figure 37, an example of the lifting and lowering process performed by the processor 70 of the lifting device 50 will be described.

[0221] In the lifting and lowering process shown in Figure 37, first, in step ST40, the lifting and lowering instruction input determination unit 402 determines whether or not a lifting and lowering instruction has been input to the lifting and lowering device 50 from the imaging support device 10. If, in step ST40, a lifting and lowering instruction has not been input to the lifting and lowering device 50 from the imaging support device 10, the determination is denied, and the determination in step ST40 is repeated. If, in step ST40, a lifting and lowering instruction has been input to the lifting and lowering device 50 from the imaging support device 10, the determination is affirmed, and the lifting and lowering process proceeds to step ST41.

[0222] In step ST41, the lifting control unit 404 raises or lowers the marker 94 according to the lifting instruction. After the processing in step ST41 is completed, the lifting process proceeds to step ST42.

[0223] In step ST42, the movement amount determination unit 406 determines whether the movement amount of the marker 94 has reached the specified movement amount specified by the lifting / lowering instruction. If the movement amount of the marker 94 has not reached the specified movement amount in step ST42, the determination is denied and the determination in step ST42 is repeated. If the movement amount of the marker 94 has reached the specified movement amount in step ST42, the determination is affirmed and the lifting / lowering process proceeds to step ST43.

[0224] In step ST43, the lifting / lowering stop control unit 408 stops the rotation of the motor 84, thereby stopping the upward or downward movement of the marker 94. After the processing in step ST43 is completed, the lifting / lowering process proceeds to step ST44.

[0225] In step ST44, the completion report output control unit 410 outputs a lifting / lowering completion report to the imaging support device 10 indicating that the lifting / lowering of the marker 94 has been completed. After the processing in step ST44 is executed, the lifting / lowering process proceeds to step ST40.

[0226] Next, with reference to Figure 38, an example of the flow of the light emission mode control process performed by the processor 110 of the marker device 90 will be described.

[0227] In the light emission mode control process shown in Figure 38, first, in step ST50, the first instruction input determination unit 502 determines whether or not a first light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If, in step ST50, the first light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is denied, and the light emission mode control process proceeds to step ST52. If, in step ST50, the first light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the determination is affirmed, and the light emission mode control process proceeds to step ST51.

[0228] In step ST51, the first light emission mode control unit 504 causes the light emitter 120 to emit light in the first light emission mode according to the first light emission mode instruction. After the processing in step ST51 is completed, the light emission mode control process proceeds to step ST50.

[0229] In step ST52, the second instruction input determination unit 506 determines whether or not a second light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If, in step ST52, the second light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is denied, and the light emission mode control process proceeds to step ST54. If, in step ST52, the second light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the determination is affirmed, and the light emission mode control process proceeds to step ST53.

[0230] In step ST53, the second light emission mode control unit 508 causes the light emitter 120 to emit light in the second light emission mode according to the second light emission mode instruction. After the processing in step ST53 is completed, the light emission mode control process proceeds to step ST50.

[0231] In step ST54, the third instruction input determination unit 510 determines whether or not a third light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If, in step ST54, a third light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is denied, and the light emission mode control process proceeds to step ST56. If, in step ST54, a third light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the determination is affirmed, and the light emission mode control process proceeds to step ST55.

[0232] In step ST55, the third light emission mode control unit 512 causes the light emitter 120 to emit light in the third light emission mode according to the third light emission mode instruction. After the processing in step ST55 is completed, the light emission mode control process proceeds to step ST50.

[0233] In step ST56, the fourth instruction input determination unit 514 determines whether or not a fourth light emission mode instruction from the imaging support device 10 has been input to the marker device 90. If, in step ST56, a fourth light emission mode instruction from the imaging support device 10 has not been input to the marker device 90, the determination is denied, and the light emission mode control process proceeds to step ST50. If, in step ST56, a fourth light emission mode instruction from the imaging support device 10 has been input to the marker device 90, the determination is affirmed, and the light emission mode control process proceeds to step ST57.

[0234] In step ST57, the fourth light emission mode control unit 516 causes the light emitter 120 to emit light in the fourth light emission mode according to the fourth light emission mode instruction. After the processing in step ST57 is completed, the light emission mode control process proceeds to step ST50.

[0235] Next, with reference to Figure 39, an example of the image distance measurement process performed by the processor 150 of the image distance measurement device 130 will be described.

[0236] In the imaging distance measurement process shown in Figure 39, first, in step ST60, the imaging instruction input determination unit 602 determines whether or not an imaging instruction has been input to the imaging distance measurement device 130 from the imaging support device 10. If, in step ST60, no imaging instruction has been input to the imaging distance measurement device 130 from the imaging support device 10, the determination is denied, and the imaging distance measurement process proceeds to step ST63. If, in step ST60, an imaging instruction has been input to the imaging distance measurement device 130 from the imaging support device 10, the determination is affirmed, and the imaging support process proceeds to step ST61.

[0237] In step ST61, the imaging control unit 604 causes the image sensor 162 to image the aircraft 180. After the processing in step ST61 is completed, the imaging distance measurement process proceeds to step ST62.

[0238] In step ST62, the image output control unit 606 outputs the image obtained in step ST61 to the imaging support device 10. After the processing in step ST62 is completed, the imaging distance measurement process proceeds to step ST60.

[0239] In step ST63, the distance measurement instruction input determination unit 608 determines whether or not a distance measurement instruction has been input to the imaging distance measuring device 130 from the imaging support device 10. If, in step ST63, no distance measurement instruction has been input to the imaging distance measuring device 130 from the imaging support device 10, the determination is denied, and the imaging distance measurement process proceeds to step ST60. If, in step ST63, a distance measurement instruction has been input to the imaging distance measuring device 130 from the imaging support device 10, the determination is affirmed, and the imaging support process proceeds to step ST64.

[0240] In step ST64, the distance measurement control unit 610 causes the distance measurement sensor 172 to measure the distance between the distance measurement device 170 and the aircraft 180. After the processing in step ST64 is completed, the imaging distance measurement process proceeds to step ST65.

[0241] In step ST65, the distance measurement information output control unit 612 outputs the distance measurement information obtained in step ST65 to the imaging support device 10. After the processing in step ST65 is completed, the imaging distance measurement process proceeds to step ST60.

[0242] Next, with reference to Figure 40, an example of the flight imaging processing flow performed by the processor 200 of the aircraft 180 will be described.

[0243] In the aerial imaging process shown in Figure 40, first, in step ST70, the first imaging control unit 702 causes the image sensor 212 to capture an imaging scene that includes part of the marker 94. After the processing in step ST70 is completed, the aerial imaging process proceeds to step ST71.

[0244] In step ST71, the marker position change determination unit 704 compares the image obtained in step ST70 of the previous flight imaging process (hereinafter referred to as the previous image) with the image obtained in step ST70 of the current flight imaging process (hereinafter referred to as the current image) to determine whether the position of marker 94 has changed in the vertical direction. If the position of marker 94 has not changed in the vertical direction in step ST71, the determination is denied, and the flight imaging process proceeds to step ST78. If the position of marker 94 has changed in the vertical direction in step ST71, the determination is affirmed, and the flight imaging process proceeds to step ST72.

[0245] In step ST72, the change direction determination unit 706 determines whether the position of marker 94 has changed upwards based on the previous image and the current image. If the position of marker 94 has not changed upwards in step ST72, the determination is denied, and the flight imaging process proceeds to step ST74. If the position of marker 94 has changed upwards in step ST72, the determination is affirmed, and the flight imaging process proceeds to step ST73.

[0246] In step ST73, the ascent control unit 708 raises the aircraft 180 by increasing the rotational speed of the multiple motors 224. After the processing in step ST73 is completed, the flight imaging process proceeds to step ST75.

[0247] In step ST74, the descent control unit 710 lowers the aircraft 180 by reducing the rotational speed of the multiple motors 224. After the processing in step ST74 is completed, the flight imaging process proceeds to step ST75.

[0248] In step ST75, the second imaging control unit 712 causes the image sensor 212 to capture an image scene that includes part of the marker 94. After the processing in step ST75 is completed, the aerial imaging process proceeds to step ST76.

[0249] In step ST76, the aircraft position determination unit 714 determines, based on the image obtained in step ST75, whether the vertical position of the aircraft 180 is the same as the vertical position of the marker 94. If, in step ST76, the vertical position of the aircraft 180 is not the same as the vertical position of the marker 94, the determination is denied, and the flight imaging process proceeds to step ST75. If, in step ST76, the vertical position of the aircraft 180 is the same as the vertical position of the marker 94, the determination is affirmed, and the flight imaging process proceeds to step ST77. As an example, the vertical position of the aircraft 180 being the same as the vertical position of the marker 94 preferably means that the vertical number of pixels of the image sensor 212 is 1000 pixels, and the distance between the imaging device 210 and the marker 94 is approximately 100 cm, and that the position includes an error of 10 cm or less in the vertical direction, and more preferably the position includes an error of 10 mm or less in the vertical direction.

[0250] In step ST77, the first hovering control unit 716 adjusts the rotational speed of the multiple motors 224 to cause the aircraft 180 to hover. After the processing in step ST77 is completed, the flight imaging process proceeds to step ST94 shown in Figure 42.

[0251] In step ST78, the first light emission mode determination unit 718 determines, based on the image obtained in step ST70, whether the light emission mode of the light emitter 120 is the first light emission mode. If, in step ST78, the light emission mode of the light emitter 120 is not the first light emission mode, the determination is denied, and the flight imaging process proceeds to step ST80. If, in step ST78, the light emission mode of the light emitter 120 is the first light emission mode, the determination is affirmed, and the flight imaging process proceeds to step ST79.

[0252] In step ST79, the first movement control unit 720 adjusts the rotation speeds of the multiple motors 224 so that the aircraft 180 moves in accordance with the first light emission pattern. After the processing in step ST79 is completed, the flight imaging process proceeds to step ST94 shown in Figure 42.

[0253] In step ST80, the second light emission mode determination unit 722 determines, based on the image obtained in step ST70, whether the light emission mode of the light emitter 120 is the second light emission mode. If, in step ST80, the light emission mode of the light emitter 120 is not the second light emission mode, the determination is denied, and the flight imaging process proceeds to step ST82. If, in step ST80, the light emission mode of the light emitter 120 is the second light emission mode, the determination is affirmed, and the flight imaging process proceeds to step ST81.

[0254] In step ST81, the second hovering control unit 724 adjusts the rotation speeds of the multiple motors 224 so that the aircraft 180 hovers in accordance with the second emission mode. After the processing in step ST81 is completed, the flight imaging process proceeds to step ST94 shown in Figure 42.

[0255] In step ST82, the third light emission mode determination unit 726 determines, based on the image obtained in step ST70, whether the light emission mode of the light emitter 120 is the third light emission mode. If, in step ST82, the light emission mode of the light emitter 120 is not the third light emission mode, the determination is denied, and the flight imaging process proceeds to step ST85. If, in step ST82, the light emission mode of the light emitter 120 is the third light emission mode, the determination is affirmed, and the flight imaging process proceeds to step ST83.

[0256] In step ST83, the third imaging control unit 728 causes the image sensor 212 to capture an image scene including the marker 94 and the object to be inspected 3. After the processing in step ST83 is completed, the aerial imaging process proceeds to step ST84.

[0257] In step ST84, the first image storage control unit 730 stores the image obtained in step ST83 in the image memory 196. After the processing in step ST84 is completed, the flight imaging process proceeds to step ST94 shown in Figure 42.

[0258] In step ST85, it is determined whether the emission mode of the light-emitting element 120 is the fourth emission mode based on the image obtained in step ST70. If the emission mode of the light-emitting element 120 is not the fourth emission mode in step ST85, the determination is denied, and the aerial imaging process proceeds to step ST94. If the emission mode of the light-emitting element 120 is the fourth emission mode in step ST85, the determination is affirmed, and the aerial imaging process proceeds to step ST86.

[0259] In step ST86, the second movement control unit 734 adjusts the rotational speed of multiple motors 224 to move the aircraft 180 laterally by a predetermined distance while maintaining its vertical position, and then causes it to hover. After the processing in step ST86 is completed, the flight imaging process proceeds to step ST87.

[0260] In step ST87, the fourth imaging control unit 736 causes the image sensor 212 to image the area in front of the aircraft 180. After the processing in step ST87 is completed, the flight imaging process proceeds to step ST88.

[0261] In step ST88, the second image storage control unit 738 stores the image obtained in step ST87 in the image memory 196. After the processing in step ST88 is completed, the flight imaging process proceeds to step ST89.

[0262] In step ST89, the image storage count determination unit 740 determines whether the number of frames of the images stored in the image memory 196 in step ST88 has reached a predetermined number as the flight imaging process is repeatedly performed. In step ST89, if the number of frames of the images stored in the image memory 196 has not reached the predetermined number, the determination is negative, and the flight imaging process proceeds to step ST86. In step ST89, if the number of frames of the images stored in the image memory 196 has reached the predetermined number, the determination is positive, and the flight imaging process proceeds to step ST90.

[0263] In step ST90, the feedback control unit 742 moves the flying object 180 laterally toward the position in front of the marker 94 by adjusting the rotational speeds of the plurality of motors 224. After the process of step ST90 is executed, the flight imaging process proceeds to step ST91.

[0264] In step ST91, the fifth imaging control unit 744 causes the image sensor 212 to image the front of the flying object 180. After the process of step ST91 is executed, the flight imaging process proceeds to step ST92.

[0265] In step ST92, the feedback completion determination unit 746 determines whether the marker 94 is imaged in the image obtained in step ST91. In step ST92, if the marker 94 is not imaged in the image, the determination is negative, and the flight imaging process proceeds to step ST91. In step ST92, if the marker 94 is imaged in the image, the determination is positive, and the flight imaging process proceeds to step ST93.

[0266] In step ST93, the third hovering control unit 748 hovers the flying object 180 by adjusting the rotational speeds of the plurality of motors 224. After the process of step ST93 is executed, the flight imaging process proceeds to step ST94.

[0267] In step ST94, the processor 200 determines whether the conditions for terminating the flight imaging process (hereinafter referred to as "flight imaging process termination conditions") have been met. An example of a flight imaging process termination condition is that an instruction to terminate the flight imaging process has been received by the receiving device 14. If the flight imaging process termination conditions are not met in step ST94, the determination is denied, and the flight imaging process proceeds to step ST70 shown in Figure 40. If the flight imaging process termination conditions are met in step ST94, the determination is affirmed, and the flight imaging process terminates.

[0268] As described above, in the imaging system S according to this embodiment, the processor 200 of the aircraft 180 acquires the vertical position of the marker 94, whose vertical position is variable by the lifting device 50, based on the image obtained by imaging by the imaging device 210, and controls the aircraft 180 to maintain or change its vertical position based on the vertical position of the marker 94. Therefore, for example, the aircraft 180 can be positioned vertically without using a satellite positioning system. Also, for example, even if communication is not possible between the imaging support device 10 and the aircraft 180, the aircraft 180 can be moved vertically by changing the vertical position of the marker 94.

[0269] Furthermore, the aircraft 180 is equipped with an imaging device 210 to acquire the vertical position of the marker 94. Therefore, compared to, for example, a case where a LiDAR scanner is equipped to acquire the vertical position of the marker 94, the aircraft 180 can be made smaller and less expensive.

[0270] Furthermore, the vertical position of the marker 94 is detected based on the image obtained when the marker 94 is imaged by the imaging device 210. Therefore, compared to a case where the aircraft 180 is equipped with a detection device for detecting the vertical position of the marker 94 separately from the imaging device 210, for example, the aircraft 180 can be made smaller and less expensive.

[0271] Furthermore, the processor 200 of the aircraft 180 controls the imaging device 210 to capture an image of a scene that partially includes the marker 94. Therefore, the vertical position of the marker 94 can be detected based on the image obtained by the imaging device 210.

[0272] Furthermore, the imaging scene includes the object to be inspected 3 located around the marker 94. Therefore, an image can be obtained in which the object to be inspected 3 is captured as an image.

[0273] Furthermore, the processor 200 of the aircraft 180 controls the aircraft 180 to set its vertical position at a height where the marker 94 is positioned in the vertical center of the image. Therefore, compared to, for example, the case where the vertical position of the aircraft 180 is set at a height where the marker 94 is positioned at the vertical edge of the image, even if the marker 94 moves upward or downward after the vertical position of the aircraft 180 has been set, it is possible to suppress the image corresponding to the marker 94 from immediately moving out of the image.

[0274] Furthermore, the processor 200 of the aircraft 180 controls the aircraft 180 to set its vertical position to the same position as the vertical position of the marker 94. Therefore, compared to, for example, the case where the vertical position of the aircraft 180 is set to a different position from the vertical position of the marker 94, it is easier to control the vertical position of the aircraft 180 in response to the upward or downward movement of the marker 94. In addition, because the vertical position of the aircraft 180 is set to the same position as the vertical position of the marker 94, the aircraft 180 is contained within the imaging range 160A of the imaging range measuring device 130, thus eliminating the need to control the imaging range 160A of the imaging device 160.

[0275] Furthermore, the marker 94 has a light-emitting element 120. Therefore, instructions can be sent to the aircraft 180 by the way the light-emitting element 120 emits light.

[0276] Furthermore, the processor 200 of the aircraft 180 controls the aircraft 180 according to the first emission mode of the light emitter 120. Therefore, by setting the emission mode of the light emitter 120 to the first emission mode, the aircraft 180 can be controlled according to the first emission mode of the light emitter 120.

[0277] Furthermore, the control corresponding to the first emission mode of the light-emitting element 120 includes control to maintain or change the vertical position of the aircraft 180. Therefore, by setting the emission mode of the light-emitting element 120 to the first emission mode, the vertical position of the aircraft 180 can be maintained or changed.

[0278] Furthermore, the control corresponding to the first emission mode of the light-emitting element 120 includes control to maintain or change the movement speed of the aircraft 180. Therefore, by setting the emission mode of the light-emitting element 120 to the first emission mode, the movement speed of the aircraft 180 can be maintained or changed.

[0279] Furthermore, the control corresponding to the first emission mode of the light-emitting element 120 includes control to move the aircraft 180 horizontally (i.e., in the forward / backward and lateral directions). Therefore, by setting the emission mode of the light-emitting element 120 to the first emission mode, the aircraft 180 can be moved horizontally.

[0280] Furthermore, the control corresponding to the first emission mode of the light-emitting body 120 includes control to adjust the distance between the marker 94 and the aircraft 180 by moving the aircraft 180 in the forward and backward directions. Therefore, by setting the emission mode of the light-emitting body 120 to the first emission mode, the distance between the marker 94 and the aircraft 180 can be adjusted by moving the aircraft 180 in the forward and backward directions.

[0281] Furthermore, the first light-emitting mode of the light-emitting element 120 includes a mode in which the light-emitting element 120 flashes. Therefore, by flashing the light-emitting element 120, the light-emitting mode of the light-emitting element 120 can be set to the first light-emitting mode.

[0282] Furthermore, the processor 200 of the aircraft 180 controls the aircraft 180 to hover according to the second emission mode of the light-emitting element 120. Therefore, by setting the emission mode of the light-emitting element 120 to the second emission mode, the aircraft 180 can be made to hover.

[0283] Furthermore, the second emission mode of the light-emitting element 120 includes a mode in which the light-emitting element 120 is turned off. Therefore, by turning off the light-emitting element 120, the emission mode of the light-emitting element 120 can be set to the second emission mode. Also, because the second emission mode of the light-emitting element 120 includes a mode in which the light-emitting element 120 is turned off, if the light-emitting element 120 is turned off due to a malfunction or the like, the aircraft 180 can be made to hover.

[0284] Furthermore, the processor 200 of the aircraft 180 controls the imaging device 210 mounted on the aircraft 180 to perform imaging for still images according to the third emission mode of the light emitter 120. Therefore, by setting the emission mode of the light emitter 120 to the third emission mode, the imaging device 210 can be made to perform imaging for still images.

[0285] Furthermore, the processor 200 of the aircraft 180 instructs the imaging device 210 to capture still images when the aircraft 180 is hovering. Therefore, compared to when still images are captured while the aircraft 180 is moving, image blurring in the still images obtained by the imaging device 210 can be suppressed.

[0286] Furthermore, the light-emitting body 120 includes multiple light sources 122A and 122B. Therefore, compared to, for example, the case where the light-emitting body 120 has only one light source, the variations in the light-emitting patterns of the light-emitting body 120 can be increased.

[0287] Moreover, the third light emission mode of the light emitter 120 is a mode including the alternating flashing of the plurality of light sources 122A and 122B. Therefore, by alternately flashing the plurality of light sources 122A and 122B, the light emission mode of the light emitter 120 can be set to the third light emission mode.

[0288] In addition, the processor 200 of the flying object 180 repeatedly performs control to move the flying object 180 horizontally while maintaining the vertical position of the flying object 180 and control to cause the imaging device 210 to image the inspection object 3 according to the fourth light emission mode of the light emitter 120. Therefore, images can be obtained for each of a plurality of horizontal regions in the inspection object 3.

[0289] Moreover, the lifting device 50 includes a cable 86 provided with a marker 94 and a reel 82 that winds and unwinds the cable 86. Therefore, by rotating the reel 82, the vertical position of the marker 94 can be changed.

[0290] Moreover, the lifting device 50 includes a sensor 58 that detects the amount of cable 86 fed out to the reel 82. Therefore, based on the fact that the amount of cable 86 fed out is detected by the sensor 58, the vertical position of the marker 94 can be grasped.

[0291] In addition, the flying object 180 is connected to the cable 86 of the lifting device 50 via a rope 186. Therefore, the movement range of the flying object 180 can be restricted within the range of the length of the rope 186.

[0292] Moreover, the cable 86 and the rope 186 include a power transmission cable 44 that transmits power to the flying object 180. Therefore, power can be transmitted to the flying object 180 through the power transmission cable 44.

[0293] Furthermore, the cable 86 is equipped with an imaging rangefinder 130, and the imaging device 160 of the imaging rangefinder 130 images the aircraft 180. Therefore, by being imaged by the imaging device 160, an image can be obtained in which the aircraft 180 is captured as an image.

[0294] Furthermore, the operator 7 provides movement instructions (i.e., a first ascending instruction, a first descending instruction, a second ascending instruction, a second descending instruction, a rightward movement instruction, a leftward movement instruction, a forward movement instruction, and / or a backward movement instruction) to the imaging support device 10 based on the images obtained by the imaging device 160. The processor 30 of the imaging support device 10 then controls the aircraft 180 by setting the emission mode of the light emitter 120 in accordance with the movement instructions given by the operator 7. Thus, the attitude and / or position of the aircraft 180 can be adjusted based on the images obtained by the imaging device 160.

[0295] Furthermore, the processor 30 of the imaging support device 10 controls the aircraft 180 by setting the emission mode of the light emitter 120 so that the aircraft 180 moves to the center of the field of view of the imaging device 160. Therefore, the position of the aircraft 180 that appears as an image in the image can be set to the center of the field of view of the imaging device 160.

[0296] Furthermore, the imaging device 160 is positioned adjacent to the marker 94. Therefore, compared to, for example, the case where the imaging device 160 is positioned far from the marker 94, the image can include an image that is closer to the view of the aircraft 180 from the position of the marker 94.

[0297] Furthermore, the imaging rangefinder 130 installed on the cable 86 is equipped with a rangefinder 170, which measures the distance between the rangefinder 170 and the aircraft 180. Therefore, range information can be obtained by measuring the distance between the rangefinder 170 and the aircraft 180 using the rangefinder 170.

[0298] Furthermore, the operator 7 issues a forward or backward command to the imaging support device 10 based on the distance measurement information obtained by the rangefinder 170. The processor 30 of the imaging support device 10 then controls the aircraft 180 by setting the emission mode of the light emitter 120 in accordance with the forward or backward command issued by the operator 7. Thus, the distance between the rangefinder 170 and the aircraft 180 can be adjusted based on the distance measurement information.

[0299] Furthermore, the operator 7 may give the imaging support device 10 a forward or backward command based on the distance measurement information obtained by the range measuring device 170, so that the distance between the range measuring device 170 and the aircraft 180 is set to a predetermined distance. In this case, the distance between the range measuring device 170 and the aircraft 180 can be adjusted to a predetermined distance.

[0300] Furthermore, the rangefinder 170 is positioned adjacent to the marker 94. Therefore, compared to, for example, the case where the rangefinder 170 is positioned far from the marker 94, the distance between the rangefinder 170 and the aircraft 180 measured by the rangefinder 170 can be brought closer to the distance between the marker 94 and the aircraft 180.

[0301] As an example, as shown in Figure 43, the aircraft 180 may be equipped with a LiDAR scanner 250. In the example shown in Figure 43, scan data is obtained by scanning a target area that includes part of the marker 94 with the LiDAR scanner 250. The processor 200 of the aircraft 180 (see Figure 6) detects the vertical position of the marker 94 based on the scan data. The following describes an example of a method for detecting the vertical position of the marker 94 based on the scan data.

[0302] In the example shown in Figure 43, the point cloud 252 represents multiple points scanned by the LiDAR scanner 250. For points on marker 94, the distance between marker 94 and the LiDAR scanner 250 is measured by the LiDAR scanner 250. For points outside of marker 94, the distance between the background surrounding marker 94 and the LiDAR scanner 250 is measured by the LiDAR scanner 250. Scanning by the LiDAR scanner 250 provides distance information 254 for the point cloud 252, representing the relationship between the scan position and the measured distance. Figure 43 shows, as an example, the distance information 254 obtained at scan position 254A.

[0303] For distance information 254, for example, edge extraction processing (i.e., processing to extract points corresponding to distances less than or equal to a predetermined value) is performed, thereby extracting a first point group 252A (i.e., a point group located on the marker) corresponding to the shape of the marker 94 from the point group 252. Furthermore, based on the first point group 252A, the distance measured for each point constituting the first point group 252A, a predetermined shape of the marker 94, and a predetermined size of the marker 94, it is determined whether the shape represented by the first point group 252A corresponds to the marker 94. If it is determined that the shape represented by the first point group 252A corresponds to the marker 94, the vertical position of the marker 94 is derived based on the laser irradiation angle, etc., corresponding to each point constituting the first point group 252A. In this way, when the aircraft 180 is equipped with a LiDAR scanner 250, the vertical position of the marker 94 is detected based on scan data obtained by scanning a target area that includes part of the marker 94 with the LiDAR scanner 250.

[0304] The aircraft 180 may be equipped with a LiDAR scanner 250 instead of the imaging device 210 (see Figure 1), or it may be equipped with a LiDAR scanner 250 in addition to the imaging device 210. If the aircraft 180 is equipped with both the imaging device 210 and the LiDAR scanner 250, imaging by the imaging device 210 and measurement by the LiDAR scanner 250 can be performed separately.

[0305] As an example, as shown in Figure 44, the imaging system S may also be equipped with a lifting device 260 instead of the lifting device 50 (see Figure 1). The lifting device 260 has a telescopic ladder 262. As an example, the ladder 262 is placed on the ground. A marker device 90 and an imaging rangefinder 130 are provided at the top of the ladder 262. The ladder 262 may be electrically or manually operated. In the example shown in Figure 44, the marker device 90 and the imaging rangefinder 130 can be raised and lowered by extending and lowering the ladder 262. In the example shown in Figure 44, the ladder 262 is exemplified as one means of raising and lowering the marker device 90 and the imaging rangefinder 130, but other telescopic members or mechanisms such as telescopic support columns may be used. Furthermore, the telescopic members or mechanisms may be placed on the ground or suspended from the bridge girder of the bridge 5.

[0306] Furthermore, in the above embodiment, the operator 7 provides movement instructions (i.e., a first ascending instruction, a first descending instruction, a second ascending instruction, a second descending instruction, a rightward movement instruction, a leftward movement instruction, a forward movement instruction, and / or backward movement instruction) to the imaging support device 10 based on the image obtained when the aircraft 180 is imaged by the imaging rangefinder 130's imaging device 160. The processor 30 of the imaging support device 10 then controls the aircraft 180 by setting the emission mode of the light emitter 120 in accordance with the movement instructions provided by the operator 7. However, the processor 30 of the imaging support device 10 may also determine the attitude and / or position of the aircraft 180 based on the image obtained when the aircraft 180 is imaged by the imaging device 160, and then control the aircraft 180 according to the result of the determination.

[0307] Furthermore, in the above embodiment, the operator 7 gives a forward or backward instruction to the imaging support device 10 based on the distance measurement information obtained by the rangefinder 170. The processor 30 of the imaging support device 10 then controls the aircraft 180 by setting the emission mode of the light emitter 120 in accordance with the forward or backward instruction given by the operator 7. However, the processor 30 of the imaging support device 10 may also cause the aircraft 180 to move forward or backward by setting the emission mode of the light emitter 120 based on the distance measurement information obtained by the rangefinder 170. In this case, the processor 30 of the imaging support device 10 may also cause the aircraft 180 to move forward or backward so that the distance between the rangefinder 170 and the aircraft 180 is set to a predetermined distance.

[0308] Furthermore, in the above embodiment, the lifting device 50 and the marker device 90 are controlled in accordance with instructions received by the reception device 14, but for example, the lifting device 50 and the marker device 90 may be controlled in a predetermined order.

[0309] Furthermore, in the above embodiment, the imaging device 160 is provided on the cable 86 of the lifting device 50, but the imaging device 160 may be omitted.

[0310] Furthermore, although the imaging system S is used for inspection purposes in the above embodiment, it may also be used for purposes other than inspection, such as transportation, photography, surveying, pesticide spraying, maintenance, or security.

[0311] Furthermore, in the above embodiment, the vertical position of the aircraft 180 is changed in accordance with the change in the vertical position of the marker 94. However, the position of the marker 94 may be changed in a direction other than the vertical, and the position of the aircraft 180 may be changed accordingly.

[0312] Furthermore, in the above embodiment, an example was described in which imaging support processing is performed by the imaging support device 10, lifting processing is performed by the lifting device 50, light emission mode control processing is performed by the marker device 90, and imaging distance measurement processing is performed by the imaging distance measurement device 130. However, the technology of this disclosure is not limited thereto. For example, the imaging support device 10 may perform the imaging support processing, lifting processing, light emission mode control processing, and imaging distance measurement processing in a consolidated manner, or two or three of the imaging support device 10, lifting device 50, marker device 90, and imaging distance measurement device 130 may perform the imaging support processing, lifting processing, light emission mode control processing, and imaging distance measurement processing in a distributed manner.

[0313] Furthermore, although the above embodiment described an example in which the imaging support processing program 300 is stored in the storage 32 of the imaging support device 10, the technology of this disclosure is not limited thereto. For example, the imaging support processing program 300 may be stored in a portable storage medium such as an SSD or USB memory. The storage medium is a non-temporary storage medium. The imaging support processing program 300 stored in the storage medium is installed in the computer 12 of the imaging support device 10. The processor 30 of the imaging support device 10 executes imaging support processing according to the imaging support processing program 300.

[0314] Furthermore, although the above embodiment described an example in which the lifting and lowering processing program 400 is stored in the storage 72 of the lifting and lowering device 50, the technology of this disclosure is not limited thereto. For example, the lifting and lowering processing program 400 may be stored in a portable storage medium such as an SSD or USB memory. The storage medium is a non-temporary storage medium. The lifting and lowering processing program 400 stored in the storage medium is installed in the computer 52 of the lifting and lowering device 50. The processor 70 of the lifting and lowering device 50 executes the lifting and lowering process according to the lifting and lowering processing program 400.

[0315] Furthermore, although the above embodiment described an example in which the light emission mode control processing program 500 is stored in the storage 112 of the marker device 90, the technology of this disclosure is not limited thereto. For example, the light emission mode control processing program 500 may be stored in a portable storage medium such as an SSD or USB memory. The storage medium is a non-temporary storage medium. The light emission mode control processing program 500 stored in the storage medium is installed in the computer 92 of the marker device 90. The processor 110 of the marker device 90 executes light emission mode control processing according to the light emission mode control processing program 500.

[0316] Furthermore, although the above embodiment described an example in which the imaging distance measurement processing program 600 is stored in the storage 152 of the imaging distance measurement device 130, the technology of this disclosure is not limited thereto. For example, the imaging distance measurement processing program 600 may be stored in a portable storage medium such as an SSD or USB memory. The storage medium is a non-temporary storage medium. The imaging distance measurement processing program 600 stored in the storage medium is installed in the computer 132 of the imaging distance measurement device 130. The processor 150 of the imaging distance measurement device 130 executes imaging distance measurement processing according to the imaging distance measurement processing program 600.

[0317] Furthermore, although the above embodiment described an example in which the flight imaging processing program 700 is stored in the storage 202 of the aircraft 180, the technology of this disclosure is not limited thereto. For example, the flight imaging processing program 700 may be stored in a portable storage medium such as an SSD or USB memory. The storage medium is a non-temporary storage medium. The flight imaging processing program 700 stored in the storage medium is installed in the computer 182 of the aircraft 180. The processor 200 of the aircraft 180 performs flight imaging processing according to the flight imaging processing program 700.

[0318] Furthermore, in the above embodiment, the imaging support processing program 300 may be stored in a storage device such as another computer or server connected to the imaging support device 10 via a network, and the imaging support processing program 300 may be downloaded and installed on the computer 12 of the imaging support device 10 in response to a request from the imaging support device 10.

[0319] Furthermore, it is not necessary to store the entire imaging support processing program 300 in the storage device of another computer or server connected to the imaging support device 10, or in the storage device 32 of the imaging support device 10; it is acceptable to store only a portion of the imaging support processing program 300.

[0320] In the above embodiment, the lifting and lowering processing program 400 may be stored in a storage device such as another computer or server connected to the lifting and lowering device 50 via a network, and the lifting and lowering processing program 400 may be downloaded and installed on the computer 52 of the lifting and lowering device 50 in response to a request from the lifting and lowering device 50.

[0321] Furthermore, it is not necessary to store the entirety of the lifting and lowering processing program 400 in a storage device such as another computer or server connected to the lifting and lowering device 50, or in the storage 72 of the lifting and lowering device 50; it is acceptable to store only a portion of the lifting and lowering processing program 400.

[0322] Furthermore, in the above embodiment, the light emission mode control processing program 500 may be stored in a storage device such as another computer or server connected to the marker device 90 via a network, and the light emission mode control processing program 500 may be downloaded and installed on the computer 92 of the marker device 90 in response to a request from the marker device 90.

[0323] Furthermore, it is not necessary to store the entire light emission mode control processing program 500 in a storage device such as another computer or server connected to the marker device 90, or in the storage 112 of the marker device 90; a portion of the light emission mode control processing program 500 may be stored.

[0324] In the above embodiment, the imaging distance measurement processing program 600 may be stored in a storage device such as another computer or server connected to the imaging distance measurement device 130 via a network, and the imaging distance measurement processing program 600 may be downloaded and installed on the computer 132 of the imaging distance measurement device 130 in response to a request from the imaging distance measurement device 130.

[0325] Furthermore, it is not necessary to store the entire imaging distance measurement processing program 600 in a storage device such as another computer or server connected to the imaging distance measurement device 130, or in the storage device 152 of the imaging distance measurement device 130; a portion of the imaging distance measurement processing program 600 may be stored.

[0326] In the above embodiment, the flight imaging processing program 700 may be stored in a storage device such as another computer or server connected to the aircraft 180 via a network, and the flight imaging processing program 700 may be downloaded and installed on the aircraft 180's computer 182 in response to a request from the aircraft 180.

[0327] Furthermore, it is not necessary to store the entirety of the flight imaging processing program 700 in a storage device such as another computer or server connected to the aircraft 180, or in the storage 202 of the aircraft 180; a portion of the flight imaging processing program 700 may be stored.

[0328] Furthermore, although the computer 12 is built into the imaging support device 10 in the above embodiment, the technology of this disclosure is not limited thereto, and for example, the computer 12 may be provided outside the imaging support device 10.

[0329] Furthermore, although the above embodiment incorporates a computer 52 into the lifting device 50, the technology of this disclosure is not limited thereto, and for example, the computer 52 may be provided outside the lifting device 50.

[0330] Furthermore, although the marker device 90 incorporates a computer 92 in the above embodiment, the technology of this disclosure is not limited thereto, and for example, the computer 92 may be provided outside the marker device 90.

[0331] Furthermore, although the above embodiment incorporates a computer 132 into the imaging distance measuring device 130, the technology of this disclosure is not limited thereto, and for example, the computer 132 may be provided outside the imaging distance measuring device 130.

[0332] Furthermore, although the above embodiment includes a computer 182 built into the aircraft 180, the technology of this disclosure is not limited thereto, and for example, the computer 182 may be provided outside the aircraft 180.

[0333] Furthermore, although a computer 12 is used in the imaging support device 10 in the above embodiment, the technology of this disclosure is not limited thereto, and devices including ASICs, FPGAs, and / or PLDs may be used instead of the computer 12. Alternatively, a combination of hardware and software configurations may be used instead of the computer 12.

[0334] Furthermore, although a computer 52 is used in the lifting device 50 in the above embodiment, the technology of this disclosure is not limited thereto, and devices including ASICs, FPGAs, and / or PLDs may be used instead of the computer 52. Alternatively, a combination of hardware and software configurations may be used instead of the computer 52.

[0335] Furthermore, although a computer 92 is used in the marker device 90 in the above embodiment, the technology of this disclosure is not limited thereto, and devices including ASICs, FPGAs, and / or PLDs may be used instead of the computer 92. Alternatively, a combination of hardware and software configurations may be used instead of the computer 92.

[0336] Furthermore, although a computer 132 is used in the imaging distance measuring device 130 in the above embodiment, the technology of this disclosure is not limited thereto, and devices including ASICs, FPGAs, and / or PLDs may be used instead of the computer 132. Alternatively, a combination of hardware and software configurations may be used instead of the computer 132.

[0337] Furthermore, although a computer 182 is used in the aircraft 180 in the above embodiment, the technology of this disclosure is not limited thereto, and devices including ASICs, FPGAs, and / or PLDs may be used instead of the computer 182. Alternatively, a combination of hardware and software configurations may be used instead of the computer 182.

[0338] The hardware resources used to perform the various processes described in the above embodiments include the following types of processors. Examples of processors include a CPU, a general-purpose processor that functions as a hardware resource for performing various processes by executing software, i.e., a program. Other examples of processors include dedicated electrical circuits, such as FPGAs, PLDs, or ASICs, which have circuit configurations specifically designed for performing particular processes. Each processor has built-in or connected memory, and each processor performs processing by using this memory.

[0339] Furthermore, the hardware resources that perform various processes may consist of one of these various processors, or a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Alternatively, the hardware resources that perform the processes may consist of a single processor.

[0340] Examples of configurations using a single processor include, firstly, a configuration in which one or more CPUs and software are combined to form a single processor, and this processor functions as a hardware resource that performs various processes. Secondly, there is a configuration using a processor that realizes the functions of the entire system, including multiple hardware resources that perform various processes, on a single IC chip, as exemplified by SoCs. In this way, various processes are realized using one or more of the above types of processors as hardware resources.

[0341] Furthermore, the hardware structure of these various processors can more specifically utilize electrical circuits that combine circuit elements such as semiconductor devices. Also, the various processes described above are merely examples. Therefore, it goes without saying that unnecessary steps can be deleted, new steps added, or the processing order rearranged, as long as it does not deviate from the main purpose.

[0342] The descriptions and illustrations presented above are detailed explanations of the technical aspects of this disclosure and are merely examples of the technical aspects. For example, the above descriptions of the structure, function, operation, and effect are examples of the structure, function, operation, and effect of the technical aspects of this disclosure. Therefore, it goes without saying that you may delete unnecessary parts, add new elements, or replace elements in the descriptions and illustrations presented above, as long as you do not deviate from the essence of the technical aspects of this disclosure. Furthermore, in order to avoid confusion and facilitate understanding of the technical aspects of this disclosure, explanations of common technical knowledge and the like that do not require special explanation to enable the implementation of the technical aspects of this disclosure have been omitted from the descriptions and illustrations presented above.

[0343] In this specification, "A and / or B" is synonymous with "at least one of A and B." That is, "A and / or B" means that it may be A alone, or B alone, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" applies when expressing three or more things linked by "and / or."

[0344] All documents, patent applications, and technical standards described herein are incorporated by reference to the same extent as if each individual document, patent application, and technical standard were specifically and individually noted to be incorporated by reference.

Claims

1. Control device and Displacement mechanism and Markers and, The flying object and, Equipped with, The displacement mechanism is, The cable on which the aforementioned marker is provided, A reel for winding and unwinding the cable, Equipped with, The control device is Processor and The processor comprises, The aforementioned processor, With respect to the marker whose vertical position is variable by the displacement mechanism, the vertical position of the marker is obtained by an optical sensor mounted on the aircraft. Based on the vertical position of the marker, control is performed on the aircraft to maintain or change its vertical position. Flight system.

2. A control device, Displacement mechanism and Markers and, The flying object and, Equipped with, The displacement mechanism includes a lifting mechanism for raising and lowering the marker, The control device is Processor and The processor comprises, The aforementioned processor, With respect to the marker whose vertical position is variable by the displacement mechanism, the vertical position of the marker is obtained by an optical sensor mounted on the aircraft. Based on the vertical position of the marker, control is performed on the aircraft to maintain or change its vertical position. Flight system.

3. The optical sensor has a first imaging device The aircraft system according to claim 1.

4. The processor controls the first imaging device to capture an imaging scene that includes the marker in part. The aircraft system according to claim 3.

5. The imaging scene includes a first object to be inspected located around the marker. The aircraft system according to claim 4.

6. The vertical position of the marker is a position detected based on the image obtained when the imaging scene is captured by the first imaging device. The aircraft system according to claim 4.

7. The processor performs control to set the vertical position of the aircraft at a height such that the marker is positioned in the vertical center of the image. The aircraft system according to claim 6.

8. The processor performs control to set the vertical position of the aircraft to the same position as the vertical position of the marker. The aircraft system according to claim 1.

9. The optical sensor has a LiDAR scanner, The vertical position of the marker is determined based on scan data obtained by scanning a target area that includes part of the marker using the LiDAR scanner. The aircraft system according to claim 1.

10. The marker has a light-emitting element The aircraft system according to claim 1.

11. The processor performs a first control on the flying object according to the first emission mode of the light-emitting object. The aircraft system according to claim 10.

12. The first control includes control for maintaining or changing the vertical position of the aircraft. The aircraft system according to claim 11.

13. The first control includes control for maintaining or changing the speed of the flying object. The aircraft system according to claim 11.

14. The first control includes motion control for moving the aircraft in the horizontal direction. The aircraft system according to claim 11.

15. The movement control includes control that adjusts the first distance between the marker and the aircraft by moving the aircraft horizontally. The aircraft system according to claim 14.

16. The first light emission mode includes a blinking mode. The aircraft system according to claim 11.

17. The processor controls the aircraft to hover according to the second emission mode of the light emitter. The aircraft system according to claim 10.

18. The second light emission mode includes a mode in which the light is turned off. The aircraft system according to claim 17.

19. The processor performs imaging control on the second imaging device mounted on the aircraft to perform imaging for still images according to the third emission mode of the light emitter. The aircraft system according to claim 10.

20. The processor performs the imaging control when the aircraft is hovering. The aircraft system according to claim 19.

21. The light-emitting body includes a plurality of light sources, The third light emission mode includes the alternating flashing of the plurality of light sources. The aircraft system according to claim 19.

22. The processor repeatedly performs the following actions in accordance with the fourth emission mode of the light emitter: control the aircraft to move horizontally while maintaining its vertical position, and control the third imaging device mounted on the aircraft to image the second object to be inspected. The aircraft system according to claim 10.

23. The displacement mechanism comprises a sensor for detecting the amount of cable being fed out relative to the reel. The aircraft system according to claim 1.

24. comprising a rope connecting the displacement mechanism and the flying body. The aircraft system according to claim 1.

25. The displacement mechanism and the rope include a power transmission cable that supplies power to the flying object. The aircraft system according to claim 24.

26. The displacement mechanism is provided with a fourth imaging device for imaging the flying object. The aircraft system according to claim 1.

27. ​​The processor performs control over the aircraft based on the image obtained when the aircraft is imaged by the fourth imaging device. The aircraft system according to claim 26.

28. The processor controls the aircraft to move to the center of the field of view of the fourth imaging device. The aircraft system according to claim 27.

29. The fourth imaging device is positioned adjacent to the marker. The aircraft system according to claim 26.

30. The displacement mechanism is provided with a distance measuring device, The rangefinder measures a second distance between the rangefinder and the aircraft. The aircraft system according to claim 1.

31. The processor performs a second control over the aircraft based on the rangefinder information obtained by measuring the second distance using the rangefinder. The aircraft system according to claim 30.

32. The second control is a control that sets the second distance to a predetermined distance. The aircraft system according to claim 31.

33. The distance measuring device is positioned adjacent to the marker. The aircraft system according to claim 30.

34. With respect to a marker whose vertical position is variable by a displacement mechanism, the vertical position of the marker is obtained by an optical sensor mounted on an aircraft, and Based on the vertical position of the marker, control is performed on the aircraft to maintain or change its vertical position. Equipped with, The displacement mechanism is, The cable on which the aforementioned marker is provided, A reel for winding and unwinding the cable, Equipped with Control method.

35. With respect to a marker whose vertical position is variable by a displacement mechanism, the vertical position of the marker is obtained by an optical sensor mounted on an aircraft, and Based on the vertical position of the marker, control is performed on the aircraft to maintain or change its vertical position. Equipped with, The displacement mechanism includes a lifting mechanism for raising and lowering the marker. Control method.

36. A program for causing a computer to perform a process, The aforementioned process is, For markers whose vertical position is variable by a displacement mechanism, the vertical position of the marker is obtained by an optical sensor mounted on the aircraft, and, Based on the vertical position of the marker, control is performed on the aircraft to maintain or change its vertical position. Includes, The displacement mechanism is, The cable on which the aforementioned marker is provided, A reel for winding and unwinding the cable, Equipped with program.

37. A program for causing a computer to perform a process, The aforementioned process is, For markers whose vertical position is variable by a displacement mechanism, the vertical position of the marker is obtained by an optical sensor mounted on the aircraft, and, Based on the vertical position of the marker, control is performed on the aircraft to maintain or change its vertical position. Includes, The displacement mechanism includes a lifting mechanism for raising and lowering the marker. program.

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