Control device, base station, control method, and program

Abstract

The control device according to the present invention comprises a processor and a memory that is connected to or built into the processor. The processor carries out, when the processor causes a rotary drive device on which a distance measuring device is mounted to rotate the distance measuring device, causes the distance measuring device to measure first distances between an object and the distance measuring device for a plurality of distance measurement positions on the object, sets a flight route for flying an aerial vehicle along the object on the basis of the first distances each measured for each of the distance measurement positions, and causes the aerial vehicle to fly on the flight route while causing a first imaging device installed on the aerial vehicle to image a plurality of areas which are of the object and are to be imaged to acquire a plurality of first images, control of keeping the pixel resolution of the first imaging device constant.

Description

Technical Field

[0001] The technology of the present disclosure relates to a control device, a base station, a control method, and a program.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2017-151008 discloses an optical tracking that irradiates a retroreflector of a flying object equipped with a retroreflector with tracking light, receives the tracking light, and performs tracking of the flying object based on the received result, and an image tracking that acquires an image of the flying object, detects the flying object from the image, and performs tracking of the flying object based on the detection result. The optical tracking and the image tracking are executed in parallel, and when tracking of the flying object becomes impossible by the optical tracking, it returns to the optical tracking based on the detection result of the image tracking. A flying object tracking method is disclosed.

[0003] Japanese Patent Application Laid-Open No. 2014-104797 discloses an indoor investigation system including a moving mechanism that moves on the floor and enters a building, a camera provided on the moving mechanism, a pan-tilt mechanism of the camera, a flying object that can be mounted on the moving mechanism, a light emitter provided on the flying object, a pan-tilt control means that controls the pan-tilt mechanism so that the camera tracks the light emitter, a display means that displays an image captured by the camera, and at least an operation means that operates the flying object.

[0004] Japanese Patent Application Laid-Open No. 2018-173960 discloses an information processing system for flight control of an unmanned aircraft, which includes a control means for controlling the flight of the unmanned aircraft so that it flies to a position not photographed by the network camera when the unmanned aircraft is flying to a position photographed by the network camera.

[0005] Japanese Patent Publication No. 2018-070013 discloses an unmanned aerial vehicle control system in which an unmanned aerial vehicle connected to a base station by a cable and an information processing device are connected via a network, the system comprising: a comparison means for comparing the area of ​​the base station with the length of the cable; and a cable adjustment means for controlling the cable so that the length becomes shorter than the area of ​​the base station if the comparison means determines that the length of the cable is longer than the area of ​​the base station.

[0006] International Publication No. 2017 / 017984 discloses a mobile identification system for identifying mobile objects, which acquires mobile status information including first location information of multiple mobile objects detected by a mobile status monitoring device that monitors the mobile status of mobile objects, acquires predetermined report information from the mobile objects including second location information of the mobile object itself measured by the mobile object, and identifies the registration status of the mobile object based on the first location information and the second location information. [Overview of the project]

[0007] One embodiment of the technology of this disclosure provides a control device, base station, control method, and program that can maintain a constant resolution of an image obtained by imaging an object with a first imaging device mounted on an aircraft flying along the object, even if the object has recesses or protrusions. [Means for solving the problem]

[0008] A first aspect of the technology of this disclosure is a control device that controls a processor and a memory connected to or built into the processor, wherein the processor controls a rotary drive device to which a range measuring device is attached to rotate the range measuring device, causes the range measuring device to measure a first distance between the object and the range measuring device at multiple range measuring points on the object, sets a flight route for the aircraft to fly along the object based on the first distance measured at each range measuring point, and causes the aircraft to fly along the flight route and acquire multiple first images by causing a first imaging device mounted on the aircraft to image multiple areas of the object to be imaged. The control device maintains a constant pixel resolution of the first imaging device.

[0009] A second aspect of the technology of this disclosure is a control device according to the first aspect, wherein the processor adjusts the rotation angle of the rotary drive device to a second rotation angle in which the aircraft is included in the range measuring range of the range measuring device, causes the range measuring device to measure a second distance between the aircraft and the range measuring device, and controls the aircraft to fly along a flight path based on the second rotation angle and the second distance.

[0010] A third aspect of the technology of this disclosure is a control device according to the second aspect, wherein the ranging device includes a LiDAR scanner, the second distance is the distance between the aircraft and the LiDAR scanner, and the processor derives the second absolute coordinates of the aircraft based on the first absolute coordinates of the rotary drive device, the second rotation angle, the angle of the laser beam emitted from the LiDAR scanner toward the aircraft, and the second distance, and controls the aircraft to fly along a flight path based on the second absolute coordinates.

[0011] A fourth aspect of the technology of this disclosure is a control device according to the second or third aspect, wherein a second imaging device is attached to the rotary drive device, and the processor is a control device that adjusts the rotation angle of the rotary drive device to a second rotation angle based on a second image obtained by imaging an aircraft with the second imaging device.

[0012] A fifth aspect of the technology of this disclosure is a control device according to the fourth aspect, wherein the second rotation angle is the angle at which the aircraft is located in the center of the field of view of the second imaging device.

[0013] A sixth aspect of the technology of this disclosure is a control device according to the fourth or fifth aspect, wherein the aircraft comprises a plurality of components classified in different aspects, and the processor controls the attitude of the aircraft based on the positions of the plurality of components as depicted in a second image.

[0014] A seventh aspect of the technology of this disclosure is a control device relating to the sixth aspect, wherein the different aspect is a different color and the component is a propeller.

[0015] An eighth aspect of the technology of this disclosure is a control device relating to the sixth aspect, wherein the different aspect is a different color and the component is a light-emitting element.

[0016] A ninth aspect of the technology of this disclosure is a control device relating to the sixth aspect, wherein the different aspect is a different flashing pattern and the component is a light-emitting element.

[0017] A tenth aspect of the technology of this disclosure is a control device relating to any one of the first to ninth aspects, wherein the plurality of first images are images acquired each time the aircraft reaches each of the plurality of first imaging positions set on the flight route.

[0018] An eleventh aspect of the technology of this disclosure is a control device according to the tenth aspect, wherein the plurality of first imaging positions are positions in which parts of first images acquired at adjacent first imaging positions overlap.

[0019] A twelfth aspect of the technology of this disclosure is a control device according to any one of the first to eleventh aspects, wherein, when the surface of an object has a recess and the area of ​​the opening of the recess is smaller than a predetermined area, the processor sets a flight path on a smooth virtual surface facing the surface.

[0020] A thirteenth aspect of the technology of this disclosure is a control device according to the twelfth aspect, wherein the processor controls the operation of at least one of the zoom lens and focus lens of the first imaging device to maintain a constant pixel resolution when the aircraft is flying over a recess.

[0021] A fourteenth aspect of the technology of this disclosure is a control device relating to any one of the first to thirteenth aspects, wherein the processor rotates a first rangefinder, which is a rotary drive to which a first rangefinder as a rangefinder is attached, and causes the first rangefinder to measure a first distance for a plurality of first rangefinder locations among a plurality of rangefinder locations; rotates a second rangefinder, which is a rotary drive to which a second rangefinder is attached, and causes the second rangefinder to measure a first distance for a plurality of second rangefinder locations among a plurality of rangefinder locations; and sets a flight route based on the first distance measured for each first rangefinder location and the first distance measured for each second rangefinder location.

[0022] A fifteenth aspect of the technology of this disclosure is a control device according to the fourteenth aspect, wherein the processor converts a first distance measured by a second distance measuring device into a distance based on the position of the first distance measuring device, based on predetermined first calibration information.

[0023] A sixteenth aspect of the technology of this disclosure is a control device according to the fourteenth or fifteenth aspect, wherein the processor converts the position of an aircraft measured by a second rangefinder to a position relative to the position of a first rangefinder, based on predetermined second calibration information.

[0024] A seventeenth aspect of the technology disclosed herein is a control device according to any one of the fourteenth to sixteenth aspects, wherein the processor is a control device that selects a distance measuring device that measures the position of the flying object from the first distance measuring device and the second distance measuring device according to the position of the flying object.

[0025] An eighteenth aspect of the technology disclosed herein is a control device according to any one of the fourteenth to seventeenth aspects, wherein when the processor sets a flight route based on a point located outside the first distance measurement area of the first distance measuring device and the second distance measurement area of the second distance measuring device, the processor derives the distance between the point and the first distance measuring device based on the angle of the direction in which the point is located with respect to the first distance measuring device and the distance between the first distance measuring device and the second distance measuring device.

[0026] A nineteenth aspect of the technology disclosed herein is a control device according to the eighteenth aspect, wherein when the flying object is located outside the first distance measurement area and the second distance measurement area, the processor derives the distance between the flying object and the first distance measuring device based on the angle of the direction in which the flying object is located with respect to the first distance measuring device and the distance between the first distance measuring device and the second distance measuring device.

[0027] A twentieth aspect of the technology disclosed herein is a control device according to any one of the first to nineteenth aspects, wherein the flying object includes a third imaging device, and when the flying object that has moved from the second imaging position set on the flight route reaches the third imaging position set on the flight route, the processor performs a position correction process for correcting the position of the flying object based on a third image obtained by imaging an object with the third imaging device. The position correction process is to obtain a fourth image by causing the third imaging device to image the object when the flying object reaches the second imaging position, and then obtain a fifth image by causing the third imaging device to image the object when the flying object reaches the third imaging position. Based on the overlap amount between the fourth image and the third image, the process corrects the position of the flying object to a position where the overlap amount between the fourth image and the fifth image becomes a predetermined overlap amount.

[0028] The 21st aspect according to the technology of the present disclosure is a base station including a control device according to any one of the 1st to 20th aspects, a rotary drive device, and a distance measuring device.

[0029] The 22nd aspect according to the technology of the present disclosure is to rotate a distance measuring device with respect to a rotary drive device to which the distance measuring device is attached, measure a first distance between the object and the distance measuring device for a plurality of distance measuring points of the object with respect to the distance measuring device, set a flight route for flying a flying object along the object based on the first distance measured for each distance measuring point, and when flying the flying object along the flight route and acquiring a plurality of first images by causing a first imaging device mounted on the flying object to image a plurality of imaging regions of the object, perform control to keep the pixel resolution of the first imaging device constant. This is a control method.

[0030] The 23rd aspect according to the technology of the present disclosure is to rotate a distance measuring device with respect to a rotary drive device to which the distance measuring device is attached, measure a first distance between the object and the distance measuring device for a plurality of distance measuring points of the object with respect to the distance measuring device, set a flight route for flying a flying object along the object based on the first distance measured for each distance measuring point, and when flying the flying object along the flight route and acquiring a plurality of first images by causing a first imaging device mounted on the flying object to image a plurality of imaging regions of the object, perform control to keep the pixel resolution of the first imaging device constant. This is a program for causing a computer to execute a process including this.

Brief Description of Drawings

[0031] [Figure 1] It is a side view showing an example of an inspection system according to the first embodiment of the technology of the present disclosure. [Figure 2] It is a plan view showing an example of an inspection system according to the first embodiment of the technology of the present disclosure. [Figure 3] It is a plan view showing an example of a flying object according to the first embodiment of the technology of the present disclosure. [Figure 4]This block diagram shows an example of the electrical configuration of a base station according to the first embodiment of the technology disclosed herein. [Figure 5] This block diagram shows an example of the electrical configuration of a rotary drive device for a base station according to a first embodiment of the technology disclosed herein. [Figure 6] This block diagram shows an example of the electrical configuration of an imaging device for a base station according to a first embodiment of the technology disclosed herein. [Figure 7] This block diagram shows an example of the electrical configuration of a range measuring device for a base station according to a first embodiment of the technology disclosed herein. [Figure 8] This is a block diagram showing an example of the electrical configuration of an aircraft according to a first embodiment of the technology disclosed herein. [Figure 9] This is a block diagram showing an example of the electrical configuration of an imaging device for an aircraft according to a first embodiment of the technology disclosed herein. [Figure 10] This is a block diagram showing an example of the functional configuration of a base station processor according to a first embodiment of the technology disclosed herein. [Figure 11] This is a block diagram showing an example of the functional configuration of a flight route setting processing unit according to a first embodiment of the technology disclosed herein. [Figure 12] This is a block diagram showing an example of the functional configuration of a flight control processing unit according to a first embodiment of the technology disclosed herein. [Figure 13] This is a block diagram showing an example of the functional configuration of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 14] This is a block diagram showing an example of the functional configuration of a flight vehicle processor according to a first embodiment of the technology disclosed herein. [Figure 15] This is an explanatory diagram illustrating an example of the first operation of the flight route setting processing unit according to the first embodiment of the technology disclosed herein. [Figure 16] This is an explanatory diagram illustrating an example of a second operation of the flight route setting processing unit according to the first embodiment of the technology disclosed herein. [Figure 17] This is an explanatory diagram illustrating an example of a third operation of the flight route setting processing unit according to the first embodiment of the technology disclosed herein. [Figure 18]This is an explanatory diagram illustrating an example of a fourth operation of the flight route setting processing unit according to the first embodiment of the technology disclosed herein. [Figure 19] This is an explanatory diagram illustrating an example of a fifth operation of the flight route setting processing unit according to the first embodiment of the technology disclosed herein. [Figure 20] This is an explanatory diagram illustrating an example of the first operation of the flight control processing unit according to the first embodiment of the technology disclosed herein. [Figure 21] This is an explanatory diagram illustrating an example of a second operation of the flight control processing unit according to the first embodiment of the technology disclosed herein. [Figure 22] This is an explanatory diagram illustrating an example of a third operation of the flight control processing unit according to the first embodiment of the technology disclosed herein. [Figure 23] This is an explanatory diagram illustrating an example of the first operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 24] This is an explanatory diagram illustrating an example of a second operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 25] This is an explanatory diagram illustrating an example of a third operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 26] This is an explanatory diagram illustrating an example of a fourth operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 27] This is an explanatory diagram illustrating an example of a fifth operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 28] This is an explanatory diagram illustrating an example of a sixth operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 29] This is an explanatory diagram illustrating an example of a seventh operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 30] This is an explanatory diagram illustrating an example of the eighth operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 31] This is an explanatory diagram illustrating an example of the ninth operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 32]This is an explanatory diagram illustrating an example of a 10th operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 33] This is an explanatory diagram illustrating an example of the 11th operation of the imaging control processing unit according to the first embodiment of the technology disclosed herein. [Figure 34] This flowchart shows an example of the flow of the first processing step of the flight imaging support processing according to the first embodiment of the technology disclosed herein. [Figure 35] This flowchart shows an example of the flow of the second processing step of the flight imaging support processing according to the first embodiment of the technology disclosed herein. [Figure 36] This flowchart shows an example of the flow of the third processing step of the flight imaging support processing according to the first embodiment of the technology disclosed herein. [Figure 37] This flowchart shows an example of the flow of the fourth processing step of the flight imaging support processing according to the first embodiment of the technology disclosed herein. [Figure 38] This flowchart shows an example of the flow of the fifth processing step of the flight imaging support processing according to the first embodiment of the technology disclosed herein. [Figure 39] This flowchart shows an example of the flow of the sixth processing step of the flight imaging support processing according to the first embodiment of the technology disclosed herein. [Figure 40] This flowchart shows an example of the flow of the first processing step of the flight imaging processing according to the first embodiment of the technology disclosed herein. [Figure 41] This flowchart shows an example of the flow of the second processing step for flight imaging processing according to the first embodiment of the technology disclosed herein. [Figure 42] This flowchart shows an example of the flow of the third processing step of the flight imaging processing according to the first embodiment of the technology disclosed herein. [Figure 43] This is a plan view showing a modified example of an aircraft according to the first embodiment of the technology disclosed herein. [Figure 44] This is a plan view showing an example of an inspection system according to a second embodiment of the technology disclosed herein. [Figure 45] This is a block diagram showing an example of the functional configuration of a flight route setting processing unit according to a second embodiment of the technology disclosed herein. [Figure 46]This is a block diagram showing an example of the functional configuration of a flight control processing unit according to a second embodiment of the technology disclosed herein. [Figure 47] This is a block diagram showing an example of the functional configuration of the imaging control processing unit according to a second embodiment of the technology disclosed herein. [Figure 48] This is an explanatory diagram illustrating an example of the first operation of the flight route setting processing unit according to a second embodiment of the technology disclosed herein. [Figure 49] This is an explanatory diagram illustrating an example of a second operation of the flight route setting processing unit according to a second embodiment of the technology disclosed herein. [Figure 50] This is a schematic diagram showing an example of multiple points in overlapping regions of the distance measuring areas of each distance measuring device according to a second embodiment of the technology disclosed herein. [Figure 51] This is an explanatory diagram illustrating an example of a third operation of the flight route setting processing unit according to a second embodiment of the technology disclosed herein. [Figure 52] This is an explanatory diagram illustrating an example of a fourth operation of the flight route setting processing unit according to a second embodiment of the technology disclosed herein. [Figure 53] This is an explanatory diagram illustrating an example of the operation of the flight control processing unit according to a second embodiment of the technology disclosed herein. [Figure 54] This is an explanatory diagram illustrating an example of the operation of the imaging control processing unit according to a second embodiment of the technology disclosed herein. [Figure 55] This flowchart shows an example of the flow of the first processing step of the flight imaging support processing according to the second embodiment of the technology disclosed herein. [Figure 56] This flowchart shows an example of the flow of the second processing step of the flight imaging support processing according to the second embodiment of the technology disclosed herein. [Figure 57] This flowchart shows an example of the flow of the third processing step of the flight imaging support processing according to the second embodiment of the technology disclosed herein. [Figure 58] This flowchart shows an example of the flow of the fourth processing step of the flight imaging support processing according to the second embodiment of the technology disclosed herein. [Figure 59] This flowchart shows an example of the flow of the fifth processing step of the flight imaging support processing according to the second embodiment of the technology disclosed herein. [Figure 60] This block diagram shows an example of the functional configuration of a base station processor according to a third embodiment of the technology disclosed herein. [Figure 61] This is an explanatory diagram illustrating an example of the first operation of the distance derivation processing unit according to the third embodiment of the technology disclosed herein. [Figure 62] This is an explanatory diagram illustrating an example of a second operation of the distance derivation processing unit according to a third embodiment of the technology disclosed herein. [Figure 63] This is a schematic diagram showing an example of a point located outside the distance measuring area of ​​each distance measuring device according to the third embodiment of the technology disclosed herein. [Figure 64] This is an explanatory diagram illustrating an example of distance derivation processing according to a third embodiment of the technology disclosed herein. [Figure 65] This block diagram shows an example of the functional configuration of a base station processor according to a fourth embodiment of the technology disclosed herein. [Figure 66] This is a block diagram showing an example of the functional configuration of a position correction processing unit according to a fourth embodiment of the technology disclosed herein. [Figure 67] This is a block diagram showing an example of the first operation of the position correction processing unit according to the fourth embodiment of the technology disclosed herein. [Figure 68] This flowchart shows an example of the flow of the first processing step of the position correction process according to the fourth embodiment of the technology disclosed herein. [Figure 69] This flowchart shows an example of the flow of the second processing step of the position correction process according to the fourth embodiment of the technology disclosed herein. [Modes for carrying out the invention]

[0032] Hereinafter, an example of an embodiment of the control device, base station, control method, and program relating to the technology of this disclosure will be described with reference to the attached drawings.

[0033] First, let's explain the terminology used in the following explanation.

[0034] CPU stands for "Central Processing Unit". GPU stands for "Graphics Processing Unit". RAM stands for "Random Access Memory". NVM stands for "Non-volatile 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". MEMS stands for "Micro Electro Mechanical Systems". AI stands for "Artificial Intelligence".

[0035] In this specification, “horizontal” means not only perfect horizontality but also horizontality including errors that are generally acceptable in the art to which the disclosed technology belongs, provided that such errors do not contradict the spirit of the disclosed technology. In this specification, “vertical” means not only perfect verticality but also verticality including errors that are generally acceptable in the art to which the disclosed technology belongs, provided that such errors do not contradict the spirit of the disclosed technology. In this specification, “parallel” means not only perfect parallelism but also parallelism including errors that are generally acceptable in the art to which the disclosed technology belongs, provided that such errors do not contradict the spirit of the disclosed technology. In this specification, “symmetry” means not only perfect symmetry but also symmetry including errors that are generally acceptable in the art to which the disclosed technology belongs, provided that such errors do not contradict the spirit of the disclosed technology. In this specification, “constant” means not only perfect constantness but also constantness including errors that are generally acceptable in the art to which the disclosed technology belongs, provided that such errors do not contradict the spirit of the disclosed technology. In this specification, “match” means not only a perfect match, but also a match that includes errors that are generally acceptable in the art to which the disclosed technology pertains, and that do not contradict the spirit of the disclosed technology. Furthermore, in the following description, numerical ranges represented by “~” mean a range that includes the numbers written before and after the “~” as the lower and upper limits.

[0036] [First Embodiment] As an example, as shown in Figure 1, the inspection system 1 is equipped with an image analysis device 2 and an imaging system S, and inspects the object to be inspected 3.

[0037] For example, inspection target 3 is a bridge pier. 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.

[0038] 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" related to the technology of this disclosure.

[0039] The imaging system S comprises a base station 10 and an aircraft 310. The base station 10 has a control function. The control function controls the aircraft 310 by giving it instructions such as flight instructions or imaging instructions. The aircraft 310 has a flight function and a first imaging function. The flight function is the function of flying based on flight instructions. The first imaging function is the function of imaging a subject (in the example shown in Figure 1, the object to be inspected 3) based on imaging instructions.

[0040] To describe the aircraft 310 in more detail, the aircraft 310 is an unmanned aerial vehicle such as a drone, and comprises a communication device 312, an aircraft body 320, and an imaging device 330. The base station 10 is equipped with a communication device 12, and the communication device 312 communicates with the communication device 12. The communication device 312 may communicate with the communication device 12 wirelessly or with the communication device 12 via a wired connection.

[0041] The first imaging function is realized by the imaging device 330. Examples of the imaging device 330 include a digital camera or a video camera. The imaging device 330 images the second subject (in the example shown in Figure 1, the object to be inspected 3). In the example shown in Figure 1, the imaging device 330 is mounted on the top of the aircraft body 320, but this is merely an example, and the imaging device 330 may also be mounted on the bottom of the aircraft body 320. The imaging device 330 is mounted in the center of the aircraft body 320 and is positioned to image the area in front of the aircraft 310. The imaging device 330 is an example of the "first imaging device" related to the technology of this disclosure.

[0042] The imaging system S is a system that provides image data obtained by imaging the object to be inspected 3 by the aircraft 310 to the image analysis device 2. The image analysis device 2 performs image analysis processing on the image data provided by the imaging system S to check for damage to the object to be inspected 3 and / or the extent of the damage, and outputs the inspection results. As an example, the image analysis processing is a process that analyzes images using template matching technology and / or artificial intelligence.

[0043] In addition to the communication device 12, the base station 10 includes a rotary drive device 20, an imaging device 30, and a rangefinder 40. The rotary drive device 20 includes a base 27. The rotary drive device 20 is a device capable of rotating the base 27 in the horizontal and vertical directions. In Figure 1, arrow V indicates the vertical direction. The imaging device 30 and the rangefinder 40 are mounted on the base 27. In the example shown in Figure 1, the imaging device 30 is positioned above the rangefinder 40, but this is merely one example; the imaging device 30 may be positioned below the rangefinder 40, or it may be positioned horizontally alongside the rangefinder 40.

[0044] The imaging device 30 is a device having a second imaging function. The second imaging function is the function of imaging an imaging scene including the object to be inspected 3 or the aircraft 310. The second imaging function is realized by, for example, a digital camera or a video camera. The imaging device 30 is an example of the "second imaging device" related to the technology of this disclosure. The rangefinder 40 is a device having a rangefinder function. The rangefinder function is the function of measuring the distance between the object to be inspected 3 or the aircraft 310 and the rangefinder 40. The rangefinder function is realized by, for example, an ultrasonic rangefinder, a laser rangefinder, or a radar rangefinder. An example of a laser rangefinder is a LiDAR scanner. The following describes a case in which a LiDAR scanner is used as an example of a laser rangefinder that realizes the rangefinder function.

[0045] As an example, as shown in Figure 2, the direction in which the rangefinder 40 scans with laser light (hereinafter referred to as the scan direction) is set to the horizontal direction. In Figure 2, arrow H indicates the horizontal direction. The range measurement range 41, which is the range scanned by the rangefinder 40 with laser light, is set within the imaging range 31 of the imaging device 30 in a plan view. When the first subject (for example, the flying object 310 shown in Figures 1 and 2) is located in the center of the field of view of the imaging device 30, the range measurement range 41 is set to the range in which the first subject is located in the center of the range measurement range 41. In addition, the optical axis OA1 of the imaging device 30 coincides with the central axis AC of the range measurement range 41 in a plan view relative to the imaging system S.

[0046] The scanning direction of the distance measuring device 40 may be set to the vertical direction, or it may be set to both the horizontal and vertical directions. Furthermore, in the example shown in Figures 1 and 2, the base station 10 is equipped with an imaging device 30 and a distance measuring device 40, but this is merely an example, and the base station 10 may also be equipped with an imaging device having a second imaging function and a distance measuring function. Examples of imaging devices having a second imaging function and a distance measuring function include stereo cameras and phase-difference pixel cameras.

[0047] As an example, as shown in Figure 3, the aircraft body 320 is a multirotor having a first propeller 341A, a second propeller 341B, a third propeller 341C, and a fourth propeller 341D. The first propeller 341A is located on the front right side of the aircraft body 320, the second propeller 341B is located on the front left side of the aircraft body 320, the third propeller 341C is located on the rear right side of the aircraft body 320, and the fourth propeller 341D is located on the rear left side of the aircraft body 320.

[0048] As an example, the first propeller 341A and the third propeller 341C are positioned to the right of the imaging device 330, while the second propeller 341B and the fourth propeller 341D are positioned to the left of the imaging device 330. In a plan view, the first propeller 341A is positioned symmetrically to the second propeller 341B with respect to the optical axis OA2 of the imaging device 330, and the third propeller 341C is positioned symmetrically to the fourth propeller 341D with respect to the optical axis OA2 of the imaging device 330. The first propeller 341A, the second propeller 341B, the third propeller 341C, and the fourth propeller 341D are examples of the "multiple components" relating to the technology of this disclosure.

[0049] The first propeller 341A, the second propeller 341B, the third propeller 341C, and the fourth propeller 341D are classified by different colors as an example of a different configuration. In the example shown in Figure 3, the color of each propeller is represented by dots attached to the first propeller 341A, the second propeller 341B, the third propeller 341C, and the fourth propeller 341D, respectively.

[0050] For example, the color of the first propeller 341A is the same as the color of the second propeller 341B, and the color of the third propeller 341C is the same as the color of the fourth propeller 341D. The first color set for the first propeller 341A and the second propeller 341B is different from the second color set for the third propeller 341C and the fourth propeller 341D. The first and second colors may each be chromatic or achromatic. The first and second colors may be any colors as long as the processor 51 of the base station 10 (see Figure 4), described later, can distinguish between the first and second colors based on the image obtained by imaging by the imaging device 30.

[0051] In the example shown in Figure 3, the first propeller 341A and the second propeller 341B are assigned the first color, and the third propeller 341C and the fourth propeller 341D are assigned the second color. However, this is merely one example, and the first propeller 341A and the third propeller 341C may be assigned the first color, while the second propeller 341B and the fourth propeller 341D may be assigned the second color. Alternatively, the first propeller 341A and the fourth propeller 341D may be assigned the first color, while the second propeller 341B and the third propeller 341C may be assigned the second color. Furthermore, the first propeller 341A, the second propeller 341B, the third propeller 341C, and the fourth propeller 341D may be assigned different colors to each other.

[0052] As an example, as shown in Figure 4, the base station 10 includes a communication device 12, a reception device 14, a display 16, a rotary drive device 20, an imaging device 30, a distance measuring device 40, and a computer 50.

[0053] Computer 50 is an example of a "control device" and a "computer" according to the technology of this disclosure. Computer 50 comprises a processor 51, storage 52, and RAM 53. The processor 51 is an example of a "processor" according to the technology of this disclosure, and the RAM 53 is an example of a "memory" according to the technology of this disclosure. The processor 51, storage 52, and RAM 53 are interconnected via a bus 54. A communication device 12, a receiving device 14, a display 16, a rotary drive device 20, an imaging device 30, and a distance measuring device 40 are also connected to the bus 54. In the example shown in Figure 4, for illustrative purposes, one bus is shown as bus 54, but there may be multiple buses. Bus 54 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0054] The processor 51, for example, has a CPU and controls the entire base station 10. Here, an example is given where the processor 51 has a CPU, but this is only one example. For example, the processor 51 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.

[0055] Storage 52 is a non-volatile memory device that stores various programs and parameters. Examples of storage 52 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.

[0056] RAM 53 is a memory that temporarily stores information and is used as work memory by the processor 51. Examples of RAM 53 include DRAM and / or SRAM.

[0057] The reception device 14 has a keyboard, mouse, and touchpad, and receives information provided by the user. The display 16 displays various information (e.g., images and text) under the control of the processor 51. 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 16, such as liquid crystal displays, may also be used.

[0058] The communication device 12 is connected to the aircraft 310 in a way that enables communication. Here, the communication device 12 is connected to the aircraft 310 in a way that enables wireless communication using a predetermined wireless communication standard. A predetermined wireless communication standard is, for example, Bluetooth®. Note that other wireless communication standards (for example, W) are also possible. i It may also be Fi or 5G, etc. 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 communication device 12 is responsible for the exchange of information with the aircraft 310. For example, the communication device 12 transmits information to the aircraft 310 in response to a request from the processor 51. The communication device 12 also receives information transmitted from the aircraft 310 and outputs the received information to the processor 51 via the bus 54.

[0059] As an example, as shown in Figure 5, the rotary drive device 20 includes an input / output interface 22, a motor driver 23, a pan motor 24, a tilt motor 25, a pan-tilt mechanism 26, and a base 27.

[0060] The motor driver 23 is connected to the processor 51 via the input / output interface 22 and the bus 54. The motor driver 23 controls the pan motor 24 and the tilt motor 25 according to instructions from the processor 51. The pan motor 24 and the tilt motor 25 are motors such as DC brushed motors, brushless motors, or stepping motors.

[0061] The pan-tilt mechanism 26 is, for example, a two-axis gimbal and includes a pan mechanism 28 and a tilt mechanism 29. The pan mechanism 28 is connected to the rotation axis of the pan motor 24, and the tilt mechanism 29 is connected to the rotation axis of the tilt motor 25. The base 27 is connected to the pan-tilt mechanism 26. The pan mechanism 28 applies a horizontal rotational force to the base 27 by receiving the rotational force of the pan motor 24, and the tilt mechanism 29 applies a vertical rotational force to the base 27 by receiving the rotational force of the tilt motor 25. The base 27 rotates horizontally due to the rotational force applied from the pan motor 24 via the pan mechanism 28, and rotates vertically due to the rotational force applied from the tilt motor 25 via the tilt mechanism 29.

[0062] As an example, as shown in Figure 6, the imaging device 30 includes an input / output interface 32, an image sensor driver 33, and an image sensor 34. The image sensor driver 33 and the image sensor 34 are connected to the processor 51 via the input / output interface 32 and the bus 54.

[0063] The image sensor driver 33 controls the image sensor 34 according to instructions from the processor 51. The image sensor 34 is, for example, a CMOS image sensor. Although a CMOS image sensor is used as an example of the image sensor 34 here, the technology of this disclosure is not limited to this, and other image sensors may be used. Under the control of the image sensor driver 33, the image sensor 34 captures an image of the first subject (for example, the flying object 310 shown in Figures 1 and 2) and outputs the image obtained from the capture to the processor 51.

[0064] Although not specifically shown, the imaging device 30 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 30 includes actuators for driving the focusing lens, zoom lens, and aperture. When imaging is performed by the imaging device 30, the actuators are controlled to drive the optical components such as the focusing lens, zoom lens, and aperture provided in the imaging device 30.

[0065] As an example, as shown in Figure 7, the distance measuring device 40 includes an input / output interface 42, a distance measuring sensor driver 43, a distance measuring sensor 44, a scanner driver 45, and a scanner mechanism 46. The distance measuring sensor driver 43, the distance measuring sensor 44, and the scanner driver 45 are connected to the processor 51 via the input / output interface 42 and the bus 54.

[0066] The distance measuring sensor driver 43 controls the distance measuring sensor 44 according to instructions from the processor 51. The distance measuring sensor 44 has a laser light output function, a reflected light detection function, and a distance information output function. The laser light output function is a function that outputs laser light, the reflected light detection function is a function that detects reflected light, which is the light that has been reflected by the object from the laser light, and the distance information output function is a function that outputs distance information (i.e., information indicating the distance from the distance measuring sensor 44 to the object) according to the time from when the laser light is output until the reflected light is detected.

[0067] The scanner mechanism 46 is, for example, a galvanometer mirror scanner or a MEMS mirror scanner, and comprises a scanner mirror 47 and a scanner actuator 48. The scanner mirror 47 reflects laser light. The laser light reflected by the scanner mirror 47 is irradiated onto an object (for example, the aircraft 310 or the object to be inspected 3 shown in Figure 1). The scanner actuator 48 changes the angle of the scanner mirror 47 by applying power to it. As the angle of the scanner mirror 47 changes, the reflection angle of the laser light reflected by the scanner mirror 47 changes in the horizontal direction. Also, as the reflection angle of the laser light reflected by the scanner mirror 47 changes in the horizontal direction, the position of the laser light irradiated onto the object changes in the horizontal direction, thereby scanning the object horizontally with the laser light. Note that while horizontal scanning is illustrated here, this is merely one example, and vertical scanning can be achieved using a similar principle.

[0068] As an example, as shown in Figure 8, the aircraft 310 includes a communication device 312, an image memory 314, an input / output interface 322, an imaging device 330, a flight device 340, and a computer 350.

[0069] The computer 350 comprises a processor 351, storage 352, and RAM 353. The processor 351, storage 352, and RAM 353 are interconnected via a bus 354, which is connected to an input / output interface 322. A communication device 312, an image memory 314, and an imaging device 330 are also connected to the input / output interface 322. In the example shown in Figure 8, for illustrative purposes, only one bus is shown as bus 354, but there may be multiple buses. Bus 354 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0070] The processor 351, for example, has a CPU and controls the entire aircraft 310. Here, we give an example where the processor 351 has a CPU, but this is just one example. For example, the processor 351 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.

[0071] Storage 352 is a non-volatile memory device that stores various programs and parameters. Examples of storage 352 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.

[0072] RAM353 is a memory that temporarily stores information and is used as work memory by the processor 351. Examples of RAM353 include DRAM and / or SRAM.

[0073] The image memory 314 is, for example, an EEPROM. However, this is merely an example, and an HDD and / or SSD may be used as the image memory 314 instead of, or in conjunction with, an EEPROM. The image memory 314 may also be a memory card. Images obtained by imaging by the imaging device 330 are stored in the image memory 314.

[0074] The communication device 312 is connected to the base station 10 in a communication-enabled manner. The communication device 312 is responsible for the exchange of information between the communication device 312 and the base station 10. For example, the communication device 312 transmits information to the base station 10 in response to a request from the processor 351. The communication device 312 also receives information transmitted from the base station 10 and outputs the received information to the processor 351 via the bus 354.

[0075] The flight device 340 includes a first propeller 341A, a second propeller 341B, a third propeller 341C, and a fourth propeller 341D, a plurality of motors 342, and a motor driver 343. The motor driver 343 is connected to the processor 351 via an input / output interface 322 and a bus 354. The motor driver 343 individually controls the plurality of motors 342 according to instructions from the processor 351. The number of the plurality of motors 342 is the same as the number of the plurality of propellers 341.

[0076] The first propeller 341A, the second propeller 341B, the third propeller 341C, and the fourth propeller 341D are fixed to the rotation shaft of each motor 342. In the following, unless it is necessary to distinguish between the first propeller 341A, the second propeller 341B, the third propeller 341C, and the fourth propeller 341D, they will all be referred to as propeller 341.

[0077] Each motor 342 rotates a propeller 341. The rotation of multiple propellers 341 causes the aircraft 310 to fly. When the rotational speed of the multiple propellers 341 per unit time increases, the aircraft 310 rises, and when the rotational speed of the multiple propellers 341 per unit time (hereinafter also simply referred to as "rotational speed") decreases, the aircraft 310 descends. Furthermore, when the thrust of the multiple propellers 341 and the gravitational force acting on the aircraft 310 are balanced, the aircraft 310 remains stationary in the air (i.e., hovers). In addition, by creating a difference in the rotational speeds of the multiple propellers 341, the aircraft 310 can roll, turn, move forward, backward, and / or sideways.

[0078] The number of propellers 341 on the aircraft body 320 is four as an example, but this is merely an example, and the number of propellers 341 could be three, five or more, for example.

[0079] As an example, as shown in Figure 9, the imaging device 330 includes an image sensor driver 333, an image sensor 334, an imaging lens 335, a first actuator 336A, a second actuator 336B, a third actuator 336C, a first sensor 337A, a second sensor 337B, a third sensor 337C, and a controller 338. The image sensor driver 333, the image sensor 334, and the controller 338 are connected to the processor 351 via an input / output interface 322 and a bus 354.

[0080] The image sensor driver 333 controls the image sensor 334 according to instructions from the processor 351. The image sensor 334 is, for example, a CMOS image sensor. Although a CMOS image sensor is used as an example of the image sensor 334 here, the technology of this disclosure is not limited to this, and other image sensors may be used. Under the control of the image sensor driver 333, the image sensor captures an image of a second subject (for example, the inspection target object 3 shown in Figures 1 and 2) and outputs the image obtained from the capture to the processor 351.

[0081] The imaging lens 335 has an objective lens 335A, a focusing lens 335B, a zoom lens 335C, and an aperture 335D. The objective lens 335A, focusing lens 335B, zoom lens 335C, and aperture 335D are arranged in that order along the optical axis OA2 of the imaging device 330, from the subject side (object side) to the image sensor 334 side (image side).

[0082] The controller 338 controls the first actuator 336A, the second actuator 336B, and the third actuator 336C according to instructions from the processor 351. The controller 338 is a device having a computer, for example, a CPU, NVM, and RAM. Although a computer is used as an example here, this is merely one example, and devices including ASICs, FPGAs, and / or PLDs may also be used. Furthermore, the controller 338 may be a device realized by, for example, a combination of hardware and software configurations.

[0083] The first actuator 336A includes a focusing slide mechanism (not shown) and a focusing motor (not shown). A focusing lens 335B is mounted on the focusing slide mechanism so as to be slidable along the optical axis OA2. A focusing motor is also connected to the focusing slide mechanism, and the focusing slide mechanism operates by receiving power from the focusing motor, thereby moving the focusing lens 335B along the optical axis OA2.

[0084] The second actuator 336B includes a zoom slide mechanism (not shown) and a zoom motor (not shown). A zoom lens 335C is mounted on the zoom slide mechanism so as to be slidable along the optical axis OA2. A zoom motor is also connected to the zoom slide mechanism, and the zoom slide mechanism operates by receiving power from the zoom motor, thereby moving the zoom lens 335C along the optical axis OA2.

[0085] Here, we have given an example where the focus slide mechanism and the zoom slide mechanism are provided separately, but this is merely one example, and an integrated slide mechanism capable of both focusing and zooming may also be used. In this case, instead of using separate motors for focusing and zooming, the power generated by a single motor can be transmitted to the slide mechanism.

[0086] The third actuator 336C includes a power transmission mechanism (not shown) and an aperture motor (not shown). The aperture 335D has an opening 335D1, and the size of the opening 335D1 is variable. The opening 335D1 is formed by a plurality of blades 335D2. The plurality of blades 335D2 are connected to the power transmission mechanism. An aperture motor is also connected to the power transmission mechanism, and the power transmission mechanism transmits the power of the aperture motor to the plurality of blades 335D2. The plurality of blades 335D2 change the size of the opening 335D1 by operating in response to the power transmitted from the power transmission mechanism. The aperture 335D adjusts the exposure by changing the size of the opening 335D1.

[0087] The focus motor, zoom motor, and aperture motor are connected to the controller 338, and the controller 338 controls the operation of each of these motors. For example, stepping motors are used for the focus motor, zoom motor, and aperture motor. Therefore, the focus motor, zoom motor, and aperture motor operate in synchronization with pulse signals based on commands from the controller 338.

[0088] The first sensor 337A detects the position of the focus lens 335B on the optical axis OA2. An example of the first sensor 337A is a potentiometer. The detection result from the first sensor 337A is acquired by the controller 338 and output to the processor 351. The processor 351 adjusts the position of the focus lens 335B on the optical axis OA2 based on the detection result from the first sensor 337A.

[0089] The second sensor 337B detects the position of the zoom lens 335C on the optical axis OA2. An example of the second sensor 337B is a potentiometer. The detection result from the second sensor 337B is acquired by the controller 338 and output to the processor 351. The processor 351 adjusts the position of the zoom lens 335C on the optical axis OA2 based on the detection result from the second sensor 337B.

[0090] The third sensor 337C detects the size of the aperture 335D1. An example of the third sensor 337C is a potentiometer. The detection result from the third sensor 337C is acquired by the controller 338 and output to the processor 351. The processor 351 adjusts the size of the aperture 335D1 based on the detection result from the third sensor 337C.

[0091] As an example, as shown in Figure 10, the base station 10's storage 52 stores the flight imaging support program 100.

[0092] The processor 51 reads the flight imaging support program 100 from the storage 52 and executes the read flight imaging support program 100 on the RAM 53. By executing the flight imaging support program 100, the processor 51 operates as the operation mode setting unit 102, the flight route setting processing unit 104, the flight control processing unit 106, and the imaging control processing unit 108.

[0093] The base station 10 has three operating modes: a flight route setting processing mode, a flight control processing mode, and an imaging control processing mode. The operating mode setting unit 102 selectively sets the operating mode of the base station 10 to one of the three modes: the flight route setting processing mode, the flight control processing mode, or the imaging control processing mode. When the operating mode setting unit 102 sets the operating mode of the base station 10 to the flight route setting processing mode, the processor 51 operates as the flight route setting processing unit 104. When the operating mode setting unit 102 sets the operating mode of the base station 10 to the flight control processing mode, the processor 51 operates as the flight control processing unit 106. When the operating mode setting unit 102 sets the operating mode of the base station 10 to the imaging control processing mode, the processor 51 operates as the imaging control processing unit 108.

[0094] As an example, as shown in Figure 11, the flight route setting processing unit 104 performs flight route setting processing. Flight route setting processing is performed by the flight route setting processing unit 104 when the operating mode of the base station 10 is set to the flight route setting processing mode. The flight route setting processing unit 104 includes a first reception determination unit 112, a first rotation control unit 114, a first imaging control unit 116, an image information storage control unit 118, a first distance measurement control unit 120, a distance information storage control unit 122, a rotation position determination unit 124, a rotation stop control unit 126, an image display control unit 128, a second reception determination unit 130, a tracing surface setting unit 132, a smooth surface setting unit 134, a distance determination unit 136, a first zoom magnification determination unit 138, a first zoom magnification storage control unit 140, a first flight route setting unit 142, a second zoom magnification determination unit 144, a second zoom magnification storage control unit 146, and a second flight route setting unit 148.

[0095] As an example, as shown in Figure 12, the flight control processing unit 106 performs flight control processing. Flight control processing is performed by the flight control processing unit 106 when the operating mode of the base station 10 is set to the flight control processing mode. The flight control processing unit 106 includes a third reception determination unit 152, a second imaging control unit 154, an aircraft position derivation unit 156, a position deviation determination unit 158, a second rotation control unit 160, a second distance measurement control unit 162, an aircraft coordinate derivation unit 164, an imaging position arrival determination unit 166, a flight instruction generation unit 168, and a flight instruction transmission control unit 170.

[0096] As an example, as shown in Figure 13, the imaging control processing unit 108 performs imaging control processing. Imaging control processing is performed by the imaging control processing unit 108 when the operating mode of the base station 10 is set to imaging control processing mode. The imaging control processing unit 108 includes a hovering instruction transmission control unit 172, a hovering report reception determination unit 174, a third imaging control unit 176, an aircraft attitude identification unit 178, an attitude correction instruction generation unit 180, an attitude correction instruction transmission control unit 182, an attitude correction report reception determination unit 184, a zoom magnification determination unit 186, a first field of view setting instruction transmission control unit 188, a distance derivation unit 190, a second field of view setting instruction generation unit 192, a second field of view setting instruction transmission control unit 194, a field of view setting report reception determination unit 196, an imaging instruction transmission control unit 198, an imaging report reception determination unit 200, an termination determination unit 202, and an termination instruction transmission control unit 204.

[0097] As an example, as shown in Figure 14, the flight imaging program 400 is stored in the storage 352 of the aircraft 310.

[0098] The processor 351 reads the flight imaging program 400 from the storage 352 and executes the read flight imaging program 400 on the RAM 353. The processor 351 performs flight imaging processing according to the flight imaging program 400 executed on the RAM 353. By executing the flight imaging program 400, the processor 351 operates as the flight instruction reception determination unit 402, the flight control unit 404, the hovering instruction reception determination unit 406, the hovering control unit 408, the hovering report transmission control unit 410, the attitude correction instruction reception determination unit 412, the attitude correction control unit 414, the attitude correction report transmission control unit 416, the field of view setting instruction reception determination unit 418, the field of view control unit 420, the field of view setting report transmission control unit 422, the imaging instruction reception determination unit 424, the imaging control unit 426, the image storage control unit 428, the imaging report transmission control unit 430, the termination instruction reception determination unit 432, and the termination control unit 434.

[0099] As an example, as shown in Figure 15, the object to be inspected 3 has a wall surface 4. Below, an example of inspecting the wall surface 4 will be described. The wall surface 4 is an example of a "surface" related to the technology of this disclosure. The wall surface 4 has a first surface 4A, a second surface 4B, a third surface 4C, a fourth surface 4D, and a fifth surface 4E.

[0100] The base station 10 is installed in a position where the wall surface 4 can be imaged by the imaging device 30 and the distance between the wall surface 4 and the distance measuring device 40 can be measured by the distance measuring device 40. In the following explanation, as an example, it is assumed that the wall surface 4 is located within the distance measuring area of ​​the distance measuring device 40. The distance measurement area is the region in which the wall surface 4 is scanned multiple times by the distance measuring device 40 while the base 27 is rotated from the first rotation position to the second rotation position. In the distance measurement area, the wall surface 4 is imaged multiple times by the imaging device 30.

[0101] The first surface 4A, the second surface 4B, the third surface 4C, the fourth surface 4D, and the fifth surface 4E all face the base station 10. The second surface 4B is located between the first surface 4A and the third surface 4C. The second surface 4B is inclined with respect to the first surface 4A and the third surface 4C. The second surface 4B is an inclined surface that moves away from the base station 10 as you move from the first surface 4A side towards the third surface 4C side. The third surface 4C is located further away from the base station 10 than the first surface 4A.

[0102] The wall surface 4 of the object to be inspected 3 has a recess 4F. The recess 4F has an opening 4F1 that opens towards the base station 10. For example, the area of ​​the opening 4F1 is less than the area through which the aircraft 310 can enter the inside of the recess 4F. For example, the recess 4F is formed from the lower end to the upper end of the object to be inspected 3. The recess 4F is formed between the third surface 4C and the fifth surface 4E, and the fourth surface 4D is formed by the bottom surface of the recess 4F. The fourth surface 4D is located further from the base station 10 than the third surface 4C and the fifth surface 4E, and the fifth surface 4E is located closer to the base station 10 than the third surface 4C. The first surface 4A, the third surface 4C, the fourth surface 4D, and the fifth surface 4E are parallel to each other. The following explanation assumes that the first plane 4A, the second plane 4B, the third plane 4C, the fourth plane 4D, and the fifth plane 4E are all planes parallel to the vertical direction.

[0103] Operator 5 issues a measurement start instruction to the receiving device 14. At the base station 10, the first reception determination unit 112 determines whether or not the measurement start instruction has been received by the receiving device 14.

[0104] When the first reception determination unit 112 determines that a measurement start instruction has been received by the reception device 14, the first rotation control unit 114 controls the rotation drive device 20 to rotate the base 27 from the first rotation position toward a second rotation position, which is a different position from the first rotation position. Specifically, the first rotation control unit 114 rotates the base 27 from the first rotation position toward the second rotation position by operating the pan motor 24 via the motor driver 23 of the rotation drive device 20. As a result, the imaging device 30 and the distance measuring device 40 attached to the base 27 begin to rotate horizontally.

[0105] The first imaging control unit 116 controls the imaging device 30 to image the wall surface 4. Specifically, the first imaging control unit 116 causes the image sensor 34 to image the wall surface 4 via the image sensor driver 33 of the imaging device 30. In this case, the imaging device 30 images a portion of the wall surface 4 in the horizontal direction. As a result, an image is obtained by the imaging device 30 imaging a portion of the wall surface 4 in the horizontal direction.

[0106] The pan-tilt mechanism 26 and / or the base 27 are provided with a rotation detector (not shown), which detects the rotational position of the base 27 (hereinafter also simply referred to as "rotational position"). The image information storage control unit 118 generates image information based on the image obtained by the imaging device 30 and the rotational position detected by the rotation detector, and stores the image information in the storage 52. For example, the image information is information that associates the rotational position detected by the rotation detector with the image obtained by the imaging device 30.

[0107] The first distance measuring control unit 120 controls the distance measuring device 40 to scan the wall surface 4 with laser light. Specifically, the first distance measuring control unit 120 controls the distance measuring sensor 44 via the distance measuring sensor driver 43 of the distance measuring device 40, causing the distance measuring sensor 44 to output laser light and the distance measuring sensor 44 to detect the reflected laser light reflected from the wall surface 4. In addition, the first distance measuring control unit 120 rotates the scanner mirror 47 by controlling the scanner actuator 48 via the scanner driver 45 of the distance measuring device 40, thereby changing the position of the laser light in the horizontal direction. In this case, the distance measuring device 40 scans a portion of the wall surface 4 in the horizontal direction. As a result, the distance between the wall surface 4 and the distance measuring device 40 is measured by scanning a portion of the wall surface 4 in the horizontal direction. The distance between the wall surface 4 and the distance measuring device 40 is an example of the "first distance" relating to the technology of this disclosure.

[0108] The scanner mirror 47 is equipped with an angle detector (not shown), which detects the rotation angle of the scanner mirror 47 (hereinafter also simply referred to as "rotation angle"). The distance information storage control unit 122 generates distance information based on the distance measured for each distance measurement point, the rotation position detected by the rotation detector, and the rotation angle detected by the angle detector, and stores the distance information in the storage 52. For example, the distance information is information that associates the rotation position detected by the rotation detector and the rotation angle detected by the angle detector with the distance measured for each distance measurement point.

[0109] The rotation position determination unit 124 determines whether the rotation position of the base 27 has reached the second rotation position. The rotation position determination unit 124 determines whether the rotation position of the base 27 has reached the second rotation position by, for example, comparing the rotation position detected by the rotation detector with the position of the second rotation position. If the rotation position determination unit 124 determines that the rotation position of the base 27 has not reached the second rotation position, the control by the first imaging control unit 116, image information storage control unit 118, first distance measurement control unit 120, and distance information storage control unit 122 described above is executed.

[0110] While the rotation position of the base 27 reaches the second rotation position, the control by the first imaging control unit 116 and the image information storage control unit 118 described above is repeatedly executed, so that multiple imaging areas of the wall surface 4 are continuously imaged, sequentially from the first end side to the second end side of the wall surface 4. Then, image information corresponding to each imaging area is stored in the storage 52. Also, while the rotation position of the base 27 reaches the second rotation position, the control by the first distance measurement control unit 120 and the distance information storage control unit 122 described above is repeatedly executed, so that multiple distance measurement areas of the wall surface 4 are continuously scanned by laser light, sequentially from the first end side to the second end side of the wall surface 4. Then, distance information corresponding to each distance measurement area is stored in the storage 52.

[0111] When the rotation position determination unit 124 determines that the rotation position of the base 27 has reached the second rotation position, the rotation stop control unit 126 controls the rotation drive device 20 to stop the rotation of the base 27. Specifically, the rotation stop control unit 126 stops the rotation of the base 27 by stopping the rotation of the pan motor 24 via the motor driver 23 of the rotation drive device 20.

[0112] As a result, while the base 27 rotates from the first rotation position to the second rotation position, the wall surface 4 is imaged multiple times by the imaging device 30, and the wall surface 4 is scanned multiple times by the distance measuring device 40, thereby obtaining image information and distance information corresponding to the wall surface 4.

[0113] As an example, as shown in Figure 16, in the base station 10, the image display control unit 128 controls the display 16 to display an image (i.e., an image showing the wall surface 4 as an image) based on the image information stored in the storage 52. In this case, the image display control unit 128 displays images (here, as an example, images that are electronic images) corresponding to the first surface 4A, second surface 4B, third surface 4C, fourth surface 4D, and fifth surface 4E on the display 16, based on the rotational positions included in the image information corresponding to the first surface 4A, second surface 4B, third surface 4C, fourth surface 4D, and fifth surface 4E.

[0114] Operator 5 determines the inspection target surface 4G to be inspected by the aircraft 310 from the first surface 4A, second surface 4B, third surface 4C, fourth surface 4D, and fifth surface 4E, based on the image displayed on the display 16 (for example, by visually referring to the image). Operator 5 then provides inspection target surface designation information to the receiving device 14, indicating that the inspection target surface 4G has been designated. The second reception determination unit 130 determines whether or not the inspection target surface designation information has been received by the receiving device 14.

[0115] The tracing surface setting unit 132 sets the tracing surface 6 based on the inspection target surface specification information when the second reception determination unit 130 determines that the inspection target surface specification information has been received by the reception device 14. The tracing surface 6 is a surface that is located a predetermined distance L away from the inspection target surface 4G in the direction normal to the inspection target surface 4G, and that follows the inspection target surface 4G (i.e., a virtual surface along the inspection target surface 4G). The predetermined distance L is the distance at which the inspection target surface 4G is included within the depth of field of the imaging device 330 of the aircraft 310, and is a distance that is set in advance. As an example, the predetermined distance L is set to 1m to 3m.

[0116] As an example, in the example shown in Figure 16, the worker 5 has designated the first surface 4A, the second surface 4B, and the third surface 4C as the surfaces to be inspected 4G. Therefore, in the example shown in Figure 16, the tracing surface 6 having a first tracing surface 6A that follows the first surface 4A, a second tracing surface 6B that follows the second surface 4B, and a third tracing surface 6C that follows the third surface 4C is set by the tracing surface setting unit 132. The first tracing surface 6A is the surface that is a predetermined distance L away from the first surface 4A, the second tracing surface 6B is the surface that is a predetermined distance L away from the second surface 4B, and the third tracing surface 6C is the surface that is a predetermined distance L away from the third surface 4C.

[0117] The smooth surface setting unit 134 sets a smooth surface 7 (i.e., a smooth virtual surface facing the wall surface 4) by smoothing the copy surface 6. "Smooth" refers to a smooth appearance without discontinuities and without irregularities. "Smoothing" is achieved by reducing the degree of curvature of the copy surface 6 to a degree specified as an acceptable degree. If the copy surface 6 is originally smooth, smoothing the copy surface 6 means that the copy surface 6 is directly replaced by the smooth surface 7. As an example, the smooth surface setting unit 134 sets a smooth surface 7 that satisfies the following first and second conditions. That is, the first condition is that the smooth surface 7 is the surface that passes through at least one of the multiple surfaces forming the copy surface 6 and faces the inspection target surface 4G. The second condition is that the smooth surface 7 is the surface where the distance between the multiple surfaces forming the inspection target surface 4G and the smooth surface 7 is all greater than or equal to a predetermined distance L.

[0118] For example, in the example shown in Figure 16, the smooth surface 7 that satisfies the first and second conditions above is set to pass through the first tracing surface 6A, the second tracing surface 6B, and the third tracing surface 6C, and is facing the surface to be inspected 4G. On the other hand, as an example, the example shown in Figure 17 is an example in which the third surface 4C, the fourth surface 4D, and the fifth surface 4E are designated as the surface to be inspected 4G by the worker 5. In the example shown in Figure 17, the tracing surface 6 having the third tracing surface 6C that follows the third surface 4C, the fourth tracing surface 6D that follows the fourth surface 4D, and the fifth tracing surface 6E that follows the fifth surface 4E is set by the tracing surface setting unit 132. The third tracing surface 6C is a surface located a predetermined distance L away from the third surface 4C, the fourth tracing surface 6D is a surface located a predetermined distance L away from the fourth surface 4D, and the fifth tracing surface 6E is a surface located a predetermined distance L away from the fifth surface 4E. Furthermore, in the example shown in Figure 17, the smooth surface 7 that passes through the fifth tracing surface 6E and faces the inspection target surface 4G is set as the smooth surface 7 that satisfies the first and second conditions described above.

[0119] The distance determination unit 136 determines whether the distance between the inspection target surface 4G and the smooth surface 7 is constant, based on the distance information stored in the storage 52. For example, in the example shown in Figure 16, the distance between the inspection target surface 4G and the smooth surface 7 is constant at a predetermined distance L. Therefore, in the example shown in Figure 16, the distance determination unit 136 determines that the distance between the inspection target surface 4G and the smooth surface 7 is constant. On the other hand, for example, in the example shown in Figure 17, the distance between the inspection target surface 4G and the smooth surface 7 is not constant. That is, the distance L4 between the fourth surface 4D, which is the bottom surface of the recess 4F, and the smooth surface 7 is longer than the distance L3 between the third surface 4C and the smooth surface 7. Also, the distance L4 between the fourth surface 4D, which is the bottom surface of the recess 4F, and the smooth surface 7 is longer than the distance L5 between the fifth surface 4E and the smooth surface 7. Therefore, in the example shown in Figure 17, the distance determination unit 136 determines that the distance between the inspection target surface 4G and the smooth surface 7 is not constant.

[0120] The example shown in Figure 18, similar to the example shown in Figure 16, is an example where the distance between the inspection target surface 4G and the smooth surface 7 is constant at a predetermined distance L. As an example, as shown in Figure 18, at the base station 10, if the distance determination unit 136 determines that the distance between the inspection target surface 4G and the smooth surface 7 is constant, the first zoom magnification determination unit 138 determines the zoom magnification of the imaging device 330 (see Figure 1) of the aircraft 310 to the first zoom magnification. As an example, the first zoom magnification is the zoom magnification at which the pixel resolution of the imaging device 330 becomes a predetermined value when the imaging device 330 images the inspection target surface 4G from a position a predetermined distance L away from the inspection target surface 4G.

[0121] The pixel resolution of the imaging device 330 corresponds to the field of view per pixel of the image sensor 334 equipped with the imaging device 330. The field of view corresponds to the area in which the subject is actually imaged. The default value for pixel resolution is set to a value that allows the presence and / or degree of damage to the inspection target surface 4G to be checked when image analysis processing is performed by the image analysis device 2 (see Figure 1) on the image obtained by imaging the inspection target surface 4G.

[0122] The first zoom magnification memory control unit 140 stores the first zoom magnification determined by the first zoom magnification determination unit 138 in the storage 52.

[0123] The first flight route setting unit 142 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A on the smooth surface 7 based on the first zoom magnification determined by the first zoom magnification determination unit 138. The multiple imaging positions 8A are positions where the imaging device 330 (see Figure 1) of the aircraft 310 images the inspection target surface 4G.

[0124] As an example, when the first flight route setting unit 142 images the inspection target surface 4G at the first zoom magnification determined by the first zoom magnification determination unit 138, it sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 partially overlap at adjacent imaging positions 8A. As described later, by setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 partially overlap at adjacent imaging positions 8A, parts of the images obtained by imaging by the imaging device 330 each time the aircraft reaches each of the multiple imaging positions 8A overlap. Multiple imaging positions 8A are an example of the "first imaging position" related to the technology of this disclosure.

[0125] The example shown in Figure 19, similar to the example shown in Figure 17, is an example where the distance between the inspection target surface 4G and the smooth surface 7 is not constant. As an example, as shown in Figure 19, at the base station 10, if the distance determination unit 136 determines that the distance between the inspection target surface 4G and the smooth surface 7 is not constant, the second zoom magnification determination unit 144 determines the zoom magnification of the imaging device 330 (see Figure 1) of the aircraft 310 to the second zoom magnification. As an example, the second zoom magnification is the zoom magnification at which the pixel resolution of the imaging device 330 becomes the default value described above when the imaging device 330 images the inspection target surface 4G from a position separated by the shortest distance between the inspection target surface 4G and the smooth surface 7 (in this case, the distance L5 between the fifth surface 4E and the smooth surface 7).

[0126] The second zoom magnification memory control unit 146 stores the second zoom magnification determined by the second zoom magnification determination unit 144 in the storage 52.

[0127] The second flight route setting unit 148 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A on the smooth surface 7 based on the second zoom magnification determined by the second zoom magnification determination unit 144. When the aircraft 310 flies along the flight route 8 set by the second flight route setting unit 148, as will be described later, the second zoom magnification determined by the second zoom magnification determination unit 144 is adjusted according to the distance between the inspection target surface 4G and the imaging position 8A, thereby controlling the imaging device 330 to maintain a constant pixel resolution.

[0128] As an example, even when the second zoom magnification determined by the second zoom magnification determination unit 144 is adjusted according to the distance between the inspection target surface 4G and the imaging position 8A, the second flight route setting unit 148 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 overlap at adjacent imaging positions 8A. By setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 overlap at adjacent imaging positions 8A, as will be described later, the images obtained by imaging by the imaging device 330 each time the aircraft reaches each of the multiple imaging positions 8A will overlap.

[0129] As an example, as shown in Figure 20, the aircraft 310 is positioned within the imaging range 31 of the imaging device 30 of the base station 10. When the aircraft 310 is ready to begin flight, the operator 5 issues a flight start instruction to the receiving device 14. At the base station 10, the third reception determination unit 152 determines whether or not the flight start instruction has been received by the receiving device 14.

[0130] When the third reception determination unit 152 determines that a flight start instruction has been received by the reception device 14, the second imaging control unit 154 controls the imaging device 30 to capture an imaging scene including the aircraft 310. Specifically, the second imaging control unit 154 causes the image sensor 34 to capture an imaging scene including the aircraft 310 via the image sensor driver 33 of the imaging device 30. As a result, an image is obtained when the imaging device 30 captures an imaging scene including the aircraft 310. In this case, the image obtained by capturing an imaging scene including the aircraft 310 is an example of the "second image" related to the technology of this disclosure.

[0131] The aircraft position derivation unit 156 performs object recognition processing on the image obtained when the imaging device 30 captures an imaging scene including the aircraft 310, thereby deriving the position of the aircraft 310 within the image, which is included as an image in the image.

[0132] The position shift determination unit 158 ​​determines whether the position of the aircraft 310 is shifted relative to the center of the field of view of the imaging device 30, based on the position of the aircraft 310 in the image derived by the aircraft position derivation unit 156.

[0133] If the second rotation control unit 160 determines that the position of the aircraft 310 is misaligned with the center of the field of view of the imaging device 30, it controls the horizontal rotation angle and / or vertical rotation angle of the rotation drive unit 20 to adjust it to an angle in which the aircraft 310 is positioned in the center of the field of view of the imaging device 30. Specifically, the second rotation control unit 160 controls the pan motor 24 and / or tilt motor 25 via the motor driver 23 of the rotation drive unit 20 to adjust the horizontal rotation angle and / or vertical rotation angle of the rotation drive unit 20 to an angle in which the aircraft 310 is positioned in the center of the field of view of the imaging device 30. As a result, the aircraft 310 is included in the center of the ranging range 41 (see Figure 21) of the ranging device 40.

[0134] Hereinafter, the horizontal rotation angle and / or vertical rotation angle of the rotary drive device 20 will be referred to as the rotation angle of the rotary drive device 20. In this case, the rotation angle of the rotary drive device 20 is an example of the "second rotation angle" relating to the technology of this disclosure.

[0135] As an example, as shown in Figure 21, at the base station 10, the second range measuring control unit 162 controls the range measuring device 40 to scan the range measuring range 41 with laser light. Specifically, the second range measuring control unit 162 controls the range measuring sensor 44 via the range measuring sensor driver 43 of the range measuring device 40, causing the range measuring sensor 44 to output laser light and to have the range measuring sensor 44 detect the reflected light of the laser light reflected by objects included in the range measuring range 41 (for example, in this case, the aircraft 310 and other objects). In addition, the second range measuring control unit 162 rotates the scanner mirror 47 by controlling the scanner actuator 48 via the scanner driver 45 of the range measuring device 40, thereby changing the position of the laser light in the horizontal direction. As a result, the range measuring device 40 scans the range measuring range 41. By scanning the range measuring range 41 with the range measuring device 40, the distance between the object and the range measuring device 40 is measured.

[0136] In a single scan by the rangefinder 40, the distance between the object and the rangefinder 40 is measured at multiple measurement points within the range measurement range 41. In this case, since the aircraft 310 is located within the range measurement range 41 of the rangefinder 40, the distance between the aircraft 310 and the rangefinder 40 is measured by the rangefinder 40.

[0137] The aircraft coordinate derivation unit 164 derives the absolute coordinates of the aircraft 310 based on the absolute coordinates of the rotary drive unit 20, the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40. Absolute coordinates are coordinates measured from the origin of a coordinate system (here, for example, an absolute coordinate system set at a fixed point on the imaging system S). The absolute coordinates of the rotary drive unit 20 are an example of the "first absolute coordinates" related to the technology of this disclosure, and the absolute coordinates of the aircraft 310 are an example of the "second absolute coordinates" related to the technology of this disclosure. In this case, the aircraft coordinate derivation unit 164 acquires the absolute coordinates of the rotary drive unit 20, the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40 in the following manner.

[0138] In other words, the aircraft coordinate derivation unit 164 obtains the distance between the aircraft 310 and the range measuring device 40 from the distance information obtained when the range measuring range 41 is scanned by the range measuring device 40. For example, the aircraft coordinate derivation unit 164 obtains the distance measured at the center of the range measuring range 41 of the range measuring device 40 as the distance between the aircraft 310 and the range measuring device 40. For example, the distance between the aircraft 310 and the range measuring device 40 corresponds to the distance between the aircraft 310 and the LiDAR scanner. Alternatively, the aircraft coordinate derivation unit 164 may obtain the average value of the distances measured at multiple range measuring points in a predetermined area including the center of the range measuring range 41 of the range measuring device 40 as the distance between the aircraft 310 and the range measuring device 40. The predetermined area is, for example, an area that includes only the aircraft 310. The distance between the aircraft 310 and the range measuring device 40 is an example of the "second distance" according to the technology of this disclosure.

[0139] Furthermore, the aircraft coordinate derivation unit 164 acquires the absolute coordinates of the rotary drive unit 20 based on the coordinates of the base station 10 (e.g., 3D coordinates corresponding to latitude, longitude, and altitude) measured using a satellite positioning system (e.g., Global Positioning System) when the base station 10 is installed at the measurement site. The absolute coordinates of the rotary drive unit 20 correspond to the absolute coordinates of the base station 10. The aircraft coordinate derivation unit 164 also acquires the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310 based on the rotation angle of the scanner mirror 47 detected by the angle detector. The angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310 corresponds to the angle of the laser beam emitted from the LiDAR scanner toward the aircraft 310. The aircraft coordinate derivation unit 164 also acquires the rotation angle of the rotary drive unit 20 based on the rotation position of the base 27 detected by a rotation detector (not shown) provided on the pan-tilt mechanism 26 and / or base 27.

[0140] The imaging position arrival determination unit 166 determines whether the aircraft 310 has reached the target imaging position 8A based on the coordinates of the aircraft 310 derived by the aircraft coordinate derivation unit 164 and the absolute coordinates of the imaging position 8A closest to the aircraft 310 among the multiple imaging positions 8A (hereinafter referred to as the target imaging position 8A).

[0141] If the imaging position arrival determination unit 166 determines that the aircraft 310 has not reached the target imaging position 8A, the flight instruction generation unit 168 generates a flight instruction for the aircraft 310 based on the difference between the coordinates of the aircraft 310 derived by the aircraft coordinate derivation unit 164 and the coordinates of the target imaging position 8A. Specifically, the flight instruction generation unit 168 calculates the flight direction of the aircraft 310 and the amount of movement of the aircraft 310 necessary for the aircraft 310 to reach the target imaging position 8A by flying along the flight route 8, based on the absolute coordinates of the aircraft 310 derived by the aircraft coordinate derivation unit 164 and the absolute coordinates of the target imaging position 8A. Then, the flight instruction generation unit 168 calculates the rotation speed of each propeller 341 corresponding to the flight direction of the aircraft 310 and the amount of movement of the aircraft 310, and generates a flight instruction corresponding to the rotation speed of each propeller 341.

[0142] The flight instruction transmission control unit 170 performs control to transmit flight instructions to the aircraft 310 via the communication device 12.

[0143] As an example, as shown in Figure 22, in the aircraft 310, the flight instruction reception determination unit 402 determines whether or not the communication device 312 has received a flight instruction.

[0144] When the flight instruction reception determination unit 402 determines that the communication device 312 has received a flight instruction, the flight control unit 404 controls the flight device 340 according to the flight instruction. Specifically, the flight control unit 404 controls multiple motors 342 via the motor driver 343 of the flight device 340 according to the flight instruction, thereby adjusting the rotation speed of each propeller 341 to the rotation speed corresponding to the flight instruction. As a result, the aircraft 310 flies toward the target imaging position 8A.

[0145] As an example, as shown in Figure 23, at the base station 10, when the imaging position arrival determination unit 166 determines that the aircraft 310 has reached the target imaging position 8A, the unit performs control to transmit a hovering instruction to the aircraft 310 via the communication device 12.

[0146] As an example, as shown in Figure 24, in the aircraft 310, the hovering instruction reception determination unit 406 determines whether or not the communication device 312 has received a hovering instruction.

[0147] When the hovering instruction reception determination unit 406 determines that the communication device 312 has received a hovering instruction, the hovering control unit 408 controls the flight device 340 to hover. Specifically, the hovering control unit 408 controls multiple motors 342 via the motor driver 343 of the flight device 340 to adjust the rotation speed of each propeller 341 to the rotation speed at which the flight device 310 hovers. As a result, the flight device 310 hovers.

[0148] After control by the hovering control unit 408 is performed, the hovering report transmission control unit 410 performs control to transmit a hovering report to the base station 10 via the communication device 312, indicating that the aircraft 310 is hovering.

[0149] As an example, as shown in Figure 25, at the base station 10, the hovering report reception determination unit 174 determines whether or not the communication device 12 has received a hovering report.

[0150] The third imaging control unit 176 controls the imaging device 30 to capture an image of the scene including the aircraft 310. Specifically, the third imaging control unit 176 causes the image sensor 34 to capture an image of the scene including the aircraft 310 via the image sensor driver 33 of the imaging device 30. As a result, an image is obtained when the imaging device 30 captures an image of the scene including the aircraft 310.

[0151] The aircraft attitude determination unit 178 determines the attitude of the aircraft 310 based on the positions of the multiple propellers 341 captured in the image by performing object recognition processing (for example, template matching type object recognition processing or AI type object recognition processing) on ​​the image obtained by imaging device 30 based on control by third imaging control unit 176. Specifically, the aircraft attitude determination unit 178 determines the positions of the multiple propellers 341 by identifying the color of the multiple propellers 341 captured in the image based on the image. Then, the aircraft attitude determination unit 178 determines the attitude of the aircraft 310 based on the positions of the multiple propellers 341. The attitude of the aircraft 310 includes the orientation of the aircraft 310 and / or the tilt of the aircraft 310.

[0152] The attitude correction instruction generation unit 180 generates attitude correction instructions for the aircraft 310 based on the attitude of the aircraft 310 identified by the aircraft attitude identification unit 178. Specifically, the attitude correction instruction generation unit 180 calculates an attitude correction amount to correct the attitude of the aircraft 310 to an attitude that is horizontal and directly facing the inspection target surface 4G, based on the attitude of the aircraft 310 identified by the aircraft attitude identification unit 178. Then, the attitude correction instruction generation unit 180 calculates the rotational speed of each propeller 341 corresponding to the attitude correction amount and generates an attitude correction instruction corresponding to the rotational speed of each propeller 341.

[0153] The attitude correction instruction transmission control unit 182 performs control to transmit attitude correction instructions to the aircraft 310 via the communication device 12.

[0154] As an example, as shown in Figure 26, in the aircraft 310, the attitude correction instruction reception determination unit 412 determines whether or not the communication device 312 has received an attitude correction instruction.

[0155] When the attitude correction control unit 412 determines that the communication device 312 has received an attitude correction instruction, the attitude correction control unit 414 controls the flight device 340 to correct the attitude of the aircraft 310 according to the attitude correction instruction. Specifically, the attitude correction control unit 414 controls multiple motors 342 via the motor driver 343 of the flight device 340 according to the attitude correction instruction, thereby adjusting the rotation speed of multiple propellers 341 to the rotation speed corresponding to the attitude correction instruction. As a result, the attitude of the aircraft 310 is corrected to a horizontal position facing the inspection target surface 4G. When the attitude of the aircraft 310 is corrected to a horizontal position facing the inspection target surface 4G, the optical axis OA2 of the imaging device 330 becomes perpendicular to the inspection target surface 4G when the imaging device 330 is horizontal.

[0156] After control by the attitude correction control unit 414 is performed, the attitude correction report transmission control unit 416 performs control to transmit an attitude correction report to the base station 10 via the communication device 312, indicating that the attitude of the aircraft 310 has been corrected.

[0157] As an example, the example shown in Figure 27 is one in which, as in the example shown in Figure 18, the first zoom magnification is stored in the storage 52 by the first zoom magnification storage control unit 140 (see Figure 18) because the distance between the inspection target surface 4G and the smooth surface 7 is constant at a predetermined distance L.

[0158] As an example, as shown in Figure 27, in the base station 10, the attitude correction report reception determination unit 184 determines whether or not the communication device 12 has received an attitude correction report.

[0159] When the attitude correction report reception determination unit 184 determines that the communication device 12 has received an attitude correction report, the zoom magnification determination unit 186 determines whether the zoom magnification stored in the storage 52 by the first zoom magnification storage control unit 140 or the second zoom magnification storage control unit 146 is the first zoom magnification or the second zoom magnification.

[0160] If the zoom magnification determination unit 186 determines that the zoom magnification stored in the storage 52 is the first zoom magnification, the first field of view setting instruction transmission control unit 188 performs control to transmit a first field of view setting instruction corresponding to the first zoom magnification to the aircraft 310 via the communication device 12.

[0161] As an example, the example shown in Figure 28 is one in which, as in the example shown in Figure 19, the distance between the inspection target surface 4G and the smooth surface 7 is not constant, and the second zoom magnification is stored in the storage 52 by the second zoom magnification storage control unit 146 (see Figure 19).

[0162] As an example, as shown in Figure 28, in the base station 10, if the zoom magnification determination unit 186 determines that the zoom magnification stored in the storage 52 is the second zoom magnification, the distance information storage control unit 122 derives the distance between the inspection target surface 4G and the target imaging position 8A based on the distance information stored in the storage 52.

[0163] The second field of view setting instruction generation unit 192 adjusts the second zoom magnification to a zoom magnification that results in the pixel resolution of the imaging device 330 being the default value described above, based on the distance derived by the distance derivation unit 190. The second field of view setting instruction generation unit 192 then generates a second field of view setting instruction corresponding to the second zoom magnification adjusted based on the distance derived by the distance derivation unit 190. Specifically, if the distance derived by the distance derivation unit 190 is the shortest distance between the inspection target surface 4G and the smooth surface 7, the second field of view setting instruction generation unit 192 generates a second field of view setting instruction corresponding to the second zoom magnification determined by the second zoom magnification determination unit 144.

[0164] On the other hand, if the distance derived by the distance derivation unit 190 is longer than the shortest distance between the inspection target surface 4G and the smooth surface 7, the second zoom magnification generation unit 192 adjusts the second zoom magnification determined by the second zoom magnification determination unit 144 by increasing it according to the distance derived by the distance derivation unit 190. Then, the second angle of view setting instruction generation unit 192 generates a second angle of view setting instruction corresponding to the adjusted second zoom magnification.

[0165] The second field of view setting instruction transmission control unit 194 controls the transmission of the second field of view setting instruction generated by the second field of view setting instruction generation unit 192 to the aircraft 310 via the communication device 12. In the following, unless it is necessary to distinguish between the first field of view setting instruction and the second field of view setting instruction, both the first field of view setting instruction and the second field of view setting instruction will be referred to as the field of view setting instruction.

[0166] As an example, as shown in Figure 29, in the aircraft 310, the field of view setting instruction reception determination unit 418 determines whether or not the communication device 312 has received a field of view setting instruction.

[0167] When the angle of view control unit 418 determines that the communication device 312 has received an angle of view setting instruction, the angle of view control unit 420 controls the imaging device 330 to set its angle of view to the angle of view corresponding to the angle of view setting instruction. Specifically, the angle of view control unit 420 adjusts the position of the zoom lens 335C to the position corresponding to the angle of view setting instruction by controlling the second actuator 336B via the controller 338. By adjusting the position of the zoom lens 335C, the zoom magnification of the imaging device 330 is adjusted.

[0168] For example, if the communication device 312 receives a first field of view setting instruction, the field of view control unit 420 sets the zoom magnification of the imaging device 330 to the first zoom magnification according to the first field of view setting instruction. On the other hand, if the communication device 312 receives a second field of view setting instruction, the field of view control unit 420 sets the zoom magnification of the imaging device 330 to the second zoom magnification according to the second field of view setting instruction.

[0169] Furthermore, the field of view control unit 420 adjusts the position of the focus lens 335B to a position corresponding to the field of view setting instruction by controlling the first actuator 336A via the controller 338. By adjusting the focus position, the focus of the imaging device 330 is adjusted. In this case, the field of view control unit 420 may also operate at least one of the zoom lens 335C and the focus lens 335B. By adjusting the field of view by the field of view control unit 420, the pixel resolution of the imaging device 330 is kept constant. By keeping the pixel resolution of the imaging device 330 constant, even if the distance between the inspection target surface 4G and the imaging position 8A changes, the range in which the inspection target surface 4G is actually imaged by the imaging device 330 is kept constant.

[0170] After control by the field of view control unit 420 is performed, the field of view setting report transmission control unit 422 performs control to transmit a field of view setting report to the base station 10 via the communication device 312, indicating that the field of view of the imaging device 330 has been set to the field of view corresponding to the field of view setting instruction.

[0171] As an example, as shown in Figure 30, in the base station 10, the field of view setting report reception determination unit 196 determines whether or not the communication device 12 has received a field of view setting report.

[0172] When the imaging instruction transmission control unit 198 determines that the communication device 12 has received an angle of view setting report, the angle of view setting report reception determination unit 196 performs control to transmit an imaging instruction to the aircraft 310 via the communication device 12.

[0173] As an example, as shown in Figure 31, in the aircraft 310, the imaging instruction reception determination unit 424 determines whether or not the communication device 312 has received an imaging instruction.

[0174] When the imaging instruction reception determination unit 424 determines that the communication device 312 has received an imaging instruction, the imaging control unit 426 controls the imaging device 330 to image the inspection target surface 4G. Specifically, the imaging control unit 426 causes the image sensor 334 to image the inspection target surface 4G via the image sensor driver 333 of the imaging device 330. In this case, the imaging device 330 images a portion of the inspection target surface 4G. As a result, an image is obtained by the imaging device 330 imaging a portion of the inspection target surface 4G. The image obtained by imaging the imaging device 330 under the control of the imaging control unit 426 is an example of the "first image" relating to the technology of this disclosure.

[0175] The image storage control unit 428 stores the image obtained by the imaging device 330 in the image memory 314.

[0176] After the image is stored in the image memory 314, the imaging report transmission control unit 430 controls the transmission of an imaging report to the base station 10 via the communication device 312, indicating that the imaging device 330 has captured an image of a portion of the inspection target surface 4G.

[0177] As an example, as shown in Figure 32, at the base station 10, the imaging report reception determination unit 200 determines whether or not the communication device 12 has received the imaging report.

[0178] The termination determination unit 202 determines whether the conditions for terminating the flight imaging support process have been met. One of the conditions for terminating the flight imaging support process is when the number of imaging reports reaches the number of imaging positions 8A. If the number of imaging reports is less than the number of imaging positions 8A, the termination determination unit 202 determines that the conditions for terminating the flight imaging support process have not been met.

[0179] If the conditions for terminating the flight imaging support process are not met, the flight imaging support process by the base station 10 described above is repeatedly executed. As the flight imaging support process by the base station 10 is repeatedly executed, the aircraft 310 flies along the flight route 8 and moves sequentially to each imaging position 8A. Each time it reaches one of the multiple imaging positions 8A, the inspection target surface 4G is imaged by the imaging device 330, thereby acquiring multiple images. Furthermore, if the distance between the inspection target surface 4G and each imaging position 8A is constant at a predetermined distance L (see Figure 18), the zoom magnification of the imaging device 330 is maintained at the first zoom magnification at each imaging position 8A, thereby maintaining a constant pixel resolution of the imaging device 330.

[0180] On the other hand, for example, when the aircraft 310 flies across the recess 4F (see Figure 19), the distance between the inspection target surface 4G and each imaging position 8A fluctuates. In this case, the second zoom magnification of the imaging device 330 is adjusted at each imaging position 8A according to the distance between the inspection target surface 4G and the imaging position 8A, thereby maintaining a constant pixel resolution of the imaging device 330. By maintaining a constant pixel resolution of the imaging device 330, the range actually imaged by the imaging device 330 remains constant even if the distance between the inspection target surface 4G and the imaging position 8A fluctuates. Note that the distance between the inspection target surface 4G and the imaging position 8A corresponds to the distance between the inspection target surface 4G and the imaging device 330.

[0181] The termination determination unit 202 determines that the conditions for terminating the flight imaging support process have been met when the number of imaging reports reaches the number of imaging positions 8A.

[0182] When the termination instruction transmission control unit 204 determines that the conditions for terminating the flight imaging support process have been met, it performs control to transmit a termination instruction to the aircraft 310 via the communication device 12.

[0183] As an example, as shown in Figure 33, in the aircraft 310, the termination instruction reception determination unit 432 determines whether or not the communication device 312 has received a termination instruction.

[0184] If the termination control unit 434 determines that the communication device 312 has received a termination instruction, it controls the flight device 340 to terminate the flight. Examples of controls to terminate the flight include controls to land the aircraft 310, controls to return the aircraft 310 to the position where the flight imaging processing started, and / or controls to switch the aircraft 310 to be controlled by a pilot (not shown).

[0185] The termination control unit 434 adjusts the rotational speed of each propeller 341 by controlling multiple motors 342 via the motor driver 343 of the flight device 340 in accordance with the termination instruction.

[0186] Next, the operation of the imaging system S according to the first embodiment will be explained with reference to Figures 34 to 42.

[0187] First, with reference to Figures 34 to 39, we will explain an example of the flow of flight imaging support processing performed by the processor 51 of the base station 10.

[0188] In the flight imaging support process shown in Figure 34, first, in step ST10, the operation mode setting unit 102 sets the operation mode of the base station 10 to the flight route setting. process Set to the mode. After the process in step ST10 is executed, the flight imaging support process proceeds to step ST11.

[0189] In step ST11, the first reception determination unit 112 determines whether or not the measurement start instruction has been received by the reception device 14. If the measurement start instruction has not been received by the reception device 14 in step ST11, the determination is denied and the determination in step ST11 is repeated. If the measurement start instruction has been received by the reception device 14 in step ST11, the determination is affirmed and the flight imaging support process proceeds to step ST12.

[0190] In step ST12, the first rotation control unit 114 controls the rotation drive device 20 based on the measurement start instruction, thereby rotating the base 27 from the first rotation position to the second rotation position. After the processing in step ST12 is completed, the flight imaging support processing proceeds to step ST13.

[0191] In step ST13, the first imaging control unit 116 instructs the imaging device 30 to image the wall surface 4. After the processing in step ST13 is completed, the flight imaging support process proceeds to step ST14.

[0192] In step ST14, the image information storage control unit 118 stores the image information generated by associating the rotational position of the base 27 with the image obtained in step ST13 in the storage 52. After the processing in step ST14 is completed, the flight imaging support process proceeds to step ST15.

[0193] In step ST15, the first range measuring control unit 120 causes the range measuring device 40 to scan the wall surface 4. After the processing in step ST15 is completed, the flight imaging support processing proceeds to step ST16.

[0194] In step ST16, the distance information storage control unit 122 stores the distance information generated by associating the rotation position detected by the rotation detector (not shown) and the rotation angle detected by the angle detector (not shown) with the distance measured in step ST15 in the storage 52. After the processing in step ST16 is executed, the flight imaging support process proceeds to step ST17.

[0195] In step ST17, the rotation position determination unit 124 determines whether the rotation position of the base 27 has reached the second rotation position. If, in step ST17, the rotation position of the base 27 has not reached the second rotation position, the determination is rejected, and the flight imaging support process proceeds to step ST13.

[0196] While the rotation position of the base 27 reaches the second rotation position, steps ST13 and ST14 described above are repeatedly executed, so that multiple imaging areas of the wall surface 4 are continuously imaged, sequentially from the first end to the second end. Then, image information corresponding to each imaging area is stored in the storage 52. Also, while the rotation position of the base 27 reaches the second rotation position, steps ST15 and ST16 described above are repeatedly executed, so that multiple distance measurement areas of the wall surface 4 are continuously scanned by laser light, sequentially from the first end to the second end. Then, distance information corresponding to each distance measurement area is stored in the storage 52. In step ST17, if the rotation position of the base 27 reaches the second rotation position, the determination is affirmed, and the flight imaging support process proceeds to step ST18.

[0197] In step ST18, the rotation stop control unit 126 stops the rotation of the base 27 by stopping the rotation of the rotary drive unit 20. After the processing in step ST18 is completed, the flight imaging support processing proceeds to step ST20 shown in Figure 35.

[0198] In step ST20 shown in Figure 35, the image display control unit 128 displays an image on the display 16 based on the image information stored in the storage 52. The image shows the wall surface 4 as an image. After the processing of step ST20 is completed, the flight imaging support process proceeds to step ST21.

[0199] In step ST21, the second reception determination unit 130 determines whether the inspection target surface designation information provided by the worker 5 has been received by the reception device 14. If the inspection target surface designation information has not been received by the reception device 14 in step ST21, the determination is denied, and the determination in step ST21 is repeated. If the inspection target surface designation information has been received by the reception device 14 in step ST21, the determination is affirmed, and the flight imaging support process proceeds to step ST22.

[0200] In step ST22, the tracing surface setting unit 132 sets a tracing surface 6 that follows the inspection target surface 4G based on the inspection target surface designation information. After the processing in step ST22 is completed, the flight imaging support processing proceeds to step ST23.

[0201] In step ST23, the smoothing surface setting unit 134 sets the smoothing surface 7 by smoothing the copy surface 6. After the processing in step ST23 is completed, the flight imaging support processing proceeds to step ST24.

[0202] In step ST24, the distance determination unit 136 determines whether the distance between the inspection target surface 4G and the smooth surface 7 is constant, based on the distance information stored in the storage 52. If the distance between the inspection target surface 4G and the smooth surface 7 is constant in step ST24, the determination is affirmed, and the flight imaging support process proceeds to step ST25. If the distance between the inspection target surface 4G and the smooth surface 7 is not constant in step ST24, the determination is denied, and the flight imaging support process proceeds to step ST28.

[0203] In step ST25, the first zoom magnification determination unit 138 determines the zoom magnification of the imaging device 330 of the aircraft 310 to the first zoom magnification. The first zoom magnification is the zoom magnification at which the pixel resolution of the imaging device 330 reaches a predetermined value. After the processing in step ST25 is completed, the flight imaging support process proceeds to step ST26.

[0204] In step ST26, the first zoom magnification memory control unit 140 stores the first zoom magnification determined by the first zoom magnification determination unit 138 in the storage 52. After the processing in step ST26 is completed, the flight imaging support process proceeds to step ST27.

[0205] In step ST27, the first flight route setting unit 142 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A on the smooth surface 7 based on the first zoom magnification determined by the first zoom magnification determination unit 138. For example, when the inspection target surface 4G is imaged at the first zoom magnification determined by the first zoom magnification determination unit 138, the first flight route setting unit 142 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 overlap at adjacent imaging positions 8A. After the processing in step ST27 is executed, the flight imaging support processing proceeds to step ST40 shown in Figure 36.

[0206] In step ST28, the second zoom magnification determination unit 144 determines the zoom magnification of the imaging device 330 of the aircraft 310 to the second zoom magnification. After the processing in step ST28 is completed, the flight imaging support processing proceeds to step ST29.

[0207] In step ST29, the second zoom magnification memory control unit 146 stores the second zoom magnification determined by the second zoom magnification determination unit 144 in the storage 52. After the processing in step ST29 is completed, the flight imaging support process proceeds to step ST30.

[0208] In step ST30, the second flight route setting unit 148 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A on the smooth surface 7 based on the second zoom magnification determined by the second zoom magnification determination unit 144. Even when the second zoom magnification is adjusted in steps ST73 and ST74, described later, according to the distance between the inspection target surface 4G and the imaging positions 8A, the second flight route setting unit 148 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 overlap at adjacent imaging positions 8A. After the processing in step ST30 is executed, the flight imaging support processing proceeds to step ST40 shown in Figure 36.

[0209] In step ST40 shown in Figure 36, the operation mode setting unit 102 sets the operation mode of the base station 10 for flight control process Set to the mode. After the process in step ST40 is executed, the flight imaging support process proceeds to step ST41.

[0210] In step ST41, the third reception determination unit 152 determines whether or not the flight start instruction has been received by the reception device 14. If the flight start instruction has not been received by the reception device 14 in step ST41, the determination is denied and the determination in step ST41 is repeated. If the flight start instruction has been received by the reception device 14 in step ST41, the determination is affirmed and the flight imaging support process proceeds to step ST42.

[0211] In step ST42, the second imaging control unit 154 instructs the imaging device 30 to capture an imaging scene including the aircraft 310. After the processing in step ST42 is completed, the flight imaging support process proceeds to step ST43.

[0212] In step ST43, the aircraft position derivation unit 156 derives the position of the aircraft 310 in the image obtained by the imaging device 30. After the processing in step ST43 is completed, the flight imaging support process proceeds to step ST44.

[0213] In step ST44, the position shift determination unit 158 ​​determines whether the position of the aircraft 310 is shifted relative to the center of the field of view of the imaging device 30, based on the position of the aircraft 310 in the image derived in step ST43. If the position of the aircraft 310 is shifted relative to the center of the field of view in step ST44, the determination is affirmed, and the flight imaging support process proceeds to step ST45. If the position of the aircraft 310 is not shifted relative to the center of the field of view in step ST44, the determination is denied, and the flight imaging support process proceeds to step ST46.

[0214] In step ST45, the second rotation control unit 160 adjusts the rotation angle of the rotation drive unit 20 to an angle in which the aircraft 310 is positioned in the center of the field of view of the imaging device 30. After the processing in step ST45 is completed, the flight imaging support process proceeds to step ST46.

[0215] In step ST46, the second range measuring control unit 162 causes the range measuring device 40 to scan the range measuring range 41 with laser light. In this case, the aircraft 310 is located within the range measuring range 41 of the range measuring device 40, so the distance between the aircraft 310 and the range measuring device 40 is obtained. After the processing in step ST46 is completed, the flight imaging support processing proceeds to step ST47.

[0216] In step ST47, the aircraft coordinate derivation unit 164 derives the absolute coordinates of the aircraft 310 based on the absolute coordinates of the rotary drive unit 20, the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40. After the processing in step ST47 is completed, the flight imaging support processing proceeds to step ST48.

[0217] In step ST48, the imaging position arrival determination unit 166 determines whether the aircraft 310 has reached the target imaging position 8A based on the absolute coordinates of the aircraft 310 and the absolute coordinates of the target imaging position 8A derived in step ST47. If the aircraft 310 has not reached the target imaging position 8A in step ST48, the determination is denied, and the flight imaging support process proceeds to step ST49. If the aircraft 310 has reached the target imaging position 8A in step ST48, the determination is affirmed, and the flight imaging support process proceeds to step ST60 shown in Figure 37.

[0218] In step ST49, the flight instruction generation unit 168 generates flight instructions for the aircraft 310 based on the difference between the absolute coordinates of the aircraft 310 derived in step ST47 and the absolute coordinates of the target imaging position 8A. After the processing in step ST49 is completed, the flight imaging support process proceeds to step ST50.

[0219] In step ST50, the flight instruction transmission control unit 170 transmits a flight instruction to the aircraft 310 via the communication device 12. After the processing in step ST50 is completed, the flight imaging support process moves to step ST42. Then, as steps ST42 to ST50 are repeatedly executed, when the aircraft 310 reaches the target imaging position 8A, the determination is affirmed in step ST48, and the flight imaging support process moves to step ST60 shown in Figure 37.

[0220] In step ST60 shown in Figure 37, the operation mode setting unit 102 controls the operation mode of the base station 10 for image capture control. process Set to the mode. After the process in step ST60 is executed, the flight imaging support process proceeds to step ST61.

[0221] In step ST61, the hovering instruction transmission control unit 172 transmits a hovering instruction to the aircraft 310 via the communication device 12. After the processing in step ST61 is completed, the flight imaging support processing moves to step ST62. Once the hovering instruction is transmitted to the aircraft 310 through the execution of step ST61, the processing in steps ST92 to ST94 of the flight imaging processing (see Figure 40) is executed by the processor 351 of the aircraft 310, thereby transmitting a hovering report from the aircraft 310 to the base station 10.

[0222] Therefore, in step ST62, the hovering report reception determination unit 174 determines whether or not the hovering report transmitted from the aircraft 310 has been received by the communication device 12. If the hovering report has not been received by the communication device 12 in step ST62, the determination is denied and the determination in step ST62 is repeated. If the hovering report has been received by the communication device 12 in step ST62, the determination is affirmed and the flight imaging support process proceeds to step ST63.

[0223] In step ST63, the third imaging control unit 176 instructs the imaging device 30 to capture an imaging scene including the aircraft 310. After the processing in step ST63 is completed, the flight imaging support process proceeds to step ST64.

[0224] In step ST64, the aircraft attitude determination unit 178 performs object recognition processing on the image obtained by the imaging device 30, thereby determining the attitude of the aircraft 310 based on the positions of the multiple propellers 341 captured in the image. After the processing in step ST64 is completed, the flight imaging support processing proceeds to step ST65.

[0225] In step ST65, the attitude correction instruction generation unit 180 generates an attitude correction instruction for the aircraft 310 based on the attitude of the aircraft 310 identified in step ST64. After the processing in step ST65 is completed, the flight imaging support process proceeds to step ST66.

[0226] In step ST66, the attitude correction instruction transmission control unit 182 transmits an attitude correction instruction to the aircraft 310 via the communication device 12. After the processing in step ST66 is completed, the flight imaging support processing proceeds to step ST70. Once the attitude correction instruction is transmitted to the aircraft 310 through the processing in step ST66, the processing in steps ST100 to ST102 of the flight imaging processing (see Figure 41) is executed by the processor 351 of the aircraft 310, thereby transmitting an attitude correction report from the aircraft 310 to the base station 10.

[0227] In step ST70, the attitude correction report reception determination unit 184 determines whether or not the attitude correction report transmitted from the aircraft 310 has been received by the communication device 12. If the attitude correction report has not been received by the communication device 12 in step ST70, the determination is denied, and the determination in step ST70 is repeated. If the attitude correction report has been received by the communication device 12 in step ST70, the determination is affirmed, and the flight imaging support process proceeds to step ST71.

[0228] In step ST71, the zoom magnification determination unit 186 determines whether the zoom magnification stored in the storage 52 in step ST26 or step ST29 is the first zoom magnification or the second zoom magnification. If the zoom magnification stored in the storage 52 in step ST71 is the first zoom magnification, the flight imaging support process proceeds to step ST72. If the zoom magnification stored in the storage 52 in step ST71 is the second zoom magnification, the flight imaging support process proceeds to step ST73.

[0229] In step ST72, the first field of view setting instruction transmission control unit 188 transmits a first field of view setting instruction corresponding to the first zoom magnification to the aircraft 310 via the communication device 12. After the processing in step ST72 is completed, the flight imaging support processing moves to step ST80. Once the first field of view setting instruction is transmitted to the aircraft 310 through the execution of step ST72, the processing in steps ST103 to ST105 of the flight imaging processing (see Figure 41) is executed by the processor 351 of the aircraft 310, thereby transmitting a field of view setting report from the aircraft 310 to the base station 10.

[0230] In step ST73, the distance derivation unit 190 derives the distance between the inspection target surface 4G and the target imaging position 8A based on the distance information stored in the storage 52 in step ST15. After the processing in step ST73 is completed, the flight imaging support processing proceeds to step ST74.

[0231] In step ST74, the second field of view setting instruction generation unit 192 adjusts the second zoom magnification to a zoom magnification that results in the pixel resolution of the imaging device 330 being the default value described above, based on the distance derived in step ST73. The second field of view setting instruction generation unit 192 then generates a second field of view setting instruction corresponding to the second zoom magnification adjusted based on the distance derived in step ST73. After the processing in step ST74 is completed, the flight imaging support process proceeds to step ST75.

[0232] In step ST75, the second field of view setting instruction transmission control unit 194 controls the transmission of the second field of view setting instruction generated in step ST74 to the aircraft 310 via the communication device 12. After the processing in step ST75 is completed, the flight imaging support processing moves to step ST80. Once the second field of view setting instruction is transmitted to the aircraft 310 as a result of the processing in step ST75, the processing in steps ST103 to ST105 of the flight imaging processing (see Figure 41) is executed by the processor 351 of the aircraft 310, thereby transmitting a field of view setting report from the aircraft 310 to the base station 10.

[0233] As described above, when the process in step ST72 is executed, a field of view setting report is transmitted from the aircraft 310 to the base station 10, and when the process in step ST75 is executed, a field of view setting report is transmitted from the aircraft 310 to the base station 10. Then, in step ST80, the field of view setting report reception determination unit 196 determines whether or not the field of view setting report transmitted from the aircraft 310 has been received by the communication device 12. In step ST80, if the field of view setting report has not been received by the communication device 12, the determination is denied, and the determination in step ST80 is performed again. In step ST80, if the field of view setting report has been received by the communication device 12, the determination is affirmed, and the flight imaging support process proceeds to step ST81.

[0234] In step ST81, the imaging instruction transmission control unit 198 transmits an imaging instruction to the aircraft 310 via the communication device 12. After the processing in step ST81 is completed, the flight imaging support processing moves to step ST82. Once the imaging instruction is transmitted to the aircraft 310 through the processing in step ST81, the processing in steps ST110 to ST113 of the flight imaging processing (see Figure 42) is executed by the processor 351 of the aircraft 310, thereby transmitting an imaging report from the aircraft 310 to the base station 10.

[0235] Therefore, in step ST82, the imaging report reception determination unit 200 determines whether or not the imaging report transmitted from the aircraft 310 has been received by the communication device 12. If the imaging report has not been received by the communication device 12 in step ST82, the determination is denied and the determination in step ST82 is repeated. If the imaging report has been received by the communication device 12 in step ST82, the determination is affirmed and the flight imaging support process proceeds to step ST83.

[0236] In step ST83, the termination determination unit 202 determines whether the conditions for terminating the flight imaging support process have been met. One example of a condition for terminating the flight imaging support process is that the number of imaging reports received in step ST82 (i.e., the number of times the determination was affirmed in step ST82) reaches the number of imaging positions 8A. If the conditions for terminating the flight imaging support process have not been met in step ST83, the determination is denied, and the flight imaging support process proceeds to step ST42. Then, the above-described flight imaging support process is repeatedly executed, and multiple images are acquired. If the conditions for terminating the flight imaging support process have been met in step ST83, the determination is affirmed, and the flight imaging support process proceeds to step ST84.

[0237] In step ST84, the termination instruction transmission control unit 204 transmits a termination instruction to the aircraft 310 via the communication device 12. After the processing in step ST84 is completed, the flight imaging support process is terminated.

[0238] Next, with reference to Figures 40 to 42, an example of the flight imaging processing flow performed by the processor 351 of the aircraft 310 will be described.

[0239] In the flight imaging process shown in Figure 40, first, in step ST90, the flight instruction reception determination unit 402 determines whether or not a flight instruction has been received by the communication device 312. If no flight instruction has been received by the communication device 312 in step ST90, the determination is denied, and the flight imaging process proceeds to step ST92. If a flight instruction has been received by the communication device 312 in step ST90, the determination is affirmed, and the flight imaging process proceeds to step ST91.

[0240] In step ST91, the flight control unit 404 controls the flight device 340 according to the flight instructions. After the processing in step ST91 is completed, the flight imaging process proceeds to step ST92.

[0241] In step ST92, the hovering instruction reception determination unit 406 determines whether or not a hovering instruction has been received by the communication device 312. If no hovering instruction has been received by the communication device 312 in step ST92, the determination is denied, and the flight imaging process proceeds to step ST100. If a hovering instruction has been received by the communication device 312 in step ST92, the determination is affirmed, and the flight imaging process proceeds to step ST93.

[0242] In step ST93, the hovering control unit 408 causes the aircraft 310 to hover. After the processing in step ST93 is completed, the flight imaging process proceeds to step ST94.

[0243] In step ST94, the hovering report transmission control unit 410 transmits a hovering report to the base station 10 via the communication device 312. After the processing in step ST94 is completed, the flight imaging process proceeds to step ST100.

[0244] In step ST100, the attitude correction instruction reception determination unit 412 determines whether or not an attitude correction instruction has been received by the communication device 312. If no attitude correction instruction has been received by the communication device 312 in step ST100, the determination is denied, and the flight imaging process proceeds to step ST103. If an attitude correction instruction has been received by the communication device 312 in step ST100, the determination is affirmed, and the flight imaging process proceeds to step ST101.

[0245] In step ST101, the attitude correction control unit 414 corrects the attitude of the aircraft 310 according to the attitude correction instruction. After the processing in step ST101 is completed, the flight imaging process proceeds to step ST102.

[0246] In step ST102, the attitude correction report transmission control unit 416 transmits an attitude correction report to the base station 10 via the communication device 312. After the processing in step ST102 is completed, the flight imaging process proceeds to step ST103.

[0247] In step ST103, the shooting angle setting instruction reception determination unit 418 determines whether a shooting angle setting instruction has been received by the communication device 312. In step ST103, if the communication device 312 has not received a shooting angle setting instruction, the determination is negative, and the flight imaging process proceeds to step ST110. In step ST103, if the communication device 312 has received a shooting angle setting instruction, the determination is positive, and the flight imaging process proceeds to step ST104.

[0248] In step ST104, the shooting angle control unit 420 sets the shooting angle of the imaging device 330 to the shooting angle corresponding to the shooting angle setting instruction. After the process of step ST104 is executed, the flight imaging process proceeds to step ST105.

[0249] In step ST105, the shooting angle setting report transmission control unit 422 transmits a shooting angle setting report to the base station 10 via the communication device 312. After the process of step ST105 is executed, the flight imaging process proceeds to step ST110.

[0250] In step ST110, the imaging instruction reception determination unit 424 determines whether an imaging instruction has been received by the communication device 312. In step ST110, if the communication device 312 has not received an imaging instruction, the determination is negative, and the flight imaging process proceeds to step ST114. In step ST110, if the communication device 312 has received an imaging instruction, the determination is positive, and the flight imaging process proceeds to step ST111.

[0251] In step ST111, the imaging control unit 426 causes the imaging device 330 to image the inspection target surface 4G. After the process of step ST111 is executed, the flight imaging process proceeds to step ST112.

[0252] In step ST112, the image information storage control unit 118 stores the image obtained by the imaging device 330 in the image memory 314. After the processing in step ST112 is completed, the flight imaging process proceeds to step ST113.

[0253] In step ST113, the imaging report transmission control unit 430 transmits the imaging report to the base station 10 via the communication device 312. After the processing in step ST113 is completed, the flight imaging process proceeds to step ST114.

[0254] In step ST114, the termination instruction reception determination unit 432 determines whether the communication device 312 has received a termination instruction. If the communication device 312 has not received a termination instruction in step ST114, the determination is denied, and the flight imaging process proceeds to step ST90. If the communication device 312 has received a termination instruction in step ST114, the determination is affirmed, and the flight imaging process proceeds to step ST115.

[0255] In step ST115, the termination control unit 434 terminates the flight of the aircraft 310. Examples of the control performed by the termination control unit 434 to terminate the flight include, for example, control to land the aircraft 310, control to return the aircraft 310 to the position where the flight imaging processing was started, and / or control to switch the aircraft 310 to be controlled by a pilot (not shown). After the processing in step ST115 is executed, the flight imaging processing is terminated.

[0256] 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.

[0257] As described above, in the first embodiment, the processor 51 causes the rotary drive unit 20 to which the rangefinder 40 is attached to rotate the rangefinder 40 and instructs the rangefinder 40 to measure the distance between the wall surface 4 and the rangefinder 40 at multiple distance measurement points on the wall surface 4. The processor 51 also sets a flight route 8 for the aircraft 310 to fly along the wall surface 4 based on the distance measured at each distance measurement point. The processor 51 then controls the aircraft 310 to fly along the flight route 8 and the imaging device 330 mounted on the aircraft 310 to image multiple areas of the wall surface 4. Therefore, for example, even without using a satellite positioning system, the aircraft 310 can be flown along the wall surface 4 and multiple areas of the wall surface 4 can be imaged by the imaging device 330.

[0258] Furthermore, when the aircraft 310 is instructed to fly along the flight route 8 and the imaging device 330 mounted on the aircraft 310 is instructed to capture multiple images of multiple areas on the wall surface 4, the processor 51 controls the imaging device 330 to maintain a constant pixel resolution. Therefore, even if there is a recess 4F in the wall surface 4, for example, the image resolution can be kept constant.

[0259] Furthermore, the processor 51 adjusts the rotation angle of the rotary drive unit 20 to an angle that includes the aircraft 310 within the range measurement range 41 of the range measuring device 40, and instructs the range measuring device 40 to measure the distance between the aircraft 310 and the range measuring device 40. Based on the rotation angle of the rotary drive unit 20 and the distance between the aircraft 310 and the range measuring device 40, the processor 51 controls the aircraft 310 to fly along the flight route 8. Therefore, for example, the aircraft 310 can fly over a wider area compared to the case where the range measurement range 41 of the range measuring device 40 is fixed.

[0260] Furthermore, the processor 51 derives the absolute coordinates of the aircraft 310 based on the absolute coordinates of the rotary drive unit 20, the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40. Then, based on the absolute coordinates of the aircraft 310, it controls the aircraft 310 to fly along the flight route 8. Therefore, for example, even without using a satellite positioning system, the aircraft 310 can be made to fly along the wall surface 4 based on its absolute coordinates.

[0261] Furthermore, the processor 51 controls the rotation angle of the rotary drive unit 20 to adjust it to a rotation angle that includes the aircraft 310 within the ranging range 41 of the ranging device 40, based on the image obtained when the aircraft 310 is imaged by the imaging device 30. Therefore, for example, the ranging range 41 of the ranging device 40 can be moved to follow the aircraft 310.

[0262] Furthermore, the processor 51 controls the rotation angle of the rotary drive unit 20 to adjust it so that the aircraft 310 is positioned in the center of the field of view of the imaging device 30. Therefore, compared to, for example, the case where the rotation angle of the rotary drive unit 20 is adjusted so that the aircraft 310 is positioned outside the center of the field of view of the imaging device 30, it is possible to suppress the aircraft 310 from moving out of the field of view of the imaging device 30 even if the aircraft 310 moves.

[0263] Furthermore, the aircraft 310 is equipped with multiple propellers 341 classified in different ways. The processor 51 controls the attitude of the aircraft 310 based on the positions of the multiple propellers 341 captured in images obtained by the imaging device 30. Therefore, the attitude of the aircraft 310 can be controlled with greater precision compared to, for example, a case where the multiple propellers 341 are not classified in different ways.

[0264] Furthermore, the multiple propellers 341 are classified by different colors. Therefore, for example, the attitude of the aircraft 310 can be determined by a simple configuration that only involves differently coloring the multiple propellers 341.

[0265] Furthermore, the aircraft 310 acquires multiple images each time it reaches one of the multiple imaging positions 8A set along the flight route 8. Therefore, for example, the condition of the wall surface 4 can be inspected by analyzing the multiple images with the image analysis device 2.

[0266] Furthermore, the multiple imaging positions 8A are set at locations where a portion of the images acquired at adjacent imaging positions 8A overlap. Therefore, for example, the image analysis device 2 can recognize that the images are adjacent to each other based on the amount of overlap between them.

[0267] Furthermore, when the aircraft 310 flies across the recess 4F, the processor 51 controls the image sensor 330 to maintain a constant pixel resolution by operating at least one of the zoom lens 335C and the focus lens 335B of the image sensor 330. Therefore, for example, even when the aircraft 310 flies across the recess 4F, the pixel resolution of the image sensor 330 can be maintained at a constant level.

[0268] As an example, as shown in Figure 43, the aircraft 310 may include a first member 360A, a second member 360B, a third member 360C, and a fourth member 360D. The first member 360A is located on the front right side of the aircraft body 320, the second member 360B is located on the front left side of the aircraft body 320, the third member 360C is located on the rear right side of the aircraft body 320, and the fourth member 360D is located on the rear left side of the aircraft body 320.

[0269] As an example, the first member 360A and the third member 360C are arranged on the right side of the imaging device 330, and the second member 360B and the fourth member 360D are arranged on the left side of the imaging device 330. The first member 360A is arranged at a position line-symmetric with the second member 360B about the optical axis OA2 of the imaging device 330 in plan view, and the third member 360C is arranged at a position line-symmetric with the fourth member 360D about the optical axis OA2 of the imaging device 330 in plan view. The first member 360A, the second member 360B, the third member 360C, and the fourth member 360D are an example of the "plurality of members" according to the technology of the present disclosure.

[0270] As an example of different modes, the first member 360A, the second member 360B, the third member 360C, and the fourth member 360D are classified in different colors. In FIG. 43, the colors of the respective members are represented by dots attached to the first member 360A, the second member 360B, the third member 360C, and the fourth member 360D.

[0271] As an example, the color of the first member 360A is the same as the color of the second member 360B, and the color of the third member 360C is the same as the color of the fourth member 360D. The first color set for the first member 360A and the second member 360B is different from the second color set for the third member 360C and the fourth member 360D. The first color and the second color may each be a chromatic color or an achromatic color. The first color and the second color may be any colors as long as they are colors that can be identified based on an image obtained by the processor 51 (see FIG. 4) of the base station 10 described later being imaged by the imaging device 30.

[0272] In the example shown in Figure 43, the first member 360A and the second member 360B are assigned a first color, and the third member 360C and the fourth member 360D are assigned a second color. However, this is merely an example, and the first member 360A and the third member 360C may be assigned a first color, while the second member 360B and the fourth member 360D may be assigned a second color. Alternatively, the first member 360A and the fourth member 360D may be assigned a first color, while the second member 360B and the third member 360C may be assigned a second color. Furthermore, the first member 360A, the second member 360B, the third member 360C, and the fourth member 360D may be assigned different colors to each other.

[0273] Furthermore, the first member 360A, the second member 360B, the third member 360C, and the fourth member 360D may be light-emitting bodies that emit light in different colors, as an example of a different embodiment. In addition, the first member 360A, the second member 360B, the third member 360C, and the fourth member 360D may be light-emitting bodies that flash in different flashing patterns, as an example of a different embodiment.

[0274] Even with such modifications, the attitude of the aircraft 310 can be determined by a simple configuration that only involves changing the appearance of the first member 360A, the second member 360B, the third member 360C, and the fourth member 360D.

[0275] In the first embodiment, instead of the distance determination unit 136, the processor 51 may perform image recognition processing on the image information stored in the storage 52 and determine whether the image represented by the image information includes an image corresponding to the recess 4F, thereby determining whether the inspection target surface 4G has a recess 4F. If the inspection target surface 4G has a recess 4F, processing by the first zoom magnification determination unit 138, the first zoom magnification storage control unit 140, and the first flight route setting unit 142 is performed. If the inspection target surface 4G does not have a recess 4F, processing by the second zoom magnification determination unit 144, the second zoom magnification storage control unit 146, and the second flight route setting unit 148 is performed. Even in this case, the image resolution can be kept constant.

[0276] Furthermore, the processor 51 may determine whether the inspection surface 4G has a recess 4F, and if it determines that the inspection surface 4G has a recess 4F, it may further determine whether the area of ​​the opening 4F1 of the recess 4F is smaller than a predetermined area. The predetermined opening area is set to, for example, less than the area in which the aircraft 310 can enter the inside of the recess 4F. If the processor 51 determines that the inspection surface 4G does not have a recess 4F, it may set a flight route 8 along the inspection surface 4G.

[0277] Furthermore, if the processor 51 determines that the inspection surface 4G has a recess 4F, but the area of ​​the opening 4F1 of the recess 4F is greater than or equal to a predetermined area, it may set a flight route 8 that passes through a tracing surface 6 along the inner surface of the recess 4F. On the other hand, if the processor 51 determines that the inspection surface 4G has a recess 4F, but the area of ​​the opening 4F1 of the recess 4F is smaller than a predetermined area, it may set a flight route 8 on a smooth surface 7 (i.e., a smooth virtual surface facing the inspection surface 4G) that faces the inspection surface 4G having the recess 4F. Even in this case, the image resolution can be kept constant.

[0278] Furthermore, in the first embodiment, the object to be inspected 3 has a recess 4F, but it may have a protrusion instead of a recess 4F. The processor 51 may also control the imager 330 to maintain a constant pixel resolution when it instructs the aircraft 310 to fly along the flight route 8 and to have the imager 330 mounted on the aircraft 310 image the surface to be inspected 4G to acquire multiple images.

[0279] [Second Embodiment] As an example, as shown in Figure 44, in the second embodiment, the configuration of the imaging system S is modified as follows compared to the first embodiment.

[0280] In other words, the imaging system S includes, as an example of multiple base stations, a first base station 10A and a second base station 10B. The imaging system S includes a controller 60 common to the first base station 10A and the second base station 10B. The controller 60 includes a receiving device 14, a display 16, and a computer 150. The computer 150 includes a processor 51, storage 52, and RAM 53, and the processor 51, storage 52, RAM 53, receiving device 14, and display 16 are connected to a bus, as in the first embodiment.

[0281] In the following description, unless it is necessary to distinguish between the first base station 10A and the second base station 10B, they will both be referred to as base station 10. Each base station 10 is equipped with a rotary drive unit 20, an imaging device 30, and a distance measuring device 40. The rotary drive unit 20, the imaging device 30, and the distance measuring device 40 are electrically connected to a controller 60. The configuration of the rotary drive unit 20, the imaging device 30, and the distance measuring device 40 is the same as in the first embodiment.

[0282] The first base station 10A and the second base station 10B are installed in positions where the imaging device 30 can image the wall surface 4 of the object to be inspected 3, and where the distance between the wall surface 4 and the distance measuring device 40 can be measured. For example, if the object to be inspected 3 is a bridge spanning a river, the first base station 10A is installed on one bank of the river, and the second base station 10B is installed on the other bank of the river.

[0283] As an example, the first base station 10A and the second base station 10B are installed at positions where the distance measurement areas of each distance measuring device 40 partially overlap. In the following, as an example, we will describe a case in which the distance measuring device 40 emits laser light diagonally upward.

[0284] The rotary drive unit 20, imaging device 30, and distance measuring device 40 of the first base station 10A are examples of the "first rotary drive unit," "first imaging device," and "first distance measuring device" relating to the technology of this disclosure. The rotary drive unit 20, imaging device 30, and distance measuring device 40 of the second base station 10B are examples of the "second rotary drive unit," "second imaging device," and "second distance measuring device" relating to the technology of this disclosure.

[0285] As an example, as shown in Figure 45, the flight route setting processing unit 104 includes a first reception determination unit 112, a first rotation control unit 114, a first imaging control unit 116, an image information storage control unit 118, a first distance measurement control unit 120, a distance information storage control unit 122, a rotation position determination unit 124, a rotation stop control unit 126, an image display control unit 128, a second reception determination unit 130, a tracing surface setting unit 132, a smooth surface setting unit 134, a distance determination unit 136, a first zoom magnification determination unit 138, a first zoom magnification storage control unit 140, a first flight route setting unit 142, a second zoom magnification determination unit 144, a second zoom magnification storage control unit 146, and a second flight route setting unit 148, in addition to a calibration information derivation unit 212 and a calibration information storage control unit 214.

[0286] As an example, as shown in Figure 46, the flight control processing unit 106 includes a third reception determination unit 152, a second imaging control unit 154, an aircraft position derivation unit 156, a position deviation determination unit 158, a second rotation control unit 160, a second distance measurement control unit 162, an aircraft coordinate derivation unit 164, an imaging position arrival determination unit 166, a flight instruction generation unit 168, and a flight instruction transmission control unit 170, in addition to a first aircraft determination unit 216.

[0287] As an example, as shown in Figure 47, the imaging control processing unit 108 includes a hovering instruction transmission control unit 172, a hovering report reception determination unit 174, a third imaging control unit 176, an aircraft attitude identification unit 178, an attitude correction instruction generation unit 180, an attitude correction instruction transmission control unit 182, an attitude correction report reception determination unit 184, a zoom magnification determination unit 186, a first field of view setting instruction transmission control unit 188, a distance derivation unit 190, a second field of view setting instruction generation unit 192, a second field of view setting instruction transmission control unit 194, a field of view setting report reception determination unit 196, an imaging instruction transmission control unit 198, an imaging report reception determination unit 200, an end determination unit 202, and an end instruction transmission control unit 204, in addition to a second aircraft determination unit 218.

[0288] As an example, as shown in Figure 48, operator 5 gives a measurement start instruction to the reception device 14. The first reception determination unit 112 determines whether or not the measurement start instruction has been received by the reception device 14.

[0289] When the first reception determination unit 112 determines that a measurement start instruction has been received by the reception device 14, the first rotation control unit 114 controls the rotation drive device 20 of each base station 10 to rotate the base 27 from the first rotation position to the second rotation position. Below, as an example, an example in which the first rotation control unit 114 rotates the base 27 of each base station 10 synchronously will be described.

[0290] The first imaging control unit 116 controls the imaging device 30 of each base station 10 to image the wall surface 4. The image information storage control unit 118 generates image information by associating the image obtained by the imaging device 30 of each base station 10 with the rotation position of the base 27 detected by the pan-tilt mechanism 26 and / or rotation detector (not shown) provided on the base 27, and stores the image information in the storage 52.

[0291] The first distance measurement control unit 120 controls the distance measuring device 40 of each base station 10 to scan the wall surface 4 with laser light. In one scan by the distance measuring device 40 of each base station 10, the distance between the wall surface 4 and the distance measuring device 40 is measured at multiple distance measurement points in a part of the horizontal direction of the wall surface 4.

[0292] Hereinafter, when distinguishing between distance measurement locations measured by the distance measuring device 40 of the first base station 10A and distance measurement locations measured by the distance measuring device 40 of the second base station 10B, the distance measurement locations measured by the distance measuring device 40 of the first base station 10A will be referred to as the first distance measurement locations, and the distance measurement locations measured by the distance measuring device 40 of the second base station 10B will be referred to as the second distance measurement locations.

[0293] The first distance measurement location is an example of the "first distance measurement location" relating to the technology of this disclosure, and the second distance measurement location is an example of the "first distance measurement location" relating to the technology of this disclosure. 2 This is an example of a "distance measurement location." The distance between the wall surface 4 and the distance measuring device 40 of the first base station 10A, measured by the distance measuring device 40, is an example of a "first distance" relating to the technology of this disclosure, and the distance between the wall surface 4 and the distance measuring device 40 of the second base station 10B, measured by the distance measuring device 40, is an example of a "second distance" relating to the technology of this disclosure.

[0294] The distance information storage control unit 122 generates distance information by associating the distance measured at each distance measurement point at each base station 10 with the rotation position of the base 27 detected by a rotation detector (not shown) provided on the pan-tilt mechanism 26 and / or base 27, and the rotation angle of the scanner mirror 47 detected by an angle detector (not shown) provided on the scanner mirror 47, and stores the distance information in the storage 52.

[0295] The rotation position determination unit 124 determines whether the rotation position of the base 27 of each base station 10 has reached the second rotation position. The rotation position determination unit 124 determines whether the rotation position of the base 27 has reached the second rotation position by comparing the rotation position of the base 27 detected by a rotation detector (not shown) provided on the pan-tilt mechanism 26 and / or the base 27 with the position of the second rotation position.

[0296] When the rotation position determination unit 124 determines that the rotation position of the base 27 of each base station 10 has reached the second rotation position, the rotation stop control unit 126 controls each rotation drive device 20 to stop the rotation of the base 27. As a result, at each base station 10, while the base 27 rotates from the first rotation position to the second rotation position, the wall surface 4 is imaged multiple times by the imaging device 30, and the wall surface 4 is scanned multiple times by the distance measuring device 40, thereby obtaining image information and distance information corresponding to the wall surface 4.

[0297] As an example, as shown in Figure 49, in the controller 60, the image display control unit 128 controls the display 16 to display an image (i.e., an image showing the wall surface 4 as an image) based on the image information stored in the storage 52.

[0298] Operator 5 determines the inspection target surface 4G to be inspected by the aircraft 310 based on the image displayed on the display 16. Operator 5 then provides the receiving device 14 with inspection target surface designation information indicating that the inspection target surface 4G has been designated. Below, as an example, an example in which the wall surface 4 is determined to be the inspection target surface 4G will be described.

[0299] Furthermore, the operator 5 determines multiple positions on the wall surface 4 from the overlapping areas of the distance measurement areas of each distance measuring device 40, based on the image displayed on the display 16. Then, position specification information indicating that multiple positions are to be specified is provided to the receiving device 14. Below, as an example, an example in which points A and B on the wall surface 4 are determined as multiple positions on the wall surface 4 is described, as shown in Figure 50. Points A and B are positions that are separated from each other in the horizontal and vertical directions.

[0300] The second reception determination unit 130 determines whether or not the inspection target surface specification information and the location specification information have been received by the reception device 14.

[0301] The calibration information derivation unit 212 derives calibration information based on position information and distance information. The calibration information is information for converting the distance measured by the rangefinder 40 of the second base station 10B (i.e., the distance between the wall surface 4 and the second base station 10B) into a distance relative to the position of the rangefinder 40 of the first base station 10A, as will be described later. The calibration information is also information for converting the position of the aircraft 310 measured by the rangefinder 40 of the second base station 10B into a position relative to the position of the rangefinder 40 of the first base station 10A. Specifically, the calibration information derivation unit 212 derives calibration information in the following procedure.

[0302] First, the calibration information derivation unit 212 calculates the length La1 of side A1 based on the distance information. Side A1 is the side connecting point A and point C1 of the first base station 10A. Next, the calibration information derivation unit 212 calculates the angle θac1 based on the distance information. Angle θac1 is the angle between side A1 and side C. Side C is the side connecting point C1 of the first base station 10A and point C2 of the second base station 10B.

[0303] Next, the calibration information derivation unit 212 calculates the length Lb1 of side B1 based on the distance information. Side B1 is the side connecting point C1 and point B, which indicate the location where the first base station 10A is installed. Next, the calibration information derivation unit 212 calculates the angle θbc1 based on the distance information. Angle θbc1 is the angle between side B1 and side C.

[0304] The calibration information derivation unit 212 then calculates the angle θab1 based on the following equation (1). The angle θab1 is the angle between side A1 and side B1.

number

[0305] Similarly, the calibration information derivation unit 212 calculates the length La2 of side A2 based on the distance information. Side A2 is the side connecting point C2, which indicates the location where the second base station 10B is installed, and point A. Next, the calibration information derivation unit 212 calculates the angle θac2 based on the distance information. The angle θac2 is the angle between side A2 and side C.

[0306] Next, the calibration information derivation unit 212 calculates the length Lb2 of side B2 based on the distance information. Side B2 is the side connecting point C2 and point B of the second base station 10B. Next, the calibration information derivation unit 212 calculates the angle θbc2 based on the distance information. Angle θbc2 is the angle between side B2 and side C.

[0307] The calibration information derivation unit 212 then calculates the angle θab2 based on the following equation (2). The angle θab2 is the angle between side A2 and side B2.

number

[0308] Next, the calibration information derivation unit 212 calculates the angle α1 based on the following equation (3) which is based on the law of cosines. The angle α1 is the angle between side A1 and side AB. Side AB is the side connecting point A and point B.

number

[0309] Similarly, the calibration information derivation unit 212 calculates the angle α2 based on the following equation (4) which is based on the law of cosines. The angle α2 is the angle between side A2 and side AB.

number

[0310] The calibration information derivation unit 212 then calculates the angle α based on the following equation (5).

number

[0311] Next, the calibration information derivation unit 212 calculates the length Lc of side C based on the following equation (6) which is based on the law of cosines.

number

[0312] Therefore, for an unknown position D (for example, a position on the wall surface 4 or the position of the flying object 310), by using the length Lc calculated by equation (6) (i.e., the distance between the first base station 10A and the second base station 10B), the length Ld2 and angle γ2 of side D2 measured at the second base station 10B can be converted to the length Ld1 and angle γ1 of side D1, which are pseudo-measured at the first base station 10A, based on equations (7) and (8) below. Side D1 is the side connecting position D and point C1 of the first base station 10A, and side D2 is the side connecting position D and point C2 of the second base station 10B. Angles γ1 and γ2 are angles with respect to side C. Angles γ1 are the angle between side D1 and side C, and angle γ2 are the angle between side D2 and side C.

[0313] According to equation (7) below, the distance measured by the rangefinder 40 of the second base station 10B is converted to a distance relative to the position of the first base station 10A. The position of the first base station 10A is equivalent to the position of the rangefinder 40 of the first base station 10A.

number

[0314] Furthermore, according to equation (8) below, the rotation angle of the rotary drive device 20 of the second base station 10B is converted to an angle relative to the position of the first base station 10A.

number

[0315] The calibration information storage control unit 214 calculates the value of length Lc calculated by equation (6) formula (7) and formula The conversion formula substituted into (8) and the coordinates of side C are stored in storage 52 as calibration information. The calibration information stored in storage 52 is an example of the "default first calibration information" and "default second calibration information" relating to the technology of this disclosure.

[0316] As an example, as shown in Figure 51, in the controller 60, the image display control unit 128 controls the display 16 to display an image (i.e., an image showing the wall surface 4 as an image) based on the image information stored in the storage 52.

[0317] Operator 5 determines the inspection target surface 4G based on the image displayed on the display 16. Then, Operator 5 provides the receiving device 14 with inspection target surface designation information indicating that the inspection target surface 4G is designated. The second reception determination unit 130 determines whether or not the inspection target surface designation information has been received by the receiving device 14.

[0318] When the second reception determination unit 130 determines that the inspection target surface designation information has been received by the reception device 14, the tracing surface setting unit 132 sets the tracing surface 6 based on the inspection target surface designation information. In the example shown in Figure 51, the tracing surface 6 includes, as an example, a first tracing surface 6A located within the distance measurement area of ​​the distance measuring device 40 of the first base station 10A, and a second tracing surface 6B located within the distance measurement area of ​​the distance measuring device 40 of the second base station 10B. In this case, the tracing surface setting unit 132 sets the second tracing surface 6B based on calibration information stored in the storage 52, using relative coordinates with respect to the position of the first base station 10A. As a result, the entire tracing surface 6 is set based on relative coordinates with respect to the position of the first base station 10A.

[0319] The smoothing surface setting unit 134 sets a smooth surface 7 (i.e., a smooth virtual surface facing the wall surface 4) by smoothing the copy surface 6. The smooth surface 7, like the copy surface 6, is set based on relative coordinates with respect to the position of the first base station 10A. The method by which the smoothing surface setting unit 134 sets the smooth surface 7 is the same as in the first embodiment.

[0320] As an example, as shown in Figure 52, the functions of the distance determination unit 136, the first zoom magnification determination unit 138, the first zoom magnification memory control unit 140, the first flight route setting unit 142, the second zoom magnification determination unit 144, the second zoom magnification memory control unit 146, and the second flight route setting unit 148 are the same as in the first embodiment. As an example, in the example shown in Figure 52, the first flight route setting unit 142 or the second flight route setting unit 148 sets a flight route 8 that passes through multiple imaging positions 8A. The flight route 8 is set using relative coordinates with respect to the position of the first base station 10A.

[0321] As an example, as shown in Figure 53, the aircraft 310 is positioned within the imaging range 31 of the imaging device 30 of the first base station 10A. When the aircraft 310 is ready to begin flight, the operator 5 issues a flight start instruction to the receiving device 14. The third reception determination unit 152 determines whether or not the flight start instruction has been received by the receiving device 14.

[0322] When the third reception determination unit 152 determines that a flight commencement instruction has been received by the reception device 14, the second imaging control unit 154 controls the imaging devices 30 at each base station 10 to capture an image of the scene.

[0323] The first aircraft detection unit 216 performs object recognition processing on the images obtained by the imaging devices 30 of each base station 10 to determine which of the first base station 10, the first base station 10A or the second base station 10B, has the aircraft 310 captured as an image. Depending on the determination result by the first aircraft detection unit 216, the rangefinder 40 of the first base station 10A and the rangefinder 40 of the second base station 10B that measures the position of the aircraft 310 are selected, as will be described later.

[0324] The aircraft position derivation unit 156 performs object recognition processing on the image obtained by the first base station 10A or the second base station 10B that contains the aircraft 310 as an image, thereby deriving the position of the aircraft 310 within the image.

[0325] The position shift determination unit 158 ​​determines, based on the position of the aircraft 310 in the image derived by the aircraft position derivation unit 156, whether the position of the aircraft 310 is shifted relative to the center of the field of view of the imaging device 30 of the first base station 10A or the second base station 10B.

[0326] If the second rotation control unit 160 determines that the position of the aircraft 310 is misaligned with the center of the field of view of the imaging device 30, it controls the rotation angle of the rotation drive unit 20 in the horizontal direction and / or the vertical direction to adjust it to an angle where the aircraft 310 is positioned in the center of the field of view of the imaging device 30.

[0327] Based on the determination result by the first aircraft determination unit 216, the second range measuring control unit 162 selects the range measuring device 40 of the first base station 10A and the range measuring device 40 of the second base station 10B to measure the position of the aircraft 310. In other words, the second range measuring control unit 162 selects the range measuring device 40 of the base station 10 from the first base station 10A and the second base station 10B that the first aircraft determination unit 216 has determined to have obtained an image in which the aircraft 310 is captured, as the range measuring device 40 to measure the position of the aircraft 310.

[0328] The second distance measurement control unit 162 then controls the selected distance measuring device 40 of the first base station 10A and the second base station 10B to scan the distance measurement range 41 with laser light. In this case, the aircraft 310 is located within the distance measurement range 41 of the selected distance measuring device 40, so the distance between the aircraft 310 and the distance measuring device 40 can be obtained.

[0329] The aircraft coordinate derivation unit 164 derives relative coordinates of the aircraft 310 relative to the position of each base station 10, based on the rotation angle of the rotary drive unit 20, the angle of the laser beam irradiated from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40, for the base station 10 of the first base station 10A and the second base station 10B from which the first aircraft determination unit 216 has determined that an image in which the aircraft 310 is captured has been obtained.

[0330] Furthermore, if the aircraft 310 is located within the imaging range 31 of the imaging device 30 of the second base station 10B, the aircraft coordinate derivation unit 164 converts the relative coordinates of the aircraft 310 relative to the position of the second base station 10B to relative coordinates relative to the position of the first base station 10A, based on the calibration information stored in the storage 52. In other words, the position of the aircraft 310 measured by the ranging device 40 of the second base station 10B is converted to a position relative to the position of the first base station 10A.

[0331] The imaging position arrival determination unit 166 determines whether the aircraft 310 has reached the target imaging position 8A based on the coordinates of the aircraft 310 derived by the aircraft coordinate derivation unit 164 and the coordinates of the imaging position 8A closest to the aircraft 310 among the multiple imaging positions 8A (hereinafter referred to as the target imaging position 8A). Both the coordinates of the aircraft 310 and the coordinates of the target imaging position 8A are relative coordinates based on the position of the first base station 10A.

[0332] If the imaging position arrival determination unit 166 determines that the aircraft 310 has not reached the target imaging position 8A, the flight instruction generation unit 168 generates a flight instruction for the aircraft 310 based on the difference between the coordinates of the aircraft 310 derived by the aircraft coordinate derivation unit 164 and the coordinates of the target imaging position 8A.

[0333] The flight instruction transmission control unit 170 controls the transmission of flight instructions to the aircraft 310 via the communication device 12. As a result, the aircraft 310 flies toward the target imaging position 8A in accordance with the flight instructions.

[0334] As an example, as shown in Figure 54, in the controller 60, when the imaging position arrival determination unit 166 determines that the aircraft 310 has reached the target imaging position 8A, the controller 60 performs control to transmit a hovering instruction to the aircraft 310 via the communication device 12.

[0335] The hovering report reception determination unit 174 determines whether the communication device 12 has received a hovering report transmitted from the aircraft 310 as a result of the aircraft 310 hovering.

[0336] When the third imaging control unit 176 determines, by the hovering report reception determination unit 174, that the communication device 12 has received a hovering report, it controls the imaging devices 30 of each base station 10 to capture an image of the scene.

[0337] The second aircraft determination unit 218 performs object recognition processing on the images obtained by the imaging devices 30 of each base station 10 to determine which of the first base station 10, or the second base station 10B, has the aircraft 310 captured as an image in its image.

[0338] The aircraft attitude determination unit 178 performs object recognition processing on the image obtained by the first base station 10A or the second base station 10B in which the aircraft 310 is visible, and determines the attitude of the aircraft 310 based on the positions of the multiple propellers 341 captured in the image.

[0339] The attitude correction instruction generation unit 180 generates an attitude correction instruction for the aircraft 310 based on the attitude of the aircraft 310 identified by the aircraft attitude identification unit 178. The attitude correction instruction transmission control unit 182 performs control to transmit the attitude correction instruction to the aircraft 310 via the communication device 12. As a result, the attitude of the aircraft 310 is corrected.

[0340] The functions of the posture correction report reception determination unit 184, zoom magnification determination unit 186, first field of view setting instruction transmission control unit 188, distance derivation unit 190, second field of view setting instruction generation unit 192, second field of view setting instruction transmission control unit 194, field of view setting report reception determination unit 196, imaging instruction transmission control unit 198, imaging report reception determination unit 200, termination determination unit 202, and termination instruction transmission control unit 204 shown in Figure 47 are the same as in the first embodiment.

[0341] Next, with reference to Figures 55 to 59, an example of the flow of flight imaging support processing performed by the processor 51 of the controller 60 in the imaging system S according to the second embodiment will be described.

[0342] In the flight imaging support process shown in Figure 55, first, in step ST210, the operation mode setting unit 102 sets the operation mode of the base station 10 and the flight route setting. process Set to the mode. After the process in step ST210 is executed, the flight imaging support process proceeds to step ST211.

[0343] In step ST211, the first reception determination unit 112 determines whether or not the measurement start instruction has been received by the reception device 14. If the measurement start instruction has not been received by the reception device 14 in step ST211, the determination is denied and the determination in step ST211 is repeated. If the measurement start instruction has been received by the reception device 14 in step ST211, the determination is affirmed and the flight imaging support process proceeds to step ST212.

[0344] In step ST212, the first rotation control unit 114 rotates the base 27 from the first rotation position to the second rotation position by controlling the rotation drive devices 20 of each base station 10 based on the measurement start instruction. After the processing in step ST212 is completed, the flight imaging support processing proceeds to step ST213.

[0345] In step ST213, the first imaging control unit 116 instructs the imaging devices 30 of each base station 10 to image the wall surface 4. After the processing in step ST213 is completed, the flight imaging support process proceeds to step ST214.

[0346] In step ST214, the image information storage control unit 118 stores the image information generated in step ST213 by associating the rotational position detected by the rotation detector with the images obtained at each base station 10 in the storage 52. After the processing in step ST214 is completed, the flight imaging support process proceeds to step ST215.

[0347] In step ST215, the first range measuring control unit 120 causes the range measuring devices 40 of each base station 10 to scan the wall surface 4. After the processing in step ST215 is completed, the flight imaging support processing proceeds to step ST216.

[0348] In step ST216, the distance information storage control unit 122 stores the distance information generated by associating the rotational position detected by the rotation detector and the rotational angle detected by the angle detector with the distance measured at each base station 10 in step ST215 in the storage 52. After the processing in step ST216 is completed, the flight imaging support processing proceeds to step ST217.

[0349] In step ST217, the rotation position determination unit 124 determines whether the rotation position of the base 27 of each base station 10 has reached the second rotation position. If, in step ST217, the rotation position of the base 27 of each base station 10 has not reached the second rotation position, the determination is rejected, and the flight imaging support process proceeds to step ST213.

[0350] Steps ST213 and ST214 described above are repeatedly executed while the rotation position of the base 27 of each base station 10 reaches the second rotation position, so that multiple imaging areas on the wall surface 4 are continuously imaged. Then, image information corresponding to each imaging area is stored in the storage 52. Also, while the rotation position of the base 27 of each base station 10 reaches the second rotation position, steps ST215 and ST216 described above are repeatedly executed, so that multiple distance measurement areas on the wall surface 4 are continuously scanned by laser light. Then, distance information corresponding to each distance measurement area is stored in the storage 52. In step ST217, if the rotation position of the base 27 of each base station 10 reaches the second rotation position, the determination is affirmed, and the flight imaging support process proceeds to step ST218.

[0351] In step ST218, the rotation stop control unit 126 stops the rotation of the base 27 by stopping the rotation of the rotation drive devices 20 of each base station 10. After the processing in step ST218 is completed, the flight imaging support processing proceeds to step ST220.

[0352] In step ST220, the image display control unit 128 displays an image on the display 16 based on the image information stored in the storage 52. The image shows the wall surface 4 as an image. After the processing in step ST220 is completed, the flight imaging support process proceeds to step ST221.

[0353] In step ST221, the second reception determination unit 130 determines whether the inspection target surface designation information and location designation information provided by the worker 5 have been received by the reception device 14. If the inspection target surface designation information and location designation information have not been received by the reception device 14 in step ST221, the determination is denied and the determination in step ST221 is repeated. If the inspection target surface designation information and location designation information have been received by the reception device 14 in step ST221, the determination is affirmed and the flight imaging support process proceeds to step ST221A.

[0354] In step ST221A, the calibration information derivation unit 212 derives calibration information based on the position information and distance information. After the processing in step ST221A is completed, the flight imaging support process proceeds to step ST221B.

[0355] In step ST221B, the calibration information storage control unit 214 stores the calibration information in the storage 52. After the processing in step ST221B is completed, the flight imaging support process proceeds to step ST222.

[0356] In step ST222, the tracing surface setting unit 132 sets a tracing surface 6 that follows the inspection target surface 4G based on the inspection target surface designation information and calibration information. After the processing in step ST222 is completed, the flight imaging support processing proceeds to step ST223.

[0357] In step ST223, the smoothing surface setting unit 134 sets the smoothing surface 7 by smoothing the copy surface 6. After the processing in step ST223 is completed, the flight imaging support processing proceeds to step ST224.

[0358] In step ST224, the distance determination unit 136 determines whether the distance between the inspection target surface 4G and the smooth surface 7 is constant, based on the distance information stored in the storage 52. If the distance between the inspection target surface 4G and the smooth surface 7 is constant in step ST224, the determination is affirmed, and the flight imaging support process proceeds to step ST225. If the distance between the inspection target surface 4G and the smooth surface 7 is not constant in step ST224, the determination is denied, and the flight imaging support process proceeds to step ST228.

[0359] In step ST225, the first zoom magnification determination unit 138 determines the zoom magnification of the imaging device 330 of the aircraft 310 to the first zoom magnification. The first zoom magnification is the zoom magnification at which the pixel resolution of the imaging device 330 reaches a predetermined value. After the processing in step ST225 is executed, the flight imaging support processing proceeds to step ST226.

[0360] In step ST226, the first zoom magnification memory control unit 140 stores the first zoom magnification determined by the first zoom magnification determination unit 138 in the storage 52. After the processing in step ST226 is completed, the flight imaging support processing proceeds to step ST227.

[0361] In step ST227, the first flight route setting unit 142 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A on the smooth surface 7 based on the first zoom magnification determined by the first zoom magnification determination unit 138. For example, when the inspection target surface 4G is imaged at the first zoom magnification determined by the first zoom magnification determination unit 138, the first flight route setting unit 142 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 overlap at adjacent imaging positions 8A. After the processing in step ST227 is executed, the flight imaging support processing proceeds to step ST240.

[0362] In step ST228, the second zoom magnification determination unit 144 determines the zoom magnification of the imaging device 330 of the aircraft 310 to the second zoom magnification. After the processing in step ST228 is completed, the flight imaging support processing proceeds to step ST229.

[0363] In step ST229, the second zoom magnification memory control unit 146 stores the second zoom magnification determined by the second zoom magnification determination unit 144 in the storage 52. After the processing in step ST229 is completed, the flight imaging support processing proceeds to step ST230.

[0364] In step ST230, the second flight route setting unit 148 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A on the smooth surface 7 based on the second zoom magnification determined by the second zoom magnification determination unit 144. Even when the second zoom magnification is adjusted in steps ST273 and ST274, described later, according to the distance between the inspection target surface 4G and the imaging positions 8A, the second flight route setting unit 148 sets a flight route 8 that passes through multiple imaging positions 8A by setting multiple imaging positions 8A at positions where the imaging ranges 331 of the imaging device 330 overlap at adjacent imaging positions 8A. After the processing in step ST230 is executed, the flight imaging support processing moves to step ST240.

[0365] In step ST240, the operation mode setting unit 102 sets the operation mode of the base station 10 for flight control. process Set to the mode. After the process in step ST240 is executed, the flight imaging support process proceeds to step ST241.

[0366] In step ST241, the third reception determination unit 152 determines whether or not the flight start instruction has been received by the reception device 14. If the flight start instruction has not been received by the reception device 14 in step ST241, the determination is denied and the determination in step ST241 is repeated. If the flight start instruction has been received by the reception device 14 in step ST241, the determination is affirmed and the flight imaging support process proceeds to step ST242.

[0367] In step ST242, the second imaging control unit 154 instructs the imaging devices 30 of each base station 10 to capture an image of the scene. After the processing in step ST242 is completed, the flight imaging support process proceeds to step ST242A.

[0368] In step ST242A, the first aircraft determination unit 216 performs object recognition processing on the images obtained by the imaging devices 30 of each base station 10 to determine whether the aircraft 310 is captured as an image in the image obtained by either the first base station 10A or the second base station 10B. If the first aircraft determination unit 216 determines in step ST242A that the aircraft 310 is captured as an image in the image obtained by the first base station 10A, the flight imaging support processing proceeds to step ST243A. If the first aircraft determination unit 216 determines in step ST242A that the aircraft 310 is captured as an image in the image obtained by the second base station 10B, the flight imaging support processing proceeds to step ST243B.

[0369] In step ST243A, the aircraft position derivation unit 156 derives the position of the aircraft 310 in the image obtained by the imaging device 30 of the first base station 10A. After the processing in step ST243A is completed, the flight imaging support processing proceeds to step ST244A.

[0370] In step ST244A, the position shift determination unit 158 ​​determines, based on the position of the aircraft 310 in the image derived in step ST243A, whether the position of the aircraft 310 is shifted relative to the center of the field of view of the imaging device 30 of the first base station 10A. If, in step ST244A, the position of the aircraft 310 is shifted relative to the center of the field of view of the first base station 10A, the determination is affirmed, and the flight imaging support process proceeds to step ST245A. If, in step ST244A, the position of the aircraft 310 is not shifted relative to the center of the field of view, the determination is denied, and the flight imaging support process proceeds to step ST246A.

[0371] In step ST245A, the second rotation control unit 160 adjusts the rotation angle of the rotation drive device 20 of the first base station 10A to an angle in which the aircraft 310 is positioned in the center of the field of view of the imaging device 30. After the processing in step ST245A is completed, the flight imaging support processing proceeds to step ST246A.

[0372] In step ST243B, the aircraft position derivation unit 156 derives the position of the aircraft 310 in the image obtained by the imaging device 30 of the second base station 10B. B After the above process is executed, the flight imaging support process proceeds to step ST244B.

[0373] In step ST244B, the position shift determination unit 158 ​​determines, based on the position of the aircraft 310 in the image derived in step ST243B, whether the position of the aircraft 310 is shifted relative to the center of the field of view of the imaging device 30 of the second base station 10B. If, in step ST244B, the position of the aircraft 310 is shifted relative to the center of the field of view of the second base station 10B, the determination is affirmed, and the flight imaging support process proceeds to step ST245B. If, in step ST244B, the position of the aircraft 310 is not shifted relative to the center of the field of view, the determination is denied, and the flight imaging support process proceeds to step ST246B.

[0374] In step ST245B, the second rotation control unit 160 adjusts the rotation angle of the rotation drive device 20 of the second base station 10B to an angle in which the aircraft 310 is positioned in the center of the field of view of the imaging device 30. After the processing in step ST245B is completed, the flight imaging support processing proceeds to step ST246B.

[0375] In step ST246A, the second range measurement control unit 162 causes the range measuring device 40 of the first base station 10A to scan the range measurement range 41 with laser light. In this case, the aircraft 310 is located within the range measurement range 41 of the range measuring device 40, so the distance between the aircraft 310 and the range measuring device 40 is obtained. After the processing in step ST246A is completed, the flight imaging support processing proceeds to step ST247A.

[0376] In step ST247A, the aircraft coordinate derivation unit 164 derives the relative coordinates of the aircraft 310 relative to the position of the first base station 10A, based on the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40. After the processing in step ST247A is completed, the flight imaging support processing proceeds to step ST248.

[0377] In step ST246B, the second range measurement control unit 162 causes the range measuring device 40 of the second base station 10B to scan the range measurement range 41 with laser light. In this case, the aircraft 310 is located within the range measurement range 41 of the range measuring device 40, so the distance between the aircraft 310 and the range measuring device 40 is obtained. After the processing in step ST246B is executed, the flight imaging support processing proceeds to step ST247B.

[0378] In step ST247B, the aircraft coordinate derivation unit 164 derives the relative coordinates of the aircraft 310 relative to the position of the first base station 10A for the second base station 10B, based on the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, the distance between the aircraft 310 and the rangefinder 40, and calibration information. After the processing in step ST247B is completed, the flight imaging support processing proceeds to step ST248.

[0379] In step ST248, the imaging position arrival determination unit 166 determines whether the aircraft 310 has reached the target imaging position 8A based on the coordinates of the aircraft 310 derived in step ST247A or step ST247B and the coordinates of the target imaging position 8A. did In that case, the judgment is positive Then, the flight imaging support processing is performed in step ST 249 The process then proceeds. In step ST248, the aircraft 310 reaches the target imaging position 8A. I haven't done it In that case, the judgment is Negation Then, the flight imaging support processing is performed in step ST 260We will move to [this].

[0380] In step ST249, the flight instruction generation unit 168 generates flight instructions for the aircraft 310 based on the difference between the absolute coordinates of the aircraft 310 derived in step ST247A or step ST247B and the absolute coordinates of the target imaging position 8A. After the processing in step ST249 is completed, the flight imaging support process proceeds to step ST250.

[0381] In step ST250, the flight instruction transmission control unit 170 transmits a flight instruction to the aircraft 310 via the communication device 12. After the processing in step ST250 is completed, the flight imaging support processing proceeds to step ST 242 Then, we move to step ST. 242 ~Step ST244B, and Step ST246A~Step ST 248 As this is repeatedly executed, when the aircraft 310 reaches the target imaging position 8A, step ST 248 If the determination is affirmed, the flight imaging support process proceeds to step ST 249 We will move to [this].

[0382] In step ST260, the operation mode setting unit 102 controls the operation mode of the base station 10 for imaging control. process Set to the mode. After the process in step ST260 is executed, the flight imaging support process proceeds to step ST261.

[0383] In step ST261, the hovering instruction transmission control unit 172 transmits a hovering instruction to the aircraft 310 via the communication device 12. After the processing in step ST261 is completed, the flight imaging support process proceeds to step ST262.

[0384] In step ST262, the hovering report reception determination unit 174 determines whether or not a hovering report has been received by the communication device 12. If no hovering report has been received by the communication device 12 in step ST262, the determination is denied, and the determination in step ST262 is repeated. If a hovering report has been received by the communication device 12 in step ST262, the determination is affirmed, and the flight imaging support process proceeds to step ST263.

[0385] In step ST263, the third imaging control unit 176 instructs the imaging devices 30 of each base station 10 to capture an image of the scene. After the processing in step ST263 is completed, the flight imaging support process proceeds to step ST263A.

[0386] In step ST263A, the second aircraft determination unit 218 performs object recognition processing on the images obtained by the imaging devices 30 of each base station 10 to determine whether the aircraft 310 is captured as an image in the image obtained by the first base station 10A or the second base station 10B. If the second aircraft determination unit 218 determines in step ST263A that the aircraft 310 is captured as an image in the image obtained by the first base station 10A, the flight imaging support processing proceeds to step ST264A. If the first aircraft determination unit 216 determines in step ST263A that the aircraft 310 is captured as an image in the image obtained by the second base station 10B, the flight imaging support processing proceeds to step ST264B.

[0387] In step ST264A, the aircraft attitude determination unit 178 performs object recognition processing on the image obtained by the first base station 10A, thereby determining the attitude of the aircraft 310 based on the positions of the multiple propellers 341 captured in the image. After the processing in step ST264A is completed, the flight imaging support processing proceeds to step ST265.

[0388] In step ST264B, the aircraft attitude determination unit 178 performs object recognition processing on the image obtained by the second base station 10B, thereby determining the attitude of the aircraft 310 based on the positions of the multiple propellers 341 captured in the image. After the processing in step ST264B is completed, the flight imaging support processing proceeds to step ST265.

[0389] In step ST265, the attitude correction instruction generation unit 180 performs the following steps: A and step 264B Based on the attitude of the aircraft 310 identified, attitude correction instructions are generated for the aircraft 310. After the processing in step ST265 is performed, the flight imaging support process proceeds to step ST266.

[0390] In step ST266, the attitude correction instruction transmission control unit 182 transmits an attitude correction instruction to the aircraft 310 via the communication device 12. After the processing in step ST266 is completed, the flight imaging support process proceeds to step ST70 (see Figure 38).

[0391] Steps ST70 to ST84 (see Figures 38 and 39) are the same as in the first embodiment. In the second embodiment, if the determination is rejected in step ST83 (see Figure 39), the flight imaging support process proceeds to step ST 242 We will move to [this].

[0392] As described above, in the second embodiment, the processor 51 causes the rotary drive unit 20 of the first base station 10A to rotate the rangefinder 40, and causes the rangefinder 40 of the first base station 10A to measure the distance to a plurality of first rangefinder locations on the wall surface 4. The processor 51 also causes the rotary drive unit 20 of the second base station 10B to rotate the rangefinder 40, and causes the rangefinder 40 of the second base station 10B to measure the distance to a plurality of second rangefinder locations on the wall surface 4. Then, the processor 51 sets the flight route 8 based on the distance measured for each first rangefinder location and the distance measured for each second rangefinder location.Therefore, for example, a longer flight route 8 can be set compared to when the flight route 8 is set with a single base station 10.

[0393] Furthermore, the processor 51 converts the distance measured by the rangefinder 40 of the second base station 10B into a distance relative to the position of the rangefinder 40 of the first base station 10A, based on default calibration information. Therefore, for example, a flight route 8 can be set relative to the position of the rangefinder 40 of the first base station 10A for the rangefinder area of ​​the rangefinder 40 of the second base station 10B.

[0394] Furthermore, the processor 51 converts the position of the aircraft 310 measured by the rangefinder 40 of the second base station 10B to a position relative to the position of the rangefinder 40 of the first base station 10A, based on default calibration information. Therefore, for example, when the aircraft 310 is flying within the rangefinder area of ​​the rangefinder 40 of the second base station 10B, the aircraft 310 can be controlled relative to the position of the first base station 10A.

[0395] Furthermore, the processor 51 selects a rangefinder 40 from among the rangefinders 40 of the first base station 10A and the rangefinders 40 of the second base station 10B to measure the position of the aircraft 310, depending on the position of the aircraft 310. Therefore, for example, from the rangefinder area of ​​the rangefinder 40 of the first base station 10A 2nd base station 10B The aircraft 310 can be controlled as it flies along a flight route 8 set across the range measuring area of ​​the range measuring device 40.

[0396] In the second embodiment, the imaging system S includes, as an example of multiple base stations, a first base station 10A and a second base station 10B, but it may also include three or more base stations.

[0397] [Third Embodiment] As an example, as shown in Figure 60, in the third embodiment, the configuration of the controller 60 is changed from that of the second embodiment as follows.

[0398] In other words, the controller 60 has a distance derivation mode as an operating mode. The operating mode setting unit 102 sets the distance derivation mode as the operating mode of the controller 60 when the flight route setting process is being executed by the flight route setting processing unit 104 and it is necessary to derive the distance between a point X located outside the ranging area of ​​each ranging device 40 and each ranging device 40.

[0399] Furthermore, the operation mode setting unit 102 sets the distance derivation mode as the operation mode of the base station 10 when flight control processing is being performed by the flight control processing unit 106 and the distance between a point X located outside the ranging area of ​​each ranging device 40 and each ranging device 40. When the operation mode setting unit 102 sets the operation mode of the controller 60 to distance derivation mode, the processor 51 operates as a distance derivation processing unit 220. As an example, as shown in Figures 61 and 62, the distance derivation processing unit 220 includes a rotation control unit 222 and a distance derivation unit 224.

[0400] As an example, as shown in Figures 61 and 62, the third embodiment describes an example of deriving the distance between a point X located outside the distance measuring area of ​​each distance measuring device 40 and each distance measuring device 40, compared to the second embodiment. As an example, in Figure 61, point X is a position on the wall surface 4 of the object to be inspected 3, and is a reference position when setting the flight route 8. Also as an example, in Figure 62, point X is the position of the aircraft 310 flying along the flight route 8.

[0401] Hereinafter, when distinguishing between the ranging area of ​​the ranging device 40 of the first base station 10A and the ranging area of ​​the ranging device 40 of the second base station 10B, the ranging area of ​​the ranging device 40 of the first base station 10A will be referred to as the first ranging area, and the ranging area of ​​the ranging device 40 of the second base station 10B will be referred to as the second ranging area. The first ranging area is an example of the "first ranging area" relating to the technology of this disclosure, and the second ranging area is an example of the "second ranging area" relating to the technology of this disclosure.

[0402] The rotation control unit 222 controls each rotation drive unit 20 to adjust the rotation angle of each rotation drive unit 20 so that point X is located in the center of the field of view of each imaging device 30. For example, if the operator 5 gives a position specification instruction to specify point X on the wall surface 4, the rotation control unit 222 controls each rotation drive unit 20 based on the position specification instruction to adjust the rotation angle of each rotation drive unit 20 so that point X on the wall surface 4 is located in the center of the field of view of each imaging device 30.

[0403] Furthermore, for example, if the aircraft 310 is located in the center of the field of view of the imaging device 30 of the first base station 10A, the rotation control unit 222 controls the rotation drive device 20 of the second base station 10B based on the rotation angle of the rotation drive device 20 of the first base station 10A, thereby adjusting the rotation angle of the rotation drive device 20 of the second base station 10B to an angle in which the aircraft 310 is located in the center of the field of view of the imaging device 30 of the second base station 10B.

[0404] Furthermore, for example, if the aircraft 310 is located in the center of the field of view of the imaging device 30 of the second base station 10B, the rotation control unit 222 controls the rotation drive device 20 of the first base station 10A based on the rotation angle of the rotation drive device 20 of the second base station 10B, thereby adjusting the rotation angle of the rotation drive device 20 of the first base station 10A to an angle in which the aircraft 310 is located in the center of the field of view of the imaging device 30 of the first base station 10A.

[0405] The rotation angle of the rotary drive unit 20 of the first base station 10A is adjusted so that the aircraft 310 is positioned in the center of the field of view of the imaging device 30 of the first base station 10A. This sets the rotation angle of the rotary drive unit 20 of the first base station 10A to the angle in the direction in which point X is positioned relative to the rangefinder 40 of the first base station 10A. Similarly, the rotation angle of the rotary drive unit 20 of the second base station 10B is adjusted so that the aircraft 310 is positioned in the center of the field of view of the imaging device 30 of the second base station 10B. This sets the rotation angle of the rotary drive unit 20 of the second base station 10B to the angle in the direction in which point X is positioned relative to the rangefinder 40 of the second base station 10B.

[0406] The distance derivation unit 224 derives the distance between each distance measuring device 40 and point X based on the calibration information and the rotation angle of each rotary drive device 20. The procedure for deriving the distance between each distance measuring device 40 and point X will be described below with reference to Figure 63.

[0407] The distance derivation unit 224 derives the angle θxc1 of side X1 relative to side C, based on the calibration information and the rotation angle of the rotary drive device 20 of the first base station 10A. Side X1 is the side connecting point X and point C1 of the first base station 10A. The position of the first base station 10A is synonymous with the position of the distance measuring device 40 of the first base station 10A.

[0408] Furthermore, the distance derivation unit 224 derives the angle θxc2 of side X2 relative to side C, based on the calibration information and the rotation angle of the rotary drive device 20 of the second base station 10B. Side X2 is the side connecting point X and point C2 of the second base station 10B. The position of the second base station 10B is synonymous with the position of the distance measuring device 40 of the second base station 10B.

[0409] Next, the distance derivation unit 224 calculates the length Lx1 of side X1 based on (9) below.

number

[0410] Similarly, the distance derivation unit 224 calculates the length Lx2 of side X2 based on (10) below.

number

[0411] Next, with reference to Figure 64, an example of distance derivation processing performed by the distance derivation processing unit 220 according to the third embodiment will be described.

[0412] In the distance derivation process shown in Figure 64, first, in step ST321, the rotation control unit 222 controls each rotation drive device 20 to adjust the rotation angle of each rotation drive device 20 to an angle in which point X is located in the center of the field of view of each imaging device 30.

[0413] In step ST322, the distance derivation unit 224 derives the distance between each distance measuring device 40 and point X based on the calibration information and the rotation angle of each rotary drive device 20.

[0414] As described above, in the third embodiment, when the processor 51 sets a flight route 8 with respect to a point X located outside the first ranging area of ​​the ranging device 40 of the first base station 10A and the second ranging area of ​​the ranging device 40 of the second base station 10B, the processor 51 derives the distance between point X and the ranging device 40 of the first base station 10A based on the angle of the direction in which point X is located relative to the ranging device 40 of the first base station 10A and the distance between the ranging device 40 of the first base station 10A and the ranging device 40 of the second base station 10B. Similarly, the processor 51 derives the distance between point X and the ranging device 40 of the second base station 10B based on the angle of the direction in which point X is located relative to the ranging device 40 of the second base station 10B and the distance between the ranging device 40 of the first base station 10A and the ranging device 40 of the second base station 10B. Therefore, a flight route 8 can be set with respect to a point X located outside the first ranging area and the second ranging area.

[0415] Furthermore, if the aircraft 310 is located outside the first and second ranging areas, the processor 51 derives the distance between the aircraft 310 and the ranging device 40 of the first base station 10A based on the angle of the direction in which the aircraft 310 is located relative to the ranging device 40 of the first base station 10A and the distance between the ranging device 40 of the first base station 10A and the ranging device 40 of the second base station 10B. Similarly, the processor 51 derives the distance between the aircraft 310 and the ranging device 40 of the second base station 10B based on the angle of the direction in which the aircraft 310 is located relative to the ranging device 40 of the second base station 10B and the distance between the ranging device 40 of the first base station 10A and the ranging device 40 of the second base station 10B. Thus, it is possible to control the aircraft 310 flying along a flight route set outside the first and second ranging areas.

[0416] [Fourth Embodiment] As an example, as shown in Figure 65, in the fourth embodiment, the configuration of the base station 10 is changed from that of the first embodiment as follows.

[0417] In other words, the processor 51 operates as a position correction processing unit 230 in addition to the operation mode setting unit 102, flight route setting processing unit 104, flight control processing unit 106, and imaging control processing unit 108 by executing the flight imaging support program 100.

[0418] The base station 10 has the following operating modes: flight route setting processing mode, flight control processing mode, position correction processing mode, and imaging control processing mode. The operating mode setting unit 102 sets the operating modes of the base station 10 to flight route setting processing mode, flight control processing mode, position correction processing mode, and imaging control processing mode. When the operating mode setting unit 102 sets the operating mode of the base station 10 to position correction processing mode, the processor 51 operates as a position correction processing unit 230. In the first embodiment, the operating mode setting unit 102 transitions from flight control processing mode to imaging control processing mode, but in the fourth embodiment, the operating mode setting unit 102 sets the position correction processing mode while transitioning from flight control processing mode to imaging control processing mode.

[0419] As an example, as shown in Figure 66, the position correction processing unit 230 includes an imaging instruction transmission control unit 232, an imaging report reception determination unit 234, an overlap amount derivation unit 236, a position correction amount derivation unit 238, a position correction instruction generation unit 240, a position correction instruction transmission control unit 242, an imaging control unit 244, an aircraft position derivation unit 246, a position deviation determination unit 248, a rotation control unit 250, a distance measurement control unit 252, an aircraft coordinate derivation unit 254, and a position correction determination unit 256.

[0420] As an example, as shown in Figure 67, the imaging instruction transmission control unit 232 performs control to transmit an imaging instruction to the aircraft 310 via the communication device 12 when the imaging position arrival determination unit 166 (see Figure 21) determines that the aircraft 310 has reached the target imaging position 8A.

[0421] The imaging device 330 of the aircraft 310 images the wall surface 4 according to the imaging instruction. This provides a position correction image. After imaging the wall surface 4 with the imaging device 330, the aircraft 310 transmits an imaging report to the base station 10. The imaging report includes the inspection image acquired in the previous imaging control process and the position correction image described above. Hereinafter, the inspection image acquired in the previous imaging control process will be referred to as the previous inspection image. Also, hereafter, the imaging position 8A that the aircraft 310 reached when the previous inspection image was acquired will be referred to as the previous imaging position 8A.

[0422] The previous inspection image was obtained by the imaging device 330 in the imaging control processing mode, based on control by the imaging instruction transmission control unit 198 (see Figure 30) of the imaging control processing unit 108.

[0423] The imaging report reception determination unit 234 determines whether or not the communication device 12 has received the imaging report. If the imaging report reception determination unit 234 determines that the communication device 12 has received the imaging report, the overlap amount derivation unit 236 derives the overlap amount between the previous inspection image and the position correction image.

[0424] The position correction amount derivation unit 238 derives a position correction amount to correct the position of the aircraft 310 relative to the target imaging position 8A, based on the overlap amount derived by the overlap amount derivation unit 236. In this case, the position correction amount derivation unit 238 derives a position correction amount corresponding to the difference between the overlap amount derived by the overlap amount derivation unit 236 and a predetermined overlap amount, based on the distance between the wall surface 4 and the aircraft 310. The predetermined overlap amount is a defined amount of overlap between adjacent inspection images, and is set to an amount that allows the image analysis device 2 (see Figure 1) to recognize that inspection images are adjacent to each other based on the overlap amount between the inspection images.

[0425] The position correction instruction generation unit 240 generates a position correction instruction based on the position correction amount derived by the position correction amount derivation unit 238. The position correction instruction transmission control unit 242 controls the transmission of the position correction instruction to the aircraft 310 via the communication device 12. The aircraft 310 receives the position correction instruction as a flight instruction (see Figure 22). Upon receiving the position correction instruction as a flight instruction, the aircraft 310 changes its position by flying according to the position correction instruction.

[0426] The imaging control unit 244 controls the imaging device 30 to capture an image of the scene including the aircraft 310. The aircraft position derivation unit 246 performs object recognition processing on the image obtained when the imaging device 30 captures the image of the scene including the aircraft 310, thereby deriving the position of the aircraft 310 within the image.

[0427] The position shift determination unit 248 determines whether the position of the aircraft 310 is shifted relative to the center of the field of view of the imaging device 30, based on the position of the aircraft 310 in the image derived by the aircraft position derivation unit 246.

[0428] If the rotation control unit 250 determines that the position of the aircraft 310 is misaligned with the center of the field of view of the imaging device 30, it controls the rotation angle of the rotation drive unit 20 in the horizontal direction and / or the vertical direction to adjust it to an angle where the aircraft 310 is positioned in the center of the field of view of the imaging device 30.

[0429] The distance measurement control unit 252 controls the distance measuring device 40 to scan the distance measuring range 41 using laser light. In this case, the aircraft 310 is located within the distance measuring range 41 of the distance measuring device 40, so the distance between the aircraft 310 and the distance measuring device 40 can be obtained.

[0430] The aircraft coordinate derivation unit 254 derives the absolute coordinates of the aircraft 310 based on the absolute coordinates of the rotary drive unit 20, the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40.

[0431] The position correction determination unit 256 determines whether the position of the aircraft 310 has been corrected based on the absolute coordinates of the aircraft 310 derived by the aircraft coordinate derivation unit 254. If the position correction determination unit 256 determines that the position of the aircraft 310 has not been corrected, the above-mentioned processing by the imaging instruction transmission control unit 232, imaging report reception determination unit 234, overlap amount derivation unit 236, position correction amount derivation unit 238, position correction instruction generation unit 240, position correction instruction transmission control unit 242, imaging control unit 244, aircraft position derivation unit 246, position deviation determination unit 248, rotation control unit 250, distance measurement control unit 252, and aircraft coordinate derivation unit 254 is executed. As a result, control is executed to fly the aircraft 310 to a position where the overlap amount between the previous inspection image and the current inspection image becomes a predetermined overlap amount.

[0432] In the fourth embodiment, if the position correction determination unit 256 determines that the position of the aircraft 310 has been corrected, the imaging control processing mode is set as the operating mode of the base station 10, similar to the first embodiment, and an inspection image is acquired in the current imaging control processing. Hereinafter, the inspection image acquired in the current imaging control processing will be referred to as the current inspection image. Also, hereafter, the imaging position 8A that the aircraft 310 reaches when the current inspection image is acquired will be referred to as the current imaging position 8A.

[0433] The operating mode of the base station 10 is an example of an "operating mode" relating to the technology disclosed herein. The flight control processing mode is an example of a "first mode" relating to the technology disclosed herein, and the position correction processing mode is an example of a "second mode" relating to the technology disclosed herein. The imaging device 330 of the aircraft 310 is an example of a "third imaging device" relating to the technology disclosed herein. position The correction image is an example of the "third image" relating to the technology of this disclosure. The previous inspection image is an example of the "fourth image" relating to the technology of this disclosure. The current inspection image is an example of the "fifth image" relating to the technology of this disclosure. The previous imaging position 8A is an example of the "second imaging position" relating to the technology of this disclosure. The current imaging position 8A is an example of the "third imaging position" relating to the technology of this disclosure.

[0434] The processing by the overlap amount derivation unit 236, that is, the processing to derive the overlap amount of the previous inspection image and the position correction image, may be performed by the processor 351 of the aircraft 310. The overlap amount derived by the processor 351 of the aircraft 310 may then be transmitted to the processor 51 of the base station 10.

[0435] Next, with reference to Figures 68 and 69, an example of the flow of the position correction process performed by the position correction processing unit 230 according to the fourth embodiment will be described.

[0436] In the position correction process shown in Figure 68, first, in step ST411, the imaging instruction transmission control unit 232 transmits an imaging instruction to the aircraft 310 via the communication device 12. After the process in step ST411 is executed, the position correction process proceeds to step ST412.

[0437] In step ST412, the imaging report reception determination unit 234 determines whether the communication device 12 has received an imaging report. If the communication device 12 has not received an imaging report in step ST412, the determination is denied, and the determination in step ST412 is repeated. If the communication device 12 has received an imaging report in step ST412, the determination is affirmed, and the position correction process proceeds to step ST413.

[0438] In step ST413, the overlap amount derivation unit 236 derives the overlap amount between the previous inspection image and the position correction image. After the processing in step ST413 is completed, the position correction process proceeds to step ST414.

[0439] In step ST414, the position correction amount derivation unit 238 derives a position correction amount corresponding to the difference between the overlap amount derived by the overlap amount derivation unit 236 and a predetermined overlap amount, based on the distance between the wall surface 4 and the aircraft 310. After the processing in step ST414 is completed, the position correction process proceeds to step ST415.

[0440] In step ST415, the position correction instruction generation unit 240 generates a position correction instruction based on the position correction amount derived by the position correction amount derivation unit 238. After the processing in step ST415 is completed, the position correction process proceeds to step ST416.

[0441] In step ST416, the position correction instruction transmission control unit 242 transmits a position correction instruction to the aircraft 310 via the communication device 12. After the processing in step ST416 is completed, the position correction process proceeds to step ST420.

[0442] In step ST420, the imaging control unit 244 instructs the imaging device 30 to capture an image of the scene including the aircraft 310. After the processing in step ST420 is completed, the position correction process proceeds to step ST421.

[0443] In step ST421, the aircraft position derivation unit 246 derives the position of the aircraft 310 in the image obtained by the imaging device 30. After the processing in step ST421 is completed, the position correction process proceeds to step ST422.

[0444] In step ST422, the position shift determination unit 248 determines whether the position of the aircraft 310 is shifted relative to the center of the field of view of the imaging device 30, based on the position of the aircraft 310 in the image derived in step ST421. If the position of the aircraft 310 is shifted relative to the center of the field of view in step ST422, the determination is affirmed, and the position correction process proceeds to step ST423. If the position of the aircraft 310 is not shifted relative to the center of the field of view in step ST422, the determination is denied, and the position correction process proceeds to step ST430.

[0445] In step ST423, the rotation control unit 250 adjusts the rotation angle of the rotation drive unit 20 to an angle in which the aircraft 310 is positioned in the center of the field of view of the imaging device 30. After the processing in step ST423 is completed, the position correction process proceeds to step ST430.

[0446] In step ST430, the distance measurement control unit 252 causes the distance measuring device 40 to scan the distance measuring range 41 with laser light. In this case, the aircraft 310 is located within the distance measuring range 41 of the distance measuring device 40, so the distance between the aircraft 310 and the distance measuring device 40 is obtained. After the processing in step ST430 is completed, the position correction process proceeds to step ST431.

[0447] In step ST431, the aircraft coordinate derivation unit 254 derives the absolute coordinates of the aircraft 310 based on the absolute coordinates of the rotary drive unit 20, the rotation angle of the rotary drive unit 20, the angle of the laser beam emitted from the rangefinder 40 toward the aircraft 310, and the distance between the aircraft 310 and the rangefinder 40. After the processing in step ST431 is completed, the position correction process proceeds to step ST432.

[0448] In step ST432, the position correction determination unit 256 determines whether the position of the aircraft 310 has been corrected based on the absolute coordinates of the aircraft 310 derived in step ST431. If the position of the aircraft 310 has not been corrected in step ST432, the determination is denied, and the position correction process proceeds to step ST420. If the position of the aircraft 310 has been corrected in step ST432, the determination is affirmed, and the position correction process ends.

[0449] As described above, in the fourth embodiment, the processor 51 sets two operating modes for the base station 10: a flight control processing mode that flies the aircraft 310 based on the flight route 8, and a position correction processing mode that corrects the position of the aircraft 310 based on a position correction image obtained when the imaging device 330 images the wall surface 4 when the aircraft 310, which has moved from the previous imaging position 8A, reaches the current imaging position 8A. Then, when the imaging device 330 acquires the previous inspection image as the aircraft 310 reaches the previous imaging position 8A, the processor 51, in the position correction processing mode, corrects the position of the aircraft 310 to a position where the overlap amount between the previous inspection image and the current inspection image becomes a predetermined overlap amount, based on the overlap amount between the previous inspection image and the position correction image. Therefore, by correcting the position of the aircraft 310, for example, compared to having the imaging device 330 acquire the current inspection image when the aircraft 310 reaches the current imaging position 8A, the accuracy of the overlap amount between the previous inspection image and the current inspection image can be improved.

[0450] In the above embodiment, the imaging system S is used for inspection purposes, but it may also be used for purposes other than inspection, such as transportation, photography, surveying, pesticide spraying, maintenance, or security.

[0451] Furthermore, although the above embodiment has described an example in which the base station 10 performs flight imaging support processing, the technology of this disclosure is not limited thereto. For example, the base station 10 and the aircraft 310 may perform flight imaging support processing in a distributed manner. Also, for example, if an external device is configured to be communicably connected to the base station 10 and / or the aircraft 310, the base station 10 and the external device may perform flight imaging support processing in a distributed manner, or the base station 10, the aircraft 310 and the external device may perform flight imaging support processing in a distributed manner, or the aircraft 310 and the external device may perform flight imaging support processing in a distributed manner.

[0452] Furthermore, although the above embodiment described an example in which the flight imaging support program 100 is stored in the storage 52 of the base station 10, the technology of this disclosure is not limited thereto. For example, the flight imaging support program 100 may be stored in a portable storage medium such as an SSD or USB memory. The storage medium is a non-temporary computer-readable storage medium (i.e., a computer-readable storage medium). The flight imaging support program 100 stored in the storage medium is installed in the computer 50 of the base station 10. The processor 51 of the base station 10 executes flight imaging support processing according to the flight imaging support program 100.

[0453] Furthermore, although the above embodiment described an example in which the flight imaging program 400 is stored in the storage 352 of the aircraft 310, the technology of this disclosure is not limited thereto. For example, the flight imaging 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 flight imaging program 400 stored in the storage medium is installed in the computer 350 of the aircraft 310. The processor 351 of the aircraft 310 performs flight imaging processing according to the flight imaging program 400.

[0454] In the above embodiment, the flight imaging support program 100 may also be stored in a storage device such as another computer or server connected to the base station 10 via a network, and the flight imaging support program 100 may be downloaded and installed on the base station 10's computer 50 in response to a request from the base station 10.

[0455] Furthermore, it is not necessary to store the entirety of the flight imaging support program 100 in the storage device of another computer or server device connected to the base station 10, or in the storage 52 of the base station 10; it is acceptable to store only a portion of the flight imaging support program 100.

[0456] In the above embodiment, the flight imaging program 400 may be stored in a storage device such as another computer or server connected to the aircraft 310 via a network, and the flight imaging program 400 may be downloaded and installed on the aircraft 310's computer 350 in response to a request from the aircraft 310.

[0457] Furthermore, it is not necessary to store the entirety of the flight imaging program 400 in a storage device such as another computer or server connected to the aircraft 310, or in the storage device 352 of the aircraft 310; a portion of the flight imaging program 400 may be stored.

[0458] Furthermore, although the above embodiment includes a computer 50 built into the base station 10, the technology of this disclosure is not limited thereto, and for example, the computer 50 may be provided outside the base station 10.

[0459] Furthermore, although the above embodiment includes a computer 350 built into the aircraft 310, the technology of this disclosure is not limited thereto, and for example, the computer 350 may be provided outside the aircraft 310.

[0460] Furthermore, although a computer 50 is used in the base station 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 50. Alternatively, a combination of hardware and software configurations may be used instead of the computer 50.

[0461] Furthermore, although a computer 350 is used in the aircraft 310 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 350. Alternatively, a combination of hardware and software configurations may be used instead of the computer 350.

[0462] 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.

[0463] 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.

[0464] 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.

[0465] Furthermore, the hardware structure of these various processors can more specifically utilize electrical circuits that combine circuit elements such as semiconductor elements. Also, the above-mentioned processes are merely examples. Therefore, it goes without saying that unnecessary steps may be deleted, new steps added, or the processing order rearranged, as long as the purpose is not deviated from. Moreover, the first, second, third, and fourth embodiments described above may be combined and implemented as appropriate.

[0466] 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.

[0467] 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."

[0468] 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. Processor and The processor comprises, The aforementioned processor, The range measuring device is rotated relative to a rotary drive device to which the range measuring device is attached. The distance measuring device is instructed to measure a first distance between the object to be inspected and the distance measuring device at multiple distance measuring points on the object to be inspected. Based on the first distance measured at each of the distance measurement points, a flight route is set for the aircraft to fly along the object to be inspected. When the aircraft is made to fly along the flight route, and each time the aircraft reaches each first imaging position set on the flight route, the first imaging device mounted on the aircraft is made to image each area of ​​the object to be inspected, thereby acquiring each first image, the control is performed to keep the pixel resolution of the first imaging device constant even if the distance between the first imaging position and the object to be inspected changes. Control device.

2. The aforementioned processor, The rotation angle of the rotary drive device is adjusted to a second rotation angle such that the aircraft is included in the range measuring range of the range measuring device. The rangefinder is instructed to measure the second distance between the aircraft and the rangefinder. Based on the second rotation angle and the second distance, control is performed to make the aircraft fly along the flight path. The control device according to claim 1.

3. The distance measuring device includes a LiDAR scanner. The second distance is the distance between the flying object and the LiDAR scanner. The aforementioned processor, Based on the first absolute coordinates of the rotary drive device, the second rotation angle, the angle of the laser beam emitted from the LiDAR scanner toward the aircraft, and the second distance, the second absolute coordinates of the aircraft are derived. Based on the second absolute coordinates, control is performed to make the aircraft fly along the flight route. The control device according to claim 2.

4. A second imaging device is attached to the aforementioned rotary drive device. The processor controls the rotation angle of the rotary drive device to adjust it to the second rotation angle based on the second image obtained when the aircraft is imaged by the second imaging device. The control device according to claim 2.

5. The second rotation angle is the angle at which the flying object is positioned in the center of the field of view of the second imaging device. The control device according to claim 4.

6. The aforementioned flying object comprises a plurality of members classified in different ways, The processor controls the attitude of the aircraft based on the positions of the plurality of components shown in the second image. The control device according to claim 4.

7. The aforementioned different embodiments are different in color, The aforementioned member is a propeller. The control device according to claim 6.

8. The aforementioned different embodiments are different in color, The aforementioned member is a light-emitting body. The control device according to claim 6.

9. The aforementioned different embodiments are different flashing patterns, The aforementioned member is a light-emitting body. The control device according to claim 6.

10. Each of the first imaging positions is a position in which parts of the first images acquired at adjacent first imaging positions overlap. The control device according to claim 1.

11. If the surface of the object to be inspected has a recess, and the area of ​​the opening of the recess is smaller than a predetermined area, The processor sets the flight route on a smooth virtual surface facing the surface. The control device according to claim 1.

12. When the aircraft flies across the recess, the processor controls the operation of at least one of the zoom lens and focus lens of the first imaging device to maintain a constant pixel resolution. The control device according to claim 11.

13. The processor is The first distance measuring device, which is a distance measuring device, is attached to the first rotary drive device, which is a rotary drive device, and the first distance measuring device is rotated. The first distance measuring device is instructed to measure the first distance at a plurality of first distance measuring locations among the plurality of distance measuring locations. The second distance measuring device, which is a distance measuring device, is attached to the second rotary drive device, which is a rotary drive device, and the second distance measuring device is rotated. The second distance measuring device is instructed to measure the first distance at multiple second distance measuring locations among the multiple distance measuring locations. The flight route is set based on the first distance measured at each of the first distance measurement points and the first distance measured at each of the second distance measurement points. The control device according to claim 1.

14. The processor converts the first distance measured by the second distance measuring device into a distance relative to the position of the first distance measuring device, based on predetermined first calibration information. The control device according to claim 13.

15. The processor converts the position of the aircraft measured by the second rangefinder to a position relative to the position of the first rangefinder, based on predetermined second calibration information. The control device according to claim 14.

16. The processor selects a rangefinder from the first rangefinder and the second rangefinder to measure the position of the aircraft, according to the position of the aircraft. The control device according to claim 14.

17. When the processor sets the flight route with reference to a point located outside the first ranging area of ​​the first ranging device and the second ranging area of ​​the second ranging device, it derives the distance between the point and the first ranging device based on the angle in the direction in which the point is located relative to the first ranging device and the distance between the first ranging device and the second ranging device. The control device according to claim 14.

18. When the aircraft is located outside the first and second ranging areas, the processor derives the distance between the aircraft and the first ranging device based on the angle in the direction in which the aircraft is located relative to the first ranging device and the distance between the first ranging device and the second ranging device. The control device according to claim 17.

19. The flying object is equipped with a third imaging device, The aforementioned processor, When the aircraft, having moved from a second imaging position set on the flight route, reaches a third imaging position set on the flight route, a position correction process is performed to correct the position of the aircraft based on a third image obtained by imaging the object to be inspected by the third imaging device. The position correction process is performed when, after the aircraft has reached the second imaging position and the third imaging device has been made to image the object to be inspected to acquire a fourth image, and then, after the aircraft has reached the third imaging position and the third imaging device has been made to image the object to be inspected to acquire a fifth image, the position of the aircraft is corrected to a position where the overlap amount between the fourth image and the third image becomes a predetermined overlap amount, based on the overlap amount between the fourth image and the third image. The control device according to claim 1.

20. The control device according to claim 1, The aforementioned rotary drive device, The distance measuring device and, A base station equipped with the necessary equipment.

21. Rotating the distance measuring device with respect to a rotary drive device to which the distance measuring device is attached, The distance measuring device is instructed to measure a first distance between the object to be inspected and the distance measuring device at multiple distance measuring points on the object to be inspected. Based on the first distance measured at each of the distance measurement points, a flight route is set for the aircraft to fly along the object to be inspected, and When the aircraft is made to fly along the flight route, and each time the aircraft reaches each first imaging position set on the flight route, the first imaging device mounted on the aircraft is made to image each area of ​​the object to be inspected, thereby acquiring each first image, the control is made to maintain a constant pixel resolution of the first imaging device even if the distance between the first imaging position and the object to be inspected changes. A control method comprising the following features.

22. Rotating the distance measuring device with respect to a rotary drive device to which the distance measuring device is attached, The distance measuring device is instructed to measure a first distance between the object to be inspected and the distance measuring device at multiple distance measuring points on the object to be inspected. Based on the first distance measured at each of the distance measurement points, a flight route is set for the aircraft to fly along the object to be inspected, and When the aircraft is made to fly along the flight route, and each time the aircraft reaches each first imaging position set on the flight route, the first imaging device mounted on the aircraft is made to image each area of ​​the object to be inspected, thereby acquiring each first image, the control is made to maintain a constant pixel resolution of the first imaging device even if the distance between the first imaging position and the object to be inspected changes. A program that causes a computer to perform a process that includes [a specific action].

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