Imaging system

Abstract

To provide a technology which properly images a movable body with an unmanned air vehicle.SOLUTION: An unmanned air vehicle landing / taking off dock 200 releases locking of an unmanned air vehicle 100 in a direction opposite to a direction in which an acceleration is added when the acceleration which is larger than or equal to a threshold value is added to a vehicle 10. When an acceleration detection part of the unmanned air vehicle 100 detects the acceleration which is larger than or equal to the threshold value, a flying control unit of the unmanned air vehicle 100 controls flying of the unmanned air vehicle 100 so that the unmanned air vehicle 100 moves higher. Further, the unmanned air vehicle 100 starts imaging by an imaging part to start transmission of the acquired imaging data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0005]

[0001] The present invention relates to imaging technology, and more particularly to an imaging system for imaging a moving object.

Background Art

[0002] The development of unmanned aerial vehicles such as drones that can fly freely in the air and image moving objects on the ground surface from the air is underway. If the distance between the moving object and the unmanned aerial vehicle is maintained at a constant distance, there is a possibility that the moving object in motion cannot be photographed from the desired imaging position. Therefore, imaging is controlled based on the moving state of the moving object (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An unmanned aerial vehicle capable of imaging a moving object is used, for example, to image the moving object when a collision accident or the like occurs in the moving object. It is desirable to appropriately control the takeoff and landing of such an unmanned aerial vehicle.

[0005] The present invention has been made in view of such a situation, and an object thereof is to provide a technique for appropriately imaging a moving object by an unmanned aerial vehicle.

Means for Solving the Problems

[0006] In order to solve the above problems, an imaging system according to an aspect of the present invention is an imaging system including an unmanned aerial vehicle and an unmanned aerial vehicle takeoff / landing dock capable of locking the unmanned aerial vehicle on a moving object, wherein the unmanned aerial vehicle takeoff / landing dock With the unmanned aircraft tetheredIf an acceleration exceeding a threshold is applied to a moving object, the unmanned aerial vehicle will move in the opposite direction to the direction of the applied acceleration. It is pushed out by inertia The lock is released, and the unmanned aerial vehicle comprises a flight control unit that controls the flight of the unmanned aerial vehicle and an acceleration detection unit that detects the acceleration of the unmanned aerial vehicle. If the acceleration detection unit detects an acceleration above a threshold, the flight control unit controls the flight of the unmanned aerial vehicle to ascend. do.

[0007] Another aspect of the present invention is also an imaging system. This imaging system is An imaging system comprising an unmanned aerial vehicle (UAV) and an UAV takeoff and landing dock capable of securing the UAV to a moving object, wherein the UAV takeoff and landing dock releases the UAV so that it is pushed out by inertia in the opposite direction to the direction of the applied acceleration when an acceleration exceeding a threshold is applied to the moving object while the UAV is secured to it, and the UAV comprises a flight control unit that controls the flight of the UAV and a lock detection unit that detects the release of the UAV by the UAV takeoff and landing dock. When the lock detection unit detects the release of the UAV, the flight control unit controls the flight of the UAV so that it ascends.

[0008] Furthermore, any combination of the above components, as well as conversions of the expression of the present invention between methods, apparatus, systems, recording media, computer programs, etc., are also valid embodiments of the present invention. [Effects of the Invention]

[0009] According to the present invention, it is possible to appropriately image moving objects using an unmanned aerial vehicle. [Brief explanation of the drawing]

[0010] [Figure 1] Figures 1(a) and 1(b) show the external appearance of the imaging system according to Example 1. [Figure 2] This diagram shows the configuration of the unmanned aerial vehicle in Figures 1(a) and 1(b). [Figure 3] Figures 3(a) and 3(b) show an overview of the operation of the unmanned aircraft takeoff and landing dock shown in Figure 1(a). [Figure 4] Figures 4(a)-(b) show the flight paths of the unmanned aircraft in Figures 1(a)-(b). [Figure 5] Figure 2 is a flowchart showing the operation procedure of the unmanned aerial vehicle. [Figure 6] Figure 2 is a flowchart showing the procedure for image processing by an unmanned aerial vehicle. [Figure 7] This diagram shows the configuration of the unmanned aerial vehicle according to Example 2. [Figure 8] Figure 7 is a flowchart showing the operation procedure of the unmanned aerial vehicle. [Modes for carrying out the invention]

[0011] (Example 1) Before specifically describing the present invention, let's first outline it. An embodiment of the present invention relates to an imaging system that links a mobile vehicle, such as an automobile, with an unmanned aerial vehicle, such as a drone, to capture useful images of the mobile vehicle from the unmanned aerial vehicle. Dashcams that detect acceleration applied to a mobile vehicle and record images when the vehicle brakes suddenly or collides with an object are widely used. Similar to such dashcams, by using an imaging device on an unmanned aerial vehicle to photograph the mobile vehicle from above, useful images for investigating accidents can be obtained. Keeping an unmanned aerial vehicle flying above a mobile vehicle while it is in motion is unlikely to provide sufficient power for continuous flight, and there is a possibility that the unmanned aerial vehicle may interfere with other objects around the mobile vehicle. Therefore, it is appropriate for the unmanned aerial vehicle to begin flight only when an accident or other incident involving the mobile vehicle occurs.

[0012] However, the control system that detects the occurrence of an accident and initiates the takeoff of the unmanned aerial vehicle (UAV) is controlled during the period in which the impact occurs, and therefore may not function properly. Furthermore, the flight position control of the UAV in such situations may also not be performed properly. In addition, depending on the accident, it may be appropriate to image the area in front of the moving object, or it may be appropriate to image the area behind the moving object, and making such a judgment instantaneously is not easy. The imaging system according to this embodiment aims to appropriately initiate the takeoff of the UAV when an event occurs on a moving object and to perform imaging from the appropriate flight position.

[0013] Figs. 1(a)-(b) show the appearance of the imaging system 1000. Fig. 1(a) shows the imaging system 1000 mounted on the vehicle 10. The vehicle 10 is a moving body such as an automobile. The right side of Fig. 1(a) corresponds to the front side of the vehicle 10, and the left side of Fig. 1(a) corresponds to the rear side of the vehicle 10. An unmanned aerial vehicle takeoff / landing dock 200 is installed on the roof 12 of the vehicle 10. The unmanned aerial vehicle takeoff / landing dock 200 can lock the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 is, for example, a drone and can fly. The unmanned aerial vehicle 100 may fly automatically or by remote control.

[0014] Fig. 1(b) shows the appearance of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 has a drive unit 110 and an imaging unit 112. Also, a front leg 114 is arranged on the front side of the unmanned aerial vehicle 100, and a rear leg 116 is arranged on the rear side of the unmanned aerial vehicle 100. The front leg 114 and the rear leg 116 are locked to the unmanned aerial vehicle takeoff / landing dock 200, and the structure thereof will be described later.

[0015] Fig. 2 shows the configuration of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a drive unit 110, an imaging unit 112, an acceleration sensor 120, a communication unit 122, and a control unit 130. The control unit 130 includes a flight control unit 140, a drive control unit 142, an imaging control unit 144, an acceleration detection unit 146, and a communication control unit 148. The flight control unit 140 controls the flight of the unmanned aerial vehicle. The flight control unit 140 outputs the flight control content to the drive control unit 142. The drive control unit 142 is connected to the drive unit 110 and controls the operation of the drive unit 110. The drive unit 110 is a motor or the like and provides a driving force for flying the unmanned aerial vehicle 100.

[0016] The imaging unit 112 images an area including at least the area below the unmanned aerial vehicle. The imaging generates either a moving image or a still image. The imaging control unit 144 controls the imaging by the imaging unit 112 and acquires the moving image or still image (hereinafter collectively referred to as "imaging data") from the imaging unit 112. The communication unit 122 is capable of wireless communication with other devices (not shown). Known technologies can be used for wireless communication, so a detailed explanation is omitted here. The communication control unit 148 controls the communication unit 122 to transmit, for example, the imaging data acquired by the imaging control unit 144 to other devices.

[0017] The acceleration sensor 120 measures the acceleration applied to the unmanned aerial vehicle 100. The acceleration detection unit 146 detects the acceleration applied to the unmanned aerial vehicle 100 based on the measurement results from the acceleration sensor 120. The acceleration sensor 120 is, for example, a 3-axis acceleration sensor. For example, the acceleration detection unit 146 determines whether an acceleration exceeding a threshold has been detected, such as caused by sudden braking or collision of the vehicle 10 (not shown) on which the unmanned aerial vehicle 100 is mounted. The acceleration detection unit 146 determines that an acceleration exceeding the threshold has been detected if, among the acceleration information obtained from the acceleration sensor 120, the horizontal acceleration is, for example, 1.0G or more, which is set as a threshold. Furthermore, if an acceleration exceeding the threshold is detected, the acceleration detection unit 146 identifies the direction of the acceleration, for example, forward or backward.

[0018] Figs. 3(a)-(b) show an overview of the operation of the unmanned aircraft takeoff / landing dock 200. Fig. 3(a) is an enlarged side view of the part of the unmanned aircraft takeoff / landing dock 200 installed on the roof 12 in Fig. 1(a), and particularly shows a state where the unmanned aircraft 100 is locked to the unmanned aircraft takeoff / landing dock 200. The unmanned aircraft takeoff / landing dock 200 includes a base 210, a front locking portion 214, a rear locking portion 216, a front shaft 224, and a rear shaft 226. The base 210 is installed on the roof 12. The front locking portion 214 is locked in the counterclockwise direction around the front shaft 224 and is rotatable in the clockwise direction. Here, the front locking portion 214 has a repulsive force in the clockwise direction by a spring or the like. The rear locking portion 216 is locked in the clockwise direction around the rear shaft 226 and is rotatable in the counterclockwise direction. Here, the rear locking portion 216 has a repulsive force in the counterclockwise direction by a spring or the like. The front leg 114 and the rear leg 116 of the unmanned aircraft 100 have, for example, a cylindrical shape extending in the lateral direction. The front leg 114 is held by the stress from the front to the rear by the front locking portion 214. The rear leg 116 is held by the stress from the rear to the front by the rear locking portion 216.

[0019] Figure 3(b) shows the state when the vehicle 10 experiences acceleration directed towards the rear. For example, if the vehicle 10 brakes suddenly or collides with another vehicle 10 in front of it, the vehicle 10 will experience deceleration acceleration. Deceleration acceleration is a negative acceleration relative to the direction of travel, and this is acceleration directed towards the rear, opposite to the direction of travel. At that time, the inertia of the unmanned aerial vehicle 100 applies a force that pushes the unmanned aerial vehicle 100 in the direction of travel of the vehicle 10. As shown in Figure 3(b), even when subjected to this force, the rear locking part 216 remains locked in a clockwise direction around the rear shaft 226, and continues to hold down the rear leg portion 116. On the other hand, the front locking part 214 is locked in a counterclockwise direction around the front shaft 224, but due to the inertia of the unmanned aerial vehicle 100, it rotates clockwise and releases the lock on the front shaft 224. This can also be described as releasing the lock on the unmanned aerial vehicle 100 in the opposite direction to the direction of the applied acceleration when an acceleration exceeding a threshold is applied to the vehicle 10. At this time, the front locking part 214 may be structured in such a way that the repulsive force in the clockwise direction is temporarily released. Furthermore, an acceleration exceeding a threshold applied to the vehicle 10 in the longitudinal direction corresponds to an acceleration that causes sudden braking or a collision of the vehicle 10.

[0020] When an acceleration is applied to the vehicle 10 in the direction of travel, i.e., towards the front, the inertia of the unmanned aerial vehicle 100 exerts a force on the unmanned aerial vehicle 100 that is opposed to the direction of travel of the vehicle 10. Despite this force, the front locking part 214 remains locked in a counterclockwise direction around the front shaft 224, and continues to hold down the front leg portion 114. On the other hand, the rear locking part 216 is locked in a clockwise direction around the rear shaft 226, but due to the inertia of the unmanned aerial vehicle 100, it rotates counterclockwise, releasing the lock on the rear shaft 226. At this time, the rear locking part 216 may be structured in such a way that the counterclockwise repulsive force is temporarily released.

[0021] Figures 4(a) and 4(b) show the flight path of the unmanned aerial vehicle 100. Figure 4(a) shows the state when the vehicle 10 experiences rearward acceleration. As described above, when the vehicle 10 brakes suddenly or collides with another vehicle 10 in front of it, rearward acceleration occurs in the vehicle 10, releasing the lock of the front locking part 214. As a result, the unmanned aerial vehicle 100 is pushed forward of the vehicle 10 by inertia. When the unmanned aerial vehicle 100 starts to ascend, it moves to the front and above the vehicle 10. As a result, the unmanned aerial vehicle 100 can be imaged from a position in the air where the accident or other situation can be easily assessed.

[0022] Figure 4(b) shows the state when the vehicle 10 experiences forward acceleration. This corresponds to a situation where another vehicle 10 rear-ends a vehicle 10 equipped with an unmanned aerial vehicle 100. As described above, the forward acceleration generated in the vehicle 10 releases the locking of the rear locking part 216. As a result, the unmanned aerial vehicle 100 is pushed towards the rear of the vehicle 10 by inertia. When the unmanned aerial vehicle 100 begins to ascend, it moves to the rear and above the vehicle 10. Consequently, the unmanned aerial vehicle 100 can be imaged from a position in the air where accidents and other conditions can be easily assessed.

[0023] The operation of the unmanned aerial vehicle 100 in this state will be explained below, referring back to Figure 2. If the vehicle 10 experiences sudden braking or a collision, and the locking of the front locking part 214 or the rear locking part 216 in the opposite direction to the direction of acceleration is released, the acceleration detection unit 146 detects an acceleration exceeding a threshold value.

[0024] The flight control unit 140 controls the flight of the unmanned aerial vehicle 100 so that it ascends when the acceleration detection unit 146 detects an acceleration above a threshold. For example, the flight control unit 140 controls the drive control unit 142 so that the altitude of the unmanned aerial vehicle 100 is higher than the altitude when it was moored at the unmanned aerial vehicle takeoff and landing dock 200, and less than 5m at most. The flight control unit 140 also controls the drive control unit 142 so that the distance between the vehicle 10 and the unmanned aerial vehicle 100 is less than 3 to 5m at most. For such control, the unmanned aerial vehicle 100 may be equipped with a positioning function such as GNSS (Global Navigation Satellite System), and the unmanned aerial vehicle 100 may be equipped with a recognition function for moving images captured by the imaging unit 112.

[0025] Furthermore, the flight control unit 140 may control whether or not to return the unmanned aerial vehicle 100 to the unmanned aerial vehicle takeoff and landing dock 200. The flight control unit 140 decides to return, for example, when a predetermined time has elapsed, such as 5 minutes from the start of imaging processing in the imaging unit 112. In order to enable the return of the unmanned aerial vehicle 100, a marker (characteristic shape) is provided on the upper surface of the base 210 of the unmanned aerial vehicle takeoff and landing dock 200. The flight control unit 140 controls the drive control unit 142 so that the unmanned aerial vehicle 100 lands in accordance with the marker shown in the moving image captured by the imaging unit 112. The flight control unit 140 may also control the flight of the unmanned aerial vehicle 100 so that the marker is always included within the field of view of the imaging unit 112 from the time the unmanned aerial vehicle 100 ascends until it returns. In this case, it is preferable that the marker has different characteristics for each vehicle so that the unmanned aerial vehicle 100 can distinguish the vehicle 10 that is returning.

[0026] The imaging control unit 144 initiates imaging by the imaging unit 112 when the acceleration detection unit 146 detects an acceleration exceeding a threshold. Subsequently, the communication control unit 148 initiates the transmission of the imaging data acquired by the imaging control unit 144 to the communication unit 122. The communication unit 122 transmits the imaging data to a recording device installed in the vehicle 10, a mobile terminal owned by the vehicle 10 user, the server of the insurance company contracted by the user of the unmanned aerial vehicle 100, the server of the security company, etc., in accordance with the instructions of the communication control unit 148. After the imaging control unit 144 initiates imaging by the imaging unit 112, the flight control unit 140 controls the flight of the unmanned aerial vehicle 100 so that it maintains a predetermined distance and altitude from the vehicle 10.

[0027] This configuration can be implemented in hardware terms using the CPU, memory, and other LSIs of any computer, and in software terms using programs loaded into memory, but here we are depicting the functional blocks that are realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be implemented in various ways using hardware alone, software alone, or a combination of both.

[0028] The operation of the imaging system 1000 with the above configuration will now be explained. Figure 5 is a flowchart of the operation procedure by the unmanned aerial vehicle 100. If the acceleration detection unit 146 detects an acceleration above a threshold (Yes in S11), the unmanned aerial vehicle 100 performs imaging processing (S12). If the acceleration detection unit 146 does not detect an acceleration above a threshold (No in S11), step 12 is skipped. If the process is not finished (No in S13), the process returns to step 11. If the process is finished (Yes in S13), the process is terminated.

[0029] Figure 6 is a flowchart showing the imaging process by the unmanned aerial vehicle 100, that is, the imaging process in step 12 of Figure 5. The flight control unit 140 and the drive control unit 142 start the ascent of the unmanned aerial vehicle 100, the imaging control unit 144 starts imaging with the imaging unit 112, and the communication control unit 148 starts transmitting imaging data with the communication unit 122 (S101). If the flight altitude is not at a predetermined altitude (No in S102), it waits. If the flight altitude is at a predetermined altitude (Yes in S102), the flight control unit 140 and the drive control unit 142 maintain the altitude of the unmanned aerial vehicle 100 (S103). If the distance to the vehicle 10 is within a predetermined distance (Yes in S104), the flight control unit 140 and the drive control unit 142 maintain the distance to the vehicle 10 (S105). If the distance to vehicle 10 is not within a predetermined distance (No. in S104), the flight control unit 140 and the drive control unit 142 adjust the distance to vehicle 10 (S106), and the process returns to step 104.

[0030] If it is not time to return (No in S107), the process returns to steps 102 and 104. If it is time to return (Yes in S107), the flight control unit 140 and the drive control unit 142 cause the unmanned aircraft 100 to return, the imaging control unit 144 terminates imaging by the imaging unit 112, and the communication control unit 148 terminates transmission of imaging data by the communication unit 122 (S108).

[0031] According to this embodiment, if an acceleration exceeding a threshold is applied to a vehicle, the unmanned aerial vehicle (UAV) is released in the opposite direction to the direction of the applied acceleration, allowing the UAV to move to an appropriate flight position. Furthermore, because the UAV moves to an appropriate flight position, accident situations and other information can be imaged from that position. Additionally, if an acceleration exceeding a threshold is applied to a vehicle, the UAV is released in the opposite direction to the direction of the applied acceleration, so if the vehicle brakes suddenly or collides with another vehicle in front of it, the UAV can image the vehicle from above and in front. Furthermore, if an acceleration exceeding a threshold is applied to a vehicle, the UAV is released in the opposite direction to the direction of the applied acceleration, so if another vehicle collides with the vehicle from behind, the UAV can image the vehicle from above and in rear. Additionally, if an acceleration exceeding a threshold is applied to a vehicle, the UAV is released in the opposite direction to the direction of the applied acceleration, allowing control of the takeoff and landing of an UAV capable of imagery of vehicles.

[0032] Furthermore, the system controls the flight of the unmanned aerial vehicle (UAV) to ascend when it detects acceleration exceeding a threshold, thus enabling control of the UAV's takeoff. Additionally, imaging begins when the UAV detects acceleration exceeding a threshold, allowing for appropriate control of the imaging start timing. The UAV takeoff and landing dock releases the UAV in the opposite direction to the direction of acceleration when acceleration exceeding a threshold is applied to the vehicle in the longitudinal direction, thus enabling control of the takeoff and landing of UAVs capable of imaging vehicles. Since acceleration exceeding a threshold applied to the vehicle in the longitudinal direction corresponds to sudden braking or collision, flight and imaging can be triggered by sudden braking or collision of the vehicle. Furthermore, after imaging begins, the system controls the UAV's flight to maintain a predetermined distance and altitude from the vehicle, allowing for imaging of the vehicle from an appropriate flight position.

[0033] (Example 2) Next, Example 2 will be described. Similar to Example 1, Example 2 also relates to an imaging system 1000 including an unmanned aerial vehicle 100 that releases its locking from the unmanned aerial vehicle takeoff and landing dock 200 when the vehicle 10 receives an acceleration exceeding a threshold. In Example 1, the unmanned aerial vehicle 100 recognizes the release of the locking by detecting an acceleration exceeding a threshold. In Example 2, the unmanned aerial vehicle 100 directly detects the release of the locking. The imaging system 1000 according to Example 2 is of the same type as shown in Figures 1(a)-(b) and 3(a)-(b). Here, we will focus on explaining the differences from Example 1.

[0034] Figure 7 shows the configuration of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a drive unit 110, an imaging unit 112, a communication unit 122, a locking sensor 124, and a control unit 130. The control unit 130 includes a flight control unit 140, a drive control unit 142, an imaging control unit 144, a communication control unit 148, and a locking detection unit 150.

[0035] The locking sensor 124 detects whether the front leg portion 114 is locked to the front locking portion 214. The locking sensor 124 detects locking when there is electrical conductivity between the front leg portion 114 and the front locking portion 214, and detects that it is not locked when there is no electrical conductivity between the front leg portion 114 and the front locking portion 214. The locking sensor 124 also detects whether the rear leg portion 116 is locked to the rear locking portion 216. The locking sensor 124 detects locking when there is electrical conductivity between the rear leg portion 116 and the rear locking portion 216, and detects that it is not locked when there is no electrical conductivity between the rear leg portion 116 and the rear locking portion 216. The locking sensor 124 outputs the detection results for the front leg portion 114 and the detection results for the rear leg portion 116 to the locking detection unit 150.

[0036] The lock detection unit 150 receives the detection result from the lock sensor 124. If the detection result indicates that the front leg portion 114 is locked to the front locking portion 214 and the rear leg portion 116 is locked to the rear locking portion 216, the lock detection unit 150 detects that the unmanned aerial vehicle takeoff and landing dock 200 has locked the vehicle. On the other hand, if the lock detection unit 150 detects that the front leg portion 114 or the rear leg portion 116 is not locked, it detects that the lock has been released by the unmanned aerial vehicle takeoff and landing dock 200. When the lock detection unit 150 detects that the lock has been released, the same processing as when the acceleration detection unit 146 detected an acceleration above a threshold value in Embodiment 1 is performed.

[0037] The operation of the imaging system 1000 with the above configuration will now be explained. Figure 8 is a flowchart of the operation procedure by the unmanned aerial vehicle 100. If the acceleration detection unit 146 detects an acceleration above a threshold (Yes in S21), the unmanned aerial vehicle 100 performs imaging processing (S12). If the acceleration detection unit 146 does not detect an acceleration above a threshold (No in S21), step 12 is skipped. If the process is not finished (No in S13), the process returns to step 11. If the process is finished (Yes in S13), the process is terminated.

[0038] According to this embodiment, when the release of the tethering by the unmanned aerial vehicle (UAV) landing and takeoff dock is detected, the flight of the UAV is controlled to ascend, thus enabling control of the takeoff and landing of an UAV capable of imaging vehicles.

[0039] The present invention has been described above based on examples. These examples are illustrative, and it will be understood by those skilled in the art that various modifications are possible in combinations of their components and processing processes, and that such modifications also fall within the scope of the present invention. [Explanation of symbols]

[0040] 10 Vehicle, 12 Roof, 100 Unmanned aerial vehicle, 110 Drive unit, 112 Imaging unit, 114 Front landing gear, 116 Rear landing gear, 120 Acceleration sensor, 122 Communication unit, 130 Control unit, 140 Flight control unit, 142 Drive control unit, 144 Imaging control unit, 146 Acceleration detection unit, 148 Communication control unit, 200 Unmanned aerial vehicle takeoff and landing dock, 210 Base, 214 Front locking unit, 216 Rear locking unit, 224 Front axle, 226 Rear axle, 1000 Imaging system.

Claims

1. An imaging system comprising an unmanned aerial vehicle and an unmanned aerial vehicle takeoff and landing dock capable of securing the unmanned aerial vehicle to a mobile body, If the unmanned aircraft landing dock is locked to the unmanned aircraft and an acceleration exceeding a threshold is applied to the moving object, the dock releases the lock so that the unmanned aircraft is pushed out by inertia in the opposite direction to the direction of the applied acceleration. The aforementioned unmanned aircraft, A flight control unit that controls the flight of the aforementioned unmanned aerial vehicle, An acceleration detection unit for detecting the acceleration of the unmanned aerial vehicle, Equipped with, When the acceleration detection unit detects an acceleration equal to or greater than a threshold, The flight control unit controls the flight of the unmanned aircraft so that it ascends. Imaging system.

2. The aforementioned unmanned aircraft, An imaging unit that images a range including at least the area below the unmanned aerial vehicle, An imaging control unit controls imaging by the imaging unit and acquires imaging data, Furthermore, When the acceleration detection unit detects an acceleration equal to or greater than the threshold, The imaging control unit starts imaging by the imaging unit. The imaging system according to claim 1.

3. The aforementioned unmanned aircraft landing and takeoff dock releases its locking mechanism when an acceleration exceeding a threshold is applied to the moving object in the forward or backward direction, so that the unmanned aircraft is pushed out by inertia in the opposite direction to the direction of the applied acceleration. The imaging system according to claim 1.

4. An acceleration exceeding a threshold applied to the moving body in the longitudinal direction is an acceleration corresponding to sudden braking or collision of the moving body. The imaging system according to claim 3.

5. The flight control unit controls the flight of the unmanned aerial vehicle so that it maintains a predetermined distance and altitude from the moving object after the imaging control unit has started imaging with the imaging unit. The imaging system according to claim 2.

6. An imaging system comprising an unmanned aerial vehicle and an unmanned aerial vehicle takeoff and landing dock capable of securing the unmanned aerial vehicle to a mobile body, If the unmanned aircraft landing dock is locked to the unmanned aircraft and an acceleration exceeding a threshold is applied to the moving object, the dock releases the lock so that the unmanned aircraft is pushed out by inertia in the opposite direction to the direction of the applied acceleration. The aforementioned unmanned aircraft, A flight control unit that controls the flight of the aforementioned unmanned aerial vehicle, A locking detection unit for detecting the release of the locking mechanism by the aforementioned unmanned aircraft landing and takeoff dock, Equipped with, When the lock detection unit detects that the unmanned aircraft has been released from its lock, The flight control unit controls the flight of the unmanned aircraft so that it ascends. Imaging system.

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