Construction cost estimation system using unmanned aerial vehicles

Abstract

To provide an unmanned aircraft photographing system which can improve workability relating to estimation of repair or the like of an existing building, a construction work estimation creation system using an unmanned aircraft, an unmanned aircraft photographing method, and an unmanned aircraft photographing program.SOLUTION: An unmanned aircraft photographing system 100 for photographing appearance of an existing building 200 by using an unmanned aircraft 2 includes: the unmanned aircraft 2; a photographic range acquisition part for acquiring a planar photographic range of the unmanned aircraft 2; a flight path creation part for creating a flight path in a horizontal direction of the unmanned aircraft 2 on the basis of the acquired photographic range; a photographic condition acquisition part for acquiring a photographic height and the number of photographic images; a photographic operation specification part for specifying photographic operation on the flight path on the basis of the acquired number of photographic images; and an operation control part for controlling flight operation of the unmanned aircraft 2 on the basis of the created flight path and the acquired photographic height, and controlling photographic operation of the unmanned aircraft 2 on the basis of the specified photographic operation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention specifically relates to a construction cost estimation creation system using an unmanned aerial vehicle that is used for estimation and construction of repair (including repair and maintenance) work of existing buildings at high altitudes Mu .

Background Art

[0002] Conventionally, in order to examine whether repair of the roof and wall surfaces of an existing building is necessary, a builder has been required to perform work at height. In recent years, by using an unmanned aerial vehicle (drone) to photograph the exterior appearance of roofs and wall surfaces, manual work at high altitudes has become unnecessary, and safety and workability have been dramatically improved during estimation and construction for repair work.

[0003] Patent Document 1 discloses a system for photographing images of a roof to create an estimate for painting or waterproofing work on the roof of an existing building.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] According to the system disclosed in Patent Document 1, accurate and low-cost estimates for roof painting or waterproofing work can be created. However, in the system disclosed in Patent Document 1, since scanning during image capturing by the unmanned aerial vehicle depends on the operation of a user (such as a worker), there is a problem that workability related to estimation for repair of existing buildings cannot be improved.

[0006] Therefore, the present invention has been devised in view of the above-mentioned problems, and an object of the present invention is to provide a construction cost estimation creation system using an unmanned aerial vehicle that can improve workability related to estimation for repair of existing buildings MuThe purpose is to provide. [Means for solving the problem]

[0007] The first invention is a building construction estimate creation system using an unmanned aerial vehicle, which uses an unmanned aerial vehicle to create an estimate for building construction work on an existing building, comprising: an unmanned aerial vehicle and the unmanned aerial vehicle The entire existing building photographed by A shooting range acquisition unit acquires a planar rectangular shooting range; a flight path generation unit generates a horizontal flight path of the unmanned aerial vehicle based on the shooting range acquired by the shooting range acquisition unit; a shooting condition acquisition unit acquires the shooting altitude and the number of shots in the shooting range acquired by the shooting range acquisition unit; a shooting operation identification unit identifies a shooting operation on the flight path based on the number of shots acquired by the shooting condition acquisition unit; and controls the flight operation of the unmanned aerial vehicle based on the flight path generated by the flight path generation unit and the shooting altitude acquired by the shooting condition acquisition unit, as well as controlling the shooting operation of the unmanned aerial vehicle based on the shooting operation identified by the shooting operation identification unit. Then, building partial exterior information showing the exterior of a part of the existing building is acquired. Furthermore, the exterior of the existing building is photographed at a coordinate corresponding to the center of the longer of the two diagonals of the shooting range acquired by the shooting range acquisition unit, and at an altitude where the entire existing building fits within the field of view. Then, information showing the overall exterior appearance of the existing building is obtained. An operation control unit, and the operation control unit acquisition done The exterior information of the part of the building and the exterior information of the entire buildingThe system is characterized by comprising: a construction scope acquisition unit that acquires the scope of construction work specified by the user; a building material information acquisition unit that acquires identification information of building materials to be used in the construction work specified by the user; a building material quantity calculation unit that calculates the number of building materials to be used in the construction work from the scope of construction work acquired by the construction scope acquisition unit and the identification information of the building materials acquired by the building material information acquisition unit; a unit price acquisition unit that, after referring to a database in which the identification information of the building materials and the unit price of the building materials are pre-linked, acquires the unit price of the building materials corresponding to the identification information of the building materials acquired by the building material information acquisition unit from the database; and a construction cost output unit that outputs the construction cost corresponding to the number of building materials calculated by the building material quantity calculation unit and the unit price of the building materials acquired by the unit price acquisition unit.

[0008] The construction work estimate creation system using an unmanned aerial vehicle in the second invention is characterized in that, in the first invention, the flight path generation unit generates the flight path which includes a direction substantially perpendicular to the longest side of each side of the rectangular shooting range acquired by the shooting range acquisition unit.

[0009] The construction work estimate creation system using an unmanned aerial vehicle in the third invention is characterized in that, in the first or second invention, the operation control unit controls the operation of the unmanned aerial vehicle so that when the remaining charge of the battery mounted on the unmanned aerial vehicle falls below a preset lower limit on the flight path generated by the flight path generation unit, the unmanned aerial vehicle automatically retreats to the takeoff point, and then resumes taking photographs from the point on the flight path where the retreat was initiated when the remaining charge of the battery rises to or above a predetermined value.

[0011] The 4 The construction cost estimation system using an unmanned aerial vehicle in the invention, in the first or second invention, is based on the image taken by the unmanned aerial vehicle. The exterior information of the part of the building and the exterior information of the entire building A server that receives via a wireless communication network, and the server The exterior information of the part of the building and the exterior information of the entire building The system is further characterized by comprising a transmission control unit that controls the transmission of [the signal].

[0012] The5 The construction work estimate creation system using an unmanned aerial vehicle in the invention further comprises, in the first or second invention, an authentication unit that authenticates that the authentication information corresponding to the unmanned aerial vehicle is valid, after referring to a database in which unmanned aerial vehicle identification information that identifies the unmanned aerial vehicle and approval information indicating flight permission for the unmanned aerial vehicle in DIPS (Drone / UAS Information Platform System) or FISS (Flight Information Sharing System) are linked, and the operation control unit controls the operation of the unmanned aerial vehicle after the authentication unit has authenticated that the authentication information is valid.

[0013] The 6 The construction work estimate creation system using an unmanned aerial vehicle in the invention further comprises a calculation unit that calculates the number of images based on the shooting altitude or the shooting altitude based on the number of images, and the shooting condition acquisition unit is characterized in that it first acquires either the number of images or the shooting altitude, and then acquires the other calculated by the calculation unit.

[0014] The 7 The construction work estimate creation system using an unmanned aerial vehicle in the invention further comprises a calculation unit that calculates the shooting altitude based on the shooting interval of the unmanned aerial vehicle and a preset overlap width which is the overlap width in which the angles of view of the unmanned aerial vehicle at two adjacent points separated by the shooting interval overlap each other, and the shooting condition acquisition unit acquires the shooting interval and then acquires the shooting altitude calculated by the calculation unit. [Effects of the Invention]

[0017] First Invention ~ 7According to the invention, the construction cost estimation system using an unmanned aerial vehicle includes an operation control unit that controls the flight operation of the unmanned aerial vehicle based on a flight path generated based on the acquired shooting range and the acquired shooting altitude, and also controls the shooting operation of the unmanned aerial vehicle based on a shooting operation specified based on the acquired number of shots. Therefore, by setting the shooting range to match the existing building, the entire existing building can be automatically photographed according to the generated flight path. This improves the work efficiency related to estimates for repairs, etc., of existing buildings. Furthermore, after the flight operation and shooting operation are completed, the operation control unit photographs the exterior of the existing building at a coordinate corresponding to the center of the longer of the two diagonals of the acquired rectangular shooting range, and at an altitude in which the entire existing building fits within the field of view. Therefore, exterior information that includes the entire existing building within the field of view can be easily obtained at the same time as the exterior information photographed along the flight path, and it is easy to prevent overlooking anything within the shooting range by using it, for example, in place of a roof plan. This improves the accuracy of estimates for repairs, etc., of existing buildings. Furthermore, the construction cost estimation system is Information on the exterior of a portion of the building and information on the exterior of the entire building. The system includes a construction scope acquisition unit that acquires the scope of construction work specified by the user, a building material information acquisition unit that acquires identification information of building materials specified by the user, a building material quantity calculation unit that calculates the number of building materials from the acquired construction scope and building material identification information, and a construction cost output unit that outputs the construction cost based on the calculated number of building materials and the unit price of the building materials according to the acquired building material identification information. Therefore, it is possible to easily output the construction cost based on exterior information that shows the exterior of the existing building. This improves the work efficiency related to estimates for repairs, etc., of existing buildings.

[0018] In particular, according to the second invention, the flight path generation unit generates a flight path that includes a direction substantially perpendicular to the longest side of each side of the acquired rectangular shooting range. Therefore, the processing is simplified compared to calculating a flight path based on sides other than the longest side, and a flight path can be generated efficiently. This can improve the efficiency of estimates for repairs to existing buildings, etc.

[0019] In particular, according to the third invention, when the remaining battery power falls below a preset lower limit value on the flight route, the operation control unit automatically evacuates the unmanned aerial vehicle to the takeoff point, and then resumes imaging from the point on the flight route where the evacuation was started when the remaining battery power reaches or exceeds a predetermined value. Therefore, the flight operation and imaging operation of the unmanned aerial vehicle can be controlled over a longer period of time. This makes it possible to improve work efficiency related to estimation for repairs and the like even for larger existing buildings.

[0021] In particular, the 4 invention further comprises a server that receives Information on the exterior of a portion of the building and information on the exterior of the entire building. captured by an unmanned aerial vehicle, and a transmission control unit that controls transmission of to the server. That is, it is possible to re-capture the appearance information and then transmit it, or collectively transmit a plurality of pieces of appearance information related to a plurality of existing buildings. Therefore, there is no need to wait for re-capturing appearance information or imaging another existing building until the transmission of the appearance information is completed due to line congestion caused by transmission of large-capacity data. This makes it possible to further improve work efficiency related to estimation for repairs and the like of existing buildings. In addition, the number of data transmissions can be reduced by re-capturing appearance information or collectively transmitting a plurality of pieces of appearance information. Furthermore, by moving to an area within a short-range wireless communication range or the like to transmit data, the waiting time until completion of transmission of appearance information can be shortened. This makes it possible to further improve work efficiency related to estimation for repairs and the like of existing buildings. Information on the exterior of a portion of the building and information on the exterior of the entire building. 発明によれば、無人航空機により撮影された

[0022] In particular, the 5 invention, the operation control unit controls the imaging operation of the unmanned aerial vehicle after the authentication unit authenticates that the approval information is valid. Therefore, it is possible to easily and reliably confirm forgetting to obtain flight permission for the unmanned aerial vehicle or expiration of the validity period, thereby avoiding or preventing illegal acts by the user. This makes it possible to improve the accuracy of compliance with laws and regulations regarding the operation of unmanned aerial vehicles used for estimation for repairs and the like of existing buildings.

[0023] In particular, the 6According to the invention, after either the number of shots based on the obtained shooting altitude or the shooting altitude based on the obtained number of shots is calculated, the operation control unit controls the shooting operation of the unmanned aerial vehicle. Therefore, the number of shots can be automatically optimized, reducing the system's communication capacity, storage capacity, and the labor required for checking shot content. This makes it possible to further improve work efficiency related to estimation for repairs of existing buildings.

[0024] In particular, the 7 According to the invention, the device further comprises a calculation unit that calculates a shooting altitude based on the shooting interval of the unmanned aerial vehicle and a preset overlap width, and the shooting condition acquisition unit acquires the shooting interval and then acquires the shooting altitude calculated by the calculation unit. That is, by acquiring the shooting interval, the shooting altitude is automatically calculated according to the preset overlap width (overlap value). Therefore, for a large existing building, the acquisition of appearance information can be completed with the minimum number of shots (number of photos) while satisfying a predetermined overlap value, and the data volume of the appearance information is reduced, so that the waiting time until the completion of transmission of the appearance information can be shortened. This makes it possible to further improve work efficiency related to estimation for repairs of existing buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] [Figure 1] FIG. 1 is a schematic diagram showing an example of an unmanned aerial vehicle imaging system according to the first embodiment. [Figure 2] FIG. 2(a) is a schematic diagram showing an example of the configuration of a control device constituting the unmanned aerial vehicle imaging system according to the first embodiment, and FIG. 2(b) is a schematic diagram showing an example of the configuration of an unmanned aerial vehicle constituting the unmanned aerial vehicle imaging system according to the first embodiment. [Figure 3] FIG. 3 is a schematic diagram showing an example of a detailed configuration of a control device and an unmanned aerial vehicle constituting the unmanned aerial vehicle imaging system according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of an operation method of the unmanned aerial vehicle imaging system according to the first embodiment. [Figure 5]Figure 5 is a schematic diagram showing an example of the information handled by the unmanned aerial vehicle imaging system in the first embodiment. [Figure 6] Figure 6(a) is a schematic diagram showing an example of the flight and shooting operations of the unmanned aerial vehicle imaging system in the first embodiment, and Figure 6(b) is a schematic diagram showing an example of the visual information acquired by the shooting operation. [Figure 7] Figure 7 is a sequence diagram showing an example of how the unmanned aerial vehicle imaging system operates in the first embodiment. [Figure 8] Figures 8(a) to 8(e) are schematic diagrams illustrating an example of the operation method of the unmanned aerial vehicle imaging system in the first embodiment. [Figure 9] Figure 9(a) is a schematic diagram showing an example of how the unmanned aerial vehicle imaging system operates in the first embodiment, and Figure 9(b) is a schematic diagram showing the JJ cross section of Figure 9(a). [Figure 10] Figure 10 is a schematic diagram showing a modified example of the operation method of the unmanned aerial vehicle imaging system in the first embodiment. [Figure 11] Figure 11 is a schematic diagram showing a modified example of the operation method of the unmanned aerial vehicle imaging system in the first embodiment. [Figure 12] Figure 12 is a schematic diagram showing an example of a detailed configuration of the control device and unmanned aerial vehicle that constitute the unmanned aerial vehicle imaging system in the second embodiment. [Figure 13] Figure 13 is a flowchart showing an example of how the unmanned aerial vehicle imaging system operates in the second embodiment. [Figure 14] Figure 14 is a schematic diagram showing an example of a database that constitutes the unmanned aerial vehicle imaging system in the second embodiment. [Figure 15] Figures 15(a) and 15(b) are schematic diagrams showing an example of the details of the database constituting the unmanned aerial vehicle imaging system in the second embodiment. [Figure 16] Figures 16(a) and 16(b) are schematic diagrams showing an example of the details of the database constituting the unmanned aerial vehicle imaging system in the second embodiment. [Figure 17]Figures 17(a) and 17(b) are schematic diagrams showing modified examples of the operation method of the unmanned aerial vehicle imaging system in the second embodiment. [Figure 18] Figure 18 is a schematic diagram showing an example of a detailed configuration of a control device and unmanned aerial vehicle that constitute a construction cost estimation system equipped with an unmanned aerial vehicle imaging system. [Figure 19] Figure 19 is a flowchart illustrating an example of how a construction cost estimation system equipped with an unmanned aerial photography system operates. [Figure 20] Figure 20 is a schematic diagram illustrating an example of the information handled by a construction cost estimation system equipped with an unmanned aerial photography system. [Figure 21] Figure 21 is a schematic diagram showing an example of a database that constitutes a construction cost estimation system equipped with an unmanned aerial vehicle (UAV) photography system. [Figure 22] Figure 22 is a schematic diagram showing an example of the details of a database that constitutes a construction cost estimation system equipped with an unmanned aerial vehicle imaging system. [Figure 23] Figures 23(a) and 23(b) are schematic diagrams showing an example of the details of a database that constitutes a construction cost estimation system equipped with an unmanned aerial vehicle imaging system. [Figure 24] Figure 24 is a schematic diagram illustrating an example of a method for acquiring construction information included in the operation method of a construction cost estimation system equipped with an unmanned aerial photography system. [Figure 25] Figure 25 is a schematic diagram illustrating an example of a method for outputting construction costs included in the operation method of a construction cost estimation system equipped with an unmanned aerial photography system. [Modes for carrying out the invention]

[0028] The following describes in detail, with reference to the drawings, an example of an unmanned aerial vehicle (UAV) photography system 100, a building construction cost estimation system using an UAV, an UAV photography method, and an UAV photography program as embodiments of the present invention. Note that the configurations in each figure are schematically represented for illustrative purposes, and the size of each component, the size comparison between components, etc., may differ from those in the figures.

[0029] (First embodiment: Unmanned aerial vehicle imaging system 100) An example of the unmanned aerial vehicle imaging system 100 in this embodiment will be described with reference to Figures 1 to 3.

[0030] The unmanned aerial vehicle (UAV) photography system 100 comprises, for example, a control device 1, an UAV 2, and a wireless communication network 9, as shown in Figure 1. The UAV photography system 100 photographs the exterior of an existing building 200 via the wireless communication network 9, using the UAV 2 which is wirelessly connected to the control device 1, in response to information input from a user U operating the control device 1.

[0031] The unmanned aerial vehicle (UAV) imaging system 100 may include a server 3 that can wirelessly connect to the control device 1 and the UAV 2 via, for example, a wireless communication network 9. The UAV imaging system 100 may also cooperate with external systems or devices that store databases, connected via, for example, a wireless communication network 9 or other known communication methods, and may send and receive information with such devices.

[0032] <Control device 1> The control device 1 is a device for controlling the operation of the unmanned aerial vehicle 2. The control device 1 is, for example, a terminal operated by user U and is portable. In addition to the terminal operated by user U, the control device 1 may also include a relay device that relays the transmission and reception of information between the terminal and the server 3.

[0033] The control device 1, as shown in Figure 2(a), for example, comprises a housing 10, a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a storage unit 104, and I / Fs 105 to 107. Each component 101 to 107 is connected by an internal bus 110. As the control device 1, a portable electronic device such as a tablet terminal or a smartphone can be used.

[0034] The CPU 101 controls the entire control unit 1. The ROM 102 stores the operation code of the CPU 101. The RAM 103 is a work area used when the CPU 101 is operating. The storage unit 104 stores various information such as backups of the data stored in the ROM, databases, and learning target data. As the storage unit 104, a data storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) can be used. Note that the control unit 1 may also have a GPU (Graphics Processing Unit), which is not shown.

[0035] I / F105 is an interface for sending and receiving various information with the unmanned aerial vehicle 2 and server 3 as needed via the wireless communication network 9. I / F106 is an interface for sending and receiving information with the input unit 108. For example, a keyboard or mouse can be used as the input unit 108, and user U inputs various information via the input unit 108. I / F107 is an interface for sending and receiving various information with the display unit 109. The display unit 109 displays various information stored in the storage unit 104, or evaluation results, etc. A display can be used as the display unit 109, and if it is a touch panel type, it is provided together with the input unit 108.

[0036] The control device 1, as shown in Figure 3 for example, includes a wireless communication unit 11, a storage unit 12, a shooting range acquisition unit 13, a flight path generation unit 14, a shooting condition acquisition unit 15, and a shooting operation identification unit 16. Each of the components of the control device 1 is realized by the CPU 101 executing programs stored in the ROM 102, storage unit 104, etc., using the RAM 103 as a working area.

[0037] <Communication Communications Section 11> The wireless communication unit 11 transmits information to the unmanned aerial vehicle 2 or the server 3. The wireless communication unit 11 transmits information acquired, generated, or stored by, for example, each component of the control device 1 to the unmanned aerial vehicle 2 or the server 3 via the wireless communication network 9. The wireless communication unit 11 receives information acquired, generated, or stored by, for example, the unmanned aerial vehicle 2 via the wireless communication network 9. The wireless communication unit 11 receives information stored in, for example, the server 3.

[0038] <Storage section 12> The storage unit 12 stores, for example, information acquired or generated by each component of the control device 1 in a database stored in the storage unit 104 as needed. The storage unit 12 retrieves, for example, various types of information stored in the database stored in the storage unit 104 as needed.

[0039] <Shooting range acquisition unit 13> The shooting range acquisition unit 13 acquires the planar shooting range of the unmanned aerial vehicle 2. The shooting range acquisition unit 13 acquires the shooting range by, for example, receiving input from user U via the input unit 108.

[0040] Here, "planar" refers to a horizontal plane that is approximately perpendicular to the direction in which Earth's gravity acts. In other words, a planar field of view may include latitude and longitude information, but does not include height information.

[0041] <Flight path generation unit 14> The flight path generation unit 14 generates a horizontal flight path for the unmanned aerial vehicle 2. The flight path generation unit 14 generates a flight path for the unmanned aerial vehicle 2 based on, for example, the shooting range acquired by the shooting range acquisition unit 13.

[0042] Here, the horizontal direction refers to a direction on a horizontal plane that is approximately perpendicular to the direction in which Earth's gravity acts, and is approximately parallel to the planar shooting range. In other words, the unmanned aerial vehicle 2 in this invention flies horizontally along the flight path generated by the flight path generation unit 14, and does not perform any intentional flight maneuvers in the height direction Z, except for environmental factors such as bad weather and collision avoidance, switching to a power-saving mode due to battery depletion, or switching to an evacuation mode that interrupts flight operations.

[0043] <Shooting condition acquisition unit 15> The shooting condition acquisition unit 15 acquires the shooting conditions of the unmanned aerial vehicle 2. The shooting condition acquisition unit 15 acquires the shooting conditions, for example, by receiving input from user U via the input unit 108. The shooting condition acquisition unit 15 may also acquire information related to the shooting conditions that has been pre-stored in any of the components of the unmanned aerial vehicle shooting system 100. The shooting condition acquisition unit 15 acquires the shooting conditions of the unmanned aerial vehicle 2 within the shooting range acquired by the shooting range acquisition unit 13, for example. Here, the shooting conditions include, for example, the shooting altitude and the number of shots taken by the unmanned aerial vehicle 2.

[0044] <Shooting Operation Identification Unit 16> The shooting operation identification unit 16 identifies the shooting operation of the unmanned aerial vehicle 2. The shooting operation identification unit 16 identifies the shooting operation on the flight path generated by the flight path generation unit 14, for example, based on the number of shots taken from the shooting conditions acquired by the shooting condition acquisition unit 15. In this embodiment, after the shooting operation identification unit 16 identifies the shooting operation on the flight path, the unmanned aerial vehicle 2 performs the shooting operation according to the identified shooting operation.

[0045] <Unmanned aircraft 2> Unmanned aircraft 2 refers to so-called small, unmanned drones (multicopters) and unmanned helicopters. Note that unmanned aircraft 2 includes unmanned aircraft weighing 200g or more as defined by the Aviation Act, as well as so-called small unmanned aircraft weighing less than 200g as defined by the same Act. Unmanned aircraft 2 may be, for example, a quadcopter with four rotors (propellers), but may also be implemented as a helicopter with one rotor, a tricopter with three rotors, a hexacopter with six rotors, or an octocopter with eight rotors, depending on the required flight performance, reliability against failure, and acceptable cost.

[0046] The unmanned aerial vehicle 2, as shown in Figure 1 for example, includes a control unit 20, a camera 21, a battery 22, and a rotor motor 23.

[0047] The unmanned aerial vehicle 2 may have arms extending from the control unit 20 in different directions, with rotor motors 23 provided at the ends of the arms. In particular, when configured as a quadcopter with four rotors, each arm of the unmanned aerial vehicle 2 may extend, for example, at approximately 90° intervals from each other in a plan view. Each arm of the unmanned aerial vehicle 2 may be composed of a tubular body made of, for example, metal, resin, carbon, or other material. In this case, a cable for supplying power from a battery 22 connected to the control unit 20 may be inserted through the tubular body of the arm.

[0048] The unmanned aerial vehicle 2 has a CPU 201, a ROM 202, and a RAM 203, as shown in Figure 2(b), for example. The unmanned aerial vehicle 2 may also have a storage unit 204 for storing data other than the control program that controls the operation of the unmanned aerial vehicle 2. The unmanned aerial vehicle 2 may also have an I / F 205 for connecting to a wireless communication network 9. Each component 201 to 205 is connected by an internal bus 210. In the unmanned aerial vehicle 2, for example, the CPU 201, ROM 202, and RAM 203 are integrated into a control unit 20. This control unit 20 may be, for example, a microcontroller.

[0049] The CPU 201 controls the entire unmanned aerial vehicle 2. The ROM 202 stores programs for controlling the hardware resources of the entire unmanned aerial vehicle 2, as well as information for controlling the operation of the unmanned aerial vehicle 2. The RAM 203 is used as a work area for data storage and retrieval, and temporarily stores various commands for controlling the hardware resources of the entire unmanned aerial vehicle 2. The storage unit 204 stores various information, such as backups of the information stored in the ROM 202 and a database integrating that information. As the storage unit 204, a data storage device such as an HDD or SSD can be used. The unmanned aerial vehicle 2 may have, for example, a GPU (Graphics Processing Unit) which is not shown.

[0050] The CPU 201 is a so-called central processing unit for controlling all components. The CPU 201 reads programs stored in the ROM 202 or storage unit 204, etc., and notifies each component of instructions for performing various operations. For example, if the program stored in the ROM 202 relates to the generation of the flight path, flight operations, or photography operations of the unmanned aerial vehicle 2, the CPU 201 generates various instructions for generating the flight path, performing flight operations, or photography operations based on this program and transmits them to each component.

[0051] The CPU 201 also generates various commands and transmits them to each component based on information regarding flight path generation, flight operations, or shooting operations, as well as other information, that has been sent via the wireless communication network 9. The CPU 201 also controls each component based on data sent from the sensor group for controlling the unmanned aerial vehicle 2 and the position information of the unmanned aerial vehicle 2 sent from the GNSS receiver.

[0052] <Control Unit 20> The control unit 20 consists of a housing for accommodating integrated circuits and devices necessary for various controls. The housing is made of, for example, metal or resin, and is configured in a box shape. The housing is pre-filled with screw holes (not shown) necessary for attaching components such as arms for mounting rotors and legs for ground contact when the unmanned aerial vehicle 2 lands. Various components housed in the control unit 20, or various components connected to the control unit 20, are fixed to the housing of the control unit 20 via screws through screw holes.

[0053] The control unit 20 includes, for example, a flight controller 50, a wireless communication unit 51, and an ESC (Electronic Speed ​​Controller) 52, as shown in Figure 3.

[0054] <Flight Controller 50> The flight controller 50 is a device for controlling the attitude and movement of the unmanned aerial vehicle 2, such as autonomous flight. The flight controller 50 controls the rotor motors 23 via the ESC 54 to control the movement of the unmanned aerial vehicle 2. The flight controller 50 may also control the movement of the unmanned aerial vehicle 2 based on information received by the wireless communication unit 51 via the wireless communication network 9, for example.

[0055] The flight controller 50 includes a sensor information acquisition unit 501 and an operation control unit 502. Each part of the flight controller 50 is implemented by the CPU 201 executing a program stored in the ROM 202 or the like, using the RAM 203 as a working area.

[0056] <Sensor information acquisition unit 501> The sensor information acquisition unit 501 sequentially acquires information for controlling the movement of the unmanned aerial vehicle 2 in a time-series manner. The sensor information acquisition unit 501 includes, for example, a group of flight control sensors and a GNSS receiver.

[0057] The flight control sensor group may consist of various sensors, such as an accelerometer, angular velocity sensor, barometric pressure sensor (altitude sensor), and geomagnetic sensor (direction sensor), as well as an altimeter to detect flight altitude, an anemometer to detect wind speed and direction, an accelerometer to detect the aircraft's tilt angle and direction, a gyroscope, and so on. The flight control sensor group acquires information indicating the movement speed of the unmanned aerial vehicle 2 as three-dimensional information including components in the forward / backward X direction, the left / right Y direction, and the height Z direction. The flight control sensor group also acquires information indicating the direction of movement of the unmanned aerial vehicle 2.

[0058] The GNSS receiver acquires positional information indicating the location of the unmanned aerial vehicle (UAV) 2 in real time as the UAV moves, based on satellite positioning signals transmitted from artificial satellites. The GNSS receiver acquires the positional information of the UAV 2 as three-dimensional information including latitude, longitude, and altitude.

[0059] <Operation Control Unit 502> The motion control unit 502 controls the flight and shooting operations of the unmanned aerial vehicle 2. The motion control unit 502 controls the flight and shooting operations of the unmanned aerial vehicle 2 based on information received by, for example, the wireless communication unit 51. The motion control unit 502 controls the flight operations of the unmanned aerial vehicle 2 based on, for example, the flight path generated by the flight path generation unit 14 and the shooting altitude acquired by the shooting condition acquisition unit 15, and also controls the shooting operations of the unmanned aerial vehicle 2 based on the shooting operations identified by the shooting operation identification unit 16.

[0060] The motion control unit 502 controls the flight operation of the unmanned aerial vehicle 2 by, for example, controlling the rotation speed and rotational velocity of the rotor motor 23 via the connected ESC 53. The motion control unit 502 also controls the shooting operation of the unmanned aerial vehicle 2 via, for example, the connected camera 21. The motion control unit 502 is composed of, for example, a PWM (Pulse Width Modulation) controller.

[0061] <Wireless Communication Section 51> The wireless communication unit 51 communicates wirelessly with the control device 1 via the wireless communication network 9. The wireless communication unit 51 performs frequency conversion and other various conversion processes necessary for wireless communication with the control device 1, and includes an antenna that converts electrical signals into radio waves or radio waves into electrical signals. The wireless communication unit 51 may, for example, convert control information superimposed on radio waves transmitted from the control device 1 or a device other than the control device 1 for controlling the operation of the unmanned aerial vehicle 2 into an electrical signal and output it to the flight controller 50. As a result, the unmanned aerial vehicle imaging system 100 can control the unmanned aerial vehicle 2 via the flight controller 50.

[0062] The wireless communication unit 51 may convert data received from the flight controller 50 or camera 21 into radio waves and transmit them to the wireless communication network 9, or transmit them to the control device 1 or server 3 via the wireless communication network 9. The wireless communication unit 51 may also acquire various information from the wireless communication network 9 and transmit it to the flight controller 50. However, in this embodiment, control of the operation of the unmanned aerial vehicle 2 based on control information received from an external source other than the unmanned aerial vehicle imaging system 100 is not required.

[0063] <Storage section 52> The memory unit 52 stores information acquired or generated by each component of the unmanned aerial vehicle 2 in a database stored in the storage unit 204 as needed. The memory unit 52 retrieves various types of information stored in the database stored in the storage unit 204 as needed.

[0064] <esc53> The ESC53 controls the rotation speed or rotational velocity of the rotor motor 23 under the control of the motion control unit 502. By controlling the rotor motor 23, the ESC53 can control the movement speed and direction of the unmanned aerial vehicle 2.

[0065] <Camera 21> Camera 21 is mounted on, for example, an unmanned aerial vehicle 2. Camera 21 is attached, for example, to the bottom of the control unit 20 and photographs the area below the unmanned aerial vehicle 2. Camera 21 may be a known camera capable of acquiring external information including images or videos.

[0066] <Battery 22> Battery 22 is a battery that supplies the power necessary to operate the control unit 20 and the camera 21. Battery 22 may be built into the unmanned aerial vehicle 2, for example, or mounted on the surface of the unmanned aerial vehicle 2. Battery 22 may be configured to be detachable from the unmanned aerial vehicle 2, for example. Battery 22 may be designed to be rechargeable.

[0067] <Motor 23 for rotor> The rotor motors 23 are electrically connected to the control unit 20 and rotate the rotors mounted on the unmanned aerial vehicle 2. Each rotor has its own rotor motor 23, which rotates based on power supplied from the battery 22 via the control unit 20. The rotor motors 23 are not limited to those having the functions described above, and any commercially available motors can be used.

[0068] By rotating the rotor motors 23, the rotors can be rotated, allowing the unmanned aerial vehicle 2 to instantly ascend or descend vertically, or to remain stationary. To move the unmanned aerial vehicle 2 forward, backward, left, or right, the rotation speed of the rotor motor 23 in the direction of travel is reduced, and the rotation speed of the rotor motor 23 on the opposite side of the direction of travel is increased. This causes the unmanned aerial vehicle 2 to assume a forward-leaning posture relative to the direction of travel, enabling it to move in that direction. Furthermore, by adjusting the output of the rotor motors 23 according to their rotation direction, it is also possible to rotate the unmanned aerial vehicle 2 itself. The rotation speed of these rotor motors 23 is controlled via the control unit 20.

[0069] <Existing building 200> Existing buildings 200 are structures that are the target of photography by unmanned aerial vehicles 2. Existing buildings 200 include buildings classified as uses such as residences, apartment buildings, offices, factories, and hotels, but the improvement in work efficiency by using unmanned aerial vehicles 2 becomes particularly significant when the building is tall or horizontally extensive.

[0070] <Server 3> Server 3 stores information acquired or generated by, for example, the control device 1 or the unmanned aerial vehicle 2. Server 3 may be equipped with a CPU, ROM, and RAM, similar to the control device 1, and the CPU may read programs stored in ROM and control the operation of each component of Server 3 using RAM as a workspace. Server 3 may be connected to the control device 1 or the unmanned aerial vehicle 2 via, for example, a wireless communication network 9, and may send and receive arbitrary data with the control device 1 or the unmanned aerial vehicle 2. Server 3 may have information indicating the location and dimensions of an existing building 200 pre-stored, and may transmit the stored information about the existing building 200 in response to a request from the control device 1 or the unmanned aerial vehicle 2.

[0071] <Wireless communication network 9> The wireless communication network 9 is, for example, the Internet network to which the control device 1, the unmanned aerial vehicle 2, and the server 3 are connected via a communication circuit. The wireless communication network 9 may be implemented using known communication technologies such as wireless communication networks including LTE (Long Term Evolution). In addition, the unmanned aerial vehicle imaging system 100 may be connected to the control device 1 and the unmanned aerial vehicle 2 using known short-range wireless communication such as "Wi-Fi (registered trademark)" instead of the wireless communication network 9, or using long-range transmission technologies unique to unmanned aerial vehicles such as "OcuSync (registered trademark) 2.0" or "OcuSync (registered trademark) 3.0".

[0072] (First embodiment: An example of the operation of the unmanned aerial vehicle imaging system 100) Next, an example of the operation of the unmanned aerial vehicle (UAV) imaging system 100 in this embodiment will be described with reference to Figures 4 to 9. The UAV imaging system 100 is executed, for example, via an UAV imaging program installed in the control device 1, the UAV 2, and the server 3.

[0073] The operation of the unmanned aerial vehicle imaging system 100 includes, for example, a shooting range acquisition step S11, a flight path generation step S12, a shooting condition acquisition step S13, a shooting operation identification step S14, and an operation control step S15, as shown in Figure 4. In this embodiment, an example is described in which the shooting condition acquisition step S13 is performed after the flight path generation step S12, but the shooting range acquisition step S11 or the flight path generation step S12 may be performed after the shooting condition acquisition step S13.

[0074] First, the various types of information associated with the operation of the unmanned aerial vehicle (UAV) imaging system 100 in this embodiment will be described. The various types of information handled by the UAV imaging system 100 include, for example, as shown in Figure 5, UAV identification information D11, imaging range information D12, flight path information D13, imaging condition information D14, UAV flight information D15, and appearance information D16. The various types of information handled by the UAV imaging system 100 are acquired when the input unit 108 of the control device 1 receives input from user U, acquired from information that has been previously stored or generated in each component of the UAV imaging system 100, or acquired via sensors mounted on the UAV 2.

[0075] <Unmanned aircraft identification information D11> The unmanned aerial vehicle identification information D11 is information that identifies the unmanned aerial vehicle 2 or the user U using the control device 1 that controls the unmanned aerial vehicle 2. The unmanned aerial vehicle identification information D11 includes, for example, the pilot's name D111 and the unmanned aerial vehicle's name D112. The pilot's name D111 and the unmanned aerial vehicle's name D112 are stored linked to each other, for example.

[0076] The pilot name D111 is information that identifies user U. The pilot name D111 is obtained, for example, by user U directly inputting it into control unit 1 or server 3. The pilot name D111 is transmitted, for example, from control unit 1 to unmanned aerial vehicle 2 or server 3. The pilot name D111 is used, for example, when querying the unmanned aerial vehicle name D112 associated with pilot name D111, or when authenticating user U as the user of unmanned aerial vehicle name D112.

[0077] The unmanned aerial vehicle (UAV) name D112 is information that identifies UAV 2. The UAV name D112 is pre-stored, for example, on server 3. The UAV name D112 is used, for example, when grouping the visual information acquired by UAV 2 in conjunction with information photographed by UAV 2, or when checking the expiration date of the flight permit for UAV 2.

[0078] <Shooting range information D12> The shooting range information D12 is information that identifies the shooting range of the unmanned aerial vehicle 2. The shooting range information D12 identifies a planar shooting range along the horizontal direction. In addition to identifying a polygonal shooting range, the shooting range information D12 may also identify a circular or other arbitrary shape of shooting range.

[0079] The shooting range information D12 is formed along or including the outer perimeter shape of the existing building 200 in a plan view. For example, as shown in Figure 6, the shooting range information D12 identifies a rectangular shooting range in a plan view with four vertices: the first position information D121, the second position information D122, the third position information D123, and the fourth position information D124, in order to photograph the entire existing building 200, which has a rectangular shape in a plan view. Here, the various position information D121 to D124 are acquired, for example, by the input unit 108 of the control device 1 receiving input from user U.

[0080] <Flight path information D13> Flight path information D13 is information that identifies the flight path of the unmanned aerial vehicle 2. Flight path information D13 identifies a planar flight path along the horizontal direction. Flight path information D13 includes, for example, as shown in Figure 5, first path information D131 which is initially generated based on the shooting range information D12, and second path information D132 which is generated based on the first path information D131.

[0081] <Shooting Conditions Information D14> The shooting condition information D14 is information that identifies the shooting conditions of the unmanned aerial vehicle 2. The shooting condition information D14 includes, for example, shooting altitude information D141, number of shots information D142, shooting time information D143, and shooting operation identification information D144.

[0082] The shooting altitude information D141 indicates the shooting altitude at which the unmanned aerial vehicle 2 performs its shooting operation, and refers to the altitude at which the camera 21 mounted on the unmanned aerial vehicle 2 is located. When the camera 21 is mounted on the underside of the unmanned aerial vehicle 2, there will be an error between the flight altitude of the unmanned aerial vehicle 2 and the shooting altitude, depending on the size of the unmanned aerial vehicle 2. The unmanned aerial vehicle 2 performs horizontal flight operations based on the flight path information D13 at the flight altitude based on the shooting condition information D14.

[0083] The number of images captured information D142 refers to the number of images captured when the unmanned aerial vehicle 2 takes pictures. Here, for example, as shown in Figures 6(a) to 6(b), when the unmanned aerial vehicle 2 performs shooting operations while flying to points P1, P2, P3, and P4 in order, within a rectangular shooting range composed of various position information D121 to D124, it maintains a constant shooting altitude so that the field of view V of the camera 21 remains constant with a vertical width w1 and a horizontal width w2 within the field of view, while performing both flight and shooting operations. The diagonal lines in the figures indicate the diagonals of each field of view V1 to V4 to distinguish between them. Furthermore, in order to obtain the overall exterior information of the existing building 200, an overlapping area of ​​fields of view V1, V2, V3, and V4 at each point P1, P2, P3, and P4 is required, with an overlapping vertical width w3 and an overlapping horizontal width w4. More specifically, feature points included in the overlapping area where two or more pieces of visual information overlap are compared with the visual information to determine their relative positions. This determination of positional relationships can be achieved, for example, by SfM (Structure from Motion), a known technique for estimating a three-dimensional scene from a two-dimensional image. By setting the overlapping vertical width w3 and overlapping horizontal width w4 as constant values, the number of shots required to capture the entire shooting range can be planned (four shots in the case of Figure 6). Note that the vertical width w1, horizontal width w2, overlapping vertical width w3, and overlapping horizontal width w4 all correspond to the actual dimensions (measured values) of the subject included within the field of view V, and are different from the size of the image or video.

[0084] In other words, the planned number of shots to be taken when maintaining a constant shooting altitude based on the shooting altitude information D141 may be obtained as the number of shots information D142. Alternatively, by setting the overlapping vertical width w3 and overlapping horizontal width w4 of the overlapping area as constant values, the vertical width w1 and horizontal width w2 within the field of view of the angle of view V required to capture the entire shooting range may be calculated based on the number of shots information D142, and the shooting altitude at which that field of view V can be achieved may be obtained as the shooting altitude information D141.

[0085] Examples of the information acquired include, for example, the vertical width w1 within the field of view V being greater than 0m and greater than 100m, and the horizontal width w2 within the field of view being greater than 0m and greater than 100m. Also, examples of the pre-set values ​​include, for example, the overlapping vertical width w3 of the overlapping area being greater than 0m and greater than 20m, and the overlapping horizontal width w4 being greater than 0m and greater than 20m.

[0086] The shooting time information D143 refers, for example, to the time between the time an unmanned aerial vehicle (UAV) 2 takes an image and the time until the next shot, as well as the time during which the UAV 2 continuously takes pictures when shooting a video. In this embodiment, an example is described in which the shooting operation is performed according to the position information of the UAV 2, but the UAV 2 may also perform the shooting operation according to the flight speed, flight direction, and the shooting time included in the shooting time information D143.

[0087] The shooting operation identification information D144 indicates the content of the shooting operation performed by the unmanned aerial vehicle 2 along its flight path. The shooting operation identification information D144 is identified, for example, based on the number of images taken information D142.

[0088] Examples of shooting operations include taking photos at equal intervals along the entire flight path of the unmanned aircraft 2, using the number of photos taken in the number of photos taken information D142 as the total number of shots taken along the flight path. Additionally, taking photos at equal intervals along the pre-set flight schedule of the unmanned aircraft 2, using the total shooting time in the shooting time information D143 as the sum of the shooting time along the flight path.

[0089] <Unmanned aerial vehicle flight information D15> The unmanned aerial vehicle (UAV) flight information D15 is information indicating the status of the flight operation of the UAV 2. The UAV flight information D15 includes, for example, UAV position information D151, flight speed information D152, battery level information D153, and flight date and time information D154, as shown in Figure 5. The UAV flight information D15 is acquired, for example, upon request from each component of the UAV imaging system 100, or automatically at predetermined intervals.

[0090] The unmanned aerial vehicle (UAV) position information D151 is information (position information) indicating the position of the UAV 2. The UAV position information D151 is used, for example, when controlling the flight and shooting operations of the UAV 2 based on the position information, or when linking the position information to the captured appearance information. In this embodiment, the UAV shooting system 100 continuously or intermittently acquires changes in altitude and coordinate information included in the UAV position information D151 and controls the flight operation of the UAV 2 in accordance with the flight path information D13 in order to keep the UAV 2 flying horizontally at a constant altitude. Furthermore, the UAV shooting system 100 continuously or intermittently acquires altitude and coordinate information included in the UAV position information D151 and controls the shooting operation of the UAV 2 in accordance with the flight path information D13 and shooting condition information D14 in order to have the UAV 2 shoot the entire predetermined shooting range with a predetermined number of shots.

[0091] The flight speed information D152 is information indicating the flight speed of the unmanned aerial vehicle 2. The flight speed information D152 is used, for example, to determine whether the unmanned aerial vehicle 2 is flying at a predetermined speed or whether it is flying in the direction of the flight path. In this embodiment, the unmanned aerial vehicle imaging system 100 continuously or intermittently acquires the speed included in the flight speed information D152 in order to keep the unmanned aerial vehicle 2 flying horizontally at a constant speed, and controls the flight operation of the unmanned aerial vehicle 2 in accordance with the flight path information D13.

[0092] Battery level information D153 indicates the remaining battery level of the battery 22 mounted on the unmanned aerial vehicle 2. Battery level information D153 is used, for example, to determine whether the battery level has fallen below a preset lower limit, or to determine whether the unmanned aerial vehicle 2, which is being charged with the battery 22 installed, can resume shooting (for example, whether the battery level has risen above a preset predetermined value).

[0093] Flight date and time information D154 indicates the date and time when the unmanned aircraft 2 performs its flight operations. Flight date and time information D154 is used, for example, when linking time information to visual information captured by the unmanned aircraft 2, or when checking whether the flight permit for the unmanned aircraft 2 is still valid.

[0094] <Exterior Information D16> Appearance information D16 represents visual information such as images and videos taken by the unmanned aerial vehicle 2. Appearance information D16 includes, for example, building portion appearance information D161, overall building appearance information D162, and processed appearance information D163.

[0095] Building exterior information D161 represents visual information showing a portion of the existing building 200 as captured by the unmanned aerial vehicle 2. Building exterior information D161 is visual information showing a portion of the existing building 200 included in each field of view V1 to V4, as shown in Figure 6(b), for example.

[0096] The building exterior information D162 represents visual information showing the entire plan view of the existing building 200, excluding walls, etc., as captured by the unmanned aerial vehicle 2. The building exterior information D162 is acquired in a single shooting operation by, for example, increasing the shooting altitude to expand the vertical width w1 and horizontal width w2 within the field of view V, thereby capturing the entire existing building 200 within the field of view.

[0097] The processed appearance information D163 is visual information generated by processing at least one of the building portion appearance information D161 and the overall building appearance information D162, both of which are captured by the unmanned aerial vehicle 2. The processed appearance information D163 is visual information that shows the entire existing building 200, generated by combining multiple building portion appearance information D161, each showing a part of the existing building 200 included in each field of view V1 to V4, as shown in Figure 6(a), for example. In this case, the processed appearance information D163 is generated by combining, for example, location information included in the Exif (Exchangeable image file format) attached to the multiple building portion appearance information D161. Here, the present invention makes it easier to generate processed appearance information D163 that more accurately combines multiple building portion appearance information D161 because the building portion appearance information D161 is captured by the unmanned aerial vehicle 2 at similar altitudes.

[0098] In Figure 6(a), an example is shown where the entire plan view of the existing building 200 is included in each field of view V1 to V4. However, when some visual information is missing from the entire plan view of the existing building 200, the processed appearance information D163 may be generated by using a known artificial intelligence system to supplement the missing visual information and then synthesizing it.

[0099] The processed appearance information D163 includes, for example, a three-dimensional modeling image showing the exterior of the existing building 200 in three dimensions. The three-dimensional modeling image is useful for accurately understanding the three-dimensional structure of the roof portion of the existing building 200, such as the degree and direction of the roof slope, and structures such as overhangs and eaves that are difficult to grasp from a plan view. The three-dimensional modeling image may be an image output by inputting multiple building portion appearance information D161 into, for example, the well-known open-source software "Open Drone Map".

[0100] Next, the operation flow of the unmanned aerial vehicle imaging system 100 in this embodiment will be described.

[0101] <Preparation> As a preliminary step before operation, the unmanned aerial vehicle (UAV) imaging system 100 may authenticate that user U, who operates the control device 1, is the pilot of the UAV 2. As an authentication method, for example, the control device 1 may send the pilot name D111 entered by user U to the server 3, where the server 3 may authenticate that it is the pilot name associated with the UAV aircraft name D112 corresponding to the UAV 2, which is stored in advance, and activate the control device 1 to control the UAV 2.

[0102] <Step S11 for acquiring shooting range> In the shooting range acquisition step S11, the shooting range acquisition unit 13 acquires shooting range information D12, which includes a planar shooting range, as shown in Figure 7, for example (S111).

[0103] The control device 1 may transmit the shooting range information D12, which includes the planar shooting range R acquired by the shooting range acquisition unit 13, to the unmanned aerial vehicle 2 via the wireless communication unit 11 and the wireless communication network 9 (S112). The unmanned aerial vehicle 2 stores the shooting range information D12 received via the wireless communication network 9 in the storage unit 204. When the unmanned aerial vehicle 2 detects that it has moved away from the shooting range information D12 received by its onboard sensors, it may transmit a message to the control device 1 or the server 3 to that effect.

[0104] The shooting range acquisition unit 13 acquires location information D121 to D124 based on input from user U, as shown in Figure 8(a), and then acquires shooting range information D12, which includes a planar shooting range R. Specifically, first, user U taps four points A, B, C, and D, which correspond to the outer vertices of the existing building 200, on a known map application that shows the area surrounding the existing building 200 in a planar manner on the display unit 109 of the touch panel control device 1. At this time, the shooting range acquisition unit 13 acquires coordinate information corresponding to each point A to D from the map application. As a result, the shooting range acquisition unit 13 acquires point A as the first location information D121, point B as the second location information D122, point C as the third location information D123, and point D as the fourth location information D124, and acquires a rectangular shooting range R as shooting range information D12 based on the coordinate information contained in each location information. The display unit 109 may also display the acquired shooting range R. Furthermore, when the control device 1 acquires the current location of the unmanned aerial vehicle 2 from the unmanned aerial vehicle 2 before flight operation, the display unit 109 may display it as the takeoff point H. The shooting range acquisition unit 13 may also directly acquire shooting range information D12, including the planar shooting range R, based on input such as range specification by the user U.

[0105] The unmanned aerial vehicle 2 receives the shooting range information D12 via the wireless communication network 9 and stores it in the storage unit 204. However, if the flight path generation step S12 is executed by the flight path generation unit 14 mounted on the control device 1, the unmanned aerial vehicle 2 does not need to receive the shooting range information D12.

[0106] <Flight path generation step S12> In the flight path generation step S12, the flight path generation unit 14 generates flight path information D13, including the horizontal flight path of the unmanned aircraft 2, based on the shooting range R included in the shooting range information D12 acquired by the shooting range acquisition unit 13 in the shooting range acquisition step S11, as shown in Figure 7, for example (S121).

[0107] The control device 1 may transmit the flight path information D13, including the horizontal flight path generated by the flight path generation unit 14, to the unmanned aerial vehicle 2 via the wireless communication unit 11 and the wireless communication network 9 (S122). The unmanned aerial vehicle 2 stores the flight path information D13 received via the wireless communication network 9 in the storage unit 204. When the unmanned aerial vehicle 2 detects that it has deviated from the flight path information D13 received by its onboard sensors, it may transmit a message to the control device 1 or the server 3 to that effect.

[0108] The flight path generation unit 14, for example as shown in Figure 8(b), first calculates the length of each side constituting the rectangular shooting range R based on the coordinate information of two corresponding points, and identifies the longest side AB of the range width W1. Then, based on a preset turnaround width W2, it sets point A, which is closer to the takeoff point H, as the shooting start point, and identifies turnaround points E1 to E4 along the longest side AB, moving from point A to point B. Note that the number of turnaround points is not limited to four; a number corresponding to the range width W1 and turnaround width W2 of the longest side AB may be identified.

[0109] Furthermore, the folding width W2 may be updated based on the vertical width w1 and horizontal width w2 within the field of view of the field of view V calculated based on the shooting altitude information D141 when the shooting altitude information D141 is acquired in the step described later, and the overlapping vertical width w3 and overlapping horizontal width w4 of the overlapping area of ​​the pre-set building part exterior information D161. For example, when the shooting altitude included in the shooting altitude information D141 indicates a height of 7m from the existing building 200, and the field of view V of the camera 21 is a regular square pyramid shape of 90° in a plan view with vertical width w1 = horizontal width w2 = 14m, and the initial value of the folding width W2 is set to 5m, the overlapping horizontal width w4 of the overlapping area is calculated as, for example, w4 = w2 × 1 / 2 + w2 × 1 / 2 - W2 = 9m (see points P2 and P3 in Figure 6). Here, if a sufficiently useful visual information D16 can be obtained with an overlapping horizontal width w4 of 5m, the fold width W2 may be updated to an enlarged value, calculated by working backward from the overlapping horizontal width w4, such that W2 = w2 × 1 / 2 + w2 × 1 / 2 - w4 = 9m. The overlapping vertical width w3 of the overlapping region may be calculated in the same way as the overlapping horizontal width w4. In this case, the entire shooting range R can be automatically captured with fewer shots and less flight time. This improves the efficiency of work related to estimating repairs for existing buildings 200.

[0110] Subsequently, the flight path generation unit 14 generates first path information D131, which includes paths L1a to L1d that pass through turnaround points E1 to E4 and are approximately perpendicular to the longest side AB. At this time, the intersections of paths L1a to L1d with each side other than the longest side AB are defined as turnaround points F1 to F4, respectively. Here, for example, as shown in Figure 8(e), when generating a path approximately perpendicular to side BC other than the longest side AB, an extra step is required to generate a line segment BC' by extending side BC, generate a path approximately perpendicular to line segment BC', and then calculate the intersection point (E7' in Figure 8(e)) between that path and the shooting range R. However, by selecting the longest side AB, it is easier to suppress the occurrence of this step. In this case, the processing is simplified compared to calculating the flight path L based on sides other than the longest side AB, and the flight path L can be generated efficiently. This improves the efficiency of estimations for repairs, etc., of the existing building 200. Furthermore, paths L1a to L1d are not limited to those that are approximately orthogonal to the longest side AB. For example, first path information D131 may be generated that includes paths that are approximately parallel to the side AD adjacent to the longest side AB, or first path information D131 may be generated that includes paths that are approximately parallel to the side BC adjacent to the longest side AB.

[0111] After generating the first path information D131, the flight path generation unit 14 generates second path information D132, which includes a path connecting each path of the first path information D131, as shown in Figure 8(c), for example. At this time, the second path information D132 indicates a path that enables the unmanned aircraft 2 to fly in alternating directions in the order of paths L1a, L1b, L1c, and L1d. Specifically, the line segment AE1 connecting point A, the shooting start point, and point E1, the starting point of route L1a, is defined as route L2a; the line segments F1F2 connecting point F1, the endpoint of route L1a, and point F2, the starting point of route L1b, are defined as route L2b; the line segments E2E3 connecting point E2, the endpoint of route L1b, and point E3, the starting point of route L1c, are defined as route L2c; the line segments F3F4 connecting point F3, the endpoint of route L2b, and point F4, the starting point of route L1d, are defined as route L2d; and the line segment E4B connecting point E4, the endpoint of route L1d, and point B, the shooting end point, is defined as route L2e. A second route information D132 including these routes L2a to L2e is then generated.

[0112] Following the procedure described above, the flight path generation unit 14 generates flight path information D13, which includes a flight path L consisting of first path information D131 and second path information D132. Note that the flight path L is not limited to the example described above; for example, it may be a flight path L consisting of second path information D132 and first path information D131, where line segment AF1 is path L2a, line segment E1E2 is path L2b, line segment F2F3 is path L2c, line segment E3E4 is path L2d, and line segment F4B is path L2e. The unmanned aerial vehicle 2 receives the flight path information D13 via the wireless communication network 9 and stores it in the storage unit 204.

[0113] <Step S13 for acquiring shooting conditions> In the shooting condition acquisition step S13, the shooting condition acquisition unit 15 acquires shooting condition information D14, which includes at least the shooting altitude information D141 and the number of shots information D142 of the unmanned aerial vehicle 2, based on the shooting range R included in the shooting range information D12 acquired by the shooting range acquisition unit 13 in the shooting range acquisition step S11 (S131).

[0114] The control device 1 transmits the shooting condition information D14 acquired by the shooting condition acquisition unit 15 to the unmanned aerial vehicle 2 via the wireless communication unit 11 and the wireless communication network 9 (S132). The shooting condition information D14 transmitted by the control device 1 only needs to include shooting altitude information D141, and it is not necessary to transmit the number of shots information D142 and shooting time information D143 by transmitting the shooting operation specification information D144 specified by the shooting operation specification unit 16 in a step described later. The unmanned aerial vehicle 2 receives the shooting condition information D14 via the wireless communication network 9 and stores it in the storage unit 204.

[0115] <Shooting operation identification step S14> In the shooting operation identification step S14, the shooting operation identification unit 16 identifies the shooting operation identification information D144 on the flight path L based on the number of shots information D142 acquired by the shooting condition acquisition unit 15 in the shooting condition acquisition step S13 (S141). Subsequently, the control device 1 transmits the shooting operation identification information D144 identified by the shooting operation identification unit 16 to the unmanned aerial vehicle 2 via the wireless communication unit 11 and the wireless communication network 9 (S142).

[0116] The shooting operation identification unit 16 identifies shooting locations s1 to s20 according to the vertical interval W3 and horizontal interval W4 of the acquired shooting interval, for example as shown in Figure 8(d). The shooting operation identification unit 16 determines the number of shooting locations according to the number of shots information D142 acquired by the shooting condition acquisition unit 15 (in the case of Figure 8, the number of shots is 20).

[0117] Note that the return width W2, interval vertical width W3, and interval horizontal width W4 may be set to values ​​that are not dependent on the shooting altitude information D141. The interval horizontal width W4 of the shooting interval may be the same value as the return width W2 of the flight path L. In addition, the interval vertical width W3 of the shooting interval may be set based on the ratio (aspect ratio) of the vertical width w1 and horizontal width w2 within the field of view V. That is, the interval vertical width W3 : interval horizontal width W4 = vertical width w1 : horizontal width w2 within the field of view, and the interval vertical width W3 of the shooting interval may be obtained as = vertical width w1 × interval horizontal width W4 / horizontal width w2 within the field of view.

[0118] In the example shown in Figure 8(d), points A, E1, E2, E3, E4, and B located on the longest side AB along the flight path L are designated as shooting points s1, s2, s10, s11, s19, and s20, while points F1, F2, F3, and F4 located on any of sides AD, DC, or CB along the flight path L are designated as shooting points s5, s6, s15, and s16. Furthermore, points on route L1a that are separated from point s2 by a vertical spacing W3 of the shooting interval are designated as s3 and s4 in order, points on route L1b that are separated from point s10 by a vertical spacing W3 of the shooting interval are designated as s9, s8, and s7 in order, points on route L1c that are separated from point s11 by a vertical spacing W3 of the shooting interval are designated as s12, s13, and s14 in order, and points on route L1d that are separated from point s19 by a vertical spacing W3 of the shooting interval are designated as s18 and s17 in order. Note that if adjustments are made to reduce the number of shots, point s14 may be excluded from the shooting locations on the grounds that the visual information obtained from shooting at point s15 is almost the same.

[0119] Based on the above considerations, the shooting operation identification unit 16 identifies shooting operation identification information D144, which includes a shooting position, based on, for example, the shooting altitude information D141 and the number of shots information D142 acquired by the shooting condition acquisition unit 15 based on user U input, the horizontal spacing W4 of the shooting interval which is the same as the turning width W2 of the flight path L updated using the shooting altitude information D141, and the vertical spacing W3 of the shooting interval which corresponds to the horizontal spacing W4 and the vertical width w1 and horizontal width w2 within the field of view.

[0120] <Operation control step S15> In the operation control step S15, after the shooting operation identification step S14 is completed, the control device 1 generates a control signal to the unmanned aerial vehicle 2 to start shooting and transmits it to the unmanned aerial vehicle 2 via the wireless communication unit 11 and the wireless communication network 9 (S151). After receiving the control signal to start shooting from the control device 1, the operation control unit 502 controls the horizontal flight motion of the unmanned aerial vehicle 2 based on the flight path L included in the flight path information D13 generated by the flight path generation unit 14 in the flight path generation step S12 and the shooting altitude included in the shooting altitude information D141 acquired by the shooting condition acquisition unit 15 in the shooting condition acquisition step S13. It also starts controlling the shooting motion of the unmanned aerial vehicle 2 based on the shooting motion included in the shooting operation identification information D144 identified by the shooting operation identification unit 16 in the shooting operation identification step S14 (S152). In other words, since the unmanned aerial vehicle 2 is automatically controlled by the operation control unit 502, user U can engage in tasks related to estimates for repairs, etc., even if they are unfamiliar with operating the unmanned aerial vehicle 2. Furthermore, user U can obtain the visual information D16 necessary for repair estimates without having to climb onto the existing building 200 to check dimensions and roof conditions. This allows for safe and efficient work related to repair estimates, and reduces working time. In this case, by setting the shooting range R to match the existing building 200, the entire existing building 200 can be automatically photographed according to the generated flight path L. This improves the efficiency of work related to repair estimates for the existing building 200.

[0121] The motion control unit 502 controls the flight operation of the unmanned aerial vehicle 2 to fly along the flight path L, as shown in Figures 8(c) to 8(d), for example, while controlling the shooting operation to photograph the existing building 200 at each point s1 to s20. As a result, the unmanned aerial vehicle photography system 100 can photograph the shooting range R almost entirely, and as a result can acquire visual information regarding the appearance of the existing building 200 in plan view (e.g., roof, skylights, rooftop installations, etc.).

[0122] The motion control unit 502 controls the flight operation of the unmanned aerial vehicle 2 so that it flies along the flight path L in the order of the arrows shown in Figure 8(c), for example, from point A to point B, in the order of second path L2a, first path L1a, second path L2b, first path L1b, second path L2c, first path L1c, second path L2d, first path L1d, and second path L2e. At this time, the motion control unit 502 may make the aircraft fly at a constant speed along each path (L1a~L1d, L2a~L2e), may decelerate or accelerate in the middle of each path, or may decelerate or accelerate at the timing when each path switches.

[0123] The motion control unit 502 may control the unmanned aerial vehicle 2 to perform the shooting operation without changing the flight speed at each point s1 to s20 shown in Figure 8(d), or it may control deceleration or acceleration so that the shooting operation is controlled while the aircraft is stationary in the air at each point s1 to s20.

[0124] The motion control unit 502 may control the flight operation of the unmanned aerial vehicle 2, for example, to fly at a preset flight speed or acceleration. The motion control unit 502 may control the flight operation of the unmanned aerial vehicle 2, for example, to change the flight speed or acceleration at points corresponding to preset coordinates or at intervals corresponding to preset distances, or to keep it stationary in the air. The motion control unit 502 may control the speed or acceleration at each path, the speed or acceleration at each point, the stationary time at each point, etc., so that the flight operation and shooting operation are completed within a preset flight time.

[0125] The unmanned aerial vehicle 2 may, for example, transmit unmanned aerial vehicle flight information D15 acquired during the shooting operation to the control device 1 via the radio communication unit 11 and the radio communication network 9 as appropriate (S153).

[0126] The unmanned aerial vehicle 2 may, for example, transmit the appearance information D16 acquired during the shooting operation to the control device 1 via the wireless communication unit 11 and the wireless communication network 9 as appropriate (S154). The unmanned aerial vehicle 2 may also transmit the appearance information D16 to the control device 1 automatically immediately after acquiring it, or it may transmit it to the control device 1 in response to a request from the control device 1.

[0127] The unmanned aerial vehicle 2 may, for example, during a shooting operation, calculate an escape route to return to the takeoff position along the flight path L or deviate from the flight path L, and then appropriately transmit information regarding the calculated escape route to the control device 1 via the radio communication unit 11 and the radio communication network 9 (S155).

[0128] After completing its shooting operation, the unmanned aerial vehicle 2 returns to its takeoff position (S156). The unmanned aerial vehicle 2 may land at a different location than the takeoff position under the control of the control device 1.

[0129] After performing each of the steps described above, the operation of the unmanned aerial vehicle imaging system 100 in this embodiment is terminated. Note that the unmanned aerial vehicle imaging system 100 may, for example, repeat each of the steps described above.

[0130] (First embodiment: First modified example of the operation of the unmanned aerial vehicle imaging system 100) The operation control unit 502 may control the unmanned aerial vehicle 2 to automatically retreat to the takeoff point when the remaining charge of the battery 22 mounted on the unmanned aerial vehicle 2 falls below a preset lower limit on the flight path L generated by the flight path generation unit 14, and then resume shooting from the point on the flight path L where the retreat began when the remaining charge of the battery 22 rises to or above a predetermined value. The remaining charge of the battery 22 may be determined, for example, by a known battery charge detector (not shown) mounted on the unmanned aerial vehicle 2, compared with a preset lower limit, and the comparison result may be evaluated.

[0131] Specifically, for example, if the battery level of point 22 falls below a preset lower limit (e.g., 10%) at point s10, with point H as the takeoff point as shown in Figure 8(d), the unmanned aerial vehicle 2 is made to fly horizontally from point s10 to above point H, then land at point H, and the battery 22 is requested to be replaced or charged. Subsequently, when the battery level of point 22 reaches a predetermined value (e.g., 80%) or higher, the unmanned aerial vehicle 2 may be controlled to take off vertically from the ground surface at point H, land above point H, fly horizontally to point s10 on the flight path L where the evacuation began, and then resume shooting from point s10. In this case, automatic control is possible even when photographing the exterior of a larger existing building 200. This improves the efficiency of work related to estimates for repairs, etc., regardless of the dimensions of the existing building 200.

[0132] (First embodiment: Second modification of the operation of the unmanned aerial vehicle imaging system 100) When the shooting range acquisition unit 13 acquires a rectangular shooting range R in the shooting range acquisition step S11, in the operation control step S15, the operation control unit 502 may, for example, after the shooting operation and flight operation based on the flight path L generated by the flight path generation unit 14 in the flight path generation step S12 are completed, photograph the exterior of the existing building 200 at a coordinate corresponding to the center of the longer of the diagonals of the rectangular shooting range R and at an altitude where the entire existing building 200 fits within the field of view V.

[0133] Specifically, the motion control unit 502 controls the flight operation of the unmanned aerial vehicle 2 after the flight and shooting operations have been completed. For example, as shown in Figure 9(a), when the shooting range R is defined as a rectangle ABCD along the outer perimeter of the existing building 200 in a plan view, the control unit 502 controls the flight operation to fly horizontally to the area above point G, which corresponds to the center of the diagonal BD that is longer than the diagonal AC. Subsequently, as shown in Figure 9(b), for example, the motion control unit 502 controls the shooting operation of the unmanned aerial vehicle 2 to photograph the exterior of the existing building 200 after it has ascended to a shooting altitude where the field of view V with a shooting angle θ (for example, about 90°) fits the building width W5 of the diagonal BD. In this case, it is easy to obtain exterior information D16 that captures the entire existing building 200 within the field of view V at the same time as the exterior information D16 captured on the flight path L, and it is easy to prevent overlooking anything within the shooting range R by using it in place of, for example, a roof plan. This improves the accuracy of estimates for repairs to the existing building 200.

[0134] The shooting altitude at which the field of view V of the shooting angle θ fits within the diagonal BD is the sum of the height h1 connecting point G on the roof of the existing building 200 and point G' above point G where the camera 21 is located in Figure 9(b), and the height h2 of the existing building 200. The flight altitude of the unmanned aerial vehicle 2 from the ground is the height h0, which is calculated as the sum of height h1, height h2, and the height h3 of the unmanned aerial vehicle 2. Height h1 may be calculated using the following formula with the building width W5 of the diagonal BD and the shooting angle θ.

[0135]

number

[0136] (First embodiment: Third modification of the operation of the unmanned aerial vehicle imaging system 100) The unmanned aerial vehicle imaging system 100 may further include a determination unit (not shown) that determines the usefulness of the captured visual information D16, and only the visual information D16 that the determination unit determines to be useful may be stored in the storage unit 104 or storage unit 204. In this case, the system's communication capacity, storage capacity, and the effort required to check the captured content can be reduced by discarding visual information that is not useful, such as out-of-focus images. This can further improve the work efficiency related to estimates for repairs to the existing building 200.

[0137] Furthermore, the determination of usefulness by the judgment unit (not shown) can be performed using the following methods by using a known image processing library such as "OpenCV®". For example, for "overexposure" in appearance information D16, the determination can be made based on whether the HSV (hue, saturation, brightness) of the image in appearance information D16 is within a predetermined threshold using the InRange function or the like. Also, for "out of focus" in appearance information D16, parameters such as Laplacian Variance, Tenengrad, Image Entropy, and Blurriness Index of the image in appearance information D16 can be obtained, and the determination can be made based on whether each parameter is within a predetermined threshold. For example, according to "Analysis of focus measure operators for shape-from-focus (2013)", there is a method of calculating the Laplacian variance for appearance information D16 and considering it "out of focus" if the high-frequency components of appearance information D16 are less than a predetermined value. Image entropy is an indicator of the disorderiness of an image. Because in-focus images contain more information and have greater clutter than blurred images, image entropy is higher for in-focus images. For example, one method involves generating an appearance information D16' by blurring the original appearance information D16, then calculating the image entropy for both appearance information D16 and appearance information D16', and assuming that the larger the difference, the more in-focus the original appearance information D16 was.

[0138] (First embodiment: Fourth modified example of the operation of the unmanned aerial vehicle imaging system 100) The unmanned aerial vehicle (UAV) imaging system 100 may further include a server 3 that receives two-dimensional appearance information showing the exterior of an existing building 200 photographed by an UAV 2, for example, as shown in Figure 10. Here, the two-dimensional appearance information is visual information that includes building portion appearance information D161, overall building appearance information D162, and processed appearance information D163 from the appearance information D16, which are two-dimensional images or two-dimensional videos, but does not include three-dimensional modeling images.

[0139] Server 3 receives two-dimensional appearance information captured by the unmanned aerial vehicle 2 via, for example, a wireless communication network 9, and acquires a three-dimensional modeling image of the existing building 200 based on the received two-dimensional appearance information. Here, Server 3 is controllable independently of, for example, the control device 1 and the unmanned aerial vehicle 2, and specifically, it is controllable independently of the shooting range acquisition unit 13, flight path generation unit 14, shooting condition acquisition unit 15, shooting operation specification unit 16 that constitute the control device 1, and the operation control unit 502 that constitutes the unmanned aerial vehicle 2. In other words, the unmanned aerial vehicle shooting system 100 can control the operation of the unmanned aerial vehicle 2 without making it wait until it generates and acquires a three-dimensional modeling image of the existing building 200 based on the two-dimensional appearance information showing the exterior of the existing building 200. In this case, the acquisition of the three-dimensional modeling image and shooting of other existing buildings by the unmanned aerial vehicle 2 can be carried out in parallel. This makes it possible to further improve the work efficiency related to estimates for repairs, etc., of the existing building 200.

[0140] Next, we will describe an example of the operation of the unmanned aerial vehicle imaging system 100.

[0141] The unmanned aerial vehicle 2 transmits, for example, two-dimensional appearance information acquired during a shooting operation to the server 3 or control device 1 via the wireless communication unit 11 and the wireless communication network 9 (S154).

[0142] During the operation control step S15, the server 3 receives two-dimensional appearance information directly from the unmanned aerial vehicle 2 via the wireless communication unit 11 and the wireless communication network 9 during or after the shooting operation by the unmanned aerial vehicle 2 (S15a). Alternatively, the server 3 may receive two-dimensional appearance information from the unmanned aerial vehicle 2 via the control device 1 (S15b).

[0143] Subsequently, Server 3 acquires a three-dimensional model image of the existing building 200 based on the received appearance information. At this time, Server 3 may acquire the image by inputting the two-dimensional appearance information into known three-dimensional model image generation software pre-stored in its own ROM, etc., and generating the three-dimensional model image of the existing building 200 itself, or by inputting the two-dimensional appearance information into known three-dimensional model image generation software pre-stored in another terminal that can communicate with it, generating the three-dimensional model image of the existing building 200, and then receiving the image.

[0144] (First embodiment: Fifth variation of the operation of the unmanned aerial vehicle imaging system 100) The unmanned aerial vehicle imaging system 100 may further include a server 3 that receives appearance information D16 showing the exterior of an existing building 200 photographed by an unmanned aerial vehicle 2, as shown in Figure 11, for example.

[0145] The control device 1 may further include a transmission control unit (not shown) that controls the transmission of appearance information D16 to the server 3, for example. That is, the control device 1 can retake and transmit the appearance information D16 to the server 3, or transmit multiple appearance information D16 related to multiple existing buildings 200 at once. In this case, there is no need to wait to retake the appearance information D16 or photograph other existing buildings until the transmission of the appearance information D16 is complete, due to line congestion caused by the transmission of large amounts of data. This further improves the work efficiency related to estimates for repairs, etc., of existing buildings 200. In addition, the number of data transmissions can be reduced by retaking the appearance information D16 or transmitting multiple appearance information D16 at once. Furthermore, the waiting time until the transmission of appearance information D16 is complete can be shortened by moving to an area within short-range wireless communication range, etc. This further improves the work efficiency related to estimates for repairs, etc., of existing buildings 200.

[0146] Next, we will describe an example of the operation of the unmanned aerial vehicle imaging system 100.

[0147] The unmanned aerial vehicle 2 transmits the appearance information D16 acquired during, for example, the shooting operation to the control device 1 via the wireless communication unit 11 and the wireless communication network 9 (S154). Subsequently, the control device 1 does not transmit the appearance information D16 received from the unmanned aerial vehicle 2 to the server 3, but instead performs the same steps as steps S11 to S14 for other existing buildings, and then performs the operation control step S15' to capture other appearance information showing the appearance of the other existing buildings. The operation control step S15' is the same as the operation control step S15 described above for the existing building 200. The other appearance information will show the same information as the appearance information D16.

[0148] More specifically, in the operation control step S15', the control device 1 generates a control signal for the unmanned aerial vehicle 2 to start photographing other existing buildings, and transmits it to the unmanned aerial vehicle 2 via the wireless communication unit 11 and the wireless communication network 9 (S151'). Subsequently, the unmanned aerial vehicle 2 starts photographing other existing buildings (S152'), transmits the unmanned aerial vehicle flight information D15 acquired during the photography operation to the control device 1 as appropriate (S153'), and may also transmit other appearance information acquired during the photography operation to the control device 1 as appropriate (S154'). Subsequently, the control device 1 may transmit the appearance information D16 received from the unmanned aerial vehicle 2 in the operation control step S15 and the other appearance information received from the unmanned aerial vehicle 2 in the operation control step S15' to the server 3 in a single transmission (S15d). The server 3 may also receive the appearance information D16 and other appearance information transmitted from the control device 1 in a single transmission (S15e). This shooting method reduces the number of data transmissions, thereby further improving the efficiency of work related to estimates for repairs and other maintenance of the existing 200 buildings.

[0149] Furthermore, if the appearance information D16 needs to be recaptured, the control device 1 may, without transmitting the appearance information D16 received from the unmanned aerial vehicle 2 to the server 3 via the operation control step S15, omit the same steps as steps S11 to S14 and perform operation control step S15' to recapture the appearance information D16 for the same existing building 200. Subsequently, the control device 1 may transmit the recaptured appearance information D16 received from the unmanned aerial vehicle 2 to the server 3 via operation control step S15', and discard the original appearance information D16 received from the unmanned aerial vehicle 2 via operation control step S15 without transmitting it to the server 3. This shooting method reduces the number of data transmissions and further improves the work efficiency related to estimates for repairs, etc., of the existing building 200.

[0150] Furthermore, the unmanned aerial vehicle 2 may further include a transmission control unit (not shown) that controls the transmission of appearance information D16 to the control device 1. That is, the unmanned aerial vehicle 2 can retake and transmit appearance information D16 to the control device 1, or transmit multiple appearance information D16 related to multiple existing buildings 200 at once. In this case as well, there is no need to wait to retake appearance information D16 or to photograph other existing buildings 200 until the transmission of appearance information D16 is completed, the number of data transmissions can be reduced, and waiting time can be shortened by moving to a short-range wireless communication area or similar to transmit data, thereby further improving the work efficiency related to estimates for repairs, etc., of existing buildings 200.

[0151] According to this embodiment, the unmanned aerial vehicle (UAV) imaging system 100 includes an operation control unit 502 that controls the flight operation of the UAV 2 based on the flight path L generated based on the acquired imaging range R and the acquired imaging altitude, and also controls the imaging operation of the UAV 2 based on the imaging operation specified based on the acquired number of images. Therefore, by setting the imaging range R to match the existing building 200, the entire existing building 200 can be automatically imaged according to the generated flight path L. This improves the work efficiency related to estimating repairs and other work on the existing building 200.

[0152] Furthermore, according to this embodiment, the flight path generation unit 14 generates a flight path L that includes a direction substantially perpendicular to the longest side AB among the sides of the acquired polygonal shape's shooting range R. Therefore, the processing is simplified compared to calculating a flight path L based on sides other than the longest side AB, and the flight path L can be generated efficiently. This improves the efficiency of estimating repairs and other work on the existing building 200.

[0153] Furthermore, according to this embodiment, when the remaining charge of the battery 22 falls below a preset lower limit on the flight path L, the operation control unit 502 automatically evacuates the unmanned aircraft 2 to the takeoff point, and then resumes shooting from the point on the flight path L where the evacuation began when the remaining charge of the battery 22 rises to or above a predetermined value. As a result, the flight and shooting operations of the unmanned aircraft 2 can be controlled for a longer period of time. This improves the efficiency of work related to estimates for repairs, etc., even for larger existing buildings 200.

[0154] Furthermore, according to this embodiment, the system is further equipped with a server 3 that can be controlled independently of the operation control unit 502, etc., and receives two-dimensional appearance information captured by the unmanned aerial vehicle 2 via the wireless communication network 9, and acquires a three-dimensional modeling image of the existing building 200 based on the received two-dimensional appearance information. In other words, the operation control can be performed without making the unmanned aerial vehicle 2 wait while it is generating and acquiring a three-dimensional modeling image of the existing building 200 based on the two-dimensional appearance information. Therefore, the acquisition of the three-dimensional modeling image and the photography of other existing buildings 200 by the unmanned aerial vehicle 2 can be performed in parallel. This makes it possible to further improve the work efficiency related to estimates for repairs, etc., of the existing building 200.

[0155] Furthermore, according to this embodiment, the system further includes a server 3 that receives appearance information D16 captured by the unmanned aerial vehicle 2 via a wireless communication network 9, and a transmission control unit that controls the transmission of appearance information D16 to the server 3. That is, appearance information D16 can be recaptured and transmitted, or multiple appearance information D16 related to multiple existing buildings 200 can be transmitted at once. Therefore, there is no need to wait to recapture appearance information D16 or photograph other existing buildings until the transmission of appearance information D16 is complete due to line congestion caused by the transmission of large amounts of data. This further improves the work efficiency related to estimates for repairs, etc., of existing buildings 200. In addition, the number of data transmissions can be reduced by recapturing appearance information D16 or transmitting multiple appearance information D16 at once. Furthermore, the waiting time until the transmission of appearance information D16 is complete can be shortened by moving to an area within short-range wireless communication range, etc. This further improves the work efficiency related to estimates for repairs, etc., of existing buildings 200.

[0156] Furthermore, according to this embodiment, the unmanned aerial vehicle (UAV) photography method includes an operation control step S15 that controls the flight operation of the UAV 2 based on the flight path L generated based on the acquired shooting range R and the acquired shooting altitude, and also controls the shooting operation of the UAV 2 based on the shooting operation specified based on the acquired number of shots. Therefore, by setting the shooting range R to match the existing building 200, the entire existing building 200 can be automatically photographed according to the generated flight path L. This improves the work efficiency related to estimating repairs and other work on the existing building 200.

[0157] Furthermore, according to this embodiment, after the flight and photography operations are completed, the operation control step S15 photographs the exterior of the existing building 200 at an altitude where the entire building 200 fits within the field of view V, at coordinates corresponding to the center of the longer of the diagonals of the acquired rectangular photography range R. Therefore, exterior information D16 that captures the entire building 200 within the field of view V at the same time as the exterior information D16 photographed on the flight path L can be easily acquired, and can be used, for example, in place of a roof plan to prevent overlooking anything within the photography range R. This improves the accuracy of estimates for repairs to the existing building 200.

[0158] Furthermore, according to this embodiment, the unmanned aerial vehicle (UAV) photography program controls the flight operation of the UAV 2 based on the flight path L generated based on the acquired shooting range R and the acquired shooting altitude, and also causes the computer to execute an operation control step S15 that controls the shooting operation of the UAV 2 based on the shooting operation identified based on the acquired number of shots. Therefore, by setting the shooting range R to match the existing building 200, the entire existing building 200 can be automatically photographed according to the generated flight path L. This improves the work efficiency related to estimating repairs and other work on the existing building 200.

[0159] (Second embodiment: Unmanned aerial vehicle imaging system 100) Referring to Figure 12, an example of the unmanned aerial vehicle imaging system 100 in this embodiment will be described. This embodiment differs from the first embodiment in that the unmanned aerial vehicle imaging system 100 further includes an authentication unit 17. Note that the same configuration as described above will not be explained.

[0160] The unmanned aerial vehicle imaging system 100 further includes at least one of the authentication unit 17 and the calculation unit 18, as shown in Figure 12, for example.

[0161] <Authentication Section 17> The authentication unit 17 authenticates that the approval information corresponding to the unmanned aircraft 2 is valid. The authentication unit 17 authenticates that the approval information corresponding to the unmanned aircraft 2 is valid, after referring to a database 7 which contains information on flight permits for the unmanned aircraft 2 in, for example, DIPS or FISS.

[0162] <Calculation Section 18> The calculation unit 18 calculates the number of images taken based on the shooting altitude of the unmanned aerial vehicle 2, or the shooting altitude based on the number of images taken. For example, the calculation unit 18 calculates the number of images taken based on the shooting altitude of the unmanned aerial vehicle 2 acquired by the shooting condition acquisition unit 15, or the shooting altitude based on the number of images taken by the unmanned aerial vehicle 2 acquired by the shooting condition acquisition unit 15.

[0163] (Second embodiment: An example of the operation of the unmanned aerial vehicle imaging system 100) Next, an example of the operation of the unmanned aerial vehicle imaging system 100 in this embodiment will be described with reference to Figures 13 to 17.

[0164] The operation of the unmanned aerial vehicle imaging system 100 further includes an authentication step S16 and an appearance information storage step S17, as shown in Figure 13, for example. The authentication step S16 may be performed before or after the shooting range acquisition step S11, the flight path generation step S12, the shooting condition acquisition step S13, and the shooting operation identification step S14, as long as it is before the operation control step S15, and may be performed multiple times. The appearance information storage step S17 may be performed together with the operation control step S15, or it may be performed after the completion of the operation control step S15.

[0165] First, we will explain the various types of information associated with the operation of the unmanned aerial vehicle imaging system 100 in this embodiment.

[0166] <Database 7> Database 7 is pre-stored in any of the components of the unmanned aerial vehicle imaging system 100. In this embodiment, an example is described in which database 7 is pre-stored in server 3, but database 7 may also be pre-stored in each storage unit 104, 204, etc., instead of or together with server 3.

[0167] Database 7 includes, for example, an unmanned aerial vehicle information table 71, an approval information table 72, an appearance information table 73, and a construction work information table 74, as shown in Figure 14. The information stored in each of tables 72 to 74 is preferably linked to identifiable information, for example, to the information stored in the unmanned aerial vehicle information table 71. The information stored in each table is received or directly entered by, for example, server 3. In addition, the information stored in each table is stored linked to identification information such as a library number issued by the unmanned aerial vehicle photography system 100 or reference unmanned aerial vehicle identification information D71. The information stored in each of tables 71 to 74 may also be information that has been pre-entered by user U.

[0168] <Unmanned Aerial Vehicle Information Table 71> The unmanned aerial vehicle information table 71 stores reference unmanned aerial vehicle identification information D71, for example, as shown in Figure 15(a).

[0169] <Reference unmanned aircraft identification information D71> Reference unmanned aircraft identification information D71 is information used to identify one or more unmanned aircraft. Reference unmanned aircraft identification information D71 includes information such as "pilot name," "unmanned aircraft name," "serial number," "radio aircraft registration number," and "insurance expiration date."

[0170] Reference unmanned aircraft identification information D71 may include information corresponding to unmanned aircraft identification information D11, for example, that identifies unmanned aircraft 2. "Pilot name" may include information corresponding to pilot name D111, for example, that identifies user U. "Unmanned aircraft name" may include information corresponding to unmanned aircraft name D112, for example, that identifies unmanned aircraft 2. "Serial number," "radio aircraft registration number," and "insurance expiration date" may include information corresponding to the serial number, registration number, and insurance expiration date of unmanned aircraft 2, respectively.

[0171] Server 3 may, after confirming that the reference unmanned aircraft identification information D71, which is stored in advance in the unmanned aircraft information table 71, corresponds to the pilot name D111 received from the control device 1, receive information such as the "serial number," "radio aircraft registration number," and "insurance expiration date" of the unmanned aircraft 2 associated with the pilot name D111, and store it in the reference unmanned aircraft identification information D71. For example, if the pilot name D111 received from the control device 1 does not correspond to the reference unmanned aircraft identification information D71 stored in advance, Server 3 may generate a new reference unmanned aircraft identification information D71 corresponding to the pilot name D111 received by Server 3 and store it in the database 7. These processes can be replaced with any information contained in the unmanned aircraft identification information D111 that can identify user U or unmanned aircraft 2; for example, the unmanned aircraft name D112 may be used instead of the pilot name D111.

[0172] <Approval Information Table 72> The approval information table 72 stores the reference approval information D72, for example, as shown in Figure 15(b).

[0173] <Reference approval information D72> Reference approval information D72 is information that shows the details of the flight permit for one or more unmanned aircraft. Reference approval information D72 includes information such as "flight permit number" and "flight permit expiration date".

[0174] Reference approval information D72 may include information corresponding to approval information showing the content of the flight permit for unmanned aircraft 2, which is stored in an external database such as DIPS (Drone Information Infrastructure System) or FISS (Flight Information Sharing System). "Flight permit number" may include information corresponding to the flight permit number of unmanned aircraft 2. "Flight permit expiration date" may include information corresponding to the flight permit expiration date linked to the flight permit number of unmanned aircraft 2.

[0175] Server 3 may, after confirming that the reference unmanned aircraft identification information D71, which is stored in the unmanned aircraft information table 71 in advance, corresponds to the unmanned aircraft identification information D11 received from the control device 1, receive the approval information of the unmanned aircraft 2 associated with the unmanned aircraft identification information D11, and store it in the reference approval information D72.

[0176] <Appearance Information Table 73> The appearance information table 73 stores reference appearance information D73, for example, as shown in Figure 16(a).

[0177] <Reference appearance information D73> Reference appearance information D73 includes appearance information captured for one or more unmanned aerial vehicles. Reference appearance information D73 includes information such as "partial building images," "entire building images," and "three-dimensional modeling images."

[0178] Reference appearance information D73 may include, for example, information corresponding to appearance information D16 captured by the unmanned aerial vehicle 2. "Building portion image" may include, for example, information corresponding to building portion appearance information D161 captured by the unmanned aerial vehicle 2. "Whole building image" may include, for example, information corresponding to whole building appearance information D162 captured by the unmanned aerial vehicle 2, or processed appearance information D163 processed based on building portion appearance information D161. "Three-dimensional modeling image" may include, for example, information corresponding to processed appearance information D163 processed based on building portion appearance information D161 and whole building appearance information D162, etc., captured by the unmanned aerial vehicle 2.

[0179] Server 3 may, after confirming that the reference unmanned aircraft identification information D71, which is stored in the unmanned aircraft information table 71 in advance, corresponds to the unmanned aircraft identification information D11 received from the control device 1, receive the appearance information D16 of the unmanned aircraft 2 associated with the unmanned aircraft identification information D11, and store it in the reference appearance information D73.

[0180] <Construction Information Table 74> The construction information table 74 stores reference construction identification information D74, for example, as shown in Figure 16(b).

[0181] <Reference building construction identification information D74> Reference building construction identification information D74 is information used to identify building construction projects for one or more existing buildings. Reference building construction identification information D74 includes information such as "building project name," "building contractor name," "building project name," and "construction area."

[0182] Reference building construction identification information D74 may include information corresponding to building construction information that shows the details of the building construction of existing building 200, for example. "Building construction name" may include information corresponding to the name of the building construction of existing building 200, for example. "Building contractor name" may include information corresponding to the name of the contractor that will carry out the building construction of existing building 200, for example. "Building project name" may include information corresponding to a name that identifies existing building 200, for example. "Construction area" may include information corresponding to a name that identifies the area in which existing building 200 is located, for example.

[0183] Server 3 may, after confirming that the reference unmanned aerial vehicle identification information D71, which is stored in the unmanned aerial vehicle information table 71 in advance, corresponds to the unmanned aerial vehicle identification information D11 received from the control device 1, receive the appearance information D16 of the unmanned aerial vehicle 2 linked to the unmanned aerial vehicle identification information D11, and then link and store the reference building construction identification information D74 and the reference appearance information D73 via the reference unmanned aerial vehicle identification information D71.

[0184] Next, the operation flow of the unmanned aerial vehicle imaging system 100 in this embodiment will be described.

[0185] <Authentication Step S16> In authentication step S16, the authentication unit 17 refers to a database 7 containing an approval information table 72 in which reference unmanned aircraft identification information D71 and reference approval information D72 are linked, and authenticates that the approval information corresponding to the unmanned aircraft 2 is valid. After authentication in authentication step S16 that the approval information for the unmanned aircraft 2 is valid, in operation control step S15, the operation control unit 502 controls the shooting operation of the unmanned aircraft 2. In this case, it is possible to easily and reliably check for forgotten or expired flight permits for the unmanned aircraft 2, thereby avoiding or preventing illegal acts by user U. This improves the accuracy of compliance with laws and regulations regarding the operation of the unmanned aircraft 2 used for estimating repairs to existing buildings 200.

[0186] Furthermore, when the unmanned aerial vehicle imaging system 100 is linked with an external system such as DIPS or FISS, it may apply for flight permission approval to the external system via the control device 1 or server 3, and may store the status information of the application received (pending, requires reapplication, approved) and the approval information of the unmanned aerial vehicle 2 as a result of the received approval application in the reference approval information D72. In this case, the confirmation of whether or not flight permission is available for the unmanned aerial vehicle 2, the application for flight permission, and the acquisition of approval information can be centrally managed. This improves the efficiency of work up to the preparation of the unmanned aerial vehicle 2 for flight.

[0187] <Step S13 for acquiring shooting conditions> In the shooting condition acquisition step S13, the shooting condition acquisition unit 15 first acquires either the shooting altitude information D141 or the number of shots information D142, and then acquires the other calculated by the calculation unit 18. In this case, the number of shots can be automatically optimized, reducing the system's communication capacity, storage capacity, and the effort required to check the shooting content. This further improves the work efficiency related to estimates for repairs to the existing building 200. If the number of shots indicated by the acquired number of shots information D142 falls outside the threshold, the shooting condition acquisition unit 15 may reacquire at least one of the shooting altitude information D141 and the number of shots information D142 in order to optimize the number of shots. The shooting condition acquisition unit 15 may, for example, set the shooting interval (interval vertical width W3 or interval horizontal width W4) of the field of view V based on the previously acquired shooting altitude information D141 to 3m and calculate the number of shots information D142 indicating 30 or fewer shots, then set the shooting interval to 1m and recalculate the number of shots information D142 indicating more than 30 shots. Furthermore, if the previously acquired number of shots information D142 is more than 300 shots, the shooting condition acquisition unit 15 may extend the shooting interval to calculate the number of shots information D142 indicating 300 or fewer shots. Also, if the maximum shooting interval is set while the overlapping vertical width w3 and overlapping horizontal width w4 of the overlapping area are greater than 0, and the number of shots information D142 indicating more than 300 shots is calculated, the unit may determine that the existing building 200 or the shooting range R is wider than expected and return an error.

[0188] <Appearance information storage step S17> In the appearance information storage step S17, the unmanned aerial vehicle 2 links the appearance information D16 acquired by the motion control unit 502 in the motion control step S15 with the unmanned aerial vehicle identification information D11 stored in the storage unit 204 and transmits it to the server 3. Subsequently, the server 3 generates or duplicates reference appearance information D73 corresponding to the received appearance information D16, links it with reference unmanned aerial vehicle identification information D71 corresponding to the received unmanned aerial vehicle identification information D11, and stores it as appearance information table 73. In this case, the scenes to which the unmanned aerial vehicle imaging system 100 can be applied can be expanded, such as acquiring visual information of one existing building 200 using multiple unmanned aerial vehicles, or managing visual information of multiple existing buildings with one server 3. Note that some or all of the functions of the server 3 in the appearance information storage step S17 can be replaced by the functions of the control device 1.

[0189] (Second embodiment: Modified operation of the unmanned aerial vehicle imaging system 100) The calculation unit 18 calculates the shooting altitude based on the shooting interval In of the unmanned aerial vehicle 2 and a preset overlap width, which is the overlap width (width of the overlapping region) where the field of view V of the unmanned aerial vehicle 2 at two adjacent points separated by the shooting interval In overlap each other, as shown in Figure 17, for example. The preset overlap width may be preset in the unmanned aerial vehicle 2, for example, or it may be preset in any of the components of the unmanned aerial vehicle shooting system 100.

[0190] At this time, the shooting condition acquisition unit 15 acquires the shooting interval In and then acquires the shooting altitude calculated by the calculation unit 18. That is, by acquiring the shooting interval In, the shooting altitude is automatically calculated according to the overlap width (overlap value) of the superimposed area that has been set in advance. In this case, the appearance information D16 can be acquired with the minimum number of shots (number of images) while satisfying a predetermined overlap value for a large existing building 200, and the data capacity of the appearance information D16 is reduced, so the waiting time until the transmission of the appearance information D16 is completed can be shortened. This makes it possible to further improve the work efficiency related to estimates for repairs, etc., of the existing building 200. The overlap width should be a value sufficient to estimate a three-dimensional scene from a two-dimensional image using the SfM described above, for example, it may be set to approximately 2 meters or more based on actual measurements.

[0191] First, an example of information associated with the operation of the unmanned aerial vehicle (UAV) imaging system 100 will be explained. The UAV imaging system 100 uses imaging condition information D14, which includes imaging interval information indicating the imaging interval In, and setting overlap width information indicating the setting overlap width. The imaging interval information and setting overlap width information may be saved in advance in each configuration of the UAV imaging system 100, or they may be saved after receiving input from user U. The setting overlap width is, for example, a value required when generating visual information showing the entire existing building 200 by combining multiple building part exterior information D161 as processed exterior information D163, or when generating a three-dimensional modeling image of the existing building 200 based on two-dimensional exterior information.

[0192] As an example of shooting interval information and set overlap width information, Figure 17(a) shows the state before applying the shooting altitude (calculated shooting altitude) calculated by the calculation unit 18 based on the shooting interval In and set overlap width, and Figure 17(b) shows the state after applying the calculated shooting altitude. Figures 17(a) and 17(b) are side views corresponding to points P1 and P2 in the plan view of Figure 4(a).

[0193] Furthermore, the parameters related to the shooting conditions of the unmanned aerial vehicle 2 are the same as in Figure 9, and the field of view V1 and V2 are defined for the unmanned aerial vehicle 2 above points P1 and P2 on the roof of the existing building 200, respectively. In addition, the shooting angle θ, the vertical width within the field of view w1, the height h1 from the roof to the camera 21 of the unmanned aerial vehicle 2 at points P11 and P21 before applying the calculated shooting altitude, the height h2 of the existing building 200, and the adjusted height h4 of the unmanned aerial vehicle 2 from points P11 and P21 to points P12 and P22 before and after applying the calculated shooting altitude are the same values ​​at points P1 and P2, respectively. In this case, the sum of height h1 and height h2 is the shooting altitude before applying the calculated shooting altitude, and the sum of height h1, height h2, and adjusted height h4 is the calculated shooting altitude. Furthermore, the fields of view V1 and V2 are regular square pyramidal shapes with a shooting angle θ of approximately 90°, and are symmetrical with respect to the vertical direction in the side view shown in Figures 17(a) to 17(b). In this case, the distance from point P1 to the outer edge of field of view V1 and the distance from point P2 to the outer edge of field of view V2 are both w1 / 2. Also, the overlapping vertical width w3 is defined as the width in the direction of flight of the overlapping region of the fields of view V1 of points P11 and P12 above point P1 and the fields of view V2 of points P21 and P22 above point P2.

[0194] In this case, the unmanned aerial vehicle 2, before applying the calculated shooting altitude, flies from the aerial point P11 towards the aerial point P21 while maintaining the shooting altitude, as shown in Figure 17(a), for example. At this time, the relationship is overlap vertical width w3 = w1 / 2 + w1 / 2 - In, that is, overlap vertical width w3 = vertical width within the field of view w1 - shooting interval In. If the overlap vertical width w3 does not satisfy the set overlap vertical width w3' in the flight direction among the preset set overlap widths, it is necessary to modify at least one of the shooting interval In and the vertical width within the field of view w1. However, since the vertical width within the field of view w1 is a variable parameter that can be adjusted by adjusting the shooting altitude, the operation of the unmanned aerial vehicle 2 can be controlled so that the set overlap vertical width w3' is satisfied at any shooting interval In by calculating the calculated shooting altitude or the adjustment height h4 using the calculation unit 18.

[0195] Next, we will describe an example of the operation of the unmanned aerial vehicle imaging system 100.

[0196] In the shooting condition acquisition step S13, the shooting condition acquisition unit 15 acquires shooting condition information D14, which includes shooting interval information and set overlap width information of the unmanned aerial vehicle 2. Subsequently, the calculation unit 18 calculates the calculated shooting altitude based on the shooting interval information and set overlap width information previously acquired by the shooting condition acquisition unit 15. The shooting condition acquisition unit 15 also acquires the calculated shooting altitude calculated by the calculation unit 18.

[0197] Subsequently, in the operation control step S15, the operation control unit 502 receives a control signal from the control device 1 to start shooting, and then controls the flight operation of the unmanned aerial vehicle 2 based on the flight path L included in the flight path information D13 generated by the flight path generation unit 14 in the flight path generation step S12, and the calculated shooting altitude included in the shooting altitude information D141 acquired by the shooting condition acquisition unit 15 in the shooting condition acquisition step S13.

[0198] More specifically, as shown in Figure 17(b), for example, the unmanned aerial vehicle 2 ascends from the aerial point P11 by an adjustment height h4 to the aerial point P12, which corresponds to the calculated shooting altitude, and then flies toward the aerial point P22 while maintaining the calculated shooting altitude. At this time, the relationship is w1' = shooting interval In + set overlapping vertical width w3'. In this way, by calculating a shooting altitude that satisfies the w1' within the field of view, the unmanned aerial vehicle 2 can acquire the appearance information D16 for the large existing building 200 with the minimum number of shots (number of images) while satisfying a predetermined overlap value. Note that if the adjustment height h4 is less than 0, i.e., the calculated shooting altitude is lower than the shooting altitude, it is preferable to descend by an adjustment height h4 from the aerial point P11 and then fly while maintaining the calculated shooting altitude, so that clearer appearance information D16 can be acquired while satisfying the predetermined overlap value.

[0199] Furthermore, depending on the calculated shooting altitude, if the external appearance information D16 becomes unclear at some shooting points of the existing building 200 due to being too far away from the building 200, the unmanned aerial vehicle 2 may be manually flown to those shooting points to capture close-up images, which can then be used to supplement the external appearance information D16. Alternatively, a three-dimensional modeling image with the clarity resolved may be generated by using the external appearance information D16 acquired by the unmanned aerial vehicle 2 under the control of the motion control unit 502 and the supplementary images captured by the unmanned aerial vehicle 2 through manual operation.

[0200] According to this embodiment, the operation control unit 502 controls the shooting operation of the unmanned aerial vehicle 2 after the authentication unit 17 has authenticated that the approval information is valid. Therefore, it is possible to easily and reliably check for forgotten or expired flight permits for the unmanned aerial vehicle 2, thereby avoiding or preventing illegal activities by user U. This improves the accuracy of compliance with laws and regulations regarding the operation of the unmanned aerial vehicle 2 used for estimating repairs to existing buildings 200.

[0201] Furthermore, according to this embodiment, the motion control unit 502 controls the shooting operation of the unmanned aerial vehicle 2 after calculating either the number of shots based on the acquired shooting altitude or the shooting altitude based on the acquired number of shots. Therefore, the number of shots can be automatically optimized, reducing the system's communication capacity, storage capacity, and the effort required to check the shooting content. This makes it possible to further improve the work efficiency related to estimates for repairs to existing buildings 200.

[0202] Furthermore, according to this embodiment, the system is further equipped with a calculation unit 18 that calculates the shooting altitude based on the shooting interval In of the unmanned aerial vehicle 2 and a preset overlap width. The shooting condition acquisition unit 15 acquires the shooting interval In and then acquires the shooting altitude calculated by the calculation unit 18. In other words, by acquiring the shooting interval In, the shooting altitude is automatically calculated according to the preset overlap width (overlap value). As a result, the external appearance information D16 can be acquired with the minimum number of shots (number of images) while satisfying a predetermined overlap value for large existing buildings 200, and the data capacity of the external appearance information D16 is reduced, thus shortening the waiting time until the transmission of the external appearance information D16 is completed. This makes it possible to further improve the work efficiency related to estimates for repairs, etc., of existing buildings 200.

[0203] (Third embodiment: Construction cost estimation system using unmanned aerial vehicle imaging system 100) Referring to Figure 18, an example of a construction cost estimation system using the unmanned aerial vehicle imaging system 100 described above will be explained. Note that explanations of configurations similar to those described above will be omitted.

[0204] The construction cost estimation system, as shown in Figure 18, for example, further comprises a construction area acquisition unit 61, a building material information acquisition unit 62, a building material quantity calculation unit 63, a unit price acquisition unit 64, and a construction cost output unit 65, in addition to the aforementioned unmanned aerial vehicle photography system 100. In this embodiment, an example is described in which the control device 1 comprises each of the units 61 to 65, but at least some of each of the units 61 to 65 may be provided by the server 3.

[0205] <Construction Scope Acquisition Section 61> The construction scope acquisition unit 61 acquires the construction scope of the building work specified from the exterior information. For example, the construction scope acquisition unit 61 acquires the construction scope of the building work specified from the exterior information D16 showing the exterior of an existing building 200, which was photographed by the unmanned aerial photography system 100.

[0206] The construction scope acquisition unit 61 acquires the construction scope of a specified building project by receiving input from a user U who has viewed the appearance information D16 displayed on the display unit 109, for example, via the input unit 108. The construction scope acquisition unit 61 may also acquire the construction scope of a specified building project by automatically recognizing specific parts of the existing building 200, such as the roof and walls, from the appearance information D16, for example, via a known image recognition system.

[0207] <Building material information acquisition department 62> The building material information acquisition unit 62 acquires identification information of building materials used in construction work. The building material information acquisition unit 62 acquires identification information of building materials by, for example, receiving input from user U via the input unit 108. The building material information acquisition unit 62 may also acquire identification information of building materials by, for example, referring to a database that has been pre-associated with building material identification information for each specific part, according to a specific part of the existing building 200 acquired from the exterior information D16 via a known image recognition system.

[0208] <Building Materials Quantity Calculation Unit 63> The building material quantity calculation unit 63 calculates the number of building materials to be used in the construction work based on the scope of work related to the construction work and the identification information of the building materials. For example, the building material quantity calculation unit 63 calculates the number of building materials to be used in the construction work based on the scope of work acquired by the scope of work acquisition unit 61 and the identification information of the building materials acquired by the building material information acquisition unit 62.

[0209] The building material quantity calculation unit 63 calculates the quantity by, for example, dividing the area of ​​the construction area acquired by the construction area acquisition unit 61 by the area per building material, or by accumulating the amount used per unit area. The building material quantity calculation unit 63 calculates the quantity by dividing the area of ​​the construction area for each part acquired by the construction area acquisition unit 61, for example, the area of ​​the construction area acquired for each part such as horizontal roofing, vertical roofing, gable, and wall, by the area per building material corresponding to each part, or by accumulating the amount used per unit area corresponding to each part. The building material quantity calculation unit 63 may also use the results of automatically calculating the number of roofs and exterior walls using, for example, known exterior roofing allocation and estimation software such as "Tsubo Hari (registered trademark)" as the calculation result.

[0210] <Unit Price Acquisition Section 64> The unit price acquisition unit 64 refers to a database 7 in which building material identification information and building material unit prices are pre-linked, and then acquires the unit price of the building material corresponding to the building material identification information from the database 7. For example, the unit price acquisition unit 64 acquires the unit price of the building material corresponding to the building material identification information acquired by the building material information acquisition unit 62.

[0211] <Construction cost output unit 65> The construction cost output unit 65 outputs the construction cost corresponding to the number of building materials and the unit price of the building materials. For example, the construction cost output unit 65 outputs the construction cost corresponding to the number of building materials calculated by the building material quantity calculation unit 63 and the unit price of the building materials obtained by the unit price acquisition unit 64.

[0212] (Third embodiment: An example of the operation of a construction cost estimation system using an unmanned aerial vehicle imaging system 100) Next, an example of the operation of the construction cost estimation system in this embodiment will be described with reference to Figures 19 to 25. The construction cost estimation system is executed, for example, via a control device 1, an unmanned aerial vehicle 2, and an unmanned aerial vehicle photography program installed in the server 3.

[0213] The operation of the construction cost estimation system further includes, for example, a construction scope acquisition step S21, a building material information acquisition step S22, a building material quantity calculation step S23, a unit price acquisition step S24, and a construction cost output step S25, as shown in Figure 19. In this embodiment, an example is described in which the operation of the construction cost estimation system is performed after each step S11 to S17 included in the operation of the unmanned aerial vehicle photography system 100. However, if the appearance information D16 has been acquired in advance using the unmanned aerial vehicle photography system 100, each step S11 to S17 may be omitted.

[0214] First, we will explain the various types of information associated with the operation of the construction cost estimation system in this embodiment.

[0215] <Construction Information D17> Construction information D17 is information relating to the construction work of the existing building 200. Construction information D17 includes construction scope information D171, for example, as shown in Figure 20. Construction information D17 may also include construction part information D172, which may be stored linked to construction scope information D171. Construction information D17 may also include construction area information D173, which may be stored linked to construction scope information D171. Construction information D17 is acquired, for example, when the input unit 108 of the control device 1 receives input from user U.

[0216] Construction scope information D171 is information that specifies the scope of construction work to be carried out on the existing building 200. Construction scope information D171 specifies a planar construction area. Construction scope information D171 specifies, for example, a polygonal construction area. Construction scope information D171 includes, for example, the dimensions of each side of the polygon and the area of ​​the planar construction area for the specified construction area. Construction scope information D171 may specify, for example, multiple construction areas that are spaced apart from each other.

[0217] The construction scope information D171 is formed, for example, from the exterior information D16 of the existing building 200, following the outer perimeter shape. In this case, the construction scope may be defined as part or all of the roof of the existing building 200 included in the exterior information D16, or part or all of the walls.

[0218] Construction part information D172 is information that identifies the parts that make up the exterior of the existing building 200. Construction part information D172 includes information that identifies parts such as "roof" and "walls".

[0219] Construction area information D173 indicates the area where the existing buildings 200 where construction work will be carried out are located. Construction area information D173 may include information that identifies areas by, for example, regional divisions of Japan or by local government divisions.

[0220] <Building material information D18> Building material information D18 is information relating to building materials used in the construction of existing buildings 200. Building material information D18 includes, for example, building material characteristic information D181, building material identification information D182, building material quantity information D183, etc. Construction information D17 may include only one of building material characteristic information D181 and building material identification information D182, or it may include both and be stored linked to each other. Building material information D18 is acquired, for example, when the input unit 108 of the control device 1 receives input from user U.

[0221] Building material feature information D181 is information that indicates the characteristics of building materials used in the construction of 200 existing buildings. Building material feature information D181 includes information indicating the category of building materials such as "horizontal roofing," "vertical roofing," and "gable," as well as information indicating the material of the building materials such as "steel" and "aluminum."

[0222] Building material identification information D182 is information for identifying building materials used in the construction of 200 existing buildings. Building material characteristic information D181 includes information that identifies building materials, such as the product name and product model number.

[0223] <Database 7> Database 7 further includes a building materials installation information table 75, as shown in Figure 21, for example. The information stored in the building materials installation information table 75 is preferably linked to identifiable information, such as an identification number issued by the construction work estimate creation system.

[0224] <Construction Information Table 74> The construction information table 74 stores reference construction identification information D74 for identifying one or more existing building construction projects, linked together with reference building material information D76, as shown in Figure 22, for example. The construction information table 74 may also store reference construction identification information D74 for identifying one or more existing building construction projects, linked together with reference exterior information D73 and reference construction information D75, etc. Note that the reference building material information D76 is a copy of the information stored in the building material installation information table 75, for example.

[0225] <Reference Construction Information D75> Reference construction information D75 is information that shows the details of construction work for one or more existing buildings. Reference construction information D75 includes information such as "building material installation area," which shows the installation area of ​​building materials used in the construction work.

[0226] Reference construction information D75 may include information corresponding to construction information that shows the details of the construction work for existing building 200, for example. "Building material installation area" may include information corresponding to construction scope information D171 included in construction information D17 of the construction work for existing building 200, for example.

[0227] <Building Materials Installation Information Table 75> The building materials and construction information table 75 stores reference building materials information D76, for example, as shown in Figure 23(a). The building materials and construction information table 75 may also store reference building materials information D76 and reference construction information D77 linked together, for example, as shown in Figure 23(b).

[0228] <Reference building material information D76> Reference building materials information D76 is information that shows the details of building materials used in the construction of one or more existing buildings. Reference building materials information D76 includes information such as "building material name," "building material unit price," "building material supplier name," "building material material," "building material characteristics," "auxiliary material name," and "building material quantity."

[0229] Reference building material information D76 may include, for example, information corresponding to building material identification information D182. Reference building material information D76 may include, for example, information corresponding to building material feature information D181. "Building material name" may include, for example, information indicating the name of the building material corresponding to building material feature information D181 or building material identification information D182. "Building material unit price" may include, for example, information indicating the unit price of the building material corresponding to building material feature information D181 or building material identification information D182. "Building material supplier name" may include, for example, information indicating the name of the supplier of the building material corresponding to building material feature information D181 or building material identification information D182. "Building material material" may include, for example, information indicating the material of the building material corresponding to building material feature information D181 or building material identification information D182. "Auxiliary material name" may include, for example, information indicating jigs, etc., necessary for installing the building material corresponding to building material feature information D181 or building material identification information D182. "Number of building materials" may include information indicating the number of building materials corresponding to the number of building materials information D183 included in the building material information D18, for example.

[0230] <Reference construction information D77> Reference Construction Information D77 is information that provides details regarding the installation of building materials used in the construction of one or more existing buildings. Reference Construction Information D77 includes information such as "Construction Name," "Contractor Name," "Construction Details," "Construction Unit Price," and "Construction Man-Hours" related to the installation of building materials used in construction.

[0231] Reference construction information D77 may include, for example, one or more construction information corresponding to building material identification information D182. Reference construction information D77 may include, for example, one or more construction information corresponding to building material feature information D181. Here, one or more construction information may be multiple pieces of information with different construction processes, or they may be chronological information or alternative information included in the same construction process. "Construction name" may include, for example, information indicating the construction name related to the construction of building materials corresponding to building material feature information D181 or building material identification information D182. "Contractor name" may include, for example, information indicating the contractor related to the construction of building materials corresponding to building material feature information D181 or building material identification information D182. "Construction details" may include, for example, information indicating the construction details related to the construction of building materials corresponding to building material feature information D181 or building material identification information D182. "Construction unit price" may include, for example, information indicating the construction unit price related to the construction of building materials corresponding to building material feature information D181 or building material identification information D182. "Construction man-hours" may include information indicating the construction man-hours related to the construction of building materials corresponding to, for example, building material characteristic information D181 or building material identification information D182.

[0232] Next, the operation flow of the construction work estimate creation system in this embodiment will be described.

[0233] <Step S21 for obtaining the scope of work> In the construction scope acquisition step S21, the construction scope acquisition unit 61 acquires the construction scope of the building work specified from the reference appearance information D73 as construction scope information D171, for example, as shown in Figure 24. The construction scope acquisition unit 61 may also acquire the construction scope of the building work specified from the appearance information D16 as construction scope information D171. In this embodiment, an example is described in which a three-dimensional model image of an existing building 200 is used as the reference appearance information D73, but one or more images may be used, or a video may be used.

[0234] The construction area acquisition unit 61 receives a specification of the construction area from a user U who has viewed reference appearance information D73, such as a three-dimensional modeling image of an existing building 200 displayed on the display unit 109, via the input unit 108. This allows the acquisition of construction area information D171, which includes, for example, areas A, B, C, and D, as construction information D17. Furthermore, by receiving input of construction area information D171 and construction part information D172 from the user U, the construction area acquisition unit 61 can acquire construction area information D171 linked to construction part information D172, which includes, for example, roof A of area A, roof B of area B, roof C of area C, and roof D of area D, as construction information D17.

[0235] In the example shown in Figure 24, user U selects the outer perimeter of each roof in the three-dimensional modeling image A displayed on the display unit 109, thereby obtaining the range of roofs A to C and the dimensions of each side. Subsequently, user U rotates the three-dimensional modeling image A and specifies the outer perimeter of the remaining roof in the three-dimensional modeling image B displayed on the display unit 109, thereby obtaining the range of roof D and the dimensions of each side. Then, in order to simplify the calculation of the number of building materials, a diagram of each roof A to D unfolded in a planar manner is obtained as construction scope information D171 by a generation process based on the obtained dimensions of each roof A to D, or by a method that accepts input from user U regarding the obtained dimensions of each roof A to D.

[0236] <Building material information acquisition step S22> In the building material information acquisition step S22, the building material information acquisition unit 62 acquires building material identification information D182 specified by user U. The building material information acquisition unit 62 acquires building material identification information D182 by receiving input for the specification of building materials from user U, for example, after viewing a list of one or more reference building material information D76 displayed on the display unit 109.

[0237] Here, all of the reference building material information D76 may be displayed on the display unit 109, or only the information related to the construction information D17 acquired by the construction scope acquisition unit 61 may be displayed on the display unit 109. In the example in Figure 24, if the construction scope acquisition unit 61 acquires construction information D17 which includes construction part information D172 indicating the "roof" part, the display unit 109 may display only the reference building material information D76 corresponding to the roofing material.

[0238] <Building material quantity calculation step S23> In the building material quantity calculation step S23, the building material quantity calculation unit 63 calculates building material quantity information D183 from the construction scope information D171 acquired by the construction scope acquisition unit 61 in the construction scope acquisition step S21 and the building material identification information D182 acquired by the building material information acquisition unit 62 in the building material information acquisition step S22. In the example in Figure 24, in addition to calculating the total number of each building material as construction information D17, the number of "raw materials" used as single materials and the number of "cut materials" that are processed to fit the shape of the roof or exterior wall may also be calculated.

[0239] <Unit price acquisition step S24> In the unit price acquisition step S24, the unit price acquisition unit 64 refers to a database 7 in which building material identification information and building material unit prices are pre-linked, and then acquires the unit price of the building material corresponding to the building material identification information D182 acquired by the building material information acquisition unit 62 from the database 7. For example, as shown in Figure 25, the unit price acquisition unit 64 refers to a building material construction information table 75 in which "building material name" and "building material unit price" are linked, and then acquires the unit price of the building material corresponding to the building material identification information D182 from the building material construction information table 75.

[0240] <Construction cost output step S25> In the construction cost output step S25, the construction cost output unit 65 outputs the construction cost D19 corresponding to the building material quantity information D183 calculated by the building material quantity calculation unit 63 in the building material quantity calculation step S23 and the unit price of the building materials acquired by the unit price acquisition unit 64 in the unit price acquisition step S24. For example, as shown in Figure 25, the construction cost output unit 65 outputs the "material cost" for each building material corresponding to the building material identification information D182, and the estimated subtotal A obtained by multiplying the "quantity (A1)" of that building material by the "unit price (A3)" as the construction cost D19. In other words, even if user U lacks specialized knowledge and is unfamiliar with estimating repairs to the existing building 200, they can still engage in tasks related to repair estimates. In this case, the construction cost D19 based on the appearance information D16 showing the appearance of the existing building 200 can be easily output. This improves the work efficiency related to estimating repairs to the existing building 200. In this case, the construction cost output unit 65 may calculate the estimated subtotal B by multiplying the "quantity (B1)" of processing by the "unit price (B3)" according to the building material identification information D182 and the building material quantity information D183, and then calculate the estimated subtotal C by multiplying the "quantity (C1)" of construction by the "unit price (C3)" according to the "construction cost" according to the building material identification information D182 and the building material quantity information D183, and then output the total estimated amount D, which is the sum of each estimated subtotal A to C, as the construction cost D19.

[0241] Alternatively, when the unit price acquisition unit 64 refers to the building material construction information table 75, which links "building material name" and "building material cost," and acquires the cost of the building material corresponding to the building material identification information D182 from the building material construction information table 75, it may acquire the selling unit price calculated using the "cost (A2)" of that building material and the "gross profit margin (E)" specified by user U, and then calculate the estimated amount by multiplying it by "quantity (A1)" instead of "unit price (A3)."

[0242] (Third embodiment: Modified operation of a construction estimate creation system using an unmanned aerial vehicle imaging system 100) The following is an example of a modified operation of the construction work estimate creation system. In the building material information acquisition step S22, the building material information acquisition unit 62 acquires building material feature information D181 specified by user U. Then, as shown in Figure 23(b), for example, the building material information acquisition unit 62 refers to the building material construction information table 75, which links building material features (e.g., "building material features") and building material identification information (e.g., "building material name"), and acquires the "building material name" linked to the "building material feature" corresponding to the acquired building material feature information D181 as building material identification information D182 from the building material construction information table 75. In this case, there is no need to grasp the building material identification information by identifying the building material features. This makes it possible to further improve the work efficiency related to estimates for repairs, etc., of existing buildings 200. Also, when multiple "building material names" are linked to one "building material feature", user U can selectively specify building material identification information D182 from one or more "building material names". In this case, if there are multiple identification pieces of building material corresponding to the characteristics of the identified building material, the identification piece of building material can be arbitrarily selected. This improves the usability of estimating repairs and other work for existing buildings 200.

[0243] Another example of how the construction cost estimation system works is as follows: In the construction area acquisition step S21, the construction area acquisition unit 61 acquires construction area information D173 specified by user U. Then, in the building material information acquisition step S22, the building material information acquisition unit 62 acquires building material characteristic information D181 specified by user U. Subsequently, as shown in Figure 23(b), for example, the building material information acquisition unit 62 refers to the building material construction information table 75, which links building material characteristics (e.g., "building material characteristics") and construction area with building material identification information (e.g., "building material name"), and then acquires the "construction area" corresponding to the acquired construction area information D173 and the "building material name" linked to the "building material characteristics" corresponding to the building material characteristic information D181 from the building material construction information table 75 as building material identification information D182. In this case, the construction cost D19, which takes into account building material circumstances due to the construction area such as regional characteristics, can be easily output. This will allow for further improvements in the efficiency of work related to estimates for repairs and other maintenance of the existing 200 buildings.

[0244] The following is another example of how the construction work estimate creation system can be operated. In the unit price acquisition step S24, the unit price acquisition unit 64, for example as shown in Figure 23(b), refers to the building material and construction information table 75, which links building material identification information (e.g., "building material name"), building material unit price (e.g., "building material unit price"), and construction unit price (e.g., "construction unit price"), and then acquires the "building material unit price" and "construction unit price" linked to the "building material name" corresponding to the acquired building material identification information D182 from the building material and construction information table 75. In this case, the content of the construction can be taken into consideration in the construction work estimate. This improves the accuracy of estimates for repairs, etc., of existing buildings 200. Also, when multiple "construction unit prices" are linked to one "building material name", user U can selectively specify the construction unit price from one or more "construction unit prices". In this case, if there are multiple unit prices for construction corresponding to the identification information of the specified building material, the unit price can be arbitrarily selected according to the content of the construction. This improves the usability of estimating repairs and other work for existing buildings 200.

[0245] Another example of how the construction cost estimation system works is as follows: In the construction area acquisition step S21, the construction area acquisition unit 61 acquires construction area information D173 specified by user U. Then, in the unit price acquisition step S24, the unit price acquisition unit 64, for example as shown in Figure 23(b), refers to the building material construction information table 75, which links building material identification information (e.g., "building material name") and construction area with construction unit price (e.g., "construction unit price"), and acquires the "building material name" corresponding to the acquired building material identification information D182 and the "construction unit price" linked to the acquired construction area information D173 from the building material construction information table 75. In this case, the construction cost D19, which takes into account construction circumstances due to the construction area such as regional characteristics, can be easily output. This makes it possible to further improve the work efficiency related to estimates for repairs, etc., of existing buildings 200.

[0246] According to the present embodiment, the construction cost estimation creation system includes: a construction range acquisition unit 61 that acquires the construction range of construction work specified from appearance information D16; a building material information acquisition unit 62 that acquires identification information of a building material specified by a user U; a building material quantity calculation unit 63 that calculates the quantity of the building material from the acquired construction range and the identification information of the building material; and a construction cost output unit 65 that outputs a construction cost D19 corresponding to the calculated quantity of the building material and a unit price of the building material corresponding to the acquired identification information of the building material. Therefore, the construction cost D19 based on the appearance information D16 representing the appearance of the existing building 200 can be easily output. This makes it possible to improve workability related to estimation for repairs and the like of the existing building 200.

[0247] Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and alterations can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and equivalents thereof. [Description of Symbols]

[0248] 100 Unmanned aerial vehicle imaging system 200 Existing building 1 Control device 10 Housing 101, 201 CPU 102, 202 ROM 103, 203 RAM 104, 204 Storage unit 105 to 107, 205 I / F 108 Input unit 109 Display unit 110, 210 Internal bus 11 Wireless communication unit 12 Storage unit 13 Imaging range acquisition unit 14 Flight path generation unit 15 Imaging condition acquisition unit 16. Shooting Operation Identification Unit 17. Certification Department 18 Calculation Section 61. Scope of work acquisition 62 Building material information acquisition department 63. Building Materials Quantity Calculation Department 64 Unit Price Acquisition Section 65. Output section for construction cost. 2 Unmanned aerial vehicle 20 Control Units 21 Cameras 22 batteries 23 Rotor motor 50 Flight Controllers 501 Sensor Information Acquisition Unit 502 Operation Control Unit 51 Wireless Communication Section 52 Storage section 53 ESC 3 servers 7 Databases 71 Unmanned Aerial Vehicle Information Table 72 Approval Information Table 73 Appearance Information Table 74 Construction Information Table 75 Building Materials Installation Information Table 9 Wireless communication network S11 Step to acquire shooting range S12 Flight path generation step S13 Step to acquire shooting conditions S14 Shooting operation identification step S15 Operation control step S16 Authentication Step S17 Appearance Information Storage Step S21 Steps to obtain the scope of work S22 Steps for acquiring building material information S23 Steps for calculating the number of building materials S24 Unit Price Acquisition Step S25 Construction Cost Output Step D11 Unmanned aircraft identification information D12 Shooting Range Information D13 Flight path information D14 Shooting Conditions Information D15 Unmanned Aerial Vehicle flight information D16 Appearance information D17 Construction information D18 Building material information D19 Construction work cost D71 Reference unmanned aerial vehicle identification information D72 Reference approval information D73 Reference appearance information D74 Reference construction work identification information D75 Reference construction information D76 Reference building material information D77 Reference construction information

Claims

1. In a system for creating construction cost estimates using unmanned aerial vehicles (UAVs) for creating construction cost estimates for existing buildings, Unmanned aerial vehicles and A shooting range acquisition unit that acquires a planar, rectangular shooting range of the entire existing building to be photographed by the aforementioned unmanned aerial vehicle, A flight path generation unit generates a horizontal flight path of the unmanned aerial vehicle based on the shooting range acquired by the shooting range acquisition unit, A shooting condition acquisition unit acquires the shooting altitude and the number of shots in the shooting range acquired by the shooting range acquisition unit, A shooting operation identification unit identifies the shooting operation on the flight path based on the number of shots acquired by the shooting condition acquisition unit, An operation control unit controls the flight operation of the unmanned aerial vehicle based on the flight path generated by the flight path generation unit and the shooting altitude acquired by the shooting condition acquisition unit, and controls the shooting operation of the unmanned aerial vehicle based on the shooting operation identified by the shooting operation identification unit to acquire building partial exterior information showing the exterior of a part of the existing building, and photographs the exterior of the existing building at an altitude where the entire existing building fits within the field of view, thereby acquiring building overall exterior information showing the exterior of the entire existing building. A construction scope acquisition unit acquires the scope of construction work specified from the building portion exterior information and the building overall exterior information acquired by the operation control unit, A building material information acquisition unit that acquires identification information of building materials to be used in the aforementioned construction work as specified by the user, A building material quantity calculation unit calculates the number of building materials to be used in the construction work from the construction scope acquired by the construction scope acquisition unit and the building material identification information acquired by the building material information acquisition unit. A unit price acquisition unit retrieves the unit price of a building material from the database, based on the identification information of the building material acquired by the building material information acquisition unit, after referring to a database in which the identification information of the building material and the unit price of the building material are pre-linked. A construction cost output unit outputs a construction cost corresponding to the number of building materials calculated by the building material quantity calculation unit and the unit price of the building materials obtained by the unit price acquisition unit. To be prepared A construction cost estimation system using unmanned aerial vehicles, characterized by the following features.

2. The flight path generation unit generates the flight path which includes a direction substantially perpendicular to the longest side of each side of the rectangular shooting range acquired by the shooting range acquisition unit. A construction work estimate creation system using an unmanned aerial vehicle as described in claim 1, characterized by the above.

3. The operation control unit controls the operation of the unmanned aerial vehicle so that when the remaining battery level on the unmanned aerial vehicle falls below a preset lower limit along the flight path generated by the flight path generation unit, the unmanned aerial vehicle automatically retreats to the takeoff point, and then resumes shooting from the point on the flight path where the retreat began when the remaining battery level rises to or above a predetermined value. A construction work estimate creation system using an unmanned aerial vehicle according to claim 1 or 2, characterized by the above.

4. A server that receives the exterior information of a portion of the building and the exterior information of the entire building, which are photographed by the aforementioned unmanned aerial vehicle, via a wireless communication network. A transmission control unit that controls the transmission of the building partial exterior information and the building overall exterior information to the server, To be even more prepared A construction work estimate creation system using an unmanned aerial vehicle according to claim 1 or 2, characterized by the above.

5. The system further includes an authentication unit that, after referring to a database that links unmanned aircraft identification information to identify the unmanned aircraft and approval information indicating flight permission for the unmanned aircraft in DIPS (Drone / UAS Information Platform System) or FISS (Flight Information Sharing System), authenticates that the approval information corresponding to the said unmanned aircraft is valid. The operation control unit controls the operation of the unmanned aerial vehicle after the authentication unit has authenticated that the approval information is valid. A construction work estimate creation system using an unmanned aerial vehicle according to claim 1 or 2, characterized by the above.

6. The system further comprises a calculation unit that calculates the number of images taken based on the aforementioned shooting altitude or the aforementioned shooting altitude based on the aforementioned number of images. The aforementioned shooting condition acquisition unit first acquires either the number of shots or the shooting altitude, and then acquires the other, which is calculated by the calculation unit. A construction work estimate creation system using an unmanned aerial vehicle according to claim 1 or 2, characterized by the above.

7. The system further includes a calculation unit that calculates the shooting altitude based on the shooting interval of the unmanned aerial vehicle and a preset overlap width which is the overlap width at which the angles of view of the unmanned aerial vehicle at two adjacent points separated by the shooting interval overlap each other. The shooting condition acquisition unit acquires the shooting interval and then acquires the shooting altitude calculated by the calculation unit. A construction work estimate creation system using an unmanned aerial vehicle according to claim 1 or 2, characterized by the above.

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