JP2016225863A - Imaging system, imaging method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To image an object by using an imaging section mounted on a flying body to obtain a desired picture of the object.SOLUTION: An imaging system detects a state of an object by using a flying body on which an imaging section is mounted, the flying body moving autonomously. The imaging system comprises: an acquisition section (wind force information acquisition section) for acquiring information showing strength of wind in an area in which the flying body is flying; and a control section (picture acquisition section) for adjusting the number of pictures acquired from the imaging section, depending on the strength of the wind. The control section, when the strength of the wind has exceeded prescribed strength determined in advance, performs control so as to increase the number of pictures per unit quantity with respect to the pictures to be acquired from the imaging section.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an imaging system, an imaging method, and a program.

The imaging system images an object such as a building or facility using a flying object. The imaging system supports inspection of the state of the object based on an image obtained by imaging. For example, there is a technique for acquiring the state of the surface of the facility based on an image obtained by imaging the facility from a flying object (see, for example, Patent Document 1).
By the way, in recent years, a small aircraft has been used. Many of the small-sized flying bodies are light in weight, and may be off the target flight path due to the influence of wind pressure during flight. Moreover, there exists a technique which changes a target flight path | route according to a wind force to the thing aiming at spraying dispersal materials, such as an agricultural chemical, from an unmanned air vehicle (for example, patent document 2).

Japanese Patent Laid-Open No. 11-132962 JP 2014-113864 A

However, in the technique of Patent Document 1, it is only described that the flying object is made to fly along a predetermined target flight path, and that the control state during the flight is adjusted so as to reduce the influence of the wind. It has not been.
Moreover, the technique of patent document 2 is used for the purpose of spraying the scattered material from the flying object, and estimates that the scattered material will be swept into the wind, so that it can be distributed in the target range according to the wind force. It only changes the target flight path. Moreover, it does not describe reducing the influence of the wind received by the aircraft itself.
Even when the technique of the above-mentioned document is applied, when shooting an object using a flying object, a desired image may not be obtained due to the influence of wind during flight.

  The present invention has been made in view of such circumstances, and provides an imaging system, an imaging method, and a program for capturing an image of an object by an imaging unit mounted on a flying object and obtaining a desired image of the object. For one purpose.

  One aspect of the present invention for solving the above-described problem is an imaging system in which an imaging unit is mounted and the state of an object is detected by a flying object that moves autonomously. An acquisition unit that acquires information indicating the strength of the wind, and a control unit that adjusts the number of images acquired from the imaging unit according to the strength of the wind. When the intensity exceeds a predetermined predetermined intensity, the imaging system is controlled to increase the number of images per unit amount for an image acquired from the imaging unit.

  Further, according to one aspect of the invention, the control unit increases the number of points to be photographed in the moving direction of the flying object when the wind strength exceeds a predetermined strength, and the flying object The imaging system according to claim 2, wherein control is performed to increase the number of images acquired from the imaging unit per unit movement amount.

  Further, according to one aspect of the invention, the control unit continuity of a composite image obtained by combining a plurality of images acquired from the imaging unit when the wind strength exceeds a predetermined strength. 3. The imaging system according to claim 1, wherein control is performed to increase the number of images acquired from the imaging unit per unit movement amount of the flying object so as to maintain

  Further, one aspect of the invention includes a flight control unit that adjusts a moving amount of the flying object according to a set target moving amount, and the flying control unit is configured to move the target moving unit time of the flying object. The amount is set according to the strength of the wind and the number of images acquired from the imaging unit per unit moving amount of the flying object. The shooting system described.

  Another embodiment of the present invention is an imaging method for detecting the state of an object by a flying object equipped with an imaging unit and moving autonomously, and shows the strength of wind in a region where the flying object flies. A step of acquiring information by the acquisition unit; a step of adjusting the number of images acquired from the imaging unit according to the strength of the wind; and the strength of the wind exceeds a predetermined predetermined strength. And a step of controlling to increase the number of images per unit amount for images acquired from the imaging unit.

  In addition, according to one embodiment of the present invention, an imaging unit is mounted, and the wind power of an area where the flying object flies is displayed on the computer of the imaging system that detects the state of the object by the flying object that moves autonomously. A step of acquiring information by the acquisition unit; a step of adjusting the number of images acquired from the imaging unit according to the strength of the wind; and the strength of the wind exceeds a predetermined predetermined strength. And a step of controlling to increase the number of images per unit amount for images acquired from the imaging unit.

  As described above, according to the present invention, it is possible to provide an imaging system, an imaging method, and a program that capture an image of an object by an imaging unit mounted on the flying object and obtain a desired image of the object.

It is explanatory drawing which shows the outline of the imaging | photography system in the 1st Embodiment of this invention. It is a lineblock diagram of photography system 1 (1A) in this embodiment. It is explanatory drawing shown about adjustment of the relative position of the several image of this embodiment. It is explanatory drawing shown about adjustment of the scale of the several image of this embodiment. It is a flowchart which shows the procedure of the process in the imaging | photography system of this embodiment in this embodiment. It is explanatory drawing which shows the outline of the imaging | photography system in 2nd Embodiment. It is explanatory drawing shown about adjustment of the scale of the some image in this embodiment.

  An outline of the imaging system in the embodiment of the present invention will be described.

<First prevailing form>
With reference to FIG. 1, the outline of the imaging system according to the present embodiment will be described. FIG. 1 is an explanatory diagram for explaining the outline of the photographing system according to the embodiment of the present invention. For example, the imaging system 1 according to the present embodiment targets, for example, the solar power generation facility 2 as an imaging target as shown below.
In the photovoltaic power generation facility 2, a plurality of solar battery panels are arranged side by side. For example, the plurality of solar cell panels are arranged side by side in units of a solar cell array AR in which a predetermined number of solar cell panels are collected. In the photovoltaic power generation facility 2 shown in the figure, a plurality of solar cell arrays are arranged side by side in two columns of a column CN1 and a column CN2. In the column CN1, the solar cell array AR11 to the solar cell array AR1N are arranged, and in the column CN2, the solar cell array AR21 to the solar cell array AR2N are arranged. In the following description, when each solar cell array is collectively referred to as “solar cell panel AR”. The solar power generation facility 2 converts the power generated by each solar cell panel to generate power to be supplied to a load or the like.
In such a photovoltaic power generation facility 2, the imaging system 1 uses a small flying body 200 that flies autonomously to photograph a solar panel from above the photovoltaic power generation facility 2, and each solar panel Get the image. The imaging system 1 may be configured to detect the state of the solar cell panel based on the acquired image. For example, the imaging system 1 includes an imaging control device 100 and a flying object 200.

  An imaging unit 220 is mounted on the flying object 200 that moves autonomously. During the flight of the flying object 200, the imaging unit 220 captures and acquires an image. However, the flying object 200 may be off the flight course set in advance as the target flight path due to the influence of the wind. For example, in the flight plan (flight plan for normal times) when the wind speed is relatively low, the flight course is set so as to fly more efficiently. In the case of the flight plan set in this way, if the wind speed is affected by a relatively large wind and the flying object 200 deviates from the flight course shown in the flight plan during flight, the target inspection may not be performed. .

  Therefore, the imaging control device 100 of the imaging system 1 is configured to adjust the number of images acquired from the imaging unit 220 according to the wind intensity. For example, the imaging control apparatus 100 acquires information indicating the strength of the wind in the area where the flying object 200 flies, and adjusts the number of images acquired from the imaging unit 220. The imaging control device 100 performs control so as to increase the number of images per unit amount for images acquired from the imaging unit when the wind strength exceeds a predetermined strength. The imaging system 1 controls in this way so that the acquired image includes the desired range of the imaging target without omission.

  With reference to FIG. 2, the configuration of the imaging system of the present embodiment will be described. FIG. 2 is a configuration diagram of the photographing system of the present embodiment. In the figure, the flying object 200 and the imaging control device 100 related to the flying object 200 are shown.

  The flying object 200 is a helicopter that autonomously flies, for example. For example, the flying body 200 has a required number of propellers provided in the airframe, and is configured to drive the propellers with a motor. The flying object 200 is operated by remote control from the imaging control device 100 or autonomously flies in accordance with the flight plan set in the flying object control unit 201 of the flying object 200 according to a command from the imaging control device 100.

  The flying object 200 includes a flying object control unit 201, a driving unit 202, an azimuth position detection unit 212, an attitude detection unit 213, a position estimation unit 214, and an imaging unit 220.

  The imaging unit 220 is provided so as to be supported by the machine body, and generates an image in a desired wavelength region such as an infrared image or a visible light image. The imaging unit 220 may be a camera that captures still images at predetermined time intervals, or may be a video camera that continuously captures images. The imaging unit 220 adjusts the timing of imaging in accordance with a command from the imaging control device 100 described later.

For example, the optical axis L of the imaging unit 220 of the present embodiment is configured to face in the vertical direction while keeping the attitude of the flying object 200 horizontal. Alternatively, the imaging unit 220 is supported via a gimbal with respect to the airframe, and is tilted without being affected by the attitude of the flying body 200 so that the optical axis L of the imaging unit 220 is directed in the vertical direction. It may be.
The imaging unit 220 according to the present embodiment has a viewing angle of an angle θ that is assigned to the object with the optical axis L as the center. By flying the flying body 200 above the solar power generation facility 2, the imaging unit 220 can capture the solar power generation facility 2 included in the range of the viewing angle from above and obtain the captured image. To do. For example, an image captured (captured) by the imaging unit 220 is used as image data for measuring the position of the flying object 200 with respect to the solar power generation facility 2 and image data for diagnosis of the solar power generation facility 2 as described later. The

  The drive unit 202 drives each motor provided according to the control from the flying object control unit 201, and rotates each propeller at a desired number of rotations to cause the flying object 200 to fly.

The azimuth position detection unit 212 (position detection unit) includes, for example, a geomagnetic sensor, and detects the direction of the aircraft (the direction of the flying object 200) using the geomagnetic sensor. The measured value of the orientation of the flying object 200 detected using the geomagnetic sensor indicates the direction of the aircraft relative to magnetic north. For example, the orientation of the airframe with respect to magnetic north is the angle of a specific axis of the horizontal component of the coordinate system defined with respect to the airframe relative to magnetic north.
In addition, the azimuth position detection unit 212 detects the position of the flying object 200 using radio waves received from a GPS satellite, for example. The measured value of the position measured by GPS represents a ground coordinate system obtained from a geocentric coordinate (absolute coordinate) system. The measurement value of the position measured by the GPS is used when flying before the detailed arrangement information of the photovoltaic power generation facility 2 is generated, when detecting the approximate position of the flying object 200, and the like.

  The attitude detection unit 213 detects the attitude of the flying object 200. For example, the posture detection unit 213 includes a gyro or a triaxial acceleration sensor, and detects the inclination of the aircraft. You may make it show the measured value of the attitude | position of the flying body 200 as an angle which the direction of the axis of the coordinate system defined on the basis of the body of the flying body 200, and the perpendicular direction. For example, the measured value of the attitude of the flying object 200 is used when controlling the attitude of the flying object 200 so as to maintain the level of the aircraft.

  The flying object control unit 201 obtains information on the position and orientation of the flying object 200 from the orientation position detection unit 212, obtains information indicating the attitude of the flying object 200 from the attitude detection unit 213, and relates to flight from the imaging control device 100. Acquires information indicating the command. Based on information such as information on the position and orientation of the flying object 200, information indicating the attitude of the flying object 200, and information indicating a flight command from the imaging control device 100, the flying object control unit 201 autonomously operates the flying object 200. Control to fly.

  The imaging control apparatus 100 includes an image acquisition unit 111, an imaging control unit 112, a detection unit 113, a wind power information acquisition unit 114, an input / output unit 115 (output unit), and a storage unit 120.

  When the flying object 200 is controlled from the imaging control device 100, the imaging control device 100 may be configured to include the flight control unit 119. For example, the flight control unit 119 instructs the flying object 200 to specify a two-dimensional position of geographic coordinates and move in the vertical direction based on the position. Further, the flight control unit 119 may control the flying body 200 so as to adjust the flying speed of the flying body 200.

  The storage unit 120 stores an image acquired from the imaging unit 220, an image generated from an income image (composite image), data generated in the course of each process, threshold data used as a criterion for determination processing, and the like. The storage unit 120 stores the image acquired from the image capturing unit 220 in association with data such as identification information for identifying a target building, image shooting date and time, and image identification information indicating the shooting order.

The input / output unit 115 accepts an operation for instructing the execution of each process of the imaging control apparatus 100 and instructs each part of the imaging control apparatus 100 to perform a process to be performed according to the received operation. The input / output unit 115 displays an image acquired from the image capturing unit 220, an image generated from an acquired image (composite image), and the like on a display unit.
For example, the imaging control apparatus 100 may be configured to include a personal computer. In this case, the input / output unit 115 includes a keyboard, a mouse, a touch panel, and the like as an input unit, and a display such as a liquid crystal display panel as an output unit. A device may be provided.
Note that the input / output unit 115 (output unit) according to the present embodiment outputs position information generated by the position information generation unit 112 described later. The input / output unit 115 (output unit) may generate and output a composite image in which the generated position information is superimposed on the acquired image.

The description of each part constituting the imaging control device 100 will be continued.
The image acquisition unit 111 causes the flying object 200 to fly and acquires an image captured by the imaging unit 220. There is no limitation on the medium or the like used when the image acquisition unit 111 acquires an image, and means such as a means for using a communication line and a means for storing and reading the image on a storage medium can be appropriately selected. When the image acquisition unit 111 acquires an image, identification information for identifying the image may be attached in the order according to the imaging order, and the image may be identified by the identification information. The image acquisition unit 111 stores the acquired image in the storage unit 120. The image stored in the storage unit 120 is referred to from each unit described below. In the following description, description of processing for referring to the storage unit 120 from each unit may be omitted.

  The detection unit 113 detects the state of the object from each of a plurality of images obtained by the imaging unit 220. For example, the detection unit 113 detects a deterioration state that has occurred in a specific solar battery panel from an infrared image obtained by imaging by the imaging unit 220.

  The wind power information acquisition unit 114 (acquisition unit) acquires information indicating the strength of the wind in the region where the flying object 200 flies. For example, the wind speed in the area where the flying object 200 flies is measured by an anemometer (not shown) provided at a place where the photovoltaic power generation facility 2 is arranged. The wind force information acquisition unit 114 acquires the wind speed measured by the anemometer as information indicating the strength of the wind in the region where the flying object 200 flies.

The imaging control unit 112 (control unit) determines the number of images acquired from the imaging unit 220 based on the information indicating the wind strength acquired by the wind power information acquisition unit 114 according to the wind strength (wind speed). adjust. The imaging control unit 112 (control unit) increases the number of images per unit amount for an image acquired from the imaging unit 220 when the wind intensity exceeds a predetermined strength. In addition, the imaging unit 220 is controlled.
For example, the shooting control unit 112 increases the number of shooting points in the moving direction of the flying object 200 when the wind strength exceeds a predetermined predetermined strength, and the amount per unit moving amount of the flying object 200 is increased. You may control so that the number of the images acquired from the imaging part 220 may be increased. In addition, the imaging control unit 112 performs flight so that a composite image obtained by combining a plurality of images acquired from the imaging unit 220 can be maintained when the wind strength exceeds a predetermined strength. You may control so that the number of the images acquired from the imaging part 220 per unit movement amount of the body 200 may be increased.

  Next, with reference to FIG. 3 and FIG. 4, the imaging | photography method of the imaging | photography system 1 comprised as mentioned above is demonstrated. FIG. 3 is an explanatory diagram showing a case of shooting with a general shooting method in a relatively windy situation. FIG. 4 is an explanatory diagram illustrating a case where shooting is performed by applying the shooting system of the present embodiment in a relatively windy situation. 3 and 4 are both schematic views of a plan view of a region where the photovoltaic power generation facilities 2 are arranged. The state where the solar cell array AR11 to the solar cell array AR14, the solar cell array AR21 to the solar cell array AR24, and the like are arranged in the illustrated range is shown.

In FIG. 3, the range of each square to which the reference numeral PIC511 to the reference numeral PIC518 are attached indicates the range of images acquired in order. The arrows in the figure indicate the target flight path of the aircraft 200.
The imaging control apparatus 100 instructs the flying object 200 to move at a speed determined in the direction of the arrow in the figure, and instructs the imaging unit 220 to capture images at an equal cycle. The above-described speed and cycle are set so that the squares with the symbols PIC511 to PIC518 are connected along the arrow and overlap each other.

  If there is no wind, a combination of square areas with the symbols PIC511 to PIC518 includes a corresponding solar cell array in the image with the areas with the symbols PIC511 to PIC518.

  On the other hand, as described above, since the flying body 200 is lightened, the flying object 200 may be deviated from the target flight path due to the influence of wind pressure during the flight, or the speed in the traveling direction may become irregular. When the flying object 200 deviates from the target flight path, the position of the flying object 200 is automatically corrected so as to return to the target flight path. However, it is difficult to fly along the target flight path when affected by wind fluctuations. become. As a result, each image acquired by the imaging unit 220 is as shown in FIG. For example, the range of each square to which the reference numeral PIC 511 to the reference numeral PIC 518 is attached is positioned so as to deviate from the arrow, or adjacent squares such as the reference numeral PIC 512 and the reference numeral PIC 513 may not overlap each other. In this case, even if all the square areas to which reference numerals PIC511 to PIC518 are added are combined, an area that is not covered by the corresponding solar cell array is generated.

Therefore, as shown in FIG. 4, even when the wind is relatively strong, if all the rectangular areas are combined, the corresponding solar cell array is included in the image of the combined area.
In the imaging system 1, the number of images captured by the imaging unit 220 per unit time is increased by making the cycle of imaging by the imaging unit 220 shorter than the cycle shown in FIG.
For example, in addition to the squares with the symbols PIC511 to PIC518, the squares with the symbols PIC521 to PIC527 are added. The imaging order of the imaging unit 220 is PIC511, PIC521, PIC512, PIC522,..., PIC517, PIC527, and PIC518. The imaging system 1 adds each square having the symbol PIC 521 to the symbol PIC 527 and complements each rectangle having the symbol PIC 511 to the symbol PIC 518. Interpolation is performed as described above to combine all quadrangular areas, each of the quadrilaterals with the symbols PIC511 to PIC518 and each of the quadrilaterals with the symbols PIC521 to PIC527. Thereby, the corresponding solar cell array is included in the image of the combined region.

  With reference to FIG. 5, the process in the imaging system of the present embodiment will be described. FIG. 3 is a flowchart showing a processing procedure in the photographing system of the present embodiment.

  First, the wind power information acquisition unit 114 (acquisition unit) acquires information indicating the strength of the wind in the region where the flying object 200 flies. For example, the wind speed in the area where the flying object 200 flies is measured by an anemometer (not shown) provided at a place where the photovoltaic power generation facility 2 is arranged. The wind power information acquisition unit 114 acquires the wind speed measured by the anemometer as information indicating the strength of the wind in the region in which the flying object 200 flies (step S10).

The imaging control unit 112 (control unit) determines the number of images acquired from the imaging unit 220 based on the information indicating the wind strength acquired by the wind power information acquisition unit 114 according to the following procedure. Adjust according to (wind speed).
For example, the imaging control unit 112 (control unit) determines whether or not the wind in the area where the solar power generation facility 2 is arranged is stronger than a predetermined wind speed based on the acquired information indicating the strength of the wind. (Step S20).

  When it is determined that the wind in the region where the photovoltaic power generation facility 2 is arranged is stronger than the predetermined wind speed based on the result of the determination in step S20 (step S20: Yes), the imaging control unit 112 (control unit) When the intensity of the image exceeds a predetermined predetermined intensity, the number of images per unit amount of images acquired from the imaging unit 220 is imaged so as to be larger than the predetermined number of normal images The unit 220 is controlled (step S30), and the setting process of the number of images is completed.

  On the other hand, when it is determined that the wind in the area where the photovoltaic power generation facility 2 is arranged is not stronger than the predetermined wind speed based on the determination result in step S20 (step S20: No), the unit of the image acquired from the imaging unit 220 The imaging unit 220 is controlled so that the number of images per unit amount is a predetermined number of normal images (step S40), and the image number setting process is completed.

  The flight control unit 119 causes the flying object 200 to fly. The image acquisition unit 111 controls the imaging unit 220 to capture an image during the flight of the flying object 200. The imaging unit 220 finishes setting the number of images according to the above command, and then captures images at a predetermined cycle according to the flight of the flying object 200 (step S50). The image acquisition unit 111 acquires the image captured by the imaging unit 220 (step S60). The detection unit 113 detects a deterioration state that has occurred in a specific solar battery panel from an image obtained by the imaging unit 220 (step S70).

  According to the procedure described above, the imaging system 1 can capture an image of the photovoltaic power generation facility 2 that is an object by the imaging unit 220 mounted on the flying object 200 and obtain a desired image of the photovoltaic power generation facility 2. .

<Second actual form>
The imaging system according to the present embodiment will be described with reference to FIGS. 1, 2, 6, and 7. The imaging system 1A in the present embodiment corresponds to the above-described imaging system 1, and as illustrated in FIG. The imaging system 1A includes an imaging control device 100A and a flying object 200.

The photographing system 1A is configured as shown in FIG. The configuration of the imaging system 1A will be described focusing on differences from the imaging system 1 described above.
The imaging control apparatus 100A includes an image acquisition unit 111, an imaging control unit 112, a detection unit 113, a wind power information acquisition unit 114, an input / output unit 115 (output unit), a flight control unit 119A, and a storage unit 120.
The flight control unit 119A controls the flight of the flying object 200 by adjusting the flight speed of the flying object 200 based on the information indicating the wind strength acquired by the wind power information acquiring unit 114.

  Next, with reference to FIG. 6, a photographing method of the photographing system 1A configured as described above will be described. This figure is an explanatory diagram showing a case where shooting is performed by applying the shooting system 1A of the present embodiment in a relatively windy situation. FIG. 4A shows a part of FIG. 4 for comparison. FIG. 3B schematically shows a plan view of a region where the photovoltaic power generation equipment 2 is arranged as shown in FIGS. 3 and 4. The state where the solar cell array AR11 to the solar cell array AR12, the solar cell array AR21 to the solar cell array AR22, and the like are arranged side by side in the illustrated range is shown.

  The difference between the case shown in FIG. 6A and the case shown in FIG. 5B is that the flying speed of the flying object 200 and the period of imaging by the imaging unit 220 are different.

  First, the flight speed of the flying object 200 will be described. When the flying speed of the flying object 200 is relatively slow, the distance traveled per unit time is shorter than when the flying speed is relatively fast. On the other hand, the effect of wind is the same when the flying speed of the flying object 200 is relatively slow and when the flying speed is relatively fast. For this reason, the shorter the distance traveled per unit time, the greater the influence of the wind. Therefore, the moving amount of the flying object is adjusted according to the set target moving amount. For example, the flight speed is adjusted, and when the wind strength exceeds a predetermined strength, control is performed to increase the distance traveled per unit time. As described above, as the distance traveled in the target direction per unit time becomes longer, the angle deviating from the target flight path of the flying object 200 indicated by the arrow in the figure becomes smaller.

  A period in which the imaging unit 220 captures images will be described. As described above, when the speed of the flying object 200 is increased while maintaining the cycle of capturing an image, the distance from the position where the image is captured to the position where the image is captured next becomes long. As a result, the continuity of images captured by the imaging unit 220 cannot be maintained simply by increasing the speed. In view of this, the period in which the imaging unit 220 captures the image and the speed of the flying object 200 are associated with each other so that the continuity of the image is maintained. For example, the flight control unit 119 determines the target movement amount (target speed) per unit time of the flying object 200 according to the strength of the wind and the number of images acquired from the imaging unit 220 per unit movement amount of the flying object 200. To set. Data indicating the correspondence relationship between the target moving amount (target speed) per unit time of the flying object 200, the wind strength, and the number of images acquired from the imaging unit 220 per unit moving amount of the flying object 200 is as follows. It may be calculated by a predetermined arithmetic expression, or may be obtained by referring to a table storing data for defining the correspondence.

With reference to FIG. 2B, an example of an image obtained from the result of adjusting the flight speed of the flying object 200 and the period of imaging by the imaging unit 220 as described above will be described. In the case of FIG. 5B as well, as in the case shown in FIG. 4 described above, even when the wind is relatively strong, if all square regions are combined, the corresponding solar cell array is included. Like that.
In the imaging system 1A, the number of images captured by the imaging unit 220 per unit time is further increased by making the cycle of imaging by the imaging unit 220 shorter than the cycle shown in FIG. 4A corresponding to FIG. Increasing.
For example, in addition to the squares with the symbols PIC511 to PIC514, the squares with the symbols PIC521 to PIC524 and the squares with the symbols PIC531 to PIC533 are added. The imaging order of the imaging unit 220 is PIC511, PIC521, PIC531, PIC512, PIC522, PIC532,..., PIC514, and PIC524. The imaging system 1 adds the squares with the symbols PIC521 to PIC524 and the squares with the symbols PIC531 to PIC533 to complement the squares with the symbols PIC511 to PIC514. By interpolating as described above, all the rectangular areas of the quadrilaterals with the symbols PIC511 to PIC514, the quadrilaterals with the symbols PIC521 to PIC524, and the quadrilaterals with the symbols PIC531 to PIC533 are added. In combination, a corresponding solar cell array is included.

  With reference to FIG. 7, the process in the imaging system of the present embodiment will be described. FIG. 3 is a flowchart showing a processing procedure in the photographing system of the present embodiment.

  First, the wind power information acquisition unit 114 (acquisition unit) acquires information indicating the strength of the wind in the region where the flying object 200 flies. For example, the wind speed in the area where the flying object 200 flies is measured by an anemometer (not shown) provided at a place where the photovoltaic power generation facility 2 is arranged. The wind power information acquisition unit 114 acquires the wind speed measured by the anemometer as information indicating the strength of the wind in the region in which the flying object 200 flies (step S10).

  The imaging control unit 112 (control unit) determines the number of images acquired from the imaging unit 220 based on the information indicating the wind strength acquired by the wind power information acquisition unit 114 according to the wind strength (wind speed). adjust. For example, the imaging control unit 112 (control unit) determines whether or not the wind in the area where the solar power generation facility 2 is arranged is stronger than a predetermined wind speed based on the acquired information indicating the strength of the wind. (Step S20).

  When it is determined that the wind in the region where the photovoltaic power generation facility 2 is arranged is stronger than the predetermined wind speed based on the result of the determination in step S20 (step S20: Yes), the imaging control unit 112 (control unit) When the intensity of the image exceeds a predetermined predetermined intensity, the number of images per unit amount of images acquired from the imaging unit 220 is imaged so as to be larger than the predetermined number of normal images The unit 220 is controlled (step S30). The flight control unit 119 sets the target movement amount per unit time of the flying object 200 according to the wind strength and the number of images acquired from the imaging unit 220 per unit movement amount of the flying object 200 ( Step S35), the image number setting process and the flight speed setting process are completed.

  On the other hand, when it is determined that the wind in the area where the photovoltaic power generation facility 2 is arranged is not stronger than the predetermined wind speed based on the determination result in step S20 (step S20: No), the unit of the image acquired from the imaging unit 220 The imaging unit 220 is controlled so that the number of images per unit amount is a predetermined number of normal images (step S40), and the image number setting process and the flight speed setting process are completed.

  The flight control unit 119 causes the flying object 200 to fly. The image acquisition unit 111 controls the imaging unit 220 to capture an image during the flight of the flying object 200. The imaging unit 220 finishes setting the number of images according to the above command, and then captures images at a predetermined cycle according to the flight of the flying object 200 (step S50). The image acquisition unit 111 acquires the image captured by the imaging unit 220 (step S60). The detection unit 113 detects a deterioration state that has occurred in a specific solar battery panel from an image obtained by the imaging unit 220 (step S70).

  According to the procedure described above, the imaging system 1A can capture the solar power generation facility 2 that is the object by the imaging unit 220 mounted on the flying body 200, and obtain a desired image of the solar power generation facility 2. .

In addition, although the solar power generation facility 2 was illustrated and demonstrated about the target object in said 1st Embodiment and 2nd Embodiment, you may set a building, a structure, etc. as another target object. In this case, the flying object 200 is not limited to flying in the horizontal direction, and may be moved in the vertical direction along the wall surface of the building, for example.
As described above, when the flying object 200 of the imaging system moves (flies) along a predetermined target flight path, at least one of the period that the imaging unit 220 images and the flying speed of the flying object 200 are selected. You may make it adjust according to the above-mentioned point.

  Although the embodiment of the present invention has been described above, the imaging system 1 (1A) has a computer system therein. A series of processes related to the above-described process is stored in a computer-readable storage medium in the form of a program, and the above-described process is performed by the computer reading and executing this program. Here, the computer-readable storage medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program. The “computer system” here includes an OS and the like.

  Then, all or some of the processes in the imaging control device 100 (100A), the flying body 200, and the imaging unit 220 in the imaging system 1 (1A) are performed by a central processing unit such as a CPU such as a ROM or a RAM. This is realized by reading the program into a storage device and executing information processing and arithmetic processing. Of course, each processing unit constituting the photographing system 1 may be realized by dedicated hardware.

  Although the embodiment of the present invention has been described above, the photographing system of the present invention is not limited to the above illustrated example, and various modifications can be made without departing from the gist of the present invention. Of course.

(1) In addition, the imaging system 1 shown in the present embodiment detects the state of the object (solar power generation device 2) by the flying body 200 on which the imaging unit 220 is mounted and moves autonomously. The imaging system adjusts the number of images acquired from the wind power information acquisition unit 114 and the imaging unit 220 that acquire information indicating the strength of the wind in the region in which the flying object 200 flies according to the strength of the wind. An imaging control unit 112 (control unit). The imaging control unit 112 (control unit) increases the number of images per unit amount for images acquired from the imaging unit 220 when the wind intensity exceeds a predetermined intensity. To control.
Thereby, the imaging system 1 can capture an object with the imaging unit 220 mounted on the flying object 200, and obtain a desired image of the object.

(2) Moreover, according to said imaging | photography system 1, the imaging | photography control part 112 (control part) is the moving direction of the flying body 200, when the intensity | strength of the said wind exceeds predetermined intensity | strength. Control is performed to increase the number of images to be acquired and to increase the number of images acquired from the imaging unit 220 per unit movement amount of the flying object 200.
In such a case, the imaging system 1 increases the number of points at which the object is imaged by the imaging unit 220 mounted on the flying object 200, and acquires the image from the imaging unit 220 per unit movement amount of the flying object 200. Control to increase the number of images. Thereby, the imaging system 1 can obtain a desired image of the object.
(3) Moreover, according to said imaging | photography system 1, the imaging | photography control part 112 (control part) is the multiple acquired from the imaging part 220, when the said wind intensity exceeds predetermined intensity | strength. Control is performed to increase the number of images acquired from the imaging unit 220 per unit movement amount of the flying object 200 so that the continuity of the synthesized image obtained by synthesizing these images can be maintained.
In such an imaging system 1, in the above case, the imaging unit 220 captures images so that the composite image obtained by combining a plurality of images acquired from the imaging unit 220 can be maintained, and the unit 200 per unit movement amount of the flying object 200. Control is performed to increase the number of images acquired from the imaging unit 220. Thereby, the imaging system 1 can obtain a desired image of the object.
(4) Moreover, you may make it said imaging | photography system 1 further provide the flight control part 119 which adjusts the moving amount | distance of the flying body 200 according to the set target moving amount | distance. The flight control unit 119 sets a target movement amount per unit time of the flying object 200 according to the wind strength and the number of images acquired from the imaging unit 220 per unit movement amount of the flying object 200. By doing so, the object can be imaged by the imaging unit 220 mounted on the flying object 200, and a desired image of the object can be obtained.

1, 1A shooting system, 2 photovoltaic power generation equipment (object),
100, 100A photographing control device,
111 acquisition unit (image acquisition unit), 112 wind power information acquisition unit,
113 detection unit, 115 input / output unit, 119, 119A flight control unit, 120 storage unit,
200 flying object, 220 imaging unit

Claims (6)

An imaging system equipped with an imaging unit that detects the state of an object by an autonomously moving flying object,
An acquisition unit for acquiring information indicating the strength of the wind in a region where the flying object is flying;
A control unit that adjusts the number of images acquired from the imaging unit according to the strength of the wind;
With
The controller is
An imaging system for controlling to increase the number of images per unit amount of an image acquired from the imaging unit when the wind intensity exceeds a predetermined intensity. . The controller is
When the wind strength exceeds a predetermined predetermined strength, the number of points to be photographed in the moving direction of the flying object is increased, and the image acquired from the imaging unit per unit moving amount of the flying object is increased. It controls so that a number may be increased. The imaging system of Claim 1 characterized by the above-mentioned. The controller is
When the wind strength exceeds a predetermined predetermined strength, the unit per unit movement amount of the flying body can maintain the continuity of the composite image obtained by combining the plurality of images acquired from the imaging unit. The imaging system according to claim 1, wherein control is performed so as to increase the number of images acquired from the imaging unit. A flight control unit that adjusts the moving amount of the flying object according to a set target moving amount;
The flight control unit
The target movement amount per unit time of the flying object is set according to the strength of the wind and the number of images acquired from the imaging unit per unit movement amount of the flying object. The imaging system according to any one of claims 1 to 3. An imaging method for detecting a state of an object by a flying body equipped with an imaging unit and moving autonomously,
The acquisition unit acquiring information indicating the strength of the wind in the area where the flying object is flying;
Adjusting the number of images acquired from the imaging unit according to the strength of the wind;
And a step of controlling to increase the number of images acquired from the imaging unit when the wind strength exceeds a predetermined strength. An imaging system equipped with an imaging unit that detects the state of an object with a flying object that moves autonomously.
The acquisition unit acquiring information indicating the strength of the wind in the area where the flying object is flying;
Adjusting the number of images acquired from the imaging unit according to the strength of the wind;
A program for executing control to increase the number of images acquired from the imaging unit when the wind strength exceeds a predetermined strength.

Images