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WO2019163119A1 - Système informatique, procédé de commande de drones et programme - Google Patents

Système informatique, procédé de commande de drones et programme Download PDF

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Publication number
WO2019163119A1
WO2019163119A1 PCT/JP2018/006898 JP2018006898W WO2019163119A1 WO 2019163119 A1 WO2019163119 A1 WO 2019163119A1 JP 2018006898 W JP2018006898 W JP 2018006898W WO 2019163119 A1 WO2019163119 A1 WO 2019163119A1
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WO
WIPO (PCT)
Prior art keywords
drone
image
position coordinates
point
image analysis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/006898
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English (en)
Japanese (ja)
Inventor
俊二 菅谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Optim Corp
Original Assignee
Optim Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Optim Corp filed Critical Optim Corp
Priority to PCT/JP2018/006898 priority Critical patent/WO2019163119A1/fr
Publication of WO2019163119A1 publication Critical patent/WO2019163119A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to a computer system, a drone control method, and a program for controlling a drone taken by a camera.
  • a system has been proposed in which a drone sensor system is provided with a light detection and ranging system and a camera system to check an arbitrary number of diameters of a tree group (see Patent Document 1). .
  • Patent Document 1 it has been necessary to always shoot with a high resolution image. For this reason, images are always taken with a high resolution regardless of the shooting point.
  • An object of the present invention is to provide a computer system, a drone control method, and a program capable of controlling a drone so as to perform zoom-out shooting only when a predetermined condition is satisfied.
  • the present invention provides the following solutions.
  • the present invention comprises an image acquisition means for acquiring an image taken with a drone, Image analysis means for image analysis of the acquired image; As a result of the image analysis, an extraction means for extracting a point whose edge change amount is a predetermined threshold value or more; Position coordinate acquisition means for acquiring the position coordinates of the extracted point; Control means for causing the drone to fly to the acquired position coordinates and shooting with zoom-out; A computer system is provided.
  • an image captured by a drone is acquired, the acquired image is subjected to image analysis, a result of the image analysis is that a point whose edge change amount is a predetermined threshold or more is extracted, and the position of the extracted point
  • the coordinates are acquired, the drone is caused to fly to the acquired position coordinates, and the zoom is taken out.
  • the present invention is a category of a computer system, but also in other categories such as a method or a program, the same actions and effects according to the category are exhibited.
  • the present invention it is possible to provide a computer system, a drone control method, and a program capable of controlling a drone so as to perform zoom-out shooting only when a predetermined condition is satisfied.
  • FIG. 1 is a diagram showing an outline of the drone control system 1.
  • FIG. 2 is an overall configuration diagram of the drone control system 1.
  • FIG. 3 is a functional block diagram of the drone control system 1.
  • FIG. 4 is a flowchart of the drone control process executed by the drone control system 1.
  • FIG. 5 is a flowchart of the drone control process executed by the drone control system 1.
  • FIG. 6 is a diagram illustrating an example of points whose edge change amount is equal to or greater than a predetermined value.
  • FIG. 1 is a diagram for explaining an outline of a drone control system 1 which is a preferred embodiment of the present invention.
  • the drone control system 1 includes a computer 10 and a drone 100.
  • the drone control system 1 is a computer system in which the computer 10 acquires images such as moving images and still images captured by the image capturing apparatus included in the drone 100, and the computer 10 executes various processes based on the acquired images.
  • the drone control system 1 executes various controls for the drone 100 such as setting the flight route of the drone 100 and photographing the target by zooming out based on the processing result of the computer 10.
  • the number of computers 10 and drones 100 can be changed as appropriate.
  • the drone control system 1 may have other external devices such as a terminal device for controlling the drone 100.
  • the computer 10 is a computer device connected to the drone 100 so as to be able to perform data communication via a network by wireless communication, priority communication, or the like.
  • the computer 10 is a computer device that executes image analysis, control of the drone 100, and the like.
  • the drone 100 is connected to the computer 10 so as to be able to perform data communication, and is an unmanned airplane or a multicopter that flies based on a preset flight path or a flight path designated by an external device (not shown).
  • the drone 100 transmits the captured image to the computer 10.
  • each process described below is not limited to either the computer 10 or the drone 100, and both processes may be executed, or each process described as a process executed by the computer 10 is executed by the drone 100. Alternatively, the reverse configuration may be used.
  • the drone 100 flies near the target place or building and takes an image (step S01).
  • the drone 100 flies on a preset flight route and photographs a target place, a building, or the like.
  • the image captured by the drone 100 is a visible light image.
  • the drone 100 transmits the captured image to the computer 10. At this time, the drone 100 transmits to the computer 10 the position coordinates and the altitude of the photographer that captured the image together with the image. By receiving this image, the computer 10 acquires an image photographed by the drone 100 (step S02).
  • the computer 10 performs image analysis on the acquired image (step S03).
  • the computer 10 performs edge detection on the acquired visible light image.
  • Edge detection is to identify a discontinuous change. For example, as the edge detection, the computer 10 detects whether the depth is discontinuous, the surface orientation is discontinuous, the material is changed, or the illumination is changed.
  • the computer 10 extracts points whose edge change amount is equal to or greater than a predetermined threshold (step S04).
  • the computer 10 detects, for example, discoloration, temperature change, or deformation as the hedge change amount, the computer 10 determines whether or not these are equal to or greater than a predetermined threshold value, and points where the determination result is equal to or greater than the predetermined threshold value. Extract.
  • the computer 10 acquires the position coordinates of the extracted point (step S05).
  • the computer 10 acquires actual position coordinates based on the coordinates of the extracted point image. This obtains the position coordinates where the drone 100 has photographed this image as the coordinates of the points.
  • the computer 10 transmits a flight instruction to this position coordinate to the drone 100 and transmits a re-shooting instruction for shooting this point by zooming out (step S06).
  • Zooming out at this time means capturing the object as small as possible in the screen, centered on the point where the edge is detected by image analysis. That is, it means reducing the image capturing range around the point.
  • a flight instruction and a re-shooting instruction may be transmitted to all points.
  • the drone control system 1 sets the flight route so that the drone 100 flies at all points.
  • a flight instruction and a re-shooting instruction are transmitted so that the drone 100 flies in the order of the position coordinates of the points.
  • the drone control system 1 sets the flight route so that the drone 100 flies in the order of the position coordinates.
  • the drone 100 receives the flight instruction and the re-shooting instruction, flies to the position coordinates of this point, and shoots this point by zooming out (step S07). By doing so, the drone control system 1 controls the drone 100 to fly to the acquired position coordinates and to photograph this point by zooming out.
  • the drone 100 transmits the retaken image to the computer 10.
  • the computer 10 performs image analysis on this image and specifies which range the position coordinates of the extracted point are.
  • FIG. 2 is a diagram showing a system configuration of the drone control system 1 which is a preferred embodiment of the present invention.
  • the drone control system 1 is composed of a computer 10 and a drone 100, and the computer 10 acquires and acquires images such as moving images and still images captured by the imaging device of the drone 100 via the public network 5 or the like.
  • This is a computer system in which the computer 10 executes various processes based on images.
  • the computer 10 and the drone 100 are not limited to one and may be plural. Further, the computer 10 is not limited to a real device, and may be a virtual device. Further, it may be communicably connected to an external device such as another terminal device not shown through the public network 5 or the like.
  • the computer 10 is the above-described computer device or the like having the functions described later.
  • the drone 100 is the above-described unmanned airplane or multicopter having the functions described later.
  • FIG. 3 is a functional block diagram of the computer 10 and the drone 100.
  • the computer 10 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), etc. as the control unit 11, and a device for enabling communication with other devices as the communication unit 12.
  • a WiFi (Wireless Fidelity) compatible device compliant with IEEE 802.11 is provided.
  • the computer 10 also includes a data storage unit such as a hard disk, a semiconductor memory, a recording medium, or a memory card as a storage unit.
  • the computer 10 includes, as the processing unit 14, various devices that perform various processes such as image analysis, flight route setting of the drone 100, shooting instructions, and re-shooting instructions.
  • the control unit 11 when the control unit 11 reads a predetermined program, the photographing data acquisition module 20, the reflight data transmission module 21, and the notification transmission module 22 are realized in cooperation with the communication unit 12.
  • the control unit 11 reads a predetermined program, so that the image analysis module 40, the extraction module 41, the position coordinate acquisition module 42, the altitude acquisition module 43, and the control module 44 cooperate with the processing unit 14.
  • the notification creation module 45 is realized.
  • the drone 100 includes a CPU, RAM, ROM, and the like as the control unit 110, and a device for enabling communication with other devices as the communication unit 120.
  • the drone 100 includes various devices such as a flying device necessary for flight and a photographing device that captures an image as the input / output unit 140.
  • the control unit 110 when the control unit 110 reads a predetermined program, the photographing data transmission module 150 and the reflight data acquisition module 151 are realized in cooperation with the communication unit 120. In the drone, the control unit 110 reads a predetermined program, thereby realizing the flight module 170 and the imaging module 171 in cooperation with the input / output unit 140.
  • the flight module 170 flies near a target place or building based on a preset flight path (step S10).
  • step S10 the flight module 170 flies at a predetermined speed according to a flight instruction from the computer 10 or a terminal device (not shown) and a flight path set by them.
  • the target place or building is, for example, a road, a tunnel, or a building.
  • the imaging module 171 captures images such as moving images and still images (step S11). In step S ⁇ b> 11, the imaging module 171 always performs imaging at a preset point or during flight. The imaging module 171 captures an image with a visible light wavelength. That is, the image photographed by the photographing module 171 in step S11 is a visible light image.
  • the shooting data transmission module 150 corresponds to an image shot by the shooting module 171, own position information acquired from its own position coordinates (GPS (Global Positioning System) at the shooting location, and its current position in the set flight route. And the altitude (obtained from the altimeter provided in the drone 100) at the shooting location is transmitted to the computer 10 as shooting data (step S12).
  • GPS Global Positioning System
  • the imaging data transmission module 150 may transmit only images as imaging data. Further, the imaging data transmission module 150 may transmit the image and position coordinates as imaging data.
  • the imaging data acquisition module 20 acquires the imaging data transmitted by the drone 100 (step S13).
  • the shooting data acquisition module 20 receives the shooting data transmitted by the drone 100, thereby acquiring the image shot by the drone 100, the position coordinates of the drone 100, and the altitude of the drone 100.
  • the image analysis module 40 performs image analysis on the image (step S14).
  • the image analysis module 40 performs edge detection on the acquired image.
  • Edge detection is to identify a discontinuous change. For example, as the edge detection, the image analysis module 40 detects whether the depth is discontinuous, the surface orientation is discontinuous, the material is changed, or the illumination is changed.
  • the image analysis module 40 determines whether an edge has been detected (step S15). In step S15, the image analysis module 40 determines whether or not an edge has been detected based on whether or not there is a discontinuously changing portion in the image. Further, the image analysis module 40 determines whether, for example, a color change, a temperature change, or a deformation has been detected.
  • step S15 If the image analysis module 40 determines in step S15 that no edge has been detected (NO in step S15), the image analysis module 40 has been detected in this image because no edge has been detected in this image. It is determined that there is no problem with the target, and the process is temporarily terminated. At this time, the computer 10 stands by for processing until the next shooting data is acquired from the drone 100.
  • step S15 when the image analysis module 40 determines in step S15 that an edge has been detected (YES in step S15), the image analysis module 40 determines whether the detected edge change amount is equal to or greater than a predetermined threshold value. Determination is made (step S16). In step S ⁇ b> 16, the image analysis module 40 is sufficient to determine that the edge change amount (for example, the degree of discoloration, the degree of temperature change, and the degree of deformation) has a preset threshold (for example, an abnormality has occurred). Value) or more.
  • the edge change amount for example, the degree of discoloration, the degree of temperature change, and the degree of deformation
  • the image analysis module 40 determines that the edge change amount is not equal to or greater than the predetermined threshold (NO in step S16)
  • the image analysis module 40 can detect the edge change amount in the image, but the image change module 40 is reflected in this image. It is determined that there is no problem with the target, and the process is temporarily terminated. At this time, the computer 10 stands by for processing until the next shooting data is acquired from the drone 100.
  • step S16 determines in step S16 that the edge change amount is equal to or larger than the predetermined threshold (YES in step S16)
  • the extraction module 41 extracts a point whose edge change amount is equal to or larger than the predetermined threshold. (Step S17). In step S17, the extraction module 41 extracts this point as a point where an abnormality has occurred.
  • FIG. 6 is a diagram schematically showing points where the edge change amount is equal to or greater than a predetermined threshold.
  • the extraction module 41 extracts points in the image 300 whose edge change amount is equal to or greater than a predetermined threshold.
  • a frame line 320 is schematically illustrated for the point 310 extracted by the extraction module 41. For each of the extracted points 310, the extraction module 41 means that this location in the image 300 is a location where the edge change amount is equal to or greater than a predetermined threshold.
  • the position coordinate acquisition module 42 acquires the position coordinates of the extracted point (step S18). In step S18, the position coordinate acquisition module 42 acquires actual position coordinates (position information of an actual location corresponding to the point of the image) based on the coordinates of the extracted point in the image. The position coordinate acquisition module 42 acquires the position coordinates of the drone 100 included in the above-described shooting data as the position coordinates of the points.
  • the position coordinate acquisition module 42 regards these points as approximately the same position coordinates, and determines the position coordinates of the drone 100 at the point where this image was taken as the position of the points. Get as coordinates.
  • the same point is extracted from a plurality of images, that is, when one point is extracted from one image and this one point is further extracted from an image different from the one image, You may acquire the average value of the position coordinate of the drone 100 at the time of imaging
  • the position coordinates of one point at this time can be applied to two or more images.
  • the altitude acquisition module 43 acquires the altitude of the extracted point (step S19). In step S19, the altitude acquisition module 43 acquires the altitude at which this image was captured based on the flight altitude of the drone 100 in the extracted point image.
  • the control module 44 creates a flight instruction for flying the drone 100 to the position coordinates and altitude of the acquired point (step S20).
  • step S ⁇ b> 20 when there is one acquired point, the control module 44 creates the position coordinates of this point and a setting for flying at an altitude as a flight instruction.
  • the control module 44 creates a setting for flying to each of these points as a flight instruction.
  • the flight instruction to fly such a plurality of points simply fly all the points regardless of the order, those that fly in the order of the position coordinates of the points, points There are those that fly in descending order of the amount of edge change, those that fly in ascending order of battery consumption, and others.
  • Flying all points means flying over the extracted points, regardless of the order, for example, randomly, in the order in which the images were taken, or in the reverse order of the order in which the images were taken. .
  • the flight in the order in which the position coordinates of the points are closest corresponds to the position coordinates and altitude at the location of the current drone 100 and the position coordinates and altitude of the point, and in the order closer to the position coordinates of the drone 100. It flies over the point or in the vicinity in that order.
  • flying in order of increasing edge change fee means flying in the order of the amount of edge change among the extracted points in the order above or near the corresponding point.
  • flying in order of decreasing battery consumption means that the extracted points are made to fly above or in the order of the corresponding points in the order of decreasing battery consumption necessary for flight.
  • the control module 44 creates a re-shooting instruction for shooting this point by zooming out (step S21).
  • step S ⁇ b> 21 the control module 44 creates an instruction to cause the drone 100 to photograph this point by zooming out (photographing with the imaging range of the image reduced around this point) as a re-imaging instruction.
  • the control module 44 designates a predetermined zoom-out amount that fits in the image at this point and includes it in the photographing instruction.
  • the reflight data transmission module 21 transmits a flight instruction and a re-shooting instruction to the drone 100 as reflight data (step S22).
  • the flight instruction and the re-imaging instruction are transmitted as re-flight data to the drone 100 that has acquired the photographic data.
  • the reflight data transmission module 21 may transmit the reflight data to a drone different from the drone 100 that acquired the shooting data.
  • a drone different from the drone 100 that acquired the shooting data.
  • the drone photographing device having a zoom-out function
  • the re-flight data may be transmitted to a drone having a battery or a drone having a remaining battery level required for re-shooting.
  • the reflight data acquisition module 151 acquires reflight data.
  • the flight module 170 flies to the extracted point based on the reflight data (step S23).
  • the process of step S23 is substantially the same as the process of step S10 described above, and the flight is performed based on the flight instruction included in the reflight data.
  • the imaging module 171 captures a zoomed-out image at this point (step S24). In step S24, the imaging module 171 captures an image with a visible light wavelength. Further, the imaging module 171 captures an image with a reduced imaging range around this point.
  • the photographing data transmission module 150 transmits the image photographed by the photographing module 171, its own position coordinates at the photographing location, and its own altitude to the computer 10 as re-photographing data (step S ⁇ b> 25).
  • the process of step S25 is the same as the process of step S12 described above.
  • the position coordinates and altitude do not necessarily have to be included as in the process of step S12 described above, and only the image may be transmitted as recaptured data. Further, the imaging data transmission module 150 may transmit the image and position coordinates as re-imaging data.
  • the imaging data acquisition module 20 acquires the re-imaging data transmitted by the drone 100 (step S26).
  • the image data acquisition module 20 acquires the image, position coordinates, and altitude captured by the drone 100 as in the process of step S ⁇ b> 13 described above.
  • the image analysis module 40 analyzes the image (step S27).
  • the image analysis module 40 performs edge detection, other feature detection, and feature extraction.
  • the image analysis module 40 acquires further information about the subject to be imaged by feature detection or feature extraction. Further information includes, for example, the presence or absence of a flaw or a stain, and the size, location, or number of a flaw or stain, if there is a flaw or stain, and a notification to that effect if there is no flaw or stain.
  • the extraction module 41 specifies which range the position coordinates of this point are based on the result of the image analysis (step S28).
  • step S ⁇ b> 28 the extraction module 41 specifies the range of this point in the image captured by zooming out from the result of image analysis. That is, the extraction module 41 specifies from which range to which range is an abnormal range in a macro manner in the zoomed-out image. Specifically, the extraction module 41 extracts the entire amount of edge change at this point from the image by zooming out. As a result, the extraction module 41 specifies the entire edge change amount in the image.
  • the control module 44 performs the processing of steps S20 to S22 described above. You only have to execute it again. At this time, the control module 44 specifies a zoom-out amount that is larger than the previous zoom-out amount and includes it in the re-shooting instruction. The drone control system 1 again executes the processes of steps S23 to S28, and extracts the entire amount of edge change from the image.
  • the notification creation module 45 creates further information obtained as a result of the image analysis as a re-photographing result notification (step S29).
  • the re-photographing result notification is the text or voice of the presence or absence of the above-described scratches or spots, the size or location or number thereof, the fact that there are no scratches or spots, and the like.
  • the notification transmission module 22 transmits the created re-photographing result notification to a terminal device or the like owned by a user (not shown) (step S30).
  • the terminal device or the like receives the re-photographing result notification and notifies the user by displaying or emitting the re-photographing result notification.
  • the user grasps the target situation based on the re-photographing result notification.
  • each process described above does not necessarily have to be executed by a single piece of hardware.
  • the above-described processes may be executed by either or both of the computer 10 and the drone 100.
  • the means and functions described above are realized by a computer (including a CPU, an information processing apparatus, and various terminals) reading and executing a predetermined program.
  • the program is provided, for example, in a form (SaaS: Software as a Service) provided from a computer via a network.
  • the program is provided in a form recorded on a computer-readable recording medium such as a flexible disk, CD (CD-ROM, etc.), DVD (DVD-ROM, DVD-RAM, etc.).
  • the computer reads the program from the recording medium, transfers it to the internal storage device or the external storage device, stores it, and executes it.
  • the program may be recorded in advance in a storage device (recording medium) such as a magnetic disk, an optical disk, or a magneto-optical disk, and provided from the storage device to a computer via a communication line.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Le but de la présente invention est de fournir un système informatique, un procédé de commande de drone et un programme capable de contrôler un drone de telle sorte que le drone effectue une photographie avec zoom arrière uniquement lorsqu'une condition prédéterminée est remplie. La solution selon l'invention porte sur un système informatique qui acquiert une image photographiée par un drone, effectue une analyse d'image de l'image acquise, extrait, en résultat de l'analyse d'image, un point ayant une quantité de changement de bord qui n'est pas inférieure à une valeur de seuil prédéterminée, acquiert des coordonnées de position du point extrait, amène le drone à voler vers les coordonnées de position acquises, et amène le drone à effectuer une photographie avec zoom arrière. En outre, une fois que la photographie avec zoom arrière a été effectuée, le système informatique analyse à nouveau l'image obtenue par la photographie avec zoom arrière et spécifie la plage dans laquelle les coordonnées de position du point sont situées.
PCT/JP2018/006898 2018-02-26 2018-02-26 Système informatique, procédé de commande de drones et programme Ceased WO2019163119A1 (fr)

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Cited By (3)

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CN111898474A (zh) * 2020-07-10 2020-11-06 杭州石峦科技有限公司 基于光学传感感知的目标表面特征变化识别系统与方法
CN115755977A (zh) * 2022-12-06 2023-03-07 西安铁一院工程试验检测有限公司 一种隧道内智能无人机巡检方法及系统
EP4535812A4 (fr) * 2022-05-31 2025-08-27 Sony Group Corp Procédé d'instruction d'imagerie, objet mobile et programme

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JP2016178769A (ja) * 2015-03-19 2016-10-06 綜合警備保障株式会社 点検対象特定システム及び点検対象特定方法

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CN111898474A (zh) * 2020-07-10 2020-11-06 杭州石峦科技有限公司 基于光学传感感知的目标表面特征变化识别系统与方法
EP4535812A4 (fr) * 2022-05-31 2025-08-27 Sony Group Corp Procédé d'instruction d'imagerie, objet mobile et programme
CN115755977A (zh) * 2022-12-06 2023-03-07 西安铁一院工程试验检测有限公司 一种隧道内智能无人机巡检方法及系统

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