Control device, imaging device, control method, imaging method, and computer program

• US 10,372,133 B2
• Filed: 04/02/2015
• Issued: 08/06/2019
• Est. Priority Date: 04/25/2014
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Tanaka, Kayoko, Sabe, Kohtaro, Shibuya, Miki, Sawada, Tsutomu, Shimizu, Satoru, Suzuki, Kousuke, Takeda, Haruto, Duerr, Peter, Nabeta, Masaomi, Kakinuma, Takekazu, Mizumura, Hironari
• Primary Examiner(s): Lang, Michael D
• Application Number:
  US15/115,414
• Publication Number:
  US 20170010615A1
• Time in Patent Office: 1,587 Days
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G06V 20/176 Urban or other man-made structures
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

[Object] To provide a control device that can make more efficient an inspection performed by a flying body capable of performing imaging.

[Solution] Provided is a control device including an acquisition unit configured to acquire information related to an overview of a structure, and a flight information generating unit configured to generate flight information of a flying body being caused to fly over a periphery of the structure to image the structure on the basis of the information acquired by the acquisition unit. The control device generates information used to cause the flying body to image the structure, and thereby makes it possible to make more efficient the inspection performed by the flying body capable of performing imaging.

Claims

1. A control device comprising:

circuitry configured to

acquire information related to an overview of a structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure;

generate flight information of a flying body being caused to fly over and under a periphery of the structure to image the structure on the basis of the acquired information; and

estimate the position information of the flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite.

2. The control device according to claim 1, wherein, when the flying body has detected an obstacle during a flight that is taken on the basis of the flight information, the circuitry is further configured to update the flight information based on flight information used to avoid the obstacle.

3. The control device according to claim 2, wherein, when the flying body has detected an obstacle during the flight that is taken on the basis of the flight information, the circuitry is further configured to present information related to an overview of the structure including information related to a position of the obstacle.

4. The control device according to claim 1, wherein the circuitry is configured to generate, as the flight information, information including information of a flight path of the flying body and a position where the flying body executes an imaging process.

5. The control device according to claim 4, wherein the circuitry is configured to generate, as the flight information, information including information of an imaging direction at the position where the flying body executes an imaging process.

6. The control device according to claim 4, wherein the circuitry is configured to generate, as the flight information, information including information used to control special imaging at the position where the flying body executes an imaging process.

7. The control device according to claim 1, wherein the structure is a bridge.

8. The control device according to claim 7, wherein the circuitry is further configured to generate the flight information used to image a bottom surface of the bridge.

9. The control device according to claim 7, wherein the circuitry is further configured to generate the flight information used to image a side surface of the bridge.

10. The control device according to claim 7, wherein the circuitry is further configured to generate the flight information on the basis of a construction method of the bridge.

11. The control device according to claim 7, wherein the circuitry is further configured to generate information including information used to control special imaging on the basis of information related to the bridge.

12. The control device according to claim 11, wherein the information related to the bridge is information of a location likely to be damaged in the bridge.

13. The control device according to claim 1, wherein the position estimate node is an augmented reality marker.

14. An imaging device comprising:

circuitry configured to

perform control to make a flight over a periphery of a structure on the basis of flight information generated on the basis of information related to an overview of the structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure;

execute an imaging process of the structure during the flight on the basis of the flight information; and

estimate the position information of a flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite.

15. The imagine device according to claim 14, wherein the position estimate node is an augmented reality marker.

16. A control method comprising:

acquiring information related to an overview of a structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure;

generating flight information of a flying body being caused to fly over a periphery of the structure to image the structure on the basis of the acquired information; and

estimating the position information of the flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite.

17. The control method according to claim 16, wherein the position estimate node is an augmented reality marker.

18. An imaging method comprising:

performing control to make a flight over a periphery of a structure on the basis of flight information generated on the basis of information related to an overview of the structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure;

executing an imaging process of the structure during the flight on the basis of the flight information; and

estimating the position information of a flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite.

19. A non-transitory computer readable medium having stored thereon a computer program for causing a computer to execute the processing of:

acquiring information related to an overview of a structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure;

generating flight information of a flying body being caused to fly over a periphery of the structure to image the structure on the basis of the acquired information; and

estimating the position information of the flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite.

20. A non-transitory computer readable medium having stored thereon a computer program for causing a computer to execute the processing of:

performing control to make a flight over a periphery of a structure on the basis of flight information generated on the basis of information related to an overview of the structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure;

executing an imaging process of the structure during the flight on the basis of the flight information; and

estimating the position information of a flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite.