WO2021199449A1 - Procédé de calcul de position et système de traitement d'informations - Google Patents

Procédé de calcul de position et système de traitement d'informations Download PDF

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Publication number
WO2021199449A1
WO2021199449A1 PCT/JP2020/015433 JP2020015433W WO2021199449A1 WO 2021199449 A1 WO2021199449 A1 WO 2021199449A1 JP 2020015433 W JP2020015433 W JP 2020015433W WO 2021199449 A1 WO2021199449 A1 WO 2021199449A1
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WIPO (PCT)
Prior art keywords
user terminal
dimensional coordinate
information
calculation method
user
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PCT/JP2020/015433
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English (en)
Japanese (ja)
Inventor
西本　晋也
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株式会社センシンロボティクス
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Application filed by 株式会社センシンロボティクス filed Critical 株式会社センシンロボティクス
Priority to JP2020545756A priority Critical patent/JP6829513B1/ja
Priority to PCT/JP2020/015433 priority patent/WO2021199449A1/fr
Priority to JP2021001173A priority patent/JP2021162572A/ja
Publication of WO2021199449A1 publication Critical patent/WO2021199449A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the present invention relates to a position calculation method and an information processing system.
  • Patent Document 1 discloses a method of controlling an air vehicle by a dedicated device such as a radio.
  • Patent Document 1 it is not easy to operate with a dedicated device such as a radio, and a skilled technique is required to control the flying object especially for work such as inspection.
  • the present invention has been made in view of such a background, and an object of the present invention is to provide a position calculation method, a flight control method, and an information processing system capable of easily controlling an air vehicle on site.
  • the main invention of the present invention for solving the above problems is a method of calculating a position designated on the screen of a user terminal, which is a predetermined position on a captured image acquired by a photographing unit on the screen of the user terminal.
  • the step of calculating the angle and orientation to the three-dimensional coordinate position corresponding to the coordinate position, at least the three-dimensional coordinate position indicated by the user terminal position information, and the calculated angle and orientation are ternary in the virtual space.
  • a virtual straight line is extended from the three-dimensional coordinate position indicated by the user terminal position information to the calculated angle and orientation in association with the original coordinates, the three-dimensional shape indicated by the point data that first contacts the straight line.
  • FIG. 1 It is a figure which shows the structure of the management system which concerns on embodiment of this invention. It is a block diagram which shows the hardware configuration of the management server of FIG. It is a block diagram which shows the hardware configuration of the user terminal of FIG. It is a block diagram which shows the hardware composition of the flying object of FIG. It is a block diagram which shows the function of the management server of FIG. It is a block diagram which shows the structure of the parameter information storage part of FIG. It is a flowchart of the flight control method which concerns on embodiment of this invention. It is a figure which shows an example of the description about the position calculation method which concerns on embodiment of this invention. It is a figure which shows an example of the description about the position calculation method which concerns on embodiment of this invention. It is a figure which shows an example of the description about the position calculation method which concerns on embodiment of this invention. It is a figure which shows an example of the description about the position calculation method which concerns on embodiment of this invention. It is a figure which shows an example of the description about the position calculation method which concerns on
  • the position calculation method and the information processing system according to the embodiment of the present invention have the following configurations.
  • [Item 1] It is a calculation method of the position specified on the screen of the user terminal.
  • the three-dimensional coordinate position indicated by the point data that first contacts the straight line corresponds to the position specified by the user, which is the virtual designated position in the virtual space.
  • the point data is one of the three-dimensional point cloud data in the virtual space.
  • the point data is stored in the air vehicle, A position calculation method characterized by this.
  • [Item 4] The position calculation method according to item 1 or 2.
  • the point data is stored in the user terminal. A position calculation method characterized by this.
  • the position calculation method according to items 1 to 4. The photographing unit is provided in the user terminal. A position calculation method characterized by this.
  • [Item 6] The position calculation method according to items 1 to 4.
  • the photographing unit is provided on the flying object. A position calculation method characterized by this.
  • [Item 7] An information processing system that calculates a specified position on the screen of a user terminal.
  • the information processing system includes a shooting unit, a designated position information acquisition unit, a shooting state information receiving unit, and a position calculation unit.
  • the designated position information acquisition unit On the screen of the user terminal, a two-dimensional coordinate position on the screen of the user terminal corresponding to a predetermined position specified by the user on the captured image acquired by the photographing unit is acquired.
  • the shooting state information receiving unit is Upon receiving the shooting state information including at least the shooting angle of view, the shooting angle, the shooting direction, and the user terminal position information when the predetermined position is specified,
  • the position calculation unit Based on the two-dimensional coordinate position and the shooting state information, the angle and orientation from the three-dimensional coordinate position indicated by the user terminal position information to the three-dimensional coordinate position corresponding to the two-dimensional coordinate position on the screen of the user terminal. Is calculated and At least the three-dimensional coordinate position indicated by the user terminal position information and the calculated angle and orientation are associated with the three-dimensional coordinates in the virtual space, and the calculation is made from the three-dimensional coordinate position indicated by the user terminal position information.
  • the three-dimensional coordinate position indicated by the point data that first contacts the straight line corresponds to the position specified by the user, which is the virtual designated position in the virtual space.
  • the three-dimensional coordinate position of the user-designated designated position in the real space is calculated from the virtual designated position.
  • the management system includes a management server 1, one or more user terminals 2, one or more flying objects 4, and one or more flying object storage devices 5. ing.
  • the management server 1, the user terminal 2, the flying object 4, and the flying object storage device 5 are connected to each other so as to be able to communicate with each other via a network.
  • the illustrated configuration is an example, and is not limited to this. For example, a configuration that is carried by the user without having the flying object storage device 5 may be used.
  • FIG. 2 is a diagram showing a hardware configuration of the management server 1.
  • the illustrated configuration is an example, and may have other configurations.
  • the management server 1 is connected to a plurality of user terminals 2, an air vehicle 4, and an air vehicle storage device 5 to form a part of this system.
  • the management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.
  • the management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, and these are electrically connected to each other through a bus 15.
  • the processor 10 is an arithmetic unit that controls the operation of the entire management server 1, controls the transmission and reception of data between each element, and performs information processing and the like necessary for application execution and authentication processing.
  • the processor 10 is a CPU (Central Processing Unit) and / or a GPU (Graphics Processing Unit), and executes each information processing by executing a program or the like for the system stored in the storage 12 and expanded in the memory 11. ..
  • the memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary memory composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disk Drive). ..
  • the memory 11 is used as a work area or the like of the processor 10, and also stores a BIOS (Basic Input / Output System) executed when the management server 1 is started, various setting information, and the like.
  • BIOS Basic Input / Output System
  • the storage 12 stores various programs such as application programs.
  • a database storing data used for each process may be built in the storage 12.
  • the transmission / reception unit 13 connects the management server 1 to the network and the blockchain network.
  • the transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
  • the input / output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.
  • the bus 15 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.
  • the user terminal 2 shown in FIG. 3 also includes a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, a photographing unit 26, a photographing state information acquisition unit 27, and the like, and these are mutually provided through a bus 25. It is electrically connected. Since the functions of each element can be configured in the same manner as the management server 1 described above, detailed description of the same configuration will be omitted.
  • the photographing unit 26 is, for example, a visible light camera or an infrared camera, and acquires a photographed image (for example, a still image, a moving image, etc.).
  • FIG. 4 is a block diagram showing a hardware configuration of the air vehicle 4.
  • the flight controller 41 can have one or more processors such as a programmable processor (eg, central processing unit (CPU)).
  • a programmable processor eg, central processing unit (CPU)
  • the flight controller 41 has a memory 411 and can access the memory.
  • Memory 411 stores logic, code, and / or program instructions that the flight controller can execute to perform one or more steps.
  • the flight controller 41 may include sensors 412 such as an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (for example, rider) and the like.
  • Memory 411 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
  • the data acquired from the photographing unit / sensors 42 may be directly transmitted and stored in the memory 411.
  • the still image / moving image data taken by the shooting unit or the like may be recorded in the built-in memory or the external memory, but the present invention is not limited to this, and at least the management server from the shooting unit / sensor 42 or the built-in memory via the network NW. It may be recorded in any one of 1, the user terminal 2, and the air vehicle storage device 5.
  • the photographing unit 42 is installed on the flying object 4 via the gimbal 43.
  • the flight controller 41 includes a control module (not shown) configured to control the state of the flying object.
  • the control module adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z).
  • ESC44 Electric Speed Controller
  • the propulsion mechanism (motor 45, etc.) of the flying object.
  • the propeller 46 is rotated by the motor 45 supplied from the battery 48 to generate lift of the flying object.
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the flight controller 41 is configured to transmit and / or receive data from one or more external devices (eg, transmitter / receiver (propo) 49, terminal, display device, or other remote control). It is possible to communicate with the unit 47.
  • the transceiver 49 can use any suitable communication means such as wired communication or wireless communication.
  • the transmission / reception unit 47 uses one or more of a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, and the like. can do.
  • LAN local area network
  • WAN wide area network
  • P2P point-to-point
  • the transmission / reception unit 47 transmits and / or receives one or more of the data acquired by the sensors 42, the processing result generated by the flight controller 41, the predetermined control data, the user command from the terminal or the remote controller, and the like. be able to.
  • Sensors 42 may include an inertial sensor (acceleration sensor, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
  • inertial sensor acceleration sensor, gyro sensor
  • GPS sensor GPS sensor
  • proximity sensor eg, rider
  • vision / image sensor eg, camera
  • FIG. 5 is a block diagram illustrating the functions implemented in the management server 1, the user terminal 2, and the flying object 4 in the present embodiment.
  • the processor 10 includes a flight mission generation unit 110, and the storage 12 includes a flight path information storage unit 122 and a flight log storage unit 124, and a transmission / reception unit 13 Is provided with a communication unit 130.
  • the flight mission generation unit 110 includes a flight path generation unit 112.
  • the storage 12 may further have a storage unit for storing information necessary for executing a flight mission, and may include, for example, information on flight conditions (for example, flight speed, waypoint interval, etc.), and described later. It may have a storage unit (not shown) for storing virtual space information (for example, three-dimensional point group data).
  • Flight mission generation unit 110 generates flight missions.
  • a flight mission is information such as a flight path including at least waypoint information (including, for example, latitude / longitude information and flight altitude information).
  • the flight path generator 112 obtains the three-dimensional point cloud model information of the object, the current position of the aircraft, the flight mission start position, the distance from the object, and the like. May automatically calculate and set waypoints.
  • the generated information regarding the flight path may be stored in the flight path information storage unit (not shown).
  • the flight mission may include, for example, user-designated work (for example, imaging, inspection, security, etc.), and the flying object may be controlled so as to start the above work from the flight mission start position.
  • Detailed settings for executing each flight mission may be registered in advance in the management server 1 or the like.
  • the flight path may be, for example, a flight start position with the position where the aircraft is hovering and waiting near the user or the position where the aircraft is carried by the user as the current position without having the flight object storage device 5.
  • the user may collect the aircraft at the end of the flight, or based on the information of the aircraft storage device 5 managed by the management server 1 (for example, position information, storage state information, storage aircraft information, etc.).
  • the configuration may be generated as a flight path including the position of the flying object storage device 5 selected as the flight start position, the intermediate stop point, or the flight end position.
  • the flight path information storage unit 122 stores the flight path information of the flying object generated by the flight mission generation unit 110.
  • the flight log storage unit 124 has, for example, information acquired by the aircraft 4 on the flight path set in the flight mission (for example, position information from takeoff to landing, still images, moving images, etc.). Memorize voice and other information).
  • the communication unit 130 communicates with the user terminal 2, the flying object 4, and the flying object storage device 5.
  • the communication unit 130 also functions as a reception unit that receives flight requests from the user terminal 2.
  • the processor 20 includes a shooting state information acquisition unit 220 and a designated position information acquisition unit 240
  • the storage 22 includes a shooting state information storage unit 222.
  • the transmission / reception unit 23 includes a communication unit 230.
  • the storage 22 may further have a storage unit (not shown) for storing the designated position information acquired by the designated position information acquisition unit 240.
  • the shooting state information acquisition unit 220 is a storage unit (memory 21 or storage) that stores information (for example, shooting angle of view information) related to sensors such as GPS, gyro sensor, pressure sensor, temperature sensor, and the shooting unit 26 of the terminal. (It may be a part of 22), etc., the shooting angle of view information, shooting angle information, shooting orientation information, user terminal position information (for example, latitude / longitude information and altitude information, etc.) of the user terminal when the shot image is acquired. ) Etc. are acquired as shooting status information.
  • the altitude information included in the user terminal position information may be altitude information calculated based on the above-mentioned barometric pressure sensor or temperature sensor, or altitude information set by the user, but for example, height information set by the user, Alternatively, the altitude information may be a value offset in the vertical direction by a predetermined height according to the assumed position of the user terminal from the average height information according to the gender of the user.
  • the designated position information acquisition unit 240 is a position on the screen designated by the user (for example, an xy coordinate position set with a predetermined position as the origin, the width direction of the screen as the x-axis, and the height direction of the screen as the y-axis). Is acquired as the specified position information.
  • the method for the user to specify the position on the screen is, for example, touching the touch display with a finger to specify, operating an object such as a pointer to specify, or moving the user terminal 2 to specify the position on the screen. It can be realized by specifying by aligning a specific position (for example, the center) and executing a determination operation.
  • the shooting state information storage unit 222 includes at least a shooting image angle information storage unit 2221, a shooting angle information storage unit 2222, a shooting orientation information storage unit 2223, and a user terminal position information storage unit 2224, and is a target.
  • the shooting status information to be performed is stored.
  • the communication unit 230 communicates with the management server 1, the flying object 4, and the flying object storage device 5.
  • the processor 413 includes a shooting state information receiving unit 415 and a position calculation unit 417, and the memory 411 includes a virtual space information storage unit 421 to transmit and receive.
  • the unit 47 includes a communication unit 470.
  • the memory 411 may further have a storage unit (not shown) for storing the shooting state information received by the shooting state information receiving unit 415.
  • the shooting state information receiving unit 415 receives the shooting state information acquired by the shooting state information acquisition unit 220 of the user terminal 2 via the communication unit 470.
  • the position calculation unit 417 has at least the shooting state information and the designated position information of the user terminal 2, the virtual space information (for example, three-dimensional point cloud data) stored in the virtual space information 421, and the current position information of the flying object 4 (for example, from GPS). Based on (acquire), it is calculated whether the designated position specified by the user on the screen of the user terminal 2 is the position in the virtual space or the real space. The detailed calculation method will be described later.
  • the virtual space information storage unit 421 stores virtual space information including three-dimensional point cloud data in a range that can be photographed from, for example, the user terminal 2.
  • the three-dimensional point cloud data is, for example, three-dimensional coordinate data in a virtual space acquired by an imaging unit or a sensor capable of measuring LIDAR (Light Detection and Range) or Depth, and is acquired by flying in advance or via a network.
  • LIDAR Light Detection and Range
  • Depth For example, data in a necessary range may be acquired from the management server 1.
  • the three-dimensional coordinates in the real space of the flying object 4 and the three-dimensional coordinates in the virtual space may be associated with each other in advance and stored in the virtual space information storage unit 421.
  • the function of the processor 413 on the flying object 4 is described based on an example in which the position calculation unit 417 is provided, but the present invention is not limited to this, and for example, the processor 20 of the user terminal 2 is described.
  • the processor 10 of the management server 1 and the processor of the air vehicle storage device 5 may be provided as functions, and the information necessary for position calculation may be read out to the corresponding processor for calculation. As a result, the processing load for position calculation can be assigned to the desired processor.
  • the position calculation and the flying object are controlled based on the captured image of the photographing unit 26 of the user terminal 2. Instead, the position calculation and the flying object are performed based on the captured image of the photographing unit of the flying object 4. It may be controlled. At this time, the position calculation may be realized by displaying the captured image of the photographing unit of the flying object 4 on the screen of the user terminal 2 in the same manner as the image captured by the photographing unit 26 of the user terminal 2.
  • the user points the shooting unit 26 of the user terminal 2 at the shooting environment while visually observing the shooting environment, and objectively and intuitively specifies the position. It is possible to control the flying object 4 by this, but when based on the captured image of the photographing unit of the flying object 4, the position is subjectively and intuitively as if the user is moving directly. It is possible to control the flying object by specifying.
  • FIG. 7 illustrates a flowchart of the position calculation method according to the present embodiment.
  • FIG. 8-10 is a diagram showing an example of an explanation regarding the position calculation method according to the embodiment of the present invention. Further, as an example, a configuration will be described in which a position calculation unit 417 is provided as a function of the processor 413 on the flying object 4 and the position is calculated based on the captured image of the photographing unit 26 of the user terminal 2.
  • a predetermined position on the captured image S acquired by the photographing unit 26 is designated by the pointer P or the like (SQ101).
  • the flying object 4 uses the shooting state information receiving unit 415 to specify a predetermined position (xy coordinate position on the screen) designated on the screen of the user terminal 2 and the shooting state information when the predetermined position is specified in the SQ101. (Shooting angle of view, shooting angle, shooting direction, user terminal position information) is acquired (SQ102).
  • the flying object 4 is subjected to a predetermined position (xy on the screen) specified on the screen from the position (three-dimensional coordinates) of the user terminal based on the above-mentioned xy coordinate position and shooting state information by the position calculation unit 417.
  • the angle and orientation to at least the position (three-dimensional coordinates) in the virtual space corresponding to the coordinate position) are calculated (SQ103).
  • FIG. 9 will be used to illustrate a method of calculating the angle in the y-axis direction.
  • the deviation width d y from the center of the photographing unit is obtained by subtracting the half value of the height d h determined by the resolution from the specified position y in the y-axis direction on the screen when the origin of the y coordinate on the screen is set as the upper end. It is the absolute value of the value, and the relationship of the following equation 1 holds.
  • Equation 4 Equation 4
  • the deviation angle ⁇ h from the direction of the photographing unit also satisfies the relationship of the following equation (5).
  • the deviation orientation ⁇ w from the orientation of the photographing unit in the x-axis direction is calculated by the same calculation method.
  • the flying object 4 uses the position calculation unit 417 to set the deviation angle ⁇ h and the deviation direction ⁇ w calculated by the position P s of the user terminal 2 and the SQ 103, and the position P d of the aircraft 4 in three dimensions in the virtual space.
  • the left figure of FIG. 10 shows the relationship between the position P s of the user terminal 2, the deviation direction ⁇ w calculated by the above mathematical formula, the object specified on the image, and the specified position. Then, these values and the position P d of the flying object 4 are applied by the position calculation unit 417 of the flying object 4 in the virtual space to which the three-dimensional point cloud data is mapped, as shown in the right figure of FIG. It becomes a positional relationship.
  • a virtual straight line is extended in the direction of the deviation direction ⁇ w from the position P s of the user terminal 2, and the position of the point data D that first contacts is calculated as the position specified by the user.
  • the same thing is done in parallel in the y-axis direction using the shift angle ⁇ h, and as a result, the three-dimensional coordinates of the point data in the virtual space corresponding to the position specified by the user.
  • the position (virtually designated position) is calculated.
  • the position specified by the user in the real space is calculated from the correspondence between the three-dimensional coordinates in the virtual space and the three-dimensional coordinates in the real space (SQ105). ..
  • the position in the real space is calculated based on the position P d of the flying object 4, but the user terminal 2 is in the virtual space.
  • the information regarding the position P d of the flying object 4 is not always necessary, and only the position P s of the user terminal 2 may be sufficient.
  • the position specified by the user on the screen of the user terminal 2 can be calculated as a three-dimensional coordinate position in the real space, and various flying objects can be easily controlled by using this.
  • the flying object 4 may be controlled to fly to that position by using the three-dimensional coordinates of the position specified on the screen of the user terminal 2 in the real space.
  • the control may be executed by the processor 413 of the aircraft 4 or the processor 20 of the user terminal 2, or may be executed by the processor 10 of the management server 1.
  • the flying object 4 can be easily flown to that position simply by specifying it on the screen of the user terminal 2.
  • the flying object 4 is flown to the position specified by the user.
  • the shape of the object including the position is determined and the position specified by the user ( And a flight mission such as an inspection may be executed from a position offset by a predetermined distance from the position).
  • the three-dimensional point cloud data may be referred to, or the three-dimensional point cloud data of the object may be acquired on the spot by LIDAR or the like mounted on the flying object 4.
  • the flight mission may be executed by determining the flight path based on the three-dimensional point cloud data of the object, with the position specified by the user as the flight mission start position.
  • the management server 1 may also store the virtual space information stored in the flight body 4, and the flight path generation unit 112 may generate the flight path.
  • the flight mission may be specified by any flight mission before the user specifies the position.
  • Aircraft control example 1-3 In the above-mentioned control examples 1-1 and 1-2 of the flying object, the three-dimensional coordinates of the point data are used as the position specified by the user. Instead, the object including the point data is determined. The shape of the object may be determined from the three-dimensional point cloud data, and a flight path for a flight mission to the object may be generated in advance. As a result, the user can execute a flight mission to the object without strictly specifying the position for controlling the flying object.
  • ⁇ Flying object control example 1-4> For example, after flying the flying object 4 to a position designated by the user, communication may be performed with a device capable of communicating with the flying object 4.
  • the device is an air vehicle storage device 5, for transmitting information acquired in the air vehicle 4 to a management server 1 or the like via the air vehicle storage device 5 or storing the information in the air vehicle storage device 5.
  • Communication processing may be performed, or communication processing for performing a flight mission in place of or jointly with an air vehicle in the air vehicle storage device 5 may be performed. Which of these operations is to be performed may be configured so that when the user specifies a position on the screen of the user terminal 2, the operation is also specified on the user terminal 2.
  • Aircraft Control Example 2-1> For example, as described above, when calculating the three-dimensional coordinates of the position specified on the screen of the user terminal 2 in the real space, the user terminal position P in the virtual space. When the virtual straight line is extended from s, if it does not come into contact with any of the three-dimensional point cloud data, or if it does not come into contact with the three-dimensional point cloud data even if it is extended by a predetermined distance, the flying object 4 is determined.
  • a fail-safe operation may be performed. As the fail-safe operation, for example, the user may fly to the position designated by the user or the position of the user terminal 2 on the spot or at the end to hover or land. Further, an alert display to the user terminal 2 (for example, a display indicating that the three-dimensional point cloud data is not touched and the position cannot be calculated) may be displayed.
  • Aircraft control example 2-2 For example, as described above, when the flight body 4 is controlled to fly to a position specified by the user and an obstacle is determined by a photographing unit or a sensor mounted on the flight body 4, a predetermined fail-safe operation (their). You may stop at the field and hover or land, or you may return to the position specified immediately before or the position of the user terminal 2, and the shape of the obstacle can be found in the three-dimensional point cloud data. If it can be determined, the flight may be continued to avoid obstacles) or an alert display may be executed. Further, for example, in the case of the positional relationship as shown in FIG. 11, since the object itself at the position specified by the user can be an obstacle, a predetermined fail-safe operation (particularly, the flight path is changed).
  • the three-dimensional point cloud data may be used to generate a route that goes around the object or a route that exceeds the sky side) or an alert display.
  • the color information is determined by the photographing unit mounted on the flying object 4 and the ratio of the pre-registered colors is high (for example, it is green assuming that the color has moved toward the lawn or the leaves of a tree).
  • brown which is the color of the soil such as the ground, may be registered), and a predetermined fail-safe operation or alert display may be performed.
  • ⁇ Flying object control example 2-3> The above-mentioned control of the air vehicle 4 mainly assumes that the air vehicle 4 travels straight to a position specified by the user, but for example, when the user specifies the position, the three-dimensional point cloud data acquired in advance is used. , If it can be determined that the obstacle collides with the obstacle before the specified position when going straight to the position specified by the user, the shape of the obstacle is set as a three-dimensional point cloud at the stage where the user specifies the position. It may be determined from the data and a flight path to avoid it may be generated. In addition, an alert display (for example, the fact that the vehicle collides with an obstacle or the flight route has been changed) may be displayed.
  • an alert display for example, the fact that the vehicle collides with an obstacle or the flight route has been changed
  • ⁇ Flight body control example 3-1> a configuration in which the position is calculated based on the captured image of the photographing unit 26 of the user terminal 2 has been described.
  • the position may be calculated based on this.
  • This configuration is particularly effective indoors (for example, in a living room, a warehouse, a factory, a building, etc.) where an object including a wall can be specified in any direction, and is subjective from the viewpoint of the photographing unit of the flying object 4. It is possible to specify the traveling direction of the flying object 4 objectively and intuitively. Note that, for example, while flying to a position specified by the user, the direction of the photographing unit of the flying object 4 is changed, and the user redesignates the position to change the traveling direction of the flying object 4. You may control it.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un procédé de calcul de position et un système de traitement d'informations grâce auxquels il est possible de commander facilement un objet volant sur un site. À cet effet, la présente invention concerne un procédé de calcul de position caractérisé en ce qu'il comprend : une étape consistant à spécifier une position prédéterminée sur une image capturée ; une étape consistant à acquérir une position de coordonnées bidimensionnelles correspondant à la position prédéterminée, et au moins des informations d'état capturées ; une étape consistant à calculer, sur la base de la position de coordonnées bidimensionnelles et des informations d'état capturées, un angle et une direction vers une position de coordonnées tridimensionnelles correspondant à la position de coordonnées bidimensionnelle à partir d'une position de terminal utilisateur ; une étape consistant à associer au moins la position de terminal utilisateur et l'angle et la direction calculés avec des coordonnées tridimensionnelles dans un espace virtuel, et à calculer des données ponctuelles qui, lorsqu'une ligne droite virtuelle se prolonge à partir de la position de terminal utilisateur dans l'angle et la direction calculés, entrent d'abord en contact avec la ligne droite comme position virtuelle spécifiée correspondant à une position spécifiée par un utilisateur ; et une étape consistant à calculer une position de coordonnées tridimensionnelles de la position spécifiée à partir de la position virtuelle spécifiée.
PCT/JP2020/015433 2020-04-03 2020-04-03 Procédé de calcul de position et système de traitement d'informations WO2021199449A1 (fr)

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JP2020545756A JP6829513B1 (ja) 2020-04-03 2020-04-03 位置算出方法及び情報処理システム
PCT/JP2020/015433 WO2021199449A1 (fr) 2020-04-03 2020-04-03 Procédé de calcul de position et système de traitement d'informations
JP2021001173A JP2021162572A (ja) 2020-04-03 2021-01-07 位置算出方法及び情報処理システム

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JP7307927B2 (ja) * 2021-11-11 2023-07-13 株式会社TechFirst Leaders 無人機の制御システム
JP7233515B1 (ja) 2021-12-24 2023-03-06 楽天グループ株式会社 情報処理システム、解放場所設定方法、及びプログラム

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