Control device, flying object system, control method, and program

Patent metadata

Field	Value
Publication number	US-12461541-B2
Application number	US-202318523880-A
Country	US
Kind code	B2
Filing date	Nov 30, 2023
Priority date	Jun 9, 2021
Publication date	Nov 4, 2025
Grant date	Nov 4, 2025

Abstract

There is provided a control device including a processor and a memory connected to or built into the processor. The processor acquires, for a marker of which a position in a vertical direction is variable with a displacement mechanism, the position of the marker in the vertical direction detected by an optical sensor mounted on a flying object and performs control of maintaining or changing a position of the flying object in the vertical direction, with respect to the flying object, based on the position of the marker in the vertical direction.

First claim

What is claimed is:

1. A flying object system comprising:
a control device;
a displacement mechanism;
a marker; and
a flying object,
wherein the displacement mechanism includes
a cable that is provided with the marker, and
a reel for performing winding and unwinding with respect to the cable,

wherein the control device includes
a processor; and
a memory connected to or built into the processor,

wherein the processor is configured to:
acquire, for the marker of which a position in a vertical direction is variable with the displacement mechanism, the position of the marker in the vertical direction detected by an optical sensor mounted on the flying object; and
perform control of maintaining or changing a position of the flying object in the vertical direction, with respect to the flying object, based on the position of the marker in the vertical direction.

2. The flying object system according to claim 1 ,
wherein the optical sensor includes a first imaging device.

3. The flying object system according to claim 2 ,
wherein the processor is configured to perform control of causing the first imaging device to capture an imaging scene that includes the marker in a part thereof.

4. The flying object system according to claim 3 ,
wherein the imaging scene includes a first inspection target positioned in a vicinity of the marker.

5. The flying object system according to claim 3 ,
wherein the position of the marker in the vertical direction is a position detected based on an image obtained by capturing the imaging scene with the first imaging device.

6. The flying object system according to claim 5 ,
wherein the processor is configured to perform control of setting the position of the flying object in the vertical direction at a height at which the marker is disposed at a center part of the image in a longitudinal direction on the image, with respect to the flying object.

7. The flying object system according to claim 1 ,
wherein the processor is configured to perform control of setting the position of the flying object in the vertical direction to the same position as the position of the marker in the vertical direction, with respect to the flying object.

8. The flying object system according to claim 1 ,
wherein the optical sensor includes a LiDAR scanner, and
the position of the marker in the vertical direction is a position detected based on scan data obtained by scanning a target region that includes the marker in a part thereof with the LiDAR scanner.

9. The flying object system according to claim 1 ,
wherein the marker includes a light emitting body.

10. The flying object system according to claim 9 ,
wherein the processor is configured to perform first control in accordance with a first light emission mode of the light emitting body, with respect to the flying object.

11. The flying object system according to claim 10 ,
wherein the first control includes the control of maintaining or changing the position of the flying object in the vertical direction.

12. The flying object system according to claim 10 ,
wherein the first control includes control of maintaining or changing a movement speed of the flying object.

13. The flying object system according to claim 10 ,
wherein the first control includes movement control of moving the flying object in a horizontal direction.

14. The flying object system according to claim 13 ,
wherein the movement control includes control of adjusting a first distance between the marker and the flying object by moving the flying object in the horizontal direction.

15. The flying object system according to claim 10 ,
wherein the first light emission mode is a mode including blinking.

16. The flying object system according claim 9 ,
wherein the processor is configured to perform control of causing the flying object to hover according to a second light emission mode of the light emitting body.

17. The flying object system according to claim 16 ,
wherein the second light emission mode is a mode including lighting-out.

18. The flying object system according claim 9 ,
wherein the processor is configured to perform imaging control of causing a second imaging device, which is mounted on the flying object, to perform imaging for a still image according to a third light emission mode of the light emitting body.

19. The flying object system according to claim 18 ,
wherein the processor is configured to perform the imaging control in a case where the flying object hovers.

20. The flying object system according to claim 18 ,
wherein the light emitting body includes a plurality of light sources, and
the third light emission mode is a mode that includes alternate blinking of the plurality of light sources.

21. The flying object system according to claim 9 ,
wherein the processor is configured to repeatedly perform control of moving the flying object in a horizontal direction in a state in which the position of the flying object in the vertical direction is maintained and control of causing a third imaging device, which is mounted on the flying object, to image a second inspection target, according to a fourth light emission mode of the light emitting body.

22. The flying object system according to claim 1 ,
wherein the displacement mechanism includes a sensor that detects an unwinding amount of the cable with respect to the reel.

23. The flying object system according to claim 1 ,
wherein a rope that connects the displacement mechanism and the flying object is provided.

24. The flying object system according to claim 23 ,
wherein the displacement mechanism and the rope include a power transmission cable that transmits power to the flying object.

25. The flying object system according to claim 1 ,
wherein a fourth imaging device that is provided in the displacement mechanism and that images the flying object, is provided.

26. The flying object system according to claim 25 ,
wherein the processor is configured to perform control with respect to the flying object based on an image obtained by imaging the flying object with the fourth imaging device.

27. The flying object system according to claim 26 ,
wherein the processor is configured to perform control of moving the flying object to a center part of an angle of view of the fourth imaging device, with respect to the flying object.

28. The flying object system according claim 25 ,
wherein the fourth imaging device is disposed at a position adjacent to the marker.

29. The flying object system according to claim 1 ,
wherein a distance measurement device that is provided in the displacement mechanism is included, and
the distance measurement device measures a second distance between the distance measurement device and the flying object.

30. The flying object system according to claim 29 ,
wherein the processor is configured to perform second control with respect to the flying object based on distance measurement information obtained by measuring the second distance with the distance measurement device.

31. The flying object system according to claim 30 ,
wherein the second control is control of setting the second distance to a default distance.

32. The flying object system according to 29 ,
wherein the distance mea

Assignees

• Fujifilm Corp

Inventors

• Wada Tetsu

Classifications

• G05D1/244

  using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• H04N23/90 Primary

  Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums · CPC title

• B64U2101/26

  for manufacturing, inspections or repairs · CPC title

• B64U2201/20

  Remote controls · CPC title