JP6810497B1 - Flight route creation method and management server for aircraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simple flight path generation method and a management server which do not require manual input or the like to set waypoints for at least a part of a flight path in the work of creating a flight path of an air vehicle. In particular, it provides a flight route generation method and a management server that can be used even in an environment where it is not possible to go around the side of the structure. A method of generating a flight path of an air vehicle flying along the surface of a structure, including coordinates associated with the structure, distances from the coordinates, and height or length associated with the structure. A step of setting parameters and a step of generating a flight path in which the flying object reciprocates in the first direction along the surface of the structure and travels in the second direction perpendicular to the first direction based on the parameters. Including. [Selection diagram] FIG. 8

Description

The present invention relates to a flight path creation method for an air vehicle and a management server.

In recent years, Drones and unmanned aerial vehicles (UAV: Unmanned Aeria)
Vehicles such as the vehicle (hereinafter collectively referred to as "vehicles") are beginning to be used in industry. Under these circumstances, Patent Document 1 discloses a system in which a flying object sequentially photographs an imaged object at a plurality of preset waypoints.

Japanese Unexamined Patent Publication No. 2014-089160

However, in the disclosed technology of Patent Document 1, in order to create a flight path of an air vehicle,
It is necessary to set and memorize all waypoints in advance by manual input or the like. Therefore, when the flight path becomes long, it takes time and effort to set waypoints for the entire flight path, and it lacks speed, especially in situations where the work time is short and limited. It was.

It has also been conventionally known to set waypoints to orbit a structure to create a flight path, but in this case, if the structure is in close proximity to another structure, the structure There may be a problem that it is not possible to go around and create a flight path in the first place.

The present invention has been made in view of such a background, and in the work of creating a flight path of an air vehicle, it is not necessary to manually set a way point for at least a part of the flight path. It is an object of the present invention to provide a management server and a management system, and particularly to provide a flight route generation method and a management server that can be used even in an environment where it is not possible to go around the side of the structure.

The main invention of the present invention for solving the above problems is a method of generating a flight path of an air vehicle flying along the surface of a structure, wherein the coordinates related to the structure, the distance from the coordinates, and the like.
Based on the step of setting parameters including the height or length associated with the structure and the parameters, the flying object reciprocates in the first direction along the surface of the structure and is perpendicular to the first direction. It is a flight path generation method including a step of generating a flight path traveling in a second direction.

According to the present invention, in particular, in the work of creating a flight path of an air vehicle, a simple flight path generation method and management server that do not require manual input or the like to set a way point for at least a part of the flight path are provided. It is possible to provide a flight path generation method and a management server that can be provided and can be used even in an environment in which it is not possible to go around the side of the structure.

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 path generation method which concerns on embodiment of this invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an example of a display screen according to the embodiment of the present invention. This is an application example of the display screen according to the embodiment of the present invention. It is another example of the display screen which concerns on embodiment of this invention.

The contents of the embodiments of the present invention will be described in a list. The flight management server and flight management system according to the embodiment of the present invention have the following configurations.
[Item 1]
A method of generating a flight path for an air vehicle flying along the surface of a structure.
A step of setting parameters including coordinates associated with the structure, distance from the coordinates, and height or length associated with the structure.
Based on the parameters, a step of generating a flight path in which the flying object reciprocates in the first direction along the surface of the structure and travels in the second direction perpendicular to the first direction, and
Flight path generation method including.
[Item 2]
The step of generating the flight path is
It is possible to generate a path that does not go around the side of the structure.
The flight path generation method according to item 1, wherein the flight path is generated.
[Item 3]
The parameters further include at least one of flight speed, minimum flight altitude, and waypoint placement interval.
The flight path generation method according to item 1 or 2, wherein the flight path is generated.
[Item 4]
The step of generating the flight path is
A polygon having a plurality of vertices guided by the coordinates and the distance is sequentially reciprocated in the vertical direction on the vertices.
The flight path generation method according to items 1 to 3, wherein the flight path is generated.
[Item 5]
The flight path is a flight path for imaging by the flying object.
The parameter further includes an overlap rate of at least one of the first direction and the second direction of the captured image.
The flight path generation method according to items 1 to 4, wherein the flight path is generated.
[Item 6]
The flight path is set as the first flight path.
Further including the step of generating a second flight path for the flying object to fly around the structure based on the parameters.
The flight path generation method according to items 1 to 5, wherein the flight path is generated.
[Item 7]
Based on the information obtained by flying in the second flight path, the parameters are corrected.
Generate the first flight path based on the corrected parameters.
The flight path generation method according to item 6, wherein the flight path is generated.
[Item 8]
A management server that generates flight paths for flying objects that fly along the surface of a structure.
A parameter setting unit that sets parameters including coordinates related to the structure, distance from the coordinates, and height or length related to the structure.
Based on the parameters, a flight path generator that generates a flight path in which the flying object reciprocates in the first direction along the surface of the structure and travels in the second direction perpendicular to the first direction.
Management server with.

<Details of the embodiment>
Hereinafter, the flight path generation method of the flying object and the embodiment of the management server according to the embodiment of the present invention will be described. In the accompanying drawings, the same or similar elements are given the same or similar reference numerals and names, and duplicate description of the same or similar elements may be omitted in the description of each embodiment. In addition, the features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.

<Composition>
As shown in FIG. 1, the management system according to the present embodiment 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 may be carried by a user without having the flying object storage device 5.

<Management server 1>
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.

As shown in the figure, 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 the 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. For example, the processor 10 is a CPU (Central Processing Unit).
It) and / or GPU (Graphics Processing Unit), and each information processing is performed by executing a program or the like for this system stored in the storage 12 and expanded in the memory 11.

The memory 11 is a DRAM (Dynamic Random Access Memory).
Main memory composed of volatile storage devices such as y), flash memory and HDD (Hard)
Includes auxiliary storage configured with a non-volatile storage device such as Disc Drive). The memory 11 is used as a work area of the processor 10, and also has a BIOS (Basic Input / Output System), which is executed when the management server 1 is started.
And various setting information etc. are stored.

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 includes Bluetooth (registered trademark) and BLE (Blue).
It may be provided with a short-range communication interface (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.

<User terminal 2>
The user terminal 2 shown in FIG. 3 also has a processor 20, a memory 21, and a storage 22.
The transmission / reception unit 23, the input / output unit 24, and the like are provided, and these are electrically connected to each other through the bus 25. Since the functions of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.

<Aircraft 4>
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, a central processing unit (CPU)).

Further, 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. Further, the flight controller 41 includes an inertial sensor (accelerometer, gyro sensor), GP.
Sensors 412 such as S-sensors and proximity sensors (eg, riders) may be included.

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 cameras / sensors 42 may be directly transmitted and stored in the memory 411. For example, still image / moving image data taken by a camera or the like may be recorded in the internal memory or an external memory, but the present invention is not limited to this, and at least the management server 1 or the management server 1 or the internal memory may be recorded from the camera / sensor 42 or the internal memory via the network NW. It may be recorded in one of the user terminal 2 and the air vehicle storage device 5. The camera 42 is installed on the aircraft 4 via the gimbal 43.

The flight controller 41 includes a control module (not shown) configured to control the state of the flying object. For example, the control module has six degrees of freedom (translational motion x, y and z, and rotational motion θ _x , θ _y and θ _z ) in the spatial arrangement, velocity, and / of the flying object.
Or to adjust the acceleration, ESC44 (Electric Speed Cont)
The propulsion mechanism (motor 45, etc.) of the flying object is controlled via the roller). Battery 4
The propeller 46 is rotated by the motor 45 supplied from the vehicle 8 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 transmitter / receiver 49 can use any suitable communication means such as wired communication or wireless communication.

For example, 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, and cloud communication. can do.

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.

The sensors 42 according to the present embodiment include inertial sensors (accelerometers, gyro sensors),
It may include GPS sensors, proximity sensors (eg, riders), or vision / image sensors (eg, cameras).

<Management server function>
FIG. 5 is a block diagram illustrating the functions implemented in the management server 1. In the present embodiment, the management server 1 includes a communication unit 110, a flight mission generation unit 120, a past flight route calling unit 130, a report generation unit 140, and a storage unit 160. The flight mission generation unit 120 includes a flight path generation unit 121. Further, the storage unit 160 includes various databases of the flight path information storage unit 162, the flight log storage unit 164, and the parameter information storage unit 166. Further, as shown in FIG. 6, the parameter information storage unit 166 includes a structure coordinate storage unit 1621, a distance storage unit 1622, a structure height (length) storage unit 1623, a flight speed storage unit 1624, and a minimum flight altitude storage unit. A unit 1625 and a waypoint interval storage unit 1626 are included.

The communication unit 110 communicates with the user terminal 2, the flying object 4, and the flying object storage device 5. The communication unit 110 also functions as a reception unit that receives flight requests from the user terminal 2.

The flight mission generation unit 120 generates a flight mission. Flight missions include at least the flight path. The new flight path is generated by the flight path generation unit 121 with reference to the parameter information storage unit 166, and a specific example of flight path generation will be described later, but for example, parameter information as shown in FIGS. 10 and 11 is provided. Based on this, all flight paths may be automatically generated, a pre-registered flight path or a flight path set in the past may be called, or the complexity of the shape of the structure or the structure of the structure. Some waypoints may be manually set / edited according to the surrounding environment, the allowed working time and the amount of work.

The flight path may be, for example, a configuration in which the position where the aircraft is carried by the user is set as the flight start position or the user collects the aircraft at the flight end position without having the flight object storage device 5. Then, based on the information of the flight object storage device 5 managed by the management server 1 (for example, position information, storage state information, storage device information, etc.), the flight object storage device selected as the flight start position or flight end position. The configuration may be generated as a flight path including the position of 5.

The past flight route calling unit 130 calls the past flight route as the current flight route with reference to the flight route information storage unit 162. The flight path generated in the past is the flight path information storage unit 16
It is saved manually or automatically in 2. As for the past flight route, a part of the flight route can be changed before or after the call.

The parameter information storage unit 166 stores parameter information used when a flight path is generated by the flight path generation unit 121. Examples of specific parameters are the coordinates related to the structure, the distance from the coordinates, the height related to the structure, the flight speed, the minimum flight altitude, and so on.
It is the arrangement interval of waypoints and the number of polygonal angles (the number of vertices derived from the coordinates related to the structure and the distance from the coordinates), especially when the structure is imaged by the flying object 4. It further includes at least one of the vertical or horizontal overlap rates of the image.

The report generation unit 140 generates report information to be transmitted to the user terminal 2 based on the flight log storage unit 164. In the present embodiment, for example, information (still image, moving image,) acquired by the flying object 4 on the flight path set in the flight mission.
(Voice and other information) is stored in the flight log storage unit 164.

<Example of flight path generation method>
With reference to FIGS. 7-16, the flight path generation method according to the present embodiment (particularly, the flight path generation method when newly setting a flight plan) will be described including the operation of the management system in the present embodiment. To do. FIG. 7 illustrates a flowchart of the flight path generation method according to the present embodiment. This flowchart illustrates a configuration in which an application is started on the user terminal 2, but the present invention is not limited to this, and for example, a processor and an input / output device in which the management server 1 and the air vehicle storage device 5 can start the application are provided. It may have a configuration capable of various settings and the like. Note that FIG. 8-16 is an example of a display screen related to the flight path generation method according to the embodiment of the present invention.

First, the user activates, for example, an application of an air vehicle on the user terminal 2 (SQ101). This application may be stored in the user terminal 2, for example, or may be software (so-called SaaS) provided by the management server 1 or another server (not shown) connected via a network. If necessary, a login screen is displayed, and for example, a login ID or password may be required.

Next, the user selects a flight plan (SQ102). As illustrated in FIG. 8, the display unit included in the input / output unit 24 of the user terminal 2 includes, for example, the past flight path calling unit 13.
The past flight route (flight plan) called from the flight route information 162 by 0 is displayed, and the user may select the current flight route from these past flight routes ().
SQ201). You may also register your flight plan in advance, and in addition,
It may be possible to set not to display the flight plan that has already been flown. In addition, the user selects whether it is necessary to edit the past flight plan or the registered flight plan (SQ2).
02) It may be a new flight plan. In the following, it is assumed that the user has selected to create a new flight plan.

Next, the user creates a new flight plan (SQ103). As illustrated in FIG. 9, the "plan name", "area name", "address" and the like are set, and the creation of a new flight plan is started. In addition, API (Application Program) on the user terminal 2
The map searched from the "address" entered here may be displayed by using (aming Interface) or application software, and zooming in / out may be possible. This makes it easier to understand which point to create a flight plan for.

Next, the user sets parameters related to flight path generation (SQ104). For example, as illustrated in FIG. 10, the user has coordinates associated with the structure (in the example, it is described as center coordinates, but is not limited to this), and the distance from the coordinates (in the example, the structure). It is described as the radius of the object, but is not limited to), and sets the height or length associated with the structure. As a result, for example, the flight path generation unit 121 sets the coordinates obtained by advancing the user-set distance from the coordinates related to the structure in a predetermined direction as the first vertex of the preset polygon. To do. Then, the coordinates of all the vertices are set based on the center angle between the vertices derived from the shape of the polygon and the distance set by the user. Finally, a vertical flight path 101 is set based on the coordinates of the vertices and the height or length of the structure. The coordinates related to the structure may be, for example, the center coordinates of the structure, but are not limited to these, and may be any coordinates in the site where the structure is located or between a plurality of structures. The coordinates are appropriately set according to the flight path desired by the user when flying along the surface of the structure (including along at least a part of the inner surface as well as the outer surface of the structure). is there. Further, the coordinates related to the structure may be, for example, coordinates on a plane (so-called x-axis coordinates and y-axis coordinates), latitude and longitude, and the like.

Then, the flight path generation unit 121 further generates a final flight path by connecting each vertical flight path 101 with a horizontal flight path 102 so that the flight path 101 can be comprehensively flown in one flight. In addition, the flight path is not limited to the example, and for example, the vertical direction does not have to be perpendicular to the ground, and the vertices of the polygon forming the upper end or the lower end of the vertical flight path 101 are connected as a start point or an end point. It may be a flight path. In this case, if the vertical flight path 101 is oblique to the ground, at least a part of the horizontal flight path 102 is required.
May be omitted. Further, for example, the flight path 102 in the horizontal direction is the flight path 101 in the vertical direction.
The upper end or the lower end of the above may not be the start point or the end point, and may be formed in the middle. Further, for example, after the flying object 4 flies through the flight path 101 in the vertical direction from one end to the other end,
The flight path 101 may be turned back from the other end by a predetermined distance (including the distance to one end) and moved to the next flight path 101 via the lateral flight path 102.

Further, the final flight path may be a path that does not necessarily go around the side of the structure. That is, as illustrated in FIG. 15, even if the structure cannot fly on all sides, such as when the structure is close to another structure, the flight path 101 in the vertical direction and the horizontal direction of the target portion It becomes possible to fly by not generating the flight path 102 of. Further, by applying this, as illustrated in FIG. 16, when it is desired to fly along only one surface of the wall, for example, a quadrangular flight path is generated, and the flight path 201 of the alternate long and short dash line portion is set. It can be achieved by the flight path 202 in the dotted line portion by preventing it from being generated or by deleting it.

Regarding the height of the structure, when the flight path 101 is generated, a value obtained by adding a predetermined height to the height of the set structure so that the flying object 4 exceeds the top of the structure is added. You may use it. As for the distance, a flight path may be generated by adding a predetermined distance to the set distance, particularly from the viewpoint of safety.

Further, as illustrated in FIG. 10, if the structure model 103 is displayed, it is easier for the user to intuitively determine whether or not the flight path is appropriate. This structure model 103
It may be selected from the prepared templates, it may be a model created in advance by the user or another business operator, or it may be based on the information acquired by the aircraft 4 before the flight path is generated. It may be a model created based on this. In addition, API (A) on the user terminal 2.
Coordinates related to the structure may be specified by selecting on the map displayed by using application software (application programming interface) or the like. Further, the distance from the coordinates related to the structure and the height related to the structure may be set by the slide bar as shown in the figure, and the flight paths 101 and 102 dynamically change accordingly. May be displayed.

Further, as illustrated in FIG. 11, the user may be able to set the flight speed, the minimum flight altitude, the number of vertices of the polygon, the arrangement interval of waypoints (not shown), and the like. Further, when the purpose of generating the flight path is to capture an image of a structure, it may be possible to set at least one overlap rate in the vertical direction or the horizontal direction of the captured image. At this time, the overlap ratio in the horizontal direction may be used to set the number of angles of the polygon, the zoom ratio of the camera, and the like. Further, waypoints may be displayed on the flight paths 101 and 102 displayed on the display screen of the user terminal 2.

Next, the user instructs the aircraft 4 to start the flight (SQ105). For example, FIG.
2. As illustrated in FIG. 13, the current position information 104 received from the flying object 4 may be displayed on the user terminal 2. Further, the current position of the flying object 4 may be dynamically displayed on the flight paths 101 and 102.

Next, the user instructs the management server 1 to generate a report (SQ106). As illustrated in FIG. 14, as a report, the route actually taken by the flying object 4 may be displayed. Further, as a report, the information acquired by the flying object 4 (for example, an captured image) may be displayed side by side. Furthermore, when a waypoint is selected on the route that the aircraft 4 actually flew so that the position where the information acquired by the aircraft 4 was acquired can be known, it is emphasized which information was acquired at that position (for example,). , The captured image may be surrounded by a color frame, marked, enlarged, etc.), or conversely, when the acquired information is selected, the waypoints are emphasized (eg, way). The color and size of the mark indicating the point may be changed). Further, an ID may be assigned to the waypoint, the ID may be displayed around the acquired information, and the waypoint and the acquired information may be associated with each other.

As described above, the present invention provides a simple flight path generation method and management server that do not require manual input or the like to set waypoints for at least a part of the flight path in the work of creating a flight path of an air vehicle. It is possible to provide a flight route generation method and a management server that can be provided and can be used even in an environment in which it is not possible to go around the side of the structure.

<Example of other flight route generation method>
FIG. 17 is another example of a display screen related to the flight path generation method according to the embodiment of the present invention.

The flight path of the present embodiment is, for example, the state of the structure and the state around the structure (the surrounding environment such as the wind speed and the wind direction) before actually flying in the flight path generated by the above-mentioned flight path generation method. It may be provided for the purpose of confirmation (including). In this case, by the flight of this embodiment,
Check the coordinates related to the structure, the distance from the coordinates, the height or length related to the structure in advance, and correct by increasing / decreasing the set parameters based on the information obtained at the time of confirmation. Or you may modify it. This makes it possible to generate a more accurate final flight path.

Further, the flight of the present embodiment is not limited to the route shown in FIG. 17, as long as the above-mentioned objectives and the like are achieved, and the flight in a predetermined direction, for example, flying above or below the actual flight route is restricted. The flight path may be modified such as increasing or decreasing the flight speed, adding or omitting waypoints, increasing or decreasing the number of polygonal angles. Further, the flight path of the present embodiment may be generated independently for the above-mentioned purpose and the purpose of safety confirmation.

In the above description, the configuration in which the vehicle advances in the horizontal direction while reciprocating in the vertical direction has been described, but the present invention is not limited to this, and the configuration may be such that the configuration advances in the vertical direction while reciprocating in the horizontal direction along the structure. Good. More specific examples may be, for example, the inside and / or outside of a tubular structure extending in the vertical lateral direction, and the cross section of a tunnel, a vinyl house, or the like may be a semicircle (
It may be inside and / or outside of a so-called kamaboko-shaped structure. in this case,
Coordinates in the height direction (so-called z-axis coordinates) are added to the coordinates related to the structure, and a polygon is generated based on the coordinates of the destination moved in the vertical direction from the coordinates, and the width or length of the structure is generated. It may be stretched laterally according to the coordinates associated with.

Further, especially in a non-GPS environment such as inside a structure, the orientation of the flying object 4 may be acquired at least at the flight start position, and the orientation may be acquired by, for example, the sensors 42 described above. More specifically, the situation inside the structure may be detected by LIDAR or the like. Further, for example, the orientation of the flying object 4 may be controlled by the flight controller 41 described above based on the acquired orientation.

Further, in the above-described embodiment, the photographing of the structure by the flying object 4 is taken as a specific example, but for example, the inspection of the structure may be performed, and the presence or absence of a predetermined event on the inner wall and / or the outer wall of the structure is inspected. It may be equipped with a device, an apparatus, etc. used for the purpose. More specifically, imaging devices (visible light cameras, infrared cameras, metal detectors, ultrasonic measuring devices, etc.), keying devices, detection devices (metal detectors), sound collectors, odor measuring devices, gas detection All the devices necessary for knowing the state of the structure to be inspected having an inner wall such as a device, an air pollution measuring device, and a detection device (a device for detecting cosmic rays, radiation, electromagnetic waves, etc.) can be adopted.

The air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. , Security field, agriculture, infrastructure monitoring, surveying, sports venue inspection such as golf courses and tennis courts, roof and wall inspection of buildings such as factories and warehouses, disaster response, victim search response, etc. be able to.

The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes an equivalent thereof.

1 Management server 2 User terminal 4 Aircraft

Claims (9)

A method of generating a flight path for an air vehicle, which is executed in a processor.
A step of setting parameters including the coordinates related to the structure, the distance from the coordinates, and the height or length related to the structure by the parameter setting unit.
Based on the parameters, the flight path generator sets a plurality of first-direction flight paths in which the flying object travels in the first direction along the surface of the structure, and the flying object selects the plurality of first-direction flight paths. Including a step of generating a flight path consisting of a second direction flight path that travels in the second direction so as to fly sequentially,
The first direction flight path proceeds from one end to the other end of the first direction includes a flight path retrace predetermined distance from said other end to said one end direction,
The predetermined distance is shorter than the distance from the other end to the one end.
A flight path generation method characterized by that. The step of generating the flight path is
It is possible to generate a path that does not go around the side of the structure.
The flight path generation method according to claim 1, wherein the flight path is generated. The parameters further include at least one of flight speed, minimum flight altitude, and waypoint placement interval.
The flight path generation method according to claim 1 or 2, wherein the flight path is generated. The flight path is a flight path for imaging by the flying object.
The parameter further includes an overlap rate of at least one of the first direction and the second direction of the captured image.
The flight path generation method according to any one of claims 1 to 3, wherein the flight path is generated. The flight path is set as the first flight path.
Further including the step of generating a second flight path for the flying object to fly around the structure based on the parameters.
The flight path generation method according to any one of claims 1 to 4, wherein the flight path is generated. The parameters are corrected based on the information obtained by flying the second flight path, and the first flight path is generated based on the corrected parameters.
The flight path generation method according to claim 5, wherein the flight path is generated. A management server that generates flight paths for flying objects.
A parameter setting unit that sets parameters including coordinates related to the structure, distance from the coordinates, and height or length related to the structure.
Based on the parameters, a plurality of first-direction flight paths in which the flying object travels in the first direction along the surface of the structure and a plurality of first-direction flight paths in which the flying object sequentially flies in the plurality of first-direction flight paths. A flight path generator that generates a flight path consisting of a second-direction flight path that travels in two directions is provided.
The first direction flight path proceeds from one end to the other end of the first direction includes a flight path retrace predetermined distance from said other end to said one end direction,
The predetermined distance is shorter than the distance from the other end to the one end.
A management server that features that. A flight path generation system that generates the flight path of an air vehicle.
A parameter setting unit that sets parameters including coordinates related to the structure, distance from the coordinates, and height or length related to the structure.
Based on the parameters, a plurality of first-direction flight paths in which the flying object travels in the first direction along the surface of the structure and a plurality of first-direction flight paths in which the flying object sequentially flies in the plurality of first-direction flight paths. A flight path generator that generates a flight path consisting of a second-direction flight path that travels in two directions is provided.
The first direction flight path proceeds from one end to the other end of the first direction includes a flight path retrace predetermined distance from said other end to said one end direction,
The predetermined distance is shorter than the distance from the other end to the one end.
A flight path generation system characterized by this. A program for executing the flight path generation method of an air vehicle in a processor.
The flight path generation method is
A step of setting parameters including the coordinates related to the structure, the distance from the coordinates, and the height or length related to the structure by the parameter setting unit.
Based on the parameters, the flight path generator sets a plurality of first-direction flight paths in which the flying object travels in the first direction along the surface of the structure, and the flying object selects the plurality of first-direction flight paths. Including a step of generating a flight path consisting of a second direction flight path that travels in the second direction so as to fly sequentially,
The first direction flight path proceeds from one end to the other end of the first direction includes a flight path retrace predetermined distance from said other end to said one end direction,
The predetermined distance is shorter than the distance from the other end to the one end.
A program characterized by that.