JP7348759B2 - unmanned aircraft control system - Google Patents

Description

The present invention relates to an unmanned aircraft control system that includes an unmanned aircraft and an operating device.

2. Description of the Related Art In recent years, methods have been known that use unmanned aerial vehicles to inspect, for example, locations at high places. Additionally, various functions to assist the operation of unmanned aircraft are being studied. For example, Patent Document 1 proposes a method of reducing instability during takeoff of an unmanned aircraft as a function to assist the operation of the unmanned aircraft.

Special table 2017-501926 publication

By the way, unmanned aircraft can fly even if they are several hundred meters to several kilometers away from the pilot, but if the distance between the pilot and the unmanned aircraft is far, the pilot cannot determine the orientation of the unmanned aircraft. It becomes difficult. As a result, if the forward direction of the operator is different from the forward direction of the unmanned aircraft, it is difficult to maneuver the unmanned aircraft in the direction intended by the operator. This poses a problem in that it may lead to the unmanned aircraft approaching obstacles or entering prohibited areas.

The present invention has been made in view of these points, and an object of the present invention is to provide an unmanned aircraft control system that can improve the maneuverability of an unmanned aircraft.

An unmanned aircraft control system according to the present invention includes an unmanned aircraft having a first orientation sensor that detects a forward orientation, and a control unit that controls the flight of the unmanned aircraft, and an operating device that operates the flight of the unmanned aircraft. An unmanned aircraft control system comprising: the operating device further including a change button for changing the forward direction of the unmanned aircraft by turning the unmanned aircraft; and the control unit setting a target direction. a turning angle calculating section that calculates a turning angle of the unmanned aircraft from the target bearing and the detected bearing detected by the first bearing sensor at the time of inputting the change button; An azimuth control unit that turns the unmanned aerial vehicle and changes the azimuth in front of the unmanned aerial vehicle to the target azimuth.

Note that in this specification and claims, the term "button" is a concept that includes not only physical buttons (also referred to as physical keys) but also non-mechanical buttons such as touch panels.

According to the unmanned aircraft control system of the present invention, even if the operator is far away from the unmanned aircraft and the operator cannot determine the direction of the unmanned aircraft, the operator can operate the change button ( (input), the azimuth control section turns the unmanned aircraft based on the turning angle calculated by the turning angle calculation section and changes the azimuth in front of the unmanned aircraft to the target azimuth. As a result, the unmanned aircraft can be steered in the direction intended by the operator, thereby preventing the unmanned aircraft from approaching obstacles or entering prohibited areas. In this way, the maneuverability of the unmanned aircraft can be improved.

In the unmanned aircraft control system, preferably, the orientation setting unit sets the detected orientation detected by the first orientation sensor at the timing when the unmanned aircraft takes off, as the target orientation. With this configuration, the operator can change the direction of the unmanned aircraft (forward direction) to the direction at the takeoff position (direction at takeoff) by operating the change button. Therefore, the operator can easily maneuver the unmanned aircraft in the desired direction simply by remembering the orientation (azimuth) of the unmanned aircraft at the takeoff position.

In the above unmanned aircraft control system, preferably, the operating device includes a second azimuth sensor that detects the azimuth of the operating device, and the azimuth setting section is configured such that the second azimuth sensor detects the azimuth of the operating device when the change button is input. The detected direction is set as the target direction. With this configuration, the orientation of the unmanned aircraft (forward orientation) can be changed to the orientation (orientation) of the operating device by the operator operating the change button. For this reason, the operator simply points the control device in the direction of the unmanned aircraft, that is, the operator simply turns his body in the direction of the unmanned aircraft, and the direction of the control device matches the direction of the unmanned aircraft, so the pilot can easily maneuver the unmanned aircraft in the intended direction.

In the above-mentioned unmanned aircraft control system, preferably, the unmanned aircraft is equipped with an imaging device that takes an image of the roof of the building, and the azimuth setting unit is configured to select a plurality of straight lines that constitute the outline of the roof of the building. Among the sections, a direction perpendicular to a predetermined straight section is set as the target direction. With this configuration, the longitudinal and lateral directions of the unmanned aircraft are parallel to the direction of the straight line forming the outline of the roof, so the unmanned aircraft can be easily moved along the outline of the roof.

In this case, the turning angle calculation unit corrects the target azimuth so that the predetermined straight line portion appears along the horizontal direction of the image captured by the imaging device, and corrects the turning angle based on the corrected target azimuth and the detected azimuth. An angle may also be calculated. With this configuration, even when the panning angle of the imaging device is other than 0 degrees (when the optical axis direction of the imaging device and the front-back direction of the unmanned aircraft do not match), the straight part of the roof can be imaged. You can capture images along the horizontal direction.

In the above unmanned aircraft control system, preferably, the unmanned aircraft is equipped with an imaging device that takes an image of a structure, and the operating device further includes an imaging button that takes an image with the imaging device, and the control unit stores the detected orientation detected by the first orientation sensor at the time of inputting the imaging button in association with captured image data, and the orientation setting unit stores the detected orientation stored in association with the captured image data, Set to the target direction. With this configuration, for example, when repeatedly inspecting the same structure, the orientation of the unmanned aerial vehicle is stored in association with the captured image data during the first inspection, and the orientation of the unmanned aerial vehicle is stored in association with the captured image data during the second and subsequent inspections. The orientation can be changed to the orientation stored during the initial examination. As a result, the image taken during the first examination and the image taken during the second and subsequent examinations can be oriented in the same direction, making it easy to confirm the images.

In this case, preferably, the unmanned aerial vehicle further includes a position detection device that detects the position of the unmanned aerial vehicle, and the control unit detects the detected position detected by the position detection device when the imaging button is input. It is stored in association with the captured image data together with the stored detection orientation, and the position of the unmanned aerial vehicle is controlled to the detection position as the target orientation is changed by the control unit. With this configuration, the position of the unmanned aircraft can be stored in association with the captured image data during the first inspection, and the position of the unmanned aircraft can be moved to the position stored during the first inspection during the second and subsequent inspections. As a result, the imaging position for the first examination and the imaging position for the second and subsequent examinations can be the same, making it easier to confirm images.

In the above unmanned aircraft control system, preferably, the unmanned aircraft is equipped with an imaging device capable of changing a panning angle, which is an angle that an optical axis makes in a horizontal direction with respect to the front of the unmanned aircraft, and The unit includes a pan angle control unit that changes the pan angle to an initial setting value when the change button is input. With this configuration, for example, the direction of the unmanned aircraft and the direction of the optical axis of the imaging device can be easily made to match. This allows the operator to operate the unmanned aircraft while looking at the display screen of the operating device, thereby further improving the maneuverability of the unmanned aircraft.

According to the present invention, it is possible to provide an unmanned aircraft control system that can improve the maneuverability of an unmanned aircraft.

1 is a schematic diagram showing an unmanned aircraft control system according to a first embodiment of the present invention. FIG. 1 is a block diagram showing the configuration of an unmanned aircraft of an unmanned aircraft control system according to a first embodiment of the present invention. FIG. 1 is a block diagram showing the configuration of a control device of a control device of an unmanned aircraft control system according to a first embodiment of the present invention. FIG. 1 is a block diagram showing the configuration of a mobile terminal of an operating device of an unmanned aircraft control system according to a first embodiment of the present invention. FIG. 1 is a control block diagram of a mobile terminal of an unmanned aircraft control system according to a first embodiment of the present invention. FIG. 2 is a diagram showing a flow of a roof inspection method using the unmanned aircraft control system according to the first embodiment of the present invention. FIG. 2 is a diagram showing an image displayed on a display unit of a mobile terminal when an unmanned aircraft flies autonomously to above a takeoff position and returns. FIG. 2 is a diagram showing an image displayed on a display unit of a mobile terminal in a state where the orientation of an unmanned aircraft and the orientation of an optical axis of an imaging device are different. FIG. 2 is a block diagram showing the configuration of a control device of a control device of an unmanned aircraft control system according to a second embodiment of the present invention. FIG. 2 is a control block diagram of a mobile terminal of an unmanned aircraft control system according to a second embodiment of the present invention. It is a figure which shows the flow of the roof inspection method using the unmanned aircraft control system based on 2nd Embodiment of this invention. FIG. 3 is a control block diagram of a mobile terminal of an unmanned aircraft control system according to a third embodiment of the present invention. It is a figure which shows the flow of the roof inspection method using the unmanned aircraft control system based on 3rd Embodiment of this invention. FIG. 3 is a diagram illustrating a state in which a linear portion in the longitudinal direction of the roof is taken along the horizontal direction of an image captured by the imaging device. FIG. 3 is a block diagram showing the configuration of an unmanned aircraft of an unmanned aircraft control system according to a fourth embodiment of the present invention. FIG. 7 is a control block diagram of a mobile terminal of an unmanned aircraft control system according to a fourth embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An unmanned aircraft control system according to an embodiment of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a schematic diagram showing an unmanned aircraft control system 1 according to a first embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of the unmanned aircraft 10 of the unmanned aircraft control system 1 according to the first embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of the control device 30 of the control device 2 of the unmanned aircraft control system 1 according to the first embodiment of the present invention. FIG. 4 is a block diagram showing the configuration of the mobile terminal 50 of the operating device 2 of the unmanned aircraft control system 1 according to the first embodiment of the present invention.

As shown in FIG. 1, an unmanned aircraft control system 1 according to the present embodiment includes an unmanned aerial vehicle (UAV) 10 and an operating device 2 that controls the unmanned aerial vehicle 10. In this embodiment, the unmanned aircraft control system 1 is used, for example, when inspecting whether an abnormality such as damage has occurred on the roof of a building.

The unmanned aerial vehicle 10 is a so-called drone, and autonomously flies to above a target roof and images the roof based on imaging position data, which will be described later, transmitted from the operating device 2. The unmanned aircraft 10 transmits the captured image to the operating device 2.

The operating device 2 includes a controlling device 30 and a mobile terminal 50. The mobile terminal 50 is fixed at a predetermined position on the control device 30. The mobile terminal 50 is, for example, a smartphone, a tablet terminal, a personal computer, etc. on which a predetermined program (application software) is installed, and in this embodiment, it is a smartphone. The operating device 2 acquires an image captured by the unmanned aircraft 10, and displays the image on a display unit 52, which will be described later.

Below, the unmanned aircraft 10 and the operating device 2 will be explained in more detail.

[Configuration of unmanned aircraft 10]
As shown in FIG. 2, the unmanned aircraft 10 includes a transmitting/receiving section 11, a receiver 12, a height sensor 13, an imaging device 14, a driving section 16, a first direction sensor 19, a gyro sensor 20, and a control section. A section 21 is provided.

The transmitting/receiving unit 11 performs wireless transmission and reception of data with the control device 30. The main data that the transmitter/receiver 11 receives from the pilot device 30 includes flight height data, imaging position data, turning angle data, and the like. The main data that the transmitter/receiver 11 transmits to the pilot device 30 includes captured image data, azimuth data, and the like.

The receiver 12 receives the GPS signal and detects the position (longitude, latitude) of the receiver 12, that is, the position of the unmanned aircraft 10 itself, based on the received GPS signal.

The height sensor 13 is comprised of, for example, an atmospheric pressure sensor that measures atmospheric pressure, and detects the height position of the unmanned aircraft 10 with respect to the ground. Note that the height position of the unmanned aircraft 10 with respect to the ground may be detected based on the GPS signal received by the receiver 12 without providing the height sensor 13.

The imaging device 14 includes a camera (imaging unit) that can take a color digital image, and takes an image of the roof to obtain image data. This image data may be associated with imaging position data. The imaging device 14 has a panning function that moves the optical axis of a lens included in the camera in the horizontal direction, and a tilting function that moves the optical axis of the lens included in the camera in the vertical direction. The imaging device 14 includes an adjustment section 14a that adjusts the pan angle and tilt angle of the optical axis of the camera. Note that the panning angle is the angle that the optical axis makes in the horizontal direction with respect to the front of the unmanned aircraft 10, and the range of the panning angle is, for example, an angle of about 75 degrees in the left and right direction centered on the front of the unmanned aerial vehicle 10. range. The tilt angle is the angle that the optical axis makes in the vertical direction with respect to the front of the unmanned aerial vehicle 10, and the range of the tilt angle is, for example, from a position of 30 degrees upward to a position of 30 degrees downward with respect to the front of the unmanned aerial vehicle 10. The angle range is from 90 degrees to a position directly below the unmanned aerial vehicle 10.

The drive unit 16 includes a plurality of rotary blades, a motor that generates a driving force to be applied to the rotary blades, and a storage battery that supplies power to the motor. By individually controlling the rotational speeds of the plurality of rotary blades, the flight height, flight path, flight speed, levelness, direction, etc. of the unmanned aircraft 10 can be changed.

The first direction sensor 19 detects the direction in which the unmanned aircraft 10 is facing (the forward direction).

The gyro sensor 20 detects the angular velocity of the unmanned aircraft 10 around the pitch axis, roll axis, and yaw axis. This makes it possible to control the attitude and turning angle (rotation angle in a horizontal plane) of the unmanned aircraft 10.

The control unit 21 includes an arithmetic unit (CPU) 21a and a storage device (eg, RAM, ROM, etc.) 21b. The arithmetic device 21a executes an operation program stored in the storage device 21b.

The control unit 21 stores flight height data, imaging position data, turning angle data, etc. received by the transmitting/receiving unit 11. Furthermore, the control unit 21 controls the drive unit 16 based on the imaging position data and flight height data to cause the unmanned aircraft 10 to fly autonomously. The control unit 21 also controls the imaging device 14 based on the imaging position data to image the roof at the imaging position. Further, the control unit 21 controls the drive unit 16 based on the turning angle data to turn the unmanned aircraft 10 at a predetermined angle in the horizontal direction. Further, the control unit 21 stores image data acquired by the imaging device 14 and transmits it to the pilot device 30. Further, the control unit 21 stores the detection result (detected orientation) of the first orientation sensor 19 as aircraft orientation data, and transmits it to the flight control device 30 .

The control unit 21 also moves the unmanned aircraft 10 in a predetermined direction, turns the unmanned aircraft 10 at a predetermined angle, changes the pan angle and tilt angle of the imaging device 14, etc. based on various control signals from the control device 30, An image is captured by the imaging device 14. Further, as described later, the control unit 21 changes the pan angle and tilt angle of the imaging device 14 to initial setting values based on an initial setting signal from the control device 30.

[Configuration of operating device 2]
As shown in FIG. 1, the operating device 2 includes a controlling device 30 and a mobile terminal 50.

The control device 30 is used to control the flight of the unmanned aircraft 10, and as shown in FIG. . Note that the control unit 39 and the control unit 59 of the mobile terminal 50, which will be described later, are examples of the “control unit” of the present invention.

The transmitting/receiving unit 31 transmits and receives data to and from the unmanned aircraft 10, and also transmits and receives data to and from the mobile terminal 50, as will be described later.

The operating section 32 includes an operating lever, an operating button, a dial, and the like. For example, the operating lever 32a (see FIG. 1) is for moving the unmanned aircraft 10 forward, backward, and horizontally, and the operating lever 32b (see FIG. 1) is for moving the unmanned aircraft 10 vertically and horizontally. It is for the purpose of In addition to operating levers 32a and 32b, the operating unit 32 is provided with a dial (not shown) for changing the pan angle and tilt angle of the imaging device 14 of the unmanned aircraft 10.

The input unit 34 includes an imaging button 34a for performing imaging with the imaging device 14 of the unmanned aircraft 10, a change button 34b, and the like. The change button 34b is a button for turning the unmanned aircraft 10 and changing the direction (front direction) of the unmanned aircraft 10 to the target direction, as will be described later. Note that the change button 34b is a button provided in advance on the pilot device 30, which is assigned as a change button for changing the orientation of the unmanned aircraft 10 to the target orientation.

The control unit 39 controls the flight, imaging, etc. of the unmanned aircraft 10 by operating the operating unit 32 and inputting from the input unit 34. The control unit 39 includes an arithmetic unit (CPU) 39a and a storage device (eg, RAM, ROM, etc.) 39b. Arithmetic device 39a executes an operation program stored in storage device 39b. Further, the control unit 39 stores image data, aircraft orientation data (detection results of the first orientation sensor 19 of the unmanned aircraft 10), etc. received by the transmitting/receiving unit 31.

As shown in FIG. 4, the mobile terminal 50 includes a transmitting/receiving section 51, a display section 52, an input section 53, and a control section 59.

The transmitting/receiving unit 51 transmits and receives data to and from the control device 30. Here, an example in which wireless communication is performed between the transmitting/receiving section 51 of the mobile terminal 50 and the transmitting/receiving section 31 of the control device 30 will be described. Good too.

The display unit 52 is made of, for example, a liquid crystal display panel, and displays map data and images captured by the imaging device 14 of the unmanned aerial vehicle 10. Note that the map data may be obtained via the Internet, or may be stored in advance in a storage device 59b, which will be described later.

The input unit 53 is operated and inputted by the operator, and includes, for example, a touch panel arranged on the display unit 52 or physical buttons. The input unit 53 includes an image capture button 53a for capturing an image using the image capture device 14 of the unmanned aircraft 10, a change button 53b, and the like. The image capture button 53a and the change button 53b have the same functions as the image capture button 34a and the change button 34b of the control device 30, respectively.

The control unit 59 controls flight, imaging, etc. of the unmanned aircraft 10 via the pilot device 30 based on input from the input unit 53 . The control unit 59 includes a calculation unit (CPU) 59a and a storage device (eg, RAM, ROM, etc.) 59b. Arithmetic device 59a executes an operation program stored in storage device 59b. By the control unit 59 executing the program, each process described below can be realized. Such a program is obtained, for example, by downloading via the Internet, and is stored in the storage device 59b. The control unit 59 stores image data, aircraft orientation data (detection results of the first orientation sensor 19 of the unmanned aircraft 10), etc. received by the transmitting/receiving unit 51.

FIG. 5 is a control block diagram of the mobile terminal 50 of the unmanned aircraft control system 1 according to the first embodiment of the present invention. Next, with reference to FIG. 5, the control unit 59 of the mobile terminal 50 of this embodiment will be described in detail. The control section 59 includes, as software, an azimuth setting section 59c, a turning angle calculation section 59d, an azimuth control section 59e, and a pan angle control section 59f.

The azimuth setting unit 59c sets a target azimuth when turning the unmanned aerial vehicle 10 and directing the front of the unmanned aerial vehicle 10 in a certain azimuth. A detection signal from the first orientation sensor 19 is input to the orientation setting section 59c. In this embodiment, the azimuth setting unit 59c sets the detected azimuth detected by the first azimuth sensor 19 at the timing when the first azimuth sensor 19 takes off as the target azimuth. The azimuth setting section 59c outputs the set target azimuth to the turning angle calculation section 59d.

The turning angle calculation unit 59d calculates the turning angle of the unmanned aircraft 10 necessary for turning the unmanned aircraft 10 and changing the direction in front of the unmanned aircraft 10 to the target direction. The turning angle calculation unit 59d calculates the target azimuth and the detected azimuth detected by the first azimuth sensor 19 when the change button 34b of the pilot device 30 or the change button 53b of the mobile terminal 50 is input (pressed by the operator). The turning angle of the unmanned aircraft 10 is calculated from .

Specifically, in this embodiment, the turning angle calculation unit 59d includes the target azimuth set by the azimuth setting unit 59c, the detection signal of the first azimuth sensor 19, the change button 34b of the control device 30, and the mobile terminal 50. The input signal of the change button 53b is input. The turning angle calculation unit 59d calculates the angular difference between the target azimuth and the detected azimuth detected by the first azimuth sensor 19 when the change button 34b or 53b is input. This angular difference is the turning angle of the unmanned aircraft 10 necessary to make the azimuth in front of the unmanned aerial vehicle 10 the target azimuth. The turning angle calculation section 59d outputs the calculated turning angle to the azimuth control section 59e.

The azimuth control unit 59e transmits a control signal to the unmanned aircraft 10 based on the input turning angle. As a result, the unmanned aircraft 10 turns by the turning angle calculated by the turning angle calculation unit 59d, and the direction (front direction) of the unmanned aircraft 10 is changed to the target direction.

The input signals of the change button 34b of the control device 30 and the change button 53b of the mobile terminal 50 are input to the pan angle control section 59f. The pan angle control unit 59f sends an initial setting signal to the unmanned aircraft 10 via the control device 30 for changing the pan angle and tilt angle to the initial setting values by the adjusting unit 14a of the imaging device 14 when the change button 34b or 53b is input. Send to.

Next, the roof inspection method of this embodiment will be explained in detail. Note that here, the aspect ratio of the image captured by the imaging device 14 is 3:4, the initial setting value of the pan angle of the imaging device 14 is 0 degrees, and the initial setting value of the tilt angle of the imaging device 14 is -90 degrees ( In other words, the optical axis of the imaging device 14 is in the vertical direction).

In step S1, the operator (inspector) inputs the address of the building to be inspected into the mobile terminal 50. As a result, a map image from above around the input address is displayed on the display unit 52 of the mobile terminal 50, and the operator specifies the roof of the building to be inspected from the map image and also specifies the outline of the roof. do. This outline can be easily specified on the map image using the input unit 53 such as a touch panel. Since the map image includes location information (latitude, longitude) and orientation information, contour line data including location information (latitude, longitude) and orientation information is generated to correspond to the specified contour line. . The generated contour data is stored in the storage device 59b and is also transmitted to the unmanned aircraft 10 via the pilot device 30.

In step S2, the operator inputs the height of the roof into the input section 53. As a result, the flight height of the unmanned aircraft 10 is set to a predetermined height higher than the roof, and the flight height data is transmitted to the unmanned aircraft 10 via the control device 30.

In step S3, the unmanned aircraft 10 takes off from a takeoff position (also referred to as a home point). When the unmanned aircraft 10 ascends from the takeoff position, the first azimuth sensor 19 of the unmanned aerial vehicle 10 detects the azimuth in front of the unmanned aerial vehicle 10, and sends the detection result (aircraft azimuth data) to the mobile terminal via the control device 30. Send to 50. The mobile terminal 50 stores this detection result in the storage device 59b.

In step S4, the azimuth setting unit 59c sets the detected azimuth detected by the first azimuth sensor 19 when the first azimuth sensor 19 took off as the target azimuth. The azimuth setting section 59c outputs the set target azimuth to the turning angle calculation section 59d.

In step S5, the unmanned aircraft 10 autonomously flies to a target position above the building. Further, the unmanned aircraft 10 captures an image of the roof using the imaging device 14, stores the captured data in the storage device 21b, and transmits the captured data to the mobile terminal 50 via the pilot device 30. The mobile terminal 50 stores the captured data in the storage device 59b and displays the captured image on the display unit 52.

Note that when the unmanned aerial vehicle 10 reaches the target position above the building, for example, a message etc. to notify that the unmanned aerial vehicle 10 has arrived above the building may be displayed on the display unit 52 of the mobile terminal 50. good.

When inspecting the roof of a building, the operator manually controls the unmanned aerial vehicle 10 as necessary. Specifically, in this embodiment, the pan angle is set to 0 degrees by the adjustment unit 14a of the imaging device 14, and the tilt angle of the imaging device 14 is set to -90 degrees (that is, the optical axis of the imaging device 14 is in the vertical direction). Therefore, the captured image is an image taken from directly above the roof. However, there are cases where, for example, the side walls of a building are inspected or the roof is inspected from diagonally above. In this case, the operator changes the pan angle and tilt angle of the imaging device 14, moves the unmanned aircraft 10 back and forth, right and left, or turns. Further, the unmanned aerial vehicle 10 is moved back and forth and left and right for the purpose of moving the unmanned aerial vehicle 10 away from obstacles and preventing it from entering a no-fly zone.

At this time, if the distance between the pilot and the unmanned aerial vehicle 10 is large, it is difficult for the pilot to determine the direction of the unmanned aerial vehicle 10, so it is difficult for the pilot to maneuver the unmanned aerial vehicle 10 in the direction the pilot intends. It is difficult.

Therefore, in this embodiment, when manually controlling the unmanned aircraft 10, the operator presses the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50. As a result, the unmanned aircraft 10 turns by a predetermined angle, and the orientation (azimuth) of the unmanned aerial vehicle 10 is changed to the orientation (azimuth) of the unmanned aerial vehicle 10 at the takeoff position.

Specifically, when the operator presses the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50, it is determined in step S6 that the change button 34b or 53b has been input, and the process proceeds to step S7. If the operator does not manually control the unmanned aircraft 10, the process proceeds to step S10.

In step S7, the turning angle calculation unit 59d calculates the turning angle from the target bearing and the detected bearing detected by the first bearing sensor 19 at the time of inputting the change button 34b or 53b. The turning angle calculation section 59d outputs the calculated turning angle to the azimuth control section 59e.

In step S8, the azimuth control unit 59e transmits a control signal to the unmanned aircraft 10 based on the input turning angle. Thereby, the unmanned aircraft 10 turns by the turning angle calculated by the turning angle calculating section 59d. At this time, the unmanned aircraft 10 uses the gyro sensor 20 to accurately turn by the above turning angle. Thereby, the unmanned aircraft 10 faces in the same direction as the orientation (azimuth) of the unmanned aircraft 10 at the takeoff position. Therefore, the operator can easily maneuver the unmanned aircraft 10 in the intended direction simply by remembering the orientation (azimuth) of the unmanned aircraft 10 at the takeoff position.

In step S9, the pan angle control unit 59f transmits to the unmanned aircraft 10 an initial setting signal for changing the pan angle and tilt angle of the imaging device 14 to initial setting values. As a result, the pan angle is changed to 0 degrees and the tilt angle is changed to -90 degrees by the adjustment unit 14a of the imaging device 14, so that the longitudinal and lateral directions of the unmanned aerial vehicle 10 match the vertical and lateral directions of the captured image. Therefore, the operator can easily maneuver the unmanned aircraft 10 in the intended direction while looking at the display section 52.

When the manual control of the unmanned aircraft 10 is completed, the operator presses a return button (not shown) on the control device 30 in step S10. As a result, a return signal is transmitted from the control device 30 to the unmanned aircraft 10, and the unmanned aircraft 10 autonomously flies above the takeoff position and returns. At this time, an image as shown in FIG. 7 is displayed on the display unit 52 of the mobile terminal 50. Note that region R in FIG. 7 indicates a position directly below the unmanned aircraft 10 (planned landing position).

When the region R of the display image is at the home point, the pilot presses a landing button (not shown) on the pilot device 30. As a result, the unmanned aircraft 10 lands at the home point. Note that when the unmanned aircraft 10 flies autonomously to above the home point and returns, a message asking the operator whether or not to land (for example, "Do you want to land?") is displayed on the display unit 52. Good too. Then, the operator may land the unmanned aircraft 10 at the home point by pressing the "OK" button displayed on the display unit 52.

Further, for example, if the landing area of the unmanned aircraft 10 is narrow, the image region R may shift from the home point even if the receiver 12 such as GPS is used. In this case, the operator operates the unmanned aircraft 10 to move the region R of the display image to the home point, and then lands the unmanned aircraft 10 manually or by autonomous flight. Furthermore, even when the wind is strong, the operator gradually lowers the unmanned aircraft 10, corrects its position, and lands it. Even when the pilot needs to operate the aircraft during landing, the direction (azimuth) of the unmanned aircraft 10 can be changed to the home direction using the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50, as described above. The orientation (azimuth) of the unmanned aircraft 10 at the point (takeoff position) may be changed.

Furthermore, as shown in FIG. 8, the orientation of the unmanned aircraft 10 (airframe) and the orientation of the imaging device 14 may be different. Specifically, in FIG. 8, the unmanned aerial vehicle 10 is facing toward the upper left in the figure, and the imaging device 14 is set at a panning angle (approximately 45 degrees here) to the right with respect to the forward direction of the unmanned aerial vehicle 10. has been done. In this state, it is difficult for the operator to maneuver the unmanned aircraft 10 in the intended direction. Therefore, the display unit 52 of the mobile terminal 50 displays the direction of the unmanned aircraft 10 (displayed on the upper left in the figure), the operation direction of the control device 30 (displayed on the upper right in the figure), and the movement direction of the unmanned aircraft 10 (displayed on the upper right in the figure). , center display) may be displayed. In this case, in order to easily understand the correspondence between the operating direction of the operating device 30 and the moving direction of the unmanned aircraft 10, an arrow indicating the operating direction of the operating device 30 and the corresponding moving direction of the unmanned aircraft 10 are shown. The same coloring, hatching, etc. may be applied to the arrows. In this case, the operator can easily maneuver the unmanned aircraft 10 in the intended direction while looking at the display section 52.

In this embodiment, as described above, even if the distance between the operator and the unmanned aircraft 10 is large and the operator cannot determine the orientation of the unmanned aircraft 10, the operator can press the change button 34b or By operating (inputting) 53b, the direction control section 59e can turn the unmanned aircraft 10 based on the turning angle calculated by the turning angle calculation section 59d and change the direction in front of the unmanned aircraft 10 to the target direction. . Therefore, the unmanned aircraft 10 can be operated in the direction intended by the operator. As a result, it is possible to prevent the unmanned aircraft 10 from approaching obstacles or entering prohibited areas. In this way, the maneuverability of the unmanned aircraft 10 can be improved.

Further, as described above, the azimuth setting unit 59c sets the detected azimuth detected by the first azimuth sensor 19 at the timing when the unmanned aircraft 10 takes off as the target azimuth. Thereby, by operating the change button 34b or 53b, the operator can change the direction of the unmanned aircraft 10 (forward direction) to the direction at the takeoff position (direction at takeoff). Therefore, the operator can easily maneuver the unmanned aircraft 10 in the intended direction simply by remembering the orientation (azimuth) of the unmanned aircraft 10 at the takeoff position.

Further, as described above, the control unit 59 includes the pan angle control unit 59f that changes the pan angle to the initial setting value when the change button 34b or 53b is input. Thereby, the direction of the unmanned aerial vehicle 10 and the direction of the optical axis of the imaging device 14 can be easily matched. Therefore, the operator can operate the unmanned aircraft 10 while looking at the display section 52 of the mobile terminal 50, so that the maneuverability of the unmanned aircraft 10 can be further improved.

(Second embodiment)
FIG. 9 is a block diagram showing the configuration of the control device 30 of the control device 2 of the unmanned aircraft control system 1 according to the second embodiment of the present invention. In the second embodiment, unlike the first embodiment, a case will be described in which the orientation (azimuth) of the unmanned aircraft 10 is changed to the orientation (azimuth) of the control device 30.

As shown in FIG. 9, the pilot device 30 includes a second azimuth sensor 37 in addition to a transmitting/receiving section 31, an operating section 32, an input section 34, and a control section 39.

The second azimuth sensor 37 detects the azimuth of the control device 30. Here, the direction of the control device 30 is the direction from the bottom to the top of the control device 30 when the control device 30 is viewed from above. For example, in FIG. 1, the orientation is upward.

The control unit 39 stores the detection result of the second azimuth sensor 37 as pilot device azimuth data, and transmits it to the mobile terminal 50 .

FIG. 10 is a control block diagram of the mobile terminal 50 of the unmanned aircraft control system 1 according to the second embodiment of the present invention. Next, with reference to FIG. 10, the control unit 59 of the mobile terminal 50 of this embodiment will be explained.

In this embodiment, the detection signal of the first direction sensor 19 is not input to the direction setting section 59c, but the detection signal of the second direction sensor 37 is input. Furthermore, input signals from the change buttons 34b and 53b are input to the direction setting section 59c.

In this embodiment, the orientation setting unit 59c sets the detected orientation detected by the second orientation sensor 37 at the time of inputting the change button 34b or 53b as the target orientation.

The other configurations of the second embodiment are the same as those of the first embodiment.

Next, the roof inspection method of this embodiment will be explained.

As shown in FIG. 11, the roof inspection method of this embodiment differs from the first embodiment in that step S4 is not provided, and step S11 for setting a target orientation is provided between step S6 and step S7. .

In this embodiment, when the operator presses the change button 34b of the control device 30 or the change button 53b of the mobile terminal 50, it is determined in step S6 that the change button 34b or 53b has been input, and the process proceeds to step S11.

In step S11, the orientation setting unit 59c sets the detected orientation detected by the second orientation sensor 37 at the time of inputting the change button 34b or 53b as the target orientation. The azimuth setting section 59c outputs the set target azimuth to the turning angle calculation section 59d.

In step S8, the unmanned aircraft 10 turns by a predetermined turning angle and faces in the same direction as the orientation (azimuth) of the control device 30.

Other inspection methods of the second embodiment are the same as those of the first embodiment.

In this embodiment, as described above, the orientation setting unit 59c sets the detected orientation detected by the second orientation sensor 37 at the time of inputting the change button 34b or 53b as the target orientation. Thereby, the orientation of the unmanned aircraft 10 can be changed to the orientation (orientation) of the control device 30 by the operator operating the change button 34b or 53b. Therefore, by simply pointing the control device 30 in the direction of the unmanned aircraft 10, that is, by simply turning his body in the direction of the unmanned aircraft 10, the direction of the control device 30 and the direction of the unmanned aircraft 10 will match. Therefore, the operator can easily maneuver the unmanned aircraft 10 in the intended direction.

Other effects of the second embodiment are similar to those of the first embodiment.

(Third embodiment)
FIG. 12 is a control block diagram of the mobile terminal 50 according to the third embodiment of the present invention. In the third embodiment, unlike the first and second embodiments described above, the linear portion 71a in the longitudinal direction of the roof 71 (see FIG. 14) is captured along the horizontal direction of the image captured by the imaging device 14. A case will be described in which the direction (azimuth) of the unmanned aircraft 10 is changed. Further, a case will be described in which the roof 71 to be inspected is a hipped roof and has a rectangular shape in plan view.

In this embodiment, as shown in FIG. 12, the control section 59 further includes a map image data storage section 59g as software. The map image data storage unit 59g stores map image data from above, including position information (latitude, longitude) and azimuth information.

In this embodiment, the detection signal of the first orientation sensor 19 is not input to the orientation setting section 59c. The azimuth setting unit 59c sets the azimuth orthogonal to a predetermined straight line (here, the straight line 71a) among the plurality of straight lines forming the outline of the roof 71 of the building 70 in the map image from above as the target orientation. Set.

The other configurations of the third embodiment are the same as those of the first embodiment.

Next, a method of inspecting the roof 71 of this embodiment will be explained.

As shown in FIG. 13, the roof 71 inspection method of this embodiment differs from the first embodiment in that step S4 is not provided, and step S21 for setting a target orientation is provided between step S1 and step S2. There is.

In this embodiment, in step S21, the orientation setting unit 59c determines the straight line portion 71a in the longitudinal direction and the straight line portion 71b in the transverse direction of the roof 71 based on the contour data generated in step S1. do. Then, the azimuth setting unit 59c sets the azimuth perpendicular to the straight line portion 71a as the target azimuth. As a result, when the unmanned aircraft 10 turns by a predetermined turning angle in step S8, the straight portion 71a in the longitudinal direction of the roof 71 is captured along the horizontal direction of the image captured by the imaging device 14, as shown in FIG.

Other inspection methods of the third embodiment are the same as those of the first embodiment.

In the present embodiment, as described above, the orientation setting unit 59c sets the orientation orthogonal to the predetermined straight part 71a as the target orientation, among the plurality of straight parts forming the outline of the roof 71 of the building 70. . As a result, the longitudinal and lateral directions of the unmanned aerial vehicle 10 and the directions of the straight parts 71b and 71a forming the outline of the roof 71 become parallel, so that the unmanned aircraft 10 can be easily moved along the outline of the roof 71. I can do it.

Other effects of the third embodiment are similar to those of the first embodiment.

(Fourth embodiment)
FIG. 15 is a block diagram showing the configuration of the unmanned aircraft 10 of the unmanned aircraft control system 1 according to the fourth embodiment of the present invention. In this fourth embodiment, unlike the third embodiment, a case will be described in which the pan angle is not changed to the initial setting value when the change button 34b or 53b is input.

In the unmanned aircraft 10, as shown in FIG. 15, the imaging device 14 includes a pan angle detection sensor 14b that detects the pan angle of the camera (imaging section) from the operation of the adjustment section 14a. The pan angle detection sensor 14b outputs the detected pan angle to the control section 21.

The control unit 21 stores the input pan angle and transmits it to the mobile terminal 50 via the control device 30.

FIG. 16 is a control block diagram of the mobile terminal 50 of the unmanned aircraft control system 1 according to the fourth embodiment of the present invention. Next, with reference to FIG. 16, the control unit 59 of the mobile terminal 50 of this embodiment will be explained.

In this embodiment, as shown in FIG. 16, the control section 59 is not provided with a pan angle control section 59f. Therefore, even if the direction of the unmanned aerial vehicle 10 is changed as in the third embodiment, if the pan angle of the imaging device 14 is other than 0 degrees, the straight portions 71b and 71a will be aligned with the vertical and horizontal directions of the captured image. not parallel. That is, the roof 71 is displayed diagonally with respect to the display section 52. Therefore, in this embodiment, the control section 59 is configured as follows.

In this embodiment, the detection signal of the pan angle detection sensor 14b is input to the turning angle calculation section 59d. Furthermore, the turning angle calculation unit 59d corrects the target orientation based on the input pan angle so that the straight portion 71a appears along the horizontal direction of the captured image of the imaging device 14. Specifically, for example, if the pan angle is set to 45 degrees to the right, the target orientation is corrected to the left by 45 degrees. Further, the turning angle calculation unit 59d calculates the turning angle from the corrected target azimuth and the detected azimuth detected by the first azimuth sensor 19.

As a result, when the unmanned aerial vehicle 10 turns by a predetermined turning angle in step S8 of controlling the orientation of the unmanned aerial vehicle 10, the straight portion 71a in the longitudinal direction of the roof 71 is imaged by the imaging device 14, as in the third embodiment. Photographed along the horizontal direction of the image. Note that, at this time, the unmanned aircraft 10 is oriented in a direction inclined at, for example, 45 degrees with respect to the straight portions 71a and 71b.

Other configurations and inspection methods of the fourth embodiment are the same as those of the third embodiment.

In the present embodiment, as described above, the turning angle calculation unit 59d corrects the target azimuth so that a predetermined straight portion appears along the horizontal direction of the image captured by the imaging device 14, and detects the corrected target azimuth. Calculate the turning angle from the direction. As a result, even when the panning angle of the imaging device 14 is other than 0 degrees (when the optical axis direction of the imaging device 14 and the longitudinal direction of the unmanned aircraft 10 do not match), the straight portion 71a of the roof 71 can be It is possible to capture images along the horizontal direction of the captured image. Furthermore, since the orientation of the roof 71 drawn on the paper drawing of the building 70 can be matched with the orientation of the roof 71 in the image, for example, the efficiency of inspecting the roof 71 can be improved.

Other effects of the fourth embodiment are similar to those of the third embodiment.

(Fifth embodiment)
In this fifth embodiment, unlike the first to fourth embodiments described above, a configuration that is particularly effective when, for example, repeatedly inspecting the same structure will be described.

In the inspection by the unmanned aerial vehicle 10 (see FIG. 1), it is assumed that, for example, parts that are likely to require repair will be inspected again after a certain period of time has elapsed. Examples of areas that may require repair include discolored areas that may develop into cracks in the roofing material of houses (structures), and cracks that have occurred in structures such as bridges. Furthermore, when grasping the progress of construction of a structure, it is assumed that a certain area will be inspected again after a certain period of time has elapsed. When carrying out repeated inspections at the same position as described above, if the imaging devices 14 are oriented in the same direction, images can be easily checked.

Therefore, in this embodiment, as shown in FIGS. 3 and 4, the control unit 59 of the mobile terminal 50 associates the detected orientation detected by the first orientation sensor 19 with the captured image data when the imaging button 34a or 53a is input. It is stored in the storage device 59b. Specifically, when the imaging button 34a or 53a is input, the first orientation sensor 19 detects the orientation of the unmanned aircraft 10, and the detection result is transmitted to the mobile terminal 50. Further, the captured image captured by the imaging device 14 is also transmitted to the mobile terminal 50. Then, the control unit 59 stores the orientation of the unmanned aircraft 10 in association with the captured image data. Thereby, for example, by selecting a captured image using the input unit 53, it becomes possible to read out the orientation of the unmanned aerial vehicle 10 at the time the structure was imaged later.

In this embodiment, the control unit 59 controls not only the direction of the unmanned aircraft 10 at the time of inputting the imaging button 34a or 53a, but also the imaging position (longitude, latitude, and flight height), the pan angle and tilt angle of the imaging device 14, Similarly, the zoom (focal length) is also stored in the storage device 59b in association with the captured image data. The receiver 12 and height sensor 13 that detect the position (longitude, latitude, and flight height) of the unmanned aircraft 10 are an example of the "position detection device" of the present invention.

When the change button 34b or 53b is input (pressed) by the operator, the azimuth setting unit 59c sets the azimuth stored in association with the captured image data as the target azimuth, and similarly to the above embodiment, the azimuth setting unit 59c sets the azimuth stored in association with the captured image data to the unmanned aircraft 10. The direction (orientation) of is changed to the target direction. Furthermore, in this embodiment, as the target orientation is changed by the control unit 59, the imaging position of the unmanned aerial vehicle 10, the pan angle, tilt angle, and zoom of the imaging device 14 are also changed to the captured image data stored in association with the captured image data. The position, pan angle, tilt angle, and zoom of the imaging device 14 are controlled.

In this embodiment, when capturing an image of a roof that requires re-inspection, the operator inputs the image capture button 34a or 53a. Thereby, the orientation (azimuth) of the unmanned aerial vehicle 10 when the roof was imaged is stored. After a certain period of time has elapsed, when the same roof is imaged again, the operator inputs the change button 34b or 53b, and the target orientation is set to the orientation stored in the storage device 59b, and the unmanned aircraft 10 The orientation will be changed to the orientation when the same roof was previously imaged. Furthermore, in this embodiment, the imaging position, pan angle, tilt angle, and zoom of the imaging device 14 are also changed to the same settings as when the same roof was previously imaged. Therefore, the same roof can be imaged under the same conditions as when it was previously imaged.

Furthermore, in this embodiment, when the operator inputs the imaging button 34a or 53a, not only the direction of the unmanned aircraft 10 but also the imaging position is stored, so that the operator only needs to input the change button 34b or 53b. , the unmanned aerial vehicle 10 can fly autonomously from the takeoff position to the target rooftop, and can move to the same position in the same orientation as when it took the image previously.

It is assumed that there are multiple structures that require repeated inspections. In this case, a plurality of sets of data regarding the orientation of the unmanned aircraft 10, the imaging position, the pan angle, tilt angle, and zoom of the imaging device 14 are stored in the storage device 59b. When the operator selects a captured image of the target structure using the mobile terminal 50, the target data set is extracted from among the plurality of data sets. When the operator inputs the change button 34b or 53b, the direction of the unmanned aerial vehicle 10, the imaging position, the pan angle, tilt angle, and zoom of the imaging device 14 are stored in association with the captured image data of the target structure. It is controlled by the azimuth, imaging position, pan angle, tilt angle, and zoom of the imaging device 14.

The other structure and inspection method of the fifth embodiment are the same as those of the first embodiment.

In the present embodiment, as described above, the control unit 59 stores the detected orientation detected by the first orientation sensor 19 at the time of inputting the imaging button 34a or 53a in the storage device 59b in association with the captured image data, and sets the orientation. The unit 59c sets the stored detection orientation as the target orientation. As a result, for example, when repeatedly inspecting the same structure, the orientation of the unmanned aerial vehicle 10 is stored in association with the captured image data during the first inspection, and the orientation of the unmanned aerial vehicle 10 is stored during the second and subsequent inspections. You can change the orientation to the one you memorized during the first inspection. As a result, the image taken during the first examination and the image taken during the second and subsequent examinations can be oriented in the same direction, making it easy to confirm the images.

Further, as described above, the control unit 59 stores the detection position detected by the receiver 12 and the height sensor 13 at the time of inputting the imaging button 34a or 53a in association with the captured image data, and With the change, the position of the unmanned aircraft 10 is controlled to the detected position stored in association with the captured image data. Thereby, the position of the unmanned aircraft 10 can be stored in association with the captured image data during the first inspection, and the position of the unmanned aircraft 10 can be moved to the position stored during the first inspection during the second and subsequent inspections. Therefore, since the imaging position for the first examination and the imaging position for the second and subsequent examinations can be the same, images can be confirmed more easily.

Other effects of the fifth embodiment are similar to those of the first embodiment.

Note that the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments described above, and includes all changes within the meaning and range equivalent to the claims.

For example, in the above embodiment, an example is shown in which the operating device 2 is configured by the operating device 30 and the mobile terminal 50, but the present invention is not limited to this. For example, the operating device 2 may be configured only by the mobile terminal 50 that also has the functions of the operating device 30, or only by the operating device 30 that also has the functions of the portable terminal 50.

Further, in the above embodiment, an example is shown in which the gyro sensor 20 is provided in the unmanned aircraft 10, but the present invention is not limited to this. For example, an acceleration sensor may be provided instead of the gyro sensor 20.

Further, in the embodiment described above, an example was shown in which the unmanned aircraft 10 is manually moved when the region R of the display image is shifted from the home point upon landing, but the present invention is not limited to this. For example, a seat or board that can be identified as the home point by the unmanned aircraft control system 1 is placed at the home point, and the unmanned aircraft 1 The aircraft may be configured to land while automatically adjusting its position.

Furthermore, the display size of the region R of the display image may change depending on the height of the unmanned aircraft 10. For example, when the unmanned aircraft 10 is located at a high position, the display size of the region R may be made small, and as the unmanned aircraft 10 becomes lower, the display size of the region R may be increased.

Furthermore, in the above embodiment, an example is shown in which the imaging device 14 faces straight down at the time of landing (pan angle is 0 degrees, tilt angle is -90 degrees), and region R is arranged at the center of the displayed image. However, the present invention is not limited to this. For example, the imaging device 14 may face diagonally downward, and in this case, based on the pan angle and tilt angle of the imaging device 14 and the height of the unmanned aerial vehicle 10, the position immediately below the unmanned aerial vehicle 10 in the displayed image is determined. The area R may be displayed by calculating the position where the image is displayed.

Further, in the second embodiment, an example is shown in which the second direction sensor 37 is provided in the control device 30 in order to detect the direction (azimuth) of the control device 2, but the present invention is not limited to this. The orientation (azimuth) of the operating device 2 may be detected using an orientation sensor provided in the controller.

Furthermore, in the case of strong winds, the landing position may be predicted and the area R may be displayed according to the movement speed of the unmanned aircraft 10 due to the shaking and wind.

Further, in the fifth embodiment, an example is shown in which the direction (orientation) of the unmanned aircraft 10 when an image of a roof is captured is stored in association with the captured image data, but the present invention is not limited to this. For example, at least one of the input unit 34 of the pilot device 30 and the input unit 53 of the mobile terminal 50 is provided with an orientation storage button (not shown) for storing the orientation (azimuth) of the unmanned aircraft 10 in addition to the imaging button 34a or 53a. will be provided separately. Then, the orientation of the unmanned aircraft 10 may be stored in the storage device 59b by the operator inputting an orientation storage button.

Further, configurations obtained by appropriately combining the configurations of the above-described embodiments and modified examples are also included in the technical scope of the present invention. For example, the configurations of the first to fifth embodiments described above may be combined. In this case, a plurality of change buttons may be provided corresponding to each of the change buttons in the first to fifth embodiments.

1: Unmanned aircraft control system, 2: Operating device, 10: Unmanned aircraft, 14: Imaging device, 19: First orientation sensor, 34b: Change button, 37: Second orientation sensor, 39: Control unit, 53b: Change button , 59: control section, 59c: azimuth setting section, 59d: turning angle calculation section, 59e: azimuth control section, 59f: pan angle control section, 70: building, 71: roof, 71a, 71b: straight line section

Claims (7)

an unmanned aircraft having a first direction sensor that detects a direction ahead;
An unmanned aircraft control system comprising a control unit that controls the flight of the unmanned aircraft, and an operating device that operates the flight of the unmanned aircraft,
The operating device further includes a change button for turning the unmanned aerial vehicle to change the forward direction of the unmanned aerial vehicle,
The control unit includes an azimuth setting unit that sets a target azimuth, and a turning angle calculation unit that calculates a turning angle of the unmanned aircraft from the target azimuth and the detected azimuth detected by the first azimuth sensor at the time of inputting the change button. and an azimuth control unit that turns the unmanned aircraft based on the turning angle and changes the forward orientation of the unmanned aircraft to the target orientation ,
The unmanned aerial vehicle is equipped with an imaging device that images the roof of a building,
The unmanned aircraft control system is characterized in that the orientation setting unit sets, as the target orientation, an orientation that is orthogonal to a predetermined straight line among a plurality of straight lines that constitute the outline of the roof of the building. an unmanned aircraft having a first direction sensor that detects a direction ahead;
An unmanned aircraft control system comprising a control unit that controls the flight of the unmanned aircraft, and an operating device that operates the flight of the unmanned aircraft,
The operating device further includes a change button for turning the unmanned aerial vehicle to change the forward direction of the unmanned aerial vehicle,
The control unit includes an azimuth setting unit that sets a target azimuth, and a turning angle calculation unit that calculates a turning angle of the unmanned aircraft from the target azimuth and the detected azimuth detected by the first azimuth sensor at the time of inputting the change button. and an azimuth control unit that turns the unmanned aircraft based on the turning angle and changes the forward orientation of the unmanned aircraft to the target orientation ,
The unmanned aerial vehicle is equipped with an imaging device that images the structure,
The operating device further includes an imaging button for imaging with the imaging device,
The control unit stores a detected orientation detected by the first orientation sensor at the time of inputting the imaging button in association with captured image data,
The unmanned aircraft control system is characterized in that the orientation setting unit sets the detected orientation stored in association with the captured image data as the target orientation. The unmanned aircraft control system according to claim 1 or 2 , wherein the orientation setting unit sets the detected orientation detected by the first orientation sensor at the timing when the unmanned aircraft takes off as the target orientation. The operating device has a second orientation sensor that detects the orientation of the operating device,
The unmanned aircraft control system according to claim 1 or 2, wherein the azimuth setting unit sets the detected azimuth detected by the second azimuth sensor at the time of inputting the change button as the target azimuth. The turning angle calculating unit corrects the target azimuth so that the predetermined straight line portion appears along the horizontal direction of an image captured by the imaging device, and calculates the turning angle from the corrected target azimuth and the detected azimuth. The unmanned aircraft control system according to claim 1 , characterized in that: The unmanned aircraft further includes a position detection device that detects the position of the unmanned aircraft,
The control unit includes:
storing a detection position detected by the position detection device at the time of inputting the imaging button in association with the captured image data together with the stored detection direction;
The unmanned aircraft control system according to claim 2 , wherein the position of the unmanned aircraft is controlled to the detected position as the target orientation is changed by the control unit. The unmanned aerial vehicle is equipped with an imaging device capable of changing a panning angle, which is an angle that an optical axis makes in a horizontal direction with respect to the front of the unmanned aerial vehicle, as the imaging device,
The unmanned aircraft control system according to claim 1 or 2, wherein the control unit includes a pan angle control unit that changes the pan angle to an initial setting value when the change button is input.

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