Image capturing system for shape measurement of structure, method of capturing image of structure for shape measurement of structure, on-board control device, remote control device, program, and storage medium

A remote control device comprising:

• a scenario creator configured to create an image capturing scenario, the image capturing scenario including:
• a plurality of image capturing points at each of which an air vehicle is unmoved in air with a distance from a target structure being Maintained When capturing an image of the target structure to measure the shape of the target structure with the target structure being unmoved, the air vehicle having an image capturing device mounted thereon to measure the shape of the target structure, the image capturing device configured to capture the image of the target structure, the air vehicle being configured to fly and be unmoved in air, the air vehicle further having a distance measurement device amounted thereon and configured to measure a distance between the air vehicle and the target structure, the distance from the target structure being maintained based on the measured distance, and
• a flight route set in accordance with a positional relation between the target structure and each of the image capturing points or coordinates of each of the image capturing points such that the air vehicle having the image capturing device mounted thereon and configured to capture the image of the target structure flies via the image capturing points sequentially;
• and
• a scenario transferer configured to transfer the image capturing scenario created by the scenario creator to the air vehicle,
• the scenario creator being configured to:
• check whether or not a path connecting a first image capturing point to a second image capturing point in a straight line meets the target structure, the first image capturing point and the second image capturing point being different image capturing points,
• when the path does not meet the structure, create the flight route including the path connecting the first image capturing point to the second image capturing point in the straight line, and
• when the path meets the target structure, create the flight route including a path avoiding the target structure in flight between the first image capturing point and the second image capturing point.

A non-transitory computer readable storage medium storing a program to be executed by a processor of a remote control device,

• the program being configured to cause the processor of the remote control device to perform:
• creating an image capturing scenario, the image capturing scenario including:
• a plurality of image capturing points at each of which an air vehicle is unmoved in air with a distance from a target structure being maintained when capturing an image of the target structure to measure the shape of the target structure with the target structure being unmoved, the air vehicle having an image capturing device mounted thereon to measure the shape of the target structure, the image capturing device configured to capture the image of the target structure, the air vehicle being configured to fly and be unmoved in air, the air vehicle further having a distance measurement device mounted thereon and configured to measure a distance between the air vehicle and the target structure, the distance from the target structure being maintained based on the measured distance, and
• a flight route set in accordance with a positional relation between the target structure and each of the image capturing points or coordinates of each of the image capturing points such that the air vehicle having the image capturing device mounted thereon and configured to capture the image of the target structure flies via the image capturing points sequentially;
• and
• transferring the image capturing scenario to an on-board control device mounted on the air vehicle, the air vehicle having the image capturing device mounted thereon, the air vehicle being configured to fly and be unmoved in air,
• the creating of the image capturing scenario including:
• checking whether or not a path connecting a first image capturing point to a second image capturing point in a straight line meets the target structure, the first image capturing point and the second image capturing point being different image capturing points,
• when the path does not meet the structure, creating the flight route including the path connecting the first image capturing point to the second image capturing point in the straight line, and
• when the path meets the target structure, creating the flight route including a path avoiding the target structure in flight between the first image capturing point and the second image capturing point.