# US 10,372,133 B2 · Control device, imaging device, control method, imaging method, and computer program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,133 B2 - Document ID: US10372133B2 - Status: Granted - Kind: B2 - Application number: 15/115,414 - Filed: 2015-04-02 - Published: 2017-01-12 - Granted: 2019-08-06 - Earliest claimed: 2014-04-25 - Assignees: Sony Corporation - Applicants: Sony Corporation - Inventors: Kayoko Tanaka; Kohtaro Sabe; Miki Shibuya; Tsutomu Sawada; Satoru Shimizu; Kousuke Suzuki; Haruto Takeda; Peter Duerr; Masaomi Nabeta; Takekazu Kakinuma; Hironari Mizumura - Web page: https://patentgrep.com/patent/US10372133B2 ## CPC - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - B64D 47/08: Arrangements of cameras - G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) - G06V 20/13: Satellite images - G06V 20/176: {Urban or other man-made structures} - H04N 7/185: {from a mobile camera, e.g. for remote control} - B64U 2101/30: for imaging, photography or videography - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64C: AEROPLANES; HELICOPTERS - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract [Object] To provide a control device that can make more efficient an inspection performed by a flying body capable of performing imaging. [Solution] Provided is a control device including an acquisition unit configured to acquire information related to an overview of a structure, and a flight information generating unit configured to generate flight information of a flying body being caused to fly over a periphery of the structure to image the structure on the basis of the information acquired by the acquisition unit. The control device generates information used to cause the flying body to image the structure, and thereby makes it possible to make more efficient the inspection performed by the flying body capable of performing imaging. ## Claims ### Claim 1 A control device comprising: circuitry configured to acquire information related to an overview of a structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure; generate flight information of a flying body being caused to fly over and under a periphery of the structure to image the structure on the basis of the acquired information; and estimate the position information of the flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite. ### Claim 2 (depends on 1) The control device according to claim 1, wherein, when the flying body has detected an obstacle during a flight that is taken on the basis of the flight information, the circuitry is further configured to update the flight information based on flight information used to avoid the obstacle. ### Claim 3 (depends on 2) The control device according to claim 2, wherein, when the flying body has detected an obstacle during the flight that is taken on the basis of the flight information, the circuitry is further configured to present information related to an overview of the structure including information related to a position of the obstacle. ### Claim 4 (depends on 1) The control device according to claim 1, wherein the circuitry is configured to generate, as the flight information, information including information of a flight path of the flying body and a position where the flying body executes an imaging process. ### Claim 5 (depends on 4) The control device according to claim 4, wherein the circuitry is configured to generate, as the flight information, information including information of an imaging direction at the position where the flying body executes an imaging process. ### Claim 6 (depends on 4) The control device according to claim 4, wherein the circuitry is configured to generate, as the flight information, information including information used to control special imaging at the position where the flying body executes an imaging process. ### Claim 7 (depends on 1) The control device according to claim 1, wherein the structure is a bridge. ### Claim 8 (depends on 7) The control device according to claim 7, wherein the circuitry is further configured to generate the flight information used to image a bottom surface of the bridge. ### Claim 9 (depends on 7) The control device according to claim 7, wherein the circuitry is further configured to generate the flight information used to image a side surface of the bridge. ### Claim 10 (depends on 7) The control device according to claim 7, wherein the circuitry is further configured to generate the flight information on the basis of a construction method of the bridge. ### Claim 11 (depends on 7) The control device according to claim 7, wherein the circuitry is further configured to generate information including information used to control special imaging on the basis of information related to the bridge. ### Claim 12 (depends on 11) The control device according to claim 11, wherein the information related to the bridge is information of a location likely to be damaged in the bridge. ### Claim 13 (depends on 1) The control device according to claim 1, wherein the position estimate node is an augmented reality marker. ### Claim 14 An imaging device comprising: circuitry configured to perform control to make a flight over a periphery of a structure on the basis of flight information generated on the basis of information related to an overview of the structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure; execute an imaging process of the structure during the flight on the basis of the flight information; and estimate the position information of a flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite. ### Claim 15 (depends on 14) The imagine device according to claim 14, wherein the position estimate node is an augmented reality marker. ### Claim 16 A control method comprising: acquiring information related to an overview of a structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure; generating flight information of a flying body being caused to fly over a periphery of the structure to image the structure on the basis of the acquired information; and estimating the position information of the flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite. ### Claim 17 (depends on 16) The control method according to claim 16, wherein the position estimate node is an augmented reality marker. ### Claim 18 An imaging method comprising: performing control to make a flight over a periphery of a structure on the basis of flight information generated on the basis of information related to an overview of the structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure; executing an imaging process of the structure during the flight on the basis of the flight information; and estimating the position information of a flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite. ### Claim 19 A non-transitory computer readable medium having stored thereon a computer program for causing a computer to execute the processing of: acquiring information related to an overview of a structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure; generating flight information of a flying body being caused to fly over a periphery of the structure to image the structure on the basis of the acquired information; and estimating the position information of the flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite. ### Claim 20 A non-transitory computer readable medium having stored thereon a computer program for causing a computer to execute the processing of: performing control to make a flight over a periphery of a structure on the basis of flight information generated on the basis of information related to an overview of the structure, the information related to the overview of the structure includes position information indicative of at least one set of latitude and longitude points of the structure; executing an imaging process of the structure during the flight on the basis of the flight information; and estimating the position information of a flying body based on satellite position information and an image captured by the flying body of a position estimate marker, a location of the position estimate marker being visible to the flying body when the structure blocks the flying body from directly receiving the satellite position information from a satellite.