公开(公告)号：US11221216B2

公开(公告)日：2022-01-11

申请号：US16963217

申请日：2019-02-14

Applicant: Topcon Corporation

Inventor： Takeshi Sasaki ,  Nobuyuki Fukaya ,  You Sasaki

IPC: G01C11/02 ,  B64C39/02 ,  H04N7/18 ,  G06T7/73 ,  G06T7/521 ,  B64D47/08 ,  B64F1/36 ,  G01C11/04

Abstract: [Problem] To obtain high measurement accuracy in aerial photogrammetry while reducing the cost of installing a measurement target. [Solution] According to the present invention, a launching pad for an unmanned aircraft on which a UAV 200 is installed before take off is provided with: a target indication that constitutes a target locating point used for aerial photogrammetry; and position determining units that determine the position of the UAV 200 with respect to the launching pad in a state in which the position of the UAV 200 with respect to the target indication before take off is specified.

公开(公告)号：US20180023974A1

公开(公告)日：2018-01-25

申请号：US15421834

申请日：2017-02-01

Applicant: TOPCON Corporation

Inventor： Hitoshi Otani ,  Daisuke Sasaki ,  Nobuyuki Fukaya ,  Takeshi Sasaki

IPC: G01C23/00 ,  B64D45/00 ,  B64C39/02 ,  B64D47/08 ,  G05D1/02 ,  G01S19/42

CPC classification number: G01C23/00 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/14 ,  B64C2201/146 ,  B64D45/00 ,  B64D47/08 ,  G01C15/02 ,  G01C21/005 ,  G01S19/42 ,  G05D1/0202 ,  G05D1/102

Abstract: A flying vehicle has a retro-reflector, a position measuring instrument has a non-prism measurement function for performing a distance measurement and an angle measurement in non-prism and a prism measurement function for performing the distance measurement and the angle measurement with respect to the retro-reflector, a control device is adapted to have a flight range as set within a flat plane, to prepare an approximate flight plan having a two-dimensional approximate flying route as set within the flight range, to measure the approximate flying route by the non-prism measurement, to calculate a three-dimensional detailed flying route based on the measurement results and the approximate flying route, to prepare a detailed flight plan including the detailed flying route and to control the flying vehicle so as to fly in maintaining a distance between the flying vehicle system and a surface of the object to be measured at a constant value based on the detailed flight plan and a result of the prism measurement.

公开(公告)号：US10565730B2

公开(公告)日：2020-02-18

申请号：US16107392

申请日：2018-08-21

Applicant: TOPCON CORPORATION

Inventor： Takeshi Sasaki ,  Nobuyuki Fukaya ,  Nobuyuki Nishita

IPC: G06T7/73 ,  G06K9/00 ,  G06T17/05 ,  G06T7/593 ,  G06T15/20 ,  H04N13/275 ,  H04N13/204 ,  G06K9/62

Abstract: A technique is provided to enable reduction in cost relating to installation of orientation targets in aerial photogrammetry. A survey data processing device includes a positioning data receiving unit, a relative orientation unit, an absolute orientation unit, and an adjustment calculation executing unit. The positioning data receiving unit receives positioning data obtained by tracking and positioning a reflective prism of an aerial vehicle by a total station. The aerial vehicle also has a camera. The relative orientation unit calculates relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera. The absolute orientation unit provides a true scale to the relative exterior orientation parameters by absolute orientation using the positioning data and the relative exterior orientation parameters. The adjustment calculation executing unit corrects the relative exterior orientation parameters having the true scale, by using a positional relationship between the camera and the reflective prism.

公开(公告)号：US20170248948A1

公开(公告)日：2017-08-31

申请号：US15438947

申请日：2017-02-22

Applicant: TOPCON Corporation

Inventor： Hitoshi Otani ,  Daisuke Sasaki ,  Nobuyuki Fukaya ,  Takeshi Sasaki

IPC: G05D1/00 ,  H04N5/232 ,  G06T7/20 ,  G06T7/70 ,  G08G5/00 ,  B64C39/02

CPC classification number: G05D1/0033 ,  B64C39/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/146 ,  G01S5/0027 ,  G01S11/12 ,  G01S17/023 ,  G01S17/42 ,  G01S17/66 ,  G01S19/13 ,  G01S19/42 ,  G05D1/101 ,  G06T7/20 ,  G06T7/70 ,  G06T2207/10032 ,  G08G5/0026 ,  G08G5/0082 ,  H04N5/23203 ,  H04N5/23206 ,  H04N5/23258 ,  H04N5/2328 ,  H04N5/23293 ,  H04N5/23296

Abstract: The invention provides a flying vehicle tracking method, which comprises an optical tracking in which a tracking light is projected to a retro-reflector of a flying vehicle with the retro-reflector, the tracking light is received, and a tracking of the flying vehicle is performed based on a light receiving result, and an image tracking in which an image of the flying vehicle is acquired, the flying vehicle is detected from the image, and the tracking of the flying vehicle is performed based on a detection result, wherein the optical tracking and the image tracking are executed in parallel with each other, and in a case where the flying vehicle cannot be tracked by the optical tracking, the optical tracking is returned based on the detection result of the image tracking.