WO2017057356A1

WO2017057356A1 - Structure imaging apparatus, structure inspection apparatus, and structure inspection system

Info

Publication number: WO2017057356A1
Application number: PCT/JP2016/078444
Authority: WO
Inventors: 宜之溝▲辺▼; 山本　実; 二村　孝房
Original assignee: 倉敷紡績株式会社
Priority date: 2015-09-28
Filing date: 2016-09-27
Publication date: 2017-04-06

Abstract

This structure imaging apparatus is provided with an imaging unit (11) for imaging an area to be imaged (40a) of a placement surface (40), a bending optical system (16) that bends the direction of imaging by the imaging unit (11), and a lighting unit (12a) that lights the area to be imaged (40a). This structure inspection apparatus is further provided with a position change detection unit (13) that detects a position change due to a movement on the placement surface (40), and an imaging timing control unit (14a) that controls timing of imaging by the imaging unit (11) on the basis of the position change detected by the position change detection unit (13).

Description

Structure imaging apparatus, structure inspection apparatus, and structure inspection system

The present invention relates to an imaging device, an inspection device, and an inspection system for a surface state of a structure such as a road or a runway, and in particular, it detects deterioration or cracks of a concrete pavement surface by image processing and is movable by human power. The present invention relates to a small structure imaging apparatus, a structure inspection apparatus and a structure inspection system, or a small structure inspection system capable of moving by human power or autonomously moving.

Conventionally, a road surface inspection system (for example, refer to Patent Document 1) that detects cracks and the like generated on a road surface by photographing a road surface with an in-vehicle camera while traveling on a paved road and analyzing the captured image, travels on a paved surface. A deterioration investigation system (for example, see Patent Document 2) for investigating the deterioration state of a concrete plate, or a road surface unevenness evaluation system (for example, see Patent Document 3) that is mounted on a general vehicle and evaluates road surface unevenness is proposed. Has been.

These are all assumed to be mounted on self-propelled vehicles and to inspect road surfaces while traveling.

On the other hand, a road surface crack measuring device (see, for example, Patent Document 4) mounted on a carriage and continuously measuring and recording cracks on a paved road surface such as a road or a runway by image processing is directed toward the road on the measurement vehicle. A road surface property measuring machine (see, for example, Patent Document 5) that can be disposed and can measure and evaluate road surface properties such as a crack rate has also been proposed.

These are all assumed to be towed on the road etc. because they cannot run on their own.

JP 2014-86826 A JP 2011-237283 A JP2013-79889A JP-A-4-240555 Japanese Unexamined Patent Publication No. 3-56805

The devices and systems described in the above patent documents are assumed to be mounted directly on the vehicle or towed. For this reason, it has been difficult to operate in a space where a vehicle is difficult to enter, such as a train station platform or a sidewalk.

In addition, in these devices and systems, cameras are arranged so as to photograph the road surface from above, but a certain optical path length is necessary to secure a certain depth of field, so there is a limit to downsizing. there were. It is possible to reduce the size to some extent by using a contact sensor (CIS: Contact Image Sensor), but in the case of an optical system with a shallow depth of field, such as CIS, the camera is focused with a slight unevenness of the object. It is not practical. Therefore, even if the size can be reduced to such a level that it can be moved by human power, the overall center of gravity tends to be high, and stable movement by human power is difficult.

In addition, the same diagnosis of deterioration and cracks is necessary for vertical or diagonal surfaces of structures such as building walls and dam walls. Will be used. At this time, if the center of gravity of the device is high, the stability is very poor, and it is difficult to hold and move the device.

In view of such a problem of the prior art, a first object of the present invention is to detect a deterioration or a crack of a concrete pavement surface by image processing and to be able to move stably by human power and a structure An inspection apparatus and a structure inspection system are provided.

In addition, the crack measuring device described in Patent Document 4 and the road surface property measuring instrument described in Patent Document 5 that are premised on being pulled by a vehicle on a road or the like cannot be moved by human power if they are downsized as they are. It may be possible. However, in the crack measurement device described in Patent Document 4, as described in paragraph 0022 of the specification, etc., the data output from the measurement processing device is taken back and then analyzed by a personal computer or the like. It is attached to processing. In the road surface property measuring machine described in Patent Document 5, first, the road surface is photographed by the video camera 2 as described in the lower left column, lines 5 to 8 of the third page of the specification, and the image is taken. Since the image is reproduced and the cracked portion is confirmed, the image is reproduced after the road surface is once photographed. Therefore, none of these crack measuring devices and road surface property measuring machines confirms or analyzes the image of the road surface being photographed in real time.

In view of such a problem of the prior art, the second object of the present invention is to detect deterioration or cracks of a concrete pavement surface by image processing, and can be moved by human power or autonomously, and in real time during movement It is to provide a structure inspection system that can confirm images and the like.

In order to achieve the first object, a structure inspection apparatus according to the present invention includes an imaging unit for imaging an imaging region of a structure, a bending optical system that bends an imaging direction by the imaging unit, and the imaging target. An illumination unit that illuminates a region, and an inspection unit that inspects the structure based on image data captured by the imaging unit.

Moreover, in the structure inspection apparatus of the present invention, a position change detection unit that detects a position change due to movement on the structure, and imaging by the imaging unit based on the position change detected by the position change detection unit And an imaging timing control unit for controlling the timing. You may further provide the main-body part which interiors the said imaging part and the said bending | flexion optical system. The main body may have a flat shape, and the imaging unit may image the imaging area of the structure facing the bottom surface or the top surface of the main body.

Here, examples of the bending optical system include, but are not limited to, a reflecting member (specifically, an optical mirror) and a prism.

According to the structure inspection apparatus having such a configuration, since the entire center of gravity is sufficiently low, stable movement by human power is possible.

The structure inspection apparatus of the present invention may further include an absolute position detector (for example, GPS) that detects absolute position information.

Moreover, the structure inspection system of the present invention includes the structure inspection apparatus described above, a control unit that controls the operation of the structure inspection apparatus, and that acquires and analyzes the image data captured by the imaging unit. The image processing apparatus includes a display unit that displays at least one of the image data acquired by the control unit or an analysis result by the control unit, and a storage unit that stores the image data. Alternatively, the structure inspection system of the present invention controls the operation of the structure inspection apparatus described above and the structure inspection apparatus, and is detected by the image data captured by the imaging unit and the absolute position detector. A control unit that acquires and analyzes the absolute position information, a display unit that displays at least one of the image data acquired by the control unit or an analysis result by the control unit, and a storage unit that stores the image data. It is characterized by providing.

According to the structure inspection system having such a configuration, since the entire center of gravity is sufficiently low, stable movement by human power is possible, and it is easy to perform operations and display confirmation.

Further, the structure imaging apparatus of the present invention includes an imaging unit for imaging an imaging region of the structure, a bending optical system that bends an imaging direction by the imaging unit, and an illumination unit that illuminates the imaging region. It is characterized by providing. A position change detector that detects a change in position due to movement on the structure, and an imaging timing controller that controls the timing of imaging by the imaging unit based on the position change detected by the position change detector. Further, it may be provided. You may further provide the main-body part which interiors the said imaging part and the said bending | flexion optical system. The main body may have a flat shape, and the imaging unit may image the imaging area of the structure facing the bottom surface or the top surface of the main body. Examples of the bending optical system include, but are not limited to, a reflecting member (specifically, an optical mirror) and a prism. You may further provide the absolute position detector (for example, GPS) which detects absolute position information.

According to the structure imaging apparatus having such a configuration, since the entire center of gravity is sufficiently low, stable movement by human power is possible.

In order to achieve the second object, a structure inspection system of the present invention includes an imaging unit for imaging an imaging area on a mounting surface, an illumination unit that illuminates the imaging area, and the above description A position change detection unit that detects a change in position due to movement on the mounting surface; an imaging timing control unit that controls a timing of imaging by the imaging unit based on the position change detected by the position change detection unit; An image acquisition / analysis unit that acquires and analyzes image data captured by the imaging unit, a display unit that displays at least one of the image data acquired by the image acquisition / analysis unit or an analysis result thereof, and the image data A storage unit for storing and a grip unit for gripping to move the display unit are arranged, and the display unit is arranged so that display contents can be visually recognized in a state of gripping the grip unit.

According to the structure inspection system having such a configuration, movement by human power is possible, and an image of the road surface being photographed can be easily confirmed in real time during movement.

Alternatively, the structure inspection system according to the present invention includes an imaging unit for imaging an imaging region on the placement surface, an illumination unit that illuminates the imaging region, and a positional change caused by movement on the placement surface. A position change detection unit for detecting the image, an imaging timing control unit for controlling the timing of imaging by the imaging unit based on the position change detected by the position change detection unit, and an image data captured by the imaging unit. An image acquisition / analysis unit that performs acquisition and analysis, a storage unit that stores the image data, self-propelled means for moving at least the imaging unit and the illumination unit, and the image acquired by the image acquisition / analysis unit And a display unit that displays at least one of the data and the analysis result thereof at a location distant from the imaging unit.

According to the structure inspection system having such a configuration, autonomous movement is possible, and an image of a road surface being photographed can be easily confirmed in real time while moving.

The structure inspection system according to the present invention further includes an absolute position detector (for example, GPS) that detects absolute position information, and the image acquisition analysis unit includes the image data captured by the imaging unit and the absolute position detection. The absolute position information detected by the instrument may be acquired and analyzed.

According to the structure imaging apparatus and the structure inspection apparatus of the present invention, since the entire center of gravity is sufficiently low, stable movement by human power is possible.

According to the structure inspection system of the present invention, since the overall center of gravity is sufficiently low, stable movement by human power is possible, and it is easy to perform operations and display confirmation. Alternatively, movement by human power or autonomous movement is possible, and images and the like can be easily confirmed in real time during movement.

1 is a side view showing a schematic configuration of a structure inspection system 100 including a structure imaging apparatus 10 according to a first embodiment of the present invention. 1 is a perspective view illustrating a schematic configuration inside a structure imaging apparatus 10. 2 is a plan view showing a schematic configuration inside the structure imaging apparatus 10. FIG. FIG. 4 is a sectional view taken along line 4-4 of FIG. 1 is a block diagram showing an electrical schematic configuration of a structure inspection system 100. FIG. It is a side view showing a schematic structure of structure scanner 100A concerning a 2nd embodiment of the present invention. It is a block diagram which shows the electrical schematic structure of the structure scanner 100A. It is a side view which shows schematic structure of the structure scanner 100B which concerns on 3rd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Configuration of First Embodiment>
(1) Overall Structure Inspection System 100 FIG. 1 is a side view showing a schematic configuration of a structure inspection system 100 including a structure imaging apparatus 10 according to the first embodiment of the present invention. FIG. 2 is a perspective view showing a schematic configuration inside the structure imaging apparatus 10. FIG. 3 is a plan view illustrating a schematic configuration inside the structure imaging apparatus 10. 4 is a cross-sectional view taken along line 4-4 of FIG. FIG. 5 is a block diagram showing an electrical schematic configuration of the structure inspection system 100.

As shown in FIG. 1, a structure inspection system 100 that inspects a structure 40 or the like includes a structure imaging device 10 and a frame 30 attached to the rear end portion of the structure imaging device 10 so as to extend in the vertical direction. When the structure image pickup device 10 is moved by being provided to extend in the horizontal direction at the upper end of the frame 30 and the notebook personal computer 20 as a control means for controlling the operation of the structure image pickup device 10. And a handle 31 for gripping.

It is preferable that the notebook computer 20 (especially a display 20b described later) and the handle 31 be as close as possible to facilitate operation and display confirmation. The frame 30 and the handle 31 may be detachable from the structure imaging device 10.

The structures 40 to be inspected include, for example, concrete paved surfaces such as roads, railway station platforms, airport aprons (air parks), runways, bridges, dam walls, buildings, and other building structures. Examples include, but are not limited to, outer wall surfaces. Also, paving is not necessarily limited to concrete.

(2) Structure imaging apparatus 10
As shown in FIGS. 2 to 4, wheels 15 are respectively attached to the front and rear of the left and right side surfaces of the structure imaging apparatus 10. By being supported by these four wheels 15, the structure imaging apparatus 10 can be easily moved by human power by pushing the handle 31. In order to reduce vibration at the time of movement as much as possible, it is preferable to use a tire having seismic isolation for the wheel 15.

The structure imaging device 10 has a strip-like region 40a (relative to the bottom surface of the structure imaging device 10) that is an elongated imaging region orthogonal to the moving direction on the structure 40, etc. The line camera 11 arranged with the imaging direction facing forward, the mirror 16 arranged in front of the line camera 11 and bending the imaging direction vertically downward, and the position corresponding to the belt-like region 40a An LED illumination 12a that is arranged slightly rearward and illuminates the belt-like region 40a with high uniformity from obliquely above, an illumination power source 12b dedicated to the LED illumination 12a, and arranged in conjunction with the rotation of the wheel 15, such as the structure 40 An encoder 13 for detecting the moving distance of the structure imaging device 10 on the top of the line camera 11 and the line camera 11 based on the moving distance detected by the encoder 13. And a control box 14 that contains the synchronizing unit 14a to perform imaging that.

The line camera 11 is a monochrome digital camera having a resolution capable of sufficiently identifying cracks of the structure 40 and the like, and functions as an imaging unit. For example, when the camera body 11a is a C-mount camera, it is preferable to use a wide-angle lens 11b (for example, about 28 mm) so that almost the entire width of the structure imaging apparatus 10 can be imaged. However, a plurality of cameras may be arranged side by side and images captured by them may be combined, or scanning may be performed in a direction orthogonal to the moving direction with a single camera. A color camera may also be used.

The mirror 16 is an optical surface mirror, and is an example of a reflecting member that functions as a bending optical system that bends the imaging direction of the line camera 11. In the case where the line camera 11 is arranged with its imaging direction facing horizontally forward, the imaging direction of the line camera 11 becomes vertically downward by arranging the mirror 16 diagonally downward 45 degrees. . The number of mirrors 16 is preferably limited to the minimum number, but is not necessarily limited to one. Further, the bending optical system is not limited to the mirror 16, and for example, a prism may be substituted.

The main body 10 c is a housing that houses the line camera 11 and the mirror 16. The main body portion 10c preferably has a flat shape in order to keep the center of gravity low. The main body 10c is not limited to a square box shape, and may have a shape whose side surface is a curved surface (for example, a shape like a flat cylinder).

The image capturing direction of the line camera 11 is arranged horizontally, and the image capturing direction is bent vertically downward by the mirror 16, thereby ensuring a certain visual field width and depth of field required for the line camera 11. The height of the structure imaging device 10 can be kept relatively small while ensuring the optical path length. For example, considering that the structure can be used stably with respect to the vertical surface of the structure, the apparatus height (the height of the main body 10c) is preferably 30 cm or less, more preferably 20 cm or less. As for the width and depth of the apparatus (the size of each of the two sides of the bottom surface and the top surface of the main body 10c), if it is too large, it becomes difficult to handle the device, so it is preferably 100 cm or less, more preferably 50 cm or less. In the arrangement of the line camera 11, the imaging direction (optical axis) may not be completely horizontal, and may be slightly inclined from the horizontal, for example, depending on the layout inside the structure imaging apparatus 10. Thereby, since the center of gravity of the structure imaging apparatus 10 is lowered, stable movement by human power is possible. Further, when used with respect to the vertical surface of the structure, since there is no substantial difference between the bottom surface and the top surface of the structure imaging device 10, the belt-like region 40 a that is the imaged region is the structure imaging device 10. It can be said that it is opposite to the bottom or top surface.

The LED illumination 12a may be, for example, a bar-type LED illumination that uses a white LED as a light source and illuminates an elongated strip-shaped region with high brightness and high uniformity, but is not limited thereto. Two or more LED illuminations may be combined (for example, arranged both before and after the position corresponding to the belt-like region 40a), or a light source other than the LED may be used. It is preferable that the type, arrangement, illumination direction, and the like of these illuminations make it possible to capture as clearly as possible cracks in the structure 40 and the like.

The illumination power source 12b is a dedicated power source that makes the light emission amount of the LED illumination 12a variable by a pulse dimming method or a voltage dimming method. When the pulse dimming method is used, it is necessary to pay attention to the timing of imaging so that uneven illumination or the like does not occur in the captured image when the shutter speed of imaging by the line camera 11 is particularly high. However, such a dedicated power source is not always essential depending on the type of illumination used.

The encoder 13 serving as a position change detection unit is disposed so as to be linked to the rotation of one bearing portion of the wheel 15 in order to detect a change in position due to the movement of the structure imaging device 10, and has a constant rotation amount (angle). A pulse signal is generated every time. Thereby, from the relationship with the outer peripheral length of the wheel 15, the position change of the structure imaging device 10, specifically, the moving distance can be detected.

The synchronization unit 14 a controls the timing of imaging by the line camera 11 based on the pulse signal generated from the encoder 13. Specifically, every time a predetermined number of pulse signals are counted, the imaging by the line camera 11 is performed synchronously. Thereby, every time the structure imaging apparatus 10 moves by a certain distance, the imaging by the line camera 11 can be performed. At this time, the LED illumination 12a may be flashed in synchronization with the imaging timing of the line camera 11.

Here, as shown in FIG. 4, a recess 10 b is provided on the lower surface 10 a of the structure imaging device 10 so as to surround the optical path of the belt-like region 40 a from the line camera 11, and the mirror 16 is formed at the opening at the upper end thereof. A transparent plate material 17a is arranged at a position facing the. Thereby, it is reduced as much as possible that unnecessary light is mixed in the image captured by the line camera 11. In addition, a transparent plate material 17b (for example, made of acrylic) is also disposed on the lower surface 10a of the structure imaging apparatus 10 directly below and around the LED illumination 12a. Thereby, the light from the LED illumination 12a reaches the strip-like region 40a on the structure 40 or the like through the transparent plate 17b.

In addition, it is preferable that the main body portion 10c of the structure imaging apparatus 10 is a hermetically sealed type so that dust or dust does not enter the interior as much as possible. Moreover, the layout inside the structure imaging apparatus 10 described above is merely an example, and it is possible to reverse the front and rear.

Further, as shown in FIG. 1, a battery 18 is attached to the upper surface of the structure imaging apparatus 10, and the line camera 11 and illumination power supply 12b inside the structure imaging apparatus 10 are connected via a connector (not shown). The encoder 13 and the synchronization unit 14a are supplied with electric power. However, the attachment of the battery 18 is not limited to the upper surface of the structure imaging apparatus 10 and may be built in the structure imaging apparatus 10 if possible.

(3) Notebook PC 20
As shown in FIG. 5, the notebook personal computer 20 as a control unit controls the operation of each part of the structure imaging apparatus 10 on its main body, and also acquires and analyzes image data captured by the line camera 11. And a display 20b for displaying image data acquired by the CPU 20a, analysis results, and the like. As the control unit, a general-purpose notebook computer may be used as described above, or a dedicated control unit may be used.

Furthermore, a large-capacity hard disk 21 is externally attached to the notebook computer 20 as a storage unit. However, such an external hard disk 21 is not essential. Instead of the external hard disk 21, a hard disk of a type that can be accommodated in the notebook computer 20 or a nonvolatile memory may be used.

The connection between the structure imaging device 10 and the notebook computer 20 is performed by a cable 22 (not shown in FIG. 1), but these connections may be wireless.

<Inspection by the structure inspection system 100>
Next, an inspection method by the structure inspection system 100 will be described.

First, the structure inspection system 100 including the structure imaging device 10 is placed on the structure 40 to be inspected, and after the preparation work before starting the movement on the notebook personal computer 20 side, the LED illumination 12a is turned on. Then, the handle 31 is pushed to start moving the structure imaging apparatus 10 forward at a constant speed as much as possible.

When the wheel 15 is rotated by the movement of the structure imaging device 10, a pulse signal is generated from the encoder 13 at every constant rotation amount (angle). The synchronization unit 14a synchronously performs imaging by the line camera 11 every time a predetermined number of pulse signals are counted. Thereby, it is possible to continuously image the band-like regions 40a at regular distance intervals on the structure 40 or the like.

The notebook computer 20 acquires the image data of the band-like area 40a imaged by the line camera 11 for each imaging, stores the data in the external hard disk 21 as necessary, and performs various image processing and analysis by the CPU 20a. The deterioration or crack of the structure 40 is detected. For specific analysis, for example, a method disclosed in an apparatus or system as described in each of the above-described patent documents as background art can be applied.

If information such as a drawing or a map of the structure 40 to be inspected is input in advance, the drawing and the distance between the moving area information of the structure imaging device 10 and the imaged band-like region 40a are It is also possible to automatically superimpose the image data of the band-like area 40a on a map or the like and display it on the display 20b. The notebook computer 20 is supported in the vicinity of the handle 31, and the display on the display 20b can be confirmed in real time while moving the structure imaging apparatus 10. Thereby, it is possible to perform the inspection work while easily confirming whether the band-like region 40a on the structure 40 or the like is clearly imaged without omission. Further, if each image data of the band-like region 40a superimposed on a drawing or a map is used, an inspection report or the like can be efficiently created.

In addition, while the connection between the structure imaging device 10 and the notebook computer 20 is wireless, and the frame 30 and the handle 31 are removed, only the flat box-shaped main body 10c with an imaging unit, a bending optical system, etc. is provided. Become. For example, if it is hung with a rope or wire, the structure imaging device 10 has a low center of gravity, so even if it is a vertical or oblique wall surface of a building such as a building or a civil engineering structure such as a dam, Stable inspection is possible without losing balance. At this time, the position change detection unit may be an encoder provided in a rope for pulling the main body or a wire winding device. Thereby, even if it is a vertical or diagonal wall surface, it is possible to image in synchronization with the movement of the main body. Depending on the required accuracy, the imaging may be controlled by detecting a change in height using a GPS (Global Positioning System), an atmospheric pressure sensor, a laser rangefinder, or the like.

<Modification of First Embodiment>
The structure imaging apparatus 10 may include an absolute position detector such as a normal GPS (Global Positioning System) or an indoor GPS.

In the structure imaging apparatus 10 described above, the encoder 13 can only know the movement distance on the straight line from the movement start point. However, by using it together with the absolute position detector, the structure 40 and the like can be expanded two-dimensionally. It is also possible to make the area having the inspection object.

In addition, as in the structure inspection system 100 described above, when the structure imaging apparatus 10 and the notebook computer 20 are connected by a cable 22 or the like, the absolute position detector may be built in the notebook computer 20, It may be provided near the handle 31. Unlike the case of wireless connection, these absolute positions are almost the same.

Further, the structure imaging device 10 itself may be provided with a control device equivalent to the notebook personal computer 20 for controlling this operation and a self-running means such as a so-called robot cleaner. Alternatively, the structure imaging device 10 and the notebook computer 20 may be wirelessly connected, and the structure imaging device 10 itself may be provided with a self-propelled means. Furthermore, you may provide the base used as the starting point of the structure imaging device 10, or a normal standby position. As a result, the structure 40 and the like can be automatically inspected without human intervention, and periodic maintenance and inspection can be facilitated.

<Configuration of Second Embodiment>
FIG. 6 is a side view showing a schematic configuration of a structure scanner 100A according to the second embodiment of the present invention. FIG. 7 is a block diagram showing an electrical schematic configuration of the structure scanner 100A. In addition, the same referential mark is attached | subjected to the same structural member as 1st Embodiment, and the difference is mainly demonstrated below.

As shown in FIG. 6, a structure scanner 100A for inspecting a structure 40 (for example, a concrete pavement surface such as a road) has a flat box-shaped structure scanner main body 10A and a rear of the structure scanner main body 10A. A notebook computer 20 that controls the operation of the structure scanner 100A and a notebook computer 20 that controls the operation of the structure scanner 100A, and is provided so as to extend forward in the horizontal direction. A line camera 11 that captures a strip-like region 40a that is an elongated imaging region that is supported by the subframe 32 with the imaging direction facing downward and that is orthogonal to the moving direction on the mounted structure 40 or the like; 30 is provided at the upper end of 30 so as to extend rearward in the horizontal direction, and is gripped when moving the structure scanner 100A. And a handle 31 of the eye.

The notebook personal computer 20 (particularly, a display 20b described later) and the handle 31 are preferably as close as possible to facilitate operation and display confirmation, but at least the display 20b is in a state of holding the handle 31. It is preferable to arrange the display contents so as to be visible. However, there may be a configuration in which the connection between the structure scanner main body 10A and the notebook computer 20 is wireless, and the display on the display 20b is confirmed in a place away from a person pushing the structure scanner main body 10A. .

As shown in FIG. 6, wheels 15 are respectively attached to the front and rear of the side surface of the structure scanner main body 10A. By being supported by the four wheels 15 including those attached to the opposite side surface, the structure scanner 100A can be easily moved manually by pushing the handle 31. In order to reduce vibration at the time of movement as much as possible, it is preferable to use a tire having seismic isolation for the wheel 15.

The structure scanner main body 10A is arranged slightly rearward of the position corresponding to the belt-like region 40a, and illuminates the belt-like region 40a with high uniformity from obliquely above, an illumination power source 12b dedicated to the LED light 12a, and a wheel. The encoder 13 is arranged so as to be interlocked with the rotation of 15 and detects the moving distance of the structure scanner 100A on the structure 40 or the like, and the line camera 11 captures an image based on the moving distance detected by the encoder 13. And an electrical box 14A in which a synchronizing unit 14a (described later with reference to FIG. 7) is stored.

As shown in FIG. 6, a battery 18 is attached to the upper surface of the structure scanner main body 10A, and an illumination power source 12b, an encoder 13, and the like inside the structure scanner main body 10A are connected via a connector (not shown). Power is supplied to the synchronization unit 14a and the like. However, the attachment of the battery 18 is not limited to the upper surface of the structure scanner main body 10A, and may be built in the structure scanner main body 10A if possible.

As shown in FIG. 7, the notebook computer 20 functioning as an image acquisition / analysis unit controls the operation of each unit of the structure scanner 100 </ b> A on its main body, and acquires and analyzes image data captured by the line camera 11. A CPU 20a to perform, and a display 20b as a display unit for displaying image data and analysis results acquired by the CPU 20a are provided. As the image acquisition / analysis unit, a general-purpose notebook computer may be used as described above, or a dedicated information processing apparatus may be used.

The connection between the structure scanner main body 10A and the line camera 11 and the notebook computer 20 is made by the cable 22 (not shown in FIG. 6), but these connections may be wireless.

<Inspection by Structure Scanner 100A>
Next, an inspection method using the structure scanner 100A will be described.

First, the structure scanner 100A is placed on the structure 40 or the like to be inspected, and after the preparatory work before starting the movement on the notebook personal computer 20 side, the LED illumination 12a is turned on, and the handle 31 is pushed to push the structure scanner. Start moving 100A forward at as constant a speed as possible.

When the wheel 15 is rotated by the movement of the structure scanner 100A, a pulse signal is generated from the encoder 13 at every constant rotation amount (angle). The synchronization unit 14a synchronously performs imaging by the line camera 11 every time a predetermined number of pulse signals are counted. Thereby, it is possible to continuously image the band-like regions 40a at regular distance intervals on the structure 40 or the like.

If information such as a drawing or a map of the structure 40 to be inspected is input in advance, the drawing or the map is based on the movement start point information of the structure scanner 100A and the distance between the imaged band-like regions 40a. It is also possible to automatically superimpose the image data of the belt-like region 40a on the display 20b. The notebook computer 20 is supported near the handle 31, and the display on the display 20b can be checked in real time while moving the structure scanner 100A. Thereby, it is possible to perform the inspection work while easily confirming whether the band-like region 40a on the structure 40 or the like is clearly imaged without omission. Further, if each image data of the band-like region 40a superimposed on a drawing or a map is used, an inspection report or the like can be efficiently created.

<Third Embodiment>
The third embodiment will now be described as being movable by self-propelled means rather than being moved by human power as in the second embodiment. Note that the same components as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and different points will be mainly described below.

FIG. 8 is a side view showing a schematic configuration of a structure scanner 100B according to the third embodiment of the present invention.

As shown in FIG. 8, the structure scanner 100B for inspecting the structure 40 or the like is orthogonal to the moving direction on the flat box-shaped structure scanner main body 10B and the mounted structure 40 or the like. And a line camera 11 that captures an image of a strip-shaped region 40a that is a long and thin region to be imaged. The line camera 11 includes a rear frame 34 attached to the rear end portion of the structure scanner main body 10B so as to extend in the vertical direction and a front frame 33 attached to extend to the front end portion of the structure scanner main body 10B in the vertical direction. The sub-frame 32 is supported horizontally so that the imaging direction is downward.

Wheels 15 are attached to the front and rear of the side surface of the structure scanner main body 10B, respectively, and a battery 18 is attached to the upper surface of the structure scanner main body 10B.

Further, the structure scanner main body 10B is disposed slightly behind the position corresponding to the belt-like region 40a, and illuminates the belt-like region 40a with high uniformity from obliquely above, and an illumination power source 12b dedicated to the LED light 12a, The encoder 13 is arranged so as to be interlocked with the rotation of the wheel 15 and detects the moving distance of the structure scanner 100B on the structure 40 or the like, and the line camera 11 based on the moving distance detected by the encoder 13. And an electrical box 14B containing a control unit that controls each unit.

Furthermore, the structure scanner 100B incorporates a drive unit 19 (such as a motor) that drives the wheels 15 in order to allow the structure scanner main body 10B to autonomously move by self-propelling, and surrounding obstacles and the like during self-propelling Are provided at the front end of the structure scanner main body 10B and the front end of the sub-frame 32.

In addition, you may enable it to change not only the movement in the front-back direction by the drive part 19 and the wheel 15, but a movement direction. It may be a radio control type or a remote control type, and may be steerable by an operator's operation from a remote location. What is moved by self-running may be limited to the line camera 11, the LED illumination 12a, the illumination power supply 12b, the battery 18, and the like. The obstacle detection sensor 35 may be added to the rear end portion or the side surface of the structure scanner main body 10B.

Also, the connection between the structure scanner main body 10B and the notebook computer 20 is wireless, and image data and analysis results captured by the line camera 11 are displayed on the display 20b at a location away from the structure scanner main body 10B. May be.

According to such a configuration, the inspection of the structure 40 and the like can be automatically performed without human intervention, and the burden on the operator who performs management and the like can be reduced.

<Modifications of Second Embodiment and Third Embodiment>
The structure scanner 100A and the structure scanner 100B may be provided with an absolute position detector such as a normal GPS (Global Positioning System) or an indoor GPS.

In the structure scanner 100A and the structure scanner 100B described above, the encoder 13 can only know the movement distance on the straight line from the movement start point. It is also possible to inspect a region having a dimension spread.

Further, the absolute position detector may be built in the notebook computer 20 or provided near the handle 31.

<Claims corresponding to 2nd Embodiment and 3rd Embodiment>
(Claim 1)
An imaging unit for imaging an imaging area on the mounting surface;
An illumination unit that illuminates the imaged region;
A position change detection unit for detecting a position change due to movement on the placement surface, and
An imaging timing control unit that controls the timing of imaging by the imaging unit based on the position change detected by the position change detection unit;
An image acquisition and analysis unit for acquiring and analyzing image data captured by the imaging unit;
A display unit for displaying at least one of the image data acquired by the image acquisition analysis unit or the analysis result;
A storage unit for storing the image data;
A gripping part for gripping to move,
The structure inspection system, wherein the display unit is arranged so that display contents can be visually recognized in a state where the holding unit is held.
(Claim 2)
An imaging unit for imaging an imaging area on the mounting surface;
An illumination unit that illuminates the imaged region;
A position change detection unit for detecting a position change due to movement on the placement surface, and
An imaging timing control unit that controls the timing of imaging by the imaging unit based on the position change detected by the position change detection unit;
An image acquisition and analysis unit for acquiring and analyzing image data captured by the imaging unit;
A storage unit for storing the image data;
Self-propelled means for moving at least the imaging unit and the illumination unit;
A structure inspection system comprising: a display unit configured to display at least one of the image data acquired by the image acquisition analysis unit or the analysis result thereof at a location away from the imaging unit.
(Claim 3)
In the structure inspection system according to claim 1 or 2,
Further equipped with an absolute position detector for detecting absolute position information,
The structure inspection system, wherein the image acquisition / analysis unit acquires and analyzes the image data captured by the imaging unit and the absolute position information detected by the absolute position detector.

It should be noted that the present invention can be implemented in various other forms without departing from the spirit or main features thereof. Therefore, the above-mentioned embodiment is only a mere illustration in all points, and should not be interpreted limitedly. The scope of the present invention is indicated by the claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

This application claims priority based on Japanese Patent Application No. 2015-189792 and Japanese Patent Application No. 2015-189793 filed on September 28, 2015 in Japan. The contents of which are hereby incorporated by reference into this application. In addition, the documents cited in the present specification are specifically incorporated in their entirety by referring to them.

DESCRIPTION OF SYMBOLS 10 Structure imaging device 10A Structure scanner main body 10B Structure scanner main body 11 Line camera (imaging part)
11a Camera body 11b Lens 12a LED illumination (illumination part)
12b Illumination power supply 13 Encoder (travel distance detector)
14 electrical box 14A electrical box 14B electrical box 14a synchronization unit 15 wheel 16 mirror (bending optical system)
17a transparent plate material 17b transparent plate material 18 battery 19 drive unit 20 notebook computer 20a CPU (control unit)
20b Display (display section)
21 External hard disk (storage)
22 Cable 30 Frame 31 Handle (grip)
32 Sub-frame 33 Front frame 34 Rear frame 35 Obstacle detection sensor 40 Structure 40a Strip region 100 Structure inspection system 100A Structure scanner (structure inspection system)
100B Structure scanner (structure inspection system)

Claims

An imaging unit for imaging the imaging region of the structure;
A bending optical system that bends the imaging direction of the imaging unit;
An illumination unit that illuminates the imaged region;
A structure inspection apparatus, comprising: an inspection unit that inspects the structure based on image data captured by the imaging unit.
The structure inspection apparatus according to claim 1,
A position change detection unit for detecting a position change due to movement on the structure;
A structure inspection apparatus, further comprising: an imaging timing control unit that controls an imaging timing by the imaging unit based on the position change detected by the position change detection unit.
In the structure inspection apparatus according to claim 1 or 2,
A structure inspection apparatus, further comprising a main body that houses the imaging unit and the bending optical system.
In the structure inspection apparatus according to claim 3,
The main body has a flat shape,
The structure inspection apparatus characterized in that the imaging unit images the imaged region of the structure facing the bottom surface or the top surface of the main body.
The structure inspection apparatus according to any one of claims 1 to 4,
The structure inspection apparatus, wherein the bending optical system is a reflecting member.
In the structure inspection apparatus according to any one of claims 1 to 5,
A structure inspection apparatus, further comprising an absolute position detector for detecting absolute position information.
The structure inspection apparatus according to any one of claims 1 to 6,
A control unit that controls the operation of the structure inspection apparatus and that acquires and analyzes the image data captured by the imaging unit;
A display unit for displaying at least one of the image data acquired by the control unit or an analysis result by the control unit;
A structure inspection system comprising: a storage unit that stores the image data.
The structure inspection apparatus according to any one of claims 1 to 6,
A control unit that controls the operation of the structure inspection apparatus and acquires and analyzes the image data captured by the imaging unit and the absolute position information detected by the absolute position detector;
A display unit for displaying at least one of the image data acquired by the control unit or an analysis result by the control unit;
A structure inspection system comprising: a storage unit that stores the image data.
An imaging unit for imaging the imaging region of the structure;
A bending optical system that bends the imaging direction of the imaging unit;
A structure imaging apparatus comprising: an illumination unit that illuminates the imaged region.
The structure imaging apparatus according to claim 9, wherein
A position change detection unit for detecting a position change due to movement on the structure;
A structure imaging apparatus, further comprising: an imaging timing control unit that controls an imaging timing by the imaging unit based on the position change detected by the position change detection unit.
In the structure imaging device according to claim 9 or 10,
A structure imaging apparatus, further comprising a main body that houses the imaging unit and the bending optical system.
The structure imaging apparatus according to claim 11,
The main body has a flat shape,
The structure imaging apparatus, wherein the imaging unit images the imaging region of the structure facing the bottom surface or the top surface of the main body.
The structure imaging apparatus according to any one of claims 9 to 12,
The structure imaging apparatus, wherein the bending optical system is a reflecting member.
The structure imaging apparatus according to any one of claims 9 to 13,
A structure imaging apparatus, further comprising an absolute position detector for detecting absolute position information.