JP2017031740A - Method for inspecting structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for inspecting a structure which can drastically reduce time and cost for inspection.SOLUTION: In a method for inspecting a bridge 100, image-recognizable marks 101-104 are arranged on the bridge 100. The marks 101-104 include an index of a prescribed imaging region necessary for inspection. A moving body (for example, a helicopter type flying object) which has a camera and an image recognizing section for image-recognizing the identification information from the image taken by the camera carries out image-taking of the prescribed imaging region by the camera based on the marks 101-104 image-recognized by the image recognizing section.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a structure inspection method. Examples of the structure to be inspected include civil engineering structures such as bridges, tunnels, and dams, and architectural structures such as buildings.

  As for the inspection method of the structure, a hammering inspection and a visual inspection by a person are the mainstream. It can be said that the hammering inspection and the visual inspection by humans are inspection methods that can easily change the inspection contents flexibly according to the inspection result of the inspection portion while performing the inspection, and can perform the most detailed inspection. However, there are usually many inspection points for a single structure, for example, if there are inspection points in places where it is difficult for people to go, such as the back side of bridges and high places. Due to the necessity of preparing a scaffold for reaching the point, it is very time consuming and costly to inspect a structure by a hammering inspection or visual inspection by a person. This problem becomes more prominent as the structure to be inspected becomes larger.

  Therefore, in order to reduce the time and cost required for inspection, a structure inspection method using a movable arm having a structure photographing camera mounted at the tip has been proposed (for example, see Patent Document 1).

JP 2006-2417 A

  However, in the structure inspection method using the movable arm having the structure photographing camera mounted on the tip, a movable arm which is a large-scale device is prepared and a space for installing the movable arm is secured. In some cases, traffic restrictions are necessary.

  Since such preparation takes time and cost accordingly, the above-described method for inspecting a structure using a movable arm mounted with a camera for photographing a structure greatly reduces the time and cost required for the inspection. I couldn't.

  An object of this invention is to provide the inspection method of the structure which can reduce significantly the time and cost concerning inspection in view of said situation.

  In order to achieve the above object, in the structure inspection method according to the present invention, at least one image recognizable identification information is arranged in the structure, and the identification information is an index of a predetermined photographing region necessary for the inspection. And a predetermined moving image obtained by the camera based on the identification information image-recognized by the image recognition unit. It has a feature (first feature) of performing imaging of a region.

  Further, in the structure inspection method having the first feature, a plurality of the identification information is arranged in the structure, and the identification information includes information related to a photographing order of the predetermined photographing region (first 2 features).

  In the structure inspection method having the second feature, each of the identification information corresponding to the imaging order other than the last is moved to a position where the identification information corresponding to the next imaging order can be recognized. It may have a feature (third feature) that information including information is supported.

  Further, in the structure inspection method having any one of the first to third features, the identification information has a feature (fourth feature) that includes information on photographing conditions in photographing of the predetermined photographing region. Also good.

  In the method for inspecting a structure having any one of the first to fourth features, the moving body includes an acquisition unit that acquires position information of the moving body, and the moving body refers to the position information. Then, it may have a feature of moving (fifth feature).

  In the structure inspection method having the fifth feature, the location information may have a feature (sixth feature) in which the location information is acquired by GPS.

  In the method for inspecting a structure having any one of the first to sixth characteristics, the moving body includes a sensor that detects an approach to the structure, and the structure and the structure based on an output of the sensor. May have a feature (seventh feature) of avoiding a collision.

  Further, in the structure inspection method having any one of the first to seventh features, the moving body may have a feature (eighth feature) that it is a flying body.

  ADVANTAGE OF THE INVENTION According to this invention, the inspection method of the structure which can reduce significantly the time and cost concerning inspection can be provided.

The schematic perspective view of the bridge which is the inspection object of the first embodiment Schematic configuration diagram of a flying object used in the first embodiment Schematic perspective view of the bridge that is the inspection target of the second embodiment The figure which shows an example of the imaging | photography area | region for inspection The figure which shows the other example of the imaging | photography area | region for inspection Schematic configuration diagram of the flying object used in the fifth embodiment Schematic configuration diagram of the flying object used in the sixth embodiment

<First Embodiment>
FIG. 1 is a schematic perspective view of a bridge to be inspected in the first embodiment. On the bridge 100 shown in FIG. 1, four images 101-104 that can recognize an image are arranged. The double round mark 101 is arranged at the lower part of the first pier, the single round mark 102 is arranged at the upper part of the first pier, and the triangular mark 103 is arranged at the lower part of the second pier. The mark 104 is arranged at the upper part of the second pier. In the present embodiment, the number of marks is four, but the present invention is not limited to this. The number of marks may be one, two, three, five or more other than four.

  The marks 101 to 104 may be arranged in any manner. For example, a mode in which the marks 101 to 104 are drawn with paint, a mode in which the marks 101 to 104 are carved, a mode in which the marks 101 to 104 are arranged on the plates, and each plate is attached to the bridge 100, etc. be able to.

  The size of the marks 101 to 104 is not particularly limited. The size of the marks 101 to 104 may be set appropriately in accordance with the size of the bridge 100, the size of the inspection imaging region described later, the performance of the camera described later, and the like.

  FIG. 2 is a schematic configuration diagram of the flying object used in the first embodiment. The flying object 201 shown in FIG. 2 is a helicopter type flying object. The flying object 201 includes a camera 1, an image processing unit 2, a GPS (Global Positioning System) signal receiving unit 3, a bus 4 for exchanging signals between a main control unit 6 and each unit described later, A memory card interface 5, a main control unit 6 that controls the overall operation of the flying object 201, a drive control unit 7, first to fourth motors 8 to 11, and first to fourth propellers 12 to 15. Have In addition, the flying object 201 includes a direction detection unit (not shown) that detects the direction in which it is facing, and sensors (not shown) such as a gyroscope and an acceleration sensor necessary for controlling its own attitude. In addition. For example, a geomagnetic sensor can be used as the direction detection unit. However, if the flying object 201 is located near the time when a strong magnetic field is generated (for example, around a high voltage line), the geomagnetic sensor may not be able to correctly detect magnetic north due to the influence of the strong magnetic field. is there. For this reason, it is desirable that the direction detection unit has a function of estimating the direction in which the flying object 201 is directed using the locus of the position coordinates of the moving object 201 obtained from the GPS signal.

  The camera 1 includes, for example, a CCD (Charge Coupled Device) camera, a CMOS (Complementary Metal Oxide Semiconductor) camera, and the like, and outputs captured image data generated by shooting to the image processing unit 2. Further, the camera 1 performs switching between moving image shooting and still image shooting, shooting timing of still image shooting, setting of zoom magnification of zoom shooting, setting of shooting sensitivity, and the like according to control of the main control unit 6.

  The image processing unit 2 performs correction processing, compression processing, and the like on the captured image data received from the camera 1. The image processing unit 2 also executes image recognition for confirming whether or not the captured images include the marks 101 to 104.

  The GPS signal receiving unit 3 receives a GPS signal transmitted from a GPS satellite. The main control unit 6 acquires the position information of the flying object 201 from the GPS signal received by the GPS signal receiving unit 3. Instead of the GPS signal, for example, the movement may be started from the reference position, and the main control unit 6 may acquire the position information of the flying object 201 based on the reference position, the movement direction, and the movement distance. In addition, since the said moving direction and moving distance are decided by the content of control with respect to the drive control part 7 of the main control part 6, the main control part 6 can grasp | ascertain said moving direction and moving distance.

  The memory card interface 5 is a card slot into which an external memory card such as an SD (Secure Digital) card can be mounted, and reads / writes data from / to the external memory card. In the present embodiment, “information regarding the work content of the flying object 201 when the bridge 100 is inspected” is recorded in the external memory card. In addition, the following information (i) to (v) is included in the “information regarding the work content of the flying object 201 when the bridge 100 is inspected”. By replacing the external memory card, the inspection of structures other than the bridge 100 can be easily performed.

(I) Position information near the lower part of the first pier, position information near the upper part of the first pier, position information near the lower part of the second pier, position information near the upper part of the second pier, and movement path during inspection Is in the order of the position near the lower part of the first pier → the position near the upper part of the first pier → the position near the lower part of the second pier → the position near the upper part of the second pier (ii) For shooting, the inspection shooting area should be determined based on the double round mark (iii) For the second shooting, the inspection shooting area should be determined based on the single round mark ( iv) Determine the inspection shooting area based on the triangular mark for the third inspection shooting, and (v) the inspection shooting area based on the cross-shaped mark for the last shooting. To decide

  Therefore, the marks 101 to 104 arranged on the bridge 100 serve as indices of inspection imaging areas necessary for inspection.

  The main control unit 6 controls the camera 1 and the drive control unit 7 based on “information regarding the work content of the flying object 201 when the bridge 100 is inspected” recorded in the external memory card. After the flying object 201 arrives at a position near the lower part of the first pier specified by the information (i) above, the orientation of the flying object 201 is adjusted so that the mark 101 is within the angle of view of the camera 1. After the mark 101 is recognized by the image processing unit 2, the first inspection photographing is performed. Similarly, after the flying object 201 arrives at a position near the upper part of the first pier specified by the information of (i) above, the orientation of the flying object 201 is adjusted so that the mark 102 falls within the angle of view of the camera 1, After the mark 102 is recognized by the image processing unit 2, the second inspection photographing is performed. Similarly, after the flying object 201 arrives at a position near the lower part of the second pier specified by the information of (i) above, the orientation of the flying object 201 is adjusted so that the mark 103 falls within the angle of view of the camera 1, After the mark 103 is recognized by the image processing unit 2, the third inspection photographing is performed. Similarly, after the flying object 201 arrives at a position near the upper part of the second pier specified by the information of (i) above, the orientation of the flying object 201 is adjusted so that the mark 104 falls within the angle of view of the camera 1, After the mark 104 is recognized by the image processing unit 2, the final inspection photographing is performed.

  The drive control unit 7 controls the driving of the first to fourth motors 8 to 11 for rotating the first to fourth propellers 12 to 15 according to the control from the main control unit 6. The moving direction of 201, the moving speed of the flying object 201, and the like are controlled.

  The captured image data generated by inspection imaging and subjected to image processing may be stored in a memory (not shown) inside the main control unit 6, but image data analysis or the like is performed using a personal computer or the like. Therefore, it is preferable to store the data in an external memory card. Captured image data that has been generated by inspection imaging and subjected to image processing is saved, so there is no need for an inspector with specialized knowledge or qualification to go to the structure to be inspected. It is possible to contribute to solving the shortage of human resources of inspectors with Unlike the present embodiment, the captured image data generated by inspection imaging and subjected to image processing may be transmitted to a remote location by wireless communication. This configuration also eliminates the need for an inspector having specialized knowledge or qualification to go to the structure to be inspected, and contributes to the shortage of personnel of the inspector having specialized knowledge or qualification.

  According to the inspection method of the bridge 100 described above, the bridge 100 can be inspected by photographing with the flying object 201 instead of a hitting sound inspection and a visual inspection by a person, so that the time and cost for the inspection can be reduced. . Further, the inspection method of the bridge 100 described above does not need to prepare a movable arm that is a large-scale device, unlike the inspection method of a structure that uses a movable arm having a camera for photographing a structure mounted on the tip. Since it is not necessary to secure a space for installing the movable arm, the time and cost required for inspection can be greatly reduced. In addition, when the inspection location where abnormality may be found by imaging | photography with the flying body 201, a hammering inspection and visual inspection by a person may be implemented with respect to the inspection location.

  Moreover, according to the inspection method of the bridge 100 described above, since the marks 101 to 104 arranged on the bridge 100 serve as an index of the inspection imaging area necessary for the inspection, an appropriate inspection point is grasped at the inspection site. Is easy.

  Further, according to the inspection method for the bridge 100 described above, since the inspection imaging region is determined by the marks 101 to 104 arranged on the bridge 100 to be inspected, the inspection imaging region is higher than that determined from the position information by GPS. The inspection imaging area can be set with high accuracy.

Second Embodiment
Since this embodiment is mostly in common with the first embodiment, differences from the first embodiment will be mainly described. Portions that are not specifically described have the same or similar configuration or operation as the first embodiment.

  FIG. 3 is a schematic perspective view of a bridge to be inspected in the second embodiment. In the bridge 100 shown in FIG. 3, four image recognizable two-dimensional barcodes 105 to 108 are arranged instead of the four image recognizable marks 101 to 104. In the present embodiment, the number of two-dimensional barcodes is four, but the present invention is not limited to this. The number of two-dimensional barcodes may be one, two, three, five or more other than four. Further, as long as information of a desired data size can be stored in the same manner as the two-dimensional barcode, other identification information capable of image recognition may be used instead of the two-dimensional barcode.

  The schematic configuration of the flying object used in the present embodiment is the same as the schematic configuration of the flying object used in the first embodiment. In the present embodiment, the image processing unit 2 performs image recognition for confirming whether or not the captured image includes a two-dimensional barcode, and the main control unit 6 has a function of analyzing the two-dimensional barcode. doing.

  The two-dimensional barcode 105 includes information indicating that it corresponds to the first inspection photographing. Further, the two-dimensional barcode 106 includes information indicating that it corresponds to the second inspection photographing. Further, the two-dimensional barcode 107 includes information indicating that it corresponds to the third inspection photographing. The two-dimensional barcode 108 includes information indicating that it corresponds to the last inspection photographing.

  Also in the present embodiment, as in the first embodiment, “information regarding the work content of the flying object 201 when the bridge 100 is inspected” is recorded in the external memory card. In the present embodiment, the following information (vi) to (vii) is included in the “information regarding the work content of the flying object 201 when the bridge 100 is inspected”.

(Vi) Position information near the lower part of the first pier, position information near the upper part of the first pier, position information near the lower part of the second pier, position information near the upper part of the second pier, and movement path during inspection Is in the order of the position near the lower part of the first pier → the position near the upper part of the second pier → the position near the lower part of the second pier → the position near the upper part of the second pier (vii) To do

  The flying object 201 moves according to the information (vi) in the inspection work of the bridge 100. When the image of the two-dimensional barcode 105 is recognized during the movement, the first inspection photographing is performed based on the two-dimensional barcode 105. Further, when the image of the two-dimensional barcode 106 is recognized during the movement, the second inspection photographing is performed based on the two-dimensional barcode 106. When the two-dimensional barcode 107 is recognized while moving, a third inspection image is taken with the two-dimensional barcode 107 as a reference. When the two-dimensional barcode 108 is recognized as an image during movement, the final inspection photographing is performed with the two-dimensional barcode 108 as a reference.

  Therefore, the two-dimensional barcodes 105 to 108 arranged on the bridge 100 serve as an index of the inspection imaging area necessary for inspection.

  The inspection method of the bridge 100 in this embodiment also has the same effect as in the first embodiment. Furthermore, it is possible to reduce the data amount of “information relating to the work content of the flying object 201 when the bridge 100 is inspected” recorded in the external memory card as compared with the first embodiment.

<Third Embodiment>
Since this embodiment is mostly in common with the second embodiment, differences from the second embodiment will be mainly described. Portions that are not specifically described have the same or similar configuration or operation as the second embodiment.

  The two-dimensional barcode 105 includes information for supporting movement of the two-dimensional barcode 106 to the standard imaging position in addition to information indicating that the first inspection imaging is supported. As information for supporting movement of the two-dimensional barcode 106 to a position where image recognition is possible, for example, the moving direction and moving distance from the standard photographing position of the two-dimensional barcode 105 to the standard photographing position of the two-dimensional barcode 106 The coordinate information of the standard photographing position of the two-dimensional barcode 106 can be given.

  The two-dimensional barcode 106 includes information for supporting movement of the two-dimensional barcode 107 to the standard photographing position in addition to information indicating that the second inspection photographing is supported. Examples of information for supporting the movement of the two-dimensional barcode 107 to a position where image recognition is possible include, for example, the moving direction and moving distance from the standard photographing position of the two-dimensional barcode 106 to the standard photographing position of the two-dimensional barcode 107. The coordinate information of the standard photographing position of the two-dimensional barcode 107 can be mentioned.

  The two-dimensional barcode 107 includes information for supporting the movement of the two-dimensional barcode 108 to the standard photographing position in addition to the information indicating that the third inspection photographing is supported. Examples of information for supporting the movement of the two-dimensional barcode 108 to a position where image recognition is possible include, for example, the moving direction and moving distance from the standard photographing position of the two-dimensional barcode 107 to the standard photographing position of the two-dimensional barcode 108. The coordinate information of the standard photographing position of the two-dimensional barcode 108 can be mentioned.

  The two-dimensional barcode 108 includes information indicating that it corresponds to the last inspection photographing.

  Also in the present embodiment, as in the second embodiment, “information regarding the work content of the flying object 201 when the bridge 100 is inspected” is recorded in the external memory card. In the present embodiment, the following information (viii) to (ix) is included in the “information regarding the work content of the flying object 201 when the bridge 100 is inspected”.

(Viii) Position information in the vicinity of the lower part of the first pier and a two-dimensional bar code corresponding to the first inspection shoot being arranged at the lower part of the first pier (ix) Performing four inspection photographs about

  The flying object 201 moves according to the information (viii) in the inspection work of the bridge 100. When the image of the two-dimensional barcode 105 is recognized during the movement, the first inspection photographing is performed based on the two-dimensional barcode 105. After that, the movement and inspection imaging are continued based on the information contained in the two-dimensional barcode.

  Therefore, the two-dimensional barcodes 105 to 108 arranged on the bridge 100 serve as an index of the inspection imaging area necessary for inspection.

  The inspection method of the bridge 100 in this embodiment also has the same effect as that of the second embodiment. Furthermore, it is possible to reduce the data amount of “information relating to the work content of the flying object 201 when the bridge 100 is inspected” recorded in the external memory card, as compared with the second embodiment.

<Fourth embodiment>
Since this embodiment is mostly in common with the third embodiment, differences from the third embodiment will be mainly described. Portions that are not specifically described have the same or similar configuration or operation as the third embodiment.

  In addition to the information indicating that the two-dimensional barcode 105 corresponds to the first inspection photographing and the information supporting the movement of the two-dimensional barcode 106 to the standard photographing position, the information regarding the photographing conditions of the first inspection photographing. Also included. Examples of shooting conditions for the first inspection shooting include shooting sensitivity in the first inspection shooting, zoom magnification for zoom shooting, and the number of shots.

  In addition to the information indicating that the two-dimensional barcode 106 corresponds to the second inspection photographing and the information for supporting the movement of the two-dimensional barcode 107 to the standard photographing position, the second inspection photographing is performed. It also includes information on shooting conditions. Examples of shooting conditions for the second inspection shooting include shooting sensitivity in the second inspection shooting, zoom magnification of the zoom shooting, and the number of shots.

  In addition to the information indicating that the two-dimensional barcode 107 corresponds to the third inspection photographing and the information for supporting the movement of the two-dimensional barcode 107 to the standard photographing position, the third inspection photographing is performed. It also includes information on shooting conditions. Examples of imaging conditions for the third inspection imaging include imaging sensitivity in the third inspection imaging, zoom magnification for zoom imaging, and the number of images.

  Further, the two-dimensional barcode 108 includes information regarding the imaging conditions of the last inspection imaging in addition to the information indicating that the last inspection imaging is supported. Examples of shooting conditions for the last inspection shooting include shooting sensitivity in the last inspection shooting, zoom magnification for zoom shooting, and the number of shots.

  As a modification of the information regarding the imaging conditions for inspection imaging included in the two-dimensional barcode, a line area connecting the two-dimensional barcode reading information and the next two-dimensional barcode is defined as an inspection imaging area. Shooting conditions to be performed (see FIG. 4). In this case, if the two two-dimensional barcodes are so far apart that they do not fit in the still image shooting area, it is preferable to include the shooting of the inspection shooting area in the shooting conditions.

  Further, as another modification example of the information regarding the photographing conditions for inspection photographing included in the two-dimensional barcode, the two-dimensional barcode reading information and the next two-dimensional barcode are rectangular in the photographing region for inspection. Imaging conditions that are located at both ends of the diagonal line (see FIG. 5).

<Fifth Embodiment>
Since this embodiment is mostly in common with the first embodiment, differences from the first embodiment will be mainly described. Portions that are not specifically described have the same or similar configuration or operation as the first embodiment.

  In this embodiment, a flying object 202 shown in FIG. 6 is used instead of the flying object 201. The flying object 202 has a configuration in which the proximity sensor 16 is added to the flying object 201. The proximity sensor 16 is a sensor that detects an approach to a structure such as the bridge 100. For example, a distance measuring sensor using ultrasonic waves can be used.

  When the main control unit 6 determines that the flying object 201 is only a structure based on the output of the proximity sensor 16, the main control unit 6 controls the drive control unit 7 so as to avoid a collision with the structure. The main control unit 6 can also determine whether or not the moving direction for avoiding the collision with the structure is appropriate based on the output of the proximity sensor 16.

<Sixth Embodiment>
Since this embodiment is mostly in common with the first embodiment, differences from the first embodiment will be mainly described. Portions that are not specifically described have the same or similar configuration or operation as the first embodiment.

  In this embodiment, a flying object 203 shown in FIG. 7 is used instead of the flying object 201. The flying body 203 has a configuration in which a wireless communication unit 17 is provided in the flying body 201 instead of the GPS signal receiving unit 3.

  The wireless communication unit 17 wirelessly transmits a captured image signal of the camera 1 to a remote controller (not shown). The remote controller includes a display unit, and displays a captured image of the camera 1 on the display unit. The operator of the remote controller remotely operates the flying object 203 while watching the display on the display unit. The remote controller transmits a remote control signal based on the content of the operation by the operator to the wireless communication unit 17 of the flying object 203. The main control unit 6 controls the drive control unit 7 in accordance with the remote control signal received by the wireless communication unit 17.

  The operator steers the flying object 203 to the vicinity of each of the marks 101 to 104 by the above-described remote operation. The flying object 203 that has moved to the vicinity of the mark once captures the mark with the camera 1, automatically determines an inspection imaging area based on the mark and performs inspection imaging. As a result, even if the operator does not have a particularly advanced photographing technique, it is possible to acquire an image having a quality according to the purpose. As described above, in the present embodiment, the manual operation in which the operator moves the flying object 203 to the vicinity of the mark by remote control and the automatic photographing after the mark is captured by the camera 1 are the positions at which the first embodiment is implemented. Instead of automated driving using information.

<Other variations>
The configuration of the present invention can be variously modified in addition to the above-described embodiment without departing from the gist of the invention.

  For example, in the above embodiment, the structure is inspected using the flying object, but the structure may be inspected using a moving object other than the flying object.

  As described above, the above embodiments are examples in all respects and should not be considered to be restrictive, and the technical scope of the present invention is not the description of the above embodiments, but the claims. It is to be understood that all changes that come within the scope of the claims, are equivalent in meaning to the claims, and fall within the scope of the claims.

  The present invention can be used for inspection of civil engineering structures such as bridges, tunnels, and dams, for example, building structures such as buildings.

DESCRIPTION OF SYMBOLS 1 Camera 2 Image processing part 3 GPS signal receiving part 4 Bus 5 Memory card interface 6 Main control part 7 Drive control part 8-11 1st-4th motor 12-15 1st-4th propeller 16 Proximity sensor 17 Wireless communication part 100 Bridge 101-104 Mark 105-108 Two-dimensional Barcode 201-203 Aircraft

Claims (8)

At least one image recognizable identification information is arranged in the structure,
The identification information includes an index of a predetermined shooting area necessary for inspection,
A moving body having a camera and an image recognition unit that recognizes the identification information from a photographed image of the camera captures the predetermined photographing region by the camera based on the identification information recognized by the image recognition unit. A method for inspecting a structure, characterized in that A plurality of the identification information is arranged in the structure,
The method for inspecting a structure according to claim 1, wherein the identification information includes information related to an imaging order of the predetermined imaging area.   The inspection of the structure according to claim 2, wherein each of the identification information corresponding to the imaging order other than the final includes information for supporting movement of the identification information corresponding to the next imaging order to a position where image recognition is possible. Method.   The method for inspecting a structure according to any one of claims 1 to 3, wherein the identification information includes information related to imaging conditions in imaging of the predetermined imaging area. The mobile body has an acquisition unit that acquires positional information of the mobile body itself,
The structure inspection method according to claim 1, wherein the moving body moves with reference to the position information.   6. The structure inspection method according to claim 5, wherein the position information is acquired by GPS.   The said moving body has a sensor which detects the approach to the said structure, and avoids the collision with the said structure based on the output of the said sensor of the structure as described in any one of Claims 1-6. Inspection method.   The method for inspecting a structure according to claim 1, wherein the moving body is a flying body.

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