JP2019200198A - Checker - Google Patents

Abstract

To provide a checker capable of easily controlling movement of an unmanned flight body and reducing a burden applied to an operator, even when an unmanned flight body comprising thereon a camera for imaging an inspection object is separated by a certain distance from an operator and there is disturbance such as wind.SOLUTION: A checker 10 comprises: an unmanned flight body 1 comprising thereon a first camera 11 for imaging an inspection object KT; and a control gear 2 for remote controlling the unmanned flight body. The checker comprises a craft 3 on which the unmanned flight body can land and from which the unmanned flight body can take off, and which moves on a sea route KS. The control gear comprises: a second camera 21 for imaging the craft; an image display part 22 for displaying the image of the craft imaged by the second camera; and a control part 23 for controlling the unmanned flight body and the craft. The control part controls movement of the craft so that an image 3G of the craft at a prescribed movement position PP imaged by the second camera is overlapped on an instruction line SS designated on a screen 22G of the image display part, or falls within an instruction frame SW whose region is designated on the screen of the image display part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an inspection apparatus, for example, an inspection apparatus used for appearance inspection of piping attached to a bridge.

  In general, pipes (for example, gas pipes) attached to a bridge may be rusted or scratched by wind and rain, or dents due to heat shrinkage, and therefore, periodic appearance inspections are performed. Conventional inspection methods include a method of visual inspection using binoculars, etc. from Kawahara, a method of shooting with a camera with a stick from the top of a bridge, a method of shooting with a camera with a stick of a person from the ship, etc. It has been known.

  However, in the method of visual inspection using binoculars or the like from Kawahara, it is difficult to find distant rust or scratches when the river width is wide, and there is a risk of oversight. In addition, in the method in which a person photographs from above the bridge using a camera with a stick, a work space is required on the bridge, and the work may be dangerous or difficult due to the positional relationship between the work space and the piping. In addition, in order to provide a work space on the bridge, it may be inconvenient because it may be necessary to regulate traffic. In addition, in the method in which a person takes a picture using a camera with a stick from the ship, the work is unstable and unfamiliar on the ship, and there is a risk of falling due to shaking. In addition, the camera has to be waterproof, and there is a problem that it is expensive.

  On the other hand, in recent years, the performance of an unmanned aerial vehicle (UAV) has been improved, and an inspection method in which a camera is mounted on the unmanned aerial vehicle and aerial photography is drawing attention. For example, Patent Document 1 discloses a control system for an unmanned air vehicle that can be remotely controlled. As shown in FIG. 21, the unmanned air vehicle control system 100 includes a camera (video camera) 101 placed on the ground and three reference points or 2 fixed to the lower part of the unmanned air vehicle 102. Aircraft attitude detection that identifies the position and attitude of the unmanned air vehicle 102 in the air based on the image of the reference beam 103 and the three reference points or the two reference rods 103 taken by the video camera 101 Part 104.

  According to the control system 100 of the unmanned air vehicle, the image of the reference point 103 taken by the video camera 101 is image-processed, so that the three-dimensional position of the unmanned air vehicle 102 relative to the position of the video camera 101 is obtained. Coordinates can be detected. In addition, when the reference point 103 of the unmanned air vehicle 102 is captured by the video camera 101, the image processing mode is started and the position of the unmanned air vehicle 102 can be specified. As a result, the unmanned air vehicle 102 can freely move back and forth and right and left as long as it is within the viewing angle of the video camera 101. For example, it can be moved back and forth and left and right with the cursor keys on the keyboard of the input device 105, lowered with the Z key, and raised with the X key.

International Publication No. 2014/203593

  However, in the control system 100 for the unmanned air vehicle, since the video camera 101 is placed on the ground, the unmanned air vehicle 102 is placed below the unmanned air vehicle 102 when the unmanned air vehicle 102 moves away from the video camera 101 to some extent. There is a problem that the video camera 101 cannot capture the image of the reference point 103 and the like, and it becomes difficult to control the position of the unmanned air vehicle 102. In the unmanned aerial vehicle control system 100, the operator needs to move the unmanned aerial vehicle 102 within the viewing angle of the video camera 101 by maneuvering using the input device 105 or the like. There was a problem that the operator had to steer while viewing the image 101, and the work burden on the operator was heavy. In particular, when there is a disturbance such as wind, there is a problem that the position, posture, orientation, and the like of the unmanned air vehicle 102 become unstable, and it is easy to cause an operation error.

  The present invention has been made to solve the above problems, and even when an unmanned air vehicle equipped with a camera for photographing an object to be inspected is somewhat distant from the operator, there is also a disturbance such as wind. It is an object of the present invention to provide an inspection device that can easily control the movement of an unmanned air vehicle and reduce the operator's workload.

In order to solve the above problems, an inspection apparatus according to the present invention has the following configuration.
(1) An inspection device comprising an unmanned air vehicle equipped with a first camera for photographing an inspection object and a control device for remotely maneuvering the unmanned air vehicle,
The unmanned air vehicle is mounted so as to be able to take off and dock, and includes a ship that moves on the route,
The control device includes a second camera for photographing the ship, an image display unit for displaying an image of the ship photographed by the second camera, a control unit for controlling the unmanned air vehicle and the ship,
The control unit is configured such that an image at a predetermined movement position of the ship captured by the second camera overlaps an instruction line whose position is specified on the screen of the image display unit or within an instruction frame whose region is specified on the screen of the image display unit The movement of the ship is controlled so as to enter.

  In the present invention, an unmanned aerial vehicle is mounted so as to be capable of taking off and landing, and is provided with a ship that moves on the route, and the control device displays a second camera for photographing the ship and an image of the ship photographed by the second camera. An image display unit for controlling the unmanned air vehicle and the ship, and the control unit is positioned on an instruction line where an image at a predetermined movement position of the ship imaged by the second camera is designated on the screen of the image display unit. The movement of the vessel is controlled so that it overlaps or falls within the instruction frame designated by the area on the screen of the image display unit. By specifying in advance an instruction frame in which an image of the ship enters, the relative positional relationship between the second camera that captures the ship and the ship at a predetermined movement position is specified, and the ship moves to the predetermined movement position on the route Move the finger It can be automatically controlled based on the line or instruction frame. For example, even if the position of the ship is shifted to the downstream side of the normal route due to the influence of the flow of the river, the ship is moved so that the image of the ship overlaps the instruction line or enters the instruction frame. It can be corrected automatically. In this case, the unmanned air vehicle can move in a state where the first camera is mounted on the ship up to a predetermined moving position corresponding to a position below the imaging position where the inspection object is imaged. The flight distance and flight time of the flying object can be greatly shortened, and it is less susceptible to disturbances such as wind. In addition, the pilot only has to operate upward movement of the unmanned air vehicle mounted on the ship that has been automatically controlled and moved to the predetermined moving position with respect to the imaging position. Compared with the case where the movement is operated, the operation can be easily performed.

  Therefore, according to the present invention, the unmanned aerial vehicle can be moved even when the unmanned aerial vehicle equipped with a camera for photographing the inspection object is far away from the operator or when there is a disturbance such as wind. It is possible to provide an inspection apparatus that can be easily controlled and can reduce the operator's workload.

(2) In the inspection apparatus described in (1),
The unmanned air vehicle and the ship are connected by a string, and the ship includes a winding device that winds the string.

  In the present invention, the unmanned aerial vehicle and the ship are connected by a string, and the ship is provided with a winding device for winding the string, so even if the unmanned aerial vehicle is some distance away from the pilot, The movement amount of the unmanned air vehicle to the shooting position can be adjusted by the length of the string, and the movement of the unmanned air vehicle can be controlled more easily. In addition, the accuracy of the separation distance between the first camera and the inspection object can be improved, and a clearer image can be taken. Further, when the winding device winds the string, the unmanned aerial vehicle can be easily recovered, and it is possible to avoid the unmanned aerial vehicle from being lost and becoming unrecoverable.

(3) In the inspection apparatus described in (2),
The winding device has a structure in which a plurality of auxiliary cords connected to the outer peripheral side of the unmanned air vehicle are gathered together into one cord by a stop member, and the gathered one cord is wound.

  In the present invention, the winding device has a structure in which a plurality of auxiliary cords connected to the outer peripheral side of the unmanned air vehicle are gathered into one cord by a stop member, and the gathered one cord is wound. The stability of the attitude of the unmanned aerial vehicle with respect to disturbance is improved, and the winding device can wind up one string so that the attitude of the unmanned aerial vehicle can be recovered while being stabilized. Further, the stop member has a certain weight, and the auxiliary cords can be prevented from being entangled with each other, or the auxiliary strings can be prevented from being lifted and entangled with the unmanned flying object.

(4) In the inspection apparatus described in (3),
In the ship, the outer hole part through which the string is inserted and the inner hole part are provided at positions separated in the inner and outer directions,
The outer hole portion is formed so that the stopper member can pass therethrough, and the inner hole portion is formed so that the stopper member cannot pass therethrough,
When the string is wound up to a position where the unmanned air vehicle lands on the ship or just before it, the auxiliary string comes into contact with the outer hole portion in a tensioned state, and the inner hole portion The stop member is in contact with or close to the stop member.

  In the present invention, the ship is provided with an outer hole portion through which the string is inserted and an inner hole portion at positions separated in the inner and outer directions, and the outer hole portion is formed so that a stop member can pass therethrough, The stop member is formed so that it cannot pass through, and when the string is wound up to the position where the unmanned air vehicle lands on the ship or just before it, the auxiliary string comes into contact with the outer hole portion in a tensioned state. Since the stop member is in contact with or close to the inner hole portion, each auxiliary cord is guided and supported by the outer hole portion even when the unmanned flying object floats obliquely above the ship, thereby stabilizing the unmanned flying object. The ship can be laid in a posture. In addition, even if the winding device vigorously winds the string, when the string is wound up to the position where the unmanned air vehicle arrives on the ship or just before it, the stop member comes into contact with or close to the inner hole. Thus, the collision force between the unmanned air vehicle and the ship can be reduced. Note that when the string is wound up to the position where the unmanned air vehicle lands on the ship, the stop member does not come into contact with the inner hole portion as long as it floats in close proximity. It is not necessary to make fine adjustments, making it easier to manufacture.

(5) In the inspection apparatus described in any one of (2) to (4),
The unmanned air vehicle is a balloon that can fly by itself.

  In the present invention, since the unmanned aerial vehicle is a balloon that can levitate by itself, the configuration of the unmanned aerial vehicle can be simplified, and the unmanned aerial vehicle can be adjusted by adjusting the length of the string in the winding device. It is possible to easily operate the takeoff ship. In addition, since the unmanned air vehicle is a balloon that can fly by itself, it is possible to avoid unintended crash of the unmanned air vehicle.

(6) In the inspection apparatus described in any one of (1) to (4),
The ship is equipped with a third camera for photographing the unmanned air vehicle,
The control unit is configured so that the image at the shooting position of the unmanned air vehicle photographed by the third camera is in contact with or within a predetermined size within an instruction frame designated on the screen of the image display unit. It is characterized by controlling the movement of the unmanned air vehicle.

  In the present invention, the ship is equipped with a third camera for photographing the unmanned aerial vehicle, and the control unit designates an image at the photographing position of the unmanned aerial vehicle photographed by the third camera on the screen of the image display unit. Since the movement of the unmanned aerial vehicle is controlled so as to be in contact with the instruction frame or to be entered at a predetermined size, the pilot at the shooting position of the unmanned aerial vehicle corresponding to the moving position of the ship on the screen of the image display unit By specifying in advance an instruction frame in which an image enters, the relative positional relationship between the ship at a predetermined moving position and the unmanned air vehicle at the shooting position is specified, and the unmanned flying object from the ship at the predetermined moving position to the shooting position The movement of can be automatically controlled based on the instruction frame. For example, even if the position of the unmanned air vehicle is shifted to the leeward side with respect to the normal shooting position due to the influence of the wind flow, the image of the unmanned air vehicle is in contact with the instruction frame or has a predetermined size. The movement of the unmanned air vehicle can be automatically corrected to enter at Therefore, even if there is a disturbance such as wind, the pilot does not need to perform a special piloting action while looking at the unmanned flying object, and the work burden on the pilot can be further reduced.

(7) In the inspection apparatus described in (6),
The control unit is configured to instruct the unmanned air vehicle to move the unmanned air vehicle following the change in the angle of view of the third camera.

  In the present invention, since the control unit instructs the unmanned air vehicle to move the unmanned air vehicle following the change in the angle of view of the third camera, the control unit moves the instruction frame displayed on the image display unit. Even if it is not, by changing the angle of view of the third camera mounted on the ship, the flight position of the unmanned air vehicle can be quickly moved to the next scheduled shooting position. Therefore, the pilot can quickly check the next shooting location of the inspection object and appropriately capture the required location while changing the angle of view of the third camera without waiting for the movement of the ship. it can.

(8) An inspection device comprising an unmanned air vehicle equipped with a first camera for photographing an inspection object and a control device for remotely maneuvering the unmanned air vehicle,
The control device includes a fourth camera that captures the unmanned air vehicle, an image display unit that displays an image of the unmanned air vehicle captured by the fourth camera, and a control unit that controls the unmanned air vehicle.
The control unit is configured so that an image at the shooting position of the unmanned air vehicle photographed by the fourth camera is in contact with or within a predetermined size within an instruction frame designated on the screen of the image display unit. It is characterized by controlling the movement of the unmanned air vehicle.

  In the present invention, the control device includes a fourth camera for photographing the unmanned flying object, an image display unit for displaying an image of the unmanned flying object photographed by the fourth camera, and a control unit for controlling the unmanned flying object, The control unit moves the unmanned aerial vehicle so that the image at the shooting position of the unmanned aerial vehicle captured by the fourth camera comes into contact with or enters a designated frame in the area designated on the screen of the image display unit. Therefore, the movement of the unmanned air vehicle is automatically controlled based on the instruction frame by preliminarily designating the instruction frame in which the image at the photographing position of the unmanned air vehicle enters on the screen of the image display unit. That is, the pilot specifies the relative positional relationship between the control device and the unmanned aerial vehicle at the shooting position in advance by designating an instruction frame in which the image of the unmanned aerial vehicle at the shooting position enters on the screen of the image display unit. be able to. Therefore, even if there is a disturbance such as wind, the pilot can simply move the control device to the required position while photographing the unmanned flying object with the fourth camera, and change the shooting position for photographing the inspection object. An unmanned air vehicle flying at a height can be moved following the pilot. As a result, even when the unmanned aerial vehicle is far away from the operator to some extent or when there is a disturbance such as wind, the movement of the unmanned aerial vehicle can be easily controlled, and the operator's work load can be reduced.

  Therefore, according to the present invention, the unmanned aerial vehicle can be moved even when the unmanned aerial vehicle equipped with a camera for photographing the inspection object is far away from the operator or when there is a disturbance such as wind. It is possible to provide an inspection apparatus that can be easily controlled and can reduce the operator's workload.

(9) In the inspection apparatus described in (8),
The control unit is configured to instruct the unmanned air vehicle to move the unmanned air vehicle following a change in an angle of view of the fourth camera.

  In the present invention, since the control unit instructs the unmanned air vehicle to move the unmanned air vehicle following the change in the angle of view of the fourth camera, the operator changes the angle of view of the fourth camera. By simply doing this, the unmanned air vehicle can be quickly moved to the next planned shooting position. Therefore, even if it is a place where it is difficult for the operator to approach, it is possible to check the next shooting location of the inspection object and appropriately capture the necessary location while changing the angle of view of the fourth camera.

(10) In the inspection apparatus described in (8) or (9),
The unmanned air vehicle and the control device are connected by a string, and the control device includes a winding device for winding the string.

  In the present invention, the unmanned aerial vehicle and the control device are connected by a string, and the control device is provided with a winding device for winding the string. Therefore, the distance between the unmanned air vehicle and the control device is determined by the length of the string. Thus, the movement of the unmanned air vehicle relative to the control device can be controlled more easily. In addition, the accuracy of the separation distance between the first camera and the inspection object can be improved, and a clearer image can be taken. Moreover, it can avoid that an unmanned air vehicle becomes missing and becomes uncollectible because a winding device winds up a string.

(11) In the inspection apparatus described in (10),
The winding device has a structure in which a plurality of auxiliary cords connected to the outer peripheral side of the unmanned air vehicle are gathered together into one cord by a stop member, and the gathered one cord is wound.

  In the present invention, the winding device has a structure in which a plurality of auxiliary cords connected to the outer peripheral side of the unmanned air vehicle are gathered into one cord by a stop member, and the gathered one cord is wound. The stability of the attitude of the unmanned aerial vehicle with respect to disturbance is improved, and the winding device can wind up one string so that the attitude of the unmanned aerial vehicle can be recovered while being stabilized. Further, the stop member has a certain weight, and the auxiliary cords can be prevented from being entangled with each other, or the auxiliary strings can be prevented from being lifted and entangled with the unmanned flying object.

(12) In the inspection apparatus described in (11),
The steering device includes an outer hole part through which the string is inserted and an inner hole part at positions separated in the inner and outer directions,
The outer hole portion is formed so that the stopper member can pass therethrough, and the inner hole portion is formed so that the stopper member cannot pass therethrough,
When the string is wound up to a position where the unmanned air vehicle contacts the control device or just before it, the auxiliary string contacts the outer hole portion in a tensioned state, and the inner hole portion The stop member is in contact with or close to the stop member.

  In the present invention, the steering device includes an outer hole part through which the string is inserted and an inner hole part at positions spaced apart in the inner and outer directions, and the outer hole part is formed so that the stopper member can pass therethrough, The stop member is formed so that it cannot pass through, and when the string is wound up to a position where the unmanned air vehicle contacts the control device or just before it, the auxiliary string contacts the outer hole portion in a tensioned state. At the same time, since the stop member comes into contact with or close to the inner hole, the auxiliary string is guided and supported by the outer hole to stabilize the unmanned air vehicle even when the unmanned air vehicle floats diagonally above the control device. It can be brought into contact with the control device with the posture. In addition, even if the winding device winds up the string vigorously, when the string is wound up to the position where the unmanned air vehicle contacts the control device, the stop member comes into contact with or close to the inner hole, and the unmanned The collision force between the flying object and the control device can be reduced. When the string is wound up to the position where the unmanned aerial vehicle comes into contact with the control device, the stop member does not come into contact with the inner hole portion as long as it floats in close proximity. It is not necessary to make fine adjustments, making it easier to manufacture.

  According to the present invention, even when an unmanned aerial vehicle equipped with a camera for photographing an inspection object is far away from the operator or when there is a disturbance such as wind, the unmanned aerial vehicle can be easily moved. It is possible to provide an inspection apparatus that can be controlled and can reduce the operator's workload.

It is a lineblock diagram of the inspection device of the 1st example concerning this embodiment. (A) shows a conceptual diagram of a configuration when an unmanned air vehicle is mounted on a ship and moved on a route to a predetermined moving position, and (b) shows an unmanned air vehicle being inspected from a ship that has reached the moving position. The conceptual diagram of a structure when it floats to the imaging | photography position of an object is shown. FIG. 2 is a side view of the unmanned aerial vehicle that has floated to the imaging position in the inspection apparatus shown in FIG. In the inspection apparatus shown in FIG. 1, it is a conceptual diagram in which an unmanned aerial vehicle takes off and arrives via a winding device provided in a ship. (A) shows a state where the unmanned aerial vehicle is separated from the ship, (b) shows a state where the unmanned aerial vehicle is close to the ship, and (c) shows a state where the unmanned aerial vehicle is attached to the ship. Shows the ship's condition. FIG. 2 is a conceptual diagram of a configuration of a control system block in the inspection apparatus shown in FIG. 1. It is a flowchart figure for operation | movement description in the test | inspection apparatus shown in FIG. It is a top view of the inspection apparatus shown in FIG. (A) shows the case where a 2nd camera image | photographs a ship from the back on the ship's course, (b) shows the case where a 2nd camera image | photographs a ship from diagonally behind with respect to the ship's course. When the 2nd camera shown to Fig.6 (a) image | photographs a ship, it is a conceptual diagram which controls a movement of a ship based on the instruction line which designated the position on the screen of an image display part. (A) shows that the image of the ship at the moving position is displaced in the left-right direction from the instruction line, and (b) shows that the image of the ship at the moving position overlaps the instruction line in the left-right direction. When the 2nd camera shown in FIG.6 (b) image | photographs a ship, it is a conceptual diagram which controls a movement of a ship based on the instruction line which designated the position on the screen of an image display part. (A) shows that the image of the ship at the moving position is misaligned with the instruction line in the front-rear direction, and (b) shows that the image of the ship at the moving position overlaps with the instruction line in the front-rear direction. When the 2nd camera shown to Fig.6 (a) image | photographs a ship, it is a conceptual diagram which controls a movement of a ship based on the instruction | indication frame which designated the area | region on the screen of the image display part. (A) shows that the image of the ship at the moving position protrudes in the up / down / left / right directions from within the instruction frame, and (b) shows that the image of the ship at the moving position falls within the instruction frame. In the inspection apparatus shown in FIG. 1, it is a conceptual diagram which controls the movement of an unmanned air vehicle based on the instruction | indication frame which designated the area | region on the screen of the image display part. (A) shows a state where the unmanned air vehicle has risen from the ship at the moving position and has floated to the photographing position, and (b) shows that the image of the unmanned air vehicle at the photographing position falls within the instruction frame. It is a composition conceptual diagram of the inspection device of the 2nd example concerning this embodiment. In the inspection apparatus shown in FIG. 11, it is a conceptual diagram of a configuration in which an unmanned air vehicle moves following a control device. In the inspection apparatus shown in FIG. 11, it is a conceptual diagram which collect | recovers an unmanned air vehicle via the winding device with which the control apparatus was equipped. (A) shows a state in which the unmanned air vehicle is separated from the control device, (b) shows a state in which the unmanned air vehicle is close to the control device, and (c) shows a state in which the unmanned air vehicle is operated. The collected state is shown in the apparatus. FIG. 12 is a conceptual diagram illustrating a configuration of a control system block in the inspection apparatus illustrated in FIG. 11. It is a flowchart figure for operation | movement description in the test | inspection apparatus shown in FIG. In the inspection apparatus shown in FIG. 11, it is a conceptual diagram which controls the movement of an unmanned air vehicle based on the instruction | indication frame which designated the area | region on the screen of the image display part. (A) shows that the image of the unmanned aerial vehicle at the shooting position protrudes vertically from the inside of the instruction frame, and (b) shows that the image of the unmanned aerial vehicle at the shooting position falls within the instruction frame. . In the inspection apparatus shown in FIG. 1 or FIG. 11, control for moving the flight position of the unmanned air vehicle by placing the image of the unmanned air vehicle in a predetermined size in the instruction frame designated on the screen of the image display unit. It is a conceptual diagram. In the inspection apparatus shown in FIG. 1 or FIG. 11, it is a conceptual diagram of the control which moves the flight position of an unmanned air vehicle by changing the angle of view of a 3rd camera or a 4th camera. It is a composition conceptual diagram of the modification in the inspection device shown in Drawing 1 (b). FIG. 20 is a conceptual diagram of a configuration of a control system block in a modification of the inspection apparatus shown in FIG. 1 is a conceptual diagram of a configuration of a control system for an unmanned air vehicle described in Patent Document 1. FIG.

  Next, an inspection apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. Below, the structure of 1st Example and 2nd Example of this test | inspection apparatus is demonstrated in detail, and the operating method is demonstrated.

<Configuration of the first embodiment>
The configuration of the first example of the inspection apparatus according to the present embodiment will be described with reference to FIGS. FIG. 1 shows a conceptual diagram of the configuration of the inspection apparatus of the first example according to the present embodiment. (A) shows a conceptual diagram of a configuration when an unmanned air vehicle is mounted on a ship and moved on a route to a predetermined moving position, and (b) shows an unmanned air vehicle being inspected from a ship that has reached the moving position. The conceptual diagram of a structure when it floats to the imaging position of an object is shown. FIG. 2 shows a side view of the unmanned aerial vehicle surfaced at the photographing position in the inspection apparatus shown in FIG. FIG. 3 is a conceptual diagram in which the unmanned aerial vehicle takes off and arrives through the winding device provided in the ship in the inspection apparatus shown in FIG. (A) shows a state where the unmanned aerial vehicle is separated from the ship, (b) shows a state where the unmanned aerial vehicle is close to the ship, and (c) shows a state where the unmanned aerial vehicle is attached to the ship. Shows the ship's condition. FIG. 4 shows a conceptual diagram of the configuration of the control system block in the inspection apparatus shown in FIG.

  As shown in FIGS. 1 to 4, the inspection apparatus 10 of the first example according to the present embodiment remotely connects the unmanned air vehicle 1 and the unmanned air vehicle 1 equipped with the first camera 11 for photographing the inspection object KT. It is an inspection apparatus provided with the steering apparatus 2 to steer. Further, the inspection apparatus 10 includes a ship 3 on which an unmanned air vehicle 1 is mounted so as to be able to take off and put on the ship, and moves on the route KS. The control device 2 includes a second camera 21 that captures the ship 3, an image display unit 22 that displays an image of the ship 3 captured by the second camera 21, and a control unit 23 that controls the unmanned air vehicle 1 and the ship 3. And. In addition, the control unit 23 is configured so that the image at the movement position PP of the ship 3 captured by the second camera 21 overlaps the instruction line whose position is specified on the screen of the image display unit 22 or the area on the screen of the image display unit 22. The movement of the ship 3 is controlled so as to fall within the designated instruction frame. The instruction line or the instruction frame will be described in detail in the operation description.

  As shown in FIGS. 1 and 2, the inspection object KT is, for example, a pipe (for example, a gas pipe) attached to a lower part of a bridge KR installed in a river. The shooting location ZZ by the first camera 11 is a location where rust and scratches due to wind and rain, or dents due to heat shrinkage, etc. occur in the above-mentioned piping, and where regular appearance inspection is required (usually a plurality of locations) ), But can also be selected from the results of rough preliminary photography. In addition, the control device 2 is arranged so that the operator M can be transported on one river bank KG. Further, the ship 3 is formed so as to be able to move on the route KS with the unmanned air vehicle 1 mounted from one riverbank KG to a moving position PP below the shooting position PQ by the first camera 11.

  The unmanned aerial vehicle 1 is preferably a so-called drone having a plurality of flight driving units 13 arranged at equal intervals on the outer peripheral side with respect to the central main body 121. The first camera 11 that images the inspection object KT may be attached to the main body 121 at an appropriate location suitable for imaging. Here, the first camera 11 is attached to the upper portion of the main body 121. Although the shooting direction of the first camera 11 is fixed upward and fixed, it may be formed to be variable. A landing leg 141 is attached to the lower part of the main body 121.

  As shown in FIGS. 1 and 3, the unmanned aerial vehicle 1 and the ship 3 are connected by a flexible string 41, and the ship 3 includes a winding device 4 that winds the string 41. Is preferred. In addition, the winding device 4 collects a plurality of auxiliary cords 41a connected to the outer peripheral side of the unmanned air vehicle 1 (for example, in the vicinity of each flight drive unit 13) into a single cord 41 by a stop member 42. A structure in which one string 41 is wound is preferable. Further, the ship 3 is provided with an outer hole portion 32a through which the string 41 is inserted and an inner hole portion 32b at positions separated in the inner and outer directions, and the outer hole portion 32a is formed so that the stopper member 42 can pass therethrough. The hole 32b is formed so that the stop member 42 cannot pass therethrough, and when the string 41 is wound up to a position where the unmanned air vehicle 1 arrives at the ship 3 or just before it, the auxiliary string is inserted into the outer hole 32a. It is preferable that 41a abuts in a tensioned state, and the stop member 42 abuts or approaches the inner hole portion 32b. The stop member 42 is formed in, for example, a spherical shape or an elliptical spherical shape, and has a weight that can prevent the auxiliary cords 41a from being entangled with each other or preventing the auxiliary cord 41a from being lifted and entangled with the flight driving unit 13 of the unmanned air vehicle 1. is there. In addition, the winding device 4 is formed such that the winding mechanism 43 idles after the unmanned air vehicle 1 contacts the ship 3 or the stop member 42 contacts the inner hole 32b of the ship 3. . Further, the winding device 4 is formed so as to be able to measure the feeding amount (length) of the string 41 by counting the number of windings and the like.

  In addition, the ship 3 is equipped with a third camera 31 for photographing the unmanned air vehicle 1, and the control unit 23 displays an image of the unmanned air vehicle 1 taken by the third camera 31 at the photographing position PQ of the image display unit 22. It is preferable to control the movement of the unmanned air vehicle 1 so as to fall within the instruction frame designated by the area on the screen. The third camera 31 is attached to the upper part of the ship 3 via the fixture 311. The attachment 311 is preferably formed so that the installation angle of the third camera 31 relative to the ship 3 can be changed or the installation position can be moved. The position of the unmanned aerial vehicle 1 with respect to the inspection object KT can also be corrected or changed by changing the installation angle of the third camera 31 or moving the installation position of the third camera 31 in the ship 3. The instruction frame will be described in detail in the operation description. Further, the control unit 23 can instruct the unmanned air vehicle 1 to move the unmanned air vehicle 1 to the next scheduled shooting position following the change in the angle of view α of the third camera 31 (see FIG. 18).

  As shown in FIG. 4, the unmanned air vehicle 1 includes, in addition to the first camera 11 and the flight drive unit 13, for example, a flight control unit 12 that controls the flight drive unit 13, the control device 2, and a radio signal. And a first communication unit 14 that performs transmission / reception by. The first communication unit 14 is electrically connected to the first camera 11 and the flight control unit 12. An instruction to drive the take-off boat or the like to the flight control unit 12 and an imaging instruction to the first camera 11 are configured to be performed from the control device 2 via the first communication unit 14. In addition, shooting data of the first camera 11 is automatically transferred to the control device 2 via the first communication unit 14. The imaging instruction of the first camera 11 can also be automatically issued from a position signal such as a GPS function provided in the flight control unit 12 when the unmanned air vehicle 1 moves to the imaging position PQ for the inspection object KT.

  In addition to the second camera 21, the image display unit 22, and the control unit 23, the control device 2 includes, for example, an operation unit 24 on which the operator M performs various input operations, various images, instruction lines, instruction frames, and the like. An image processing unit 25 that performs arithmetic processing on the image data of the image, a storage unit 26 that stores image data and the like that are processed by the image processing unit 25, and a second communication unit that transmits and receives unmanned air vehicles 1 and the ship 3 using radio signals. 27. The image processing unit 25 is electrically connected to the second camera 21, the image display unit 22, the control unit 23, the operation unit 24, the storage unit 26, and the second communication unit 27. The second communication unit 27 is electrically connected to the control unit 23 and the operation unit 24, respectively. The operation unit 24 is electrically connected to the second camera 21. The second camera 21 also includes a zoom mechanism.

  In addition to the third camera 31 that captures the unmanned air vehicle 1, the ship 3 includes, for example, a winding drive unit 44 that operates the winding mechanism 43 of the winding device 4, and the ship 3 along the route KS. The ship drive part 33 to move is provided, and the 3rd communication part 34 which performs transmission / reception by the control apparatus 2 and a radio signal is provided. The ship drive unit 33 includes a screw mechanism and a steering mechanism. In addition, the third communication unit 34 is electrically connected to the third camera 31, the ship driving unit 33, and the winding driving unit 44. An imaging instruction for the third camera 31, an operation instruction for the ship drive unit 33, and an operation instruction for the take-up drive unit 44 are configured to be performed from the control device 2 via the third communication unit 34. The ship 3 may include an image processing unit (not shown) that processes an image taken by the third camera 31. Further, the first camera 11, the second camera 21, and the third camera 31 may be a camera that shoots still images or a camera that shoots moving images.

<Operation Method of First Embodiment>
Next, the operation | movement method of the 1st Example in the inspection apparatus which concerns on this embodiment is demonstrated using FIGS. FIG. 5 is a flowchart for explaining the operation of the inspection apparatus shown in FIG. FIG. 6 is a plan view of the inspection apparatus shown in FIG. (A) shows the case where a 2nd camera image | photographs a ship from the back on the ship's course, (b) shows the case where a 2nd camera image | photographs a ship from diagonally behind with respect to the ship's course. FIG. 7 is a conceptual diagram for controlling the movement of the ship based on the instruction line whose position is specified on the screen of the image display unit when the second camera shown in FIG. (A) shows that the image of the ship at the moving position is displaced in the left-right direction from the instruction line, and (b) shows that the image of the ship at the moving position overlaps the instruction line in the left-right direction. FIG. 8 is a conceptual diagram for controlling the movement of the ship based on the instruction line whose position is specified on the screen of the image display unit when the second camera shown in FIG. (A) shows that the image of the ship at the moving position is misaligned with the instruction line in the front-rear direction, and (b) shows that the image of the ship at the moving position overlaps with the instruction line in the front-rear direction. FIG. 9 is a conceptual diagram for controlling the movement of a ship based on an instruction frame whose area is designated on the screen of the image display unit when the second camera shown in FIG. (A) shows that the image of the ship at the moving position protrudes in the up / down / left / right directions from within the instruction frame, and (b) shows that the image of the ship at the moving position falls within the instruction frame. FIG. 10 shows a conceptual diagram for controlling the movement of the unmanned air vehicle based on the instruction frame whose area is designated on the screen of the image display unit in the inspection apparatus shown in FIG. (A) shows a state where the unmanned air vehicle has risen from the ship at the moving position and has floated to the photographing position, and (b) shows that the image of the unmanned air vehicle at the photographing position falls within the instruction frame.

  As shown in FIG. 5, first, as a first step S <b> 1, a shooting location ZZ of the inspection object KT by the first camera 11 is selected. For the shooting location ZZ, for example, a location that is set in advance as a location that requires periodic appearance inspection is selected, and a required location is additionally selected from the result of rough preliminary imaging. The additional selection method is, for example, that images taken by the first camera 11 are continuous while the ship 3 is reciprocated from one river bank KG to the other river bank with the unmanned air vehicle 1 mounted or floated by a predetermined amount. In such a manner, the rust and scratches on the exterior of the pipe that is the inspection object KT are roughly inspected, and a portion that requires detailed photographing is selected.

  Next, as a second step S2, the photographing position PQ of the unmanned air vehicle 1 that photographs the selected photographing location ZZ and the movement position PP of the ship 3 that moves the unmanned air vehicle 1 and moves below the photographing position PQ are obtained. Then, an input operation is performed from the operation unit 24 of the control device 2 for setting. Information on the shooting position PQ of the unmanned air vehicle 1 and the movement position PP of the ship 3 is stored in the storage unit 26.

  Next, as a third step S3, an instruction line SS (SS1, SS2) or an instruction frame SW (SW1) corresponding to the movement position PP of the ship 3 is set on the screen of the image display unit 22, and the unmanned air vehicle 1 is photographed. An instruction frame SW (SW2) corresponding to the position PQ is set.

  That is, in the method of setting the movement position PP of the ship 3 on the screen of the image display unit 22, as shown in FIG. 6, the second camera 21 shoots the ship 3 on which the unmanned air vehicle 1 is mounted from two directions. As shown in FIG. 7, a method of instructing an instruction line SS1 for specifying the position of the ship 3 in the left-right direction and an instruction line SS2 for specifying the position of the ship 3 in the front-rear direction as shown in FIG. As shown in FIG. 6A, the position of the second camera 21 is fixed and the ship 3 on which the unmanned air vehicle 1 is mounted is photographed from one direction (rear), and the position of the ship 3 in the front-rear and left-right directions is simultaneously measured. There is a method of instructing an instruction frame SW1 to be specified. Since the ship 3 moves on the river route KS, the position in the vertical direction can be treated as substantially constant.

  First, a method of setting the movement position PP on the extension line of the route KS of the ship 3 by using the two instruction lines SS1 and SS2 will be described. First, as shown in FIG. 6 (a), the control device 2 is arranged on the rear side of the navigation channel KS of the ship 3, and the second camera 21 captures the unmanned air vehicle 1 from behind the navigation channel KS. To do. 7A and 7B, for example, an instruction line SS (SS1) that overlaps the image center 3GJ of the ship 3 at the moving position PP on the route KS on the screen 22G of the image display unit 22 is displayed on the coordinate axis. Instruct on X. The instruction line SS (SS1) is formed in parallel with the coordinate axis Z. Here, 3G indicates the contour image of the ship 3, and 1G indicates the contour image of the unmanned air vehicle 1. In addition, the coordinate axis X indicates the left-right direction perpendicular to the route KS of the ship 3, the coordinate axis Y indicates the front-rear direction parallel to the route KS of the ship 3, and the coordinate axis Z is the up-down direction in which the unmanned air vehicle 1 moves up and down. Indicates.

  Further, as shown in FIG. 6B, the control device 2 is moved by a distance d2 in the direction of the coordinate axis X, and the second camera 21 is moved obliquely backward (inclination angle θ with respect to the route KS) with respect to the route KS of the ship 3. The second camera 21 images the ship 3 on which the unmanned air vehicle 1 is mounted. Then, as shown in FIGS. 8A and 8B, for example, an instruction line overlapping the image center 3GM of the unmanned air vehicle mounting portion of the ship 3 at the moving position PP on the route KS on the screen 22G of the image display portion 22. SS (SS2) is designated on the coordinate axis Y. The instruction line SS (SS2) is formed in parallel with the coordinate axis Z. Here, 3G indicates the contour image of the ship 3, and 1G indicates the contour image of the unmanned air vehicle 1. As described above, by setting the two instruction lines SS1 and SS2 on the screen 22G of the image display unit 22, the movement position PP (d1 = d2 // on the extension line of the route KS of the ship 3 based on the triangulation method. tan θ) can be set. Two second cameras 21 may be prepared and arranged at the position shown in FIG. 6A and the position shown in FIG. 6B, respectively.

  Next, a method for setting the movement position PP on the extension line of the route KS of the ship 3 using the instruction frame SW (SW1) will be described. First, as shown in FIG. 6 (a), the control device 2 is arranged on the rear side of the navigation channel KS of the ship 3, and the second camera 21 captures the unmanned air vehicle 1 from behind the navigation channel KS. To do. Then, as shown in FIGS. 9A and 9B, for example, a rectangular instruction frame SW (SW1) that designates an area on each of the upper, lower, left, and right sides on the screen 22G of the image display unit 22 is included in the instruction frame. Is instructed on a plane constituted by the coordinate axis X and the coordinate axis Z so that the contour images 3G and 1G of the ship 3 and the unmanned air vehicle 1 at the moving position PP come into contact with each other or have a predetermined size. Further, the diagonal center SW11 of the instruction frame SW (SW1) is set on the route KS in the coordinate axis X. Here, the length of each side of the instruction frame SW (SW1) is a distance d1 that is separated in the direction of the coordinate axis Y from the second camera 21 to the moving position PP of the ship 3 (front-rear direction of the ship 3) by perspective. Proportional. Therefore, the movement position PP located on the extension line of the route KS of the ship 3 is set by instructing a rectangular instruction frame SW (SW1) having each side proportional to the distance d1 on the screen 22G of the image display unit 22. can do.

  A method for setting the shooting position PQ of the unmanned air vehicle 1 using the instruction frame SW (SW2) will be described. Since the unmanned air vehicle 1 moves in the three-dimensional space in the front-rear and left-right directions and the up-down direction, the unmanned air vehicle 1 is photographed with the third camera 31 facing upward as shown in FIG. Then, as shown in FIG. 10B, for example, a rectangular instruction frame SW (SW2) that designates a region on each of the front, rear, left, and right sides on the screen 22G of the image display unit 22 is captured in the shooting position PQ. The contour image 1G of the unmanned aerial vehicle 1 is in contact with or entered in a predetermined size on the plane constituted by the coordinate axis X and the coordinate axis Y. The diagonal center SW21 of the instruction frame SW (SW2) is set on the extension line (upward) of the third camera 31 on the coordinate axis Y. Here, the length of each side of the instruction frame SW (SW2) is a distance that is separated in the direction of the coordinate axis Z (vertical direction of the ship 3) from the third camera 31 to the shooting position PQ of the unmanned air vehicle 1 by perspective. It is proportional to d3. Therefore, the shooting position of the unmanned air vehicle 1 located above the third camera 31 is indicated by instructing a rectangular instruction frame SW (SW2) having each side proportional to the distance d3 on the screen 22G of the image display unit 22. PQ can be set.

  Next, as shown in FIG. 5, as the fourth step S <b> 4, the ship 3 equipped with the unmanned air vehicle 1 is operated and moved to the movement position PP.

  First, a method for automatically moving the ship 3 to the movement position PP on the extension line of the route KS by using the two instruction lines SS1 and SS2 will be described. First, the operator M operates the operation unit 24 to activate the ship driving unit 33 to move the ship 3 carrying the unmanned air vehicle 1 toward the movement position PP on the route KS. And as shown to Fig.7 (a), the image center 3GJ of the ship 3 displayed on the screen 22G of the image display part 22 is the direction of the coordinate axis X with respect to the instruction line SS (SS1) (the left-right direction of the ship 3). For example, the image processing unit 25 calculates the amount of deviation d4 and the image center 3GJ of the ship 3 coincides with the instruction line SS (SS1) as shown in FIG. 7B. As described above, the control unit 23 gives a correction instruction to the ship driving unit 33 of the ship 3. As a result, the ship 3 can move along the route KS. The image processing unit 25 notifies the control unit 23 that the image center 3GJ of the ship 3 is misaligned with respect to the instruction line SS (SS1), and the control unit 23 decreases the misalignment. It is also possible to give a correction instruction to the ship drive unit 33. In this case, the control unit 23 repeats or continues the correction instruction to the ship driving unit 33 until the image center 3GJ of the ship 3 coincides with the instruction line SS (SS1).

  Further, as shown in FIG. 8A, the image center 3GM of the unmanned air vehicle mounting portion of the ship 3 displayed on the screen 22G of the image display portion 22 is in the direction of the coordinate axis Y with respect to the instruction line SS (SS2) ( When the position is shifted in the longitudinal direction of the ship 3, for example, the image processing unit 25 calculates the shift amount d5, and as shown in FIG. 8B, an image of the unmanned air vehicle mounting unit of the ship 3 The control unit 23 gives a correction instruction to the ship driving unit 33 of the ship 3 so that the center 3GM coincides with the instruction line SS (SS2). As a result, the ship 3 can automatically move to the moving position PP on the route KS. The image processing unit 25 notifies the control unit 23 that the image center 3GM of the unmanned air vehicle mounting unit of the ship 3 is misaligned with respect to the instruction line SS (SS2). It is also possible to give a correction instruction to the ship drive unit 33 so as to reduce the positional deviation. In this case, the control unit 23 repeats or continues the correction instruction to the ship driving unit 33 until the image center 3GM of the unmanned air vehicle mounting unit of the ship 3 coincides with the instruction line SS (SS2). . Further, when the distance d1 from the second camera 21 to the moving position PP of the ship 3 becomes long and it is difficult to detect the positional shift at the moving position PP of the ship 3, the zoom mechanism of the second camera 21 is operated to shift the distance. The quantities d4, d5 etc. can be clarified.

  Next, a method for automatically moving the ship 3 to the movement position PP on the extension line of the route KS using the instruction frame SW (SW1) will be described. Similarly to the above, first, the operator M operates the operation unit 24 to activate the ship driving unit 33 and move the ship 3 carrying the unmanned air vehicle 1 toward the movement position PP on the route KS. And as shown to Fig.9 (a), when the outline images 3G and 1G of the ship 3 and the unmanned air vehicle 1 protrude in the up-down and left-right directions from within the instruction frame SW (SW1), for example, the image processing unit 25 Calculates the protrusion amounts d6 and d7, and as shown in FIG. 9B, the contour images 3G and 1G of the ship 3 and the unmanned flying vehicle 1 are in contact with the instruction frame SW (SW1) The control unit 23 gives a correction instruction to the ship driving unit 33 of the ship 3 so as to enter the size. As a result, the ship 3 can automatically move to the moving position PP on the route KS. The image processing unit 25 notifies the control unit 23 that the contour images 3G and 1G of the ship 3 and the unmanned air vehicle 1 are protruding from the instruction frame SW (SW1), and the control unit 23 indicates the amount of protrusion. It is also possible to give a correction instruction to the ship drive unit 33 so as to decrease the value. In this case, until the contour images 3G and 1G of the ship 3 and the unmanned air vehicle 1 come into contact with the instruction frame SW (SW1) or enter a predetermined size, the control unit 23 instructs the ship drive unit 33 to make corrections. Will be repeated or continued.

  Next, as shown in FIG. 5, as the fifth step S <b> 5, after the ship 3 moves to the movement position PP, the unmanned air vehicle 1 is moved (lifted) from the ship 3 to the imaging position PQ, and the inspection object KT is moved. The photographing location ZZ is photographed by the first camera 11.

  That is, as shown in FIG. 10A, when the control unit 23 receives a signal from the image processing unit 25 that the ship 3 has arrived at the movement position PP on the route KS, the control unit 23 sends an unmanned signal to the flight control unit 12. An instruction to leave the flying object 1 is given and the unmanned flying object 1 is lifted upward. The string 41 is sent out from the winding device 4 in accordance with the rising of the unmanned air vehicle 1. Further, the control unit 23 operates the third camera 31 to photograph the unmanned air vehicle 1 that rises upward. Then, as shown in FIG. 10B, the outline image 1G of the unmanned air vehicle 1 comes into contact with or enters a predetermined size within the instruction frame SW (SW2) displayed on the screen 22G of the image display unit 22. Then, the control unit 23 instructs the flight control unit 12. Therefore, the unmanned air vehicle 1 can automatically move to the shooting position PQ. Further, when the control unit 23 receives a signal from the image processing unit 25 that the unmanned air vehicle 1 has arrived at the shooting position PQ, the control unit 23 gives a shooting instruction to the first camera 11. As a result, after the ship 3 moves to the moving position PP, the unmanned air vehicle 1 is automatically levitated from the ship 3 to the shooting position PQ, and the shooting location ZZ of the inspection object KT is automatically shot by the first camera 11. To do. Note that captured image data is stored in the storage unit 26 via the image processing unit 25.

  Next, as shown in FIG. 5, as a sixth step S6, if the operator M confirms an image photographed by the first camera 11 to determine whether or not satisfactory photographing has been performed, In step S7, the instruction line SS (SS1, SS2) or the instruction frame SW (SW1, SW2) is reset, the position of the ship 3 or the unmanned air vehicle 1 is corrected, and the imaging location ZZ is re-imaged. For example, when the photographing location ZZ photographed by the first camera 11 is misaligned in the direction of the coordinate axis X, the position of the second camera 21 of the control device 2 is indicated by an arrow F1 as shown in FIG. To change the route KS of the ship 3 to a new route KS ′ and reset the instruction line SS (SS1, SS2) or the instruction frame SW (SW1), or the inspection of the third camera 31 The installation angle with respect to the object KT is changed in the direction of the arrow F2 or F3, and the instruction frame SW (SW2) is reset. The method for resetting the instruction line SS (SS1, SS2) or the instruction frame SW (SW1, SW2) is the same as the method described in the third step S3. Note that the image processing unit 25 determines whether or not favorable imaging has been performed based on non-defective conditions (for example, the position and size of the imaging location ZZ) in which the image captured by the first camera 11 is stored in the storage unit 26. May be judged.

  Next, as shown in FIG. 5, as an eighth step S <b> 8, when it is determined that satisfactory shooting has been performed as a result of checking the image of the first camera 11, the winding device 4 winds the string 41, The unmanned air vehicle 1 is landed on the ship 3.

  That is, when the control unit 23 receives an OK signal that the first camera 11 has captured a good image from the operation unit 24 or the image processing unit 25, the control unit 23 gives a winding instruction to the winding drive unit 44. When the take-up drive unit 44 is actuated, the string 41 is taken up by the take-up mechanism 43 as shown in FIG. 3B, and the stop member 42 passes through the outer hole 32 a of the ship 3. At this time, the unmanned air vehicle 1 descends to a position close to the ship 3. Then, the auxiliary cord 41a comes into contact with the outer hole 32a in a tensioned state, and the unmanned air vehicle 1 contacts the ship 3 or the stop member 42 contacts the inner hole 32b of the ship 3, and then the winding mechanism 43 idles and the winding drive unit 44 automatically stops. When the control unit 23 receives a stop signal from the winding drive unit 44, the control unit 23 gives a stop instruction to the flight control unit 12 of the unmanned air vehicle 1, and as shown in FIG. The body 1 arrives at a predetermined position of the ship 3. Since the unmanned air vehicle 1 can be landed while coming into contact with the outer hole portion 32a in a state where the auxiliary string 41a is tensioned from a position close to the ship 3, the attitude of the unmanned air vehicle 1 to land is improved, and the landing It is difficult to cause problems associated with.

  Next, as shown in FIG. 5, as the ninth step S <b> 9, the image processing unit 25 confirms whether or not all the selected shooting locations ZZ have been shot. Returning to the fourth step S4, the fourth step S4 to the eighth step S8 are repeated. If there is no unphotographed shooting location ZZ, the operation of the inspection apparatus 10 is terminated.

<Configuration of Second Embodiment>
A configuration of a second example of the inspection apparatus according to the present embodiment will be described with reference to FIGS. FIG. 11 shows a conceptual diagram of the configuration of the inspection apparatus of the second example according to the present embodiment. FIG. 12 shows a conceptual diagram of a configuration in which the unmanned air vehicle moves following the control device in the inspection apparatus shown in FIG. In FIG. 13, the conceptual diagram which collect | recovers an unmanned aerial vehicle via the winding device with which the control apparatus was equipped in the inspection apparatus shown in FIG. (A) shows a state in which the unmanned air vehicle is separated from the control device, (b) shows a state in which the unmanned air vehicle is close to the control device, and (c) shows a state in which the unmanned air vehicle is operated. The collected state is shown in the apparatus. FIG. 14 shows a conceptual diagram of the configuration of the control system block in the inspection apparatus shown in FIG.

  As shown in FIGS. 11 to 14, the inspection apparatus 10 </ b> B of the second example according to the present embodiment remotely connects the unmanned air vehicle 1 </ b> B and the unmanned air vehicle 1 </ b> B equipped with the first camera 11 </ b> B that images the inspection object KT. It is an inspection apparatus provided with the steering apparatus 2B to steer. The control device 2B includes a fourth camera 21B that captures the unmanned air vehicle 1B, an image display unit 22 that displays an image captured by the fourth camera 21B, and a control unit 23B that controls the unmanned air vehicle 1B. Yes. In addition, the control unit 23B moves the unmanned air vehicle 1B so that the image at the shooting position PQ of the unmanned air vehicle 1B captured by the fourth camera 21B falls within the instruction frame designated by the area on the screen of the image display unit 22. Control. The instruction frame will be described in detail in the operation description.

  Moreover, as shown in FIGS. 11 and 12, the inspection object KT is, for example, a pipe (for example, a gas pipe) disposed in a groove GM excavated in the ground GL. The first camera 11B is on the ground GL to inspect (including image recording, verification, etc.) that the pipe is embedded at a predetermined position in the groove GM, and that the joint is properly connected. The pipe is continuously photographed along the longitudinal direction at the same time as the marking member SQ installed in the camera. For example, when the pipe is inspected after being buried, the marking member SQ obtained by photographing the buried position of the pipe can be specified as a guide. The control device 2B is formed so that the operator M can carry it. The unmanned air vehicle 1B is formed to move following the control device 2B carried by the pilot M. In the inspection apparatus 10B, the same components as those in the first embodiment are denoted by the same reference numerals, and the detailed description thereof is basically omitted. In addition, the shooting direction of the first camera 11B is fixed downward and may be formed to be variable.

  Further, it is preferable that the unmanned air vehicle 1B and the control device 2B are connected by a flexible string 41B, and the control apparatus 2B includes a winding device 4B that winds the string 41B. As shown in FIG. 13, the winding device 4B includes a plurality of auxiliary cords 41Ba connected to the outer peripheral side of the unmanned aerial vehicle 1B (for example, in the vicinity of each flight drive unit 13), and a single cord 41B by a stop member 42B. It is preferable to have a structure in which the one string 41B is gathered together and wound up. Further, the steering device 2B is provided with an outer hole portion 22a and an inner hole portion 22b through which the string 41B is inserted in positions separated in the inner and outer directions, and the outer hole portion 22a is formed so that the stopper member 42B can pass therethrough. The inner hole portion 22b is formed so that the stop member 42B cannot pass therethrough, and when the string 41B is wound up to a position where the unmanned air vehicle 1B contacts the control device 2B or just before it, the inner hole portion 22b assists the outer hole portion 22a. It is preferable that the string 41Ba abuts in a tensioned state, and the stop member 42B abuts or approaches the inner hole 22b. The stop member 42B is formed in, for example, a spherical shape or an elliptical sphere, and has a weight that can prevent the auxiliary cords 41Ba from being entangled with each other or the auxiliary cord 41Ba from being lifted and entangled with the flight driving unit 13 of the unmanned air vehicle 1B. is there. Further, the winding device 4B is formed such that the winding mechanism 43B idles after the unmanned air vehicle 1B contacts the control device 2B or the stop member 42B contacts the inner hole portion 32b of the control device 2B. ing. Further, the winding device 4B is formed so as to be able to measure the feeding amount (length) of the string 41B by counting the number of windings and the like.

  As shown in FIG. 14, in addition to the first camera 11B and the flight drive unit 13, the unmanned air vehicle 1B includes a flight control unit 12B for controlling the flight drive unit 13 and a transmission / reception by radio signals with the control device 2B. 1st communication part 14B which performs. The first communication unit 14B is electrically connected to the first camera 11B and the flight control unit 12B. Driving instructions such as take-off and landing for the flight control unit 12B and imaging instructions for the first camera 11B are configured to be performed from the control device 2B via the first communication unit 14B. Further, the shooting data of the first camera 11B is automatically transferred to the control device 2B via the first communication unit 14B. The imaging instruction of the first camera 11B can be automatically issued from a position signal such as a GPS function provided in the flight control unit 12B when the unmanned air vehicle 1B moves to the imaging position PQ for the inspection object KT.

  Further, in addition to the fourth camera 21B, the image display unit 22, and the control unit 23B, the control device 2B calculates an operation unit 24B on which the operator M performs various input operations, and calculates image data such as various images and instruction frames. An image processing unit 25B to be processed, a storage unit 26 for storing image data to be processed by the image processing unit 25B, a winding drive unit 44B for operating the winding mechanism 43B of the winding device 4B, and an unmanned air vehicle 1B And a fourth communication unit 27B that performs transmission / reception by radio signal. The image processing unit 25B is electrically connected to the fourth camera 21B, the image display unit 22, the control unit 23B, the operation unit 24B, the storage unit 26, and the fourth communication unit 27B. The fourth communication unit 27B is electrically connected to the control unit 23B and the operation unit 24B. The control unit 23B is electrically connected to the winding drive unit 44B. The operation unit 24B is electrically connected to the fourth camera 21B. The fourth camera 21B also includes a zoom mechanism.

<Operation Method of Second Embodiment>
Next, an operation method of the second example in the inspection apparatus according to the present embodiment will be described with reference to FIGS. 11, 12, and 15 to 18. FIG. 11 shows a conceptual diagram of the configuration of the inspection apparatus of the second example according to the present embodiment. FIG. 12 shows a conceptual diagram of a configuration in which the unmanned air vehicle moves following the control device in the inspection apparatus shown in FIG. FIG. 15 is a flowchart for explaining the operation of the inspection apparatus shown in FIG. FIG. 16 is a conceptual diagram for controlling the movement of the unmanned air vehicle based on the instruction frame whose area is designated on the screen of the image display unit in the inspection apparatus shown in FIG. (A) shows that the image of the unmanned aerial vehicle protrudes from the inside of the instruction frame in the vertical direction, and (b) shows that the image of the unmanned aerial vehicle enters the instruction frame. In FIG. 17, in the inspection apparatus shown in FIG. 1 or FIG. The control conceptual diagram which moves is shown. FIG. 18 shows a conceptual diagram of control for moving the flight position of the unmanned air vehicle by changing the angle of view of the third camera or the fourth camera in the inspection apparatus shown in FIG.

  As shown in FIG. 15, first, as a first step T1, a shooting location ZZ (ZZ1, ZZ2,...) Of the inspection object KT by the first camera 11B is selected. For example, as shown in FIG. 11 and FIG. 12, the photographing location ZZ is the position of the pipe in the groove GM with respect to the marking member SQ installed on the ground GL, the joint of the pipe, etc. Then, the image of each photographing location ZZ (ZZ1, ZZ2,...) Is selected so as to include the piping and the marking member SQ and intersect at both ends thereof. Here, the coordinate axis X indicates the left-right direction orthogonal to the longitudinal direction of the pipe of the inspection object KT, the coordinate axis Y indicates the front-rear direction parallel to the longitudinal direction of the pipe, and the coordinate axis Z indicates the unmanned air vehicle 1 Indicates the up and down direction.

  Next, as a second step T2, the photographing position PQ (PQ1, PQ2,...) Of the unmanned air vehicle 1B that photographs the selected photographing location ZZ is input and set from the operation unit 24B of the control device 2B. . Here, since the shooting position PQ of the unmanned air vehicle 1B is set as a relative position of the unmanned air vehicle 1B with respect to the fourth camera 21B of the control device 2B, as shown in FIG. 11 and FIG. If 2B is carried and moved, the unmanned air vehicle 1B moves with the distance d8 from the fourth camera 21B maintained substantially constant. Information on the shooting position PQ of the unmanned air vehicle 1B is stored in the storage unit 26.

  Next, as a third step T3, an instruction frame SWB corresponding to the shooting position PQ of the unmanned air vehicle 1 is set on the screen of the image display unit 22. That is, since the unmanned air vehicle 1B moves in the three-dimensional space in the front-rear and left-right directions and the up-down direction, the unmanned air vehicle 1B is photographed with the fourth camera 21B facing upward as shown in FIGS. Then, as shown in FIGS. 16A and 16B, a rectangular instruction frame SWB that designates a region on each side in the up, down, left, and right directions on the screen 22BG of the image display unit 22 is set in the shooting position PQ. The contour image 1BG of the unmanned aerial vehicle 1B is in contact with or entered at a predetermined size on the plane formed by the coordinate axis Z and the coordinate axis X. Further, the diagonal center SWB1 of the instruction frame SWB is set on the extension line (downward) of the first camera 11B on the coordinate axis X. Here, the length of each side of the instruction frame SWB is proportional to the distance d8 from the fourth camera 21B to the shooting position PQ of the unmanned air vehicle 1B by perspective. Therefore, the shooting position PQ of the unmanned air vehicle 1B located above the fourth camera 21B is specified by instructing the rectangular instruction frame SWB having each side proportional to the distance d8 on the screen 22BG of the image display unit 22. can do. The moving distance d9 from one shooting position PQ1 to the next shooting position PQ2 is substantially equal to the length in the direction of the coordinate axis X of the shooting range of the first camera 11B at the shooting position PQ.

  Next, as shown in FIG. 15, in the fourth step T4, the unmanned air vehicle 1 is moved to the imaging position PQ following the pilot M, and the imaging location ZZ of the inspection object KT is captured by the first camera 11B. To do.

  That is, as shown in FIGS. 11 and 12, the pilot M operates the operation unit 24B to take off the unmanned air vehicle 1B and lift it upward. Further, the unmanned air vehicle 1B that has floated upward is photographed by the fourth camera 21B. Then, as shown in FIG. 16A, when the contour image 1BG of the unmanned air vehicle 1B protrudes in the vertical direction from within the instruction frame SWB, for example, the image processing unit 25B calculates the protrusion amount d10, As shown in FIG. 16B, the control unit 23B controls the flight control unit 12B of the unmanned air vehicle 1B so that the outline image 1BG of the unmanned air vehicle 1B comes into contact with the instruction frame SWB or enters a predetermined size. Is given correction instructions.

  As shown in FIG. 17, the control unit 23B controls the flight control unit of the unmanned air vehicle 1B so that the outline image 1BG of the unmanned air vehicle 1B comes into contact with the instruction frame SWB or has a predetermined size. A correction instruction is given to 12B. For example, when the flight position β of the unmanned air vehicle 1B with respect to the fourth camera 21B is the flight position β2 that is closer than the appropriate flight position β1, the outline image 1BG of the unmanned air vehicle 1B protrudes too much from the instruction frame SWB. In the case of the flight position β3 farther than the correct flight position β1, the outline image 1BG of the unmanned air vehicle 1B is too small than the instruction frame SWB. In this case, the control unit 23B issues a correction instruction to the flight control unit 12B of the unmanned air vehicle 1B so that the outline image 1BG of the unmanned air vehicle 1B comes into contact with the instruction frame SWB or enters a predetermined size. give. Note that “the contour image 1BG of the unmanned air vehicle 1B comes into contact with or enters the instruction frame SWB with a predetermined size” means that the contour image 1BG of the unmanned air vehicle 1B has a rectangular instruction frame SWB. It means a state where they are close to or in contact with each other so as not to protrude from a pair of opposing frame sides.

  As a result, the unmanned aerial vehicle 1B can automatically move to the shooting position PQ. Note that the image processing unit 25B notifies the control unit 23B that the outline image 1BG of the unmanned air vehicle 1B has protruded from the instruction frame SWB, and the control unit 23B decreases the amount of protrusion. Can also be given correction instructions. In this case, the control unit 23B repeats or continues the correction instruction to the flight control unit 12B until the outline image 1BG of the unmanned air vehicle 1B comes into contact with the instruction frame SWB or enters a predetermined size. Become.

  Also, as shown in FIG. 18, the control unit 23B instructs the unmanned air vehicle 1B to move the unmanned air vehicle 1B following the angle of view change (α1⇒α2) of the fourth camera 21B. Can do. For example, when the next scheduled shooting position β5 is far from the fourth camera 21B possessed by the operator M with respect to the scheduled shooting position β4 that has been shot, the angle of view α of the fourth camera 21B is wide. By changing the angle α1 to the narrow angle of view α2, the flight position β (β4) of the unmanned air vehicle 1B can be moved to the next flight position β (β5). In this case, the operator can quickly move the unmanned air vehicle 1B by simply changing the angle of view α of the fourth camera 21B. Therefore, even if the pilot M is difficult to approach, the next shooting location ZZ can be confirmed and the required location can be appropriately shot while changing the angle of view of the fourth camera 21B.

  Further, after confirming that the outline image 1BG of the unmanned air vehicle 1B is in contact with or within a predetermined size on the screen 22BG of the image display unit 22, the operator M moves the operation unit 24B. Operate to give a shooting instruction to the first camera 11B. After the first camera 11B completes photographing, the operator M moves the moving distance d9 to the next photographing position PQ2. The captured image data is stored in the storage unit 26 via the image processing unit 25B.

  Note that after the control unit 23B receives a signal indicating that the unmanned air vehicle 1B has arrived at the shooting position PQ from the image processing unit 25B, the control unit 23B can give a shooting instruction to the first camera 11B. In this case, the unmanned air vehicle 1B can be automatically moved to the shooting position PQ, and the shooting location ZZ of the inspection object KT can be automatically shot by the first camera 11B.

  Next, as shown in FIG. 15, in the fifth step T5, when the pilot M confirms an image photographed by the first camera 11B to determine whether or not good photography has been performed, In 6 step T6, the instruction frame SWB is reset, the position of the unmanned air vehicle 1B is corrected, and the imaging location ZZ is re-imaged. For example, when the photographing location ZZ photographed by the first camera 11B is displaced in the direction of the coordinate axis X and the marking member SQ is not photographed, as shown in FIG. 11, the fourth camera 21B of the control device 2B Move the position in the direction of arrow F4 to reset the instruction frame SWB, or change the installation angle of the fourth camera 21B with respect to the control device 2B to the direction of arrow F5 or F6 to reset the instruction frame SWB. . The method for resetting the instruction frame SWB is the same as the method described in the third step T3. It should be noted that the image processing unit 25B determines whether or not favorable imaging has been performed based on non-defective product conditions (for example, the position and size of the imaging location ZZ) in which the image captured by the first camera 11B is stored in the storage unit 26. May be judged.

  Next, as shown in FIG. 15, in the seventh step T7, the image processing unit 25B confirms whether or not all of the selected shooting locations ZZ have been shot. Returning to the fourth step T4, the fourth step T4 to the sixth step T6 are repeated. If there is no unphotographed shooting location ZZ, the process proceeds to the eighth step T8.

  Next, as an eighth step T8, the winding device 4B winds the string 41B, landes the unmanned air vehicle 1B, and ends the operation of the inspection device 10B.

  That is, when the control unit 23B receives from the image processing unit 25B a signal with no unphotographed shooting location ZZ remaining, the control unit 23B gives a winding instruction to the winding drive unit 44B. When the take-up drive unit 44B is activated, the string 41B is taken up by the take-up mechanism 43B as shown in FIG. 13 (b), and the stop member 42B passes through the outer hole portion 22a of the control device 2B. At this time, the unmanned air vehicle 1B descends to a position close to the control device 2B. Then, the auxiliary string 41Ba comes into contact with the outer hole portion 22a in a tensioned state, and the unmanned air vehicle 1B comes into contact with the control device 2B or the stop member 42B comes into contact with the inner hole portion 22b of the control device 2B. The take-up mechanism 43B idles and the take-up drive unit 44B automatically stops. Further, when the control unit 23B receives a stop signal from the winding drive unit 44B, the control unit 23B gives a stop instruction to the flight control unit 12B of the unmanned air vehicle 1B, and as shown in FIG. The body 1B comes into contact with a predetermined position of the control device 2B. Since the unmanned air vehicle 1B can contact the control device 2B while abutting the outer hole portion 22a in a state where the auxiliary string 41Ba is tensioned from a position close to the control device 2B, the unmanned air vehicle 1 can be in contact with the control device 2B. It improves and it is hard to produce the trouble accompanying contact.

<Modification>
The embodiment described above can be changed without changing the gist of the present invention. For example, according to the first example of the present embodiment, the unmanned aerial vehicle 1 is a flying object having a plurality of flight driving units 13 arranged at equal intervals on the outer peripheral side with respect to the central main body 121. In addition to the first camera 11 and the flight drive unit 13, the unmanned air vehicle 1 includes a flight control unit 12 that controls the flight drive unit 13, and a first communication unit 14 that transmits and receives radio signals to and from the control device 2. Although provided, it is not necessarily limited to this. For example, as shown in FIGS. 19 and 20, the unmanned air vehicle 1 </ b> C may be a balloon that can fly by itself. In this case, the first camera 11C is mounted on the balloon, and the shooting position of the unmanned air vehicle 1C in the vertical direction with respect to the ship 3C is adjusted by adjusting the length of the cord 41C sent out by the winding device 4C mounted on the ship 3C. The movement to the PQ can be easily controlled. In addition, it is possible to omit the third camera 31 for photographing the unmanned air vehicle 1C in the ship 3C, and the apparatus can be further simplified. Further, since the unmanned air vehicle 1C is a balloon that can levitate by itself, it is possible to avoid unintended crash of the unmanned air vehicle 1C.

  Further, according to the first example of the present embodiment, the unmanned air vehicle 1 and the ship 3 are connected by the flexible string 41, and the ship 3 includes the winding device 4 that winds the string 41. However, the present invention is not necessarily limited to this. Further, according to the second example of the present embodiment, the unmanned air vehicle 1B and the control device 2B are connected by the flexible cord 41B, and the winding device 4B for winding the cord 41B is connected to the control device 2B. Although provided, it is not necessarily limited to this. When the winding devices 4 and 4B are not provided, the recovery operation of the unmanned air vehicles 1 and 1B is performed by the operator M operating the operation units 24 and 24B.

In the first example of the present embodiment, by setting the two instruction lines SS1 and SS2 on the screen 22G of the image display unit 22, the movement position on the extension line of the route KS of the ship 3 based on the triangulation method. Although the method of setting PP (d1 = d2 / tan θ) has been described, for example, the movement on the extension line of the route KS of the ship 3 is specified by one instruction line SS1, and the movement speed and the movement time of the ship 3 are determined. The predetermined movement position PP may be set by multiplying and calculating the movement distance d1 from the second camera 21 to the movement position PP. Alternatively, the movement on the extension line of the route KS of the ship 3 is specified by one instruction line SS1, and the position on the extension line of the route KS of the ship 3 is specified based on the photographed image of the first camera 11, thereby providing a predetermined value. The movement position PP may be set.

<Effect>
As described above in detail, according to the inspection apparatuses 10 and 10C according to the present embodiment, the unmanned air vehicles 1 and 1C are mounted so as to be able to take off and landing, and the ships 3 and 3C that move on the route KS are provided. The control devices 2 and 2C include the second cameras 21 and 21C that photograph the ships 3 and 3C, the image display unit 22 that displays the images of the ships 3 and 3C photographed by the second cameras 21 and 21C, and the unmanned air vehicle 1. 1C and the control units 23 and 23C for controlling the vessels 3 and 3C, and the control units 23 and 23C display images at predetermined movement positions PP of the vessels 3 and 3C taken by the second cameras 21 and 21C. Since the movement of the ships 3, 3C is controlled so as to overlap the instruction line SS whose position is specified on the screen of the unit 22 or within the instruction frame SW whose region is specified on the screen of the image display unit 22, the operator M A predetermined moving position on the screen of the display unit 22 The second camera 21, 21C for photographing the ship 3, 3C and a predetermined movement position by pre-designating the instruction line SS where the images of the ship 3, 3C overlap in PP or the instruction frame SW in which the image of the ship 3, 3C enters The relative positional relationship between the ship 3 and 3C in the PP is specified, and the movement of the ship 3 and 3C moving to the predetermined movement position PP on the route KS is automatically based on the instruction line SS or the instruction frame SW. Can be controlled. For example, even if the position of the ship 3 or 3C is shifted to the downstream side with respect to the normal route KS due to the influence of the river flow, the image of the ship 3 or 3C overlaps the instruction line SS or the instruction frame SW The movement of the ships 3, 3C can be automatically corrected to enter. In this case, the unmanned aerial vehicle 1 or 1C can move in a state where it is mounted on the ship 3 or 3C to a predetermined movement position PP that falls below the imaging position PQ where the first camera 11 or 11C images the inspection object KT. Even when the photographing position PQ is far away to some extent, the flight distance and flight time of the unmanned air vehicles 1 and 1C can be greatly shortened, and they are less susceptible to the influence of wind and other disturbances. Further, since the pilot M is only required to operate upward movement with respect to the photographing position PQ of the unmanned air vehicle 1, 1C mounted on the ship 3, 3C that is automatically controlled and moved to the predetermined movement position PP. As compared with the case of operating the three-dimensional movement of the unmanned air vehicle 1, 1C, it can be operated easily.

  Therefore, according to the present embodiment, even when the unmanned air vehicle 1 or 1C equipped with the camera (the first camera 11 or 11C) that captures the inspection object KT is far away from the operator M to some extent, wind, etc. Even if there is a disturbance, it is possible to provide the inspection devices 10 and 10C that can easily control the movement of the unmanned air vehicles 1 and 1C and can reduce the work load on the operator M.

  Further, according to the present embodiment, the unmanned air vehicle 1, 1C and the ships 3, 3C are connected by the strings 41, 41C, and the winding apparatuses 4, 4C that wind the strings 41, 41C are wound on the ships 3, 3C. Therefore, even when the unmanned aerial vehicle 1 or 1C is far away from the operator M to some extent, the movement amount of the unmanned aerial vehicle 1 or 1C from the ship 3 or 3C to the shooting position PQ is set to the length of the cord 41 or 41C. Thus, the movement of the unmanned air vehicle 1, 1C can be controlled more easily. In addition, the accuracy of the separation distance between the first cameras 11 and 11C and the inspection object KT can be improved, and a clearer image can be taken. In addition, the winding devices 4 and 4C wind up the strings 41 and 41C, so that the unmanned air vehicles 1 and 1C can be easily recovered, and the unmanned air vehicles 1 and 1C are lost and can not be recovered. it can.

  Moreover, according to this embodiment, the winding devices 4 and 4C gather together the several auxiliary string 41a connected with the outer peripheral side of the unmanned air vehicle 1 and 1C to the single string 41 and 41C by the stop members 42 and 42C. Since the single string 41, 41C is wound up, the stability of the attitude of the unmanned air vehicle 1, 1C with respect to disturbances such as wind is improved, and the winding devices 4, 4C are combined into one string 41, 41C. Can be recovered while stabilizing the posture of the unmanned air vehicle 1, 1C. Further, the stop members 42 and 42C have a certain weight, and it is possible to avoid the auxiliary strings 41a from being entangled with each other or the auxiliary string 41a being lifted and being entangled with the unmanned air vehicles 1 and 1C.

  Further, according to the present embodiment, the ships 3 and 3C are provided with the outer hole portion 32a and the inner hole portion 32b through which the strings 41 and 41C are inserted at positions separated in the inner and outer directions, and the outer hole portion 32a is The stop members 42, 42C are formed so as to be able to pass through, and the inner hole portion 32b is formed so that the stop members 42, 42C cannot pass therethrough, and the position where the unmanned air vehicle 1, 1C lands on the ship 3, 3C or When the cords 41 and 41C are wound up to just before, the auxiliary cord 41a comes into contact with the outer hole portion 32a in a tensioned state, and the stopper members 42 and 42C come into contact with or close to the inner hole portion 32b. Even if the unmanned aerial vehicle 1, 1C floats obliquely above the ship 3, 3C, each auxiliary cord 41a is guided and supported by the outer hole 32a, and the unmanned aircraft 1, 1C is kept in a stable posture. 3C can be landed. Further, even if the winding devices 4 and 4C vigorously wind up the strings 41 and 41C, when the strings 41 and 41C are wound up to the position where the unmanned air vehicle 1 and 1C land on the ship 3 and 3C, the winding is stopped. The members 42 and 42C are in contact with or close to the inner hole portion 32b, so that the collision force between the unmanned air vehicles 1 and 1C and the ships 3 and 3C can be reduced. When the strings 41 and 41C are wound up to the position where the unmanned air vehicle 1 and 1C land on the ship 3 and 3C, the stop members 42 and 42C are close to each other even if they do not contact the inner hole 32b. As long as it is in a floating state, fine adjustment of the auxiliary string 41a and the strings 41 and 41C is not necessary, and manufacturing and the like are facilitated.

  Moreover, according to this embodiment, since the unmanned aerial vehicle 1C is a balloon that can levitate by itself, the configuration of the unmanned aerial vehicle 1C can be simplified, and the feeding length of the string 41C in the winding device 4C can be reduced. By making adjustments, it is possible to easily operate the takeoff boat for the unmanned air vehicle 1C. Further, since the unmanned air vehicle 1C is a balloon that can levitate by itself, it is possible to avoid unintended crash of the unmanned air vehicle 1C.

  Further, according to the present embodiment, the ship 3 is equipped with the third camera 31 for photographing the unmanned air vehicle 1, and the control unit 23 is at the photographing position PQ of the unmanned air vehicle 1 photographed by the third camera 31. Since the movement of the unmanned aerial vehicle 1 is controlled so that the image falls within the instruction frame SW2 designated in the area on the screen of the image display unit 22, the pilot M moves to the movement position PP of the ship 3 on the screen of the image display unit 22. By specifying in advance the instruction frame SW2 in which the image 1G at the shooting position PQ of the corresponding unmanned air vehicle 1 enters, the relative positional relationship between the ship 3 at the predetermined moving position PP and the unmanned air vehicle 1 at the shooting position PQ is obtained. The movement of the unmanned air vehicle 1 from the ship 3 at the predetermined moving position PP to the shooting position PQ can be automatically controlled based on the instruction frame SW2. For example, even if the position of the unmanned air vehicle 1 is shifted to the leeward side with respect to the normal photographing position PQ due to the influence of the wind flow, the image 1G of the unmanned air vehicle 1 enters the instruction frame SW2. The movement of the unmanned air vehicle 1 can be automatically corrected. Therefore, even if there is a disturbance such as wind, the pilot M does not need to perform a special piloting action while looking at the unmanned air vehicle 1, and the work load on the pilot M can be further reduced.

  Further, according to the present embodiment, the control unit 23 instructs the unmanned air vehicle 1 to move the unmanned air vehicle 1 following the change in the angle of view of the third camera 31, so the image display unit 22. Even if the instruction frame SW displayed on the screen 3 is not moved, the flight position of the unmanned air vehicle 1 can be quickly moved to the next shooting position by changing the angle of view α of the third camera 31 mounted on the ship 3. Can be made. Therefore, the pilot M promptly confirms the next shooting location ZZ of the inspection object KT while changing the angle of view of the third camera 31 without waiting for the movement of the ship 3, and appropriately determines the necessary location. Can be taken.

  Further, according to the present embodiment, the control device 2B includes the fourth camera 21B that captures the unmanned air vehicle 1B, the image display unit 22 that displays the image of the unmanned air vehicle 1B captured by the fourth camera 21B, and the unmanned flight. A control unit 23B that controls the body 1B. The control unit 23B includes an instruction frame SWB in which the image 1BG at the shooting position PQ of the unmanned air vehicle 1B taken by the fourth camera 21B is designated on the screen 22BG of the image display unit 22. Since the movement of the unmanned air vehicle 1B is controlled so as to enter, the instruction frame SWB in which the image 1BG at the shooting position PQ of the unmanned air vehicle 1B enters is designated in advance on the screen 22BG of the image display unit 22, so that the unmanned flight The movement of the body 1B is automatically controlled based on the instruction frame SWB. That is, the pilot M designates in advance the instruction frame SWB in which the image 1BG of the unmanned air vehicle 1B at the shooting position PQ is entered on the screen 22BG of the image display unit 22, whereby the pilot device 2B and the unmanned air vehicle 1B at the shooting position PQ Can be specified in advance. Therefore, even if there is a disturbance such as wind, the pilot M can simply move the pilot device 2B to the required position while photographing the unmanned air vehicle 1B with the fourth camera 21B, and move the inspection object KT. The unmanned air vehicle 1B flying at the height of the shooting position PQ for shooting can be moved following the pilot M. As a result, the movement of the unmanned air vehicle 1B can be easily controlled even when the unmanned air vehicle 1B is far away from the pilot M to some extent or there is a disturbance such as wind. Can be reduced.

  Therefore, according to the present embodiment, even when the unmanned air vehicle 1B equipped with the camera (first camera 11B) for photographing the inspection object KT is far away from the operator M to some extent, there is a disturbance such as wind. Even in this case, it is possible to provide the inspection apparatus 10B that can easily control the movement of the unmanned air vehicle 1B and can reduce the work load on the operator M.

  In addition, according to the present embodiment, the control unit 23B instructs the unmanned air vehicle 1B to move the unmanned air vehicle 1B following the change in the angle of view of the fourth camera 21B. By simply changing the angle of view α of the fourth camera 21B, the unmanned air vehicle 1B can be quickly moved to the next scheduled shooting position. Therefore, even if it is difficult for the operator M to approach, while confirming the next imaging location ZZ of the inspection object KT while changing the angle of view of the fourth camera 21B, the necessary location is appropriately imaged. be able to.

  Further, according to the present embodiment, the unmanned aerial vehicle 1B and the control device 2B are connected by the string 41B, and the control device 2B includes the winding device 4B that winds the string 41B. Can be adjusted by the length of the string 41B, and the movement of the unmanned air vehicle 1B with respect to the control device 2B can be controlled more easily. In addition, the accuracy of the separation distance between the first camera 11B and the inspection object KT can be improved, and a clearer image can be taken. Moreover, it can avoid that the unmanned air vehicle 1B becomes missing and becomes uncollectable because the winding device 4B winds the string 41B.

  In addition, according to the present embodiment, the winding device 4B collects the plurality of auxiliary cords 41Ba connected to the outer peripheral side of the unmanned air vehicle 1B into one cord 41B by the stop member 42B, and collects the gathered one cord 41B. Since it is a winding structure, the stability of the attitude of the unmanned air vehicle 1B with respect to disturbances such as wind is improved, and the winding device 4B winds one string 41B, thereby stabilizing the attitude of the unmanned air vehicle 1B. Can be recovered. Further, the stop member 42B has a certain weight, and it is possible to avoid the auxiliary cords 41Ba from being entangled with each other or the auxiliary cord 41Ba from being lifted and entangled with the unmanned air vehicle 1B.

  Further, according to the present embodiment, the steering device 2B is provided with the outer hole portion 22a through which the string 41B is inserted and the inner hole portion 22b at positions separated in the inner and outer directions, and the outer hole portion 22a is provided with the stop member 42B. The inner hole portion 22b is formed so that the stop member 42B cannot pass therethrough, and when the string 41B is wound up to a position where the unmanned air vehicle 1B contacts the control device 2B or just before it. The auxiliary string 41Ba contacts the outer hole portion 22a in a tensioned state, and the stop member 42B contacts the inner hole portion 22b. Therefore, even if the unmanned air vehicle 1B floats obliquely above the control device 2B, The auxiliary cord 41Ba is guided and supported by the outer hole portion 22a, and the unmanned air vehicle 1B can be brought into contact with the control device 2B in a stable posture. Even if the winding device 4B vigorously winds the cord 41B, when the cord 41B is wound up to a position where the unmanned air vehicle 1B comes into contact with the control device 2B, the stop member 42B contacts the inner hole portion 22b. The contact force between the unmanned air vehicle 1B and the control device 2B can be relaxed in contact with or close to each other. It should be noted that when the string 41B is wound up to the position where the unmanned air vehicle 1B comes into contact with the control device 2B, the stop member 42B does not come into contact with the inner hole portion 22b as long as it is in a close floating state. Further, fine adjustment of the auxiliary string 41Ba and the string 41B is unnecessary, and the production and the like are easy.

  The present invention can be used, for example, as an inspection device used for appearance inspection of piping attached to a bridge.

1, 1B, 1C Unmanned aerial vehicle 1G, 1BG image 2, 2B, 2C Steering device 3, 3C Ship 3G image 4, 4B, 4C Winding device 10, 10B, 10C Inspection device 11, 11B, 11C First camera (camera )
21 2nd camera 21B 4th camera 22 Image display part 22a, 32a Outer hole part 22b, 32b Inner hole part 22G, 22BG Screen 23, 23B Control part 31 3rd camera 41, 41B, 41C String 41a, 41Ba Auxiliary string 42, 42B, 42C Stopping member α, α1, α2 Angle of view KT Inspection object KS Route PP Moving position PQ Imaging position SS, SS1, SS2 Indicating line SW, SW1, SW2 Indicating frame SWB Indicating frame

Claims (12)

An inspection device comprising an unmanned air vehicle equipped with a first camera for photographing an inspection object and a control device for remotely maneuvering the unmanned air vehicle,
The unmanned air vehicle is mounted so as to be able to take off and dock, and includes a ship that moves on the route,
The control device includes a second camera that captures the ship, an image display unit that displays an image of the ship captured by the second camera, and a control unit that controls the unmanned air vehicle and the ship.
The control unit is configured such that an image at a predetermined movement position of the ship captured by the second camera overlaps an instruction line whose position is specified on the screen of the image display unit or is in an instruction frame whose region is specified on the screen of the image display unit The inspection apparatus controls the movement of the ship so as to enter. The inspection apparatus according to claim 1,
The inspection apparatus, wherein the unmanned air vehicle and the ship are connected by a string, and the ship includes a winding device for winding the string. The inspection apparatus according to claim 2,
The winding device has a structure in which a plurality of auxiliary cords connected to the outer peripheral side of the unmanned air vehicle are gathered into one cord by a stop member, and the gathered one cord is wound. The inspection apparatus according to claim 3,
In the ship, the outer hole part through which the string is inserted and the inner hole part are provided at positions separated in the inner and outer directions,
The outer hole portion is formed so that the stopper member can pass therethrough, and the inner hole portion is formed so that the stopper member cannot pass therethrough,
When the string is wound up to a position where the unmanned air vehicle lands on the ship or just before it, the auxiliary string comes into contact with the outer hole portion in a tensioned state, and the inner hole portion An inspection apparatus, wherein the stop member abuts or approaches. The inspection apparatus according to any one of claims 2 to 4,
2. The inspection apparatus according to claim 1, wherein the unmanned air vehicle is a balloon that can float by itself. The inspection apparatus according to any one of claims 1 to 4,
The ship is equipped with a third camera for photographing the unmanned air vehicle,
The control unit is configured so that the image at the shooting position of the unmanned air vehicle photographed by the third camera is in contact with or within a predetermined size within an instruction frame designated on the screen of the image display unit. An inspection apparatus for controlling movement of an unmanned air vehicle. The inspection apparatus according to claim 6,
The said control part performs the instruction | indication which moves the said unmanned air vehicle following the angle-of-view change of the said 3rd camera with respect to the said unmanned air vehicle. An inspection device comprising an unmanned air vehicle equipped with a first camera for photographing an inspection object and a control device for remotely maneuvering the unmanned air vehicle,
The control device includes a fourth camera that captures the unmanned air vehicle, an image display unit that displays an image of the unmanned air vehicle captured by the fourth camera, and a control unit that controls the unmanned air vehicle.
The control unit is configured so that an image at the shooting position of the unmanned air vehicle photographed by the fourth camera is in contact with or within a predetermined size within an instruction frame designated on the screen of the image display unit. An inspection apparatus for controlling movement of an unmanned air vehicle. The inspection apparatus according to claim 8, wherein
The said control part performs the instruction | indication which moves the said unmanned air vehicle following the angle-of-view change of the said 4th camera with respect to the said unmanned air vehicle. In the inspection apparatus according to claim 8 or 9,
The inspection apparatus, wherein the unmanned air vehicle and the control device are connected with a string, and the control device includes a winding device for winding the string. The inspection apparatus according to claim 10, wherein
The winding device has a structure in which a plurality of auxiliary cords connected to the outer peripheral side of the unmanned air vehicle are gathered into one cord by a stop member, and the gathered one cord is wound. The inspection apparatus according to claim 11,
The steering device includes an outer hole part through which the string is inserted and an inner hole part at positions separated in the inner and outer directions,
The outer hole portion is formed so that the stopper member can pass therethrough, and the inner hole portion is formed so that the stopper member cannot pass therethrough,
When the string is wound up to a position where the unmanned air vehicle contacts the control device or just before it, the auxiliary string contacts the outer hole portion in a tensioned state, and the inner hole portion An inspection apparatus in which a stop member abuts or approaches.

Images