JP2021022846A - Inspection method and inspection system - Google Patents
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Abstract
Description
本発明は、画像を用いてのり面や壁面など所定の面を点検する点検方法、点検システムに関する。 The present invention relates to an inspection method and an inspection system for inspecting a predetermined surface such as a slope or a wall surface using an image.
近年、日本国において高度成長期以降に整備したインフラが急速に老朽化しており、今後２０年間で建設後５０年以上経過する施設の割合が急速に高くなる見込である。インフラは、適切に点検・補修・修繕を行い、機能維持を図ることが望ましいが、なかには財政的理由や労働者不足により、適切な点検・補修・修繕が実施されず、損傷の程度が悪化して危険性が増し、利用することが難しいインフラも出てきている。そのため、効率的かつ効果的に点検することが重要となっている。 In recent years, the infrastructure developed after the high-growth period in Japan has rapidly deteriorated, and it is expected that the proportion of facilities that have been constructed for more than 50 years will increase rapidly in the next 20 years. It is desirable to properly inspect, repair, and repair the infrastructure to maintain its function, but due to financial reasons and labor shortages, appropriate inspection, repair, and repair are not carried out, and the degree of damage worsens. The danger is increasing, and some infrastructures are difficult to use. Therefore, it is important to inspect efficiently and effectively.
そして、上述したようなインフラの点検においては、近年ではＵＡＶ（Unmanned aerial vehicle：無人航空機）の活用が期待されている。つまり、ＵＡＶにカメラを搭載して点検対象となる所定の面を撮影し、撮影画像を用いて所定面の点検を行うことが期待されている。例えば、ＵＡＶを用いて点検を行う方法として、非特許文献１に記載の方法が検討されている。 In recent years, UAVs (Unmanned aerial vehicles) are expected to be used in the inspection of infrastructure as described above. That is, it is expected that a camera is mounted on the UAV to photograph a predetermined surface to be inspected, and the predetermined surface is inspected using the photographed image. For example, as a method of performing an inspection using a UAV, the method described in Non-Patent Document 1 has been studied.
しかしながら、非特許文献１では、ＵＡＶに搭載されたカメラで撮影した画像を用いて法面構造物の点検を行うことを提案しているが、具体的にＵＡＶを用いてどのように撮影を行うか、といったことまで言及していない。そのため、点検の精度を高めることが困難であり、効率的かつ効果的な点検を行うことができない、という問題が生じる。 However, Non-Patent Document 1 proposes to inspect the slope structure using an image taken by a camera mounted on the UAV, but specifically how to take a picture using the UAV. I didn't even mention that. Therefore, it is difficult to improve the accuracy of the inspection, and there arises a problem that an efficient and effective inspection cannot be performed.
このため、本発明の目的は、上述した課題である、所定の面を効率的かつ効果的に点検できないこと、を解決することにある。 Therefore, an object of the present invention is to solve the above-mentioned problem that a predetermined surface cannot be inspected efficiently and effectively.
本発明の一形態である点検方法は、
飛行体に搭載した撮像装置を用いて点検対象面の静止画像を複数取得し、
取得した前記静止画像に対する所定の解析処理を行い、前記点検対象面の点検を行う点検方法であって、
前記撮像装置に装備された撮像センサのサイズ及び画素数と、当該撮像センサの焦点距離と、に基づいて決定された撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
という構成をとる。
The inspection method, which is one embodiment of the present invention, is
Acquire multiple still images of the surface to be inspected using the image pickup device mounted on the aircraft,
This is an inspection method in which a predetermined analysis process is performed on the acquired still image to inspect the surface to be inspected.
The flight so as to acquire a plurality of the still images of the inspection target surface at a shooting altitude determined based on the size and the number of pixels of the image sensor equipped in the image sensor and the focal length of the image sensor. Controlling the flight status of the body and the imaging status of the imaging device,
It takes the configuration.
また、上記点検方法では、
前記撮像装置に装備された撮像センサのサイズ及び画素数と、当該撮像センサの焦点距離と、に基づいて、前記撮像センサの１画素で撮影される領域の寸法である地上画素寸法が所定の範囲の値となるよう決定された前記撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
という構成をとる。
In addition, in the above inspection method,
Based on the size and number of pixels of the image pickup sensor equipped in the image pickup device and the focal distance of the image pickup sensor, the ground pixel size, which is the size of the area photographed by one pixel of the image pickup sensor, is within a predetermined range. At the shooting altitude determined to be the value of, the flight status of the flying object and the imaging status of the imaging device are controlled so as to acquire a plurality of the still images of the surface to be inspected.
It takes the configuration.
また、上記点検方法では、
前記地上画素寸法が１ｍｍから所定の範囲内の値となるよう決定された前記撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
という構成をとる。
In addition, in the above inspection method,
The flight status of the flying object and the imaging of the imaging device so as to acquire a plurality of the still images of the surface to be inspected at the shooting altitude determined so that the ground pixel size is within a predetermined range from 1 mm. Control the situation,
It takes the configuration.
また、上記点検方法では、
前記地上画素寸法が０．７以上１．１ｍｍ以下となるよう決定された前記撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
という構成をとる。
In addition, in the above inspection method,
The flight status of the flying object and the imaging of the imaging device so as to acquire a plurality of the still images of the surface to be inspected at the shooting altitude determined so that the ground pixel size is 0.7 or more and 1.1 mm or less. Control the situation,
It takes the configuration.
また、上記点検方法では、
前記撮像センサのサイズが１／２．３型、前記撮像センサの有効画素数が１２Ｍピクセル、前記撮像センサの３５ｍｍ換算の焦点距離が２４ｍｍである場合に、前記撮影高度が２〜３ｍで、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
という構成をとる。
In addition, in the above inspection method,
When the size of the image sensor is 1 / 2.3 type, the number of effective pixels of the image sensor is 12 M pixels, and the focal length of the image sensor converted to 35 mm is 24 mm, the shooting altitude is 2 to 3 m, and the above. Controlling the flight status of the flying object and the imaging status of the imaging device so as to acquire a plurality of the still images of the surface to be inspected.
It takes the configuration.
また、上記点検方法では、
決定された前記撮影高度で取得する前記静止画像間の重なり度合いが予め設定された値となるよう、前記飛行体の飛行ルート及び飛行速度と前記撮像装置による撮影間隔を制御する、
という構成をとる。
In addition, in the above inspection method,
The flight route and flight speed of the flying object and the shooting interval by the imaging device are controlled so that the degree of overlap between the still images acquired at the determined shooting altitude becomes a preset value.
It takes the configuration.
また、上記点検方法では、
決定された前記撮影高度で取得する前記静止画像間の横方向の重なり度合いと縦方向の重なり度合いとが、それぞれ予め設定された値となるよう、前記飛行体の飛行ルート及び飛行速度と前記撮像装置による撮影間隔とを制御する、
という構成をとる。
In addition, in the above inspection method,
The flight route and flight speed of the flying object and the imaging so that the degree of overlap in the horizontal direction and the degree of overlap in the vertical direction between the still images acquired at the determined shooting altitude are preset values, respectively. Control the shooting interval by the device,
It takes the configuration.
また、本発明の一形態である点検システムは、
飛行体に搭載した撮像装置を用いて点検対象面の静止画像を複数取得する取得手段と、
取得した前記静止画像に対する所定の解析処理を行い、前記点検対象面の点検を行う解析手段と、を備えた点検システムであって、
前記取得手段は、前記撮像装置に装備された撮像センサのサイズ及び画素数と、当該撮像センサの焦点距離と、に基づいて決定された撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
という構成をとる。
Further, the inspection system, which is one form of the present invention, is
An acquisition means for acquiring multiple still images of the surface to be inspected using an image pickup device mounted on the aircraft, and
An inspection system including an analysis means for performing a predetermined analysis process on the acquired still image and inspecting the surface to be inspected.
The acquisition means captures a plurality of the still images of the inspection target surface at a shooting altitude determined based on the size and the number of pixels of the image sensor equipped in the image sensor and the focal length of the image sensor. The flight status of the flying object and the imaging status of the imaging device are controlled so as to be acquired.
It takes the configuration.
本発明は、以上のように構成されることにより、撮像センサの仕様に基づいて決定された撮影高度で点検対象面の静止画像を取得するため、所望の点検精度を得ることができる適切な静止画像を取得することができる。その結果、点検対象面の点検の精度を高めることができ、効率的かつ効果的な点検を行うことができる。 According to the present invention, since a still image of the surface to be inspected is acquired at an imaging altitude determined based on the specifications of the image pickup sensor by being configured as described above, an appropriate stillness capable of obtaining a desired inspection accuracy can be obtained. Images can be acquired. As a result, the accuracy of the inspection of the inspection target surface can be improved, and efficient and effective inspection can be performed.
＜実施形態１＞
本発明の第１の実施形態を、図１乃至図８を参照して説明する。本発明における点検システム及び点検方法は、のり面や壁面など点検対象面の画像を撮影して、かかる画像に基づいて点検対象面を点検するものである。このとき、点検対象面Ｗは、例えば、図１に示すような、のり面、ダム壁面、道路面などである。このため、本発明における点検システム及び点検方法は、一例として、点検対象面Ｗに人物が近づいて点検することが難しい場合に、ＵＡＶ（Unmanned aerial vehicle）といった無人航空機１を用いて静止画像Ｇを撮影し、クラック等の有無の点検を行うためのものである。
<Embodiment 1>
The first embodiment of the present invention will be described with reference to FIGS. 1 to 8. The inspection system and the inspection method in the present invention take an image of an inspection target surface such as a slope or a wall surface, and inspect the inspection target surface based on the image. At this time, the inspection target surface W is, for example, a slope surface, a dam wall surface, a road surface, or the like as shown in FIG. Therefore, the inspection system and the inspection method in the present invention, for example, use an unmanned aerial vehicle 1 such as a UAV (Unmanned aerial vehicle) to display a still image G when it is difficult for a person to approach the inspection target surface W for inspection. It is for taking a picture and checking for cracks and the like.
図１に示すように、点検システムは、デジタルカメラといった撮像装置１０を備えた無人航空機１（飛行体）と、無人航空機１による撮影計画を生成する情報処理装置２と、を備えている。なお、情報処理装置２は、撮影計画を生成するだけでなく、無人航空機１の飛行状況と撮像状況とを制御したり、撮影した画像の解析処理と点検処理を行う機能も備えている。 As shown in FIG. 1, the inspection system includes an unmanned aerial vehicle 1 (aircraft) equipped with an imaging device 10 such as a digital camera, and an information processing device 2 for generating a shooting plan by the unmanned aerial vehicle 1. The information processing device 2 not only generates a shooting plan, but also has a function of controlling the flight status and the imaging status of the unmanned aerial vehicle 1 and performing analysis processing and inspection processing of the captured image.
そして、無人航空機１と情報処理装置２とは、無線通信で通信可能であり、かかる無線通信により、撮影計画を示す撮影計画情報やかかる撮影計画情報に基づく飛行状況や撮影状況を制御する制御情報を、情報処理装置２から無人航空機１に送信したり、無人航空機１にて撮影した静止画像を情報処理装置１に送信してもよい。但し、無人航空機１と情報処理装置２とは、必ずしも通信可能に接続されていることに限定されず、作業者が手動で上述した情報の入出力を行ってもよく、また、無人航空機１は入力された撮影計画情報に基づいて自ら飛行状況と撮像状況とを制御してもよい。 Then, the unmanned aerial vehicle 1 and the information processing device 2 can communicate with each other by wireless communication, and by such wireless communication, the shooting plan information indicating the shooting plan and the control information for controlling the flight status and the shooting status based on the shooting plan information. May be transmitted from the information processing device 2 to the unmanned aerial vehicle 1, or a still image taken by the unmanned aerial vehicle 1 may be transmitted to the information processing device 1. However, the unmanned aerial vehicle 1 and the information processing device 2 are not necessarily connected to each other so as to be communicable, and the operator may manually input / output the above-mentioned information. You may control the flight status and the imaging status by yourself based on the input shooting plan information.
上記情報処理装置２は、演算装置と記憶装置とを備えた一般的な情報処理装置である。そして、情報処理装置２は、図２に示すように、演算装置がプログラムを実行することで構築された、撮影計画部２１、撮影制御部２２、撮影画像入力部２３、解析処理部２４、を備えている。また、情報処理装置２は、記憶装置に形成された、撮影計画記憶部２５、撮影画像記憶部２６、を備えている。 The information processing device 2 is a general information processing device including an arithmetic unit and a storage device. Then, as shown in FIG. 2, the information processing apparatus 2 includes a photographing planning unit 21, a photographing control unit 22, a photographed image input unit 23, and an analysis processing unit 24, which are constructed by the arithmetic unit executing a program. I have. Further, the information processing device 2 includes a photographing plan storage unit 25 and a photographed image storage unit 26 formed in the storage device.
上記撮影計画部２１（取得手段）は、無人航空機１による静止画像Ｇの撮影計画を表す撮影計画情報を生成して、かかる撮影計画情報を撮影計画記憶部２５に記憶する。撮影計画情報は、無人航空機１の飛行ルート、飛行速度、撮影高度を含む飛行状況と、撮影間隔を含む撮像状況と、の計画を表す情報を含む。一例として、撮影計画情報は、例えば、図３に示すように、点検対象面Ｗに沿って、飛行方向を交互に反転させるたびに飛行方向に対して直交方向に飛行コースがずれるような飛行ルート、つまり、飛行コースを並列にずらして複数往復するよう飛行する飛行ルートを含む。また、図４に示すように、点検対象面Ｗに対する飛行高さである撮影高度を含む。さらに、後述する図７に示すように、飛行方向に隣り合う静止画像Ｇ同士が重なる度合いや飛行コースが隣り合う静止画像Ｇ同士が重なる度合いが、予め設定された値となるよう、飛行ルート、飛行速度、撮影間隔を含む。 The shooting plan unit 21 (acquisition means) generates shooting plan information representing the shooting plan of the still image G by the unmanned aerial vehicle 1, and stores the shooting plan information in the shooting plan storage unit 25. The shooting plan information includes information representing a plan of the flight status including the flight route, flight speed, and shooting altitude of the unmanned aerial vehicle 1, and the imaging status including the shooting interval. As an example, as shown in FIG. 3, the shooting plan information is a flight route in which the flight course shifts in a direction orthogonal to the flight direction each time the flight direction is alternately reversed along the inspection target surface W. That is, it includes a flight route in which the flight courses are shifted in parallel to make multiple round trips. Further, as shown in FIG. 4, the imaging altitude which is the flight height with respect to the inspection target surface W is included. Further, as shown in FIG. 7, which will be described later, the flight route is set so that the degree to which the still images G adjacent to each other in the flight direction overlap and the degree to which the still images G adjacent to each other in the flight course overlap are preset values. Includes flight speed and shooting interval.
ここで、撮影計画部２１による撮影計画情報を決定する方法の一例を説明する。はじめに、上述した撮影高度を決定する方法を説明する。撮影高度は、以下に説明するように、撮像装置１０に装備された撮像センサのサイズ及び画素数と、撮像センサの焦点距離と、に基づいて決定される。ここで、本実施形態では、撮像装置１０の諸元として、撮像センサであるＣＭＯＳのサイズ：１／２．３型（ａ×ｂ：６．２ｍｍ×４．７ｍｍ）、有効画素数：１２Ｍピクセル（４０５６×３０４０ピクセル（４０００×３０００ピクセルとする））、レンズ焦点距離：２４ｍｍ（３５ｍｍ換算）、であることとする。但し、上記撮影装置１０の諸元は一例であり、また、以下の計算方法も一例である。 Here, an example of a method of determining the shooting plan information by the shooting planning unit 21 will be described. First, the method of determining the shooting altitude described above will be described. The shooting altitude is determined based on the size and number of pixels of the image sensor equipped in the image sensor 10 and the focal length of the image sensor, as described below. Here, in the present embodiment, as the specifications of the image pickup device 10, the size of the CMOS that is the image pickup sensor: 1 / 2.3 type (a × b: 6.2 mm × 4.7 mm), the number of effective pixels: 12 M pixels. (4056 × 3040 pixels (4000 × 3000 pixels)), lens focal length: 24 mm (35 mm conversion). However, the specifications of the photographing apparatus 10 are an example, and the following calculation method is also an example.
まず、図５に示すように、３５ｍｍフィルム３０の対角線長Ｌと、撮像センサであるＣＭＯＳの対角線長ｌとは、その縦横サイズから、Ｌ＝４３．２６６６１５ｍｍ、ｌ＝７．７８０１０３ｍｍ、となる。続いて、各対角線長Ｌ，ｌと、３５ｍｍ換算の焦点距離Ｆ＝２４ｍｍと、を用いて、図６に示すように、レンズ１２から撮像センサであるＣＭＯＳ１１までの実際の焦点距離ｆを求める。すると、ｆ＝４．３１５６２５ｍｍとなる。 First, as shown in FIG. 5, the diagonal length L of the 35 mm film 30 and the diagonal length l of the CMOS image sensor are L = 43.266615 mm and l = 7.780103 mm due to their vertical and horizontal sizes. Subsequently, as shown in FIG. 6, the actual focal length f from the lens 12 to the CMOS 11 image sensor is obtained by using the diagonal lengths L and l and the focal length F = 24 mm in the 35 mm equivalent. Then, f = 4.315625 mm.
ここで、算出した焦点距離ｆと、撮影高度Ｈと、点検対象面の撮影範囲とセンサ画像との縮尺１／ｍと、は、下記式１の関係となる。
１／ｍ＝ｆ／Ｈ・・・式１
上記式１を用いて、撮影高度Ｈを２，３，５ｍとそれぞれ設定した場合の縮尺１／ｍは、以下の式１−１，１−２，１−３で表すことができる。
・Ｈ＝２
１／ｍ＝ｆ／Ｈ＝４．３１５６２５／（２×１０００）＝１／４６３・・・式１−１
・Ｈ＝３
１／ｍ＝ｆ／Ｈ＝４．３１５６２５／（３×１０００）＝１／６９５・・・式１−２
・Ｈ＝５
１／ｍ＝ｆ／Ｈ＝４．３１５６２５／（５×１０００）＝１／１１５８・・・式１−３
Here, the calculated focal length f, the shooting altitude H, the shooting range of the inspection target surface, and the scale 1 / m of the sensor image have the relationship of the following equation 1.
1 / m = f / H ... Equation 1
The scale 1 / m when the shooting altitude H is set to 2, 3 and 5 m using the above formula 1 can be expressed by the following formula 1-1, 1-2, 1-3.
・ H = 2
1 / m = f / H = 4.315625 / (2 × 1000) = 1/463 ... Equation 1-1
・ H = 3
1 / m = f / H = 4.315625 / (3 × 1000) = 1/695 ... Equation 1-2
・ H = 5
1 / m = f / H = 4.315625 / (5 × 1000) = 1/1158 ... Equation 1-3
そして、算出した各撮影高度Ｈにおける縮尺１／ｍから、撮像センサであるＣＭＯＳの１画素で撮影される領域の寸法である地上画素寸法ｐ１×ｐ２は、式２−１，２−２，２−３のように求めることができる。
・Ｈ＝２
ｐ１×ｐ２＝（（６．２／４０００）×４６３）×（（４．７／３０００）×４６３）
＝０．７ｍｍ×０．７ｍｍ・・・式２−１
・Ｈ＝３
ｐ１×ｐ２＝（（６．２／４０００）×６９５）×（（４．７／３０００）×６９５）
＝１．１ｍｍ×１．１ｍｍ・・・式２−２
・Ｈ＝５
ｐ１×ｐ２＝（（６．２／４０００）×１１５８）×（（４．７／３０００）×１１５８＝１．８ｍｍ×１．８ｍｍ・・・式２−３
Then, from the calculated scale 1 / m at each shooting altitude H, the ground pixel size p1 × p2, which is the size of the area shot by one pixel of CMOS, which is an imaging sensor, is given by Equations 2-1, 2-2, 2. It can be calculated as -3.
・ H = 2
p1 x p2 = ((6.2 / 4000) x 463) x ((4.7 / 3000) x 463)
= 0.7 mm x 0.7 mm ... Equation 2-1
・ H = 3
p1 x p2 = ((6.2 / 4000) x 695) x ((4.7 / 3000) x 695)
= 1.1 mm x 1.1 mm ... Formula 2-2
・ H = 5
p1 x p2 = ((6.2 / 4000) x 1158) x ((4.7 / 3000) x 1158 = 1.8 mm x 1.8 mm ... Equation 2-3
以上より、地上画素寸法ｐ１×ｐ２＝０．７ｍｍ×０．７ｍｍ、または、１．１ｍｍ×１．１ｍｍとなる撮影高度Ｈ＝２ｍ又は３ｍとすることで、約１ｍｍの精度で点検対象面Ｗを点検することが可能となる。このようにして、撮影高度をＨ＝２ｍ、または、３ｍと決定する。 Based on the above, by setting the shooting altitude H = 2 m or 3 m, which has the ground pixel dimensions p1 x p2 = 0.7 mm x 0.7 mm or 1.1 mm x 1.1 mm, the inspection target surface W has an accuracy of about 1 mm. Can be inspected. In this way, the shooting altitude is determined to be H = 2 m or 3 m.
続いて、飛行ルート、飛行速度、撮影間隔を決定する。ここでは、図７上図に示すように、同一の飛行コースＲ１上で隣り合って撮影された静止画像Ｇ１，Ｇ２が相互に重なる度合い、つまり、静止画像Ｇ１，Ｇ２同士が横方向に重なる度合い、であるオーバーラップＰ＝９０％とする場合における、静止画像Ｇ１，Ｇ２間の撮影間隔Ｂを決定する。また、図７下図に示すように、相互に隣り合う飛行コースＲ３，Ｒ４でそれぞれ撮影された静止画像Ｇ３，Ｇ４が相互に重なる度合い、つまり、静止画像Ｇ３，Ｇ４同士が縦方向に重なる度合い、であるサイドラップＱ＝６０％とする場合における、飛行コースの間隔を表すコース間隔Ｃを決定する。なお、図７上図における一点鎖線は、静止画像Ｇ１，Ｇ２のそれぞれの横方向の中心を示し、図７下図における一点鎖線は、静止画像Ｇ３，Ｇ４のそれぞれの縦方向の中心を示している。そして、上述した各撮影高度における撮影間隔Ｂ及びコース間隔Ｃは、例えば、以下の式に示すように算出する。なお、以下の式におけるａ，ｂは、６．２，４，７と撮像センサであるＣＯＭＳのサイズを表し、ｍは、上述したように算出した各撮影高度における縮尺を表している。 Next, the flight route, flight speed, and shooting interval are determined. Here, as shown in the upper figure of FIG. 7, the degree to which the still images G1 and G2 taken adjacent to each other on the same flight course R1 overlap each other, that is, the degree to which the still images G1 and G2 overlap in the lateral direction. , The shooting interval B between the still images G1 and G2 is determined when the overlap P = 90%. Further, as shown in the lower figure of FIG. 7, the degree to which the still images G3 and G4 taken on the adjacent flight courses R3 and R4 overlap each other, that is, the degree to which the still images G3 and G4 overlap in the vertical direction. When the side lap Q = 60%, the course interval C representing the flight course interval is determined. The alternate long and short dash line in the upper diagram of FIG. 7 indicates the horizontal center of each of the still images G1 and G2, and the alternate long and short dash line in the lower diagram of FIG. 7 indicates the vertical center of each of the still images G3 and G4. .. Then, the shooting interval B and the course interval C at each shooting altitude described above are calculated, for example, as shown in the following formula. In the following formula, a and b represent 6.2, 4, 7 and the size of the COMS that is the imaging sensor, and m represents the scale at each shooting altitude calculated as described above.
・Ｈ＝２
Ｂ＝ｍ・ａ・（１−Ｐ／１００）×１／１０００＝４６３×６．２×（１−９０／１００）×１／１０００＝０．３・・・式３−１ａ
Ｃ＝ｍ・ｂ・（１−Ｑ／１００）×１／１０００＝４６３×４．７×（１−６０／１００）×１／１０００＝０．９・・・式３−１ｂ
・Ｈ＝３
Ｂ＝ｍ・ａ・（１−Ｐ／１００）×１／１０００＝６９５×６．２×（１−９０／１００）×１／１０００＝０．４・・・式３−２ａ
Ｃ＝ｍ・ｂ・（１−Ｑ／１００）×１／１０００＝６９５×４．７×（１−６０／１００）×１／１０００＝１．３・・・式３−２ｂ
・Ｈ＝５
Ｂ＝ｍ・ａ・（１−Ｐ／１００）×１／１０００＝１１５８×６．２×（１−９０／１００）×１／１０００＝０．７・・・式３−３ａ
Ｃ＝ｍ・ｂ・（１−Ｑ／１００）×１／１０００＝１１５８×４．７×（１−６０／１００）×１／１０００＝２．２・・・式３−３ｂ
・ H = 2
B = m · a · (1-P / 100) x 1/1000 = 463 x 6.2 x (1-90 / 100) x 1/1000 = 0.3 ... Equation 3-1a
C = m · b · (1-Q / 100) × 1/1000 = 463 × 4.7 × (1-60 / 100) × 1/1000 = 0.9 ... Equation 3-1b
・ H = 3
B = m · a · (1-P / 100) x 1/1000 = 695 x 6.2 x (1-90 / 100) x 1/1000 = 0.4 ... Equation 3-2a
C = m · b · (1-Q / 100) × 1/1000 = 695 × 4.7 × (1-60 / 100) × 1/1000 = 1.3 ... Equation 3-2b
・ H = 5
B = m · a · (1-P / 100) x 1/1000 = 1158 x 6.2 x (1-90 / 100) x 1/1000 = 0.7 ... Equation 3-3a
C = m · b · (1-Q / 100) × 1/1000 = 1158 × 4.7 × (1-60 / 100) × 1/1000 = 2.2 ... Equation 3-3b
以上より、撮影計画部２１は、以下に示すように、撮影高度２ｍ又は３ｍの２通りの飛行計画情報を生成して（図８のステップＳ１）、撮影計画記憶部２５に記憶する。
（１）撮影高度：２ｍ、飛行速度：０．１５ｍ／ｓ以下、コース間隔０．９ｍ以下、撮影間隔：２秒
（２）撮影高度：３ｍ、飛行速度：０．３０ｍ／ｓ以下、コース間隔１．３ｍ以下、撮影間隔：２秒
なお、飛行速度と撮影間隔（秒）は、算出した撮影間隔Ｂをもとに決定している。
Based on the above, the shooting plan unit 21 generates two types of flight plan information at a shooting altitude of 2 m or 3 m (step S1 in FIG. 8) and stores them in the shooting plan storage unit 25, as shown below.
(1) Shooting altitude: 2 m, flight speed: 0.15 m / s or less, course interval 0.9 m or less, shooting interval: 2 seconds (2) Shooting altitude: 3 m, flight speed: 0.30 m / s or less, course interval 1.3 m or less, shooting interval: 2 seconds The flight speed and shooting interval (seconds) are determined based on the calculated shooting interval B.
そして、上記撮影制御部２２（取得部）は、作業者の指示により、あるいは、自動的に、生成された撮影計画情報のうち、１つの撮影計画情報を選択して、無人航空機１に送信する。これにより、無人航空機１は、撮影計画情報に含まれる飛行ルートＲや撮影高度Ｈに従って飛行し、撮影計画情報に含まれる撮影間隔に従って静止画像を撮影する（図８のステップＳ２）。なお、無人航空機１は、撮影計画情報に基づいて、自律的に飛行状況と撮像状況とを制御して静止画像を撮影してもよい。あるいは、情報処理装置２の撮影制御部２２が、撮影計画情報に基づいて無人航空機１に対して飛行及び撮影を制御する制御情報を送信し、遠隔で無人航空機１の飛行状況と撮像状況とを制御して静止画像を撮影してもよい。 Then, the shooting control unit 22 (acquisition unit) selects one shooting plan information from the generated shooting plan information according to the instruction of the operator or automatically, and transmits it to the unmanned aerial vehicle 1. .. As a result, the unmanned aerial vehicle 1 flies according to the flight route R and the shooting altitude H included in the shooting plan information, and shoots a still image according to the shooting interval included in the shooting plan information (step S2 in FIG. 8). The unmanned aerial vehicle 1 may autonomously control the flight status and the imaging status to capture a still image based on the imaging plan information. Alternatively, the shooting control unit 22 of the information processing device 2 transmits control information for controlling flight and shooting to the unmanned aerial vehicle 1 based on the shooting plan information, and remotely obtains the flight status and the imaging status of the unmanned aerial vehicle 1. You may control and take a still image.
上記撮影画像入力部２３（取得部）は、無人航空機１に搭載された撮影装置１０で撮影された静止画像を無線通信を介して受信し、撮影画像記憶部２６に記憶する。但し、撮影画像入力部２３は、他の方法により撮影画像の入力を受けてもよい。例えば、無線航空機１が作業者のもとに帰還したのちに、手動で撮影装置１０から静止画像を情報処理装置に記憶してもよい。 The captured image input unit 23 (acquisition unit) receives a still image captured by the photographing device 10 mounted on the unmanned aerial vehicle 1 via wireless communication, and stores it in the captured image storage unit 26. However, the captured image input unit 23 may receive the input of the captured image by another method. For example, after the wireless aircraft 1 returns to the operator, the still image may be manually stored in the information processing device from the photographing device 10.
その後、上記解析処理部２４（解析手段）は、撮影画像記憶部２６に記憶された静止画像に対する所定の解析処理を行い、点検対象面Ｗの点検処理を行う（図８のステップＳ３，Ｓ４）。解析処理は、例えば、ＳｆＭ（Structure from Motion）技術を用いて、複数の撮影画像からローカル座標系における三次元座標（三次元点群データ）からなる三次元再構成画像を生成して、静止画像内のクラック（ひび割れ）や破損個所などの検出を行う。そして、点検処理は、予め設定された基準を満たすクラックや破損個所、例えば、予め設定された大きさ以上のクラックや予め設定された破損度合い以上の破損個所、が存在するか否かを調べる。但し、解析処理及び点検処理の内容は、いかなる処理であってもよい。 After that, the analysis processing unit 24 (analysis means) performs a predetermined analysis process on the still image stored in the captured image storage unit 26, and inspects the inspection target surface W (steps S3 and S4 in FIG. 8). .. In the analysis process, for example, SfM (Structure from Motion) technology is used to generate a three-dimensional reconstructed image consisting of three-dimensional coordinates (three-dimensional point cloud data) in the local coordinate system from a plurality of captured images, and a still image. Detects cracks and damaged parts inside. Then, the inspection process checks whether or not there are cracks or damaged parts satisfying a preset standard, for example, cracks having a preset size or more or damaged parts having a preset degree of damage or more. However, the content of the analysis process and the inspection process may be any process.
以上のように、本発明の点検システムでは、撮像センサの仕様に基づいて決定された撮影高度で点検対象面の静止画像を取得するため、所望の点検精度を得ることができる適切な静止画像を取得することができる。特に、撮像センサの１画素で撮影される領域の寸法である地上画素寸法ｐ１×ｐ２が、０．７ｍｍ×０．７ｍｍ、または、１．１ｍｍ×１．１ｍｍとなる撮影高度Ｈ＝２ｍ又は３ｍとすることで、約１ｍｍの精度で点検対象面Ｗを点検することが可能となる。その結果、点検対象面の点検の精度を高めることができ、効率的かつ効果的な点検を行うことができる。なお、上記では、地上画素寸法ｐ１×ｐ２が、０．７ｍｍ×０．７ｍｍ、または、１．１ｍｍ×１．１ｍｍとなる撮影高度を決定しているが、地上画素寸法ｐ１×ｐ２が、０．７ｍｍ×０．７ｍｍから１．１ｍｍ×１．１ｍｍの間となる撮影高度を決定してもよく、地上画素寸法が１ｍｍ×１ｍｍから所定の範囲内の値となるよう撮影高度を決定してもよい。さらには、必ずしも地上画素寸法が１ｍｍ×１ｍｍ前後となるような撮影高度に決定することに限定されず、撮像センサの諸元に基づいて、点検の内容に応じて適切な静止画像が取得できるような撮影高度に決定してもよい。 As described above, in the inspection system of the present invention, since the still image of the inspection target surface is acquired at the shooting altitude determined based on the specifications of the image sensor, an appropriate still image capable of obtaining the desired inspection accuracy can be obtained. Can be obtained. In particular, the shooting altitude H = 2 m or 3 m at which the ground pixel size p1 × p2, which is the size of the area imaged by one pixel of the image sensor, is 0.7 mm × 0.7 mm or 1.1 mm × 1.1 mm. Therefore, it is possible to inspect the inspection target surface W with an accuracy of about 1 mm. As a result, the accuracy of the inspection of the inspection target surface can be improved, and efficient and effective inspection can be performed. In the above, the shooting altitude at which the ground pixel size p1 × p2 is 0.7 mm × 0.7 mm or 1.1 mm × 1.1 mm is determined, but the ground pixel size p1 × p2 is 0. The shooting altitude may be determined to be between 7. mm × 0.7 mm and 1.1 mm × 1.1 mm, and the shooting altitude is determined so that the ground pixel size is within a predetermined range from 1 mm × 1 mm. May be good. Furthermore, the shooting altitude is not necessarily determined so that the ground pixel size is around 1 mm × 1 mm, and an appropriate still image can be obtained according to the content of the inspection based on the specifications of the image sensor. The shooting altitude may be determined.
なお、上述したプログラムは、記憶装置に記憶されていたり、情報処理装置が読み取り可能な記録媒体に記録されている。例えば、記録媒体は、フレキシブルディスク、光ディスク、光磁気ディスク、及び、半導体メモリ等の可搬性を有する媒体である。 The above-mentioned program is stored in a storage device or recorded on a recording medium that can be read by the information processing device. For example, the recording medium is a portable medium such as a flexible disk, an optical disk, a magneto-optical disk, and a semiconductor memory.
以上、上記実施形態等を参照して本願発明を説明したが、本願発明は、上述した実施形態に限定されるものではない。本願発明の構成や詳細には、本願発明の範囲内で当業者が理解しうる様々な変更をすることができる。 Although the invention of the present application has been described above with reference to the above-described embodiments and the like, the present invention is not limited to the above-described embodiments. Various changes that can be understood by those skilled in the art can be made to the structure and details of the present invention within the scope of the present invention.
１ 無人航空機
１０ 撮影装置
１１ 撮影センサ（ＣＭＯＳ）
１２ レンズ
２ 情報処理装置
２１ 撮影計画部
２２ 撮影制御部
２３ 撮影画像入力部
２４ 解析処理部
２５ 撮影計画記憶部
２６ 撮影画像記憶部
Ｗ 点検対象面
Ｇ 静止画像
Ｒ 飛行ルート
1 Unmanned aerial vehicle 10 Imaging device 11 Imaging sensor (CMOS)
12 Lens 2 Information processing device 21 Imaging planning unit 22 Imaging control unit 23 Imaging image input unit 24 Analysis processing unit 25 Imaging planning storage unit 26 Imaging image storage unit W Inspection target surface G Still image R Flight route
Claims (8)
取得した前記静止画像に対する所定の解析処理を行い、前記点検対象面の点検を行う点検方法であって、
前記撮像装置に装備された撮像センサのサイズ及び画素数と、当該撮像センサの焦点距離と、に基づいて決定された撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
点検方法。 Acquire multiple still images of the surface to be inspected using the image pickup device mounted on the aircraft,
This is an inspection method in which a predetermined analysis process is performed on the acquired still image to inspect the surface to be inspected.
The flight so as to acquire a plurality of the still images of the inspection target surface at a shooting altitude determined based on the size and the number of pixels of the image sensor equipped in the image sensor and the focal length of the image sensor. Controlling the flight status of the body and the imaging status of the imaging device,
Inspection method.
前記撮像装置に装備された撮像センサのサイズ及び画素数と、当該撮像センサの焦点距離と、に基づいて、前記撮像センサの１画素で撮影される領域の寸法である地上画素寸法が所定の範囲の値となるよう決定された前記撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
点検方法。 The inspection method according to claim 1.
Based on the size and number of pixels of the image pickup sensor equipped in the image pickup device and the focal distance of the image pickup sensor, the ground pixel size, which is the size of the area photographed by one pixel of the image pickup sensor, is within a predetermined range. At the shooting altitude determined to be the value of, the flight status of the flying object and the imaging status of the imaging device are controlled so as to acquire a plurality of the still images of the surface to be inspected.
Inspection method.
前記地上画素寸法が１ｍｍから所定の範囲内の値となるよう決定された前記撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
点検方法。 The inspection method according to claim 2.
The flight status of the flying object and the imaging of the imaging device so as to acquire a plurality of the still images of the surface to be inspected at the shooting altitude determined so that the ground pixel size is within a predetermined range from 1 mm. Control the situation,
Inspection method.
前記地上画素寸法が０．７以上１．１ｍｍ以下となるよう決定された前記撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
点検方法。 The inspection method according to claim 2 or 3.
The flight status of the flying object and the imaging of the imaging device so as to acquire a plurality of the still images of the surface to be inspected at the shooting altitude determined so that the ground pixel size is 0.7 or more and 1.1 mm or less. Control the situation,
Inspection method.
前記撮像センサのサイズが１／２．３型、前記撮像センサの有効画素数が１２Ｍピクセル、前記撮像センサの３５ｍｍ換算の焦点距離が２４ｍｍである場合に、前記撮影高度が２〜３ｍで、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
点検方法。 The inspection method according to any one of claims 2 to 4.
When the size of the image sensor is 1 / 2.3 type, the number of effective pixels of the image sensor is 12 M pixels, and the focal length of the image sensor converted to 35 mm is 24 mm, the shooting altitude is 2 to 3 m, and the above. Controlling the flight status of the flying object and the imaging status of the imaging device so as to acquire a plurality of the still images of the surface to be inspected.
Inspection method.
決定された前記撮影高度で取得する前記静止画像間の重なり度合いが予め設定された値となるよう、前記飛行体の飛行ルート及び飛行速度と前記撮像装置による撮影間隔を制御する、
点検方法。 The inspection method according to any one of claims 1 to 5.
The flight route and flight speed of the flying object and the shooting interval by the imaging device are controlled so that the degree of overlap between the still images acquired at the determined shooting altitude becomes a preset value.
Inspection method.
決定された前記撮影高度で取得する前記静止画像間の横方向の重なり度合いと縦方向の重なり度合いとが、それぞれ予め設定された値となるよう、前記飛行体の飛行ルート及び飛行速度と前記撮像装置による撮影間隔とを制御する、
点検方法。 The inspection method according to claim 6.
The flight route and flight speed of the flying object and the imaging so that the degree of overlap in the horizontal direction and the degree of overlap in the vertical direction between the still images acquired at the determined shooting altitude are preset values, respectively. Control the shooting interval by the device,
Inspection method.
取得した前記静止画像に対する所定の解析処理を行い、前記点検対象面の点検を行う解析手段と、を備えた点検システムであって、
前記取得手段は、前記撮像装置に装備された撮像センサのサイズ及び画素数と、当該撮像センサの焦点距離と、に基づいて決定された撮影高度で、前記点検対象面の複数の前記静止画像を取得するよう前記飛行体の飛行状況と前記撮像装置の撮像状況とを制御する、
点検システム。
An acquisition means for acquiring multiple still images of the surface to be inspected using an image pickup device mounted on the aircraft, and
An inspection system including an analysis means for performing a predetermined analysis process on the acquired still image and inspecting the surface to be inspected.
The acquisition means captures a plurality of the still images of the inspection target surface at a shooting altitude determined based on the size and the number of pixels of the image sensor equipped in the image sensor and the focal length of the image sensor. The flight status of the flying object and the imaging status of the imaging device are controlled so as to be acquired.
Inspection system.
Priority Applications (1)
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| WO2022019236A1 (en) * | 2020-07-22 | 2022-01-27 | 株式会社エムアールサポート | Orthoimage creation method, ground model creation method, orthoimage creation system, and ground model creation system |
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| CN109211202A (en) * | 2018-09-21 | 2019-01-15 | 长安大学 | A kind of method for optimizing route of the expressway slope inspection based on unmanned plane |
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| JP2019060641A (en) * | 2017-09-25 | 2019-04-18 | 和樹 ▲柳▼ | Aerial marking, analysis device, and drone airborne survey system |
| CN109211202A (en) * | 2018-09-21 | 2019-01-15 | 长安大学 | A kind of method for optimizing route of the expressway slope inspection based on unmanned plane |
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| WO2022019236A1 (en) * | 2020-07-22 | 2022-01-27 | 株式会社エムアールサポート | Orthoimage creation method, ground model creation method, orthoimage creation system, and ground model creation system |
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