JP2021059925A - Bridge inspection method and bridge inspection system - Google Patents

Abstract

To inspect bridges inexpensively and efficiently.SOLUTION: A bridge inspection method includes: a first step of taking an image for inspecting a bridge 2 using an inspection camera unit 16 arranged on an unmanned flying body 14 housed in a spherical protective member 12; a second step of taking from a distance an image of the unmanned flying body 14 flying near the bridge 2; and a third step of displaying the flight image taken by the first step and the inspection image taken by the second step in a synchronized state.SELECTED DRAWING: Figure 1

Description

The present invention relates to a bridge inspection method and a bridge inspection system.

Conventionally, workers use a bridge inspection vehicle to inspect the superstructure (space under the girder), substructure (piers, piers), and bearings of a bridge. As a technique related to the present invention, for example, in Patent Document 1, in a method of performing aerial photography by equipping an unmanned vehicle with a camera and a means for recording video data output from the camera, the vehicle and the image are photographed during flight. An aerial photography method using an unmanned flying object is disclosed, which comprises measuring the distance to an object, determining the zoom magnification of the camera from the result, and photographing the object to be photographed.

Japanese Unexamined Patent Publication No. 2006-27448

When a worker inspects using a bridge inspection vehicle as in the conventional case, there is a problem that inspection cost and inspection time are required.

An object of the present invention is to provide a bridge inspection method and a bridge inspection system that enable bridge inspection at low cost and efficiently.

The bridge inspection method according to the present invention includes a first step of taking a moving image for inspecting a bridge using a 360-degree camera arranged on an unmanned flying object housed in a spherical protective member, and a vicinity of the bridge. A state in which the second step of shooting a moving image of the unmanned vehicle flying from a distance, the inspection video shot in the first step, and the flight video shot in the second step are synchronized. It is characterized by including a third step, which is displayed later.

The bridge inspection system according to the present invention is a bridge inspection system that inspects a bridge using an unmanned flying object, and is a spherical protective member that covers the unmanned flying object and the unmanned flying object so as to photograph the bridge. An inspection camera unit provided above and capable of 360-degree photography, a flight camera unit that captures a state in which the unmanned vehicle is flying near the bridge from a distance, and an inspection image taken by the inspection camera unit. It is characterized by including a video synchronization display unit for synchronizing and displaying flight images captured by the flight camera unit.

According to the present invention, a bridge can be inspected inexpensively and efficiently.

It is a figure which shows the bridge inspection system of embodiment which concerns on this invention. It is a figure which shows the state of inspecting a bridge using the bridge inspection system of the embodiment which concerns on this invention. It is a figure which shows the image taken by the inspection camera part as a result of having inspected a bridge using the bridge inspection system of embodiment which concerns on this invention. As a result of inspecting a bridge using the bridge inspection system of the embodiment according to the present invention, the figure shows how the inspection image taken by the inspection camera unit and the flight image taken by the flight camera unit are displayed in synchronization with each other. is there.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the following, similar elements will be designated by the same reference numerals in all drawings, and duplicate description will be omitted. In addition, in the explanation in the text, the codes described earlier shall be used as necessary.

FIG. 1 is a diagram showing a bridge inspection system 10 according to an embodiment of the present invention. FIG. 2 is a diagram showing a state in which a bridge is inspected using the bridge inspection system 10. FIG. 3 is a diagram showing an image taken by the inspection camera unit (360 ° camera) 16 as a result of inspecting the bridge using the bridge inspection system 10.

In FIG. 4, as a result of inspecting the bridge using the bridge inspection system 10, the inspection image taken by the inspection camera unit (360 ° camera) 16 and the flight image taken by the distant view camera unit (unidirectional camera) 22 are synchronized. It is a figure which shows the state of displaying.

The bridge inspection system 10 is a system for inspecting structures such as the bridge 2. The bridge inspection system 10 includes an inspection flight device 11, a flying object control unit 21, a distant view camera unit (one-way camera) 22, an inspection camera (360 ° camera) display unit 23, and a distant view camera unit (one-way camera) from behind. It is equipped with a bridge inspection system 24 that can simultaneously play / stop the images of the camera) 22 and the inspection camera (360 ° camera) display unit 23 in time synchronization.

The inspection flight device 11 includes a spherical protective member 12, an unmanned aerial vehicle 14, and an inspection camera unit (360 ° camera) 16.

The spherical protective member 12 is a member formed by arranging a plurality of triangles composed of frame members on three sides in a spherical shape and covers the unmanned aerial vehicle 14. The spherical protective member 12 has appropriate flexibility, and a lightweight material such as carbon can be used, but of course, other materials may be used.

When the unmanned aerial vehicle 14 collides with the bridge 2 during flight by providing a material having appropriate flexibility, for example, plastic resin, at each joint (corner) in which a plurality of triangles are arranged spherically. Even so, it is possible to prevent the bridge 2 from being damaged.

Since the inside of the triangle formed by the frame is empty, the outside of the spherical protective member 12 can be photographed by the inspection camera unit (360 ° camera) 16 provided inside.

As for the size of the spherical protective member 12, the maximum diameter can be set to, for example, 75 cm, and the weight at this size is, for example, 530 g.

The unmanned aerial vehicle 14 is provided with four rotors that are rotationally driven by a motor, and the main body includes an information acquisition unit including a 3-axis acceleration sensor and a 3-axis gyro, and acceleration and attitude information from the information acquisition unit. Based on this, it is a so-called drone equipped with a control mechanism that controls the position and attitude of the own aircraft.

Further, the unmanned aerial vehicle 14 is equipped with a wireless communication device. With this wireless communication device, it is possible to appropriately rotate and drive the four rotors by wireless control of the operator 5 by a digital proportional type control device (flying object control unit 21). The unmanned aerial vehicle 14 can ascend, fly, and stand still in the air by the operation of the operator 5. As shown in FIG. 2, the operator 5 operates at a location away from the bridge 2.

The unmanned aerial vehicle 14 is attached to the spherical protective member 12 by a gimbal structure to which a gyroscope is applied. Specifically, a gimbal (not shown) arranged inside is rotatably attached to a spherical protective member 12 that functions as an external gimbal, and the unmanned aerial vehicle 14 is attached to the internal gimbal. There is. As a result, the spherical protective member 12 freely rotates while keeping the unmanned aerial vehicle 14 horizontal.

The inspection camera unit (360 ° camera) 16 is provided above the unmanned aerial vehicle 14 so as to photograph the bridge 2, and includes a camera capable of photographing 360 °. Specifically, it includes an omnidirectional camera that has a vertically long substantially square pillar-shaped outer shape and has fisheye lenses arranged on the front surface and the back surface, respectively, and can take a 360-degree image.

The inspection camera unit (360 ° camera) 16 is equipped with, for example, an imaging mechanism capable of capturing a 5.7 k moving image, so that an image for inspecting the bridge 2 can be clearly captured.

The inspection camera unit (360 ° camera) 16 can be remotely operated using Wifi or the like. For example, an operator 6 other than the operator 5 can operate the inspection camera unit (360 ° camera) 16 to take a picture while checking the shooting state of the bridge 2 by using the inspection camera (360 ° camera) display unit 23. ..

The distant view camera unit (unidirectional camera) 22) is a camera device that captures a state in which the unmanned vehicle 14 is flying in the vicinity of the bridge 2 from a distance. The distant view camera unit (unidirectional camera) 22 is photographed by an operator 4 who is different from the operators 5 and 6 from a distance, and the unmanned aerial vehicle 14 moves in the air. It is preferable to have it.

The vehicle body control unit 21 is connected to the unmanned aerial vehicle 14 via a wireless network, and has a function of allowing the unmanned aerial vehicle 14 to fly freely from a distant view.

The bridge inspection system 24 has a function of displaying the shooting time of the inspection video and the shooting time of the flight video on one screen in a synchronized state. At this time, it is preferable to display the position information of the inspection camera unit (360 ° camera) 16 in which the inspection image is taken, together with the inspection image and the flight image.

The bridge inspection system 24 includes a display device that displays inspection images, flight images, and position information. The bridge inspection system 24 has an adjustment mechanism for adjusting the reproduction speed of the inspection image and the flight image, and has a function of adjusting the contrast and brightness of the image. It also has the function of displaying the electronic crack scale and confirming the crack width.

The 360-degree moving image can be freely rotated or enlarged when the reproduction is stopped, and can be fixedly reproduced in an arbitrary direction. Then, when the moving image is stopped, the electronic crack scale can be displayed by designating two points with known distances, and the size of the crack can be measured.

Subsequently, the operation of the bridge inspection system 10 having the above configuration will be described. A method of inspecting the upper structure (under-girder space), lower structure (pier, abutment), and bearing failure (corrosion, crack, rupture, crack, bearing dysfunction, etc.) of the bridge 2 using the bridge inspection system 10. Follow the procedure below.

An inspection flight device 11 including a spherical protective member 12 in which the unmanned aerial vehicle 14 is housed is prepared (S2).

Operator 4 (external distant video (one-way camera) photographer), operator 5 (unmanned aerial vehicle operator), operator 6 (inspection camera unit (360 ° camera) observer) are at the point of the bridge 2 to be inspected. Move (S4). The operator 5 operates the flight body control unit 21 to operate the unmanned aerial vehicle 14 of the inspection flight device 11 (S6). In the process of S6, the aircraft is steered to fly in the vicinity of the inspection target such as the space under the girder of the bridge 2.

When the inspection flight device 11 is approaching the bridge 2, the operator 6 provides flight support to the operator 5 using the inspection camera (360 ° camera) display unit 23 so as to take a picture of the inspection target of the bridge 2 (S8). ). Then, in the process of S6, the operator 4 uses the distant view camera unit (unidirectional camera) 22 to take a picture of the inspection camera unit (360 ° camera) 16 taking a picture from a distance away from the inspection flight device 11. Take a picture (S10).

The inspection image taken in the process of S8 and the flight image taken in the process of S10 are displayed on the same screen in a state of being synchronized with the shooting time (S12).

In FIG. 3, an image taken for inspecting the bridge 2 and an enlarged image are displayed using the inspection camera unit (360 ° camera) 16. By checking the enlarged image in this way, it is possible to grasp not only cracks of 0.2 mm but also fine cracks of 0.1 mm or less, for example.

Further, in FIG. 4, the inspection video and the flight video are displayed on the same screen in a synchronized state with the shooting time. The location information may be superimposed and displayed on the map application or the like on the same screen. While confirming the approximate location by the position information of the map application, it is possible to easily confirm which part of the bridge 2 the inspection camera unit (360 ° camera) 16 is shooting by the image of the flight image. ..

Since cracks and the like of the bridge 2 can be confirmed by the inspection image together with this flight image, the effect of being able to more easily and efficiently confirm the location and condition where the bridge 2 is defective can be obtained. Play.

Further, since the inspection camera unit (360 ° camera) 16 is a 360-degree spherical camera, it is possible to rotate, enlarge, and reduce the image of the portion to be confirmed later, and thus the damaged portion of the bridge 2. It has the effect of being able to search for more accurately.

Then, according to the bridge inspection system 10, the operator 5 can fly the unmanned aerial vehicle 14 with the flight support of the operator 6 and photograph the inspection target of the bridge 2 thoroughly, so that the inspection can be performed firmly. .. Further, since the unmanned aerial vehicle 14 is housed in the spherical protective member 12, even if it collides with the bridge 2, the spherical protective member 12 rotates to absorb the impact and damages the bridge 2. Nor.

Further, since the unmanned aerial vehicle 14 is attached to the spherical protective member 12 by the gimbal mechanism, the unmanned aerial vehicle 14 and the inspection camera unit (360 ° camera) 16 even when the spherical protective member 12 rotates. Can be kept horizontal. Further, according to the bridge inspection system 10, there is no need for specialized and complicated mechanical devices such as a conventional bridge inspection vehicle, so that there is an advantage that inspection can be performed at low cost.

2 Bridges, 4, 5, 6 Operators, 10 Bridge Inspection Systems, 11 Inspection Flight Equipment, 12 Spherical Protection Members, 14 Unmanned Air Vehicles, 16 Inspection Camera Units (360 ° Cameras), 21 Aircraft Control Units, 22 Spherical Cameras Department (one-way camera), 23 inspection camera (360 ° camera) display unit, 24 bridge inspection system.

The bridge inspection method according to the present invention includes a first step of taking a moving image for inspecting a bridge using an inspection camera unit capable of 360-degree photography arranged on an unmanned vehicle housed in a spherical protective member. A second step of photographing a state in which the unmanned vehicle is flying near the bridge from a distance away from the unmanned vehicle, an inspection image taken in the first step, and the second step. It is characterized by including a third step of displaying the flight image captured in the above in a state of being synchronized with the image synchronization display unit later.

The bridge inspection system according to the present invention is a bridge inspection system that inspects a bridge using an unmanned flying object, and is a spherical protective member that covers the unmanned flying object and the unmanned flying object so as to photograph the bridge. An inspection camera unit provided above and capable of 360-degree photography, a distant view camera unit that captures a state in which the unmanned vehicle is flying in the vicinity of the bridge from a distance away from the unmanned vehicle, and the inspection camera. It is characterized by including an inspection image taken by the unit and an image synchronized display unit that synchronizes and displays a flight image taken by the distant camera unit.

The bridge inspection system 10 is a system for inspecting structures such as the bridge 2. The bridge inspection system 10 includes an inspection flight device 11, a flying object control unit 21, a distant view camera unit (one-way camera) 22, an inspection camera (360 ° camera) display unit 23, and a distant view camera unit (one-way camera) from behind. The camera) 22 and the inspection camera (360 ° camera) display unit 23 are time-synchronized, and the image synchronization display unit 24 that can simultaneously play / stop is provided.

The video synchronization display unit 24 has a function of displaying the inspection video shooting time and the flight video shooting time on one screen in a synchronized state. At this time, it is preferable to display the position information of the inspection camera unit (360 ° camera) 16 in which the inspection image is taken, together with the inspection image and the flight image.

The image synchronization display unit 24 includes a display device that displays an inspection image, a flight image, and position information. The image synchronization display unit 24 has an adjustment mechanism for adjusting the reproduction speed of the inspection image and the flight image, and has a function of adjusting the contrast and brightness of the image. It also has the function of displaying the electronic crack scale and confirming the crack width.

2 Bridges, 4, 5, 6 Operators, 10 Bridge Inspection Systems, 11 Inspection Flight Equipment, 12 Spherical Protection Members, 14 Unmanned Air Vehicles, 16 Inspection Camera Units (360 ° Cameras), 21 Aircraft Control Units, 22 Spherical Cameras Unit (one-way camera), 23 inspection camera (360 ° camera) display unit, 24 video synchronization display unit .

Claims (2)

The first step of shooting a video to inspect a bridge using a 360-degree camera placed on an unmanned aerial vehicle housed in a spherical protective member, and
The second step of shooting a moving image of the unmanned aerial vehicle flying near the bridge from a distance, and
A third step of displaying the inspection image taken in the first step and the flight image taken in the second step in a synchronized state later.
A bridge inspection method characterized by being provided with. A bridge inspection system that inspects bridges using unmanned aerial vehicles.
A spherical protective member that covers the unmanned aerial vehicle and
An inspection camera unit that is provided above the unmanned aerial vehicle so as to photograph the bridge and is capable of 360-degree photography.
A distant camera unit that captures a state in which the unmanned aerial vehicle is flying near the bridge from a distance,
An image synchronization display unit that synchronizes and displays an inspection image taken by the inspection camera unit and a flight image taken by the distant view camera unit.
A bridge inspection system characterized by being equipped with.

Images