JP2022054178A - Inspection method - Google Patents

Abstract

To provide a technique that can detect abnormalities that occur in an inspection target area with high accuracy without need for a worker to directly go to the inspection target area of a structure.SOLUTION: In an inspection system 1, a light emitting layer 24 is provided outside a region sandwiched between at least a fastening body 110 and a fastened body 190 in a fastening structure 10. A coating layer 22 is provided so as to be fixed to the fastening body 110 and cover the light emitting layer. When the coating layer 22 is located within an imaging range of an imaging unit 45 by flight of a flying body 30, the imaging unit 45 takes an image of the coating layer 22 while an irradiation unit 44 is irradiating the coating layer 22 with excitation light.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to inspection methods and inspection systems.

As a technique for inspecting an abnormality such as looseness that occurs in a fastener, a technique as in Patent Document 1 has been proposed.

Patent Document 1 discloses a looseness detection system for detecting looseness of fastening of a fastening body for fastening a fastened portion. The looseness detector disclosed in Patent Document 1 has a detection area portion when the second member rotates with respect to the first member from the initial state in which the relative positions of the first member and the second member are aligned. The area of the exposed part that is not shielded by the shielding part of the is increasing.

Japanese Unexamined Patent Publication No. 2018-87592

In the technique of Patent Document 1, when the second member rotates with respect to the first member due to the loosening of the bolt, the area of the exposed portion increases. Then, the area of the exposed portion can be measured. Then, if it is determined whether or not the area of the exposed portion exceeds the reference, it is possible to determine whether or not the fastener is loosened.

However, the technique of Patent Document 1 is a technique in which it is difficult to detect looseness of a bolt unless a region near the bolt is imaged with high accuracy from a specific direction. When this technology is adopted, it is difficult to even acquire a still image in which the exposed part is captured in the correct direction when imaging from a moving object such as a flying object, which is prone to shaking, and a still image including the exposed part is captured. Even if it is possible, it is difficult to accurately evaluate the area of the exposed portion when the image is unclear. Further, such a problem is similarly concerned not only in the scene of inspecting looseness of the fastener but also in other scenes of inspecting cracks and the like of the structure by the moving body.

Therefore, the present disclosure provides a technique that can facilitate highly accurate detection of anomalies occurring in an inspection target area without the operator directly going to the vicinity of the inspection target area of the structure.

The inspection method, which is one of the disclosures, is
An inspection method for inspecting structures
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Using
The first step of providing the light emitting layer in the inspection target region of the structure and then arranging the coating layer so as to cover the light emitting layer.
After the first step, the second step of moving the moving body so that the covering layer is located within the imaging range of the imaging unit while flying or navigating the moving body.
A third step in which the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.
including.

The inspection method, which is one of the disclosures, is
It is an inspection method for inspecting looseness of the fastened body in the fastened structure in which the fastened body is fastened to the fastened body.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Using
After providing the light emitting layer at least outside the region sandwiched between the fastened body and the fastened body in the fastening structure, the coating layer is arranged so as to be fixed to the fastening body and cover the light emitting layer. 1 step and
After the first step, the second step of moving the moving body so that the covering layer is located within the imaging range of the imaging unit while flying or navigating the moving body.
A third step in which the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.
including.

The inspection system, which is one of the disclosures, is
An inspection system that inspects structures
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Equipped with
The light emitting layer is provided so as to cover the inspection target area of the structure.
The coating layer is provided so as to cover the light emitting layer.
In a state where the moving body is flying or navigating, the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.

The inspection system, which is one of the disclosures, is
An inspection system for inspecting looseness of the fastened body in a fastened structure in which the fastened body is fastened to the fastened body.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Equipped with
The light emitting layer is provided at least outside the region sandwiched between the fastener and the object to be fastened in the fastening structure.
The covering layer is fixed to the fastening body and provided so as to cover the light emitting layer.
In a state where the moving body is flying or navigating, the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.

The technique according to the present disclosure can detect abnormalities occurring in the inspection target area with high accuracy without the operator directly going to the vicinity of the inspection target area of the structure.

FIG. 1 is an explanatory diagram for explaining the inspection system of the first embodiment, and is an explanatory diagram showing an example using an air vehicle capable of flying in the air as an example of a moving body. FIG. 2 is an explanatory diagram illustrating an electrical configuration and the like of the inspection system of the first embodiment. FIG. 3 is a cross-sectional view of the vicinity of the fastening body to be inspected in the inspection system of the first embodiment, and is an explanatory view illustrating the fastening structure when the fastening body is not loosened. FIG. 4 is an explanatory diagram illustrating a fastening structure when the fastening body is loosened in the inspection system of the first embodiment. FIG. 5 is an explanatory diagram for conceptually explaining a state at the time of inspection when the fastener is loosened in the inspection system of the first embodiment. FIG. 6 is an explanatory diagram for conceptually explaining a captured image captured in the vicinity of the fastening body when the fastening body is not loosened. FIG. 7 is an explanatory diagram for conceptually explaining a captured image captured in the vicinity of the fastened body when the fastened body is loosened. FIG. 8 is an explanatory diagram illustrating an image subjected to image processing for emphasizing the region of the light emitting portion with respect to the captured image obtained by the imaging of the imaging unit. FIG. 9 is a cross-sectional view of the vicinity of the fastening body to be inspected in the inspection system of the second embodiment, and is an explanatory view illustrating the fastening structure when the fastening body is not loosened. FIG. 10 is a cross-sectional view of the vicinity of the fastening body to be inspected in the inspection system of the third embodiment, and is an explanatory view illustrating the fastening structure when the fastening body is not loosened. FIG. 11 is an explanatory diagram for explaining the inspection system of the fourth embodiment, and is an explanatory diagram showing an example using an air vehicle capable of flying in the air as an example of a moving body. FIG. 12 is a schematic cross-sectional view schematically showing a cross-sectional structure in the vicinity of an inspection target region to be inspected by the inspection system of the fourth embodiment, and is a diagram showing a state in which cracks are not generated in the covering layer. .. FIG. 13 is a schematic cross-sectional view schematically showing a cross-sectional structure in the vicinity of an inspection target region to be inspected by the inspection system of the fourth embodiment, and is a diagram showing a state in which cracks are generated in the coating layer. ..

Hereinafter, embodiments of the present disclosure are listed and exemplified. The features [1] to [10] exemplified below may be combined in any way within a consistent range.

[1] An inspection method for inspecting structures.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Using
The first step of providing the light emitting layer in the inspection target region of the structure and then arranging the coating layer so as to cover the light emitting layer.
After the first step, the second step of moving the moving body so that the covering layer is located within the imaging range of the imaging unit while flying or navigating the moving body.
A third step in which the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.
Inspection methods including.

The above-mentioned inspection method of [1] can easily be performed in a place where a moving body can move, even in a place where the movement of a worker or a place where work is burdensome or difficult (for example, a high place). Can be easily reached and the inspection burden can be reduced. Moreover, in this inspection method, when an abnormality such as a crack occurs in the inspection target area covered with the coating layer, there is a high possibility that a "region allowing the passage of excitation light" (crack, etc.) will occur in the coating layer. Become. Then, if the coating layer is imaged while the coating layer is irradiated with the excitation light when the "region allowing the passage of the excitation light" is generated in this way, the "excitation light reaches the light emitting layer". There is a high possibility that "a state in which the light emitting layer emits light" will be imaged. Therefore, in the above-mentioned inspection method, when an abnormality such as a crack occurs in the inspection target area of the structure, it is possible to easily obtain a captured image showing the abnormality with high accuracy.

For example, inspection in a dark place such as underwater, inspection in a place where it is easy to see shaking when viewing directly due to poor visibility or when shooting a moving image, moving moving objects shake due to waves, etc. Even in an inspection in a situation where a still image cannot be captured due to the fact that the image is closed, an abnormality such as a crack can be easily detected by causing the excitation light to emit light.

[2] An inspection method for inspecting looseness of the fastened body in a fastened structure in which the fastened body is fastened to the fastened body.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Using
After providing the light emitting layer at least outside the region sandwiched between the fastened body and the fastened body in the fastening structure, the coating layer is arranged so as to be fixed to the fastening body and cover the light emitting layer. 1 step and
After the first step, the second step of moving the moving body so that the covering layer is located within the imaging range of the imaging unit while flying or navigating the moving body.
A third step in which the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.
How to inspect fasteners, including.

The above-mentioned inspection method [2] can easily be performed in a place where a moving body can move, even in a place where the movement of a worker or a place where work is burdensome or difficult (for example, a high place). Can be easily reached and the inspection burden can be reduced. Moreover, in this inspection method, when the fastener is loosened, there is a high possibility that a "region allowing the passage of excitation light" (cracks, etc.) will occur in the coating layer fixed to the fastener. Then, if the coating layer is imaged while the coating layer is irradiated with the excitation light when the "region allowing the passage of the excitation light" is generated in this way, the "excitation light reaches the light emitting layer". There is a high possibility that "a state in which the light emitting layer emits light" will be imaged. Therefore, in the above-mentioned inspection method, when the fastening body is loosened, it is possible to easily obtain a captured image showing the occurrence of the loosening with high accuracy.

For example, in the above inspection method, if the fastener is loose, it is highly possible that the looseness can be confirmed if the light emitting state is reflected in the image, so the moving body is slightly affected by wind or the like. There is a high possibility that the inspection can be performed even if the image is shaken, and there are few restrictions on the imaging direction. For example, assuming a method of imaging and confirming a "go mark", in such a method, the imaging direction is likely to be restricted, and the moving object cannot be maintained in a stationary state due to being fanned by wind or the like. There is a high possibility that it will not be possible to inspect by imaging. In particular, when imaging a "go mark" from a moving object, in order to obtain a clear image that can accurately determine the state of the "go mark", the "go mark" is kept stationary in a stable state. The vicinity of the "mark" must be imaged. However, since the moving body is easily affected by crosswinds and the like, it is difficult to take a clear image of the vicinity of the "go mark" with the moving body reliably stationary. On the other hand, in the above inspection method, such a problem is unlikely to occur. On the other hand, as another comparative example, when a method as described in Patent Document 1 is assumed, this method also has a problem that the imaging direction is easily limited. The method of Patent Document 1 has a feature that the exposed area of the detection area increases when loosening occurs in the fastener, but this method cannot capture an image that can identify that the exposed area has increased. If so, looseness cannot be detected. For that purpose, the vicinity of the fastening body must be imaged in a predetermined direction (for example, a direction close to perpendicular to the installation surface of the fastening body), and the imaging direction is greatly limited. Moreover, the method of Patent Document 1 is a method in which looseness of the fastener cannot be detected unless the image of the detection region portion and the image of the other portion can be distinguished in the captured image, but the detection region portion may be a fluorescent color. Since it does not have the characteristic of emitting light, for example, the detection region portion in the captured image is due to the fact that the vicinity of the fastener is a dark environment due to some cause (for example, a cause such as dark illumination) at the time of imaging. If it is not possible to clearly distinguish between the image and other parts (shielding part, etc.), or if the detection area and other parts (shielding part, etc.) have similar colors due to the occurrence of rust, it is detected in the captured image. It becomes impossible to accurately identify the area. In such a case, even if the fastener is loosened, the occurrence of looseness cannot be detected. On the other hand, in the above inspection method, such a problem is unlikely to occur.

[3] Further, the detection unit includes a fourth step of analyzing the captured image obtained by the imaging of the imaging unit and detecting an image showing the light emission of the light emitting layer from the captured image [1] or [2]. The inspection method described in.

In the inspection method of the above [3], since the detection unit can analyze the captured image and detect the "image showing the light emission of the light emitting layer", it is laborious to check whether or not an abnormality has occurred in the inspection target. (For example, labor for visual confirmation, etc.) can be suppressed and more accurate detection can be performed.

[4] The light emitting layer emits light having a predetermined wavelength when it receives the excitation light from the irradiation unit, and the image pickup unit selectively images a light emitting portion in a specific wavelength band to obtain the specific wavelength band. The inspection method according to any one of [1] to [3], wherein the predetermined wavelength is included in the above.

In the above inspection method [4], in an environment where the influence of disturbance light (for example, sunlight) other than the excitation light is generated on the inspection target, the light emitting part of a specific wavelength band is selectively selected while suppressing the influence of the disturbance light. Can be imaged in. Therefore, even under the above-mentioned disturbance light conditions, when the light emitting layer emits light by the excitation light, the light emitting portion is easily imaged more clearly.

[5] The inspection method according to [4], wherein the imaging unit selectively images a light emitting portion in the specific wavelength band under direct sunlight.

In the above-mentioned inspection method of [5], when the light emitting layer emits light by excitation light in the case of performing the inspection in direct sunlight, it is easy to suppress the influence of direct sunlight and take a clearer image of the light emitting portion.

[6] The mobile body has a communication unit that communicates with an external device, and the communication unit transmits an image captured by the image pickup unit to the external device, whichever is one of [1] to [5]. The inspection method described in one.

In the inspection method of [6] above, the image captured by the imaging unit can be transmitted to the external device by communication between the moving body and the external device, and the image can be processed by the external device.

[7] The moving body has a communication unit that communicates with an external device, and the image pickup unit is subjected to an image pickup by the communication unit while the irradiation unit is irradiating the excitation light. The inspection method according to [4] or [5], wherein the image to be imaged is continuously transmitted to the external device, and the image captured by the image pickup unit is displayed on the display unit of the external device.

In the above inspection method [7], an image selectively captured by a light emitting portion in a specific wavelength band while suppressing the influence of ambient light can be continuously transmitted to an external device while capturing the image. In the external device, the image excluding the influence of the ambient light can be processed earlier. For example, in the inspection method of the above [7], the image captured by the imaging unit is continuously transmitted to the external device by the communication unit while the imaging unit is performing imaging while the irradiation unit is irradiating the excitation light. The transmitted image (image captured by the imaging unit) may be displayed on the display unit of the external device in parallel with the imaging operation of the imaging unit. The specific example of the above-mentioned "continuously transmitting to an external device" may be, for example, "continuously transmitting an image signal to an external device" or "intermittently transmitting an image signal to an external device". It may be "to send to". For example, based on the images continuously transmitted in this way, the moving image may be displayed in parallel on the external device, or the display of the still image may be switched.

[8] The inspection method according to any one of [1] to [7], wherein the moving body has a storage unit for storing an image captured by the image pickup unit.

In the inspection method of [8], the image captured by the imaging unit can be stored in the moving body, and the image saved thereafter can be handled.

[9] An inspection system that inspects structures.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Equipped with
The light emitting layer is provided so as to cover the inspection target area of the structure.
The coating layer is provided so as to cover the light emitting layer.
An inspection system in which the imaging unit captures an image of the coating layer while the irradiation unit irradiates the coating layer with the excitation light while the moving body is flying or navigating.

The inspection system of [9] has the same effect as the inspection method of [1].

[10] An inspection system for inspecting looseness of the fastened body in a fastened structure in which the fastened body is fastened to the fastened body.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Equipped with
The light emitting layer is provided at least outside the region sandwiched between the fastener and the object to be fastened in the fastening structure.
The covering layer is fixed to the fastening body and provided so as to cover the light emitting layer.
An inspection system for a fastener in which the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light while the moving body is flying or navigating.

The inspection system of [10] has the same effect as the inspection method of [2].

[11] The fastener inspection system according to [9] or [10], which has a detection unit that analyzes an image captured by the image pickup of the image pickup unit and detects an image indicating light emission of the light emitting layer.

The inspection system of [11] has the same effect as the inspection method of [3].

[12] The light emitting layer emits light having a predetermined wavelength when it receives the excitation light from the irradiation unit, and the imaging unit selectively images a light emitting portion in the specific wavelength band to obtain the specific wavelength. The fastener inspection system according to any one of [9] to [11], wherein the band includes the predetermined wavelength.

The inspection system of [12] has the same effect as the inspection method of [4].

Screw fastening is a general term for a method of connecting a plurality of objects to be fastened using screw parts such as bolts and nuts, and in the present specification, all or a part of the structure configured as described above is screwed. It is called the body. The screw fastener corresponds to an example of the fastener. In order to improve the reliability of screw fastening, in addition to the mechanical strength and ductility of the screw parts, a tightening method without loosening is required. However, in a screw fastener such as a mechanical part, vibration caused by an earthquake, wind, or the like is repeated, and there is a possibility that loosening may occur over time. If looseness occurs in the screw fasteners, stress will be concentrated in one place and there is a risk of damaging the structure, so it is necessary to monitor the looseness on a regular basis. In particular, the bolts and nuts for power transmission towers are hot-dip galvanized for rust prevention, and the gap between the bolts and nuts is large in consideration of the fitting of the nuts. Further, since the hot-dip galvanized or rust-preventive paint is also applied to the object to be fastened for rust prevention, it is conceivable that the screw fastener will loosen if the wall thickness of the hot-dip galvanized or rust-preventive paint becomes thin due to aged deterioration. Therefore, there is a demand for a simple and quick method and system for inspecting looseness of a screw fastener.

[First Embodiment]
1-1. Inspection system (Overview of inspection system)
The inspection system 1 is a system for inspecting looseness of the fastener 110 in the fastening structure 10 (FIGS. 2 and 3). FIG. 1 illustrates an inspection system 1 in which a structure 190 in which a fastener 110 is arranged at a high place is targeted for inspection, and the fastener 110 fastened at a high place is inspected using a flying object 30. In the example of FIG. 1, the structure 190 is a transmission line tower, but if the structure uses a fastener, the fastener in various structures such as a bridge, a building, a chimney, and a dam is inspected by the inspection system 1. Can be the target of.

As shown in FIG. 2, the inspection system 1 mainly includes a management device 80, a flying object 30, an external device 60, and an inspected portion 20 (FIG. 3) provided in the fastening structure 10. In addition, either or both of the management device 80 and the external device 60 may not be included in the inspection system 1.

The flying object 30 corresponds to an example of a moving body, and mainly includes an inspection device 40 and a flight unit 32 on which the inspection device 40 is mounted. The flight unit 32 is composed of, for example, a known drone, and can fly in the air. Although FIG. 1 exemplifies a flight unit 32 capable of flying in the air, the flight unit 32 may be a moving unit capable of navigating underwater or on water. That is, the flying object 30 may be replaced with a moving object capable of navigating underwater or on water. The flight unit 32 is not limited to a drone, and may be any object that can fly or navigate in the air, underwater, or on the water by unmanned flight. In the example of FIGS. 1 and 2, the flight unit 32 can be operated in the air, for example, by being operated by an operating device located at a position away from the flight unit 32. In this case, the operating device may be realized by an external device 60, or may be realized by a device different from the external device 60. As the communication method when the flying object 30 performs wireless communication with the operating device, various known communication methods can be adopted.

The inspection device 40 provided in the flying object 30 is mainly provided with a control unit 41, a communication unit 42, a storage unit 43, an irradiation unit 44, an image pickup unit 45, and the like.

The communication unit 42 includes one or more communication devices capable of performing wireless communication or wired communication with the management device 80 and the external device 60 by a known wireless communication method. The communication method when the communication unit 42 performs wireless communication or wired communication with the management device 80 or the external device 60 is not particularly limited. The communication unit 42 may perform wireless communication with the management device 80 and the external device 60 by a common communication method, and may perform wireless communication with the management device 80 and wireless communication with the external device 60. The communication method may be different.

The storage unit 43 has one or more types of storage media such as a semiconductor memory, an HDD, and an SSD. The storage medium may be a permanent type or a removable type.

The irradiation unit 44 is a device that irradiates the excitation light. The excitation light is light that causes the light emitting layer 24, which will be described later, to emit light. Specifically, the irradiation unit 44 is configured by an ultraviolet irradiation device. In this case, the excitation light is, for example, ultraviolet light having a predetermined wavelength.

The image pickup unit 45 is configured by a camera capable of capturing a preset imaging range and generating a moving image or a still image in the imaging range. The image pickup range of the image pickup unit 45 is a predetermined range in a predetermined direction with respect to the position and orientation of the image pickup unit 45. The image pickup unit 45 can be configured by, for example, a camera capable of selectively capturing a light emitting portion in a specific wavelength band. As the image pickup unit 45, for example, a spectrum camera may be used, or a CCD camera, a CMOS camera, or a camera having a wavelength selection filter added to these cameras may be used.

The control unit 41 has, for example, an information processing device such as a microcomputer, and is a device capable of performing various calculations and processes. The control unit 41 may have a function of analyzing the captured image acquired by the image pickup unit 45, or may have a function as an inspection unit described later. The control unit 41 can send and receive information to and from the management device 80 and the external device 60 in cooperation with the communication unit 42.

In the inspection system 1, the light emitting layer 24 (FIG. 3), which will be described later, emits light having a predetermined wavelength when the excitation light is received from the irradiation unit 44. The predetermined wavelength is the wavelength of the light emitted when the light emitting layer 24 (FIG. 3) emits light by the excitation light. The specific wavelength band that can be imaged by the image pickup unit 45 is a wavelength band including the predetermined wavelength. The specific wavelength band has, for example, a wavelength width narrower than the wavelength band of the reflected light that can be reflected by the light emitting layer 24 when sunlight is applied to the light emitting layer 24. The specific wavelength band has a wavelength width narrower than that of visible light, and is preferably a wavelength band of light of a specific color, for example.

The external device 60 is a device capable of communicating with the flying object 30 outside the flying object 30. The external device 60 has an information processing device having an information processing function. Specifically, the external device 60 includes a control unit 61, a communication unit 62, a storage unit 63, an operation unit 68, and a display unit 69.

The control unit 61 has, for example, an information processing device such as a microcomputer, and is a device capable of performing various calculations and processes. The control unit 61 may have a function of analyzing information (for example, an captured image) given from the flying object 30, or may have a function as an inspection unit described later. The control unit 61 can send and receive information to and from the management device 80 and the flying object 30 in cooperation with the communication unit 62. The communication unit 42 includes one or more communication devices capable of wirelessly communicating with the management device 80 and the flying object 30 by a known wireless communication method. The storage unit 63 has one or more types of storage media such as a semiconductor memory, an HDD, and an SSD. The storage medium may be a permanent type or a removable type.

The operation unit 68 is, for example, an input device that enables an operator to perform an input operation, and includes an input device such as a mouse, a keyboard, a touch panel, and a voice input unit. The operation unit 68 may have a control operation unit such as a control lever for manipulating (driving) the flying object 30.

The display unit 69 has a known display and is a device capable of displaying various images. The display unit 69 may have a function of displaying the captured image generated by the image pickup unit 45 in cooperation with the control unit 61. The display unit 69 may have a function of displaying the analysis result of the captured image in cooperation with the control unit 61. The display unit 69 may have a function of displaying an image captured by the image pickup unit 45 in real time or at a time lag in parallel with the image pickup of the image pickup unit 45 in cooperation with the control unit 61. ..

The management device 80 functions as, for example, a server. In the example of FIG. 2, the management device 80 may perform wireless communication with each of the flying object 30 and the external device 60. The management device 80 may be configured to be able to receive the captured image from the flying object 30, or may be configured to be able to receive the inspection result from the flying object 30, and may receive the captured image and the inspection result from the external device 60. It may be a possible configuration. The management device 80 may have an inspection unit described later.

In the inspection system 1 configured in this way, the flying object 30 can move to various places while flying by being operated by the operating device. Then, in this inspection system 1, when the image pickup condition is satisfied when the flying object 30 has a positional relationship in which the inspection unit 20 is located within the image pickup range of the image pickup unit 45, the irradiation unit 44 covers the covering layer. The imaging unit 45 can image the coating layer 22 while irradiating the 22 with the excitation light. The positional relationship in which the inspected unit 20 is located within the imaging range of the imaging unit 45 is specifically a positional relationship in which the covering layer 22 is located within the imaging range. The specific inspection method by the inspection system 1 will be described in detail later.

(Fastening structure)
FIG. 3 is a cross-sectional view showing a fastening structure 10 (screw fastening body) in a state where the fastening body 110 is screwed to the fastened body 192. The fastening structure 10 mainly includes a fastening body 110, a fastened body 192, and an inspected portion 20. The unit to be inspected 20 mainly includes a coating layer 22 and a light emitting layer 24. The fastening body 110 and the fastened body 192 form a part of the structure 190.

The fastening body 110 is, for example, a screw component, and as the screw component, bolts / nuts and various screws are assumed. Of course, an auxiliary member such as a washer may be interposed between the fastening body 110 (screw component) and the fastening body 192. In the example of FIG. 3, the fastening structure 10 of FIG. 3 has the convex threaded portion 114 of the fastening body 110 fitted and screwed to the hole-shaped threaded portion 192B of the fastened body 192. A hole-shaped threaded portion 192B is formed on the outer surface 192A of the 192.

In the fastening structure 10, the outer surface 192A to which the fastening body 110 is fastened to the fastened body 192 and forms a part of the fastening body 110 and the outer surface 192A of the fastened body 192 face each other directly or indirectly via another member. It is a fastening structure. The fastening structure 10 exemplified in FIG. 3 is fastened so that the end surface of the outer arrangement portion 112 on the threaded portion 114 side is close to or in contact with the outer surface 192A.

In the inspection method to which the inspection system 1 is applied, the light emitting layer 24 is prepared, for example, as shown in FIG. 3 by the first step (pretreatment step) described later. In the example of FIG. 3, the light emitting layer 24 is formed on the outer edge of the joint portion between the fastened body 110 and the fastened body 192. The light emitting layer 24 is a resin layer containing a fluorescent dye that emits light by excitation light such as ultraviolet rays. In the example of FIG. 3, in the fastening structure 10, at least the region sandwiched between the fastening body 110 and the fastened body 192 (more specifically, the region sandwiched between the outer arrangement portion 112 and the outer surface 192A of the fastened body 192). A light emitting layer 24 is provided on the outside). Of the regions outside the region sandwiched between the fastener 110 and the object to be fastened 192, the region covered by the light emitting layer 24 corresponds to an example of the region to be inspected of the structure. In the example of FIG. 3, the light emitting layer 24 is arranged around the outer peripheral surface 112A so as to at least partially cover the outer peripheral surface 112A of the outer arrangement portion 112, and at least partially covers the outer surface 192A of the object to be fastened 192. It is arranged on the outer surface 192A and straddles the outer peripheral surface 112A and the outer surface 192A. In the example of FIG. 3, the light emitting layer 24 is in direct contact with each of the outer peripheral surface 112A and the outer surface 192A, but between the light emitting layer 24 and one or both of the outer peripheral surface 112A and the object to be fastened 192. Other members may intervene.

In the inspection method to which the inspection system 1 is applied, for example, the coating layer 22 is prepared by the first step (pretreatment step) as shown in FIG. The coating layer 22 is a resin layer containing the above-mentioned inhibitor that suppresses the transmission of excitation light. The inhibitor is preferably a light-shielding agent that blocks the transmission of the excitation light, and specifically, a light-shielding agent that absorbs or scatters the excitation light. In the example of FIG. 3, the coating layer 22 is formed on the surface 24A of the light emitting layer 24. The covering layer 22 is fixed to the fastening body 110 and is provided so as to cover the light emitting layer 24. Specifically, the coating layer 22 covers the entire surface 24A of the light emitting layer 24 so that the light emitting layer 24 is not exposed to the outside of the coating layer 22. In the example of FIG. 3, the back surface 22B of the coating layer 22 is in close contact with the surface 24A of the light emitting layer 24. The surface 22A of the covering layer 22 is exposed to the outside and exposed to the atmosphere. The example of FIG. 3 is merely an example, and the surface 22A of the coating layer 22 may be further covered with another layer (for example, another resin layer). In the example of FIG. 3, the covering layer 22 is directly in contact with and fixed to the outer peripheral surface 112A, but the covering layer 22 is arranged outside in a form in which another member is interposed between the covering layer 22 and the outer arrangement portion 112. It may be fixed to the portion 112. In the example of FIG. 3, the covering layer 22 is directly in contact with and fixed to the outer surface 192A, but the covering layer 22 is attached to the fastened body 22 in a form in which another member is interposed between the covering layer 22 and the fastened body 192. It may be fixed to 192.

It is desirable that the light emitting layer 24 has high ductility and high elasticity, and cracks do not occur even when loosening occurs. As paint for forming the light emitting layer 24, ethylene vinyl acetate copolymer type, acrylic polymer type, vinyl acetate homopolymer type, polyurethane type, SBR type water-based elastic paint and various water-based emulsion paints (vinyl acetate type, styrene-butadiene). Water-based elastic paints such as based and acrylic) can be used. The ductility and elasticity of these paints can be adjusted by adding a plasticizer. As the plasticizer, phthalates, phosphoric acid ester glycols, epoxy-based plasticizers and the like can be used. Additives having weather resistance, heat resistance, flame retardancy and the like may be appropriately added to the paint according to the function of the structure. As the paint, an ultraviolet curable paint may be used.

The light emitting layer 24 includes a fluorescent dye that emits light by irradiation with excitation light from the irradiation unit 44. The irradiation unit 44 may use ultraviolet rays or bluish visible light having a wavelength of 500 nm or less as the excitation light. For example, the light emitting layer 24 cannot or is difficult to emit the fluorescent dye even if it is irradiated with light having a wavelength exceeding 500 nm. When the irradiation unit 44 irradiates ultraviolet rays as excitation light, an ultraviolet lamp, an ultraviolet LED, or the like can be suitably used as the irradiation unit 44. When the irradiation unit 44 irradiates blue visible light as the excitation light, the blue LED light can be suitably used as the irradiation unit 44.

The above-mentioned fluorescent dye is a general term for fluorescent pigments and fluorescent dyes. As the fluorescent pigment, a phosphorescent material or a fluorescent material can be used. As the fluorescent dye, a fluorescent whitening material can be used. As the phosphorescent material, an alumina-based oxide inorganic pigment may be used, and various rare earth-based phosphorescent materials (strontium aluminate + europium, neodymium dope, calcium aluminate + europium, dysprosium dope, etc.) and zinc sulfide + copper Dope and the like may be used.

The fluorescent material is a material that is stimulated by excitation light to emit fluorescence, and when the stimulation is stopped, the emission is stopped. As the fluorescent material, for example, fluorescein-based, stillbenzene-based, various rare earth fluorescent materials, and sulfides such as barium, strontium, and zinc can be used.

The fluorescent whitening material has the ability to selectively absorb ultraviolet rays in the sun's rays, convert them into visible purple to blue visible light, and radiate them. Examples of the fluorescent whitening material include general fluorescent whitening materials such as diaminostylbenzylsulfonic acid derivative type, bisstyrylbiphenyl derivative type, coumarin derivative type, pyrazolone derivative type, bisbenzoxazole derivative type, and naphthalimide derivative type. Can be used.

It is desirable that the coating layer 22 has low ductility and is fragile with respect to the light emitting layer 24. As the paint forming the coating layer 22, for example, a paint containing a carboxyl group, an epoxy group, a hydroxyl group, an alkoxysilyl group or the like as a vehicle component, or a base resin in which a curing agent is blended in a large proportion or a pigment-containing concentration is increased. Alternatively, a paint obtained by a method such as increasing the amount of crosslinkable functional groups to increase the number of crosslink points can be used.

For example, the coating layer 22 is mixed with a light-shielding agent that shields the transmission of the above-mentioned excitation light. As a light-shielding agent, an ultraviolet absorber, an ultraviolet scattering agent, or the like can be used. As the ultraviolet absorber, octyl methoxycinnamate, oxybenzene, t-butylmethoxydibenzoylmethane and the like can be used. As the ultraviolet scattering agent, titanium oxide or zinc oxide may be used. These ultraviolet absorbers and ultraviolet scattering agents may also have an effect of shielding blue-based visible light.

As a method for applying the paint, for example, various methods such as a spray coating method, a roller coating method, a brush coating method, and a dipping method can be appropriately selected according to the shape of the structure. The coating material after coating can be dried at room temperature or heated and dried at 40 to 200 ° C. to form a coating layer.

1-2. Inspection method The following description relates to the inspection method performed by the inspection system.
The inspection method according to the present embodiment is a method of inspecting looseness of the fastener 110 in the fastening structure 10 by the inspection system 1. This inspection method mainly uses the flying object 30, the light emitting layer 24, and the covering layer 22 in the inspection system 1.

In the inspection method according to the present embodiment, the first step is a pretreatment step for performing pretreatment. The first step is a step performed at the time of construction, confirmation after construction, maintenance, etc. of the structure to which the fastening body 110 is attached. The pre-processing is a process of providing the inspected portion 20 with respect to the fastener 110 to be inspected. In the first step (pretreatment step), first, a step of providing the light emitting layer 24 is performed. In the step of providing the light emitting layer 24, in the fastening structure 10 before the formation of the inspected portion 20 (the structure in which the inspected portion 20 is removed from the configuration of FIG. 3), it is sandwiched between at least the fastening body 110 and the inspected body 192. The light emitting layer 24 is provided on the outside of the region (more specifically, the outside of the region sandwiched between the outer arrangement portion 112 and the outer surface 192A of the object to be fastened 192). The specific method for forming the light emitting layer 24 is as described above. The light emitting layer 24 may be formed by some device (coating device or the like) or by an artificial operation.

In the first step (pretreatment step), after the step of providing the light emitting layer 24 is performed, the step of providing the covering layer 22 is performed. In the step of providing the coating layer 22, the coating layer 22 is formed so as to cover the surface 24A of the light emitting layer 24 and to be fixed to at least a part of the fastener 110 (the outer peripheral surface 112A of the outer arrangement portion 112 in FIG. 3). Will be done. In the example of FIG. 3, the covering layer 22 is formed so as to cover the outer surface 192A of the object to be fastened 192 and to be fixed to the outer surface 192A. The specific method for forming the covering layer 22 is as described above. The coating layer 22 may be formed by some device (coating device or the like) or by an artificial operation.

In the inspection method according to the present embodiment, the second step is a flight step of flying the flying object 30 to the structure to which the fastening body 110 is attached after the first step (pretreatment step). The second step (flight step) may be carried out on the same day as the day when the first step is carried out, but basically, it is carried out on a day when a certain period has passed from the day when the first step was carried out. Is a desirable process. The second step (flight step) is specifically a step of moving the flying object 30 so that the covering layer 22 is located within the imaging range of the imaging unit 45 while flying the flying object 30. .. As for the method of moving the flying object 30, for example, the operator controls an operating device (for example, an external device 60 or a device different from the external device 60) which is not shown, so that the flying object 30 can operate the operating body 30. It may be a method of performing a flight operation according to the situation. Alternatively, the method of moving the flying object 30 may be such that the flying object 30 performs automatic flight under the control of an autopilot system provided outside.

In the inspection method according to the present embodiment, in the third step, after the flying object 30 has moved to the above-mentioned positional relationship (the positional relationship in which the covering layer 22 is located within the imaging range of the imaging unit 45) by the second step. This is a step in which the imaging unit 45 images the coating layer 22 in a state where the irradiation unit 44 irradiates the coating layer 22 with excitation light. In the third step, the irradiation unit 44 may start irradiating the excitation light after the flying object 30 has the above positional relationship, or the irradiation unit 44 may start irradiating the excitation light before the positional relationship is established. Further, in the third step, the image pickup unit 45 may start the imaging operation after the flying object 30 approaches the fastening body 110 to some extent, and the imaging unit 45 takes an image before the flying object 30 approaches the fastening body 110. The operation may be started. The timing at which the imaging unit 45 performs the imaging operation may be the same as the timing at which the irradiation unit 44 irradiates the excitation light, or may be offset.

The irradiation start instruction to the irradiation unit 44 may be given when a predetermined irradiation start instruction operation is performed in an operating device (for example, an external device 60 or a device different from the external device 60). In this case, the operating device wirelessly transmits an irradiation instruction signal to the inspection device 40 in response to the irradiation start instruction operation performed by an operator or the like, and when the inspection device 40 receives the irradiation instruction signal, the operation device 40 receives the irradiation instruction signal. The irradiation unit 44 may be controlled by the control unit 41 so as to start irradiation of the excitation light. For example, when the external device 60 is an operating device, the inspection system 1 is configured so that the image continuously captured by the imaging unit 45 can be continuously displayed in real time or with a time lag on the display unit 69, and an operator or the like is configured. May determine the timing at which the irradiation start instruction operation is performed while looking at the display screen of the display unit 69. Similarly, an instruction to start imaging to the imaging unit 45 may be given when a predetermined imaging start instruction operation is performed in an operating device (for example, an external device 60 or a device different from the external device 60). In this case, the operating device transmits an imaging instruction signal to the inspection device 40 of the flying object 30 in response to the imaging start instruction operation performed by the operator or the like, and the inspection device 40 receives the imaging instruction signal. In this case, the control unit 41 may control the image pickup unit 45 to start imaging. The irradiation start instruction operation and the imaging start instruction operation may be common operations, and the irradiation instruction signal and the imaging instruction signal may be common signals.

The irradiation by the irradiation unit 44 may be started when a predetermined irradiation start condition is satisfied. Further, the image pickup by the image pickup unit 45 may be started when a predetermined image pickup start condition is satisfied.

For example, the inspection device 40 considers that the position of the flying object 30 enters a predetermined area "when a predetermined irradiation start condition is satisfied" and when the position of the flying object 30 enters a predetermined area. The irradiation unit 44 may be controlled by the control unit 41 so that the irradiation unit 44 starts irradiation of the excitation light. In this example, the irradiation of the excitation light outside the predetermined area is suppressed. Similarly, the inspection device 40 considers that the position of the flying object 30 enters the predetermined area "when the predetermined imaging start condition is satisfied", and when the position of the flying object 30 enters the predetermined area, the imaging unit 45 The imaging unit 45 may be controlled by the control unit 41 so that the image pickup is started. In this example, the image pickup operation outside the predetermined area is suppressed.

The inspection device 40 regards the fact that the altitude of the flying object 30 is within the predetermined altitude range as "when the predetermined irradiation start condition is satisfied", and when the altitude of the flying object 30 is within the predetermined altitude range. The irradiation unit 44 may be controlled by the control unit 41 so that the irradiation unit 44 starts irradiation of the excitation light. In this example, the irradiation of the excitation light outside the predetermined altitude range is suppressed. Similarly, the inspection device 40 regards the fact that the altitude of the flying object 30 is within the predetermined altitude range as "when the predetermined imaging start condition is satisfied", and captures the image when the altitude of the flying object 30 is within the predetermined altitude range. The imaging unit 45 may be controlled by the control unit 41 so that the unit 45 starts imaging. In this example, the image pickup operation outside the predetermined altitude range is suppressed.

In the inspection device 40, the imaging unit 45 continuously captures an image while the flying object 30 is flying, and the analysis unit (for example, the control unit 41) continuously captures the captured image captured by the imaging unit 45. The irradiation unit 44 may be controlled by the control unit 41 so that the irradiation unit 44 starts irradiation of the excitation light when the analysis unit detects a predetermined predetermined image in the captured image. The "predetermined image" in this case may be, for example, an image of a part of the outer shape of the fastening body 110 or an image of a part of the outer shape of the structure 190. Alternatively, the "predetermined image" may be an image of a specific color attached to the structure 190 or the fastening body 110, or an image of the shape or color of the specific mark attached to the structure 190 or the fastening body 110. It may be. In this example, the irradiation of the excitation light before the "predetermined image" is detected is suppressed.

The flying object 30 may include an object detection sensor (distance measuring sensor, proximity sensor, etc.) (not shown), and may be configured to detect that the flying object 30 has approached an object by the object detection sensor. .. The inspection device 40 may set the case where the object detection sensor detects that the flying object 30 has approached an object (for example, a structure 190) as "when a predetermined irradiation start condition is satisfied". In this example, the irradiation of the excitation light until the flying object 30 approaches the object is suppressed. Similarly, the inspection device 40 may set the case where the object detection sensor detects that the flying object 30 has approached an object (for example, a structure 190) as “when a predetermined imaging start condition is satisfied”. In this example, imaging until the flying object 30 approaches the object is suppressed.

The following description relates to the details of the looseness inspection.
As shown in FIG. 3, in the “normal state in which the coating layer 22 is not cracked”, even if the above-mentioned excitation light is irradiated from the irradiation unit 44 to the inspection unit 20, the surface side of the inspection unit 20 Since the suppression agent (light-shielding agent) in the coating layer 22 hinders the transmission of the excitation light, sufficient excitation light does not reach the light emitting layer 24 on the inner side. Therefore, even if the covering layer 22 is irradiated with the excitation light, the light emitting layer 24 does not enter the light emitting state. Even if the fastening body 110 and the covering layer 22 in such a state are imaged by the image pickup unit 45, "an image in which the light emitting layer 24 emits light cannot be obtained", for example, an image taken as shown in FIG. An image) that selectively extracts the image) is obtained. In the captured image of FIG. 6, reference numeral 110Z is a figure that virtually indicates the position of the fastening body 110. In the captured image of FIG. 6, there is no image of a portion that emits light with a predetermined wavelength in the vicinity of the figure virtually indicated by the reference numeral 110Z. Therefore, by visually confirming the captured image of FIG. 6 by the operator or analyzing by the control unit 41 or the control unit 61, it is possible to specify that there is no image of the portion that emits light of a predetermined wavelength. It can be determined that there is no looseness in the imaged fastener 110.

On the other hand, when the fastener 110 is loosened due to vibration caused by an earthquake or wind, a crack 22Z is generated in the fragile covering layer 22 which is the upper layer as shown in FIG. 4, but it is the lower layer. The relatively flexible light emitting layer 24 simply extends and does not crack. In such a state, when excitation light such as ultraviolet rays is irradiated from the irradiation unit 44 (FIG. 2) as shown in FIG. 5, the excitation light passes through the crack 22Z and is below the crack 22Z in the light emitting layer 24. Since sufficient excitation light reaches the region 24Z of the above region 24Z, this region 24Z emits light as a light emitting portion by the fluorescent dye. Then, when the image pickup unit 45 takes an image in the vicinity of the light emitting unit while the light emitting unit (region 24Z) emits light in this way, for example, as shown in FIG. 7, in the image captured by the image pickup unit 45, the light emitting unit (region 24Z) The image La is an image with vivid colors that is distinguished from the images of other parts. Therefore, such a captured image makes it easy to detect the crack 22Z, and it becomes easy to detect that the fastener 110 has loosened. The color of the light emitted from the light emitting unit can be an appropriate color such as red, green, or yellow by changing the fluorescent pigment. In FIG. 5, the excitation light is conceptually shown by an arrow, but if the lower region 24Z can be emitted when the crack 22Z is generated, the direction and range of irradiation of the excitation light can be determined. The type of excitation light is not limited to the above-mentioned specific example.

The inspection method using the inspection system 1 may include not only the above-mentioned first to third steps but also a fourth step. The fourth step determines whether or not the fastener 110 is loosened based on the captured image generated in the third step (for example, the captured image generated by the imaging unit 45 as shown in FIGS. 6 and 7). This is the determination process. In the fourth step, the operator may visually check the captured image generated in the third step, and the operator may determine whether or not the fastener 110 is loosened. Alternatively, in the fourth step, the control unit 41, the control unit 61, or the management device 80 functions as an example of the detection unit, and in the third step, the detection unit analyzes the captured image captured by the imaging unit 45 on the covering layer 22. The detection unit may operate to detect "an image showing the light emission of the light emitting layer 24" from the captured image. Then, when the detection unit detects the "image showing the light emission of the light emitting layer 24" in the captured image, the detection unit determines that the fastening body in the vicinity of the captured image is loose, and in the captured image, the "light emitting layer". When the "image showing the light emission of 24" is not detected, the operation may be performed so as to determine that there is no loosened fastener in the vicinity of the captured image.

In any of the examples, the detection unit analyzes the captured image captured by the imaging unit 45 in the third step, and the image of the predetermined color included in the captured image is "an image showing the light emission of the light emitting layer 24". May be. In this example, the predetermined color may be one or more predetermined colors. In this example, when the image captured by the image pickup unit 45 in the third step includes an image of the predetermined color in the image captured by the image pickup unit 22, the detection unit is loosened in the fastener included in the image. It can be determined that it is. On the contrary, in the detection unit, when the image captured by the image pickup unit 45 in the third step does not include the image of the predetermined color, the fastening body included in the image is loosened. It may be determined that there is no such thing.

As another example, the detection unit may use an image having a luminance range of a predetermined brightness included in the image captured by the image pickup unit 45 in the third step as an “image showing the light emission of the light emitting layer 24”. In this example, when the image captured by the image pickup unit 45 in the third step includes an image having a brightness within a predetermined luminance range, the detection unit is loosened by the fastener included in the image. Can be determined to have occurred. On the contrary, in the detection unit, when the image captured by the image pickup unit 45 in the third step does not include an image having a brightness within a predetermined luminance range, the fastening body included in the image is loosened. It may be determined that it has not been done.

When the inspection device 40 of the flying object 30 captures an image of the fastening body 110 by the imaging unit 45, the image captured by the imaging operation corresponds to the position information of the flying object 30 when the captured image is acquired. It is also possible to generate the attached corresponding data. The inspection device 40 may store this corresponding data in the storage unit 43 of the flying object 30. Alternatively, the inspection device 40 may transmit the corresponding data from the flying object 30 to the external device 60 or the management device 80.

The flying object 30 may be equipped with a GPS (Global Positioning System) sensor. In this case, the position information included in the corresponding data may be the latitude information and the longitude information of the flying object 30. According to this technique, when the looseness of the fastening body 110 is confirmed by visual inspection or analysis of the captured image generated by the imaging unit 45, the position where the captured image is captured can be specified, for example, during maintenance work. The effort to find the fastener 110 that is loose can be significantly reduced. Further, the flying object 30 may include a directional sensor as one function of the GPS sensor or as another sensor. In this case, the corresponding data in which the captured image and the position information are associated may include the orientation information of the flying object 30 when the captured image is captured in association with the captured image. According to this technique, when the looseness of the fastening body 110 is confirmed by visual inspection or analysis of the captured image, not only the position where the captured image is captured but also the orientation can be specified.

Further, the flying object 30 may be equipped with an altitude sensor in place of the GPS sensor or in combination with the GPS sensor. In this configuration, the inspection device 40 associates the captured image obtained by the imaging operation when the imaging unit 45 images the fastening body 110 with the altitude information of the flying object 30 when the captured image is acquired. Corresponding data can also be generated. According to this technique, when the looseness of the fastening body 110 is confirmed by visual inspection or analysis of the captured image, the altitude at which the captured image is captured can be specified. In this case, it is desirable that the corresponding data includes not only the altitude information but also the position information in association with the captured image, and the orientation information is included in association with the captured image. good.

In the inspection method using the inspection system 1, the image captured image (image captured as shown in FIGS. 6 and 7) generated by the image pickup unit 45 performing the image pickup operation in the third step is compared with the third step or the fourth step. Image processing may be performed in the process. Specifically, the inspection system 1 applies a coloring process to the image region corresponding to the light emission of the light emitting unit in the image captured by the image pickup unit 45 in the third step, and the captured image is colored by the coloring process. It may be converted into an image. For example, the inspection system 1 has a region of a predetermined hue (a hue corresponding to light emission in the light emitting unit) in the captured image (captured image as shown in FIGS. 6 and 7) generated by the image pickup unit 45 in the third step. Image processing may be performed in which at least one of hue, density, and brightness is changed with respect to a region) or a region of a predetermined luminance range (a region of a luminance range corresponding to light emission at the light emitting unit). More specifically, the inspection system 1 extracts a predetermined hue region from the captured image (see FIGS. 6 and 7) generated by the imaging unit 45 in the third step, and determines the extracted region. The enhancement process for emphasizing the corresponding portion of the captured image may be performed so as to convert to the region of the hue (for example, a predetermined vivid color). The "predetermined hue" in this case is not limited to one hue. Alternatively, the inspection system 1 extracts a region having a brightness of a certain value or more from the captured image generated by the imaging unit 45 in the third step, further enhances the brightness of the extracted region, or determines the extracted region. The enhancement process may be performed so as to convert to the region of the hue (for example, vivid color) of. The image of FIG. 8 is the image taken by the image pickup unit 45 in the third step when the image La of the region where the light emitting unit emits light is included as the “predetermined hue region” as shown in FIG. This is an image after image processing in which a region of the image La is extracted and converted into an image Lb having a predetermined hue (for example, a vivid color).

When the above-mentioned image processing is applied to the captured image generated by the image pickup unit 45 in the third step, the image after the image processing (the image enhanced as shown in FIG. 8) is obtained in the fourth step. , The operator may visually check and determine whether or not the fastener 110 is loose. Alternatively, in the fourth step, the detection unit may analyze the image after the enhancement process, and the detection unit may determine whether or not the fastener included in the captured image is loosened based on this image.

1-3. Example of effect The following description relates to the effect of the inspection method and the inspection system 1 according to the present embodiment.
The inspection method and the inspection system 1 according to the present embodiment are in a place where the flying object 30 can move, for example, even in a place (high place, etc.) where a heavy burden or difficulty is associated with the movement or work of the worker. It is easy to reach the inspection location and the inspection burden can be reduced. In this inspection method and inspection system 1, when the fastening body 110 is loosened, there is a possibility that a "region allowing the passage of excitation light" (cracks, etc.) may occur in the coating layer 22 fixed to the fastening body 110. It gets higher. Then, if the coating layer 22 is imaged while the coating layer 22 is irradiated with the excitation light when the “region allowing the passage of the excitation light” is generated in this way, the “excitation light is the light emitting layer 24”. There is a high possibility that "a state in which the light emitting layer 24 emits light" will be imaged. Therefore, this inspection method and inspection system 1 can facilitate the detection of looseness of the fastener 110 with high accuracy.

For example, in the inspection method and the inspection system 1 according to the present embodiment, when the fastening body 110 is loose, if the light emitting state is reflected in the captured image when the fastening body 110 is imaged by the imaging unit 45. Since there is a high possibility that looseness can be confirmed, there is a high possibility that the inspection can be performed even if the flying object 30 is slightly shaken due to the influence of wind or the like, and there are few restrictions on the imaging direction. For example, assuming a method of imaging and confirming the "go mark", in such a method, the imaging direction is likely to be restricted, and the flying object cannot be maintained in a stationary state due to being fanned by wind or the like. There is a high possibility that it will not be possible to inspect by imaging. In particular, when imaging the "go mark" from an air vehicle, in order to obtain a clear image that can accurately determine the state of the "go mark", the "go mark" is kept stationary in a stable state. The vicinity of the "mark" must be imaged. However, since the flying object is easily affected by crosswinds and the like, it is difficult to take a clear image of the vicinity of the "go mark" with the flying object reliably stationary. On the other hand, in the inspection method and the inspection system 1 according to the present embodiment, such a problem is unlikely to occur. On the other hand, as another comparative example, when a method as described in Patent Document 1 is assumed, this method also has a problem that the imaging direction is easily limited. The method of Patent Document 1 has a feature that the exposed area of the detection area increases when loosening occurs in the fastener, but this method cannot capture an image that can identify that the exposed area has increased. If so, looseness cannot be detected. For that purpose, the vicinity of the fastening body must be imaged in a predetermined direction (for example, a direction close to perpendicular to the installation surface of the fastening body), and the imaging direction is greatly limited. Moreover, the method of Patent Document 1 is a method in which looseness of the fastener cannot be detected unless the image of the detection region portion and the image of the other portion can be distinguished in the captured image, but the detection region portion may be a fluorescent color. Since it does not have the characteristic of emitting light, for example, the detection region portion in the captured image is due to the fact that the vicinity of the fastener is a dark environment due to some cause (for example, a cause such as dark illumination) at the time of imaging. If it is not possible to clearly distinguish between the image and other parts (shielding part, etc.), or if the detection area and other parts (shielding part, etc.) have similar colors due to the occurrence of rust, it is detected in the captured image. It becomes impossible to accurately identify the area. In such a case, even if the fastener is loosened, the occurrence of looseness cannot be detected. On the other hand, in the inspection method of the present embodiment, such a problem is unlikely to occur.

The inspection method and the inspection system 1 according to the present embodiment emit light in a specific wavelength band while suppressing the influence of the disturbance light in an environment where the influence of the disturbance light other than the excitation light (for example, sunlight) is generated on the fastening body 110. The site can be selectively imaged. Therefore, when the light emitting layer 24 emits light by the excitation light under the condition of ambient light, the light emitting portion is easily imaged more clearly. In particular, when the inspection is performed in direct sunlight during the daytime, when the light emitting layer 24 emits light by the excitation light, the light emitting portion can be easily imaged more clearly while the influence of the direct sunlight is suppressed.

In the inspection method and inspection system 1 according to the present embodiment, the image captured by the imaging unit 45 is continuously captured by the communication unit 42 while the imaging unit 45 is performing imaging while the irradiation unit 44 is irradiating the excitation light. It may be transmitted to the external device 60. Then, the external device 60 may display the image captured by the image pickup unit 45 on the display unit 69. In such a technique, an image selectively captured by a light emitting portion in a specific wavelength band while suppressing the influence of ambient light can be continuously transmitted to the external device 60 while capturing the image. In 60, the image excluding the influence of the ambient light can be processed earlier. For example, in this inspection method and inspection system 1, the captured image is continuously transmitted to the external device 60 by the communication unit 42 while the imaging unit 45 is performing imaging while the irradiation unit 44 is irradiating the excitation light. However, it may be displayed on the display unit 69 of the external device 60 in parallel with the image pickup operation of the image pickup unit 45. In this case, the operator can visually recognize the captured image of the imaging unit 45 (an image selectively captured by the light emitting portion of a specific wavelength band) in real time or at an early stage with a time lag.

[Second Embodiment]
The inspection system 1 of the second embodiment is different from the inspection system 1 of the first embodiment only in that the fastening structure 210 shown in FIG. 9 is used instead of the fastening structure 10 shown in FIG. It is the same as one embodiment. The inspection method of the second embodiment is different from the inspection method of the first embodiment only in that the inspection is performed using the fastening structure 210 instead of the fastening structure 10, and the other points are the same as the inspection method of the first embodiment. Is. In the fastening structure 210 of the inspection system of the second embodiment, the same parts as those of the fastening structure 10 are designated by the same reference numerals, and detailed description thereof will be omitted. The inspection system 1 of the second embodiment is the same as that of FIGS. 1 and 2 except for the fastening structure 210. Therefore, in the following description, it is assumed that the fastening structure 10 has been changed to the fastening structure 210, and FIG. , FIG. 2 is referenced.

In the inspection method using the inspection system 1 of the second embodiment, the point of preparing the fastening structure 210 as shown in FIG. 9 instead of the fastening structure 10 (FIG. 3) in the first step is the first step in the first embodiment. Is different. In the fastening structure 210 used in the inspection system 1 of the second embodiment, the fastening body 110 and the fastened body 192 have the same configuration as that of the first embodiment. The fastening structure 210 differs from the first embodiment in the configurations of the auxiliary member 216 and the inspected portion 220. In the fastening structure 210, an auxiliary member 216 such as a washer is interposed at the joint portion between the fastening body 110 and the fastened body 192. A light emitting layer 224 containing a fluorescent dye that emits light by excitation light is coated on the outer surface of the auxiliary member 216. The light emitting layer 224 is provided at least outside the region sandwiched between the outer arrangement portion 112 and the outer surface 192A of the object to be fastened 192. In the example of FIG. 9, a light emitting layer 224 is provided between the lower end of the outer arrangement portion 112 and the outer surface 192A. The light emitting layer 224 is made of the same material as the light emitting layer 24 exemplified in the first embodiment. A coating layer 22 containing a light-shielding agent that blocks the transmission of excitation light is formed on the outer edge of the joint between the fastening body 110 and the fastening body 192 in which the auxiliary member 216 is inserted. The coating layer 22 is fixed to the fastener 110 and is provided so as to cover the light emitting layer 224. The covering layer 22 is made of the same material as the covering layer 22 exemplified in the first embodiment. Also in the example of FIG. 6, the covering layer 22 is fixed to the outer peripheral surface 112A so as to at least partially cover the outer peripheral surface 112A of the outer arrangement portion 112, and the outer surface is configured to at least partially cover the outer surface 192A of the object to be fastened 192. It is fixed at 192A. In the second embodiment, the coating layer 22 does not necessarily have to be less ductile and fragile than the light emitting layer 224.

In the inspection system and the inspection method of the second embodiment, when the fastening body 110 is not loosened, the covering layer 22 shown in FIG. 9 is not cracked. On the other hand, when the fastener 110 is loosened, cracks are generated in the covering layer 22 which is the upper layer, but cracks are not generated in the light emitting layer 224 which is the lower layer. In such a state, when the excitation light such as ultraviolet rays is irradiated from the irradiation unit 44 (FIG. 2), the excitation light passes through the crack and reaches the region below the crack in the light emitting layer 224. This region emits light as a light emitting part by the fluorescent dye. When the image pickup unit 45 (FIG. 2) captures an image in the vicinity of the light emitting section while the light emitting section emits light in this way, an image captured in a clear color in which the image of the light emitting section is distinguished from the image of the other portion can be obtained. The handling of the obtained captured image may be any treatment exemplified in the first embodiment.

The inspection system 1 of the second embodiment can use all the techniques of the inspection system 1 of the first embodiment except for the fastening structure 210. As the inspection method using the inspection system 1 of the second embodiment, all the techniques of the inspection method according to the first embodiment can be used except for the first step. As the technique and idea for detecting looseness of the fastening body 110 in the inspection system 1 of the second embodiment, the technique and idea described in Japanese Patent Application Laid-Open No. 2019-138459 can be used. On top of that, a synergistic effect can be obtained by adding the same characteristics as those of the first embodiment.

[Third Embodiment]
The inspection system of the third embodiment is different from the inspection system 1 of the first embodiment only in that the fastening structure 310 shown in FIG. 10 is used instead of the fastening structure 10, and is the same as the first embodiment except for that. be. The inspection method of the third embodiment is different from the inspection method of the first embodiment only in that the inspection is performed using the fastening structure 310 instead of the fastening structure 10, and the other points are the same as the inspection method of the first embodiment. Is. In the fastening structure 310 of the inspection system of the third embodiment, the same parts as those of the fastening structure 10 are designated by the same reference numerals, and detailed description thereof will be omitted. The inspection system 1 of the third embodiment is the same as that of FIGS. 1 and 2 except for the fastening structure 310. Therefore, in the following description, it is assumed that the fastening structure 10 has been changed to the fastening structure 310, and FIG. , FIG. 2 is referenced.

In the inspection method using the inspection system 1 of the third embodiment, the point of preparing the fastening structure 310 as shown in FIG. 10 instead of the fastening structure 10 (FIG. 3) in the first step is the first step in the first embodiment. Is different. In the fastening structure 310 used in the inspection system 1 of the third embodiment, the fastening body 110 and the fastened body 192 have the same configuration as that of the first embodiment. In the fastening structure 310, the configuration of the inspected portion 320 is different from that of the first embodiment.

In the fastening structure 310, the inspected portion 320 uses a highly extensible lower layer (light emitting layer 24, foundation sheet 326, adhesive layer) and a low extensible upper layer (coating layer 22) to form a structure. It is configured as an adhesive sheet for crack detection to detect cracks. In the inspected portion 320 exemplified in FIG. 10, the lower layer has a two-layer structure composed of a light emitting layer 24 and a base sheet 326, and is further provided with an adhesive layer. The foundation sheet 326 is a lower sheet, which is a highly extensible and resin sheet. The light emitting layer 24 is an upper layer of the base sheet 326 and is a layer mixed with a fluorescent dye. The light emitting layer 24 may be a layer having the same characteristics as the light emitting layer 24 exemplified in the first embodiment, or may have slightly different characteristics. The light emitting layer 24 is, for example, a coating layer made of resin and having high extensibility. In the lower layer, an adhesive layer (not shown) is formed on the lower surface of the foundation sheet 326. The coating layer 22 which is the upper layer may be a layer having the same characteristics as the coating layer 22 exemplified in the first embodiment, or may be a layer having slightly different characteristics. The coating layer 22 is formed on the upper side of the lower layer by, for example, applying a resin.

When the inspection method according to the third embodiment is realized, in the first step, the state after the fastened body 110 is fastened to the fastened body 192 and before the inspected portion 320 is attached (from the state of FIG. 10 to the covered body). The inspected portion 320 (crack detection sheet) is attached so as to cover the outer arrangement portion 112 (head of the screw after fastening) of the fastening body 110 (without the inspection portion 320). FIG. 10 is a diagram showing a state after pasting after finishing the first step. In the example of FIG. 10, the fluorescent dye is contained in the light emitting layer 24 of the lower extensibility layer, and the inhibitor (light-shielding agent) is contained in the upper layer (coating layer 22) having low extensibility. Also in this example, in the fastening structure 310, the light emitting layer 24 is provided at least outside the region sandwiched between the fastening body 110 and the fastened body 192, and the covering layer 22 is fixed to the fastening body 110 and covers the light emitting layer 24. It will be provided.

In the inspection system and the inspection method of the third embodiment, when the fastening body 110 is not loosened, the covering layer 22 shown in FIG. 10 is not cracked. On the other hand, when the fastener 110 is loosened, cracks are generated in the covering layer 22 which is the upper layer, but cracks are not generated in the light emitting layer 24 which is the lower layer. In such a state, when excitation light such as ultraviolet rays is irradiated from the irradiation unit 44 (FIG. 2), the region below the crack in the light emitting layer 24 emits light as a light emitting unit by the fluorescent dye. Therefore, the looseness of the fastener 110 can be inspected by performing the second to fourth steps similar to those of the first embodiment and the second embodiment.

The inspection system 1 of the third embodiment can use all the techniques of the inspection system 1 of the first embodiment except for the fastening structure 310. As the inspection method using the inspection system 1 of the third embodiment, all the techniques of the inspection method according to the first embodiment can be used except for the first step. As the technique and idea for detecting looseness of the fastening body 110 in the inspection system 1 of the third embodiment, the technique and idea described in JP-A-2020-52026 can be used. On top of that, a synergistic effect can be obtained by adding the same characteristics as those of the first embodiment.

[Fourth Embodiment]
The inspection system of the fourth embodiment has a structure in which the structure 490 shown in FIG. 11 is inspected instead of the fastening structure 10 of the structure 190 shown in FIG. 1, and the light emitting layer 24 and the covering layer 22 are fastened. It is different from the inspection system 1 of the first embodiment only in that it is provided in the inspection target area of the structure 490 instead of being provided in the inspection target area of 10, and is the same as the first embodiment except for the point. The inspection method using the inspection system 1 of the fourth embodiment is different from the inspection method according to the first embodiment in that the first step described later is used instead of the first step of the first embodiment. In the inspection system 1 of the fourth embodiment, the same parts as those of the first embodiment are designated by the same reference numerals as those of the first embodiment, and detailed description thereof will be omitted. The inspection system 1 of the fourth embodiment is the same as that of FIGS. 1 and 2 except for the configuration of the structure 490 and the arrangement of the light emitting layer 24 and the coating layer 22. Therefore, in the following description, the structure 490 and the light emitting layer are emitted. Except for the layer 24 and the covering layer 22, FIGS. 1 and 2 are referred to as appropriate.

The inspection system 1 of the fourth embodiment has the configuration as shown in FIG. 2, and is configured as a system for inspecting the structure 490 as shown in FIG. The inspection system 1 includes a flying object 30, a light emitting layer 24 (FIG. 12), a covering layer 22 (FIG. 12), an external device 60 (FIG. 2), and a management device 80 (FIG. 2). The flying object 30, the external device 60, and the management device 80 each have the same configuration and the same function as those in the inspection system 1 of the first embodiment. The light emitting layer 24 and the coating layer 22 are made of the same material as each of the inspection system 1 of the first embodiment and have the same function. As the light emitting layer 24, any material of the light emitting layer 24 described in the above-described embodiment may be used as long as it contains a dye that emits light by excitation light. As the coating layer 22, any material of the light emitting layer 24 described in the above-described embodiment may be used as long as it contains an inhibitor that suppresses the transmission of excitation light. The image pickup unit 45 and the irradiation unit 44 provided on the flying object 30 have the same configuration as the image pickup unit 45 and the irradiation unit 44 of the first embodiment, and have the same functions.

The mobile body applicable to the inspection system 1 of the fourth embodiment is capable of flying or navigating at least one of aerial, underwater, and water. In FIG. 11, an example in which the flying object 30 flies in the air is shown as a typical example.

In the inspection method performed by using the inspection system 1 of the fourth embodiment, in the first step, after the light emitting layer 24 is provided in the inspection target region of the structure 490, the coating layer 22 is provided so as to cover the light emitting layer 24. Deploy. FIG. 12 shows the vicinity of the inspection target area after the first step. This first step is the same as the first step in the first embodiment except that the arrangement regions of the light emitting layer 24 and the covering layer 22 are different. In the example of FIG. 12, the light emitting layer 24 is laminated so as to cover the flat surface of the structure 490, and then the coating layer 22 is laminated so as to cover the light emitting layer 24. The region covered by the light emitting layer 24 in the structure 490 is the inspection target region. In this way, the light emitting layer 24 covers the inspection target area of the structure 490, and the covering layer 22 is provided so as to cover the entire light emitting layer 24 and not to expose the light emitting layer 24.

In the inspection method according to the fourth embodiment, each of the second step, the third step, and the fourth step is the same as each of the second step, the third step, and the fourth step of the inspection method according to the first embodiment. be. Also in this example, in the second step, after the first step, the flying object 30 is moved so that the covering layer 22 is located within the imaging range of the imaging unit 45 while flying the flying object 30. Then, in the third step, the irradiation unit 44 irradiates the covering layer 22 with the excitation light while the flying object 30 is flying, and the imaging unit 45 images the covering layer 22 in this irradiation state. In the fourth step, the detection unit similar to that of the first embodiment analyzes the captured image obtained by the imaging of the imaging unit 45, and detects an image showing the light emission of the light emitting layer 24 from the captured image. The method of detecting the image showing the light emission of the light emitting layer 24 is the same as that of the first embodiment.

As shown in FIG. 12, in a normal state where the structure 490 is not changed and the coating layer 22 is not cracked, even if the irradiation unit 44 irradiates the inspected portion 20 with the above-mentioned excitation light, the coating is coated. Since the inhibitor (light-shielding agent) in the layer 22 hinders the transmission of the excitation light, sufficient excitation light does not reach the light emitting layer 24 in the lower layer. Therefore, even if the covering layer 22 is irradiated with the excitation light, the light emitting layer 24 does not enter the light emitting state. Even if the vicinity of the coating layer 22 in such a state is imaged by the image pickup unit 45, an image in which the light emitting layer 24 emits light cannot be obtained.

On the other hand, in the example of FIG. 13, cracks 490Z are generated in the inspection target region of the structure 490, and cracks 22Z are generated in the fragile covering layer 22 which is the upper layer accordingly. On the other hand, the relatively flexible light emitting layer 24, which is the lower layer, merely extends and no cracks are generated. In such a state, when excitation light such as ultraviolet rays is irradiated from the irradiation unit 44, the excitation light passes through the crack 22Z, and sufficient excitation light reaches the region 24Z below the crack 22Z in the light emitting layer 24. do. Therefore, this region 24Z emits light as a light emitting portion by the fluorescent dye. When the image pickup unit 45 takes an image of the vicinity of the light emitting unit in the state where the light emitting unit (region 24Z) emits light in this way, the image of the light emitting unit in the captured image becomes an image of clear color distinguished from the image of the other portion. Therefore, it was easily detected that the crack 22Z was generated in the covering layer 22 from such an image, and an abnormal change (crack 490Z in FIG. 13) occurred in the inspection target region near the crack 22Z in the structure 490. Easy to detect.

In addition, in FIGS. 11 to 13, as an example of the structure 490, the area of the surface portion of the building is shown as the inspection target area where the building is shown, but the present invention is not limited to this example. For example, tunnels, bridges, dams, cable tunnels, waterways, drainage pipes, underground pipes, structural parts of the factory (for example, crane gutters, saddles, and other elements that are the structural parts of overhead cranes installed in the factory). The surface portion such as the above may be the inspection target area. Further, the inspection target area may be outdoors or indoors. Further, the material of the inspection target area is preferably concrete, but any material that can cause cracks may be used, and for example, stone, wood, metal, or the like may be used. Further, the structure in which the light emitting layer and the coating layer are laminated on the structure 490 is not limited to the example of FIG. 12, and Japanese Patent Application Laid-Open No. 2013-83493, Japanese Patent No. 6575886, Japanese Patent Application Laid-Open No. 2014-85195, and Japanese Patent Application Laid-Open No. 2013-83493 Any structure disclosed in Japanese Patent Publication No. 2014-85200 may be adopted. For example, an undercoat layer, a sheet layer for preventing peeling, and the like are laminated on the surface of the substrate of the structure 490, and a highly elastic light emitting layer 24 and a low elastic coating layer 22 having lower elasticity than the light emitting layer 24 are laminated thereto. It may be laminated.

[Other embodiments]
The present disclosure is not limited to the embodiments described above with reference to the description and drawings. For example, the features of the embodiments described above or below can be combined in any combination within a consistent range. Further, any of the features of the above-mentioned or later-described embodiments may be omitted unless it is clearly stated as essential. Further, the above-described embodiment may be modified as follows.

In the above-described embodiment, the coating layer is directly contacted and fixed to the outer peripheral surface of the outer arrangement portion (for example, bolt), but the portion in contact with the coating layer is formed when the fastener 110 rotates. Any part may be used as long as it is a portion that rotates integrally with the fastener 110. For example, if there is a mounting portion attached to the outer arrangement portion (such as a mounting member or a covering portion that rotates integrally with the outer arrangement portion when the outer arrangement portion rotates), the covering layer comes into contact with the mounting portion. It may be fixed.

The inspected portion 320 exemplified in the third embodiment had a two-layer structure in which the lower layer was composed of the light emitting layer 24 and the foundation sheet 326, and the portion of this two-layer structure was made into a one-layer structure. It may be an adhesive sheet for crack detection. In this example, if the portion of the lower layer of the third embodiment having the above-mentioned two-layer structure is "a highly extensable resin sheet mixed with the fluorescent dye emitted by the above-mentioned excitation light". good. Then, an adhesive layer similar to that in the third embodiment is formed on the lower surface of the resin sheet, and the upper layer (coating layer 22) in which the light-shielding material is mixed is a resin on the lower layer (resin sheet and adhesive layer). It may be formed by coating or the like. In this example, the resin sheet corresponds to an example of a light emitting layer.

In the description of the above-described embodiment, an example in which the light emitting layer 24 is not cracked when the coating layer 22 is cracked has been described. However, if the excitation light reaches the light emitting layer 24 when the coating layer 22 is cracked and an image showing the light emitting state of the light emitting layer 24 can be captured, the light emitting layer 24 is slightly cracked. It may occur.

In the description of the above-described embodiment, an example in which the fastening structure 10 is provided on the structure 190 provided on land or an example in which the structure 490 is set as the inspection target area has been mainly described. A part or all of 190 and the fastening structure 10 may be provided in water or near the water surface, and the surface portion of the structure in water or near the water surface may be the inspection target area. That is, the technique of the above-described embodiment may be applied to the fastening structure 10 or the inspection target region other than the fastening structure 10 provided in the water or near the water surface. In this case, the flying object 30 may be replaced with a moving body (for example, an underwater drone) capable of navigating underwater or on the water, and the moving body may have the same inspection device 40 as in FIG. In this case, the second step may be a step of moving the moving body so that the covering layer 22 is located within the imaging range of the imaging unit 45 while navigating the moving body in water or on the water. The third step is a step in which the imaging unit 45 images the coating layer 22 while the irradiation unit 44 irradiates the coating layer 22 with excitation light while the moving body is navigating in water or on the water. All you need is. In any of the above-mentioned examples, the moving body may be a moving body that can move in any two or more places in the air, underwater, and on the water.

It should be noted that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is not limited to the embodiments disclosed here, and may include all modifications within the scope indicated by the claims or within the scope equivalent to the claims. Intended.

1 ... Inspection system 10 ... Fastening structure 22 ... Covering layer 24 ... Light emitting layer 30 ... Flying body (moving body)
44 ... Irradiation unit 45 ... Imaging unit 110 ... Fastener 190, 490 ... Structure 192 ... Fastened body

Claims (6)

An inspection method for inspecting structures
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Using
The first step of providing the light emitting layer in the inspection target region of the structure and then arranging the coating layer so as to cover the light emitting layer.
After the first step, the second step of moving the moving body so that the covering layer is located within the imaging range of the imaging unit while flying or navigating the moving body.
A third step in which the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.
Inspection methods including. It is an inspection method for inspecting looseness of the fastened body in the fastened structure in which the fastened body is fastened to the fastened body.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Using
After providing the light emitting layer at least outside the region sandwiched between the fastened body and the fastened body in the fastening structure, the coating layer is arranged so as to be fixed to the fastening body and cover the light emitting layer. 1 step and
After the first step, the second step of moving the moving body so that the covering layer is located within the imaging range of the imaging unit while flying or navigating the moving body.
A third step in which the imaging unit images the coating layer while the irradiation unit irradiates the coating layer with the excitation light.
Inspection methods including. The first or second aspect of the present invention further comprises a fourth step in which the detection unit analyzes the captured image obtained by the imaging of the imaging unit and detects an image showing the emission of the light emitting layer from the captured image. Inspection methods. When the light emitting layer receives the excitation light from the irradiation unit, the light emitting layer emits light having a predetermined wavelength.
The image pickup unit selectively images a light emitting portion in a specific wavelength band and obtains an image.
The inspection method according to any one of claims 1 to 3, wherein the predetermined wavelength is included in the specific wavelength band. An inspection system that inspects structures
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Equipped with
The light emitting layer is provided so as to cover the inspection target area of the structure.
The coating layer is provided so as to cover the light emitting layer.
An inspection system in which the imaging unit captures an image of the coating layer while the irradiation unit irradiates the coating layer with the excitation light while the moving body is flying or navigating. An inspection system for inspecting looseness of the fastened body in a fastened structure in which the fastened body is fastened to the fastened body.
An image pickup unit, an irradiation unit that irradiates excitation light, and a moving body that is equipped with and that flies or navigates at least in the air, underwater, or on the water.
A light emitting layer containing a dye that emits light by the excitation light, and
A coating layer containing an inhibitor that suppresses the transmission of excitation light, and
Equipped with
The light emitting layer is provided at least outside the region sandwiched between the fastener and the object to be fastened in the fastening structure.
The covering layer is fixed to the fastening body and provided so as to cover the light emitting layer.
An inspection system in which the imaging unit captures an image of the coating layer while the irradiation unit irradiates the coating layer with the excitation light while the moving body is flying or navigating.

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