JP6690481B2 - Flight type inspection device - Google Patents

Description

  The present invention relates to a flight type inspection device.

  BACKGROUND ART Conventionally, for structures such as dams, buildings, and bridges, inspection work has been performed during construction and after construction to check for defects.

  In particular, when inspecting bridges that do not have scaffolds, there is a known method for imaging and inspecting a structure (hereinafter also referred to as an inspection object) using an air vehicle equipped with an imaging device that can be remotely controlled wirelessly. There is (for example, refer to Patent Document 1).

  However, in the image pickup area of the image pickup device mounted on the air vehicle, an extremely bright portion such as the sky, the sun, or a river surface may be reflected in the image pickup area in addition to the inspection object.

  In such a case, in a general image pickup apparatus, the brightness information of the entire image pickup area is used to perform the brightness adjustment so that overexposure and underexposure are minimized in the entire image pickup area. Therefore, when an extremely bright portion is reflected, the portion of the inspection object to be subjected to relatively dark inspection is adjusted to a darker image, and there is a problem that it is not possible to sufficiently judge the presence or absence of damage from the image. .

  Therefore, in view of the above problem, it is an object of the present invention to provide a flight-type inspection device capable of adjusting an inspection object to an image that can be inspected even in an extremely bright part in an imaging region.

In order to achieve the above object, in one embodiment, a flight-type inspection device comprises:
An aircraft having a rotor, a drive device for rotating the rotor, and a controller for controlling the rotation of the drive device,
And an image pickup device for picking up an image of the inspection object,
The imaging device is
A pixel array in which a plurality of photoelectric conversion elements are arranged in a two-dimensional manner is provided, and based on the input signal intensity from the inspection required area requiring inspection of the entire area of the pixel array, the image signal level of the entire area Adjust.

  According to the present embodiment, it is possible to provide a flight-type inspection device capable of adjusting an inspection object to an image that can be inspected even in a scene where an extremely bright portion exists in the imaging region.

It is a figure explaining the structure of the bridge which is an example of the inspection target object in 1st Embodiment. FIG. 3A is a side view illustrating a case where an image of a side surface portion of the bridge shown in FIG. 1 is captured. B is a diagram illustrating a general image when the region J shown in A is imaged. It is a schematic diagram of the flight type inspection device concerning a 1st embodiment. It is explanatory drawing explaining the imaging area of a 1st imaging device and a 2nd imaging device. It is a functional block diagram of the flight type inspection device concerning a 1st embodiment. It is a schematic diagram of an imaging device which constitutes a flight type inspection device concerning a 1st embodiment. It is a functional block diagram of an imaging device. FIG. 9A is a diagram showing an example of division of the entire area of the pixel array processed by the processing unit of the first imaging device. FIG. 9B is a diagram showing an example of division of the entire area of the pixel array processed by the processing unit of the second imaging device. It is a flow chart explaining the processing flow of the flight type inspection device concerning a 1st embodiment. It is a schematic diagram showing an imaging device which constitutes a flight type inspection device concerning a 2nd embodiment. It is a schematic diagram showing a flight type inspection device concerning a 3rd embodiment. It is a schematic diagram showing a flight type inspection device concerning a 4th embodiment.

  The flight-type inspection device according to the present embodiment will be described in detail below with reference to the accompanying drawings. In the present embodiment, the bridge K will be described as an example of the inspection object. In each drawing, the same components may be denoted by the same reference numerals and duplicate description may be omitted.

[First Embodiment]
FIG. 1 is a diagram illustrating a structure of a bridge K that is an example of an inspection object according to the first embodiment.

  The bridge K has a bridge pier portion K1 and a main body portion K2. The main body portion K2 has a main girder K21, a floor plate K22, a side surface portion K23, and a road surface K24. An overhanging portion K22a is formed outside the main girder K21 of the floor plate K22.

  Generally, as a portion of the bridge K that requires an inspection using an unmanned air vehicle, a portion below the road surface K24 through which people and vehicles pass, the lower surface and side surfaces of the main girder K21, the back surface of the floor board K22 (overhanging portion). K22a) and the like.

  When the above-mentioned location is imaged by the image pickup device, the image pickup device picks up the image in a sideways or upward direction.

  The problems of the image pickup device mounted on the general flight inspection device will be described with reference to FIG. FIG. 2A shows a side view for explaining a case where the side surface portion of the bridge K shown in FIG. 1 is imaged. FIG. 2B is a diagram illustrating a general image when the region J shown in FIG. 2A is imaged. Note that the flight type inspection device is omitted in FIG. 2 for the sake of explanation.

  As shown in FIG. 2 (A), when an attempt is made to photograph the side surface of the main girder K21 using the lateral camera S whose optical axis is substantially horizontal, the floor board K22 and the side surface portion are located above the imaging region J (field of view). There is K23 etc., and extremely bright sky etc. will not be reflected.

  On the other hand, the sky (sun) or the like located on the opposite side of the bridge K may be reflected in the lower part of the imaging region J. Further, in order to improve the inspection efficiency, when a horizontal camera S and an upward camera whose optical axis is substantially vertical are installed in parallel, the side close to the inspection object (bridge K) in the imaging area of the upward camera (upper side). ) Always has an object to be inspected (such as the floor board K22 or the back surface of the overhanging portion K22a), but the sky (sun) or the like may be reflected on the opposite side (lower side).

  When an extremely bright portion is reflected in the image capturing area as described above, a general image capturing apparatus uses the brightness information (input signal strength) of the entire image capturing area to cause overexposure or underexposure in the entire image capturing area. The brightness is adjusted so as to minimize it. Then, as shown in FIG. 2B, the side portion of the main girder K21 to be inspected has its brightness adjusted to a darker image than usual, which makes it difficult to distinguish the background from the cracks H.

  Therefore, in the first embodiment, the bridge K is inspected using the flight type inspection device 1 as shown in FIG.

<Flight type inspection device 1>
Next, an example of the configuration of the flight-type inspection device 1 according to the first embodiment will be described. FIG. 3 is a schematic configuration diagram of the flight-type inspection device 1 according to the first embodiment. (A) is a plan view of the flight-type inspection device 1, (B) is a left side view of (A), and (C) is a front view of (A).

  The flight-type inspection device 1 is an inspection device that includes a flying body 10 and an imaging device 30 and that can image and inspect an arbitrary portion of an inspection object.

  The air vehicle 10 is a remote-controlled unmanned air vehicle having a frame 11, a drive device 12, a rotary wing 13, legs 14, and a controller 20.

  As shown in FIG. 3A, the frame 11 is arranged such that the web portion 11a and the flange portions 11b arranged at both end portions of the web portion 11a have an H shape in a plan view. However, the frame 11 is not limited to this, and may be configured to have four arms radially extending from the center of the flying body 10 and provided in X-shape so as to form a right angle with each other. Moreover, the structure may be such that arms are radially extended from the center by the number of the drive devices 12 and the rotary blades 13.

  The drive device 12 is a motor that rotates the rotary vanes 13, and is preferably a brushless motor. The drive device 12 is attached to each of the tip end portions of the two flange portions 11b and is connected to the rotary shaft of the rotary blade 13. Each drive device 12 is independently controlled by the control unit 20.

  The rotary blade 13 is attached to each of the drive devices 12, and is rotated by the drive of the drive device 12. The rotation speed of the rotary blade 13 is adjusted by controlling the drive of each drive device 12 independently. The number of the rotor blades 13 is not limited to four in the illustrated example, but if it is three or more, it functions as a flying body so that stable flight can be performed. Is desirable. Further, as shown in FIG. 3 (A), the rotary blades 13 are not limited to the configuration in which the plurality of rotary blades 13 are arranged on substantially the same plane, but the plurality of rotary blades 13 arranged on the substantially same plane are provided. The rotary blades 13 may be stacked in multiple stages.

  The leg portion 14 is connected to the lower surface of the two flange portions 11b at the substantially central position. The leg portion 14 is formed in an inverted V-shape on the lower side, and protects the aircraft 10 from impact when the aircraft 10 lands on the ground.

  The control unit 20 is attached to the lower surface side of the web portion 11 a of the frame 11. The control unit 20 controls the drive of the drive device 12 according to signals from various sensors installed according to the purpose and a control signal transmitted from the outside.

  In addition, the control unit 20 independently controls the drive of each drive device 12 to independently control the rotation speed of each rotary vane 13, and raises, lowers, forwards, retreats, or horizontally moves the flight type inspection device 1. Move and stop in each direction of rotation.

  The imaging device 30 is a camera that acquires an image based on a signal from the control unit 20. The image pickup device 30 is fixed to the web portion 11 a of the frame 11.

  The image pickup apparatus 30 of the present embodiment is installed such that the optical axis of the flying body 10 is substantially horizontal when the flying body 10 is flying, and the optical axis of the flying body 10 is substantially vertically upward when the flying body 10 is flying. It also has a second imaging device 32.

  With the above configuration, the vertical portion such as the side surface of the main girder K21 shown in FIGS. 1 and 2 is imaged by the first imaging device 31, and at the same time, the back surface of the floor board K22 and the overhanging portion K22a is imaged by the second imaging device 32. It can be imaged.

  The first imaging device 31 and the second imaging device 32 of the present embodiment are arranged in the frame 11 so that a common imaging region G can be formed by the first imaging device 31 and the second imaging device 32 as shown in FIG. Has been done. The range of the dotted line is the imaging region of the first imaging device 31, and the dashed-dotted line is the imaging region of the second imaging device 32. Therefore, the flight-type inspection device 1 of the present embodiment can acquire an image with no blind spots and perform an inspection without leakage over the entire bridge K.

  Next, an example of the control configuration of the flight type inspection device 1 will be described with reference to FIG. FIG. 5 is a functional block diagram of the flight-type inspection device 1 according to the present embodiment.

  As shown in FIG. 5, the flight-type inspection device 1 includes a drive unit 15, a sensor unit 16, a storage unit 17, an airframe communication unit 18, a control unit 20, an imaging unit 3, and a power supply unit 40. Have.

  The drive unit 15 is realized by the drive device 12 in FIG.

  As the sensor unit 16, for example, an inertial measurement unit (IMU: Inertial Measurement Unit) capable of detecting the angles (or angular velocities) of three axes governing motion and acceleration can be used. Further, it is preferable that the sensor unit 16 be equipped with an atmospheric pressure sensor from the viewpoint that altitude information can be acquired based on the atmospheric pressure difference between the local point and the takeoff point.

  The storage unit 17 is an example of a storage device that stores information such as a flight route of the flight-type inspection device 1, for example. The storage unit 17 stores the image information obtained by the imaging device 30.

  The airframe communication unit 18 can transmit and receive signals to and from the control device 5 on the ground to transmit the status of the airframe and control the air vehicle 10 remotely from the ground. The ground control device 5 includes, for example, a control unit 51 and a ground communication unit 52. Then, when the operator operates the control unit 51, the aircraft communication unit 18 via the ground communication unit 52 is informed of a signal related to the set value of the rotation speed of each drive device 12, a signal related to the shutter timing of the imaging device 30, and the like. Various signals are transmitted.

  The control unit 20 receives a signal indicating information on the current attitude, speed, orientation, position, etc. of the flight-type inspection device 1 obtained from the sensor unit 16 and information such as flight routes stored in the storage unit 17 in advance. The number of rotations of each drive unit 12 is set based on the output and output to the drive unit 15. Thereby, the flight type inspection device 1 can move autonomously. In a structure that can move autonomously, if the target position can be specified in advance, it is possible to inspect a distant place where the driver's view cannot reach or a girder of the bridge.

  In addition, the control unit 20 controls the rotation speed of each drive unit 12 based on a signal transmitted from the pilot control device 5 externally connected by radio or wire for remote control acquired by the airframe communication unit 18. It can also be set.

  In the structure of remote control by wire connection, long-time continuous flight is possible by supplying power by wire. In addition, the structure for remotely controlling by radio can reach a target position without being obstructed even if it reaches farther away and obstacles such as trees and steel frames are in the flight process.

  The image capturing unit 3 is implemented by the image capturing device 30 in FIG. The image pickup unit 3 acquires an image based on a signal from the control unit 20. Although FIG. 5 shows a mode in which the image capturing unit 3 is connected to the control unit 20 and an image is acquired by a signal from the control unit 20, the present embodiment is not limited in this respect, and the image capturing is performed. The unit 3 may not be connected to the control unit 20. In this case, the imaging unit 3 continuously acquires the moving images independently of the signal from the control unit 20 or acquires the still images at regular intervals while the flight-type inspection device 1 is flying. You can Further, the imaging unit 3 can acquire an image based on a shutter signal transmitted by radio waves from the ground, infrared rays, or the like. Further, the image pickup unit 3 can acquire an image by other known techniques.

  The power supply unit 40 is a secondary battery such as a lithium-ion battery. The power supply unit 40 supplies electric power to each unit of the flight-type inspection device 1.

<Imaging device>
Next, the configuration of the imaging device 30 will be described with reference to FIGS. 6 and 7. FIG. 6 is a schematic configuration diagram of the imaging device 30 according to the present embodiment. FIG. 7 is a functional block diagram of the imaging device 30 according to the present embodiment. The imaging device 30 of the present embodiment has a first imaging device 31 and a second imaging device 32, but the first imaging device 31 is shown in FIGS. 6 and 7 for the sake of explanation. The second image pickup device 32 has the same configuration as the first image pickup device 31, and thus the description thereof is omitted.

  The first imaging device 31 includes at least a housing 311, a lens 312, and a light emitting diode (LED) 313.

  The housing 311 accommodates the lens 312 and the like. In the illustrated example, the shape is rectangular, but it is not limited to this.

  The lens 312 has a function of forming an image on the image plane.

  The light emitting diode 313 is an example of a light source that irradiates the inspection object with light. A plurality of the light emitting diodes 313 are provided on the outer peripheral position of the lens 312 at equal intervals in the circumferential direction, and can emit light in synchronization with the imaging timing of the first imaging device 31. Therefore, it is possible to capture an image regardless of the shooting environment. In particular, when the lower surface of the bridge K is imaged, direct sunlight does not reach it, so it is difficult to secure a sufficient amount of light for image acquisition. However, when the light emitting diode 313 is provided, the inspection object can be irradiated with light by the light emitting diode 313, so that a sufficient amount of light for image acquisition can be secured.

  The light source is not limited to the light emitting diode 313, but is small in size, lightweight, consumes less power, can be turned on and off at high speed, and selectively emits light in a specific wavelength range. The light emitting diode 313 is preferable from the viewpoint that it can be irradiated with light. When the size of the light source is small, the degree of freedom in the installation position is high. When the light source is lightweight, it has less influence on the limited transportable weight of the aircraft 10. When the power consumption of the light source is small, the load on the power supply unit of the flying object 10 is small, and the flight time can be suppressed from being shortened by providing the light source. When light in only the specific wavelength range can be selectively emitted, the energy use efficiency in the case of performing imaging using only the specific wavelength range can be improved, and the power consumption of the power supply unit 40 can be particularly reduced. it can.

  Next, an example of the control configuration of the imaging device 30 will be described with reference to FIG. 7. FIG. 7 is a functional block diagram of the imaging device 30 that constitutes the flight type inspection device 1 according to the present embodiment. Although FIG. 7 shows only the first imaging device 31, the second imaging device 32 is also the same.

  The imaging device 31 includes a light emitting unit 31A, an optical system unit 31B, a pixel array unit 31C, and a processing unit 31D.

  The light emitting unit 31A is implemented by the light emitting diode 313 shown in FIG. The optical system unit 31B has a lens, an optical filter, and the like, and functions as a light receiving unit.

  The pixel array section 31C is formed by regularly arraying a plurality of photoelectric conversion elements (pixels) in a two-dimensional manner, and processes each signal (luminance, pixel value) input from the optical system section 31B to each photoelectric conversion element. It is output to the unit 31D.

  The processing unit 31D sequentially reads and processes the signals output from the photoelectric conversion elements of the pixel array unit 31C. The processing unit 31D includes a clock circuit serving as a reference for writing and reading to and from the pixel array unit 31C and lighting timing of the light emitting unit 31A, a row / column selection circuit of photoelectric conversion elements, an A / D conversion circuit, an image processor, It is composed of a video encoder, a storage area, a CPU, and the like, and processes a signal output from the pixel array unit 31C to convert a moving image or a still image into a file format.

  The processing section 31D of the present embodiment electrically divides the area of all photoelectric conversion elements forming the pixel array section 31C (hereinafter, simply referred to as the entire area of the pixel array) into a plurality of areas. The processing unit 31D performs a process of adjusting the image signal level of the entire area of the pixel array based on the input signal strength (luminance) from the inspection required area of the entire area of the pixel array that needs inspection. This point will be described in detail below.

  FIG. 8A shows an example of division of the entire area of the pixel array processed by the processing unit 31D of the first imaging device 31.

  When the first imaging device 31 captures an image as shown in FIG. 2B, for example, the processing unit 31D uses two first dividing lines L1 and L2 extending in the horizontal direction as shown by a broken line to display the pixels. The entire area of the array is vertically divided into three areas of an upper area U1, a middle area M1 and a lower area S1. Of course, the number of divisions such as 2 divisions and 4 divisions is not limited.

  For example, in the case of the image shown in FIG. 2B, the inspection required area to be inspected is the area from the upper area U1 other than the sky and the sun to the middle area M1.

  At this time, focusing only on the upper region U1, based on the minimum value and the maximum value of the input signal strength (luminance) in the upper region U1, the minimum value and the maximum value of the image signal level (luminance) of the entire area of the pixel array. Is a feature of this embodiment.

  By performing the above processing, the lower region S1 exceeds the maximum value of the pixel array brightness, and the sky or sun to be imaged becomes a so-called white-out image. However, since the lower region S1 is not an inspection object, it is a portion unrelated to inspection and does not pose a problem. On the other hand, the upper area U1 and the middle area M1 to be inspected can be adjusted, for example, so that the brightest part in the two areas has the maximum brightness, so that the contrast between the background and the dark part such as the crack H becomes clear. It becomes easy to detect cracks H and junkers.

  FIG. 8B shows an example of division of the entire area of the pixel array processed by the processing unit 32D of the second imaging device 32.

  When the second imaging device 32 is inspecting (imaging) the range of the main girder K21 shown in FIG. 1, the inspection object is reflected in the entire area of the pixel array (or the entire imaging area). However, when inspecting the overhanging portion K22a outside the main girder K21, there is a possibility that something other than the inspection object is reflected.

  Therefore, the processing unit 32D vertically extends the entire region of the pixel array into the upper region U2 and the lower region by using one second dividing line L3 extending in the horizontal direction parallel to the first dividing lines L1 and L2 as shown by the broken line. Divide S2 into two. Of course, it may be divided into three or more.

  In the case of the image shown in FIG. 8B, the inspection required area to be inspected is the upper area U2 other than the sky and the sun.

  The flight type inspection device 1 moves in the left-right direction in a state of facing the inspection surface in order to catch the inspection surface of the inspection object by the first imaging device 31. At that time, in a region (upper region U2 in the illustrated example) near the inspection object imaged by the first imaging device 31 of the second imaging device 32, the same position as the upper region U1 of the imaging region of the first imaging device 31 or The neighborhood will be captured. In the illustrated example, it is a part of the main girder K21. That is, the inspection object is always reflected in the upper area U2.

  On the other hand, there is a possibility that the sky or the sun may be reflected in the lower area S2, which is an area away from the first imaging device 31.

  From the above point, the processing unit 32D of the second imaging device 32 focuses only on the upper region U2, and based on the minimum value and the maximum value of the input signal intensity (luminance) in the upper region U2, The minimum value and the maximum value of the image signal level ((luminance) are determined. Therefore, the contrast between the background and the dark portion such as the crack H becomes clear, and the crack or the jumper is easily detected.

  As described above, the flight-type inspection device 1 of the present embodiment surely inspects the inspection object by adjusting the contrast so as to obtain an image suitable for inspection even in the case where an extremely bright portion is reflected in the imaging area. Can be inspected.

<Process>
Next, a control flow of the image pickup device 30 included in the flight type inspection device 1 according to the first embodiment will be described with reference to FIG. 9. FIG. 9 is a flowchart illustrating a processing flow of the image pickup apparatus included in the flight type inspection apparatus according to the first embodiment. The image pickup apparatus 30 of the present embodiment has the first image pickup apparatus 31 and the second image pickup apparatus 32, and the same control flow is executed. Therefore, in FIG. Only the control will be described.

  As a premise, in the processing unit 31D of the first imaging device 31, the upper region U1 on the pixel array where the inspection target (bridge K) is always imaged is set as the inspection required region. Similarly, in the processing unit 32D of the second imaging device 32, the upper area U2 on which the inspection object (bridge K) is always imaged on the pixel array is set as the inspection required area. However, the inspection required area can be appropriately changed and set.

  When the flight-type inspection device 1 flies and the imaging device 30 starts imaging the bridge K, in step (hereinafter simply referred to as ST) 1, the pixel array unit 31C accumulates charges according to the exposure amount. It

Next, the processing unit 31D determines in ST2 whether a predetermined exposure time has elapsed.
If the predetermined exposure time has not elapsed in ST2 (N), the process waits until the predetermined exposure time elapses. When a predetermined exposure time has elapsed in ST2 (Y), the processing unit 31D reads out, as a pixel value, a value that reflects the amount of charge accumulated in order from each photoelectric conversion element (pixel) of the pixel array unit 31C (ST3). . At that time, the pixel values are read out in a predetermined order in accordance with the signals at the constant time intervals generated in the clock circuit. The pixel value includes the input signal strength (luminance information).

  Next, in ST4, the processing unit 31D corrects the read pixel value using the correction value common to each photoelectric conversion element.

  Next, in ST5, the processing unit 31D determines whether the corrected pixel value (hereinafter, also referred to as a brightness correction value) is in the area set as the inspection required area. This is determined, for example, based on the number of clocks after the first pixel is read.

  In ST5, when the corrected pixel value is not in the inspection required area (N), the process proceeds to ST8, and the corrected pixel value is recorded in the storage area of the storage unit 17 or the processing unit 31D.

  In ST5, if the corrected pixel value is in the inspection required area (Y), whether the inspection required area has the optimum contrast (luminance) by using all the pixel values of the photoelectric conversion elements in the inspection required area. It is judged (ST6). As a method, for example, if the minimum value and the maximum value of the brightness value are stored and are within a range of appropriate values when displayed as an image, specifically, by using an 8-bit gray scale display as an example, It is determined whether the luminance values are evenly distributed in the range of 0 to 255. The processing unit 31D records the pixel value sent regardless of the determination result in the storage unit 17 or the storage area in the processing unit 31D in ST8.

  If the correction value (corrected pixel value) is not appropriate in ST6 (N), the process proceeds to ST7 and the correction value is corrected. The corrected correction value is used to calculate the brightness correction value when the next image is acquired. Further, all the pixel values once recorded in ST8 may be recalculated and corrected again by using the corrected correction value.

  When the correction value (corrected pixel value) is proper in ST6 (Y), the process proceeds to ST8. In ST8, the processing unit 31D records the calculated brightness correction value, the adjusted image information and the like in the storage unit 17 and the like after performing an encoding process and the like.

  Then, the processing unit 31D ends the processing step when the photographing by the flight type inspection apparatus 1 is completed in ST9 (Y). If the photographing by the flight type inspection apparatus 1 is not completed in ST9, the process returns to ST1 and the above-mentioned steps are executed.

  More specifically, the series of processes described above calculates an appropriate brightness correction value based on the minimum value and the maximum value of the pixel value (input signal strength) in the inspection required area, and the brightness correction value is calculated in the pixel array. Is applied to the image signal level (luminance) of all areas of the pixel array to determine the minimum value and the maximum value of the entire area of the pixel array. Then, for example, the image shown in FIG. 2 (B) can be adjusted to the image (brightness) shown in FIG. 8 (A), and a dark portion such as a crack H becomes clear, so that a crack, a jumper, or the like can be easily detected. Becomes

[Second Embodiment]
Next, the flight type inspection apparatus according to the second embodiment will be described with reference to FIG. FIG. 10 is a schematic diagram showing an imaging device 30 ′ that constitutes a flight-type inspection device according to the second embodiment. Although the imaging device 30 'of the present embodiment has the first imaging device 31' and the second imaging device 32 ', the second imaging device 32' is shown in FIG. 10 for the sake of explanation. The first image pickup device 31 ′ has the same configuration as the second image pickup device 32 ′, and thus the description thereof will be omitted.

  Further, the flight type inspection apparatus of this embodiment is the same as that of the first embodiment except for the image pickup apparatus 30 ', and therefore the description of common items is omitted. The functional configuration of the imaging device 30 'is also the same as in FIG.

  The second image pickup device 32 ′ constituting the image pickup device 30 ′ of the present embodiment is different in that it is fixed to the web portion 11a of the frame 11 via the gimbal mechanism 6.

  The gimbal mechanism 6 has a first rotating body 61 that performs a rotational movement P1 parallel to the paper surface of the drawing, and a second rotating body 62 that performs a rotational movement P2 about a direction horizontal to the paper surface. The first rotary body 61 and the second rotary body 62 are connected such that their ends are orthogonal to each other. The first rotating body 61 is rotatably connected to the frame 11, and the second rotating body 62 is rotatably connected to the second imaging device 32 ′.

  Therefore, the second imaging device 32 ′ can change its direction in an arbitrary direction by the first rotating body 61 and the second rotating body 62.

  The first image pickup device 31 ′ may be fixed to the web portion 11a of the frame 11 with the same configuration.

  The imaging device 30 ′ of the present embodiment acquires the tilt information of the flying object 1 from the sensor unit 16 mounted on the flying object 10 so that the first imaging device 31 ′ even if the attitude of the flying object 10 is tilted. The posture of the second image pickup device 32 'can be kept horizontal, and a stable image suitable for inspection can be picked up.

  In the illustrated example, the configuration in which one gimbal mechanism 6 is fixed to one imaging device has been described, but the present invention is not limited to this, and two imaging devices (first imaging device 31 ′ and second imaging device 32 ′) are used. May be fixed by one gimbal mechanism.

[Third Embodiment]
Next, the flight type inspection device according to the third embodiment will be described with reference to FIG. FIG. 11 is a schematic view showing a flight-type inspection device 1 ′ according to the third embodiment. Specifically, (A) is a plan view of the flight type inspection device 1 ', (B) is a left side view of (A), and (C) is a front view of (A).

  The flight-type inspection device 1'of this embodiment is different from the other embodiments only in that a protective member 7 for preventing the rotor blades 13 from coming into contact with an external obstacle is installed.

  The protection member 7 includes a main body 71 having a fan shape in a plan view, a side surface 72 that hangs from a semi-circular outer peripheral edge of the main body 71, and an end of the flange 11b that forms a part of the main body 71. It has a fixed portion 71a that is fixed in position.

  Therefore, the rotor blade 13 has its upper portion protected by the body portion 71 of the protection member 7 and its outer peripheral side surface protected by the side surface portion 72. With the above configuration, when the flight-type inspection device 1 ′ comes into contact with the surrounding obstacles, the protection member 7 first comes into contact, so that the rotor blade 13 is prevented from being damaged and the flight-type inspection device 1 ′ is prevented from falling. It can be avoided.

[Fourth Embodiment]
Next, a flight-type inspection device 100 according to the fourth embodiment will be described with reference to FIG. FIG. 12 is a schematic diagram showing a flight-type inspection device 100 according to the fourth embodiment.

  The flight type inspection apparatus 100 ′ of the present embodiment is different from the other embodiments in that the outer peripheral portion of the flying body 10 is surrounded by the protective structure 8.

  The protective structure 8 of the illustrated example has a configuration in which a plurality of triangular frame bodies 81 are assembled into a substantially spherical shape, for example. Of course, the protective structure 8 of this embodiment may have a shape other than a sphere, such as a regular polyhedron, a geodesic dome, or a fullerene.

  The flight type inspection apparatus 100 of the present embodiment is different from the other embodiments in that the legs 14 of the flying body 10 are omitted. The flying body 10 and the protective structure 8 are connected via a gimbal mechanism 9 that is passively rotatable on a plurality of axes, and are freely rotatable independently of each other.

  When the flight-type inspection device 100 having the above-described structure comes into contact with the surrounding obstacles, the protective structure 8 first comes into contact with the flight-type inspection device 100. The fall of the device 100 can be avoided.

  In addition, if there is a physical gap through which the protective structure 8 can pass, it is possible to intrude the flight-type inspection device 100 and take an image required for inspection even with a slight contact. Moreover, since the outer shell shape of the protective structure 8 is substantially spherical, the distance from the imaging device can be kept substantially constant by moving the protective structure 8 while contacting the inspection object. This makes it possible to obtain an image suitable for inspection with almost constant imaging conditions.

  Although the preferred embodiments have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and replacements of the above-described embodiments are possible without departing from the scope of the claims. Can be added.

1, 1 ′, 100 Flight type inspection device 6 Gimbal mechanism 7 Protective member 8 Protective structure 10 Aircraft 11 Frame 12 Drive device 13 Rotor wing 14 Leg part 16 Sensor part 30 Imaging device 31 First imaging device 31C Pixel array part 31D Processing unit 32 Second imaging device 32D Processing unit K Bridge

JP, 2014-227166, A

Claims (10)

An aircraft having a rotor, a drive device for rotating the rotor, and a controller for controlling the rotation of the drive device,
And an image pickup device for picking up an image of the inspection object,
The imaging device is
A pixel array in which a plurality of photoelectric conversion elements are arranged in a two-dimensional manner is provided, and based on the input signal intensity from the inspection required area requiring inspection of the entire area of the pixel array, the image signal level of the entire area A flight-type inspection device characterized by adjusting. The imaging device is
A first imaging device installed such that the optical axis is substantially horizontal when the flying object is flying;
The flight type inspection device according to claim 1, further comprising a second image pickup device installed such that an optical axis of the flying object is substantially vertically upward when the flying object is flying. The first imaging device divides the entire area of the pixel array into a plurality of areas in the vertical direction by at least one first dividing line extending in the horizontal direction,
The flight type inspection apparatus according to claim 2, wherein the second imaging device divides the entire area of the pixel array by at least one second dividing line parallel to the first dividing line. . The first imaging device,
Of the divided areas, the area including at least the uppermost area in the vertical direction is set as the inspection required area, and based on the input signal intensity from the inspection required area, the image signal level of the entire area is set. The flight-type inspection device according to claim 3, wherein the flight-type inspection device is adjusted. The second imaging device,
An area including at least an area closest to the inspection object imaged by the first imaging device is set as the inspection required area out of the divided areas, and the total area is determined based on the input signal strength from the inspection required area. The flight type inspection apparatus according to claim 3, wherein the image signal level of the area is adjusted. The first imaging device and the second imaging device are
The flight type inspection apparatus according to any one of claims 2 to 5, wherein the first imaging device and the second imaging device are arranged so as to have a common imaging region.   The first image pickup device and the second image pickup device are installed on the flying body via a gimbal mechanism, and the flying body has a sensor unit for detecting an inclination of the flying body. The flight type inspection device according to any one of 2 to 6. In the air vehicle,
The flight type inspection device according to any one of claims 1 to 7, wherein a protection member is installed to prevent the rotary blade from coming into contact with an external obstacle.   The flight type inspection device according to any one of claims 1 to 7, wherein an outer peripheral portion of the flying body is surrounded by a protective structure.   The flight type inspection device according to claim 9, wherein the protective structure has one of a regular polyhedron, a geodesic dome, a fullerene, and a sphere.