JP6751383B2 - Unmanned aerial vehicle - Google Patents

Description

The present invention relates to an unmanned aerial vehicle capable of acquiring an image of a remote place and various measurement values by remote control or autonomous flight.

There is an unmanned aerial vehicle that operates remotely or autonomously, and is equipped with a CCD (Charge-Coupled Device, abbreviated hereafter) camera, various sensors, communication equipment, etc., and acquires images at desired positions, measurement values by various sensors, etc. can do.
As an example, the unmanned aerial vehicle disclosed in Patent Document 1 is equipped with a range finder and a CCD camera to acquire deformation information and wind speed information of a wind turbine blade and use it for blade rigidity evaluation.

JP, 2017-90145, A

Although unmanned aerial vehicles equipped with such CCD cameras and various sensors are widely used in industry, they have the following problems during transfer of captured images and during autonomous flight.
<When transferring captured images>
In the conventional transfer of captured images, there is a configuration in which captured images of a CCD camera are transmitted by a video transfer device, and measurement values of various sensors are separately transmitted to a receiver side by a WiFi transmitter. In this case, the receiving side can freely process the received data, but the two types of transmitters must be mounted on the main body of the unmanned aerial vehicle, and the weight increases accordingly, and at the receiving side, Is a personal computer (hereinafter, simply referred to as PC) having a CPU that executes an application program, a ROM that stores the application program, and a RAM that temporarily stores processing contents during execution of the application program in order to process received data. In some cases) or a processing board is required.

Further, in the case where the body of the unmanned aerial vehicle is equipped with a PC or a processing board that captures the image captured by the CCD camera and the measured values of various sensors and a WiFi transmitter, the reception data can be easily processed on the reception side. However, a PC or a processing board mounted on an unmanned aerial vehicle needs a processing specification (spec) for processing an image, resulting in an increase in size and an increase in cost. Further, a PC or a processing board is required on the receiving side as described above.

<Autonomous flight>
The conventional autonomous flight has a configuration in which measured values of a range sensor mounted on an unmanned aerial vehicle are accumulated in time series and mapping is performed, and a self-position is identified by a PC or a processing board that is also mounted. In this case, the mapping data can be recorded, and the system configuration mounted on the unmanned aerial vehicle becomes easy. However, since the arithmetic processing for identifying the self-position is complicated, a PC or a processing board having a large arithmetic processing specification is required, and the unmanned aerial vehicle becomes large. In addition to this, there is also a method of sending data to the receiving side by wireless communication for calculation, but a similar PC or processing board is required on the receiving side.

<Other>
When an unmanned aerial vehicle is applied to a nuclear power plant with a high radiation dose, image data and measured values of the radiation dose are required. There is a strong demand for a simple configuration and miniaturization.

In view of the above-mentioned problems of the conventional technology, the present invention can transfer an image of a remote place to a user together with site information such as self-position and distance to an obstacle, especially radiation dose, and can be downsized with a simple configuration. It is intended to provide an unmanned aerial vehicle that can be achieved.

As a first means for solving the above problems, the present invention provides an unmanned aerial vehicle that moves by remote control or autonomous flight,
An OSD (abbreviation of On Screen Display, the same applies below) that combines the measurement values of the on-site information acquisition unit with the captured image of the CCD camera,
A video transfer unit that transfers the OSD composite image to an external terminal;
It is to provide an unmanned aerial vehicle characterized by having.
According to the first means, it is possible to generate a composite image in which on-site information, for example, a radiation dose is added to a captured image with a simple configuration, and it is possible to miniaturize an unmanned aerial vehicle. Further, the composite image can be transferred to a plurality of external terminals. Therefore, many users can share the image with the site information in real time.

As a second means for solving the above problems, the present invention provides an unmanned aerial vehicle that moves by remote control or autonomous flight,
A frame,
A flight controller,
Rotor and
Equipped with
The frame is provided with a concave portion that bisects in the horizontal direction at the center,
The recess is
CCD camera,
A radiation measuring unit for measuring the radiation dose in the photographing range of the CCD camera;
An OSD for synthesizing a measurement value of the radiation measurement unit with a captured image of the CCD camera;
A video transfer unit that transfers the OSD composite image to an external terminal;
Housing the,
A radiation shielding member is provided on the radiation measuring unit so as to surround the sensor unit so as to surround the sensor unit so that the measurement range of the radiation dose is the same as the imaging range of the CCD camera.
Alternatively , the unmanned aerial vehicle is characterized in that the photographing range of the CCD camera and the measuring range of the radiation measuring unit are set to the same range by the CCD camera having a wide-angle lens that matches the directional characteristics of the radiation measuring unit. is there.

According to the second means, it is possible to prevent damage to the mounted device due to a collision or a drop, and it becomes easy to adjust the weight balance of the frame when designing. In addition, a synthetic image in which a radiation dose is added to a captured image can be generated with a simple configuration, and the unmanned aerial vehicle can be downsized. Furthermore, the composite image can be transferred to a plurality of external terminals. Therefore, a large number of users can share the site information in real time with the image of the site with radiation dose.

As a third means for solving the above-mentioned problems, the present invention is characterized in that, in the second means, a signal conversion unit for converting the measurement value of the radiation measurement unit into a signal that can be input to the OSD is provided. The purpose is to provide unmanned aerial vehicles.
According to the third means, the processing specifications of the processing board can be reduced, and the unmanned aerial vehicle as a whole can be downsized.

As a fourth means for solving the above problems, the present invention provides the unmanned aerial vehicle according to the second or third aspect, which autonomously fly,
A gyro sensor for measuring the moving amount of the moving body,
A range sensor for measuring the distance between the moving body and the obstacle,
The control unit estimates the self-position based on the measured value of the gyro sensor, and compares the measured value of the range sensor with the control unit for identifying the self-position,
It is to provide an unmanned aerial vehicle characterized by having.
According to the fourth means, it is possible to reduce the processing specifications of the arithmetic processing of the processing board and to downsize the entire unmanned aerial vehicle. It is also possible to fly autonomously to the target position while avoiding obstacles.

As a fifth means for solving the above-mentioned problems, according to the present invention, in the fourth means, the OSD includes the measured value of the range sensor and/or the information of the self-position by the control unit in the captured image. It is to provide an unmanned aerial vehicle characterized by being added.
According to the fifth means, it is possible to grasp the positional relationship at the site by adding the distance to the obstacle or/and the self-position of the moving body to the composite image. Further, by associating the radiation dose with the image, it is possible to visually grasp the radiation dose at the site.

As a sixth means for solving the above-mentioned problems, in the present invention, in any one of the second to fifth means, the imaging range of the CCD camera and the measurement range of the radiation measuring unit are set to the same range. The purpose is to provide an unmanned aerial vehicle characterized by.
According to the sixth means, by using a CCD camera equipped with a wide-angle lens that matches the directional characteristics (angle at which radiation can be detected) of the radiation measurement unit, the imaging range of the CCD camera and the radiation measurement area are made to substantially coincide with each other. You can This makes it easy for an observer or a worker to grasp the situation at the site.

As a seventh means for solving the above-mentioned problems, the present invention provides the radiation shielding material according to the sixth means, wherein the radiation measuring unit sets the radiation dose measurement range to the same range as the imaging range of the CCD camera. It is to provide an unmanned aerial vehicle characterized by being provided with.
According to the seventh means, when the directional characteristic of the radiation measuring unit is wider than that of the CCD camera, the angle to be detected by the radiation shielding material is blocked and the directional characteristic is adjusted to the CCD camera so that the imaging range of the CCD camera and the radiation measurement. The areas can be approximately matched. This makes it easy for an observer or a worker to grasp the situation at the site.

As an eighth means for solving the above problems, the present invention is characterized in that, in any one of the second to seventh means, an electromagnetic shielding material is provided between the flight controller and the image transfer section. The purpose is to provide unmanned aerial vehicles.
According to the eighth means, it is possible to eliminate the adverse effect of the radio waves (electromagnetic noise) emitted from the video transfer unit on the flight controller, and fly the moving body in accordance with the control signal.

As a ninth means for solving the above problems, according to the present invention, in any one of the first to eighth means, the video transfer unit transfers to a video receiver including at least a display unit. To provide a featured unmanned aerial vehicle.
According to the ninth means, it is sufficient that the receiving side of the composite image has at least the receiver and the display unit, and it is not necessary to prepare a PC or a processing board for processing the image. Also, by transferring to multiple receivers, many users can share the site information in real time.

According to the present invention, it is possible to immediately know the state of the scene, the image, and the radiation dose. Also, data can be received simultaneously at a plurality of locations. Therefore, many users can share information.

It is a schematic explanatory drawing of the unmanned aerial vehicle of this invention. 1 is a block diagram of an unmanned aerial vehicle of the present invention. It is explanatory drawing of the measurement range of a radiation measurement part. It is an operation|movement flowchart of the image transfer of the unmanned aerial vehicle of this invention. It is an image figure of the autonomous flight of the unmanned aerial vehicle of this invention. It is an operation|movement flow diagram of the autonomous flight of the unmanned aircraft of this invention.

Embodiments of the unmanned aerial vehicle of the present invention will be described in detail below with reference to the accompanying drawings.
[Unmanned aerial vehicle 10]
FIG. 1 is a schematic explanatory view of an unmanned aerial vehicle of the present invention. FIG. 2 is a block diagram of the unmanned aerial vehicle of the present invention. In FIG. 2, the solid line indicates a video signal, the small chain line indicates a sensor signal, and the large chain line indicates a control signal.
The unmanned aerial vehicle 10 of the present invention includes an OSD 12 that synthesizes the measurement value of the on-site information acquisition unit with a captured image of the CCD camera, and a video transfer unit 14 that transfers the synthesized image of the OSD 12 to the external terminal 18.
The site information acquisition unit of the present embodiment is a radiation measurement unit 20 and a range sensor 24 that can be attached to the unmanned aerial vehicle 10 to acquire various information of the site, and the measured value is a radiation dose that becomes various information of the site. , The amount of movement of unmanned aerial vehicles, the distance between unmanned aerial vehicles and obstacles, etc.

A more specific unmanned aerial vehicle 10 of the present invention includes a frame 301, a flight controller 34, and a rotor 32. The frame 301 is provided with a concave portion 302 that bisects in the horizontal direction at the center, and the concave portion 302 is CCD camera 40, radiation measuring unit 20 that measures the radiation dose in the imaging range of CCD camera 40, OSD 12 that combines the measured value of radiation measuring unit 20 with the captured image of CCD camera 40, and combination of OSD 12 And a video transfer unit 14 for transferring an image to an external terminal.
The moving body 30 includes a plurality of rotors 32 (four rotors in this embodiment) applied to a general unmanned aerial vehicle in a frame 301, a drive motor, a flight controller 34, and a battery 38. Each rotor 32 can be independently controlled for rotation, and can be moved in any direction by remote control using the remote control terminal 36 or autonomous flight by the control unit 164 of the processing board 16.

The frame 301 is lightweight and has a predetermined rigidity, and is made of carbon resin as an example. This frame 301 surrounds the outer periphery of the side surface, prevents damage due to collision or dropping, and is provided with a concave portion 302 that bisects in the horizontal direction at the center. The concave portion 302 of the present embodiment is divided into two so as to horizontally penetrate through the four rotors 32, and the concave portion 302 is provided with a lid 303 that covers a part (around the center) of the upper surface opening. .. In the specific arrangement of the mounted device of the concave portion 302 of the present embodiment, the radiation measuring unit 20 (which may include the shielding member 201) and the CCD camera 40 are attached to either one of the horizontal opening sides. A battery 38 is attached to the other opening side in the horizontal direction. The battery 38 is of a rechargeable type, and is arranged at a location where it can be easily attached and detached using a connector or a surface fastener. The image transfer unit 14, the range sensor 24, and the OSD 12 are arranged on the lid 303 on the center side of the recess 302. The processing board 16 and the flight controller 34 are arranged on the frame 301 inside the center of the recess 302 covered with the lid 303.

The flight controller 34, which is vulnerable to electromagnetic noise, is separated from the image transfer unit 14 that emits radio waves by a plate material (for example, an aluminum plate, a copper plate, etc.) having electromagnetic shielding properties. More specifically, the image transfer unit 14 is arranged outside (front side) the lid 303, and the flight controller 34 is arranged inside the lid 303. The electromagnetic shielding material may be a thin metal plate stretched over carbon resin, or may be made of only a metal plate (in other words, the lid 303 is made of a plate material having an electromagnetic shielding property).
With such a configuration of the concave portion 302 and arrangement of the mounted devices, it is possible to easily adjust the weight balance and reduce the resistance due to the wind during flight.

[Image transfer function]
The CCD camera 40 can take a picture of the scene from the moving body 30 and obtain a taken image (including a video and a moving image). The angle of view of the CCD camera 40 can be arbitrarily changed in design.
The radiation measurement unit 20 is a sensor that can be attached to the moving body 30 to measure the radiation dose at the site. The radiation measuring unit 20 is configured to be able to select and change an arbitrary detection range (measuring range ±90° as an example), and to measure the radiation dose around the moving body 30, preferably in the imaging range of the CCD camera 40. There is. FIG. 3 is an explanatory diagram of the measurement range of the radiation measuring unit. The radiation measuring unit 20 of the present embodiment is provided in one side surface opening of the recess 302, as in the CCD camera 40. And the shielding material 201 which limits the measurement range of the radiation dose is provided. The shielding member 201 is made of a material such as lead or iron having a high radiation shielding effect, and is formed so as to protrude along the outer circumference of the sensor portion of the radiation measuring unit 20 as shown in FIG. 1 or 3. The measurement range of is limited to an arbitrary range. With such a shielding member 201, the photographing range A of the CCD camera 40 and the measurement range B of the radiation dose can be made to substantially coincide with each other, and an operator or the like can easily grasp the situation of the site. In addition to the above, a configuration is adopted in which the CCD camera 40 is provided with a wide-angle lens that matches the directional characteristics of the radiation measuring unit 20 (angle at which radiation can be detected), and the imaging range of the CCD camera 40 and the radiation measuring region are substantially matched. You can also do it.

Further, the radiation measuring unit 20 is configured to cover the sensor portion other than the portion covered with the shielding material 201 with the cushioning material 202. As the cushioning material 202, foamed resin (foamed plastic or the like), rubber or the like having a predetermined elastic force can be used. By such a cushioning material 202, it is possible to protect the radiation measuring unit 20 from the shock by absorbing the shock when the unmanned aerial vehicle 10 falls and collides.
The processing board 16 outputs various signals of the signal input/output unit 161 and various signals of the signal input/output unit 161 which are electrically connected to the CCD camera 40, the radiation measurement unit 20, the range sensor 24, and the OSD 12 to input/output various signals. A signal conversion unit 162 for conversion, a calculation unit 163 that performs calculation processing using an application, a control unit 164 that controls the calculation unit 163, controls the autonomous flight by connecting to the flight controller 34, an application program, and the like. And a memory 165 for temporarily storing processing contents during execution of the application program. Further, the control unit 164 uses the signal conversion unit 162 to convert the numerical data that is the measured value of the radiation dose from the radiation measurement unit 20 into a signal (for example, voltage) that can be input to the OSD 12. The voltage is input to the OSD 12 described later. As a result, the processing specifications of the processing board can be reduced, and the size of the entire unmanned aerial vehicle can be reduced.

The OSD 12 can generate a composite image in which the radiation dose of the radiation measuring unit 20 is added to the captured image of the CCD camera 40. In addition to this, the OSD 12 creates a composite image in which the distance to the obstacle and the self-position of the moving body 30 identified by the processing board 16 are added to the captured image based on the measured values of the gyro sensor 22 and the range sensor 24 described later. Can be generated.
The video transfer unit 14 transfers the composite image generated by the OSD 12 to the external terminal 18 of the user. The external terminal 18 (receiver) of the user of the present embodiment only needs to have at least a composite image reception unit and a composite image display unit, and does not necessarily require a PC or a processing board.

FIG. 4 is an operation flow chart of the image transfer of the unmanned aerial vehicle of the present invention. The unmanned aerial vehicle 10 is moved to the site by remote control or autonomous flight, and the radiation measurement unit 20 acquires the measured value of the radiation dose at the site (S10). Further, the CCD camera 40 acquires a photographed image (hereinafter, also referred to as a video) of the scene (S20).
Reception of the measurement value of the radiation measuring unit 20 by the processing board 16 is started (S30). Then, a process of converting the numerical data into a signal (for example, voltage) that can be input to the OSD 12 is performed (S40).
A voltage is input from the processing board 16 to the OSD 12. Further, the RGB signal of the captured image is input to the OSD 12 from the CCD camera 40. The OSD 12 converts the voltage into a measurement value of the radiation dose (S50) and generates a composite image added to the captured image (S60). The addition to the captured image by the OSD is not limited to the radiation dose, but may be the distance to the obstacle and/or the self-position of the moving body.

The RGB signal of the composite image is input from the OSD 12 to the video transfer unit 14. The video is transmitted from the video transfer unit 14 to the external terminal 18 of the user (S70). The composite image is received by the video receiver of the user (S80), and the composite image is displayed on the display (S90).
The video transfer unit 14 can transmit the composite image to the plurality of external terminals 18. Thereby, a plurality of users can share the radiographic image with the radiation dose at the site and immediately confirm it. Further, the external terminal 18 only needs to include at least the video receiver 181 and the display unit 182 (display), and it is not necessary to prepare a PC or a processing board for processing a composite image as in the conventional case.

Further, the above-mentioned image transfer function can be applied to either form of remote control or autonomous flight unmanned aerial vehicle.
According to such an unmanned aerial vehicle of the present invention, it is possible to generate a composite image in which a radiation dose is added to a captured image with a simple configuration, and it is possible to reduce the size of the unmanned aerial vehicle. Further, the composite image can be transferred to a plurality of external terminals. Therefore, many users can share the site information, for example, an image with radiation dose, in real time, with the site information.

[Autonomous flight function]
Next, autonomous flight of an unmanned aerial vehicle will be described.
The moving body 30 includes a flight controller 34 and a range sensor 24. The flight controller 34 has a gyro sensor 22 and an altitude sensor 23 attached thereto. The flight controller 34 is arranged on the frame 301 inside the center of the recess 302 through an opening. This opening is for exposing the sensor elements of various sensors included in the flight controller 34 to the lower surface.

The gyro sensor 22 is a sensor capable of measuring the movement amount (distance) in the biaxial directions of the X axis and the Y axis shown in FIG. 5 from the predetermined self position of the moving body 30. An acceleration sensor may be applied to the gyro sensor 22.
The range-finding sensor 24 is a sensor capable of measuring a distance from the obstacle around the moving body 30 (biaxial directions of the X-axis and the Y-axis around the moving body 30).
The altitude sensor 23 is a sensor capable of measuring the altitude of the moving body 30 (the distance between the moving body 30 and the ground or floor surface). In addition, as long as it is a sensor capable of measuring the altitude, a pressure sensor, an ultrasonic sensor or the like may be applied instead of the altitude sensor 23. Such a measurement value of the altitude sensor 23 is used for control for maintaining the Z direction (height) of the moving body at a predetermined position during autonomous flight.

In addition, the Z direction (height) of the moving body 30 during autonomous flight is set to a height (about several tens of cm) at which the ground effect can be exhibited. This can reduce the possibility of equipment damage during a crash. It can also increase lift during flight. Furthermore, when the vehicle cannot go straight due to obstacles on the ground or floor, the obstacle can be avoided by increasing the altitude.
The control unit 164 is electrically connected to the flight controller 34, receives signals from the gyro sensor 22 and the altitude sensor 23 included in the flight controller 34, and measurement values of the range sensor 24, and detects the position coordinates of the moving body 30. The control signal for autonomous flight is configured to be transmitted to the flight controller 34 while performing calculation.

FIG. 5 is an image diagram of autonomous flight of the unmanned aerial vehicle of the present invention. This figure is a plan view of the floor of the building, with thick lines indicating walls. The triangular marks indicate the self position (Xn, Yn, Zn) of the unmanned aerial vehicle 10, the circular marks indicate the target position (X0, Y0, Z0), the square marks indicate the passing positions (Xn+Xi, Yn+Yi, Zn+Zi), and the arrows indicate the route. Is shown. The processing board 16 has map information of the site (in the case of a building, a map in which the information of the wall and space is pixelated), the self position of the moving body 30 (starting point at the beginning), the target position (goal), the passing position (in advance). The point where the position to pass is set) is recorded.

When the moving body 30 moves, the control unit 164 can infer its own position from the measurement values of the gyro sensor 22 and the altitude sensor 23. That is, the control unit 164 has moved Xi meters in the X direction, Yi meters in the Y direction, and Zi meters in the Z direction based on the measured values of the gyro sensor 22 and the altitude sensor 23 from its own position (start) before the movement. The position is estimated as the self position (Xn+Xi, Yn+Yi, Zn+Zi: the self position changes with movement). At this time, the altitude (Z-direction position: Zn+Zi) of the moving body 30 is set to be constant at several tens of centimeters, but it is avoided according to the obstacle.
Further, the control unit 164 can detect obstacles such as the surrounding shape (unexpectedly existing structures such as protrusions) from the measurement value of the range sensor 24. That is, the control unit 164 determines the surrounding shape from the map information and the measurement value of the range sensor 24, avoids the obstacle based on the general avoidance behavior, and autonomously fly to the target position.

FIG. 6 is an operation flow chart of autonomous flight of the unmanned aerial vehicle of the present invention.
First, the work of STEP 1 to STEP 2 is performed as a preliminary work.
Register on-site map information (STEP 1).
Next, the current direction of the moving body 30, the coordinates of the own position of the moving body 30, the coordinates of the target position, and the passing position on the map are registered (STEP 2).
The autonomous flight of the unmanned aerial vehicle 10 is started by a signal input from a worker's hand switch or the like (STEP 3).
It is determined whether or not the coordinates of the self position of the moving body 30 and the target position or the passing position are the same (STEP 4).
If the determination in STEP 4 is different, a route to the target position or the passing position is searched (STEP 5).

The distance to travel from the searched route is extracted (STEP 6). This distance is a distance to a straight direction, a right turn or a left turn position, and can be calculated by the control unit 164 from the coordinates of the own position and the coordinates of the target position or the passing position. For example, Yim goes straight in the + direction of the Y coordinate.
After the extraction, (A) the moving main body 30 is turned so that the CCD camera faces in the straight-ahead direction, and then goes straight to the extracted distance. Meanwhile, (B) the moving distance is calculated from the measured values of the gyro sensor 22 and the altitude sensor 23 in the flight controller 34. (C) The range sensor 24 monitors the surrounding shape. For example, there is an obstacle in the + direction of the Y coordinate or several meters ahead (STEP 7).
It is judged whether or not there is an obstacle that cannot go straight ahead by the right or left turn position (STEP 8).

If there is no obstacle, the process returns to STEP 4.
If there is an obstacle, it is determined whether or not the altitude of the moving body 30 can be increased to avoid the obstacle (STEP 9).
If avoidable, the obstacle is avoided, and then the process returns to STEP 4.
If it cannot be avoided, it is not possible to move to the target position or the passing position, so the process returns to the start point registered in STEP 2 (STEP 10).
If the judgment in STEP 4 is the same, it is assumed that the passing position or the target position has been reached, and the moving body is turned around on the spot, and the radiation measuring unit 20 measures the radiation dose over the entire circumference (360°) of the moving body 30. (STEP 11).

Next, it is judged whether or not there is a passing position where the moving body 30 has not passed or a target position which has not reached (STEP 12).
If it remains, the process returns to STEP 4.
If there is no remaining space, the operation of autonomous flight ends.
According to such an unmanned aerial vehicle of the present invention, since the amount of calculation for obtaining the self-position of the moving body is small, it is possible to reduce the processing specifications of the arithmetic processing of the control unit and to downsize the entire unmanned aerial vehicle. It is also possible to fly autonomously to the target position while avoiding obstacles.
The radiation dose may be measured on the entire route from the start point to the target position, or may be measured only at the preset passing position.

10... Unmanned aerial vehicle, 12... OSD, 14... Image transfer unit, 16... Processing board, 161,... Signal input/output unit, 162... Signal conversion unit, 163.. Calculation Unit, 164... Control unit, 165... Memory, 18... External terminal, 181,... Image receiver, 182... Display (display unit), 20... Radiation measuring unit, 201... …… Shielding material, 202 ……, cushioning material, 22 ……, gyro sensor, 23 ……, altitude sensor, 24 ……, range sensor, 30 ……, moving body, 301 ………… frame, 302 …… ... recess, 303 ... lid, 32 rotor, 34 flight controller, 36 remote control terminal, 38 battery, 40 CCD camera.

Claims (6)

In an unmanned aerial vehicle that moves by remote control or autonomous flight,
A frame,
A flight controller,
Rotor and
Equipped with
The frame is provided with a concave portion that bisects in the horizontal direction at the center,
The recess is
CCD camera,
A radiation measuring unit for measuring the radiation dose in the photographing range of the CCD camera;
An OSD for synthesizing a measurement value of the radiation measurement unit with a captured image of the CCD camera;
A video transfer unit that transfers the OSD composite image to an external terminal;
Housing the,
A radiation shielding member is provided on the radiation measuring unit so as to surround the sensor unit so as to surround the sensor unit so that the measurement range of the radiation dose is the same as the imaging range of the CCD camera.
Alternatively , the unmanned aerial vehicle is characterized in that the imaging range of the CCD camera and the measurement range of the radiation measurement unit are set to the same range by the CCD camera provided with a wide-angle lens that matches the directional characteristics of the radiation measurement unit . The unmanned aerial vehicle according to claim 1, further comprising a signal conversion unit that converts a measurement value of the radiation measurement unit into a signal that can be input to the OSD. In the unmanned aerial vehicle according to claim 1 or 2, which autonomously moves,
A gyro sensor that measures the amount of movement,
Equipped with a range sensor to measure the distance of obstacles,
A control unit that estimates the self-position based on the measurement value of the gyro sensor, and identifies the self-position by comparing with the measurement value of the range sensor,
An unmanned aerial vehicle characterized by being equipped with. The unmanned aerial vehicle according to claim 3, wherein the OSD adds the measurement value of the range sensor and/or information of the self-position by the control unit to the captured image. The unmanned aerial vehicle according to any one of claims 1 to 4, further comprising an electromagnetic shield provided between the flight controller and the image transfer unit. The unmanned aerial vehicle according to any one of claims 1 to 5, wherein the video transfer unit transfers to a video receiver including at least a display unit.

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