JP7187998B2 - Inspection system, inspection support method and inspection support program - Google Patents

Description

The present invention relates to an inspection system, an inspection support method, and an inspection support program used for inspection of electrical equipment such as steel towers.

Conventionally, inspection work of electrical equipment such as transmission lines and steel towers has been carried out by workers climbing up to the steel towers and visually inspecting the electrical equipment. Visual observation was conducted directly from the top of the steel tower or from the ground using binoculars. When inspecting electrical equipment visually by workers, it was necessary to take safety measures such as shutting off power to the relevant lines by operating the power supply at the control station in order to ensure the safety of the workers.

In addition, conventionally, a technology has been devised in which a camera is mounted on an unmanned aerial vehicle such as a drone or a radio-controlled helicopter, and inspection work of electrical equipment such as power lines and steel towers is performed by checking the image taken by the camera. there is In such technology, unmanned aerial vehicles can be flown remotely by operators using radio, or can be flown by autopilot while ensuring a safe distance from electrical equipment such as power lines and steel towers to be inspected. can be In such technology, the focus of the camera mounted on the unmanned aerial vehicle can be manually adjusted or automatically adjusted (autofocus) for photographing.

As a related technology, specifically, conventionally, for example, the flight operation is controlled along a predetermined flight path along the electric wire based on the received GPS signal, and the magnetic flux generated by the current flowing through the electric wire There is a technology related to an unmanned flying object and a flight system that controls the flight operation so as to keep the distance from the electric wire constant based on the magnitude of the induced current flowing in the antenna by receiving the reference.).

In addition, as a related technology, specifically, conventionally, for example, a body frame equipped with a remotely operable propulsion device and a camera is remotely operated along the longitudinal direction of a part of a member constituting a structure to be investigated. ( For example, see Patent Document 2 below.).

JP 2018-114807 A JP 2017-166241 A

However, as described above, the conventional technology for inspecting electrical equipment visually by workers requires that the power supply to the relevant line be interrupted. There was a problem that the inspection work could not be done because the power could not be cut off. In addition, workers who perform inspection work on electrical equipment at high places are limited to workers who have acquired knowledge and skills related to the skill of climbing steel towers and the use of safety protective equipment such as safety belts (body ropes). There was a problem that

In addition, conventional techniques for inspecting electrical equipment based on images captured by a camera mounted on an unmanned aerial vehicle cannot confirm whether or not all desired locations have been captured, resulting in poor inspection results. There was a problem of inferior reliability. In addition, since there are many similar structures and parts of the objects to be photographed, such as the steel tower members and transmission lines that make up the steel tower, there are many facilities to be inspected, so when checking the captured video, it is difficult to determine which steel tower was photographed. There was a problem that it was difficult to recognize whether it was an image and the reliability of the inspection result was inferior.

Furthermore, the conventional technology for inspecting electrical equipment based on images captured by a camera mounted on an unmanned aerial vehicle requires a steel tower because the images are taken from the electrical equipment in order to ensure a safe distance. Objects to be photographed, such as steel tower members and power lines, tend to be thinner than surrounding non-photographed objects. There is a problem that a non-photographed object is focused, a high-definition image of the photographed object cannot be obtained, and the reliability of the inspection result is inferior.

In addition, the conventional technology described in Patent Document 1 above requires a pulse generator that generates a direct current pulse, and the pulse generator is installed prior to inspection work and removed after inspection work Therefore, there is a problem that the work is complicated.

In addition, in the conventional technology described in Patent Document 1, the range in which the unmanned flying object can fly while maintaining a constant distance from the electric wire is limited to the range in which the DC pulse generated by the pulse generator circulates. Therefore, there is a problem that the installation work and removal work of the pulse generator must be performed multiple times for each flight route (power system), and the work becomes complicated.

In addition, in the conventional technology described in Patent Document 2, the object to be investigated to which the body frame can be attached is limited to a structure having a specific shape, such as the lower flange of a bridge girder. There is a problem that it is difficult to patrol power transmission facilities that have various shapes such as steel towers and steel towers. Furthermore, the conventional technique described in Patent Literature 2 mentioned above requires remote control by an operator, so there is a problem that the work becomes complicated.

The present invention provides an inspection system, an inspection support method, and an inspection support program that can accurately perform inspection work of electrical equipment and ensure the reliability of inspection results in order to solve the problems of the conventional technology described above. for the purpose.

In addition, in order to solve the problems of the conventional technology described above, the present invention provides an inspection system and inspection support that can reduce the burden on workers involved in inspection work of electrical equipment and ensure the safety of workers. The purpose is to provide a method and an inspection support program.

In order to solve the above-described problems and achieve the object, an inspection system according to the present invention includes a plurality of marks attached to an inspection target, an unmanned aircraft equipped with a camera, and an unmanned aircraft mounted on the unmanned aircraft. a control unit that controls the flight operation of the aircraft and the photographing operation of the camera, and photographs an image in which a mark existing within the photographing range of the camera among the plurality of marks is focused. do.

Further, in the inspection system according to the present invention, in the above invention, the plurality of marks have the same outer size, and the control unit controls that the plurality of marks have a uniform size in the image captured by the camera. It is characterized by controlling the flight operation of the unmanned aerial vehicle and the photographing operation of the camera so as to be similar to each other.

Further, in the inspection system according to this invention, in the above invention, the plurality of marks each indicate unique identification information.

Moreover, the inspection system according to the present invention is characterized in that, in the above invention, the plurality of marks include code information.

Further, in the inspection system according to the present invention, in the above invention, the code information includes information regarding the next photographing position, and the control unit performs the following photographing based on the code information included in the image photographed by the camera. is specified, the flight operation of the unmanned aerial vehicle and the shooting operation of the camera are controlled, and the image at the specified next shooting position is captured.

Further, the inspection system according to the present invention is characterized in that, in the above-described invention, it is equipped with a storage unit that stores images captured by the camera under the control of the control unit.

Further, in the inspection system according to the present invention, in the above invention, the image captured by the camera is output to a predetermined external device through wireless communication.

Further, in the inspection support method according to the present invention, a computer of an unmanned aerial vehicle equipped with a camera determines that, in an image captured by the camera, a plurality of marks attached to an inspection object and having the same outer size are each of a uniform size. The flight operation of the unmanned aerial vehicle and the photographing operation of the camera are controlled so as to photograph the plurality of marks, and the photographed images are output.

Further, an inspection support program according to the present invention provides a computer of an unmanned aerial vehicle equipped with a camera, in an image taken by the camera, a plurality of marks attached to an inspection object and having the same outer size, each having a uniform size. The flight operation of the unmanned aerial vehicle and the photographing operation of the camera are controlled so as to photograph the plurality of marks, and the photographed image is output.

According to the inspection system, the inspection support method, and the inspection support program according to the present invention, it is possible to perform the inspection work of electrical equipment with high accuracy and ensure the reliability of the inspection results.

In addition, according to the inspection system, inspection support method, and inspection support program according to the present invention, it is possible to reduce the burden on workers involved in the inspection work of electrical equipment, and to ensure the safety of workers. Play.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing which shows the system configuration|structure of the inspection system of embodiment concerning this invention. 1 is an explanatory diagram showing an external configuration of an unmanned aerial vehicle; FIG. 1 is an explanatory diagram showing a hardware configuration of an unmanned aircraft; FIG. FIG. 3 is an explanatory diagram showing the hardware configuration of a controller; 4 is a flow chart showing a processing procedure of an unmanned aerial vehicle;

Preferred embodiments of an inspection system according to the present invention will be described in detail below with reference to the accompanying drawings.

(System configuration of inspection system)
First, the system configuration of the inspection system of the embodiment according to the present invention will be described. FIG. 1 is an explanatory diagram showing the system configuration of an inspection system according to an embodiment of the invention. In FIG. 1, an inspection system 100 according to an embodiment of the present invention captures an object to be inspected, such as a steel tower 102 with a plurality of marks 101 and an overhead transmission line 103, with a camera 114 mounted on an unmanned aerial vehicle 104. do.

Specifically, the object to be inspected can be realized by, for example, the steel tower 102 as well as a high-rise building. The objects to be inspected include, for example, the overhead transmission line 103 stretched between the steel towers 102, the insulator string 105 supporting the overhead transmission line 103, and a high place such as the top of a building. It can be realized by installed members.

The steel tower 102 is composed of a foundation 106 and a steel tower superstructure 107 . The foundation part 106 is composed of, for example, a foundation material installed in an excavated hole, concrete filled in the excavated hole, or the like. The steel tower upper structure 107 uses bolts (not shown) to attach each steel tower member such as a main post 108, a cross arm member (arm) 109, a diagonal member (bracing) 110, a horizontal member 111, and the like. It is constructed by fixing

Steel tower members such as the main pole member 108, the cross arm member 109, and the diagonal member 110 are attached to a main pole plate (not shown) provided on the main pole member 108 by a method such as welding, for example. , diagonal members 110, horizontal members 111, etc., may be connected together by bolting the ends thereof. The steel tower 102 may further include steel tower members such as opposite side members, auxiliary members, and diagonal members. Each steel tower member can be realized by, for example, angle members (see the blowout portion in FIG. 1) painted gray by heavy anti-corrosion coating.

The main pillars 108 are provided so as to stand up from the base portion 106 . The main pillars 108 are provided so as to be positioned at the vertices of a quadrangle formed by a cross section obtained by cutting the steel tower 102 in the horizontal direction. The main pillar member 108 supports the arm member 109 at a predetermined height. A cross arm member 109 is fixed to the main pillar member 108 and constitutes a cross arm. The arm member 109 protrudes in the horizontal direction toward the outer periphery of the square formed by the main pillar 108 . The cross arm supports the overhead transmission line 103 at the tip portion.

The diagonal member 110 spans between the adjacent main pillar members 108 while being inclined with respect to the horizontal and vertical directions. By providing the diagonal member 110, the strength of the tower superstructure 107 can be increased. The horizontal member 111 spans between the adjacent main pillar members 108 along the horizontal direction. The opposing siding members are bridged between the adjacent horizontal members 111 so as to connect the centers of the adjacent horizontal members 111 in a cross section obtained by cutting the steel tower 102 in the horizontal direction.

The diagonal members are bridged between the main pillar members 108 located at the diagonal corners of the square formed by the main pillar members 108 . Steel plates that support the diagonal members may be provided at positions where the diagonal lines of the square formed by the main pillar members 108 intersect in the same horizontal plane. The diagonal members are provided at the same height as the arm member 109, for example.

A plurality of marks 101 are provided on the steel tower 102 and the overhead transmission line 103 . The marks 101 are provided at various locations where visual inspection is required, such as predetermined positions on each tower member and intersections between tower members. One or a plurality of marks 101 are provided on each of the tower members such as the main pillar member 108 , the arm member 109 and the diagonal member 110 , and the overhead transmission line 103 .

The plurality of marks 101 each have the same outer size and indicate unique identification information. The unique identification information indicates, for example, the position of each mark 101 on the pylon 102 . Moreover, the unique identification information may further indicate identification information of the pylon 102 to which each mark 101 is attached.

The mark 101 can be realized by code information, for example. Specifically, the code information can be realized by, for example, a two-dimensional code such as a QR (Quick Response) code (registered trademark). The code information is not limited to the QR code, and various known two-dimensional codes such as micro QR code, iQR code, DataMatrix, MaxiCode, PDF417, and MicroPDF417 can be used.

Since the two-dimensional code has information in the vertical and horizontal directions on the recording surface of the two-dimensional code, the information density per area is high. Therefore, information such as the tower number and the position of the mark 101 on each tower 102 can be included in the two-dimensional code. Also, the two-dimensional code may contain information about the location of each tower.

The 2D code has data error detection and correction functions, so even if the 2D code is dirty or partially damaged, it can be detected even if the area of the dirt or damage is within a specified range. data can be restored. As a result, electrical equipment such as steel towers 102 and overhead transmission lines 103 installed outdoors can be reliably identified over a long period of time.

Each two-dimensional code may contain information about the next imaging position. The next shooting position can be specified by, for example, information indicating the three-dimensional position coordinates of the destination. Alternatively, the next shooting position may be specified by, for example, information indicating a difference value between the current three-dimensional position coordinates of the unmanned aerial vehicle 104 and the destination three-dimensional position coordinates. Information about the next shooting position may be realized by a program that flies the unmanned aerial vehicle 104 to a position specified by the three-dimensional position coordinates of the destination.

Also, each two-dimensional code may contain information about the previous imaging position. As with the next shooting position, the previous shooting position is, for example, information indicating the 3D position coordinates of the destination, or information indicating the current 3D position coordinates of the unmanned aerial vehicle 104 and the 3D position coordinates of the previous shooting position. It can be specified by information indicating a difference value or the like.

Code information is not limited to a two-dimensional code, and may be realized by a one-dimensional code such as a bar code. Also, the code information may be realized by characters such as alphabets and numbers. In this case, the mark 101 preferably has a form in which characters such as alphabets and numbers are surrounded by a frame image of the same size.

The unmanned aerial vehicle 104 is a flying object that can fly without a person on board by remote control or automatic control, and can be specifically realized by a flying object called a drone, for example. Alternatively, the unmanned aerial vehicle 104 may be implemented by, for example, a radio-controlled helicopter capable of radio control.

Unmanned aerial vehicle 104 comprises an aeronautical device 113 with a propeller 112 and a camera 114 with a lens. Unmanned aerial vehicle 104 can fly autonomously without requiring remote control by operator 116 using controller 115 (see FIG. 4) or the like. Unmanned aerial vehicle 104 may be flown remotely by operator 116 using controller 115 . Unmanned aerial vehicle 104 is described below with reference to FIGS.

(External configuration of unmanned aerial vehicle 104)
Next, the external configuration of the unmanned aerial vehicle 104 will be described. FIG. 2 is an explanatory diagram showing the external configuration of the unmanned aerial vehicle 104. As shown in FIG. In FIG. 2, the aeronautical device 113 of the unmanned aerial vehicle 104 comprises a housing and a propeller 112 attached to the housing.

The aeronautical device 113 is specifically realized by various multicopters such as a quadcopter with four propellers 112, a hexacopter with six propellers 112, and an octocopter with eight propellers 112. be able to. By realizing the unmanned aerial vehicle 104 with a multicopter, it is possible to move forward and backward and hover simply by adjusting the number of rotations of the propeller 112, and it is possible to ensure good operability of the unmanned aerial vehicle 104. .

Camera 114 captures an image within the angle of view of lens 201 . An image captured by the camera 114 may be a still image or a moving image. Each camera 114 includes a housing 202 that supports a lens 201, an imaging element (see FIG. 3), and the like. Housing 202 of camera 114 may be integral with housing 203 of unmanned aerial vehicle 104 . In this case, lens 201 is attached to housing 203 of unmanned aerial vehicle 104 . Camera 114 can be implemented by, for example, a general-purpose digital camera.

When the camera 114 is implemented by a general-purpose digital camera, the unmanned aerial vehicle 104 may be equipped with a light source (not shown) for assisting imaging in preparation for searching for accident points at night. A light source for assisting imaging can be a light-emitting body with low power consumption and light weight, such as a high-intensity LED.

The camera 114 is not limited to a general-purpose digital camera. For example, it may be realized by a night-vision camera that captures dark places by increasing sensitivity to light, or an infrared camera that is sensitive to infrared rays. . By installing such an infrared camera, a clear image can be obtained without using a light source for imaging assistance even when searching for an accident point at night. As a result, an increase in the weight and power consumption of the unmanned aerial vehicle 104 can be suppressed.

The camera 114 may be configured such that the lens 201 is movable and the imaging range can be changed/adjusted. Alternatively, the lens 201 may be an equidistant projection fisheye lens. By using a fisheye lens with an angle of view of 180 degrees or more, in order to reduce the weight of the unmanned aerial vehicle 104, even when using a small camera 114, a wide range of images can be captured and provided to a worker 116 who remotely operates the unmanned aerial vehicle 104. can provide more information.

Unmanned aerial vehicle 104 may carry more than one camera 114 . In this case, each camera 114 is mounted to image a different range of the unmanned aerial vehicle 104 at the same time. In this case, the imaging range of each camera 114 is not limited to being fixed, and the lens 201 or the like in each camera 114 may be made movable so that the imaging range of each camera 114 can be changed and adjusted. .

(Hardware configuration of unmanned aerial vehicle 104)
Next, the hardware configuration of the unmanned aerial vehicle 104 will be described. FIG. 3 is an explanatory diagram showing the hardware configuration of the unmanned aerial vehicle 104. As shown in FIG. 3, the hardware of the unmanned aerial vehicle 104 includes a camera 114, a GPS (Global Positioning System) receiver 301, a wireless device 302, various sensors 303, an FC (Flight Controller) 304, an ESC (Electronic Speed Controller) 305, and a motor 306. , a control circuit 307 and a communication I/F (Interface) 308 .

The camera 114 includes an imaging device 309 and an image processing circuit 310 . The imaging element 309 is an element that converts light incident through the lens 201 into an electrical signal, and is specifically realized by, for example, a CCD (Charge Coupled Devices) element or a CMOS (Complementary Metal Oxide Semiconductor) element. be able to.

The image processing circuit 310 performs image processing based on the electrical signal output from the image sensor 309 to generate captured image data. Specifically, the image processing circuit 310 performs various types of image processing such as demosaic processing, noise removal processing, and gradation correction processing. The image processing circuit 310 outputs the generated captured image data to the control circuit 307 .

Camera 114 has an autofocus function. The camera 114 is driven and controlled by the control circuit 307 . Specifically, the camera 114 activates the autofocus function based on the control signal output from the control circuit 307 to focus on the mark 101 in the captured image.

For example, the autofocus function employs contrast AF (AutoFocus) that sequentially analyzes the contrast information of the image data obtained from the image sensor 309 while moving the lens 201 of the camera 114 and adjusts the focus based on the tendency of contrast change. can do. By adopting the contrast AF, the size and weight of the camera 114 can be reduced, and the weight of the unmanned aerial vehicle 104 can be reduced.

The GPS receiver 301 includes a GPS antenna 311 , an RF (Radio Frequency) section 312 and a baseband section 313 . The GPS antenna 311 receives radio waves broadcast by GPS satellites. The RF unit 312 demodulates the pre-modulation signal received by the GPS antenna 311 into a baseband signal. The baseband unit 313 calculates the current position of the unmanned aerial vehicle 104 based on the baseband signal demodulated by the RF unit 312 . The GPS receiver 301 outputs information regarding the current position of the unmanned aerial vehicle 104 calculated by the baseband unit 313 to the control circuit 307 .

The current position of unmanned aerial vehicle 104 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit 313 calculates the distances to each of the four GPS satellites, and performs positioning by calculating the position where the respective distances intersect. An unmanned aerial vehicle using a satellite positioning system such as Michibiki, GLONASS, or Galileo instead of GPS that obtains the geometrical position between the GPS satellite and the unmanned aerial vehicle 104 based on radio waves received from the GPS satellites. The current location of 104 may be identified.

The radio 302 comprises an antenna 314 , an RF section 315 and a baseband section 316 . Antenna 314 receives electromagnetic waves and converts them into analog electrical signals. The RF unit 315 demodulates the pre-modulation analog electrical signal received by the antenna 314 into a baseband signal. Baseband section 316 outputs the baseband signal demodulated by RF section 315 to control circuit 307 .

Also, the baseband unit 316 outputs various information output from the control circuit 307 to the RF unit 315 . The RF unit 315 performs signal processing on the analog signal output from the baseband unit 316 after D/A conversion, and outputs the analog signal to the antenna 314 . The antenna 314 converts the electrical signal output from the control circuit 307 into an electromagnetic wave and outputs the electromagnetic wave to the outside.

The wireless device 302 transmits and receives electromagnetic waves to and from the controller 115 when the unmanned aerial vehicle 104 flies by remote control using the controller 115 by the worker 116 . Thereby, remote control of the unmanned aerial vehicle 104 by the operator 116 can be realized. The wireless device 302 may further include a filter that removes unnecessary components, an amplifier such as an LNA (Low Noise Amplifier) or a power amplifier PA (Power Amplifier).

Various sensors 303 are implemented by, for example, a gyro sensor, an acceleration sensor, an atmospheric pressure sensor, a geomagnetic sensor (compass), and the like. The gyro sensor detects axial rotation (angular velocity) of the unmanned aerial vehicle 104 and outputs the detection result to the control circuit 307 . The acceleration sensor detects longitudinal, lateral, and vertical acceleration acting on the unmanned aerial vehicle 104 and outputs the detection result to the control circuit 307 .

The atmospheric pressure sensor detects the altitude at which the unmanned aerial vehicle 104 is currently located based on the atmospheric pressure, and outputs the detection result to the control circuit 307 . The atmospheric pressure sensor detects atmospheric pressure using various known methods such as a piezoresistive method, a capacitance method, and a film formation method. The geomagnetic sensor detects the magnitude and direction of geomagnetism and outputs the detection results to the control circuit 307 . By providing a geomagnetic sensor in addition to the GPS receiver 301 that acquires only position information, the orientation of the aircraft device 113 can be detected.

The FC 304 controls flight behavior and flight attitude of the unmanned aerial vehicle 104 . The FC 304 controls the flight motion and flight attitude of the unmanned aerial vehicle 104 by, for example, outputting control signals based on output signals from various sensors 303 to the ESC 305 . Specifically, the FC 304 outputs a control signal for controlling the rotation direction and number of rotations of the propeller 112 (motor 306 of the propeller 112).

More specifically, FC 304 prevents rotation of its own device by, for example, controlling adjacent propellers 112 to rotate in reverse. Also, the FC 304 advances itself by, for example, controlling the front propeller 112 to rotate slower than the rear propeller 112 . Also, the FC 304 rotates itself rightward by, for example, controlling the right propeller 112 to rotate slower than the left propeller 112 .

The FC 304 also generates a control signal according to the output signal from the control circuit 307 and outputs the generated control signal to the ESC 305 . During flight of the unmanned aerial vehicle 104 , the FC 304 detects the inclination of the unmanned aerial vehicle 104 based on signals output from various sensors 303 , repeats calculations, and recursively outputs control signals to the ESC 305 .

ESC 305 adjusts the rotational speed of motor 306 based on the control signal output from FC 304 . Specifically, the ESC 305 adjusts the voltage applied to the motor 306 based on the control signal output from the FC 304 . Since the ESC 305 is provided for each motor 306 , it is possible to adjust the voltage applied to each motor 306 , thereby adjusting the rotation speed for each propeller 112 . By realizing the aircraft device 113 with a multicopter, it is possible to move forward and backward and hover only by adjusting the rotation speed of the propeller 112, and it is possible to ensure good flight performance of the aircraft device 113. .

The control circuit 307 is composed of a CPU, a memory, and the like, and drives and controls each part of the unmanned aerial vehicle 104 . The memory stores various control programs. Memory may be removably attached to the aeronautical device 113 . The CPU controls the flight and flight attitude of the unmanned aerial vehicle 104, the photographing operation of the camera 114, and the like by executing calculations based on the control program stored in the memory.

Specifically, the CPU controls the photographing operation of the camera 114 so that the image photographed by the camera 114 is focused on the mark 101 existing within the photographing range. Further, specifically, the CPU identifies position information indicating the position where the mark 101 is provided based on the image captured by the camera 114, and stores image information in the memory that associates the identified position information with the captured image. Remember. The image information may include information about the shooting date and time.

The CPU outputs the image information stored in the memory to the external device via the communication I/F 308 when a predetermined command is received from the external device via the communication I/F 308 . The external device can be realized by a terminal device having a communication function, such as a smart phone or a tablet terminal.

When the memory is detachably attached to the aircraft device 113, the memory is detached from the aircraft device 113 and attached to the external device. You can also output directly to Alternatively, the CPU may output image information based on an image captured by the camera 114 to an external device via the communication I/F 308 without storing the image information in the memory.

Then, by outputting the captured image to an external device such as a smartphone, the mark 101 included in the image is recognized and analyzed, and the process of determining where and when the image was captured is performed by the external device. It can be done in the device. As a result, the processing load on the control circuit 307 can be reduced.

In addition, the process of recognizing and analyzing the mark 101 in the captured image and determining where and when the image was captured can be performed by an external device. It is possible to eliminate the need to record the position of the site, the date and time of inspection, etc. by taking notes. It is possible to reduce the burden on the worker 116 involved in the inspection work of the inspection object such as electrical equipment, and improve the work efficiency.

Further, specifically, the CPU controls the flight operation of the unmanned aerial vehicle 104 so that each of the plurality of marks 101 has a uniform size in the image captured by the camera 114, and the inspection object and the unmanned aerial vehicle 104 are aligned. Adjust the distance from Further, specifically, the CPU identifies the next photographing position based on the image photographed by the camera 114, and outputs to the FC 304 a control signal designating the flight position of the unmanned aerial vehicle 104 based on the identified next photographing position. do. As a result, the unmanned aerial vehicle 104 can be moved to the next photographing position by so-called autopilot without intervention by the operator 116 . In this embodiment, the control circuit 307 can implement the control unit according to the present invention.

When the unmanned aerial vehicle 104 flies by remote control using the controller 115 by the worker 116, the FC 304 automatically returns itself to a predetermined reference point when communication with the controller 115 becomes impossible. Output the control signal as follows. The reference point is, for example, the position of the office to which the worker 116 belongs, and information about the reference point is stored in the memory forming the control circuit 307, for example.

The unmanned aerial vehicle 104 further includes a first battery that drives the motor 306 and a second battery that operates the control circuit 307, FC 304, and various sensors 303 (not shown). A first battery is directly connected to motor 306 via ESC 305 . The second battery is connected to the FC 304 and various sensors 303 via dedicated semiconductor components that step down the voltage from the second battery to a predetermined voltage. The battery can be, for example, a lithium polymer battery. Also, the battery may be a hydrogen battery or the like. Alternatively, the battery may be a secondary battery that can be powered wirelessly.

(Hardware Configuration of Controller 115)
Next, the hardware configuration of the controller 115 will be explained. FIG. 4 is an explanatory diagram showing the hardware configuration of the controller 115. As shown in FIG. 4, the controller 115 includes a CPU 401, a memory 402, a communication I/F 403, an operation section 404, a display 405, and the like. The controller 115 can be realized by a terminal device having a communication function such as a smart phone or a tablet terminal, for example.

The operation unit 404 can be realized by various switches (not shown) such as a power switch for switching ON/OFF of the power of the controller 115 and an RTH (Return To Home) switch for returning to a preset return point. can be done. Further, the operation unit 404 can be realized by a switch that instructs the start of so-called automatic inspection by operating the unmanned aerial vehicle 104 to take an image of the inspection target without intervention of the operator 116. . The operation unit 404 may be implemented by, for example, an operation unit (operation stick) such as a throttle control rod or a directional operation rod.

The CPU 401 controls communication with the unmanned aerial vehicle 104 via the communication I/F 403 by executing calculations based on the control program stored in the memory 402 while the power is on. The CPU 401 outputs operation instructions to the aircraft device 113 and the camera 114 in the unmanned aerial vehicle 104 according to the operation on the operation unit 404, for example.

The CPU 401 also receives signals output from the unmanned aerial vehicle 104 and images captured by the camera 114 mounted on the unmanned aerial vehicle 104 by communicating with the unmanned aerial vehicle 104 , for example. Also, the CPU 401 displays an image output from the unmanned aerial vehicle 104 on the display 405 . Display 405 can be implemented by, for example, a liquid crystal display.

The controller 115 is not limited to having a display in advance. By attaching a separate terminal device having a display such as a smartphone or a tablet terminal, an image may be output and displayed on the display provided in the separate terminal device.

The controller 115 may also include an amplification mechanism for amplifying Wi-Fi (registered trademark) radio waves in order to extend the communication distance. As a result, regardless of the height of the steel tower 102 to be inspected, the inspection work can be reliably performed. Note that the controller 115 is not limited to being realized by a terminal device having a communication function such as a smartphone or a tablet terminal, and is called a sky controller, which includes a display in advance and is dedicated to the operation of the unmanned aerial vehicle 104. It can be done.

(Processing procedure of unmanned aerial vehicle 104)
Next, a processing procedure of the unmanned aerial vehicle 104 will be described. FIG. 5 is a flow chart showing the processing procedure of the unmanned aerial vehicle 104. As shown in FIG. In the flowchart of FIG. 5, first, the system waits until the power of the unmanned aerial vehicle 104 is turned on (step S501: No).

In step S501, when the power of the unmanned aerial vehicle 104 is turned on (step S501: Yes), the camera 114 is activated (step S502), and an image within the angle of view of the camera 114 is captured by the camera 114 (step S503). ). Until the automatic inspection switch is operated (step S505: No), the image captured by the camera 114 is output to the controller 115 via the communication I/F 308. FIG. (Step S504). The camera 114 activated in step S502 continuously takes images after step S503.

When controller 115 receives an image captured by camera 114 from unmanned aerial vehicle 104 , controller 115 displays the received image on display 405 . Thereby, the worker 116 can grasp the orientation of the camera 114 . In the operation of the inspection system 100, after the power is turned on, the operator 116 operates the controller 115 while viewing the image displayed on the display 405 to select one of the marks 101 attached to the steel tower 102. The unmanned aerial vehicle 104 is flown to the position where the mark 101 of is displayed. Then, with the mark 101 displayed on the display 405, the automatic inspection switch is operated.

In step S505, if the automatic inspection switch is operated (step S505: Yes), the camera 114 activated in step S502 analyzes the image captured in step S503 (step S506). Then, based on the analysis result in step S506, the mark 101 in the image captured by the camera 114 is specified (step S507).

Then, based on the mark 101 specified in step S507, the position and focus of the camera 114 with respect to the mark 101 are adjusted (step S508). In step S508, for example, the flight operation of the unmanned aerial vehicle 104 is performed so as to capture an image in which the mark 101 existing within the imaging range of the camera 114 among the plurality of marks 101 provided on the steel tower 102 is focused. Also, the position and focus of the camera 114 with respect to the mark 101 are adjusted by controlling the photographing operation of the camera 114 .

Further, in step S508, for example, the flight operation of unmanned aerial vehicle 104 and the movement of camera 114 are performed so that each of a plurality of marks 101 having the same outline size has a uniform size in the image captured by camera 114. The position and focus of the camera 114 with respect to the mark 101 are adjusted by controlling the photographing operation.

Next, code information included in the image is analyzed based on the analysis result in step S506 (step S509). In step S509, for example, based on the analysis result in step S506, the code information included in the image is extracted, and the extracted code information is analyzed to obtain a unique identification for each mark 101 included in each code information. Get information.

Next, based on the analysis result of the code information in step S509, it is determined whether or not the photographing position where the mark 101 representing the code information contained in the photographed image was photographed is the initial photographing position (step S510). ). Specifically, as described above, by including the information about the previous shooting position in the code information, the mark 101 representing the code information that does not include the information about the previous shooting position is provided at the first shooting position. It can be determined that the mark 101 is the

In step S510, if it is not the first shooting position (step S510: No), the flight operation of the unmanned aerial vehicle 104 and the shooting operation of the camera 114 are controlled to change the shooting position (step S511). In step S511, for example, based on the information about the previous photographing position included in the code information represented by the mark 101, the flight operation of the unmanned aerial vehicle 104 and the photographing of the camera 114 are performed so as to move to the previous photographing position. control behavior.

After changing the shooting position, the process returns to step S510, and it is determined whether or not the changed position is the first shooting position (step S510). Here, if the position after change is not the first photographing position (step S510: No), the position after change is repeatedly moved to the previous photographing position until it is determined that the position after change is the first photographing position.

On the other hand, in step S510, if it is the first photographing position (step S510: Yes), the image photographed by the camera 114 is stored (step S512). In step S512, the images captured by the camera 114 are cumulatively stored in the memory. Also, in step S512, the image captured by the camera 114 is associated with information regarding the date and time when the image was captured, and stored in the memory.

Based on the code information represented by the mark 101 included in the image recorded in step S512, it is determined whether or not there is the next photographing position (step S513). In step S513, for example, it is determined whether or not the code information represented by the mark 101 included in the image recorded in step S512 includes information regarding the next photographing position. can determine whether

In step S513, if there is a next photographing position (step S513: Yes), the flight operation of the unmanned aerial vehicle 104 and the photographing operation of the camera 114 are controlled to provide the next photographing position within the photographing range of the camera 114. The photographing position is changed so that the marked mark 101 is included (step S514). In step S514, for example, based on the information about the next photographing position included in the code information represented by the mark 101, the flight operation of the unmanned aerial vehicle 104 and the photographing of the camera 114 are performed so as to move to the next photographing position. control behavior.

Then, the image captured at the next imaging position after the change is analyzed (step S515), and the mark 101 in the image captured by the camera 114 is specified based on the analysis result in step S515 (step S516). After that, based on the mark 101 specified in step S516, the position and focus of the camera 114 with respect to the mark 101 are adjusted (step S517).

In step S517, for example, similarly to step S508, an unmanned camera is operated to capture an image in which the mark 101 existing within the imaging range of the camera 114 among the plurality of marks 101 provided on the steel tower 102 is focused. The position and focus of camera 114 with respect to mark 101 are adjusted by controlling the flight operation of aircraft 104 and the photographing operation of camera 114 .

Further, in step S517, for example, similarly to step S508, the flight operation of unmanned aerial vehicle 104 is performed so that each of a plurality of marks 101 having the same outline size has a uniform size in the image captured by camera 114. , and by controlling the photographing operation of the camera 114, the position and focus of the camera 114 with respect to the mark 101 are adjusted.

Next, the image captured by the camera 114 is stored while the position and focus of the camera 114 with respect to the mark 101 are adjusted (step S518). In step S518, similarly to step S512, the images captured by the camera 114 are cumulatively stored in the memory. Also, in step S518, as in step S512, the image captured by the camera 114 is associated with the information regarding the date and time when the image was captured, and stored in the memory.

Next, code information included in the image captured in step S518 is analyzed (step S519). In step S519, for example, similar to step S509, the code information included in the image captured in step S518 is extracted, and the extracted code information is analyzed to obtain a unique image for each mark 101 included in each piece of code information. to obtain the identity of

Then, in step S513, it is determined whether or not there is the next photographing position based on the code information represented by the mark 101 included in the image recorded in step S518 (step S513). Also in this case, in step S513, for example, it is determined whether or not the code information represented by the mark 101 included in the image recorded in step S518 includes information about the next shooting position. It is possible to determine whether there is

If the code information represented by the mark 101 included in the image recorded in step S518 does not include information regarding the next photographing position, it can be determined that the mark 101 is the last mark 101 . Also, the last mark 101 may contain information indicating that the mark 101 is the last mark 101 . In step S513, if there is no next shooting position (step S513: No), the unmanned aerial vehicle 104 is returned to the preset home position (step S520), and the series of processing ends.

In the above-described embodiment, the unmanned aerial vehicle 104 is moved based on the images captured by the camera 114 without understanding the operation of the operator 116, and the images required for inspection are recorded. It is not limited. For example, an image captured by the camera 114 may be recorded while the unmanned aerial vehicle 104 is being moved by the operator 116 operating the controller 115 .

In this case, after the image of the entire steel tower 102 is recorded, the mark 101 included in the image of the portion that the worker 116 wants to check in detail is read using a smartphone or the like to analyze the identification information. You can let it run. As a result, the worker 116 only needs to read the mark 101 of the portion where detailed confirmation is required and confirm the state of the steel tower 102 around the position where the mark 101 is provided. It is possible to reduce the burden on the worker 116 involved in the inspection work of the object to be inspected.

As described above, the inspection system 100 according to the embodiment of the present invention includes a plurality of marks 101 attached to inspection objects such as steel towers 102 and overhead power lines 103, and an unmanned aerial vehicle 104 equipped with a camera 114. , which is mounted on an unmanned aerial vehicle 104 and controls the flight operation of the unmanned aerial vehicle 104 and the shooting operation of the camera 114 to capture an image in which the mark 101 existing within the imaging range of the camera 114 among the plurality of marks 101 is focused. It is characterized by being made to do.

According to the inspection system 100 of the embodiment according to the present invention, by focusing on the mark 101, it is possible to obtain an image in which the object to be inspected to which the mark 101 is attached is focused. As a result, the operator 116 can visually check the image captured by the camera 114 without going up to the electrical equipment to be inspected, such as the steel tower 102, so that the inspection work of the electrical equipment to be inspected can be accurately performed. can do well.

As a result, regardless of the presence or absence of power transmission line stoppage restrictions and the knowledge and skills of the worker 116 who performs the inspection work of the inspection target such as electrical equipment, the inspection work of the inspection target such as electrical equipment can be performed with high accuracy. The reliability of inspection results can be ensured.

Moreover, according to the inspection system 100 of the embodiment according to the present invention, it is possible to omit the work of climbing up to the electrical equipment in the conventional inspection work. As a result, it is possible to reduce the burden on the worker 116 involved in the inspection work of the inspection object such as electrical equipment, and to ensure the safety of the worker 116 .

Further, according to the inspection system 100 of the embodiment according to the present invention, it is possible to inspect an object to be inspected such as electrical equipment without stopping power transmission. It is possible to eliminate the need for power failure adjustment work. As a result, it is possible to reduce the burden on the worker 116 involved in the inspection work of the electrical equipment. In addition, it is possible to improve the work efficiency by increasing the flexibility of the work plan for the inspection work of the inspection object such as electrical equipment.

Also, in the inspection system 100 according to the embodiment of the present invention, the control unit controls the unmanned aerial vehicle 104 so that each of the plurality of marks 101 having the same size has a uniform size in the image captured by the camera 114. It is characterized by controlling the flight operation and the photographing operation of the camera 114 .

According to the inspection system 100 of the embodiment according to the present invention, the distance between the camera 114 and the object to be inspected, such as electrical equipment, is unified by making the sizes of the marks 101 in the image captured by the camera 114 uniform. be able to. As a result, it is possible to obtain an image in which the inspection object to which the mark 101 is attached is in focus while ensuring a safe distance between the unmanned aerial vehicle 104 and the inspection object such as electrical equipment.

Moreover, the inspection system 100 of the embodiment according to the present invention is characterized in that each of the plurality of marks 101 indicates unique identification information.

According to the inspection system 100 of the embodiment according to the present invention, based on the image captured by the camera 114, for example, it is possible to determine which part of the steel tower 102 the image was captured by, for example, electrical equipment. It is possible to easily and reliably specify which part of the inspection object is the photographed image. As a result, it is possible to confirm whether or not there is an omission of photographing, and it is possible to perform the inspection work of the inspection object such as the electrical equipment with high precision, thereby ensuring the reliability of the inspection result.

In addition, since it is possible to easily and reliably specify which part of the inspection target object such as electrical equipment is captured by the image captured by the camera 114, image management is facilitated. In addition, by managing the date and time when the image was taken, it is possible to manage the image more easily, and save the trouble of recording the location and date and time of inspection in the conventional inspection work. Therefore, it is possible to reduce the burden on the worker 116 who performs the inspection work of the inspection object such as electrical equipment, and to improve the work efficiency.

Moreover, the inspection system 100 of the embodiment according to the present invention is characterized in that the plurality of marks 101 contain code information.

According to the inspection system 100 of the embodiment according to the present invention, the image captured by the camera 114 is converted into an inspection object such as electrical equipment by calculation of a program that analyzes predetermined code information without performing complicated image processing. It is possible to easily and reliably specify which part of the image is taken. As a result, the processing load on the control unit can be reduced, and the work efficiency can be improved.

Further, in the inspection system 100 of the embodiment according to the present invention, the code information includes information regarding the next photographing position, the control unit specifies the next photographing position based on the image photographed by the camera 114, and the unmanned It is characterized by controlling the flight operation of the aircraft 104 and the photographing operation of the camera 114 to photograph the image of the specified next photographing position.

According to the inspection system 100 of the embodiment according to the present invention, each time an image including the mark 101 is captured, the unmanned aerial vehicle 104 can be moved to the next capturing position to capture the image at the next capturing position. As a result, it is possible to reduce the burden on the worker 116 involved in the inspection work of the inspection object such as electrical equipment, and to improve the work efficiency.

Moreover, the inspection system 100 of the embodiment according to the present invention is mounted on the unmanned aerial vehicle 104 and is characterized by including a storage section for storing images captured by the camera 114 under the control of the control section.

According to the inspection system 100 of the embodiment according to the present invention, by storing the image photographed by the camera 114 in the storage unit, the work of viewing the image photographed by the camera 114 without depending on the photographing timing can be performed. can be done. As a result, it is possible to reduce the burden on the worker 116 involved in the inspection work of the inspection object such as electrical equipment, and to improve the work efficiency.

In addition, for example, it is possible to check, at an arbitrary timing after photographing, a portion that may have been overlooked, a portion that will need to be confirmed at a later date, or the like. As a result, inspection omissions can be eliminated, and the inspection work for the inspection object such as electrical equipment can be performed with high accuracy, so that the reliability of inspection results can be ensured.

Specifically, for example, the photographed image can be brought back from the photographing site to an office or the like, and can be viewed using a personal computer having a large screen at the office. By viewing the image in a calm environment after photographing, it is possible to accurately perform the inspection work of the inspection object such as electrical equipment.

Moreover, the inspection system 100 of the embodiment according to the present invention is characterized by outputting an image captured by the camera 114 to a predetermined external device through wireless communication.

According to the inspection system 100 of the embodiment according to the present invention, by outputting the image captured by the camera 114 to a predetermined external device through wireless communication, the image captured by the camera 114 can be captured without depending on the timing of capturing. It is possible to perform the task of viewing images. As a result, it is possible to reduce the burden on the worker 116 involved in the inspection work of the inspection object such as electrical equipment, and to improve the work efficiency.

The inspection support method described in this embodiment can be realized by executing a prepared inspection support program on a computer such as a personal computer or a work station. This inspection support program is recorded in a computer-readable recording medium such as a hard disk, a flash memory, or any other known recording medium, and is executed by being read from the recording medium by a computer. Also, this inspection support program may be a transmission medium that can be distributed via a network such as the Internet.

As described above, the inspection system, inspection support method, and inspection support program according to the present invention are useful for inspection systems, inspection support methods, and inspection support programs used to inspect objects to be inspected, such as electrical equipment such as steel towers. In particular, it is suitable for an inspection system, inspection support method, and inspection support program that take into account the reduction of the burden on workers involved in the inspection work of electrical equipment and the assurance of safety.

100 inspection system 101 mark 102 steel tower 103 overhead transmission line 104 unmanned aerial vehicle 114 camera

Claims (8)

An inspection system used for inspection work performed by visually observing an object to be inspected,
a plurality of marks having the same outer shape and size, which are provided at various locations on the inspection object that require visual inspection ;
an unmanned aerial vehicle equipped with a camera;
The plurality of marks mounted on the unmanned aerial vehicle controls the flight operation of the unmanned aerial vehicle and the imaging operation of the camera so that each of the plurality of marks has a uniform size in the image captured by the camera . a control unit that acquires image information of the inspection object around the mark to be used for the inspection work by capturing an image in which the mark existing within the imaging range of the camera is focused among the marks;
An inspection system comprising: 2. The inspection system according to claim 1 , wherein each of said plurality of marks indicates unique identification information. 3. The inspection system of claim 2 , wherein the plurality of marks includes code information. The code information includes information about the next shooting position,
The control unit identifies the next photographing position based on the code information included in the image photographed by the camera, controls the flight operation of the unmanned aerial vehicle and the photographing operation of the camera, and controls the specified next photographing position. Take an image of the shooting position,
The inspection system according to claim 3 , characterized in that: The inspection system according to any one of claims 1 to 4 , further comprising a storage unit mounted on the unmanned aerial vehicle and storing images captured by the camera under the control of the control unit. The inspection system according to any one of claims 1 to 5 , wherein the image captured by the camera is output to a predetermined external device through wireless communication. An inspection support method for supporting inspection work performed by visually observing an object to be inspected,
A computer on an unmanned aerial vehicle equipped with a camera
In the image captured by the camera, the flight operation of the unmanned aerial vehicle is performed so that each of a plurality of marks having the same outer shape and having the same size is provided at each location of the inspection object that requires visual inspection. and controlling the photographing operation of the camera to photograph an image in which a mark existing within the imaging range of the camera among the plurality of marks is focused, thereby performing the inspection around the mark to be used for the inspection work. to obtain image information of an object ,
An inspection support method characterized by: An inspection support program that supports inspection work performed by visually observing an inspection target,
On the computer of the unmanned aerial vehicle equipped with a camera,
In the image captured by the camera, the flight operation of the unmanned aerial vehicle is performed so that each of a plurality of marks having the same outer shape and having the same size is provided at each location of the inspection object that requires visual inspection. and controlling the photographing operation of the camera to photograph an image in which a mark existing within the imaging range of the camera among the plurality of marks is focused, thereby performing the inspection around the mark used for the inspection work. Acquiring image information of an object ,
An inspection support program characterized by:

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