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WO2020204201A1 - Aircraft - Google Patents

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Publication number
WO2020204201A1
WO2020204201A1 PCT/JP2020/015437 JP2020015437W WO2020204201A1 WO 2020204201 A1 WO2020204201 A1 WO 2020204201A1 JP 2020015437 W JP2020015437 W JP 2020015437W WO 2020204201 A1 WO2020204201 A1 WO 2020204201A1
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WO
WIPO (PCT)
Prior art keywords
inspection
flying object
flight
flight controller
recognition unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/015437
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French (fr)
Japanese (ja)
Inventor
祐司 小川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liberaware Co Ltd
Original Assignee
Liberaware Co Ltd
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Filing date
Publication date
Application filed by Liberaware Co Ltd filed Critical Liberaware Co Ltd
Publication of WO2020204201A1 publication Critical patent/WO2020204201A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates to an air vehicle.
  • Patent Document 1 discloses a technique for acquiring distance measurement data based on a measured value obtained based on the reflected light of a laser beam emitted from an air vehicle and information on an irradiation direction of the laser beam.
  • an inspection image for example, a still image or a moving image
  • an inspection object for example, a structure
  • the flying object flies straight (horizontally) with respect to the inspection object and keeps a certain distance. It is required to fly stably at a constant speed while maintaining it.
  • flying an air vehicle near an object to be inspected it is difficult for even a skilled pilot to fly the air vehicle stably due to the influence of wind and the like.
  • the present invention has been made in view of such a background, and an object of the present invention is to capture a stable inspection image by an air vehicle.
  • the main invention of the present invention for solving the above problems is a recognition unit that recognizes a laser beam emitted from a laser irradiation device to an inspection object, a flight controller that controls flight according to the recognized laser beam, and the like. Will be provided.
  • a stable inspection image can be captured by the flying object.
  • the flying object according to the embodiment of the present invention has the following configuration.
  • a recognition unit that recognizes the laser light emitted from the laser irradiation device to the inspection target, A flight controller that controls flight according to the recognized laser beam, Aircraft equipped with.
  • the flying object according to item 1 The recognition unit recognizes the inspection route by the laser beam that the laser irradiation device irradiates the inspection object. The flight controller controls the flight so as to follow the recognized inspection route. An air vehicle characterized by that.
  • [Item 3] The flying object according to item 2.
  • An imaging unit that captures inspection images of the inspection object, Aircraft equipped with.
  • the photographing unit stops photographing the inspection image when the recognition unit does not recognize the inspection route.
  • [Item 5] The flying object according to item 4.
  • the flight controller stops accepting instructions from the pilot to move the aircraft along the inspection route when the recognition unit does not recognize the inspection route. An air vehicle characterized by that.
  • FIG. 1 is a diagram illustrating a flight state of the flying object 1 according to the present embodiment.
  • the flying object 1 captures an inspection video (for example, a moving image) of a structure 2 which is an inspection target such as a pillar, a wall, or a ceiling.
  • a laser irradiation device 3 is arranged around the structure 2 and irradiates the laser beam 4 toward a portion of the structure 2 to be inspected.
  • the inspection image of the structure 2 can be stably photographed.
  • the laser irradiation device 3 projects an inspection route onto the structure 2 by the laser light 4 to irradiate.
  • the inspection route can be fixed to the structure 2 for irradiation.
  • This inspection route includes one or more straight lines, curves, and combinations thereof.
  • the laser irradiation device 3 may change the color and the number of pulses of each of the lines constituting the inspection route.
  • the laser irradiation device 3 may distinguish between the color of the laser beam 4 projected in the vertical direction and the color of the laser beam 4 projected in the horizontal direction. Further, the laser irradiation device 3 may distinguish each color of the laser beam 4 projected in the vertical direction, for example.
  • the flying object 1 can accurately grasp the inspection route even when the laser beam 4 irradiated to the structure 2 cannot be recognized.
  • FIG. 2 is a functional block diagram of the flying object 1 according to the present embodiment.
  • the flight controller 11 can have one or more processors such as a programmable processor (for example, a central processing unit (CPU)).
  • a programmable processor for example, a central processing unit (CPU)
  • CPU central processing unit
  • the flight controller 11 has a memory 12 and can access the memory 12.
  • the memory 12 stores logic, code, and / or program instructions that the flight controller 11 can execute to perform one or more steps.
  • the memory 12 may include, for example, a separable medium such as an SD card or a random access memory (RAM) or an external storage device.
  • a separable medium such as an SD card or a random access memory (RAM) or an external storage device.
  • the photographing unit 13 is composed of, for example, a general camera or an infrared camera.
  • the data acquired by the photographing unit 13 may be directly transmitted and stored in the memory 12.
  • still image / moving image data taken by the photographing unit 13 is recorded in the internal memory or the external memory.
  • the photographing unit 13 is installed on the flying object via the gimbal 14.
  • the flight controller 11 includes a control module configured to control the state of the flying object 1.
  • the control module adjusts the spatial arrangement, velocity, and / or acceleration of the flying object 1 having 6 degrees of freedom (translational motions x, y and z, and rotational motions ⁇ x, ⁇ y and ⁇ z).
  • the propulsion mechanism (motor 16 and the like) of the flying object 1 is controlled via the above.
  • the motor 16 rotates the propeller 17 to generate lift of the flying object 1.
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the flight controller 11 is a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, transmitter / receiver (propo), terminal, display device, or other remote controller). It is possible to communicate with 18.
  • the transmitter / receiver 18 can use any suitable communication means such as wired communication or wireless communication.
  • the transmission / reception unit 18 uses one or more of, for example, a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, and cloud communication. can do.
  • LAN local area network
  • WAN wide area network
  • P2P point-to-point
  • the transmission / reception unit 18 uses data acquired by the sensors 19, processing results generated by the flight controller 11, predetermined control data, and user commands from a terminal or a remote controller (movement instructions and / or rotation instructions from the operator). One or more of, etc. can be sent and / or received.
  • the sensors 19 in this embodiment may include an inertial sensor (acceleration sensor, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
  • inertial sensor acceleration sensor, gyro sensor
  • GPS sensor GPS sensor
  • proximity sensor eg, rider
  • vision / image sensor eg, camera
  • the recognition unit 20 can recognize the laser light 4 irradiated to the structure 2 from the laser irradiation device 3.
  • the recognition unit 20 in the present embodiment may be equipped with a sensor capable of recognizing the laser beam 4, and may be, for example, a general camera.
  • the recognition unit 20 can recognize the color and the number of pulses of the irradiated laser light.
  • the recognition unit 20 is provided on the side surface of the flying object 1, for example, and recognizes an inspection route formed by a laser beam 4 irradiated to a structure 2 such as a pillar or a wall.
  • FIG. 3 is a diagram illustrating a flow of processing for controlling the flying object 1 to fly along the inspection route projected on the structure 2. This process is started, for example, when the recognition unit 20 recognizes the inspection route.
  • Step S301 The photographing unit 13 photographs an inspection image of the structure 2. That is, the photographing unit 13 photographs the inspection image when the recognition unit 20 recognizes the inspection route. Specifically, when the recognition unit 20 recognizes the inspection route, the photographing unit 13 captures the inspection route of the structure 2 or a moving image in which the periphery of the inspection route is included in the photographing range. Subsequently, the flight controller 11 receives the movement instruction from the operator and moves (flight controls) the flying object 1 along the inspection route recognized by the recognition unit 20. Then, the process proceeds to the process of step S302.
  • Step S302 The flight controller 11 determines whether or not it has received an instruction from the pilot to end the inspection. Then, when the determination is affirmative, the process ends a series of processes shown in FIG. On the other hand, if the determination is negative, the process proceeds to the process of step S303.
  • Step S303 The flight controller 11 determines whether or not the recognition unit 20 recognizes the inspection route projected on the structure 2. Then, when the determination is affirmative, the process proceeds to the process of step S301. On the other hand, if the determination is negative, the process proceeds to the process of step S304.
  • Step S304 The photographing unit 13 stops taking an inspection image. Specifically, the photographing unit 13 stops photographing the inspection route of the structure 2 or the moving image in which the periphery of the inspection route is included in the photographing range. This makes it possible to reduce the trouble of editing the inspection video. Subsequently, the flight controller 11 stops accepting instructions from the pilot to move the flying object 1 along the inspection route. As a result, it is possible to prevent the part to be inspected from remaining in the inspection image. Then, the process proceeds to the process of step S305.
  • Step S305 The flight controller 11 rotates and moves the flying object 1 in a predetermined direction at least.
  • the flight controller 11 rotates and moves the flying object 1 perpendicular to the inspection route (direction of the line projected by the laser beam 4).
  • the flight controller 11 recognizes that the color of the laser beam 4 recognized by the recognition unit 20 until just before is the color of the line extending in the vertical direction
  • the flight controller 11 rotates the flying object 1 in the horizontal direction.
  • FIG. 4 is a diagram showing an example in which the flying object 1 rotates and moves in the horizontal direction with respect to the laser beam 4 in the vertical direction. Then, the process proceeds to the process of step S306.
  • Step S306 The flight controller 11 determines whether or not the recognition unit 20 recognizes the inspection route projected on the structure 2. Then, when the determination is affirmative, the process proceeds to the process of step S301. On the other hand, if the determination is negative, the process proceeds to the process of step S305.
  • the flight controller 11 controls the flight body 1 so that the flight body 1 can shoot a stable inspection image along the inspection route.
  • the photographing unit 13 and the recognition unit 20 have been described as separate functional units, but the photographing unit 13 and the recognition unit 20 may be configured by one device (for example, a camera).
  • step S304 it has been described in step S304 that the reception of the instruction to move the flying object 1 from the operator along the inspection route is stopped, but the flight controller 11 has described the inspection route (laser light 4).
  • the instruction to rotate and move the flying object 1 perpendicular to may be accepted.
  • the flight controller 11 may stop shooting by the photographing unit 13 or the operator may stop shooting until the flight body 1 flies straight (horizontally). You may stop accepting instructions to move the aircraft 1 along the inspection route.
  • the laser irradiation device 3 may be capable of projecting a plurality of patterns of inspection routes. As a result, the laser irradiation device 3 can project an inspection route of a pattern corresponding to the structure 2 which is an inspection target.
  • the laser irradiation device 3 may project supplementary information other than the inspection route onto the structure 2 which is the inspection target.
  • supplementary information for example, numerical values of distance and height, control points, and the like can be mentioned.
  • FIG. 5 is a diagram showing an example in which supplementary information S is projected on the structure 2.
  • a predetermined grid pattern may be irradiated to a predetermined position on the inspection target surface, and the current position may be estimated by recognizing the grid pattern as an image. That is, by acquiring the absolute position for irradiating the grid pattern, it is possible to estimate the self-position from the distance and the positional relationship from an arbitrary grid point. In this case, the position of the grid pattern on the inspection target surface is associated.
  • the inspection image is a moving image
  • it may be a still image
  • the laser light 4 may be light that can be recognized by the recognition unit 20 and may not be photographed by the photographing unit 13 (for example, infrared rays). As a result, the laser beam 4 is not reflected in the inspection image, so that a portion to be inspected (for example, a crack in concrete) can be easily confirmed.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Road Repair (AREA)
  • Bridges Or Land Bridges (AREA)
  • Lining And Supports For Tunnels (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

[Problem] The objective of the present invention is to capture a stable inspection image using an aircraft. [Solution] An aircraft according to the present invention is provided with: a recognizing unit for recognizing laser light radiated onto an inspection target object from a laser radiating device; and a flight controller for performing flight control in accordance with the recognized laser light. The recognizing unit recognizes an inspection route based on the laser light radiated into the inspection target object by the laser radiating device, and the flight controller performs flight control to follow the recognized inspection route. The aircraft is provided with an image capturing unit for capturing an inspection image of the inspection target object.

Description

飛行体Aircraft

　本発明は、飛行体に関する。 The present invention relates to an air vehicle.

　従来から、飛行体からレーザー光を照射して、測距データを取得する技術が知られている。例えば、特許文献１では、飛行体から照射されるレーザー光の反射光に基づいて得られる測定値と、レーザー光の照射方向に関する情報により、測距データを取得する技術が開示されている。 Conventionally, a technique of irradiating a laser beam from an air vehicle to acquire distance measurement data has been known. For example, Patent Document 1 discloses a technique for acquiring distance measurement data based on a measured value obtained based on the reflected light of a laser beam emitted from an air vehicle and information on an irradiation direction of the laser beam.

特許第６４４５２０７号公報Japanese Patent No. 6445207

　ここで、飛行体によって点検対象物（例えば構造物）の点検映像（例えば静止画や動画）を撮影する場合、点検対象に対して、飛行体が真っ直ぐ（水平）に飛行し、一定の距離を保ちながら一定の速度で安定して飛行することが求められる。しかしながら、飛行体を点検対象物の近くで飛行させる場合、風が発生するなどの影響により、熟練の操縦者でも飛行体を安定して飛行させることは難しい。 Here, when an inspection image (for example, a still image or a moving image) of an inspection object (for example, a structure) is taken by the flying object, the flying object flies straight (horizontally) with respect to the inspection object and keeps a certain distance. It is required to fly stably at a constant speed while maintaining it. However, when flying an air vehicle near an object to be inspected, it is difficult for even a skilled pilot to fly the air vehicle stably due to the influence of wind and the like.

　本発明はこのような背景を鑑みてなされたものであり、飛行体によって、安定した点検映像を撮影することを目的とする。 The present invention has been made in view of such a background, and an object of the present invention is to capture a stable inspection image by an air vehicle.

　上記課題を解決するための本発明の主たる発明は、レーザー照射装置から点検対象物に照射されたレーザー光を認識する認識部と、前記認識されたレーザー光に応じて飛行制御するフライトコントローラと、を備えることとする。 The main invention of the present invention for solving the above problems is a recognition unit that recognizes a laser beam emitted from a laser irradiation device to an inspection object, a flight controller that controls flight according to the recognized laser beam, and the like. Will be provided.

　その他本願が開示する課題やその解決方法については、発明の実施形態の欄及び図面により明らかにされる。 Other problems disclosed in the present application and solutions thereof will be clarified in the columns and drawings of the embodiments of the invention.

　本発明によれば、飛行体によって、安定した点検映像を撮影することができる。 According to the present invention, a stable inspection image can be captured by the flying object.

本実施形態に係る飛行体１による飛行状態を説明する図である。It is a figure explaining the flight state by the flying object 1 which concerns on this embodiment. 本実施形態に係る飛行体１の機能ブロック図である。It is a functional block diagram of the flying object 1 which concerns on this embodiment. 飛行体１が構造物２に投影された点検ルートに沿って飛行するように制御する処理の流れを説明する図である。It is a figure explaining the flow of the process which controls the flying object 1 to fly along the inspection route projected on the structure 2. 飛行体１が上下方向のレーザー光４に対して水平方向に回転及び移動する例を示す図である。It is a figure which shows the example which the flying object 1 rotates and moves in the horizontal direction with respect to the laser beam 4 in the vertical direction. 構造物２に補足情報Ｓが投影された例を示す図である。It is a figure which shows the example which the supplementary information S was projected on the structure 2. 構造物２に格子状パターンが投影された例を示す図である。It is a figure which shows the example which the grid pattern is projected on the structure 2.

　本発明の実施形態の内容を列記して説明する。本発明の実施の形態による飛行体は、以下のような構成を備える。 The contents of the embodiments of the present invention will be listed and described. The flying object according to the embodiment of the present invention has the following configuration.

［項目１］
　レーザー照射装置から点検対象物に照射されたレーザー光を認識する認識部と、
　前記認識されたレーザー光に応じて飛行制御するフライトコントローラと、
　を備える飛行体。
［項目２］
　項目１に記載の飛行体であって、
　前記認識部は、前記レーザー照射装置が前記点検対象物に照射した前記レーザー光による点検ルートを認識し、
　前記フライトコントローラは、前記認識された点検ルートに沿うように飛行制御する、
　ことを特徴とする飛行体。
［項目３］
　項目２に記載の飛行体であって、
　前記点検対象物の点検映像を撮影する撮影部と、
　を備える飛行体。
［項目４］
　項目３に記載の飛行体であって、
　前記撮影部は、前記認識部が前記点検ルートを認識していない場合に、前記点検映像の撮影を停止する、
　ことを特徴とする飛行体。
［項目５］
　項目４に記載の飛行体であって、
　前記フライトコントローラは、前記認識部が前記点検ルートを認識していない場合に、操縦者から前記点検ルートに沿って飛行体を移動させる指示の受け付けを停止する、
　ことを特徴とする飛行体。 [Item 1]
A recognition unit that recognizes the laser light emitted from the laser irradiation device to the inspection target,
A flight controller that controls flight according to the recognized laser beam,
Aircraft equipped with.
[Item 2]
The flying object according to item 1.
The recognition unit recognizes the inspection route by the laser beam that the laser irradiation device irradiates the inspection object.
The flight controller controls the flight so as to follow the recognized inspection route.
An air vehicle characterized by that.
[Item 3]
The flying object according to item 2.
An imaging unit that captures inspection images of the inspection object,
Aircraft equipped with.
[Item 4]
The flying object according to item 3.
The photographing unit stops photographing the inspection image when the recognition unit does not recognize the inspection route.
An air vehicle characterized by that.
[Item 5]
The flying object according to item 4.
The flight controller stops accepting instructions from the pilot to move the aircraft along the inspection route when the recognition unit does not recognize the inspection route.
An air vehicle characterized by that.

　以下、本発明の第１の実施形態に係る飛行体１について図面を参照しながら説明する。図１は、本実施形態に係る飛行体１による飛行状態を説明する図である。 Hereinafter, the flying object 1 according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a flight state of the flying object 1 according to the present embodiment.

　本実施形態では、飛行体１は、柱や壁、天井などの点検対象物である構造物２の点検映像（例えば動画）を撮影することを想定している。構造物２の周囲にはレーザー照射装置３が配置され、構造物２の点検すべき箇所に向けてレーザー光４を照射する。飛行体１は、構造物２に照射されたレーザー光４を認識し続けるように飛行制御することで、構造物２の点検映像を安定して撮影することができる。 In the present embodiment, it is assumed that the flying object 1 captures an inspection video (for example, a moving image) of a structure 2 which is an inspection target such as a pillar, a wall, or a ceiling. A laser irradiation device 3 is arranged around the structure 2 and irradiates the laser beam 4 toward a portion of the structure 2 to be inspected. By controlling the flight so that the flying object 1 continues to recognize the laser beam 4 irradiated to the structure 2, the inspection image of the structure 2 can be stably photographed.

　レーザー照射装置３は、照射するレーザー光４によって、構造物２に点検ルートを投影する。ここで、レーザー照射装置３は、地面や三脚等に載置されるため、点検ルートを構造物２に固定して照射することができる。この点検ルートとしては、一又は複数の直線、曲線、これらの組み合わせが挙げられる。また、レーザー照射装置３は、この点検ルートを構成する線それぞれの色やパルス数を変更させてもよい。例えば、レーザー照射装置３は、上下方向に投影するレーザー光４の色と、水平方向に投影するレーザー光４の色を区別してもよい。また、レーザー照射装置３は、例えば上下方向に投影するレーザー光４のそれぞれの色を区別してもよい。これらにより、例えば飛行体１は、構造物２に照射されたレーザー光４を認識できなくなった場合でも、点検ルートを正確に把握することができる。 The laser irradiation device 3 projects an inspection route onto the structure 2 by the laser light 4 to irradiate. Here, since the laser irradiation device 3 is mounted on the ground, a tripod, or the like, the inspection route can be fixed to the structure 2 for irradiation. This inspection route includes one or more straight lines, curves, and combinations thereof. Further, the laser irradiation device 3 may change the color and the number of pulses of each of the lines constituting the inspection route. For example, the laser irradiation device 3 may distinguish between the color of the laser beam 4 projected in the vertical direction and the color of the laser beam 4 projected in the horizontal direction. Further, the laser irradiation device 3 may distinguish each color of the laser beam 4 projected in the vertical direction, for example. As a result, for example, the flying object 1 can accurately grasp the inspection route even when the laser beam 4 irradiated to the structure 2 cannot be recognized.

　図２は、本実施形態に係る飛行体１の機能ブロック図である。 FIG. 2 is a functional block diagram of the flying object 1 according to the present embodiment.

　フライトコントローラ１１は、プログラマブルプロセッサ（例えば、中央演算処理装置（ＣＰＵ））などの１つ以上のプロセッサを有することができる。 The flight controller 11 can have one or more processors such as a programmable processor (for example, a central processing unit (CPU)).

　フライトコントローラ１１は、メモリ１２を有しており、当該メモリ１２にアクセス可能である。メモリ１２は、１つ以上のステップを行うためにフライトコントローラ１１が実行可能であるロジック、コード、および／またはプログラム命令を記憶している。 The flight controller 11 has a memory 12 and can access the memory 12. The memory 12 stores logic, code, and / or program instructions that the flight controller 11 can execute to perform one or more steps.

　メモリ１２は、例えば、ＳＤカードやランダムアクセスメモリ（ＲＡＭ）などの分離可能な媒体または外部の記憶装置を含んでいてもよい。 The memory 12 may include, for example, a separable medium such as an SD card or a random access memory (RAM) or an external storage device.

　撮影部１３は、例えば、一般的なカメラや赤外線カメラなどにより構成される。撮影部１３で取得したデータは、メモリ１２に直接に伝達されかつ記憶されてもよい。例えば、撮影部１３で撮影した静止画・動画データが内蔵メモリ又は外部メモリに記録される。撮影部１３は、飛行体にジンバル１４を介して設置される。 The photographing unit 13 is composed of, for example, a general camera or an infrared camera. The data acquired by the photographing unit 13 may be directly transmitted and stored in the memory 12. For example, still image / moving image data taken by the photographing unit 13 is recorded in the internal memory or the external memory. The photographing unit 13 is installed on the flying object via the gimbal 14.

　フライトコントローラ１１は、飛行体１の状態を制御するように構成された制御モジュールを含んでいる。例えば、制御モジュールは、６自由度（並進運動ｘ、ｙ及びｚ、並びに回転運動θｘ、θｙ及びθｚ）を有する飛行体１の空間的配置、速度、および／または加速度を調整するために、ＥＳＣ１５を経由して飛行体１の推進機構（モータ１６等）を制御する。モータ１６によりプロペラ１７が回転することで飛行体１の揚力を生じさせる。制御モジュールは、搭載部、センサ類の状態のうちの１つ以上を制御することができる。 The flight controller 11 includes a control module configured to control the state of the flying object 1. For example, the control module adjusts the spatial arrangement, velocity, and / or acceleration of the flying object 1 having 6 degrees of freedom (translational motions x, y and z, and rotational motions θx, θy and θz). The propulsion mechanism (motor 16 and the like) of the flying object 1 is controlled via the above. The motor 16 rotates the propeller 17 to generate lift of the flying object 1. The control module can control one or more of the states of the mounting unit and the sensors.

　フライトコントローラ１１は、１つ以上の外部のデバイス（例えば、送受信機（プロポ）、端末、表示装置、または他の遠隔の制御器）からのデータを送信および／または受け取るように構成された送受信部１８と通信可能である。送受信機１８は、有線通信または無線通信などの任意の適当な通信手段を使用することができる。 The flight controller 11 is a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, transmitter / receiver (propo), terminal, display device, or other remote controller). It is possible to communicate with 18. The transmitter / receiver 18 can use any suitable communication means such as wired communication or wireless communication.

　送受信部１８は、例えば、ローカルエリアネットワーク（ＬＡＮ）、ワイドエリアネットワーク（ＷＡＮ）、赤外線、無線、ＷｉＦｉ、ポイントツーポイント（Ｐ２Ｐ）ネットワーク、電気通信ネットワーク、クラウド通信などのうちの１つ以上を利用することができる。 The transmission / reception unit 18 uses one or more of, for example, a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, and cloud communication. can do.

　送受信部１８は、センサ類１９で取得したデータ、フライトコントローラ１１が生成した処理結果、所定の制御データ、端末または遠隔の制御器からのユーザコマンド（操縦者からの移動指示および／または回転指示）などのうちの１つ以上を送信および／または受け取ることができる。 The transmission / reception unit 18 uses data acquired by the sensors 19, processing results generated by the flight controller 11, predetermined control data, and user commands from a terminal or a remote controller (movement instructions and / or rotation instructions from the operator). One or more of, etc. can be sent and / or received.

　本実施形態におけるセンサ類１９は、慣性センサ（加速度センサ、ジャイロセンサ）、ＧＰＳセンサ、近接センサ（例えば、ライダー）、またはビジョン／イメージセンサ（例えば、カメラ）を含み得る。 The sensors 19 in this embodiment may include an inertial sensor (acceleration sensor, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).

　認識部２０は、レーザー照射装置３から構造物２に照射されたレーザー光４を認識することができる。本実施形態における認識部２０は、レーザー光４を認識できるセンサが搭載されていればよく、例えば、一般的なカメラであってもよい。認識部２０は、照射されたレーザー光の色やパルス数を認識できるものとする。認識部２０は、例えば飛行体１の側面に設けられ、柱や壁などの構造物２に照射されたレーザー光４により形成される点検ルートを認識する。 The recognition unit 20 can recognize the laser light 4 irradiated to the structure 2 from the laser irradiation device 3. The recognition unit 20 in the present embodiment may be equipped with a sensor capable of recognizing the laser beam 4, and may be, for example, a general camera. The recognition unit 20 can recognize the color and the number of pulses of the irradiated laser light. The recognition unit 20 is provided on the side surface of the flying object 1, for example, and recognizes an inspection route formed by a laser beam 4 irradiated to a structure 2 such as a pillar or a wall.

　図３は、飛行体１が構造物２に投影された点検ルートに沿って飛行するように制御する処理の流れを説明する図である。この処理は、例えば認識部２０が点検ルートを認識した場合に開始される。 FIG. 3 is a diagram illustrating a flow of processing for controlling the flying object 1 to fly along the inspection route projected on the structure 2. This process is started, for example, when the recognition unit 20 recognizes the inspection route.

（ステップＳ３０１）
　撮影部１３は、構造物２の点検映像を撮影する。すなわち、撮影部１３は、認識部２０が点検ルートを認識している場合に、点検映像を撮影する。具体的には、撮影部１３は、認識部２０が点検ルートを認識している場合に、構造物２の点検ルート又は点検ルートの周囲が撮影範囲に含まれる動画を撮影する。続いて、フライトコントローラ１１は、操縦者からの移動指示を受け付けて、認識部２０によって認識された点検ルートに沿うように飛行体１を移動させる（飛行制御する）。そして、処理は、ステップＳ３０２の処理に移行する。 (Step S301)
The photographing unit 13 photographs an inspection image of the structure 2. That is, the photographing unit 13 photographs the inspection image when the recognition unit 20 recognizes the inspection route. Specifically, when the recognition unit 20 recognizes the inspection route, the photographing unit 13 captures the inspection route of the structure 2 or a moving image in which the periphery of the inspection route is included in the photographing range. Subsequently, the flight controller 11 receives the movement instruction from the operator and moves (flight controls) the flying object 1 along the inspection route recognized by the recognition unit 20. Then, the process proceeds to the process of step S302.

（ステップＳ３０２）
　フライトコントローラ１１は、操縦者からの点検を終了する指示を受け付けたか否かを判定する。そして、当該判定が肯定判定された場合には、処理は、図３に示す一連の処理を終了する。一方、当該判定が否定判定された場合には、処理は、ステップＳ３０３の処理に移行する。 (Step S302)
The flight controller 11 determines whether or not it has received an instruction from the pilot to end the inspection. Then, when the determination is affirmative, the process ends a series of processes shown in FIG. On the other hand, if the determination is negative, the process proceeds to the process of step S303.

（ステップＳ３０３）
　フライトコントローラ１１は、認識部２０が構造物２に投影された点検ルートを認識しているか否かを判定する。そして、当該判定が肯定判定された場合には、処理は、ステップＳ３０１の処理に移行する。一方、当該判定が否定判定された場合には、処理は、ステップＳ３０４の処理に移行する。 (Step S303)
The flight controller 11 determines whether or not the recognition unit 20 recognizes the inspection route projected on the structure 2. Then, when the determination is affirmative, the process proceeds to the process of step S301. On the other hand, if the determination is negative, the process proceeds to the process of step S304.

（ステップＳ３０４）
　撮影部１３は、点検映像の撮影を停止する。具体的には、撮影部１３は、構造物２の点検ルート又は点検ルートの周囲が撮影範囲に含まれる動画の撮影を停止する。これにより、点検映像を編集する手間を軽減することができる。続いて、フライトコントローラ１１は、操縦者からの飛行体１を点検ルートに沿って移動させる指示の受け付けを停止する。これにより、点検すべき部分が点検映像に残らないことを防止することができる。そして、処理は、ステップＳ３０５の処理に移行する。 (Step S304)
The photographing unit 13 stops taking an inspection image. Specifically, the photographing unit 13 stops photographing the inspection route of the structure 2 or the moving image in which the periphery of the inspection route is included in the photographing range. This makes it possible to reduce the trouble of editing the inspection video. Subsequently, the flight controller 11 stops accepting instructions from the pilot to move the flying object 1 along the inspection route. As a result, it is possible to prevent the part to be inspected from remaining in the inspection image. Then, the process proceeds to the process of step S305.

（ステップＳ３０５）
　フライトコントローラ１１は、飛行体１を所定の方向に回転および移動の少なくともいずれかを行う。例えば、フライトコントローラ１１は、点検ルート（レーザー光４によって投影された線の方向）と垂直に飛行体１を回転及び移動させる。具体的には、フライトコントローラ１１は、直前まで認識部２０が認識していたレーザー光４の色が上下方向に伸びる線の色であると認識していた場合、飛行体１を水平方向に回転させる。図４は、飛行体１が上下方向のレーザー光４に対して水平方向に回転及び移動する例を示す図である。そして、処理は、ステップＳ３０６の処理に移行する。 (Step S305)
The flight controller 11 rotates and moves the flying object 1 in a predetermined direction at least. For example, the flight controller 11 rotates and moves the flying object 1 perpendicular to the inspection route (direction of the line projected by the laser beam 4). Specifically, when the flight controller 11 recognizes that the color of the laser beam 4 recognized by the recognition unit 20 until just before is the color of the line extending in the vertical direction, the flight controller 11 rotates the flying object 1 in the horizontal direction. Let me. FIG. 4 is a diagram showing an example in which the flying object 1 rotates and moves in the horizontal direction with respect to the laser beam 4 in the vertical direction. Then, the process proceeds to the process of step S306.

（ステップＳ３０６）
　フライトコントローラ１１は、認識部２０が構造物２に投影された点検ルートを認識しているか否かを判定する。そして、当該判定が肯定判定された場合には、処理は、ステップＳ３０１の処理に移行する。一方、当該判定が否定判定された場合には、処理は、ステップＳ３０５の処理に移行する。 (Step S306)
The flight controller 11 determines whether or not the recognition unit 20 recognizes the inspection route projected on the structure 2. Then, when the determination is affirmative, the process proceeds to the process of step S301. On the other hand, if the determination is negative, the process proceeds to the process of step S305.

　以上のようにして、フライトコントローラ１１は、飛行体１が点検ルートに沿って安定した点検映像を撮影することができるように、飛行体１を制御する。 As described above, the flight controller 11 controls the flight body 1 so that the flight body 1 can shoot a stable inspection image along the inspection route.

　以上、本実施形態について説明したが、上記実施形態は本発明の理解を容易にするためのものであり、本発明を限定して解釈するためのものではない。本発明は、その趣旨を逸脱することなく、変更、改良され得ると共に、本発明にはその等価物も含まれる。 Although the present embodiment has been described above, the above embodiment is for facilitating the understanding of the present invention, and is not for limiting and interpreting the present invention. The present invention can be modified and improved without departing from the spirit thereof, and the present invention also includes an equivalent thereof.

　例えば、本実施形態では、撮影部１３と認識部２０とを別々の機能部として説明したが、撮影部１３と認識部２０は、一つの装置（例えばカメラ）によって構成されてもよい。 For example, in the present embodiment, the photographing unit 13 and the recognition unit 20 have been described as separate functional units, but the photographing unit 13 and the recognition unit 20 may be configured by one device (for example, a camera).

　また、本実施形態では、上記ステップＳ３０４において、操縦者からの飛行体１を点検ルートに沿って移動させる指示の受け付けを停止することを説明したが、フライトコントローラ１１は、点検ルート（レーザー光４によって投影された線の方向）と垂直に飛行体１を回転及び移動させる指示は受け付けることとしてもよい。また、フライトコントローラ１１は、飛行体１が構造物２に対して真っ直ぐ（水平）に飛行していない場合、真っ直ぐ（水平）に飛行するまで、撮影部１３による撮影を停止したり、操縦者からの飛行体１を点検ルートに沿って移動させる指示の受け付けを停止したりしてもよい。 Further, in the present embodiment, it has been described in step S304 that the reception of the instruction to move the flying object 1 from the operator along the inspection route is stopped, but the flight controller 11 has described the inspection route (laser light 4). The instruction to rotate and move the flying object 1 perpendicular to (the direction of the line projected by) may be accepted. Further, when the flight controller 11 does not fly straight (horizontally) with respect to the structure 2, the flight controller 11 may stop shooting by the photographing unit 13 or the operator may stop shooting until the flight body 1 flies straight (horizontally). You may stop accepting instructions to move the aircraft 1 along the inspection route.

　また、本実施形態では、レーザー照射装置３は、複数パターンの点検ルートを投影することが可能であってもよい。これにより、レーザー照射装置３は、点検対象物である構造物２に応じたパターンの点検ルートを投影することができる。 Further, in the present embodiment, the laser irradiation device 3 may be capable of projecting a plurality of patterns of inspection routes. As a result, the laser irradiation device 3 can project an inspection route of a pattern corresponding to the structure 2 which is an inspection target.

　また、本実施形態では、レーザー照射装置３は、点検ルート以外の補足情報を点検対象物である構造物２に投影してもよい。補足情報としては、例えば、距離や高さの数値、標定点などが挙げられる。図５は、構造物２に補足情報Ｓが投影された例を示す図である。 Further, in the present embodiment, the laser irradiation device 3 may project supplementary information other than the inspection route onto the structure 2 which is the inspection target. As supplementary information, for example, numerical values of distance and height, control points, and the like can be mentioned. FIG. 5 is a diagram showing an example in which supplementary information S is projected on the structure 2.

　また、例えば、図６に示されるように、所定の格子状のパターンを点検対象面の所定の位置に照射し、当該格子パターンを画像認識することにより現在位置を推定することとしてもよい。すなわち、格子パターンを照射する絶対位置を取得することによって、任意の格子点からの距離や位置関係から自己の位置を推定することが可能となる。この場合、格子パターンの点検対象面上における位置は関連付けられる。 Further, for example, as shown in FIG. 6, a predetermined grid pattern may be irradiated to a predetermined position on the inspection target surface, and the current position may be estimated by recognizing the grid pattern as an image. That is, by acquiring the absolute position for irradiating the grid pattern, it is possible to estimate the self-position from the distance and the positional relationship from an arbitrary grid point. In this case, the position of the grid pattern on the inspection target surface is associated.

　また、本実施形態では、点検映像が動画である場合を説明したが、静止画であってもよい。 Further, in the present embodiment, the case where the inspection image is a moving image has been described, but it may be a still image.

　また、本実施形態では、レーザー光４は、認識部２０によって認識が可能であればよく、撮影部１３では撮影が不可能な光（例えば赤外線等）であってもよい。これにより、点検映像にレーザー光４が映り込むことがないため、点検すべき部分（例えば、コンクリートのひび割れ等）を容易に確認することができる。 Further, in the present embodiment, the laser light 4 may be light that can be recognized by the recognition unit 20 and may not be photographed by the photographing unit 13 (for example, infrared rays). As a result, the laser beam 4 is not reflected in the inspection image, so that a portion to be inspected (for example, a crack in concrete) can be easily confirmed.

　　　１　飛行体
　　　２　構造物
　　　３　レーザー照射装置
　　　４　レーザー光
　　１１　フライトコントローラ
　　１３　撮影部
　　２０　認識部 1 Aircraft 2 Structure 3 Laser irradiation device 4 Laser light 11 Flight controller 13 Imaging unit 20 Recognition unit

Claims (5)

　レーザー照射装置から点検対象物に照射されたレーザー光を認識する認識部と、
　前記認識されたレーザー光に応じて飛行制御するフライトコントローラと、
　を備える飛行体。 A recognition unit that recognizes the laser light emitted from the laser irradiation device to the inspection target,
A flight controller that controls flight according to the recognized laser beam,
Aircraft equipped with. 　請求項１に記載の飛行体であって、
　前記認識部は、前記レーザー照射装置が前記点検対象物に照射した前記レーザー光による点検ルートを認識し、
　前記フライトコントローラは、前記認識された点検ルートに沿うように飛行制御する、
　ことを特徴とする飛行体。 The flying object according to claim 1.
The recognition unit recognizes the inspection route by the laser beam that the laser irradiation device irradiates the inspection object.
The flight controller controls the flight so as to follow the recognized inspection route.
An air vehicle characterized by that. 　請求項２に記載の飛行体であって、
　前記点検対象物の点検映像を撮影する撮影部と、
　を備える飛行体。 The flying object according to claim 2.
An imaging unit that captures inspection images of the inspection object,
Aircraft equipped with. 　請求項３に記載の飛行体であって、
　前記撮影部は、前記認識部が前記点検ルートを認識していない場合に、前記点検映像の撮影を停止する、
　ことを特徴とする飛行体。 The flying object according to claim 3.
The photographing unit stops photographing the inspection image when the recognition unit does not recognize the inspection route.
An air vehicle characterized by that. 　請求項４に記載の飛行体であって、
　前記フライトコントローラは、前記認識部が前記点検ルートを認識していない場合に、操縦者から前記点検ルートに沿って飛行体を移動させる指示の受け付けを停止する、
　ことを特徴とする飛行体。 The flying object according to claim 4.
When the recognition unit does not recognize the inspection route, the flight controller stops accepting an instruction from the pilot to move the flying object along the inspection route.
An air vehicle characterized by that.
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