Imaging system

Abstract

To identify a position of an imaging range in an inspection surface.SOLUTION: An imaging system 100 comprises: a wide-angle camera 210 that images an inspection surface to generate a wide-angle image; a narrow-angle camera 220 that is narrower in an imaging range than the wide-angle camera 210, and images the inspection surface to generate a narrow-angle image; a holding part 240 that integrally holds the wide-angle camera 210 and narrow-angle camera 220; a position identification unit 256 that identifies a position of the narrow-angle image on the inspection surface on the basis of three or more preliminarily determined reference points in the wide-angle image.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to imaging systems. [Background technology]

[0002] Technologies are being developed to inspect the deterioration of structures, such as cracks, paint deterioration, and salt concentration, by imaging the surfaces of concrete structures such as bridges, highways, tunnels, dams, and buildings and analyzing the images obtained.

[0003] For example, Patent Document 1 discloses a technology in which an image obtained by capturing an image of the surface of a structure is subjected to image processing to generate a normalized image by normalizing the image, and then the normalized image is analyzed to detect cracks in the structure. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-34576 A Summary of the Invention [Problem to be solved by the invention]

[0005] In inspecting the deterioration state of a structure, the width of the crack to be inspected is small, for example, about 0.1 mm. Therefore, when inspecting the deterioration state of a structure using images, images with high resolution are required, which narrows the imaging range.

[0006] When inspecting changes in cracks over time, changes in paint film deterioration over time, or salt concentration, the same inspection area on the inspection surface of the structure is photographed multiple times and the multiple images obtained are analyzed. For this reason, the camera is installed so that the imaging range includes the inspection area.

[0007] However, if the camera cannot be fixed at the same position, it is difficult to capture the same inspection range multiple times. To be more specific, as described above, in order to obtain an image with high resolution, it is necessary to narrow the imaging range. When imaging an inspection surface made of concrete or an inspection surface uniformly coated with paint, characteristic parts that can serve as indicators are not included in the narrow imaging range. For this reason, it becomes unclear which part of the inspection surface has been imaged, that is, the position of the imaging range on the inspection surface. For this reason, if the camera cannot be fixed, it is difficult to capture the same inspection range multiple times.

[0008] In view of the above problems, an object of the present disclosure is to provide an imaging system capable of identifying the position of an imaging range on an inspection surface. [Means for solving the problem]

[0009] In order to solve the above problems, an imaging system according to one embodiment of the present disclosure includes a wide-angle camera that images an inspection surface to generate a wide-angle image, a narrow-angle camera that has a narrower imaging range than the wide-angle camera and images the inspection surface to generate a narrow-angle image, a holding unit that holds the wide-angle camera and the narrow-angle camera together, and a position identification unit that identifies the position of the narrow-angle image on the inspection surface based on three or more predetermined reference points in the wide-angle image.

[0010] The imaging system may include three or more laser irradiation units that irradiate the inspection surface with laser light, and the holding unit may integrally hold the wide-angle camera, the narrow-angle camera, and the laser irradiation units.

[0011] In order to solve the above problem, another imaging system according to one embodiment of the present disclosure includes a wide-angle camera that images an inspection surface to generate a wide-angle image, a narrow-angle camera that has a narrower imaging range than the wide-angle camera and images the inspection surface to generate a narrow-angle image, three or more laser irradiation units that irradiate laser light onto the inspection surface, a holding unit that holds the narrow-angle camera and the laser irradiation unit as a single unit, and a position identification unit that identifies the position of the narrow-angle image on the inspection surface based on three or more predetermined reference points on the wide-angle image and the irradiation point of the laser light by the laser irradiation unit on the wide-angle image.

[0012] The imaging system may further include an imaging control unit that synchronizes the timing at which the wide-angle camera generates a wide-angle image with the timing at which the narrow-angle camera generates a narrow-angle image.

[0013] In addition, the narrow-angle camera may generate multiple narrow-angle images at different times, and the imaging system may include an area extraction unit that extracts areas that are located at the same position on the inspection surface in the multiple narrow-angle images, and an inspection unit that performs inspection based on the extracted areas.

[0014] The imaging system may also include an unmanned aerial vehicle provided with a holding unit and capable of flying near the inspection surface. Effect of the Invention

[0015] According to the present disclosure, it is possible to identify the position of the imaging range on the inspection surface. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram for explaining a mode of use of an imaging system according to this embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing a schematic configuration of the imaging system according to this embodiment. [Diagram 3] FIG. 3 is a functional block diagram of the imaging system according to this embodiment. [Figure 4] FIG. 4 is a flowchart showing the flow of processing in the imaging method according to this embodiment. [Diagram 5] FIG. 5 is a diagram showing an example of a wide-angle image. [Figure 6] FIG. 6 is a diagram showing an example of a narrow-angle image. [Figure 7] FIG. 7 is a first diagram for explaining the position identification process. [Figure 8] FIG. 8 is a second diagram for explaining the position identification process. [Figure 9] FIG. 9 is a functional block diagram of an imaging system according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values ​​shown in the embodiments are merely examples for ease of understanding, and do not limit the present disclosure unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are given the same reference numerals to avoid repeated explanations, and elements not directly related to the present disclosure are not illustrated.

[0018] [Imaging system 100] Fig. 1 is a diagram for explaining a usage form of an imaging system 100 according to this embodiment. Fig. 2 is a schematic diagram showing a schematic configuration of the imaging system 100 according to this embodiment. Fig. 3 is a functional block diagram of the imaging system 100 according to this embodiment. In Fig. 3, dashed arrows indicate the flow of signals.

[0019] As shown in FIGS. 1 to 3, imaging system 100 includes unmanned aerial vehicle 110 and imaging unit 120. As shown in FIG.

[0020] 1, the imaging system 100 captures images of inspection surfaces that are difficult for workers to access in structures such as bridges 10, expressways, tunnels, dams, and buildings, and inspects the inspection surfaces for salinity, cracks, paint film deterioration, and the like from the obtained images. The imaging system 100 inspects predetermined inspection surfaces such as the side surfaces, decks, and piers 12 of the bridge 10, for example. In this embodiment, an example will be given in which the imaging system 100 captures an image of a predetermined inspection surface 14 of a pier 12 of the bridge 10, and measures the salinity of the inspection surface 14 from the obtained images.

[0021] The unmanned aerial vehicle 110 is a small aircraft. The unmanned aerial vehicle 110 is also called a drone. The unmanned aerial vehicle 110 is capable of flying near the inspection surface 14. The flight of the unmanned aerial vehicle 110 is controlled by a flight control unit 252, which will be described later. The unmanned aerial vehicle 110 is equipped with an imaging unit 120.

[0022] As shown in FIGS. 2 and 3, the imaging unit 120 includes a wide-angle camera 210, a narrow-angle camera 220, four laser irradiation units 230, a holding unit 240, and a central control unit 250.

[0023] Wide-angle camera 210 captures a relatively wide range of inspection surface 14 to generate a wide-angle image. Wide-angle camera 210 is, for example, a general digital camera. The wide-angle image is, for example, an image including a plurality of indices S1 to S3 constituting part of bridge 10 and inspection surface 14. Indices S1 to S3 will be described later.

[0024] Narrow-angle camera 220 captures a relatively narrow range of inspection surface 14 to generate a narrow-angle image. Narrow-angle camera 220 has a narrower imaging range than wide-angle camera 210. The imaging range of narrow-angle camera 220 is, for example, 1 / 2 or less of that of wide-angle camera 210. Since narrow-angle camera 220 is required to have a high resolution, its imaging range is narrow. In other words, narrow-angle camera 220 cannot capture a wide range, unlike wide-angle camera 210. The narrow-angle image is, for example, an image obtained by capturing a part of the imaging range of wide-angle camera 210. Narrow-angle camera 220 is, for example, a hyperspectral camera.

[0025] The laser irradiation unit 230 irradiates laser light onto the inspection surface 14. The laser irradiation unit 230 is configured by, for example, a laser pointer.

[0026] The holding unit 240 holds the wide-angle camera 210, the narrow-angle camera 220, and the four laser irradiation units 230 integrally so that their positional relationship does not change. That is, the holding unit 240 fixes the wide-angle camera 210, the narrow-angle camera 220, and the laser irradiation unit 230. The holding unit 240 is also fixed to the unmanned aerial vehicle 110. In this embodiment, the holding unit 240 holds the wide-angle camera 210 and the narrow-angle camera 220 so that the optical axis of the wide-angle camera 210 and the optical axis of the narrow-angle camera 220 are approximately parallel. In this embodiment, the holding unit 240 holds the four laser irradiation units 230 so that the positional relationship of the four laser irradiation units 230 is approximately equal to the positional relationship of the four corners that define the imaging range of the narrow-angle camera 220, that is, the four corners of the narrow-angle image.

[0027] The central control unit 250 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit). The central control unit 250 reads out programs and parameters for operating the CPU from a ROM. The central control unit 250 manages and controls the entire imaging system 100 based on the programs and parameters in cooperation with a RAM as a work area and other electronic circuits.

[0028] The functions of the central control unit 250 according to this embodiment may be divided among multiple devices, or multiple functions may be realized by one device.

[0029] In this embodiment, the central control unit 250 functions as a flight control unit 252 , an imaging control unit 254 , a position identification unit 256 , a region extraction unit 258 , and an inspection unit 260 .

[0030] Flight control unit 252 controls the flight of unmanned aerial vehicle 110. Imaging control unit 254 controls the driving of wide-angle camera 210, narrow-angle camera 220, and laser irradiation unit 230. Position identification unit 256 identifies the position of the narrow-angle image on inspection surface 14 based on the wide-angle image. Area extraction unit 258 extracts areas that are located at the same position on inspection surface 14 in the multiple narrow-angle images. Inspection unit 260 performs inspection based on the multiple extracted areas.

[0031] [Image capture method] Next, an imaging method by the imaging system 100 according to this embodiment will be described. Fig. 4 is a flowchart showing the flow of processing in the imaging method according to this embodiment. As shown in Fig. 4, the imaging method according to this embodiment executes an image generation process S110, a position specification process S120, a region extraction process S130, and an inspection process S140. Each process will be described below.

[0032] [Image generation process S110] Fig. 5 is a diagram showing an example of a wide-angle image 212. Fig. 6 is a diagram showing an example of a narrow-angle image 222. The image generation process S110 is a process for generating the wide-angle image 212 by the wide-angle camera 210 and generating the narrow-angle image 222 by the narrow-angle camera 220.

[0033] In the image generation process S110, first, the flight control unit 252 controls the unmanned aerial vehicle 110 to fly near the bridge pier 12. In this embodiment, the flight control unit 252 hovers the unmanned aerial vehicle 110 so that the wide-angle image 212 generated by the wide-angle camera 210 includes a plurality of indices S1 to S3, and the narrow-angle image 222 generated by the narrow-angle camera 220 includes the irradiation points PA to PD of each laser irradiation unit 230. The flight control unit 252 hovers the unmanned aerial vehicle 110 so that the imaging range of the narrow-angle camera 220 is in the same position as much as possible. Note that the indices S1 to S3 are parts of the bridge 10, and are characteristic parts whose positions do not change and that can be distinguished from others on the wide-angle image 212. The indices S1 to S3 are, for example, edges, corners, etc. of the bridge pier 12.

[0034] The imaging control unit 254 controls the laser irradiation unit 230 to irradiate the inspection surface 14 with laser light. Then, the imaging control unit 254 controls the wide-angle camera 210 to generate a wide-angle image 212, and controls the narrow-angle camera 220 to generate a narrow-angle image 222.

[0035] 5, the wide-angle image 212 includes the indices S1 to S3 and the irradiation points PA to PD of the laser irradiation sections 230. As shown in FIG.

[0036] 6, the narrow-angle image 222 does not include the indices S1 to S3, but includes the irradiation points PA to PD. Note that there are cases where the narrow-angle image 222 includes some of the indices S1 to S3.

[0037] In this embodiment, the imaging control unit 254 synchronizes the generation timing of the wide-angle image 212 by the wide-angle camera 210 with the generation timing of the narrow-angle image 222 by the narrow-angle camera 220. That is, the imaging control unit 254 causes the wide-angle camera 210 and the narrow-angle camera 220 to capture images at the same timing. The imaging control unit 254 also controls the wide-angle camera 210 and the narrow-angle camera 220 to generate a plurality of wide-angle images 212 and narrow-angle images 222, the generation timing of which is synchronized, at different timings. For example, the imaging control unit 254 generates the wide-angle image 212 and the narrow-angle image 222 at 60 Hz (1 image / 10 seconds).

[0038] [Location identification process S120] Fig. 7 is a first diagram for explaining the position specification process S120. Fig. 8 is a second diagram for explaining the position specification process S120. In Fig. 7, a bridge 10 is shown by a dashed line for ease of understanding.

[0039] 7, the position specifying unit 256 first determines coordinate axes on the wide-angle image 212 by setting three indexes S1 to S3 on the wide-angle image 212 as reference points K1 to K3, and sets a first image coordinate system. For example, the position specifying unit 256 sets a pixel (more specifically, the center of the pixel) located at the center of index S1 in the wide-angle image 212 as reference point K1, a pixel located at the center of index S2 as reference point K2, and a pixel located at the center of index S3 as reference point K3. Then, the position specifying unit 256 sets a first image coordinate system (XY coordinate system) on the wide-angle image 212, in which the reference point K1 is the origin, a virtual line passing through the reference points K1 and K2 is the X-axis, and a virtual line passing through the reference points K1 and K3 is the Y-axis.

[0040] Next, the position specifying unit 256 calculates the coordinates of each of the irradiation points PA to PD in the XY coordinate system.

[0041] Furthermore, the position specifying unit 256 determines coordinate axes on the narrow-angle image 222, and sets a second image coordinate system. For example, as shown in Fig. 8, the position specifying unit 256 sets a second image coordinate system (xy coordinate system) on the narrow-angle image 222, in which the central pixel of the irradiation point PA in the narrow-angle image 222 is set as the origin, a virtual line passing through the origin and the central pixel of the irradiation point PB is set as the x-axis, and a virtual line passing through the origin and the central pixel of the irradiation point PC is set as the y-axis.

[0042] Then, the position specifying unit 256 calculates the coordinates of each of the irradiation points PA to PD in the xy coordinate system.

[0043] Next, the position specifying section 256 converts the coordinates of each of the irradiation points PA to PD of the narrow-angle image 222 in the xy coordinate system into coordinates in the XY coordinate system.

[0044] The position identification unit 256 converts the coordinates of the irradiation points PA to PD of the narrow-angle image 222 in the xy coordinate system into coordinates in the XY coordinate system using, for example, a homography transformation matrix. Specifically, the coordinates of the irradiation point PA in the XY coordinate system of the wide-angle image 212 are (XA, YA), the coordinates of the irradiation point PB are (XB, YB), the coordinates of the irradiation point PC are (XC, YC), and the coordinates of the irradiation point PD are (XD, YD). In addition, the coordinates of the irradiation point PA (origin) in the xy coordinate system of the narrow-angle image 222 are (0, 0), the coordinates of the irradiation point PB are (xmax, 0), the coordinates of the irradiation point PC are (0, ymax), and the coordinates of the irradiation point PD are (xmax, ymax). Then, eight simultaneous equations are created from the following formulas (1) to (4) to find eight constants h00, h01, h02, h10, h11, h12, h20, and h21. As a result, the coordinates (xE, yE) of any pixel in the narrow-angle image 222 in the xy coordinate system can be transformed to coordinates (XE, YE) in the XY coordinate system using the homography transformation matrix (H) in formula (5).

[0045]

number

[0046] In this way, the position specifying unit 256 first sets an XY coordinate system based on three or more predetermined reference points K1 to K3 in the wide-angle image 212. Then, the position specifying unit 256 grasps the positional relationship of the narrow-angle image 222 in the wide-angle image 212 based on the relative relationship between the positions of the irradiation points PA to PD on the wide-angle image 212 and the positions of the irradiation points PA to PD on the narrow-angle image 222. As a result, the position specifying unit 256 specifies the position of the narrow-angle image 222 on the inspection surface 14 by coordinates of the XY coordinate system.

[0047] The position specifying unit 256 specifies the position of the narrow-angle image 222 on the inspection surface 14 based on the wide-angle image 212 that is generated at a generation timing synchronized with that of the narrow-angle image 222 .

[0048] [Area extraction process S130] Returning to FIG. 4, the region extraction unit 258 extracts regions that are located at the same position on the inspection surface 14 in the multiple narrow-angle images 222. In this embodiment, the region extraction unit 258 extracts pixels having the same coordinates in the XY coordinate system from the multiple narrow-angle images 222. For example, the region extraction unit 258 identifies regions of pixels whose coordinates overlap in the first narrow-angle image 222 and the second narrow-angle image 222. Then, the region of pixels whose coordinates overlap with the region of pixels that overlap between the first and second narrow-angle images 222 is extracted from the third narrow-angle image 222. In this way, the region of pixels whose coordinates overlap in the first to n-1th images and the region of pixels whose coordinates overlap with the region are extracted from the nth narrow-angle image 222.

[0049] [Inspection process S140] The inspection unit 260 performs an inspection based on the region extracted by the region extraction unit 258. For example, the inspection unit 260 performs a Fourier transform for each wavelength on the extracted multiple pixels having the same coordinates. Then, the inspection unit 260 detects the amount of salinity of each pixel based on the intensity of a wavelength (e.g., 2266 nm) indicating salinity.

[0050] In addition, the inspection unit 260 may integrate the information of multiple extracted pixels having the same coordinates, divide it by the number of integrations of the pixels, calculate an integrated average, and inspect for cracks, paint deterioration, and the like.

[0051] As described above, the imaging system 100 according to this embodiment includes a wide-angle camera 210 that generates a wide-angle image 212 including a plurality of indices S1 to S3, a narrow-angle camera 220 that has a narrow imaging range because high resolution is required, and a holding unit 240 that integrally holds the wide-angle camera 210 and the narrow-angle image 222 (irradiation points PA to PD) on the inspection surface 14.

[0052] Then, the imaging system 100 according to this embodiment determines an XY coordinate system based on a plurality of indices S1 to S3 included in the wide-angle image 212, and sets the coordinates of each pixel of the wide-angle image 212. Furthermore, the imaging system 100 can convert the coordinates of the irradiation points PA to PD included in the wide-angle image 212, i.e., the position of the narrow-angle image 222, into coordinates in the XY coordinate system. Therefore, the imaging system 100 can identify the position of the imaging range of the narrow-angle camera 220 on the inspection surface 14 that does not include indices and is made of concrete or uniformly coated with paint.

[0053] Therefore, even if narrow-angle camera 220 is moved by unmanned aerial vehicle 110, imaging system 100 can identify the position of the imaging range of narrow-angle camera 220 on inspection surface 14, and can extract areas (pixels) at the same position on inspection surface 14 from multiple narrow-angle images 222. Therefore, imaging system 100 can inspect the salinity concentration of inspection surface 14, changes over time in cracks, changes over time in paint deterioration, etc., based on areas at the same position in multiple narrow-angle images 222.

[0054] As described above, the imaging control unit 254 of the imaging system 100 synchronizes the generation timing of the wide-angle image 212 by the wide-angle camera 210 with the generation timing of the narrow-angle image 222 by the narrow-angle camera 220. This allows the imaging system 100 to suppress positional deviation between the imaging range by the wide-angle camera 210 and the imaging range by the narrow-angle camera 220, which occurs due to vibration of the unmanned aerial vehicle 110 during hovering. Therefore, the imaging system 100 can identify the position of the narrow-angle image 222 with high accuracy.

[0055] As described above, the imaging unit 120 of the imaging system 100 is mounted on the unmanned aerial vehicle 110. Therefore, the imaging system 100 can inspect structures that are difficult for workers to enter.

[0056] [Variations] Fig. 9 is a functional block diagram of an imaging system 300 according to a modified example. In Fig. 9, dashed arrows indicate the flow of signals.

[0057] 9, imaging system 300 according to the modified example includes unmanned aerial vehicle 110, imaging unit 320, and wide-angle camera 210. Note that components substantially the same as those in imaging system 100 above are denoted by the same reference numerals and will not be described.

[0058] In a modified example, the imaging unit 320 mounted on the unmanned aerial vehicle 110 includes a narrow-angle camera 220, four laser irradiation units 230, a holding unit 340, and a central control unit 250.

[0059] The holding unit 340 integrally holds the narrow-angle camera 220 and the four laser irradiation units 230 so that their positional relationship does not change.

[0060] In addition, in a modified example, wide-angle camera 210 is not mounted on unmanned aerial vehicle 110, but is installed in the vicinity of bridge 10. In addition, in a modified example, wide-angle camera 210 is fixed to a position where wide-angle image 212 including multiple indices S1 to S3 can be generated.

[0061] In a modified example, flight control unit 252 causes unmanned aerial vehicle 110 to hover so that wide-angle image 212 includes illumination points PA to PD.

[0062] Imaging system 300 according to the modified example includes narrow-angle camera 220, which requires high resolution and has a narrow imaging range, and holder 340 that integrally holds laser irradiation unit 230. Thereby, imaging system 300 can show the imaging range of narrow-angle camera 220 in wide-angle image 212 by irradiation points PA to PD.

[0063] Then, imaging system 300 according to the modified example can convert the position of narrow-angle image 222 into coordinates in the XY coordinate system by using the coordinates of irradiation points PA-PD included in wide-angle image 212 as the coordinates of the four corners of narrow-angle image 222. Therefore, imaging system 300 can identify the position of the imaging range of narrow-angle camera 220 on inspection surface 14 that does not include a marker and is made of concrete or is uniformly painted.

[0064] Although the embodiments have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to the above-described embodiments. It is clear that a person skilled in the art can think of various modified or altered examples within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0065] For example, in the above embodiment, the imaging system 100 includes the laser irradiation unit 230. However, if the holding unit 240 of the imaging system 100 integrally holds the wide-angle camera 210 and the narrow-angle camera 220, the laser irradiation unit 230 can be omitted. By the holding unit 240 integrally holding the wide-angle camera 210 and the narrow-angle camera 220, the positional relationship between the imaging range of the wide-angle camera 210 and the imaging range of the narrow-angle camera 220 can be made unchanged. Therefore, the imaging system 100 can specify the position of the imaging range of the narrow-angle camera 220 on the inspection surface 14 without including the laser irradiation unit 230.

[0066] In the above embodiment and modified examples, the imaging systems 100 and 300 are illustrated as including four laser irradiation units 230. However, the imaging systems 100 and 300 may be configured to include three laser irradiation units 230, or five or more laser irradiation units 230.

[0067] Also, in the above embodiment, an example has been given in which the position identifying section 256 sets the first image coordinate system based on three reference points K1 to K3 in the wide-angle image 212. However, the position identifying section 256 may set the first image coordinate system based on four or more reference points.

[0068] Also, in the above embodiment, an example has been given of a case in which the imaging control unit 254 synchronizes the generation timing of the wide-angle image 212 by the wide-angle camera 210 with the generation timing of the narrow-angle image 222 by the narrow-angle camera 220. However, the imaging control unit 254 does not have to synchronize the generation timing of the wide-angle image 212 by the wide-angle camera 210 with the generation timing of the narrow-angle image 222 by the narrow-angle camera 220.

[0069] In the above embodiment, the imaging system 100 includes the unmanned aerial vehicle 110. However, the imaging system does not need to include the unmanned aerial vehicle 110. In this case, the imaging unit 120 of the imaging system can identify the position of the imaging range of the narrow-angle camera 220 on the inspection surface 14 even when the inspection surface 14 moves.

[0070] Furthermore, the imaging system 100 can inspect any structure as long as the structure has an index on the wide-angle image 212 that allows a reference point to be set.

[0071] This disclosure can contribute, for example, to Goal 9 of the Sustainable Development Goals (SDGs), which is to "Build resilient infrastructure, promote sustainable industrialization and foster innovation." [Explanation of symbols]

[0072] 14 Inspection surface 100 Imaging System 110 Unmanned aerial vehicle 210 Wide-angle camera 212 Wide-angle images 220 Narrow-angle camera 222 Narrow-angle images 230 Laser irradiation unit 240 Holding part 254 Imaging control section 256 Location identification part 258 Region extraction part 260 Inspection Department 300 Imaging System 340 Holding part

Claims

1. a wide-angle camera that captures an image of an inspection surface and generates a wide-angle image; a narrow-angle camera having an imaging range narrower than that of the wide-angle camera, which images the inspection surface and generates a narrow-angle image; a holding portion that integrally holds the wide-angle camera and the narrow-angle camera; a position specifying unit that specifies a position of the narrow-angle image on the inspection surface based on three or more predetermined reference points in the wide-angle image; An imaging system comprising:

2. Three or more laser irradiation units are provided to irradiate the inspection surface with laser light, The imaging system according to claim 1 , wherein the holding unit integrally holds the wide-angle camera, the narrow-angle camera, and the laser irradiation unit.

3. a wide-angle camera that captures an image of an inspection surface and generates a wide-angle image; a narrow-angle camera having an imaging range narrower than that of the wide-angle camera, which images the inspection surface and generates a narrow-angle image; Three or more laser irradiation units that irradiate the inspection surface with laser light; a holding unit that integrally holds the narrow-angle camera and the laser irradiation unit; a position specifying unit that specifies a position of the narrow-angle image on the inspection surface based on three or more predetermined reference points in the wide-angle image and an irradiation point of the laser light from the laser irradiation unit in the wide-angle image; An imaging system comprising:

4. The imaging system according to claim 1 , further comprising an imaging control unit that synchronizes a generation timing of the wide-angle image by the wide-angle camera and a generation timing of the narrow-angle image by the narrow-angle camera.

5. The narrow-angle camera generates a plurality of narrow-angle images at different times, a region extraction unit that extracts regions that are located at the same position on the inspection surface from the plurality of narrow-angle images; an inspection unit that performs an inspection based on the extracted region; The imaging system according to claim 1 , further comprising:

6. The imaging system according to claim 1 , further comprising an unmanned aerial vehicle provided with the holding portion and capable of flying in the vicinity of the inspection surface.

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