Inspection device for a moving object and inspection method for a moving object

Abstract

To make it possible to stably image and inspect the same position on a shaking object.SOLUTION: An inspection apparatus includes: a drone 12 that flies about a blade 6 of a shaking ocean windmill 1; a stationary camera 13 and gimbal camera 14 mounted in the drone 12; and a drone / gimbal camera motion control unit that is incorporated in the drone 12 and controls the motion of at least one of the drone 12 and gimbal camera 14 so that the drone or gimbal camera follows a displacement derived from a shake of the blade 6 detected based on images of the blade 6 taken by the stationary camera 13 and gimbal camera 14.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] An embodiment of the present invention is an inspection device for a moving object. and a method for inspecting a moving object Regarding. [Background technology]

[0002] Offshore wind power plants require regular inspections and inspections when alerts are issued by monitoring devices. In such cases, there is a demand for drones to inspect the appearance of wind turbine blades instead of humans, with the aim of reducing O&M (operation, management, and maintenance) costs. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-118141 Summary of the Invention [Problem to be solved by the invention]

[0004] In particular, in the case of floating wind turbines, the blades of the turbines also vibrate due to the influence of the floating body vibrating on the sea surface. The tips of the blades can be more than 100m above the sea surface, and the displacement and change in posture caused by the vibration of the floating body is significant, making it difficult to maintain a constant distance or capture the same position when conducting external inspections using a drone. In some cases, there is a risk that the drone may collide with the blades.

[0005] The present invention has been made in consideration of the above circumstances, and provides an inspection device for a moving object that can stably photograph and inspect the same position of a moving object. and a method for inspecting a moving object The purpose is to provide. [Means for solving the problem]

[0006] An inspection device for a swaying object according to an embodiment of the present invention includes a flying object that flies around the swaying object, a camera installed in a gimbal mechanism mounted on the flying object, and an operation control unit provided on the flying object that controls the operation of at least one of the flying object and the gimbal mechanism so as to follow a displacement caused by the swaying of the object detected based on an image of the object captured by the camera. The operation control unit translates or rotates the flying object when the vibration of the object has a long period or a large amplitude, rotates the gimbal mechanism or zooms the camera when the vibration of the object has a short period shorter than the long period or a small amplitude smaller than the large amplitude, and controls the flying object to combine a translational movement of the flying object in the forward / backward direction relative to the object and a rotational movement of the gimbal mechanism around the pitch axis in response to a pitch vibration caused by the object falling down. It is characterized by the following. In addition, a method for inspecting a swaying object according to an embodiment of the present invention includes: capturing an image of the swaying object using a camera installed in a gimbal mechanism mounted on a flying object flying around the swaying object; detecting a displacement of the object caused by the swaying based on the captured image of the object; and controlling the operation of at least one of the flying object and the gimbal mechanism to follow the detected displacement. When the vibration of the object has a long period or a large amplitude, the flying object is translated or rotated, and when the vibration of the object has a short period shorter than the long period or a small amplitude smaller than the large amplitude, the gimbal mechanism is rotated or the camera is zoomed, and when the vibration of the object is caused by the object falling down, the flying object is controlled to combine a translational movement in the forward / backward direction relative to the object and a rotational movement of the gimbal mechanism around the pitch axis. The present invention is characterized by the above. [Effects of the Invention]

[0007] According to the embodiment of the present invention, it is possible to stably photograph and inspect the same position of a moving object. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an overall configuration diagram showing an offshore wind turbine inspection device to which an inspection device for an oscillating object according to one embodiment is applied, together with a floating offshore wind turbine. [Figure 2] FIG. 2 is a side view showing the offshore wind turbine inspection device of FIG. 1 together with the blades of the offshore wind turbine. [Figure 3] 3 is a graph illustrating the vibration state of the blade in FIG. 2. [Figure 4] FIG. 3 is a front view of the drone of FIG. 2. [Figure 5] FIG. 3 is a block diagram showing the configuration of a control system for the offshore wind turbine inspection device of FIG. 2. [Figure 6] An explanatory diagram explaining the inspection route of the drone in Figure 2. [Figure 7]These are images from the cameras in Figures 2 and 4, where (A) shows the case when there is no blade movement, (B) shows the case when there is blade movement, and (C) shows the case when the drone and gimbal camera are operated in response to blade movement. [Figure 8] 5 is a flowchart showing the operation of the offshore wind turbine inspection device of FIGS. 2 and 4. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall configuration diagram showing an offshore wind turbine inspection device to which an inspection device for an oscillating object according to one embodiment is applied, together with a floating offshore wind turbine. The offshore wind turbine 1 shown in FIG. 1 as a floating wind turbine is a floating offshore wind turbine, and includes a float 2 that floats on the sea surface W. A wind turbine tower 3 is erected on the float 2, and a nacelle 4 is installed at the top of the wind turbine tower 3. A hub 5 protrudes from the nacelle 4, and contains equipment such as a generator (not shown). A plurality of blades 6 that catch the wind are attached radially to the hub 5. The blades 6 rotate together with the hub 5 due to the wind, and this rotational energy is converted into electrical energy by the generator.

[0010] Although the floating body 2 of the offshore wind turbine 1 is moored by mooring lines (not shown), it sways in the direction of arrow R due to waves on the sea surface W. As a result, the entire offshore wind turbine 1 sways and displaces in the same way as the floating body 2. As shown in Figure 2, the offshore wind turbine inspection device 10 as an inspection device for an oscillating object of this embodiment inspects the appearance of, for example, the blades 6 of the offshore wind turbine 1 as an oscillating object using camera images.

[0011] The vibration of the blade 6 described above is a combination of sine waves with different periods and amplitudes. For example, as shown in Figure 3, the vibration of the blade 6 is a complex vibration in which a long-period, large-amplitude sine wave M is combined with a short-period, small-amplitude sine wave N, and this vibration is present in the components of the orthogonal X-, Y-, and Z-axes of the blade 6. Therefore, for example, an offshore wind turbine inspection device 10 that inspects the appearance of the blade 6 detects or predicts the vibration of the blade 6 described above and controls the operation of at least one of a drone 12 as an aerial vehicle equipped with cameras (fixed camera 13, gimbal camera 14) for inspecting the appearance, and the gimbal camera 14.

[0012] In other words, as shown in Figures 4 and 5, the offshore wind turbine inspection device 10 has a drone 12 that flies around the offshore wind turbine 1, a position and attitude control system A that controls the position and attitude of the drone 12, a route setting and operation control system B that sets an inspection route for the blades 6 of the offshore wind turbine 1 and operates the drone 12 along this inspection route, an oscillation detection and operation control system C that detects the oscillation of the blades 6 and controls the operation of at least one of the drone 12 and the gimbal camera 14, and an oscillation prediction and operation control system D that predicts the oscillation of the blades 6 and controls the operation of at least one of the drone 12 and the gimbal camera 14.

[0013] 4, the drone 12 is equipped with a main rotor 16, a motor 17, a fixed camera 13, a gimbal camera 14, a distance sensor 18, etc. on an airframe 15 capable of vertical takeoff and landing. Multiple main rotors 16 are mounted on the airframe 15 and generate thrust to fly the airframe 15. A motor 17 applies rotational driving force to each main rotor 16.

[0014] The gimbal camera 14 is a camera installed on a three-axis (yaw axis, pitch axis, and roll axis) gimbal mechanism 19 mounted on the aircraft 15, and rotates around the three axes by the operation of the gimbal mechanism 19. Displacements due to the shaking of the blade 6 in the left-right direction (Y direction) and the up-down direction (Z direction) are detected from the images taken by the fixed camera 13 and the gimbal camera 14.

[0015] The distance sensor 18 detects the relative distance in the front-to-back direction (X direction) between the drone 12 and the blade 6. The distance sensor 18 is a laser distance sensor such as a one-dimensional laser distance sensor, a two-dimensional LiDAR, or a three-dimensional LiDAR, or a distance image sensor (depth sensor), etc.

[0016] The combination of the fixed camera 13, gimbal camera 14, and distance sensor 18 makes it possible to detect three-dimensional displacement of the blades 6 of the offshore wind turbine 1. It is also possible to detect displacement due to the oscillation of the blades 6 in the forward and backward directions (X direction) from the difference in the amount of movement of the feature points on the image, thereby making it possible to detect three-dimensional displacement of the blades 6 using the fixed camera 13 and gimbal camera 14. It is also possible to detect three-dimensional displacement of the blades 6 using a three-dimensional LiDAR or a distance image sensor.

[0017] A position and attitude control system A that controls the position and attitude of the drone 12 includes a wind condition sensor 21, a wind condition analysis unit 22, an anemometer 23, and a drone position and attitude control unit 24, as shown in FIG.

[0018] A plurality of wind condition sensors 21 are installed around the offshore wind turbine 1. These wind condition sensors 21 detect wind direction and wind speed, which are wind conditions around the offshore wind turbine 1. Furthermore, in an environment where a plurality of offshore wind turbines 1 are installed, the wind condition sensors 21 detect the wake (wake) that occurs behind the offshore wind turbine 1. A wind condition analysis unit 22 is installed on the offshore wind turbine 1 side. This wind condition analysis unit 22 inputs and analyzes the wind direction, wind speed, and wake information from the plurality of wind condition sensors 21, and generates analytical information for each of the wind direction, wind speed, and wake. Each of these analytical information is distribution data around the offshore wind turbine 1.

[0019] The anemometer 23 is installed on the drone 12 and detects the wind speed at the current position of the drone 12. The drone position / attitude control unit 24 is installed on the drone 12 and inputs wind direction analysis information, wind speed analysis information, and wake analysis information from the wind condition analysis unit 22 via a receiver 20 provided in the drone 12, and from this information, calculates wind direction information, wind speed information, and wake information at the current position of the drone 12. Next, based on the above information at the current position of the drone 12 and the wind speed information from the anemometer 23, the drone position / attitude control unit 24 controls the position and attitude of the drone 12 so that it can maintain a hovering state against the wind.

[0020] The route setting and operation control system B, which sets an inspection route for the blades 6 of the offshore wind turbine 1 and operates the drone 12 along this inspection route, is composed of a route setting unit 25 and a drone and gimbal camera operation control unit 26.

[0021] The path setting unit 25 is installed, for example, on the side of the offshore wind turbine 1, but may also be installed on the side of the drone 6 or in a government control tower on land, and the location is not limited as long as it can communicate with the drone / gimbal camera operation control unit 26. As shown in FIG. 6 , this path setting unit 25 sets an inspection path for the drone 12 that flies around and inspects the blade 6, along with a threshold value 29. In other words, the path setting unit 25 sets an inspection path for the drone 12 to fly back and forth so that the blade edge 27 of the blade 6 photographed by the fixed camera 13 and the gimbal camera 14 falls within predetermined areas 28A and 28B on the image 28 that are set based on the threshold value 29, and so that half of the blade 6 in the width direction is included in the image 28.

[0022] Specifically, during the outbound flight of the drone 12, the inspection route for the outbound flight of the drone 12 is set so that the leading edge 27A of the blade 6 is within a predetermined area 28A of the image 28 and so that half of the width direction of the surface of the blade 6 is included in the image 28. Furthermore, during the return flight of the drone 12, the inspection route for the return flight of the drone 12 is set so that the trailing edge 27B of the blade 6 is within a predetermined area 28B of the image 28 and so that the remaining half of the width direction of the surface of the blade 6 is included in the image 28.

[0023] The inspection route for the blade 6 of the drone 12 is set similarly not only for the front surface of the blade 6 but also for the back surface of the blade 6. In addition, the inspection route for the blade 6 of the drone 12 may be set so that the leading edge 27A and the trailing edge 27B are each set at approximately the center position of the image 28, and the drone 12 flies back and forth. Here, the above-mentioned threshold 29 is determined by the size of the blade 6, the distance between the blade 6 and the drone 12, and the camera and lens information (number of pixels, angle of view, etc.) of the fixed camera 13 and the gimbal camera 14.

[0024] The drone / gimbal camera operation control unit 26 is installed on the drone 12 side as shown in Fig. 5. This drone / gimbal camera operation control unit 26 inputs threshold information and inspection route information from the route setting unit 25 via the receiving unit 20, and controls the drone 12 to fly along this inspection route.

[0025] The vibration detection and operation control system C, which detects the vibration of the blades 6 of the offshore wind turbine 1 and controls the operation of at least one of the drone 12 and the gimbal camera 14, is composed of a fixed camera 13, a gimbal camera 14, an image processing unit 30, and a drone / gimbal camera operation control unit 26.

[0026] The image processing unit 30 is installed on the drone 12 side. This image processing unit 30 inputs camera image information from the fixed camera 13 and the gimbal camera 14, and calculates and processes the amount and speed of change of the edge of the blade 6 on the image as a vector (optical flow). For example, when the blade edge 27 of the blade 6 shown in FIG. 7(A) changes in the Y-axis direction as shown in FIG. 7(B) in a predetermined region 28A of the image 28, the image processing unit 30 calculates the amount and speed of change at this time.

[0027] Image processing information (vector of change in blade edge 27) from image processing unit 30, which processes images of blade 6 taken by fixed camera 13 and gimbal camera 14, and relative distance information between drone 12 and blade 6 from distance sensor 18 are input to drone / gimbal camera operation control unit 26 to detect displacement caused by vibration of blade 6. Therefore, drone / gimbal camera operation control unit 26 controls drone 12 to translate in the X-axis, Y-axis, and Z-axis directions shown in FIG. 2 , rotates drone 12 around each of the above axes, and performs at least one of the following operations to rotate gimbal camera 14 around the yaw axis, pitch axis, and roll axis in order to follow the displacement caused by vibration of blade 6; and further controls the focus of fixed camera 13 and gimbal camera 14.

[0028] For example, when the blade edge 27 of the blade 6 changes in the Y-axis direction as shown in FIG. 7(B), the drone / gimbal camera operation control unit 26 translates the drone 12 in the Y-axis direction or rotates the gimbal camera 14 around the yaw axis. As a result, as shown in FIG. 7(C), the blade edge 27 of the blade 6 is adjusted to fit in approximately the center position of (or within) a predetermined area 28A of the image 28. Furthermore, when the blade 6 changes in the forward / backward direction (X-axis direction), the drone / gimbal camera operation control unit 26 controls the focus of the fixed camera 13 and the gimbal camera 14 based on distance information from the distance sensor 18.

[0029] The oscillation prediction and operation control system D, which predicts the oscillation of the blades 6 of the offshore wind turbine 1 and controls the operation of at least one of the drone 12 and the gimbal camera 14, is composed of an inertial sensor 31, a blade oscillation prediction unit 32, and a drone / gimbal camera operation control unit 26.

[0030] The inertial sensor 31 is installed on, for example, the floating body 2 or the nacelle 4 of the offshore wind turbine 1. This inertial sensor 31 detects the vibration of the blades 6 of the offshore wind turbine 1 by measuring the angular velocity and acceleration of the offshore wind turbine 1 and outputs the detected vibration as inertial sensor information (IMU information). The blade vibration prediction unit 32 is installed on the drone 12 side and receives the inertial sensor information from the inertial sensor 31 via the receiving unit 20. The blade vibration prediction unit 32 and the drone gimbal camera operation control unit 26 first evaluate the magnitude of the output value of the inertial sensor 31 to determine whether the blades 6 are vibrating. Next, if the blade vibration prediction unit 32 determines that the vibration of the blades 6 is periodic based on at least one of the received inertial sensor information, the image of the object captured by the camera, and the distance information from the distance sensor, it predicts the vibration of the blades 6 by probabilistic estimation processing or the like.

[0031] Based on the predicted data of the blade 6 vibration from the blade vibration prediction unit 32, the drone / gimbal camera operation control unit 26 controls the drone 12 to translate in the X-axis, Y-axis, and Z-axis directions shown in Figure 2, rotate the drone 12 around each of the above axes, and perform at least one of the following operations to rotate the gimbal camera 14 around the yaw axis, pitch axis, and roll axis.

[0032] If the blade vibration prediction unit 32 determines that the vibration of the blade 6 is not periodic based on the inertial sensor information from the inertial sensor 31, the drone / gimbal camera operation control unit 26 controls the drone 12 to perform at least one of the following actions based on the inertial sensor information: translation in the X-axis, Y-axis, and Z-axis directions, rotation around each of the above axes, and rotation of the gimbal camera 14 around the yaw axis, pitch axis, and roll axis.

[0033] For example, if the vibration of the blade 6 has a long period or large amplitude, the drone / gimbal camera operation control unit 26 translates or rotates the drone 12. Furthermore, if the vibration of the blade 6 has a short period or small amplitude, the drone / gimbal camera operation control unit 26 rotates the gimbal camera 14 or zooms the fixed camera 13 and the gimbal camera 14. Furthermore, in response to pitch vibration of the blade 6 caused by the blade 6 falling over, the drone / gimbal camera operation control unit 26 combines translational motion of the drone 12 in the X-axis direction with rotational motion of the gimbal camera 14 about the pitch axis. As described above, even if the vibration of the blade 6 is not periodic, it is possible to capture the same position of the blade 6 using the fixed camera 13 or the gimbal camera 14.

[0034] The coordinate system of the wind turbine side of the inertial sensor 31 installed in the offshore wind turbine 1 and the coordinate system of the drone 12 are aligned when the drone 12 starts inspection, with a drone port (not shown) for takeoff and landing of the drone 12 installed in the nacelle 4 of the offshore wind turbine 1 as the starting point. In this case, in the coordinate system of the drone 12, the coordinate information (error accumulated during flight) is reset by landing at the drone port.

[0035] Next, the operation of the offshore wind turbine inspection device 10 configured as described above will be described. 8, when the drone 12 inspects the blades 6 of the offshore wind turbine 1, first, the route setting unit 25 sets an inspection route for the blades 6 together with a threshold value 29 (S1). Next, the drone 12 takes off from the drone port (S2).

[0036] When the drone 12 has taken off and is in a hovering state, the drone position and attitude control unit 24 controls the position and attitude of the drone 12 based on the wind direction, wind speed, and wake analysis information from the wind condition analysis unit 22 and the wind speed information from the anemometer 23 (S3). Thereafter, the drone 12 flies along the inspection route set in step S1 (S4).

[0037] During the flight of the drone 12 in step S4, the drone / gimbal camera operation control unit 26 and blade vibration prediction unit 32 on the drone 12 receive inertial sensor information from the inertial sensor 31, and evaluate the magnitude of the output value to determine whether the blade 6 is vibrating (S5). When no inertial sensor information is being output, the drone / gimbal camera operation control unit 26 controls at least one of the translation and rotation of the drone 12 and the rotation of the gimbal camera 14 based on information from the fixed camera 13, the gimbal camera 14, and the distance sensor 18 (S6). With the above-mentioned control in place, the drone 12 inspects the blade 6 by photographing it with the fixed camera 13 and the gimbal camera 14 (S11).

[0038] When it is determined in step S5 that the blade 6 is vibrating by evaluating the magnitude of the output value of the inertial sensor 31, the blade vibration prediction unit 32 on the drone 12 determines whether or not the vibration of the blade 6 is periodic based on the inertial sensor information (S7). If the vibration of the blade 6 is periodic, the blade vibration prediction unit 32 predicts the vibration of the blade 6 (S8).

[0039] Next, the drone / gimbal camera operation control unit 26 controls at least one of the translation and rotation of the drone 12 and the rotation of the gimbal camera 14 based on the prediction data from the blade vibration prediction unit 32 (S9). With the above control in place, the drone 12 photographs and inspects the blade 6 with the fixed camera 13 and the gimbal camera 14 (S11).

[0040] If the vibration of the blade 6 is not periodic in step S7, the drone / gimbal camera operation control unit 26 controls at least one of the translation and rotation of the drone 12 and the rotation of the gimbal camera 14 based on inertial sensor information from the inertial sensor 31 (S10). With the above control in place, the drone 12 inspects the blade 6 by photographing it with the fixed camera 13 and the gimbal camera 14 (S11).

[0041] As configured as above, this embodiment provides the following advantages (1) to (3). (1) The drone / gimbal camera operation control unit 26 controls the operation of at least one of the drone 12 and the gimbal camera 14 so as to follow the displacement caused by the vibration of the blade 6 detected based on the image of the blade 6 taken by the fixed camera 13 and the gimbal camera 14 installed on the drone 12 and the distance information from the distance sensor 18 installed on the drone 12. Therefore, even if the blade 6 vibrates, the same position of the blade 6 can be stably photographed, and the appearance of the blade 6 can be suitably inspected from this image.

[0042] (2) The drone gimbal camera operation control unit 26 controls the translational movement of the drone 12 based on distance information, particularly from the distance sensor 18, thereby maintaining a constant distance between the vibrating blade 6 and the drone 12. This makes it possible to prevent a collision between the vibrating blade 6 and the drone 12.

[0043] (3) The blade vibration prediction unit 32 predicts the vibration of the blades 6 of the offshore wind turbine 1 based on inertial sensor information from the inertial sensor 31 on the offshore wind turbine 1 side, and based on this predicted data, the drone / gimbal camera operation control unit 26 controls at least one of the translation and rotation of the drone 12 and the rotation of the gimbal camera 14. Therefore, the drone / gimbal camera operation control unit 26 can quickly operate the drone 12 and the gimbal camera 14, allowing the inspection of the blades 6 to be carried out smoothly.

[0044] Although the embodiment of the present invention has been described above, this embodiment is presented as an example and is not intended to limit the scope of the invention. This embodiment can be embodied in various other forms, and various omissions, substitutions, changes, and combinations can be made without departing from the spirit of the invention. Furthermore, such substitutions, changes, and combinations are included in the scope and spirit of the invention, and are also included in the inventions described in the claims and their equivalents.

[0045] For example, in this embodiment, the vibration of the blade 6 can be detected using any one of a camera image, inertial sensor information, and distance information, or a combination of these.

[0046] Furthermore, in this embodiment, a case has been described in which there is an oscillation prediction and operation control system D that predicts the oscillation of, for example, the blades 6 of the offshore wind turbine 1 and controls the operation of at least one of the drone 12 and the gimbal camera 14. However, this oscillation prediction and operation control system D may be omitted, and only an oscillation detection and operation control system C may be used that actually detects the oscillation of the blades 6 using the fixed camera 13, the gimbal camera 14, and the distance sensor 18, and controls the operation of at least one of the drone 12 and the gimbal camera 14.

[0047] Furthermore, in this embodiment, the case of inspecting the blades 6 of a floating offshore wind turbine 1 has been described, but this embodiment of the present invention can also be applied to inspecting equipment inside the nacelle 4 of a floating offshore wind turbine 1, a floating offshore substation, a bottom-fixed offshore wind turbine, a bottom-fixed offshore substation, and a ground-mounted wind turbine.

[0048] Furthermore, part of the configuration on the wind turbine side and part of the configuration on the drone side in the configuration in Figure 5 do not necessarily have to be on the side shown in Figure 5. In other words, the "wind turbine side" does not have to be the physical side of the "wind turbine," but rather it can be the "wind turbine side" when considered as a system (wind turbine side system), and the "drone side" can be the drone side system. [Explanation of symbols]

[0049] 1...offshore wind turbine, 6...blade (vibrating object), 13...fixed camera, 14...gimbal camera, 18...distance sensor, 19...gimbal mechanism, 21...wind condition sensor, 23...anemometer, 24...drone position and attitude control unit, 25...route setting unit, 26...drone and gimbal camera operation control unit, 31...inertial sensor, 32...blade vibration prediction unit

Claims

1. A flying object that flies around a fluctuating object; a camera mounted on a gimbal mechanism mounted on the flying vehicle; an operation control unit provided on the flying object, which controls the operation of at least one of the flying object and the gimbal mechanism so as to follow a displacement caused by a movement of the object detected based on an image of the object captured by the camera; The operation control unit translates or rotates the flying body when the object vibrates over a long period or has a large amplitude, and rotates the gimbal mechanism or zooms the camera when the object vibrates over a short period that is shorter than the long period or has a small amplitude that is smaller than the large amplitude, and controls the flying body to combine translational movement in the forward and backward directions relative to the object with rotational movement of the gimbal mechanism about a pitch axis in response to pitch vibration caused by the object tipping over.

2. a flying object having a camera installed on a gimbal mechanism as a gimbal camera, the flying object flying around a vibrating object; a distance sensor installed on the flying object to detect the distance to the target object; an operation control unit provided on the flying object, which controls the operation of at least one of the flying object and the gimbal mechanism so as to follow a displacement caused by a movement of the object detected based on distance information from the distance sensor; The operation control unit translates or rotates the flying body when the object vibrates over a long period or has a large amplitude, and rotates the gimbal mechanism or zooms the camera when the object vibrates over a short period that is shorter than the long period or has a small amplitude that is smaller than the large amplitude, and controls the flying body to combine translational movement in the forward and backward directions relative to the object with rotational movement of the gimbal mechanism about a pitch axis in response to pitch vibration caused by the object tipping over.

3. a flying object having a camera installed on a gimbal mechanism as a gimbal camera, the flying object flying around a vibrating object; an operation control unit provided on the flying object, which controls the operation of at least one of the flying object and the gimbal mechanism so as to follow displacement caused by the motion of the object, which is detected based on inertial sensor information from an inertial sensor installed on the object and detecting the motion of the object.

4. The inspection device for a moving object as described in claim 1, characterized in that the detection of displacement caused by the movement of the object in the operation control unit is based on at least one of distance information from a distance sensor installed on the flying body to detect the distance to the object and inertial sensor information from an inertial sensor installed on the object to detect the movement of the object.

5. The inspection device for a moving object as described in claim 2, characterized in that the detection of displacement caused by the movement of the object in the operation control unit is based on at least one of an image of the object taken by a camera installed on the gimbal mechanism and inertial sensor information from an inertial sensor installed on the object and detecting the movement of the object.

6. The inspection device for a moving object as described in claim 3, characterized in that the detection of displacement caused by the movement of the object in the operation control unit is based on at least one of an image of the object taken by a camera installed in the gimbal mechanism and distance information from a distance sensor installed in the flying body that detects the distance to the object.

7. The method further includes a motion prediction unit that predicts motion of the object based on at least one of the image of the object captured by the camera, the distance information, and the inertial sensor information, the motion prediction unit predicts the motion of the object when it is determined that the motion of the object has periodicity; 7. The inspection device for a vibrating object according to claim 4, wherein the operation control unit controls the operation of at least one of the flying body and the gimbal mechanism based on prediction information from the vibration prediction unit.

8. Further, a route setting unit is provided to set an inspection route for the flying object, 8. The inspection device for a moving object according to claim 1, wherein the operation control unit controls the flying object to fly along the inspection route from the route setting unit.

9. 9. An inspection device for a moving object according to claim 1, further comprising a position and attitude control unit that controls the position and attitude of the flying object based on wind condition information from a wind condition sensor that detects wind conditions around the object and wind speed information from an anemometer installed on the flying object.

10. 10. The inspection device for a moving object according to claim 1, wherein the object is a wind turbine blade.

11. The inspection device for a moving object according to any one of claims 1 to 10, wherein the flying object is a drone.

12. Photographing the fluctuating object with a camera installed on a gimbal mechanism mounted on a flying object flying around the object; Detecting a displacement caused by a movement of the object based on the captured image of the object; controlling the movement of at least one of the flying object and the gimbal mechanism so as to follow the detected displacement; A method for inspecting a vibrating object, characterized in that when the vibration of the object has a long period or a large amplitude, the flying body is translated or rotated, and when the vibration of the object has a short period shorter than the long period or a small amplitude smaller than the large amplitude, the gimbal mechanism is rotated or the camera is zoomed, and when the vibration of the object occurs in a pitch direction due to the object tipping over, the flying body is controlled to combine translational movement in the forward / backward direction relative to the object with rotational movement of the gimbal mechanism about a pitch axis.

13. a distance sensor installed in a flying object that has a camera installed in a gimbal mechanism as a gimbal camera and flies around the fluctuating object to detect the distance to the object; detecting a displacement caused by the movement of the object based on the detected distance information; controlling the movement of at least one of the flying object and the gimbal mechanism so as to follow the detected displacement; A method for inspecting a vibrating object, characterized in that when the vibration of the object has a long period or a large amplitude, the flying body is translated or rotated, and when the vibration of the object has a short period shorter than the long period or a small amplitude smaller than the large amplitude, the gimbal mechanism is rotated or the camera is zoomed, and when the vibration of the object occurs in a pitch direction due to the object tipping over, the flying body is controlled to combine translational movement in the forward / backward direction relative to the object with rotational movement of the gimbal mechanism about a pitch axis.

14. detecting the motion of the object by an inertial sensor installed on the object; Detecting a displacement caused by the movement of the object based on the detected inertial sensor information; A method for inspecting a moving object, characterized by controlling the operation of at least one of a flying object flying around the object and a gimbal mechanism using a camera mounted on the flying object as a gimbal camera, so as to follow the detected displacement.

Images