Underwater structure inspection equipment

Abstract

To provide an underwater building inspection device that automatically inspects deterioration or damage of an underwater part and an above-water part in an underwater building.SOLUTION: An underwater building inspection device of the present invention comprises a seaplane that is navigable on water, an underwater camera that can be placed in water from the seaplane, a control unit that controls the seaplane and the underwater camera, an underwater camera position measurement unit that measures the position of the underwater camera, and an abnormality detection unit that detects abnormality of an underwater building.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an underwater structure inspection device that inspects underwater structures constructed underwater or on water to find defects and malfunctions. [Background technology]

[0002] There are many underwater structures in the world that are partly or entirely submerged in water. Although we are describing them as underwater structures, we are not limiting them to structures that are entirely submerged in water, but include structures that are partly or entirely submerged in water.

[0003] For example, bridges over rivers, lakes, and oceans have their piers submerged in water. Dams and breakwaters are also structures with parts submerged in water. In addition to these, there are many other structures that are partially or completely submerged, such as underwater observatories, power transmission facilities, communication facilities, and undersea cables. Submerged structures can also be found in a variety of places, including the sea, rivers, lakes, and artificial ponds.

[0004] Because these underwater structures exist underwater, various substances may adhere to them, corrode, or deteriorate. Because they are continuously immersed in seawater or freshwater, aquatic organisms may adhere to them. Furthermore, because they are immersed in seawater or freshwater, underwater structures may deteriorate, resulting in damage and cracks. Furthermore, underwater structures are often subjected to loads, pressures, and collisions, such as water pressure and collisions with objects flowing underwater. For example, underwater structures are subjected to loads and pressures from ocean currents and water flows. Alternatively, solid objects flowing in rivers or the ocean may collide with underwater structures.

[0005] Such loads and collisions can cause damage to underwater structures.

[0006] For example, bridge piers that are partially submerged in water are subject to stress from ocean currents and water flows, collisions with floating objects, and the attachment of aquatic organisms. These factors can combine to cause deterioration and damage.

[0007] Of course, even in addition to bridge piers, various underwater structures are subject to deterioration and damage due to loads, collisions, and aquatic organisms.

[0008] Furthermore, deterioration and damage can occur not only in the submerged parts but also in the parts above the water. In the case of a bridge, the parts above the water, such as the piers, are subjected to loads and pressure due to the difference between water pressure and air pressure. Deterioration and damage can also occur due to environmental stresses from the natural world, such as wind and rain.

[0009] Even if the parts of a building are not submerged, they are more susceptible to deterioration and damage than structures that are completely above ground due to the infiltration of water by osmotic pressure and the resulting pressure differences. This is because being submerged in water and being subjected to that pressure are very different from structures on land.

[0010] In this way, underwater structures that are partially or completely submerged in water are likely to suffer deterioration or damage in both the submerged and above-water portions. In other words, deterioration or damage occurs in both the submerged and above-water portions of underwater structures.

[0011] On the other hand, it is extremely difficult to inspect underwater structures for deterioration or damage due to the characteristics of their installation location (underwater, lakes, rivers, etc.) and structural characteristics (the presence of underwater and abovewater parts, etc.). This is because it is difficult and an excessive burden for workers to approach the underwater structure on a boat or other vessel and conduct visual inspections, imaging inspections, and hammering inspections. Naturally, this also poses risks to workers.

[0012] Furthermore, the underwater parts of underwater structures cannot be inspected by workers on a boat or other vessel alone. For example, inspection work by divers or underwater work vessels is required. These methods have problems such as the difficulty, cost, and workload of the work.

[0013] In response to this situation, a corresponding technique has been proposed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0014] [Patent Document 1] Japanese Patent Publication No. 2020-105726 Summary of the Invention [Problem to be solved by the invention]

[0015] Patent Document 1 discloses a waterfront structure inspection system that includes an inspection vessel 2 and a deposit removal device 3. The inspection vessel 2 is an unmanned vessel that navigates automatically or by remote control, and the hull 10 is equipped with a navigation device 11, an aerial camera 13, a laser measuring device 15, an acoustic sounder 16, an underwater camera 17, and a component thickness measuring device 18 as inspection equipment.

[0016] Patent Document 1 is equipped with a remotely controlled unmanned vessel and an underwater fouling removal device, and can capture underwater conditions using an underwater camera to identify fouling.

[0017] However, the technology of Patent Document 1 only equips an underwater camera on the hull of a ship sailing on the water, and the underwater camera can only capture images of the area below the water surface (a small area below the water surface). Therefore, only areas around the water's edge can be inspected. For example, only a small area of ​​the submerged parts of bridge piers on the sea or rivers can be inspected.

[0018] Furthermore, the ultimate objective of Patent Document 1 is to remove fouling such as shellfish using the fouling removal device. In other words, it does not anticipate detecting deterioration or damage to the underwater structure. This, combined with other factors, results in only capturing images of a small area, as described above.

[0019] Furthermore, workers must visually inspect the captured images to determine whether or not there is any adhesion. It is not possible to detect deterioration or damage, and it is not possible to do this automatically. The work is completed once the adhesion is removed, which creates the problem of not anticipating the next inspection. Even if the location of the adhesion is confirmed by visual inspection of the captured images, the location is not marked and recorded in the history, making it difficult to understand the changes over time in the same location in the next inspection.

[0020] That is, the conventional technology described in Patent Document 1 has a problem in that it is not possible to adequately inspect the deterioration and damage of both the underwater and above-water parts of an underwater structure. Furthermore, the system requires an operator to visually inspect the images, which is inefficient. Of course, there is also the risk of overlooking damage due to human error. Furthermore, it is not possible to convert deterioration and damage over time into data, which makes it difficult to predict deterioration.

[0021] In view of these problems, the present invention aims to provide an underwater structure inspection device that automatically inspects the underwater and above-water portions of an underwater structure for deterioration and damage. [Means for solving the problem]

[0022] In view of the above problems, the underwater structure inspection device of the present invention comprises a seaplane capable of navigating on the water, an underwater imaging device that can be deployed underwater from the surface aircraft; a control unit that controls the surface aircraft and the underwater imaging device; an underwater camera position measurement unit that measures the position of the underwater camera; an abnormality detection unit that detects abnormalities in the underwater structure, The seaplane, an above-water imaging unit capable of capturing an above-water image of the above-water portion of the underwater structure; a GPS function unit capable of detecting the position of the seaplane; an injection control unit that injects the underwater imaging device into water; The underwater camera a fall distance measuring unit that measures the fall distance of the object; The underwater imaging device includes: an underwater imaging unit capable of capturing an underwater image of the underwater portion of the underwater structure; a position control unit for controlling a relative position of the watercraft with respect to the watercraft, the underwater imaging device position measurement unit measures the position of the underwater imaging device based on the detection result of the GPS function unit and the falling distance; The anomaly detection unit detects an anomaly in an imaged location of the underwater structure based on the image processing results of the above-water image and the underwater image. [Effects of the Invention]

[0023] The underwater structure inspection device of the present invention can have both the surface unit and the underwater unit capture images of the above-water portion and the underwater portion of the underwater structure, respectively, thereby enabling inspection of both the above-water portion and the underwater portion of the underwater structure.

[0024] Furthermore, deterioration and damage can be automatically detected based on changes in the color, brightness, temperature, contrast, etc. of the captured image, which reduces the human burden of visual inspection and also reduces problems such as human error.

[0025] It is also possible to create a data history by marking problem locations on the location of underwater structures or 3D maps. This makes it easy to understand changes at the same location over time and predict the timing of repairs, etc. As a result, the safety and service life of underwater structures can be improved. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a photograph showing an example of an underwater structure. [Figure 2]1 is a photograph showing an example of an underwater structure. [Figure 3] 1 is a photograph showing an example of an underwater structure. [Figure 4] 1 is a schematic diagram of an underwater structure inspection device according to a first embodiment of the present invention. [Figure 5] 1 is an internal block diagram of a seaplane according to a first embodiment of the present invention. [Figure 6] 1 is an internal block diagram of an underwater imaging device according to a first embodiment of the present invention. [Figure 7] 2 is an internal block diagram of an abnormality detection unit according to the first embodiment of the present invention. FIG. [Figure 8] FIG. 10 is a schematic diagram of an underwater structure inspection device according to a second embodiment of the present invention. [Figure 9] FIG. 10 is a schematic diagram showing storage of abnormal locations in a three-dimensional map in accordance with the second embodiment of the present invention. [Figure 10] FIG. 10 is a schematic diagram of an underwater structure inspection device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] The underwater structure inspection device according to the first aspect of the present invention comprises a seaplane capable of navigating on water, an underwater imaging device that can be deployed underwater from the surface aircraft; a control unit that controls the surface aircraft and the underwater imaging device; an underwater camera position measurement unit that measures the position of the underwater camera; an abnormality detection unit that detects abnormalities in the underwater structure, The seaplane, an above-water imaging unit capable of capturing an above-water image of the above-water portion of the underwater structure; a GPS function unit capable of detecting the position of the seaplane; an injection control unit that injects the underwater imaging device into water; a fall distance measurement unit that measures a fall distance of the underwater imaging unit, The underwater imaging device includes: an underwater imaging unit capable of capturing an underwater image of the underwater portion of the underwater structure; a position control unit for controlling a relative position of the watercraft with respect to the watercraft, the underwater imaging device position measurement unit measures the position of the underwater imaging device based on the detection result of the GPS function unit and the falling distance; The anomaly detection unit detects an anomaly in an imaged location of the underwater structure based on the image processing results of the above-water image and the underwater image.

[0028] This configuration makes it possible to accurately grasp the underwater imaging position and automatically detect abnormalities in both the underwater and above-water areas.

[0029] In the underwater structure inspection device according to the second aspect of the present invention, in addition to the features of the first aspect, the surface vehicle and the underwater camera are connected by a wire, the fall distance measurement unit measures the fall distance based on the released distance of the wire, The position control unit controls the position of the underwater imaging device so that the wire connecting the seaplane vehicle and the underwater imaging device is substantially vertical.

[0030] This configuration allows the GPS geographical location of the underwater imaging vehicle to be matched with that of the surface vehicle.

[0031] In the underwater structure inspection device according to the third aspect of the present invention, in addition to the first aspect, the anomaly detection unit has an image processing unit that processes each of the above-water image and the underwater image, the image processing unit converts the above-water image and the underwater image into at least one of a chromaticity image, a luminance image, a frequency conversion image, and an infrared image; The abnormality detection unit detects an area that is different from its surroundings by a predetermined amount or more in at least one of the chromaticity image, the luminance image, the frequency conversion image, and the infrared image as an abnormal area.

[0032] This configuration makes it possible to automatically detect abnormalities by utilizing the features of the processed image, eliminating the need for an operator to check the visible image, etc. In addition, because abnormality detection is based on the features of the processed image, it is possible to detect abnormalities with higher accuracy than manual visual detection.

[0033] In the underwater structure inspection device according to the fourth aspect of the present invention, in addition to the third aspect, if at least one of the chromaticity image, the luminance image, the frequency conversion image and the infrared image of a certain location contained in the converted image differs by a predetermined amount or more compared to the surrounding area, the location is determined to be an abnormal location.

[0034] This configuration enables highly accurate detection of abnormalities.

[0035] In the underwater structure inspection device according to the fifth aspect of the present invention, in addition to the third aspect, the abnormality detection unit determines that an area in the infrared image where the temperature difference from the surrounding area is greater than or equal to a predetermined value is an abnormal area.

[0036] This configuration makes it possible to detect abnormalities such as adhesion of foreign matter or chemical deterioration based on the temperature difference.

[0037] In the underwater structure inspection device according to the sixth aspect of the present invention, in addition to the fourth aspect, the abnormality detection unit determines that the abnormal location is at least one of deterioration, damage, foreign matter adhesion, and cracks occurring in the underwater structure.

[0038] This configuration not only enables abnormality detection, but also makes it possible to grasp the nature of the abnormality.

[0039] In the underwater structure inspection device according to the seventh aspect of the present invention, in addition to the sixth aspect, the abnormality detection unit estimates the degree of deterioration, damage, and cracks based on the amount of difference between the abnormal area and its surroundings.

[0040] This configuration also makes it possible to estimate the degree of abnormality, allowing for the development of targets and plans for maintenance and repairs.

[0041] An underwater structure inspection device according to an eighth aspect of the present invention is, in addition to the fourth aspect, further comprising a storage unit for storing a three-dimensional map of the underwater structure, The system further includes a map update unit that stores the abnormal location detected by the abnormality detection unit in the three-dimensional map together with the time of detection.

[0042] This configuration allows the underwater structure to be visually captured while providing a bird's-eye view of any abnormalities occurring in the underwater structure.

[0043] In the underwater structure inspection device according to a ninth aspect of the present invention, in addition to the eighth aspect, the map update section is capable of updating the map by accumulating the abnormal locations detected at different times.

[0044] This configuration allows data on abnormal locations to be updated, making it possible to grasp the latest problem status of a floating structure.

[0045] The underwater structure inspection device according to the tenth aspect of the present invention, in addition to the ninth aspect, further comprises a repair timing estimation unit that estimates the time to repair the underwater structure based on at least one of the number, quantity, location and content of abnormalities updated by the map update unit.

[0046] This configuration allows maintenance of the underwater structure to be carried out reliably and with reduced labor.

[0047] In the underwater structure inspection device according to the eleventh aspect of the present invention, in addition to the ninth aspect, the above-water imaging unit and the underwater imaging unit each capture above-water images and underwater images, respectively, corresponding to the position of the abnormality recorded on the three-dimensional map.

[0048] This configuration also makes it possible to grasp the changes over time in the same abnormal location.

[0049] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0050] (Underwater structures) We will explain underwater structures using examples. Figures 1 to 3 are photographs showing examples of underwater structures. Figures 1 and 2 are photographs focusing on the piers of an offshore bridge. Part of the pier is underwater, while the rest of the pier and the rest of the bridge are above water.

[0051] Figure 3 is a photograph showing a submarine cable. Basically, most of a submarine cable is submerged in the sea. As the bridges and submarine cables in Figures 1 to 3 show, an underwater structure is a structure that is partially or completely submerged in water (sea, lakes, rivers, etc.). In this specification, both a structure that is partially submerged, such as a bridge, and a structure that is completely submerged, such as a submarine cable, are defined as "submerged structures." Of course, even if the portion that is submerged changes due to changes in the water level of the sea, lakes, rivers, etc., they are also submerged structures.

[0052] In any case, if at least a part of it is or may be submerged in water, it is an underwater structure.

[0053] As shown in Figures 1 and 2, underwater structures such as bridge piers are subjected to the load of seawater (waves and water pressure) and the impact of waves. They are also subject to erosion by the attachment of shellfish and other debris. In addition to impact pressure, in rough weather, they may also be hit by floating objects.

[0054] Also, being submerged in water can cause corrosion and deterioration due to salt, etc. This is also the case with the submarine cable shown in Figure 3.

[0055] In fact, as can be seen in photographs such as Figure 1, the bridge piers are showing signs of discoloration (a form of deterioration), deposits, and damage such as cracks.

[0056] On the other hand, it is difficult to inspect both underwater and abovewater sections of submarine cables and bridges because it is difficult for workers to approach and conduct visual or tapping inspections. Of course, this is also dangerous.

[0057] As such, underwater structures are prone to deterioration and damage, and are difficult to inspect.

[0058] (Overview) Figure 4 is a schematic diagram of an underwater structure inspection device in embodiment 1 of the present invention. An underwater structure 100 installed in the ocean has an underwater portion 120 and an above-water portion 110. Of course, it may also have only the underwater portion 120. The underwater structure 100 in Figure 4 is, as an example, an above-water bridge, with part of the pier 130 submerged in water.

[0059] As shown in Figure 1, the above-water portion 110 and the underwater portion 120 below the water surface are subject to deterioration and damage due to being submerged in water and not being submerged. The above-water portion 110 and the underwater portion 120 are located in different positions, and therefore require different inspection methods. The underwater structure inspection device 1 of the present invention can inspect both the above-water portion 110 and the underwater portion 120 in the most appropriate manner.

[0060] The underwater structure inspection device 1 (hereinafter abbreviated as "inspection device 1" as necessary) comprises a surface vehicle 2, an underwater imaging device 3, a remote operation unit 7, a control unit 4, an underwater imaging device position measurement unit 5, and an abnormality detection unit 6. The inspection device 1 is broadly composed of three units: the surface vehicle 2, the underwater imaging device 3, and the remote operation unit 7. Furthermore, as will be described later, each of the surface vehicle 2 and the underwater imaging device 3 further comprises internal elements.

[0061] The seaplane 2 can navigate on the water. As shown in Fig. 4, it can navigate on the water and approach the location of the underwater structure 100. By approaching, the seaplane 2 can capture images of the above-water portion 110 of the underwater structure 100 using the surface imaging unit 21 that it is equipped with.

[0062] The underwater imaging unit 3 can be dropped into the water from the seaplane 2. FIG. 4 shows the underwater imaging unit 3 dropped into the water from the seaplane 2. The underwater imaging unit 3 is connected to the seaplane 2 by a wire or the like. The underwater imaging unit 3 is dropped into the water so that the wire is approximately vertical. This positions the underwater imaging unit 3 directly below the seaplane 2.

[0063] When the underwater imaging device 3 is placed in the water directly below the surface vehicle 2, the underwater imaging unit 31 can capture images of the underwater portion 120 of the underwater structure 100.

[0064] Images of the above-water surface and the underwater surface can be used to detect deterioration or damage to the underwater structure 100.

[0065] The remote operation unit 7 is an element operated by a worker or the like. The seaplane 2 may navigate on the water autonomously (for example, by navigation based on programming) or may navigate under control from the remote operation unit 7.

[0066] The remote operation unit 7 has elements for carrying out inspections using the inspection device 1 to detect abnormalities in the underwater structure 100. The control unit 4 controls the surface vehicle 2 and the underwater imaging vehicle 3. It controls the surface navigation of the surface vehicle 2 and the submersion of the underwater imaging vehicle 3. It also controls imaging by the surface imaging unit 21 and the underwater imaging unit 31 as needed.

[0067] The underwater camera position measurement unit 5 measures the position of the underwater camera 3. The underwater camera 3 captures images of the underwater part 120 of the underwater structure 100. At this time, it is necessary to identify the imaging position, because it is necessary to identify the position of the abnormality from the correlation between the imaging position and the captured image of the underwater part.

[0068] The anomaly detection unit 6 detects abnormalities in the underwater structure 100. Based on the above-water image and the underwater image, the anomaly detection unit 6 detects abnormalities such as deterioration or damage in the underwater structure 100. At this time, the anomaly detection unit 6 can detect abnormalities including the positions of abnormal areas in the above-water portion 110 and the underwater portion 120 of the underwater structure 100. By being able to detect each abnormality, the deterioration or damage in the underwater structure 100 can be accurately grasped along with its position.

[0069] By detecting anomalies using the anomaly detection unit 6, the inspection device 1 can detect deterioration or damage at certain locations on the underwater structure 100. In particular, it can detect anomalies including the location of the underwater portion 120. Furthermore, since the position of the underwater camera 3 can be accurately determined based on the surface vehicle 2, it is also possible to identify the location of the anomaly.

[0070] The navigation of the surface vehicle 3 and the accompanying underwater camera 3 make it possible to capture images of even underwater structures 100 that are difficult for workers to approach. Combined with the accuracy of identifying the location, it is now possible to reliably detect abnormalities such as deterioration or damage to the underwater structure 100, which was previously difficult to grasp, leading to early maintenance.

[0071] As a result, the safety of the underwater structure 100 can also be improved.

[0072] 5 is an internal block diagram of the seaplane in the first embodiment of the present invention. It shows the elements provided in the seaplane 2. The seaplane 2 is provided with a surface imaging unit 21, a GPS function unit 22, a throwing control unit 23, and a fall distance measurement unit 24.

[0073] The surface imaging unit 21 can capture images of the surface portion 110 of the underwater structure 100 on the surface of the seaplane 2 as it navigates on the water and approaches the underwater structure. The GPS function unit 22 can measure geographical position information such as the longitude, latitude, and altitude of the seaplane 2. In other words, the position of the seaplane 2 can be detected.

[0074] The surface-of-water imaging unit 21 obtains the geographical position of the captured surface-of-water image from the GPS function unit 22. As a result, the surface-of-water imaging unit 21 can capture surface-of-water images that include the geographical position of the surface-of-water image as information. The GPS function unit 22 is also used to control the navigation of the seaplane 2 by the control unit 4 and the navigation route and position of the seaplane 2 when navigating by itself.

[0075] The launch control unit 23 launches the underwater imaging device 3 into the water from the surface vehicle 2. In FIG. 4, the underwater imaging device 3 is launched into the water from the surface vehicle 2. The underwater imaging device 3 is connected to the surface vehicle 2 by a wire or the like, and the launch control unit 23 drops the underwater imaging device 3 connected by this wire into the water. By dropping the underwater imaging device 3, it becomes positioned vertically below the surface vehicle 2.

[0076] The fall distance measurement unit 24 measures the fall distance of the underwater imaging device 3 that was dropped into the water from the surface vehicle 2. With both the geographical position information from the GPS function unit 22 and the fall distance information available, it is possible to measure the geographical position and depth underwater of the underwater imaging device 3. This makes it possible to accurately determine the position of the underwater image captured by the underwater imaging device 3.

[0077] The underwater camera position measurement unit 5 can accurately measure the position and depth of the underwater camera 3 based on the geographical position and fall distance measured by the GPS function unit 22 and fall distance measurement unit 24. This makes it possible to measure the position of the captured underwater image.

[0078] The above-water imaging unit 21 can capture above-water images including geographical position information from the GPS function unit. The underwater imaging unit 31 can capture underwater images including position information from the underwater camera position measurement unit 5.

[0079] 6 is an internal block diagram of the underwater imaging device according to the first embodiment of the present invention. It shows internal elements of the underwater imaging device 3. The underwater imaging device 3 comprises an underwater imaging unit 31 and a position control unit 32. The underwater imaging unit 31 captures underwater images of the underwater portion 120 of the underwater structure 100.

[0080] The position control unit 32 controls the relative positions of the surface vehicle 2 and the underwater imaging device 3. In particular, it controls the position of the underwater imaging device 3 so that the underwater imaging device 3 is vertically below the surface vehicle 2.

[0081] As described above, the surface vehicle 2 can capture images of the surface area including location information. The underwater imaging device 3 can capture images of the underwater area including location information (geographical location information and depth). The anomaly detection unit 6 obtains information on these images of the surface area and the underwater area. The anomaly detection unit 6 processes each of the images of the surface area and the underwater area using various methods. Based on the results of this image processing, the anomaly detection unit 6 detects abnormalities in the imaged location of the underwater structure 100.

[0082] Since the location information of the imaged location is also available, for example, if the location of the underwater structure 100 is a bridge, it is possible to determine where the abnormality is located above the water on a pier of the bridge, and where the abnormality is located underwater. By determining the location as well, it is possible to detect abnormalities in the underwater structure 100, which can be used for inspection, maintenance, and repair of the underwater structure 100.

[0083] Furthermore, by using the image processing results of the captured image, abnormalities due to deterioration or damage can be reliably detected.

[0084] In particular, the surface vehicle 2 and the underwater imaging device 3 are connected by a wire or the like. The fall distance measurement unit 24 measures the fall distance of the underwater imaging device 3 based on the release distance of the wire. The position control unit 32 controls the attitude and position of the underwater imaging device 3 so that the wire connecting the surface vehicle 2 and the underwater imaging device 3 is approximately vertical. As a result, the geographical position of the underwater imaging device 3 is detected by the GPS function unit 22 of the surface vehicle 2, and the depth is measured from the fall distance. This makes it possible to detect the exact position of the underwater imaging device 3 even underwater where GPS radio waves cannot reach. In other words, the position of the underwater image can be accurately determined. It is possible to determine which position in the underwater part 120 of the underwater structure 100 that the underwater image corresponds to.

[0085] This allows the location of the abnormality detected by the abnormality detection unit 6 to be accurately determined.

[0086] (Anomaly detection using image processing) 7 is an internal block diagram of the anomaly detection unit 6 according to the first embodiment of the present invention. The anomaly detection unit 6 has an image processing unit 61. The image processing unit 61 processes each of the above-water image and the underwater image. At this time, each of the above-water image and the underwater image is converted into at least one of a chromaticity image, a luminance image, a frequency conversion image, and an infrared image.

[0087] The abnormality detection unit 6 detects an area that is different from its surroundings by a predetermined amount or more based on at least one of the chromaticity image, the luminance image, the frequency conversion image, and the infrared image as an abnormal area. In other words, if there is a difference of a predetermined amount or more compared to its surroundings, the abnormality detection unit 6 determines that the area is an abnormal area.

[0088] For example, if the processed image is a chromaticity image, a location where the chromaticity has changed by a predetermined amount compared to the surrounding area is likely to be degraded or damaged. This is because a location with a dent, crack, discoloration, or a large amount of attached matter will have a large difference in chromaticity from the surrounding area. In other words, the location is determined to be an abnormal location.

[0089] If the image is simply taken, an operator must visually check for abnormalities. In the case of a normal image, even an operator may miss or find it difficult to judge, but if the image is processed into a chromaticity image, automatic detection using software or the like becomes possible. This is because any location where the chromaticity has changed by more than a specified amount can be determined to be an abnormality.

[0090] The same is true for processed images that are brightness images. Areas where the brightness has changed by more than a certain amount compared to the surrounding area are likely to have dents, cracks, discoloration, or large amounts of attached material. In other words, deterioration or damage has occurred.

[0091] The same applies to frequency conversion images. Locations where there is a frequency change of a predetermined amount or more are determined to be abnormal locations. This is because physical deformations such as dents and cracks cause large differences in frequency between that location and its surroundings in the frequency conversion image.

[0092] Furthermore, in an infrared image, a location where the temperature difference from the surrounding area is greater than a predetermined value is likely to have deposits, or chemical deterioration such as corrosion. For this reason, a location where the temperature difference from the surrounding area is greater than a predetermined value is determined to be an abnormal location.

[0093] As described above, the abnormality detection unit 6 can automatically detect abnormal areas with high accuracy by performing image processing on the above-water image and the underwater image using the image processing unit 61.

[0094] (Abnormal location) The abnormality detection unit 6 can determine that the abnormal area is at least one of deterioration, damage, foreign matter adhesion, and cracks occurring in the underwater structure 100. As described above, in the case of a difference in temperature in the infrared image, it can be determined that the abnormal area is foreign matter adhesion or chemical deterioration.

[0095] Furthermore, if there is a large difference between the chromaticity image, luminance image, or frequency image and the surrounding area, it can be determined that there is damage or a crack, since these differences are thought to be caused by changes in the physical shape.

[0096] It is also preferable that the anomaly detection unit 6 estimates the degree of deterioration, damage, or cracks based on the amount of difference between the abnormal area and its surroundings. For example, if the difference in chromaticity, brightness, or frequency is large, it can be determined that the damage or cracks are also large. This allows the anomaly detection unit 6 to estimate the degree of deterioration, damage, or cracks.

[0097] Furthermore, it is possible to distinguish between damage and cracks based on the magnitude of the difference or the relationship between the size and area. Alternatively, it is also possible to distinguish between adhesion of foreign matter and damage based on color.

[0098] As described above, the abnormality detection unit 6 can detect the presence or absence of an abnormality, the location of the abnormality, and the type and degree of the abnormality. This can be appropriately linked to measures such as maintenance of the underwater structure 100.

[0099] As described above, the underwater structure inspection device 1 in embodiment 1 can detect deterioration and damage, etc. of the underwater structure 100 in both the above-water portion 110 and the underwater portion 120 with high accuracy based on the above-water portion images and the underwater portion images, respectively. Furthermore, by using processed images, deterioration and damage, etc. can be detected automatically and with high accuracy. Furthermore, the underwater imaging device 3 is dropped into the water vertically downward from the surface vehicle 2, and can accurately identify the location of deterioration, etc. in the underwater portion 120 using the GPS function and depth of the surface vehicle 2.

[0100] These features combine to reduce the effort required as much as possible and enable safe and efficient inspection of many underwater structures 100. Many underwater structures 100 exist in various locations, but there is also a mismatch in the number of personnel required to inspect them. The inspection device 1 can also resolve this mismatch.

[0101] As a result of these inspections, it is possible to quickly grasp the dangers of the underwater structure 100 and to appropriately plan and implement repairs, maintenance, replacement, etc.

[0102] (Embodiment 2)

[0103] Next, a second embodiment will be described, in which further variations will be described.

[0104] (Recorded on a 3D map) 8 is a schematic diagram of an underwater structure inspection device according to the second embodiment of the present invention. The inspection device 1 of FIG.

[0105] The memory unit 8 stores a three-dimensional map of the underwater structure 100. In the case of Fig. 8, the memory unit 8 stores a three-dimensional map of the underwater structure 100, which is a bridge. The geographical position, shape, etc. of the underwater structure 100 are stored as a three-dimensional map.

[0106] The inspection device 1 inspects the underwater structure 100 corresponding to this 3D map. As shown in Fig. 8, the inspection device 1 captures above-water images and underwater images of the underwater structure 100 stored in the 3D map.

[0107] From the results of this imaging, as explained in embodiment 1, abnormal locations on the underwater structure 100 are detected. The abnormality detection unit 6 detects abnormalities and abnormal locations. At this time, the abnormality detection unit 6 detects the abnormality after identifying the location of the abnormal location, so it knows at which position on the underwater structure 100 the abnormality exists.

[0108] A three-dimensional map of the underwater structure 100 is stored in the memory unit 8. Based on this, the map update unit 9 stores the abnormal locations detected by the abnormality detection unit 6 together with the detection times in the stored three-dimensional map of the underwater structure 100.

[0109] 9 is a schematic diagram showing the storage of abnormal locations in a 3D map in the second embodiment of the present invention. Abnormal locations 1 to 3 detected in the underwater structure 100, which is a bridge, are stored together with the time of detection. If necessary, the type and degree of abnormality are also reflected in the 3D map and updated. The map update unit 9 stores the 3D map of the underwater structure 100, including the updated abnormal locations.

[0110] At this time, the 3D map of the underwater structure 100 with the updated abnormal locations may be stored in the memory unit 8 or in the map update unit 9. In either case, the abnormal locations and the detection times are updated on the 3D map of the underwater structure 100, as shown in Fig. 9. By updating, the manager can continuously grasp the inspection results of the underwater structure 100.

[0111] Since abnormal locations are reflected and stored in the 3D map, the manager can continuously grasp problems with the underwater structure 100. Furthermore, even if the manager is replaced, the updated 3D map is stored, so it is possible to immediately grasp the past problem status of the underwater structure 100. This also makes it possible to prevent repairs or renovations of the underwater structure 100 from being overlooked due to human error.

[0112] Furthermore, the map update unit 9 can accumulate and update abnormal locations detected at different times, as shown in Fig. 9. This makes it possible to understand the inspection results for the underwater structure 100 along with changes over time. It is also useful for converting underwater structures and parts that are prone to deterioration or damage into data.

[0113] In addition, it is also advisable to re-inspect the same abnormal location after a certain period of time has passed and update the 3D map to see if the abnormality level has changed. Different abnormal locations, or the same abnormal location at different times, can be accumulated and updated. This provides the basis for making decisions about repairs or modifications as the abnormality progresses.

[0114] For example, if it is determined that the abnormality is progressing in the same abnormal location, it can be determined that the parts or members including that location should be replaced, which allows for early repairs before the problem spreads to the entire underwater structure 100.

[0115] (Renovation Time Estimation Department) 10 is a schematic diagram of an underwater structure inspection device according to the second embodiment of the present invention. The underwater structure inspection device 1 of FIG.

[0116] The repair timing estimation unit 10 can estimate the time for repair of the underwater structure 100 based on at least one of the number, quantity, location, and content of abnormalities in the 3D map updated by the map update unit 9. For example, if the 3D map of a certain underwater structure 100 has more than a predetermined number of abnormalities, or the abnormality level (content) is more than a predetermined level, or if the combined result of these is more than a predetermined level, it can be estimated that it is time for repair.

[0117] It is also possible to estimate whether the current time is for repairs or to estimate the timing of future repairs. By obtaining such an estimation result from the repair timing estimation unit 10, the manager can easily grasp the repair timing of the floating structure 100. As a result, deviation from the timing of repairs, replacement, etc. is prevented.

[0118] Human error can be reduced and safe management of the underwater structure 100 can be maintained.

[0119] In particular, automatic estimation of the time for repairs eliminates the need to check captured images, and makes it easy to create repair plans, reducing the personnel costs required to manage the numerous underwater structures 100 in various regions.

[0120] (imaging) It is also preferable that each of the above-water imaging unit 21 and the underwater imaging unit 31 captures images of the locations corresponding to the positions of the abnormalities recorded on the three-dimensional map at a later time.

[0121] By capturing images of areas that have already been detected as abnormal, the anomaly detection unit 6 can detect the presence or absence of an abnormality and its severity. This makes it possible to grasp the degree of progression of the abnormality at the abnormal areas. Even if the number of abnormal areas on a certain underwater structure 100 is small, if the degree of progression of a certain abnormal area is large, it may be better to carry out repairs.

[0122] It is also preferable that the repair timing estimation unit 10 estimates the repair timing by incorporating this algorithm, because this allows the optimum repair timing to be estimated.

[0123] In order to estimate the time for repair using such an algorithm, it is also preferable that each of the surface imaging unit 21 and the underwater imaging unit 31 takes images of abnormal areas after the fact and detects abnormalities using the abnormality detection unit 6. This makes it possible to estimate the time for repair based on the degree of progress of a certain abnormal area.

[0124] Being able to estimate the appropriate time for repair based on the degree of progression of the abnormality enables appropriate maintenance and management of the underwater structure 100. In particular, by understanding the changes over time in the same abnormal area, it is possible to apply this to estimates of similar underwater structures 100 in similar environments. This also makes it possible to reduce the labor required for managing many underwater structures 100.

[0125] As described above, the underwater structure inspection device 1 in embodiment 2 can not only detect abnormalities but also estimate the optimal time for repairs by updating the inspection results. This allows the underwater structure 100 to be maintained with high accuracy, and can also realize the maintenance of many underwater structures 100 with reduced labor.

[0126] The underwater structure inspection device described in the first and second embodiments is an example for explaining the gist of the present invention, and includes modifications and alterations within the scope of the gist of the present invention. [Explanation of symbols]

[0127] 1 Underwater structure inspection equipment 2 Seaplane 21 Surface Imaging Unit 22 GPS function section 23 Input control unit 24 Fall distance measurement unit 3 Underwater camera 31 Underwater imaging unit 32 Position control section 4. Control section 5 Underwater camera position measurement unit 6. Anomaly detection section 8 Memory section 9 Map Update Section 10. Renovation Time Estimation Section 100 underwater structures 110 Above water part 120 Underwater part

Claims

1. A seaplane capable of navigating on water; an underwater imaging device that can be deployed underwater from the surface aircraft; a control unit that controls the surface aircraft and the underwater imaging device; an underwater camera position measurement unit that measures the position of the underwater camera; an abnormality detection unit that detects abnormalities in the underwater structure, The seaplane, an above-water imaging unit capable of capturing an above-water image of the above-water portion of the underwater structure; a GPS function unit capable of detecting the position of the seaplane; an injection control unit that injects the underwater imaging device into water; a fall distance measurement unit that measures a fall distance of the underwater imaging device, The underwater imaging device includes: an underwater imaging unit capable of capturing an underwater image of the underwater portion of the underwater structure; a position control unit for controlling a relative position of the watercraft with respect to the watercraft, the underwater imaging device position measurement unit measures the position of the underwater imaging device based on the detection result of the GPS function unit and the falling distance; The anomaly detection unit detects anomalies in the imaged location of the underwater structure based on the image processing results of the above-water image and the underwater image.

2. the surface vehicle and the underwater imaging vehicle are connected by a wire; the fall distance measurement unit measures the fall distance based on the released distance of the wire, The underwater structure inspection device according to claim 1 , wherein the position control unit controls the position of the underwater imaging device so that the wire connecting the surface vehicle and the underwater imaging device is substantially vertical.

3. the abnormality detection unit has an image processing unit that processes each of the above-water image and the underwater image, the image processing unit converts the above-water image and the underwater image into at least one of a chromaticity image, a luminance image, a frequency conversion image, and an infrared image; 2. The underwater structure inspection device according to claim 1, wherein the abnormality detection unit detects an area as an abnormal area when the difference from the surrounding area is greater than a predetermined value in at least one of the chromaticity image, the luminance image, the frequency conversion image, and the infrared image.

4. An underwater structure inspection device as described in claim 3, wherein if at least one of the chromaticity image, the luminance image, the frequency converted image and the infrared image of a certain location contained in the image converted by the image processing unit differs by a predetermined amount or more compared to the surrounding area, the location is determined to be an abnormal location.

5. 4. The underwater structure inspection device according to claim 3, wherein the abnormality detection unit determines, in the infrared image, a location where the temperature difference from the surrounding area is equal to or greater than a predetermined value, as an abnormal location.

6. 5. The underwater structure inspection device according to claim 4, wherein the abnormality detection unit determines that the abnormal portion is at least one of deterioration, damage, adhesion of foreign matter, and cracks occurring in the underwater structure.

7. 7. The underwater structure inspection device according to claim 6, wherein the abnormality detection unit estimates the extent of the deterioration, the damage, and the cracks based on the amount of difference between the abnormal area and its surroundings.

8. Further comprising a memory unit for storing a three-dimensional map of the underwater structure, 5. The underwater structure inspection device according to claim 4, further comprising a map update unit that stores the abnormal location detected by the abnormality detection unit in the three-dimensional map together with the time of detection.

9. 9. The underwater structure inspection device according to claim 8, wherein the map update unit is capable of updating the map by accumulating the abnormal locations detected at different times.

10. 10. The underwater structure inspection device according to claim 9, further comprising a repair timing estimation unit that estimates the repair timing of the underwater structure based on at least one of the number, quantity, location and content of abnormalities updated by the map update unit.

11. 10. The underwater structure inspection device according to claim 9, wherein the above-water imaging unit and the underwater imaging unit respectively capture above-water images and underwater images corresponding to the positions of the abnormalities recorded on the three-dimensional map.

Images