flying object

Abstract

To pick up a stable inspection video by a flying object.SOLUTION: A flying object according to the present invention includes: a recognizing unit that recognizes laser light emitted from a laser emitting device to an inspection object; and a flight controller that controls a flight in accordance with the recognized laser light. The recognizing unit recognizes an inspection route by the laser light emitted to the inspection object by the laser emitting device, and the flight controller controls the flight so as to pass along the recognized inspection route. The flying object further includes an image pickup unit that picks up the inspection video of the inspection object.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a flying object.

Background Art

[0002] Conventionally, a technique for irradiating a laser beam from a flying object to obtain distance measurement data has been known. For example, in Patent Document 1, a technique for obtaining distance measurement data based on a measurement value obtained from the reflected light of a laser beam irradiated from a flying object and information regarding the irradiation direction of the laser beam is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, when a flying object captures an inspection video (for example, a still image or a moving image) of an inspection target object (for example, a structure), it is required that the flying object fly straight (horizontally) with respect to the inspection target and fly stably at a constant speed while maintaining a certain distance. However, when flying the flying object near the inspection target object, it is difficult for even a skilled operator to fly the flying object stably due to the influence of, for example, the generation of wind. [[ID=4�]]

[0005] The present invention has been made in view of such a background, and an object thereof is to capture a stable inspection video by a flying object.

Means for Solving the Problems

[0006] The main invention of this invention, which solves the above problems, is to transmit light from a laser irradiation device to an object to be inspected. A recognition unit that recognizes the emitted laser light, and flight control according to the recognized laser light. The system shall include a flight controller and

[0007] For other issues disclosed in this application and their solutions, please refer to the section on embodiments of the invention and the drawings. It will become clearer. [Effects of the Invention]

[0008] According to the present invention, stable inspection footage can be captured by an aircraft. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram illustrates the flight state of the aircraft 1 according to this embodiment. [Figure 2] This is a functional block diagram of the aircraft 1 according to this embodiment. [Figure 3] This diagram illustrates the process flow for controlling aircraft 1 to fly along an inspection route projected onto structure 2. [Figure 4] This figure shows an example where the flying object 1 rotates and moves horizontally relative to the vertical laser beam 4. [Figure 5] This figure shows an example of supplementary information S being projected onto structure 2. [Figure 6] This figure shows an example of a grid pattern being projected onto structure 2. [Modes for carrying out the invention]

[0010] The embodiments of the present invention will be described by listing them. The flying vehicle according to the embodiments of the present invention is It has the following configuration.

[0011] [Item 1] A recognition unit that recognizes laser light irradiated from a laser irradiation device to an inspection target, A flight controller that performs flight control according to the recognized laser light, and a flying object comprising the same. [Item 2] The flying object according to Item 1, wherein the recognition unit recognizes an inspection route formed by the laser light irradiated by the laser irradiation device to the inspection target, and the flight controller performs flight control along the recognized inspection route. A flying object characterized by the above. [Item 3][Item 3] The flying object according to Item 2, further comprising a photographing unit that photographs an inspection video of the inspection target. A flying object comprising the same. [Item 4] The flying object according to Item 3, wherein the photographing unit stops photographing the inspection video when the recognition unit does not recognize the inspection route. A flying object characterized by the above. [Item 5][Item 5] The flying object according to Item 4, wherein the flight controller stops accepting an instruction from an operator to move the flying object along the inspection route when the recognition unit does not recognize the inspection route. A flying object characterized by the above.

[0012] Hereinafter, a flying object 1 according to a first embodiment of the present invention will be described with reference to the drawings.Hereinafter, a flying object 1 according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram for explaining a flight state by the flying object 1 according to the present embodiment.

[0013] In the present embodiment, it is assumed that the flying object 1 photographs an inspection video (for example, a moving image) of a structure 2 that is an inspection target such as a pillar, a wall, or a ceiling. A laser irradiation device is provided around the structure 2. ​3 is positioned and shines a laser beam 4 towards the area of ​​structure 2 that needs to be inspected. Flying object 1 By controlling the flight to continuously recognize the laser beam 4 irradiated onto structure 2, the structure It can reliably capture inspection footage of point 2.

[0014] The laser irradiation device 3 projects an inspection route onto the structure 2 using the laser light 4 it emits. Here, since the laser irradiation device 3 is placed on the ground or a tripod, etc., an inspection route is constructed. It can be fixed to structure 2 and irradiated. This inspection route can be one or more straight lines. Curves and combinations of these are examples. Also, the laser irradiation device 3 is this inspection route The color and pulse count of each line that makes up the system may be changed. For example, laser irradiation device 3 This distinguishes between the color of the laser beam 4 projected vertically and the color of the laser beam 4 projected horizontally. They may be separated. Also, the laser irradiation device 3 projects, for example, the laser light 4 in the vertical direction. Each color may be distinguished. This allows, for example, the aircraft 1 to illuminate the structure 2. Even if the laser beam 4 can no longer be recognized, the inspection route can still be accurately determined. ru.

[0015] Figure 2 is a functional block diagram of the aircraft 1 according to this embodiment.

[0016] The flight controller 11 is a programmable processor (e.g., a central processing unit). It may have one or more processors, such as a CPU.

[0017] The flight controller 11 has a memory 12, and can access the memory 12. It is possible. Memory 12 is used by the flight controller 11 to perform one or more steps. It stores executable logic, code, and / or program instructions.

[0018] Memory 12 is a separable memory such as an SD card or random access memory (RAM). It may include a capable medium or external storage device.

[0019] The camera unit 13 consists of, for example, a general-purpose camera or an infrared camera. The data obtained in step 13 may be directly transmitted to and stored in memory 12. For example, Still images and video data captured by the camera unit 13 are recorded to the internal or external memory. The shadow unit 13 is attached to the aircraft via the gimbal 14.

[0020] The flight controller 11 is a control module configured to control the state of the aircraft 1. It includes a control module. For example, the control module has 6 degrees of freedom (translational motion x, y and z, and The spatial arrangement, velocity, and / or of the flying object 1 having rotational motion θx, θy and θz To adjust the acceleration, the propulsion mechanism (motor 16, etc.) of the aircraft 1 is controlled via ESC15. Control. The motor 16 rotates the propeller 17, generating lift for the aircraft 1. The control module can control one or more of the states of the mounted components and sensors. .

[0021] The flight controller 11 can connect to one or more external devices (for example, a transmitter / receiver (transmitter / controller)). ), transmitting and / or receiving data from terminals, display devices, or other remote controls. It is possible to communicate with the transceiver 18 which is configured to take. The transceiver 18 is wired communication or Any suitable means of communication, such as wireless communication, can be used.

[0022] The transmitting / receiving unit 18 can, for example, connect to a local area network (LAN), a wide area network Network (WAN), infrared, wireless, Wi-Fi, point-to-point (P2P) network You can use one or more of the following: work, telecommunications networks, cloud communication, etc. Cut.

[0023] The transmitting / receiving unit 18 receives data acquired by the sensors 19 and data generated by the flight controller 11. The processing results, predetermined control data, and user commands from a terminal or remote controller (operator) Send and / or receive one or more of the following: (move instructions and / or rotate instructions) It can be taken.

[0024] The sensors 19 in this embodiment include inertial sensors (accelerometer, gyroscope), GPS sensors, proximity sensors (e.g., LiDAR), or vision / image sensors (e.g.) For example, it could include a camera.

[0025] The recognition unit 20 recognizes the laser light 4 irradiated onto the structure 2 from the laser irradiation device 3. This is possible. The recognition unit 20 in this embodiment is equipped with a sensor that can recognize the laser light 4. It is sufficient that it is mounted on, for example, a general camera. The recognition unit 20 is illuminated The recognition unit 20 shall be able to recognize the color and pulse count of the laser light. An inspection is performed by a laser beam 4 that is projected onto a structure 2 such as a column or wall, which is located on the side. Recognize the route.

[0026] Figure 3 shows how the aircraft 1 is controlled to fly along the inspection route projected onto the structure 2. This is a diagram illustrating the processing flow. This process involves, for example, the recognition unit 20 recognizing the inspection route. It is initiated in the following cases.

[0027] (Step S301) The camera unit 13 captures inspection footage of structure 2. In other words, the camera unit 13 captures the video footage of the recognition unit 20 When the system recognizes the inspection route, it takes inspection footage. Specifically, the camera unit 13, When the recognition unit 20 recognizes the inspection route, the inspection route of structure 2 or the inspection route The system records a video that includes the surrounding area within its shooting range. Next, the flight controller 11 controls the aircraft. Upon receiving movement instructions from the user, the recognition unit 20 will move along the inspection route recognized by the recognition unit 20. The aircraft 1 is moved (flight controlled). Then, the process moves to step S302. To do.

[0028] (Step S302) The flight controller 11 determines whether or not it has received an instruction from the pilot to end the inspection. A determination is made. If the determination is positive, the process proceeds as shown in Figure 3. The process ends. On the other hand, if the determination is negative, the process proceeds to step S303. Let's move on to logic.

[0029] (Step S303) The flight controller 11 recognizes the inspection route projected onto the structure 2 using the recognition unit 20. Determine whether or not it is true. If the determination is affirmative, the process proceeds to step The process proceeds to step S301. On the other hand, if the judgment is negative, the process is as follows: Proceed to processing step S304.

[0030] (Step S304) The camera unit 13 stops recording the inspection video. Specifically, the camera unit 13 stops recording the points of structure 2. This will stop recording video if the area surrounding the inspection route or maintenance route is included in the recording range. This reduces the effort required to edit inspection footage. Next, Flight Controller 11 The system stops accepting instructions from the pilot to move aircraft 1 along the inspection route. This prevents the parts that need to be inspected from being missed in the inspection video. Then, the process moves on to step S305.

[0031] (Step S305) The flight controller 11 controls the rotation and movement of the aircraft 1 in a predetermined direction. The deviation is performed. For example, the flight controller 11 uses the inspection route (by laser light 4) The aircraft 1 is rotated and moved perpendicular to the direction of the projected line. Specifically, flight The controller 11 detects that the color of the laser beam 4, which the recognition unit 20 had recognized up to that point, is moving in the vertical direction. If it recognizes the color as an extending line, rotate the flying object 1 horizontally. Figure 4 shows the flying This figure shows an example where row 1 rotates and moves horizontally relative to the vertical laser beam 4. Then, the process moves on to step S306.

[0032] (Step S306) The flight controller 11 recognizes the inspection route projected onto the structure 2 using the recognition unit 20. Determine whether or not it is true. If the determination is affirmative, the process proceeds to step The process proceeds to step S301. On the other hand, if the judgment is negative, the process is as follows: Proceed to processing step S305.

[0033] As described above, the flight controller 11 determines that the aircraft 1 is stable along the inspection route. The aircraft 1 is controlled so that it can capture inspection footage.

[0034] The above embodiments have been described, but the above embodiments are intended to facilitate understanding of the present invention. This is intended to be a limitation of the present invention. The present invention can be modified and improved without being removed, and its equivalents are also included.

[0035] For example, in this embodiment, the imaging unit 13 and the recognition unit 20 were described as separate functional units. The imaging unit 13 and the recognition unit 20 may be configured by a single device (for example, a camera).

[0036] Furthermore, in this embodiment, in step S304 above, the pilot inspects the aircraft 1. We explained that we would stop accepting instructions to move along the route, but the flight control Roller 11 is flying perpendicular to the inspection route (the direction of the line projected by laser beam 4). Instructions to rotate and move 1 may be accepted. Also, flight controller Ra11 indicates that if the aircraft 1 is not flying straight (horizontally) relative to the structure 2, Until the aircraft is flying horizontally, the camera unit 13 will stop taking pictures, and the pilot will not take any pictures of the aircraft 1 You may also stop accepting instructions to move the vehicle along the inspection route.

[0037] Furthermore, in this embodiment, the laser irradiation device 3 projects multiple inspection routes. It may be possible to do so. This allows the laser irradiation device 3 to inspect the structure of the object to be inspected. It is possible to project inspection routes based on patterns corresponding to object 2.

[0038] Furthermore, in this embodiment, the laser irradiation device 3 inspects supplementary information other than the inspection route. It may also be projected onto structure 2, which is an object. Supplementary information could include, for example, numerical values ​​for distance and height, or landmarks. Examples include fixed points. Figure 5 shows an example where supplementary information S is projected onto structure 2.

[0039] Furthermore, as shown in Figure 6, for example, a predetermined grid pattern is used to inspect a predetermined surface. The current position is estimated by illuminating the location and performing image recognition on the grid pattern. It is also possible to obtain the absolute position of the grid pattern, It becomes possible to estimate one's own position from the distance and positional relationship from the grid points. In this case, The positions of the sub-patterns on the inspection surface are associated.

[0040] Furthermore, although this embodiment describes the case where the inspection video is a video, it may also be a still image. stomach.

[0041] Furthermore, in this embodiment, the laser light 4 only needs to be recognizable by the recognition unit 20. The imaging unit 13 may use light that cannot be captured (for example, infrared light). This allows for point Since the laser beam 4 does not appear in the inspection image, the area to be inspected (for example, concrete) Cracks (such as those in the surface) can be easily identified. [Explanation of Symbols]

[0042] 1. Flying object 2 structures 3. Laser irradiation device 4. Laser light 11 Flight Controllers 13. Photography Department 20 Recognition part

Claims

1. A recognition unit that recognizes the light emitted from the irradiation device onto the target object, A flight controller that controls flight in response to the recognized light, Equipped with, The recognition unit performs image recognition of a predetermined pattern formed by the light irradiated by the irradiation device onto a predetermined position of the object, and estimates the current position of the aircraft based on its relative positional relationship to the predetermined pattern. The predetermined pattern includes a plurality of grid points arranged at predetermined intervals, The recognition unit estimates the current position of the flying object based on its relative positional relationship with an arbitrary grid point.

2. The flying body according to claim 1, An aircraft equipped with a camera unit for capturing images of the aforementioned object.

3. The flying body according to claim 1, The predetermined pattern is a grid pattern, and the current position of the flying object is estimated based on the relative positional relationship with respect to any grid point in the grid pattern. An aircraft characterized by the following features.

Images