Drone measuring device

Abstract

To provide a drone measurement device which is lightweight, can easily perform positioning between a measurement object and a sensor and measure the property of the measurement object by the sensor coming into contact with the wall surface of the measurement object in a face-to-face manner.SOLUTION: A drone measurement device 1A comprises: a drone body 2; an imaging device 3 in the drone body 2; a sensor 4 which measures the property of a measurement object; an arm 6 which extends forward from the drone body 2 that supports the sensor 4 in a bendable manner; and at least two laser pointers 5A, 5B. The laser pointers 5A, 5B are arranged such that laser beams of the laser pointers 5A, 5B cross each other on a plane that is substantially vertical to the cross direction of the drone body 2 and passes through a tip of the sensor 4, and have such a feature of taking the laser beam reflected from the measurement object into the imaging device 3 to perform positioning between the measurement object and the sensor 4 from the form thereof.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a drone measurement device that measures the characteristics of the wall surface of a structure or the like using a drone equipped with a sensor, and particularly to a drone measurement device that measures characteristics by bringing the sensor into contact with the object to be measured.

Background Art

[0002] To measure the characteristics of the wall surface of a chimney or a tank using a drone, it is necessary to approach the drone to the wall surface serving as the measurement point of the chimney or the tank, press the sensor unit against the wall surface, and measure characteristics such as the plate thickness.

[0003] Patent Document 1 discloses a wall inspection device that includes traveling wheels to keep the distance between the drone and the wall surface constant and travels along the wall surface in a tangential contact state during flight.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, generally, when a drone moves forward, it increases the rotational speed of the rear rotors and moves forward in a posture where the front is tilted downward by about 10°. Also, in the case of a sensor that contacts the wall surface to measure the characteristics of the wall surface, it is necessary to always press forward so that the sensor does not separate from the wall surface during measurement, and the drone will perform measurement in a posture where the front is tilted downward at an angle of 10° or less.

[0006] In a drone equipped with wheels, if the drone's front is tilted low, a vertical component of the pressure remains, raising concerns that the drone may move downwards from the wall while maintaining a constant distance from it. Therefore, in this case, the drone needs to maintain a horizontal posture while pressing the sensor. Furthermore, when measuring the characteristics of a wall by making contact with the wall surface, it is necessary to understand the distance between the wall and the sensor to ensure contact with the wall, minimize the impact when the sensor contacts the wall, and extend the sensor's lifespan.

[0007] Solutions to the above problems include methods such as installing thrusters that generate horizontal thrust to allow the drone to move while maintaining a horizontal attitude, or installing mechanisms that tilt multiple rotors. However, these methods have the drawback of making the structure and control of the drone itself more complex and expensive. Furthermore, if the distance between the wall and the sensor is to be determined to ensure contact between the sensor and the wall, and to reduce the impact when the sensor contacts the wall, it is necessary to install a laser rangefinder or similar device. In this case, the weight of the drone itself increases, resulting in drawbacks such as a shorter flight time.

[0008] In view of the above, the present invention aims to provide, firstly, a lightweight drone measuring device that can easily align the sensor with the object to be measured. This ensures contact between the tip of the sensor and the wall surface of the object to be measured when measuring the characteristics of the wall surface, reduces the impact when the sensor contacts the wall surface, and extends the lifespan of the sensor. Secondly, the present invention aims to provide a drone measuring device that can measure the characteristics of the object to be measured by having the sensor face the wall surface of the object to be measured and make contact with it, even when the drone is tilted low in the front. This improves measurement accuracy because the sensor that is in contact with the wall surface faces the wall surface even when a normal drone is performing measurements in a low-tilted position. [Means for solving the problem]

[0009] The present invention provides a drone measuring device comprising a drone body, an imaging device attached to the drone body, and an object to be measured.Touch the sensor to it A sensor for measuring characteristics, multiple A drone measuring device comprising a laser pointer, wherein the laser pointer is In combinations of 2 or 3, The laser beam from the laser pointer is approximately perpendicular to the front-to-back direction of the drone body and passes through the tip of the sensor on a plane. Furthermore, excluding the tip of the sensor, at one to three convergence points The system is characterized by being arranged so as to intersect, capturing the laser light reflected from the object to be measured with the imaging device, and aligning the object to be measured with the sensor based on its shape.

[0010] This drone measurement device consists of a drone body, an imaging device attached to the drone body, and the object to be measured. Touch the sensor to it A sensor for measuring characteristics, multiple It is equipped with a laser pointer, and the laser pointer is In combinations of 2 or 3, The laser beam from the laser pointer is approximately perpendicular to the front-to-back direction of the drone body and passes through the plane of the sensor's tip. Furthermore, excluding the tip of the sensor, at one to three convergence points. They are arranged so as to intersect. Therefore, when the laser light reflected from the object being measured is captured by the imaging device, if the tip of the sensor is far from the object being measured, the observed reflection point morphology of the laser light will be two or three separate reflection points of the laser light, depending on the combination of two or three laser pointers. It was confirmed that the distance from the tip of the sensor to the object being measured was still far, and the observed laser light The separated reflection point configuration of two or three laser beams If they converge to one point, At the planned convergence point It is possible to determine when the tip of the sensor has reached a position where it is in contact with the object being measured. Therefore, alignment between the object being measured and the sensor can be easily performed, ensuring contact between the surface of the object being measured and the tip of the sensor, reducing the impact when the tip of the sensor contacts the object being measured, and thus extending the lifespan of the sensor.

[0011] Furthermore, the drone measuring device of the present invention comprises a drone body, an imaging device attached to the drone body, and an object to be measured. Touch the sensor to it A sensor for measuring characteristics, and a support for the sensor at its tip that allows it to be bent. Equipped with a bending spring or elastic rubber. An arm extending forward from the drone body, multiple A drone measuring device comprising a laser pointer, wherein the laser pointer is In combinations of 2 or 3, The laser beam from the laser pointer is approximately perpendicular to the front-to-back direction of the drone body and passes through the tip of the sensor on a plane. Furthermore, excluding the tip of the sensor, at one to three convergence pointsThey are arranged to intersect, and the imaging device captures the laser light reflected from the object to be measured, and the alignment between the object to be measured and the sensor is performed based on its form.

[0012] Furthermore, the sensor is supported so as to be bendable at the tip side. Equipped with a bending spring or elastic rubber. Since it has an arm extending forward from the drone body, even if the drone body swings vertically and horizontally during measurement, the sensor in contact with the wall surface faces the wall surface, so the measurement accuracy is improved.

[0013] Furthermore, the drone body is provided with two auxiliary arms. The two auxiliary arms are installed in parallel in the horizontal direction with the arm extending forward from the drone body. The tips of the two auxiliary arms and the tip of the sensor supported to extend forward from the drone body an arm equipped with a bending spring or elastic rubber that supports the sensor at its tip in a flexible manner. are supported so as to contact the object to be measured at three points, and the characteristics of the object to be measured are measured. Triangular

[0014] The tips of the two auxiliary arms and the tip of the sensor supported to extend forward from the drone body an arm equipped with a bending spring or elastic rubber that supports the sensor so that it can be bent at the tip. are supported while pressure is applied so as to contact the object to be measured at three points. Therefore, the tip of the sensor does not move during measurement with respect to the object to be measured, and the measurement accuracy is further improved. Triangular

[0015] In the present invention, it is preferable that the sensor is an ultrasonic thickness gauge for measuring the plate thickness.

[0016] In an ultrasonic thickness gauge in which the sensor measures the plate thickness, it is necessary to closely attach a probe, which is the sensor, to the wall surface via an ultrasonic transmission medium, which is suitable for the present invention.

[0017] Also, in the present invention, it is preferable that the multiple laser pointer Multiple laser beams of different colors is a laser pointer.

[0018] ​​If the color of the laser light of the laser pointer is made different, the laser light reflected from the object to be measured is captured by the imaging device, and its form and mixed colors The distance from the wall surface of the drone body and the deviation of the angle, etc. can be more easily confirmed than in the case of the same color. For example, with a combination of two laser pointers, such as a red and a green laser pointer, the mixed color is yellow. With a combination of three laser pointers, such as a red, a green, and a blue laser pointer, the mixed color is white, making it easier to confirm the point of convergence of the laser beam.

Advantages of the Invention

[0019] According to the drone measurement device of the present invention, with a lightweight device, the alignment between the object to be measured and the sensor can be easily performed, so that the contact between the wall surface of the object to be measured and the tip of the sensor is ensured, and the impact when the tip of the sensor contacts the wall surface of the object to be measured can be reduced. In addition, a drone measurement device capable of measuring the characteristics of the wall surface by making the sensor contact the wall surface facing it can be provided.

Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a plan view of a drone measurement device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a front view of a drone measurement device according to a first embodiment of the present invention. [Figure 3] FIG. 3 is a left side view of a drone measurement device according to a first embodiment of the present invention. [Figure 4] FIG. 4 is an explanatory view of a laser pointer according to the present invention. FIG. 4(a) shows the case where two laser pointers are used, and FIG. 4(b) shows the case where three laser pointers are used. [Figure 5] FIG. 5 is an explanatory view of the structure of the tip of the arm of the present invention. FIG. 5(a) is a plan view of the tip of the arm, and FIG. 5(b) is a cross-sectional view taken along line A-A of FIG. 5(a). [Figure 6] FIG. 6 is a plan view of a drone measurement device according to a second embodiment of the present invention. [Figure 7] FIG. 7 is a front view of a drone measurement device according to a second embodiment of the present invention. [Figure 8]Figure 8 is a left side view of a drone measuring device according to a second embodiment of the present invention. [Modes for carrying out the invention]

[0021] Preferred embodiments of the present invention will be described below with reference to the drawings.

[0022] <First Embodiment> Figures 1, 2, and 3 are a plan view, a front view, and a left side view of a drone measuring device according to the first embodiment of the present invention.

[0023] In the first embodiment, the drone measuring device 1A comprises a drone body 2, an imaging device 3 attached to the drone body 2, a sensor 4 for measuring the characteristics of an object to be measured, an arm 6 extending forward from the drone body 2 that flexibly supports the sensor 4, and at least two laser pointers 5A and 5B. The laser pointers 5A and 5B are positioned so that their laser beams are substantially perpendicular to the front-to-back direction of the drone body 2 and intersect on a plane passing through the tip of the sensor 4. The imaging device 3 captures the laser beams reflected from the object to be measured, and the device 3 aligns the object to be measured with the sensor 4 based on its shape.

[0024] In this embodiment, the drone body 2 has four motors 22A, 22B, 22C, and 22D mounted on a quad X-shaped frame 21, which rotate four two-bladed rotors 23A, 23B, 23C, and 23D, respectively. The rotation of each rotor generates lift, but adjacent rotors rotate in opposite directions to cancel out the rotational moment generated in the drone body 2. In addition, guard wires 25 that cover and protect each rotor portion to prevent direct contact with obstacles are fixed to guard wire fixing parts 26 provided on the frame 21. Although not shown in the figures, the drone body 2 incorporates a battery, a flight control device, and a wireless transceiver. The flight control device controls the drive state of each motor to control the drone's attitude, direction of movement, and speed. The wireless transceiver receives flight instructions from the operator's transmitter and transmits images from the imaging device 3 to the monitor.

[0025] When the drone body 2 moves forward (towards the side with the imaging device 3), the rotation speeds of the rear motors 22C and 22D are increased to match the horizontal movement speed, and the drone moves forward with horizontal thrust obtained in a posture where the front is tilted low by about 10°.

[0026] The imaging device 3 is a camera capable of obtaining FPV (First Person View) images. In this embodiment, it captures the shape of the laser light reflected from the object to be measured (described later) and uses that shape to align the object to be measured with the sensor 4.

[0027] In the case of a sensor 4 that measures the characteristics of an object by contacting the wall surface W of the object being measured, it is necessary to constantly press the sensor 4 forward to prevent it from moving away from the wall surface W during measurement. This means that the drone body 2 will perform the measurement in a posture where the front is tilted low at an angle of 10° or less. Therefore, an arm 6 extending forward from the drone body 2, which flexibly supports the sensor 4 that measures the characteristics of the object being measured, compensates for the tilt and enables the sensor 4 to make direct contact with the wall surface W of the object being measured. Furthermore, the arm 6 extending forward from the drone body 2 that flexibly supports the sensor 4 compensates not only for the forward and backward tilt of the drone body 2, but also for the up, down, left, and right tilt of the drone body 2, enabling the sensor 4 to make direct contact with the wall surface W of the object being measured. Note that if the sensor 4 itself is equipped with a flexible mechanism, or if the sensor 4 can measure the characteristics of the object being measured in close proximity to the wall surface W of the object being measured without making contact, the sensor 4 may be supported at the front of the drone body 2 or by a simple arm extending forward from the drone body 2.

[0028] Figure 4(a) illustrates the alignment of the wall surface W of the object to be measured and the tip of the sensor 4 in a plan view when using two laser pointers. The two laser pointers 5A and 5B are attached to the guard wire 25 in front of the imaging device 3 at equidistant positions from the centerline of the drone body 2. The lasers of the laser pointers 5A and 5B are positioned so that their laser beams intersect on a plane that is approximately perpendicular to the front-to-back direction of the drone body 2 and passes through the tip of the sensor 4. The plane approximately perpendicular to the front-to-back direction of the drone body 2 means the plane that makes an angle of (90-α)° with the front-to-back direction of the drone body 2 when the drone body 2 is tilted low at an angle of α°. Here, the angle of α° is approximately 0° to 10° and is adjusted according to the characteristics of the drone body 2, such as its horizontal flight attitude. For example, if the drone body 2 is tilted downwards at a 5° angle, the corresponding plane is one that forms an 85° angle with the front-to-back direction of the drone body 2 and passes through the tip of the sensor 4. Since the laser pointers 5A and 5B are positioned so that their laser beams intersect on such a plane, the alignment between the wall surface W of the object to be measured and the tip of the sensor 4 can be made more accurate even when the drone body 2 is tilted downwards at the front.

[0029] When the tip of sensor 4 is away from the wall surface W of the object being measured, laser pointer 5A creates a reflection point of laser light at position X on the wall surface W, and laser pointer 5B creates a reflection point of laser light at position Y on the wall surface W, and the imaging device 3 observes the two reflection point configurations of laser light. As the drone body 2 moves closer to the wall surface W, the distance between the two reflection points X and Y of the laser light decreases, and eventually converges into a single reflection point configuration of laser light. The position F where these laser beams intersect is the position where the tip of sensor 4 contacts the wall surface W of the object being measured. This lightweight device allows for easy alignment of the wall surface W of the object being measured with the tip of sensor 4, ensuring contact between the wall surface W of the object being measured and the tip of sensor 4, and reducing the impact when the tip of sensor 4 contacts the wall surface W of the object being measured.

[0030] Figure 4(b) illustrates the alignment of the wall surface W of the object to be measured and the tip of the sensor 4 in a plan view when using three laser pointers. Note that in the case of Figure 4(b), unlike the case where the object to be measured is approached directly from the wall surface W as in Figure 4(a), the laser pointers are approached at an angle to the wall surface W of the object to be measured. The three laser pointers 5A, 5B, and 5C are attached to the guard wire 25 in front of the imaging device 3, and are positioned so that the laser beams of the laser pointers 5A, 5B, and 5C intersect on a plane that is approximately perpendicular to the front-to-back direction of the drone body 2 and passes through the tip of the sensor 4.

[0031] When the tip of sensor 4 is away from the wall surface W of the object being measured, laser pointer 5A creates a reflection point of laser light at position X on the wall surface W, laser pointer 5B creates a reflection point at position Y on the wall surface W, and laser pointer 5C creates a reflection point of laser light at position Z on the wall surface W, and the imaging device 3 observes the three reflection point configurations of laser light. As the drone body 2 moves closer to the wall surface W, the intervals between the three reflection points X, Y, and Z (XZ and YZ) become smaller and smaller, until they converge into a single reflection point configuration of laser light. The position F where these laser beams intersect is the position where the tip of sensor 4 contacts the wall surface W of the object being measured, allowing for easy alignment between the wall surface W of the object being measured and the tip of sensor 4. Furthermore, as can be seen from Figure 4(b), the difference in the spacing between XZ and YZ of the three laser beam reflection points X, Y, and Z indicates that the drone body 2 is tilted to either the left or right. Therefore, by controlling the spacing between XZ and YZ to be equal before the laser beam converges into a single reflection point shape, the drone body 2 can be positioned directly toward the wall W while aligning the tip of the sensor 4 with the wall W of the object being measured. Note that in this drawing, since the laser pointers 5A, 5B, and 5C are at the same position on the guard wire 25, the laser beam reflection points X, Y, and Z are aligned in a straight line. However, if, for example, laser pointer 5C is located below laser pointers 5A and 5B, the laser beam reflection points X, Y, and Z will form a triangular shape, making the orientation of the drone body 2 relative to the wall W easier to understand.

[0032] Alignment of the wall surface W of the object to be measured with the tip of the sensor 4 can be performed by the operator controlling the flight using a transmitter while viewing the reflection point morphology of the laser light captured by the imaging device 3 on a monitor, or by the drone body 2 performing image processing and automatically controlling the flight control device so that several reflection points converge to a single point.

[0033] While two or more laser pointers are sufficient, a maximum of six is ​​adequate. Exceeding this number only increases the weight without providing any significant improvement in alignment. For example, with four laser pointers, if the laser beams from the two right-hand laser pointers intersect at a point on a plane approximately perpendicular to the front-to-back direction of the drone body 2 and passing through the tip of the sensor 4, and the laser beams from the two left-hand laser pointers intersect at a different point on the same plane, then if the reflection points of the laser beams from the two right-hand laser pointers and the reflection points of the laser beams from the two left-hand laser pointers converge simultaneously at a certain point, it can be determined that the drone body 2 is facing the wall W and that the tip of the sensor 4 has reached a position where it is in contact with the object being measured. Furthermore, with the maximum of six laser pointers, a combination of two laser pointers can be used to determine three convergence points where the laser beams intersect at a position approximately perpendicular to the front-to-back direction of the drone body 2 and passing through the tip of the sensor 4. (Convergence point) This allows for the creation of a system that further improves the accuracy of the alignment between the wall surface W of the object being measured and the tip of the sensor 4.

[0034] Furthermore, using different colored laser pointers makes it easier to observe when the laser beams converge to a single point, which is preferable. For example, with two laser pointers 5A and 5B, if laser pointer 5A is red and laser pointer 5B is green, when the laser beams converge to a single point, the reflected light will be a mixed color yellow, making it easy to confirm the position of the convergence point F. With three laser pointers 5A, 5B, and 5C, if laser pointer 5A is red, laser pointer 5B is green, and laser pointer 5C is blue, when the laser beams converge to a single point, the reflected light will be a mixed color white, making it easy to confirm the position F where the laser beams intersect.

[0035] Figure 5 is an explanatory diagram of the structure of the arm tip of the present invention, where Figure 5(a) is a plan view of the arm tip and Figure 5(b) is a cross-sectional view taken along line AA in Figure 5(a). The arm 6 of the present invention extends forward from the drone body 2 and is characterized by supporting a sensor 4 in a flexible manner. In this embodiment, the arm 6 consists of a front arm 61 to which a sensor holder 64 that holds an ultrasonic plate thickness gauge 41 as the sensor 4 is attached, and a rear arm 62 whose one end is connected to the front arm 61 by a bending spring 66 and whose other end is attached to the drone body 2. Since the spring coil of the bending spring 66 is tightly wound, the front arm 61 can move flexibly by this bending spring 66. Furthermore, a sensor cover 63 that protects the ultrasonic plate thickness gauge 41 and makes direct contact with the wall surface W of the object to be measured is attached to the front arm 61, and the sensor cover 63 is pushed forward by a front / rear spring 65 in which the spring coil is loosely wound. The arm 6 is hollow inside, and although not shown in the diagram, electrical signal wiring to the sensor 4 and, in the case of the ultrasonic plate thickness gauge 41, piping for supplying the ultrasonic transmission medium also pass through the hollow section.

[0036] With the arm configuration of this embodiment, even if the direction of the arm 6, i.e., the contact direction of the sensor 4, is not initially directly facing the wall surface W of the object to be measured, as the sensor 4 approaches the wall surface W of the object to be measured, the bending spring 66 bends so that the sensor cover 63 of the front arm 61 directly faces and contacts the wall surface W of the object to be measured. Receiving pressure from the drone body 2, the sensor cover 63 then retracts while pushing the front / rear spring 65, and finally the sensor 4 directly faces and contacts the wall surface W of the object to be measured, enabling the measurement of the characteristics of the object to be measured.

[0037] In this embodiment, a bending spring 66 is used as the mechanism for the arm 6 that flexibly supports the sensor 4. However, the mechanism is not limited to this, and a highly elastic material such as rubber may be used instead of the bending spring 66.

[0038] Furthermore, since the front arm 61 and rear arm 62, like the outer shell and frame 21 of the drone body 2, require both lightness and strength, materials such as carbon fiber reinforced plastic are preferable.

[0039] In the first embodiment, the drone measuring device 1A captures the laser light reflected from the object being measured by the laser pointers 5A and 5B using an imaging device. Based on the shape of the reflected light, it is possible to align the wall surface W of the object being measured with the tip of the sensor 4, thereby reducing the impact when the tip of the sensor 4 comes into contact with the object being measured. Furthermore, because it is equipped with an arm 6 extending forward from the drone body 2 that flexibly supports the sensor 4, even if the drone body 2 swings up, down, left, or right during measurement, the sensor 4, which is in contact with the wall surface of the object being measured, will face the wall surface directly, thus improving measurement accuracy.

[0040] <Second Embodiment> Figures 6, 7, and 8 are a plan view, a front view, and a left side view of a drone measuring device according to a second embodiment of the present invention.

[0041] In the second embodiment of the drone measuring device 1B, the configuration is the same as that of the first embodiment of the drone measuring device 1A, but the number of laser pointers is changed from two to three, and the drone body 2 is further equipped with two auxiliary arms 7, the two auxiliary arms 7 are installed horizontally and parallel to the arm 6 that extends forward from the drone body 2, and the tips of the two auxiliary arms 7 and the tips of the sensors 4 which are flexibly supported by the arm 6 that extends forward from the drone body 2 are supported so as to make contact with the object to be measured at three points, thereby measuring the characteristics of the object to be measured.

[0042] The features and effects of the configuration with three laser pointers were described in the explanation of Figure 4(b), so here we will describe the features and effects of the auxiliary arm 7.

[0043] The auxiliary arm 7 is attached to the legs 24 of the drone body 2 by an auxiliary arm fixing part 72, parallel to the arm 6 that extends forward from the drone body 2. An auxiliary arm leg 71 is attached to the tip of the auxiliary arm 7, and the position of this auxiliary arm leg 71 is set to be approximately equidistant from the tip of the sensor 4. Here, "approximately equidistant" means, for example, when the drone body 2 is tilted forward at a 5° angle and taking measurements, if the height distance between the arm 6 and the auxiliary arm 7 is 10 cm, then in order to make contact with the wall surface W at three points, the position of the auxiliary arm leg 71 needs to be approximately 0.9 cm in front of the tip of the sensor 4, and this difference is included.

[0044] When mounted as described above, the tip of the sensor 4, which is flexibly supported by the auxiliary arm legs 71 of the two auxiliary arms 7 and the arm 6 extending forward from the drone body 2, is supported while being pressed against the object to be measured at three points. As a result, the tip of the sensor 4 does not move relative to the wall surface W of the object to be measured during measurement, further improving measurement accuracy.

[0045] Although the drone body 2 was described as a quadcopter with four rotors as an embodiment, the same method can be applied to other types such as a hexacopter with six rotors or an octacopter with eight rotors.

[0046] Although the drone measurement device of the present invention has been described above based on embodiments, the present invention is not limited to the configuration described in the above embodiments, and its configuration can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0047] 1A, 1B Drone Measurement Device 2. Drone body 3. Imaging device 4 sensors 5A, 5B, 5C Laser Pointer 6 Arms 7. Auxiliary arm 21 frames 22A, 22B, 22C, 22D motors 23A, 23B, 23C, 23D rotors 24 Legs 25 Guard Wire 26 Guard wire fixing part 41. Ultrasonic Thickness Gauge 61 Front Arm 62 Rear arm 63 Sensor cover 64 Sensor Holder 65 Front and rear springs 66. Flexing spring 71 Auxiliary arm leg 72 Auxiliary arm fixing part F is the position where the laser beams intersect. W Wall X, Y, Z laser beam reflection points

Claims

1. A drone measuring device comprising a drone body, an imaging device attached to the drone body, a sensor that measures characteristics by bringing the sensor into contact with an object to be measured, and a plurality of laser pointers, wherein the laser pointers are arranged in combination of two or three, and the laser beams of the laser pointers are substantially perpendicular to the front-to-back direction of the drone body, on a plane passing through the tip of the sensor, and intersect at one to three convergence points, excluding the tip of the sensor, and the imaging device captures the laser beams reflected from the object to be measured, and aligns the object to be measured with the sensor based on its shape.

2. A drone measuring device comprising a drone body, an imaging device attached to the drone body, a sensor that measures characteristics by contacting an object to be measured, an arm extending forward from the drone body equipped with a bending spring or elastic rubber that bends the sensor at its tip, and a plurality of laser pointers, wherein the laser pointers are arranged in combination of two or three, and the laser beams of the laser pointers are substantially perpendicular to the front-to-back direction of the drone body, on a plane passing through the tip of the sensor, and intersect at one to three convergence points, excluding the tip of the sensor, and the imaging device captures the laser beams reflected from the object to be measured and aligns the object to be measured with the sensor based on its shape.

3. A drone measuring device comprising a drone body, an imaging device attached to the drone body, a sensor that measures characteristics by bringing the sensor into contact with an object to be measured, and a plurality of laser pointers emitting laser light of different colors, wherein the laser pointers are arranged in combination of two or three, and the laser light from the laser pointers is substantially perpendicular to the front-to-back direction of the drone body, on a plane passing through the tip of the sensor, and intersects at one to three convergence points, excluding the tip of the sensor, and the imaging device captures the laser light reflected from the object to be measured, and aligns the object to be measured with the sensor based on its shape and mixed color.

4. A drone measuring device comprising a drone body, an imaging device attached to the drone body, a sensor that measures characteristics by contacting an object to be measured, an arm extending forward from the drone body equipped with a bending spring or elastic rubber that bends the sensor at its tip, and a plurality of laser pointers emitting laser light of different colors, wherein the laser pointers are arranged in combination of two or three, and the laser light from the laser pointers is substantially perpendicular to the front-to-back direction of the drone body, on a plane passing through the tip of the sensor, and intersects at one to three convergence points, excluding the tip of the sensor, and the imaging device captures the laser light reflected from the object to be measured, and aligns the object to be measured with the sensor based on its shape and mixed color.

5. The drone measuring device according to any one of claims 1 to 4, characterized in that the sensor is an ultrasonic thickness gauge for measuring plate thickness.

6. Furthermore, the drone measuring device according to claim 2 or 4 is characterized in that the drone body is further equipped with two auxiliary arms, the two auxiliary arms being positioned so that an arm extending forward from the drone body and an arm installed horizontally and parallel to each other, the tips of the two auxiliary arms and the tip of the sensor, which is supported by an arm extending forward from the drone body and equipped with a bending spring or elastic rubber that supports the sensor so that it can be bent at its tip, contact the object to be measured at three points in a triangular shape, thereby measuring the characteristics of the object to be measured.

7. The drone measuring device according to claim 6, characterized in that the sensor is an ultrasonic plate thickness gauge for measuring plate thickness.

Images