To provide an inspection system for a structure body to be inspected, that can acquire the three dimensional flight attitude of the unmanned aerial vehicle and the three dimensional flight position of the unmanned aerial vehicle without installing an inertial measurement device with high measurement accuracy on an unmanned aerial vehicle.SOLUTION: An inspection camera 3 mounted on an unmanned air vehicle 2 captures an inspection image of a structure body Y to be inspected, and a reference camera 4 mounted on the unmanned air vehicle 2 captures a reference image of the ground Z including four or more reference points. The inspection camera 3 and the reference camera 4 capture the inspection image and the reference image at the same time. Control calculation means 6 calculates a three-dimensional flight posture of the unmanned air vehicle 2 at the time of simultaneous imaging and a three-dimensional flight position of the unmanned air vehicle 2 at the time of simultaneous imaging based on the three-dimensional coordinate values of a ground coordinate system of four selected reference points P and the photo-coordinate values on the reference image for the four selected reference points P, relevant to the four reference points P selected from respective reference points of the reference images taken with the reference camera 4.SELECTED DRAWING: Figure 5
【課題】 無人飛行体に高い測定精度の慣性計測装置を搭載することなく、無人飛行体の三次元の飛行姿勢及び無人飛行体の三次元の飛行位置を取得できる被検査構造体の検査システムを提供する。【解決手段】 無人飛行体2に搭載された検査カメラ3で被検査構造体Yの検査画像を撮影し、無人飛行体2に搭載された基準カメラ4にて4以上の基準点を含む地上Zの基準画像を撮影する。検査カメラ3及び基準カメラ4は、検査画像及び基準画像を同時に撮影する。制御演算手段6は、基準カメラ4で撮影した基準画像の各基準点から選択された4つの基準点Pについて、選択した4つの基準点Pの地上座標系の三次元座標値と、選択した4つ基準点Pの基準画像上の写真座標値に基づいて、同時撮影時の無人飛行体2の三次元の飛行姿勢、及び同時撮影時の無人飛行体2の三次元の飛行位置を算出する。【選択図】 図5
INSPECTION SYSTEM FOR STRUCTURE BODY TO BE INSPECTED
被検査構造体の検査システム
2019-10-31
Patent
Electronic Resource
Japanese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES |
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