To grasp an exact location of an abnormal location in an internal space of a structure by making it possible to minimize the detection error of a flight altitude of a remotely piloted flight vehicle in the internal space of the structure where GPS radio waves do not reach.SOLUTION: A flight vehicle is configured to detect a reference structure with a known altitude difference from a reference point from an image captured by a flight vehicle, calculate an altitude difference from the reference point for the flight vehicle on the basis of a distance and direction from the flight vehicle to the reference structure, and on the basis of the difference in altitude of the reference structure from the reference point, and calculate an altitude correction value from the difference between the calculated altitude difference and an altitude difference measured by a barometric altitude measurement unit provided in the flight vehicle. Further, the flight vehicle corrects the altitude measured by the barometric altitude measurement unit on the basis of the calculated altitude correction value to estimate the altitude difference from a reference point at an arbitrary point.SELECTED DRAWING: Figure 3
【課題】GPS電波が届かない構造体の内部空間を遠隔操縦飛行する飛行体の飛行高度の検出誤差をできる限り少なくし、構造体の内部空間の異常箇所の正確な位置を把握する。【解決手段】飛行体が撮像した画像から、基準地点からの高度差が既知である基準構造物を検出し、飛行体から基準構造物までの距離と方向、および基準構造物の基準地点からの高度差に基づいて、飛行体の基準地点からの高度差を算出し、該算出した高度差と、飛行体に設けられた気圧高度計測部が計測した高度の差分から、高度補正値を算出する。そして、飛行体は、任意の地点において、該算出した高度補正値に基づいて、気圧高度計測部が計測した高度を補正して、該任意の地点の基準地点からの高度差を推定する。【選択図】図3
FLIGHT VEHICLE UNIT AND INSPECTION SYSTEM
飛行体ユニットおよび点検システム
2022-10-14
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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