JP6625248B2 - Camera stabilizer for inspection target surface inspection and inspection target surface inspection system including the same - Google Patents

Camera stabilizer for inspection target surface inspection and inspection target surface inspection system including the same Download PDF

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JP6625248B2
JP6625248B2 JP2019003662A JP2019003662A JP6625248B2 JP 6625248 B2 JP6625248 B2 JP 6625248B2 JP 2019003662 A JP2019003662 A JP 2019003662A JP 2019003662 A JP2019003662 A JP 2019003662A JP 6625248 B2 JP6625248 B2 JP 6625248B2
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徳之 金平
徳之 金平
篤史 林
篤史 林
祥 樫本
祥 樫本
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川田テクノロジーズ株式会社
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この発明は、橋梁や建物等の構造物の垂直壁面等の点検対象面の近接目視点検のためにその垂直壁面等の点検対象面を点検用カメラで撮影する際に点検用カメラの姿勢を安定させる点検対象面点検用カメラ安定装置および、その点検対象面点検用カメラ安定装置を具える点検対象面点検システムに関するものである。   The present invention stabilizes the posture of the inspection camera when the inspection surface such as a vertical wall surface is photographed by the inspection camera for close visual inspection of the inspection surface such as a vertical wall surface of a structure such as a bridge or a building. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera stabilizing device for inspecting a surface to be inspected, and a system for inspecting an inspecting surface including the camera stabilizer for inspecting the surface to be inspected.

近年の道路法施行規則の一部改正により、全国で約７０万箇所ある道路橋に対して、国が定める統一的な基準による５年に１回の近接目視点検が義務付けられており、その点検部位には、点検員による直接点検が困難な、橋梁の橋脚等の垂直壁面も含まれている。   Due to the recent revision of the Enforcement Regulations of the Road Law, approximately 700,000 road bridges nationwide are required to have a close visual inspection every five years based on a unified national standard. The part includes vertical walls such as piers of bridges, which are difficult to inspect directly by inspectors.

このような点検員による直接点検が困難な部位の点検システムとしては従来、例えば特許文献１記載の橋梁下面の点検装置が知られている。この点検装置は、橋梁の上部通路上を移動可能な台車と、台車に突設されて水平方向へ延在する基部アームと、基部アームの先端部に支持されて垂直方向へ延在する垂下アームと、台車に設けられて垂下アームを昇降させる垂下アーム昇降手段と、垂下アームの下端部に中間部を固定されて水平方向へ延在する水平アームと、水平アームの先端部に下端部を固定されて上向きに延在する入り込みアームと、入り込みアームの上端部に首振り機構を介して搭載された点検用カメラと、水平アームの水平バランスを取るウエイトと、台車に設けられて点検用カメラの撮影画像を表示する画像表示手段とを具えており、この点検装置によれば、橋梁下面に設けられたガス管等の長尺付属物の点検を橋梁の上部通路から、手間をかけずに短時間で的確に行うことができる。   Conventionally, as an inspection system for a part where direct inspection by an inspector is difficult, for example, an inspection device for a lower surface of a bridge described in Patent Document 1 is known. The inspection device includes a bogie movable on an upper passage of a bridge, a base arm protruding from the bogie and extending in a horizontal direction, and a hanging arm supported by a distal end of the base arm and extending in a vertical direction. A hanging arm raising / lowering means provided on a trolley for raising and lowering the hanging arm, a horizontal arm having an intermediate portion fixed to the lower end of the hanging arm and extending in the horizontal direction, and a lower end fixed to the tip of the horizontal arm Arm, an inspection camera mounted on the upper end of the entry arm via a swing mechanism, a weight for horizontally balancing the horizontal arm, and an inspection camera provided on the trolley. According to this inspection device, inspection of a long accessory such as a gas pipe provided on the lower surface of the bridge can be performed from the upper passage of the bridge without any trouble. Accurate in time It can be carried out.

また、点検員による直接点検が困難な部位の点検のためには、無人飛行体に点検用カメラを搭載して点検システムを構成することが考えられ、無人飛行体としては例えば、改正航空法でいうドローン（無人航空機）のうち、複数のロータにより浮上、飛行および空中での静止を行うマルチコプタが特許文献２等により知られている。マルチコプタは、現在では多種のものが市販されており、一般に、マイクロコンピュータを持つフライトコントローラ（ＦＣ）およびＧＰＳ(全地球測位システム)や３軸ジャイロセンサ、３軸加速度計等を搭載していて、それらによる自身の位置・姿勢制御によりある程度の自律飛行が可能であるとともに、無線通信機を搭載していてその通信機能によりスマートフォン等からなる操縦装置での遠隔操縦が可能である。さらにマルチコプタは通常、前方や下方等の視界を撮影する飛行用ビデオカメラを搭載していて、操縦員の操縦装置にその飛行用ビデオカメラで撮影している動画を送ることができる。   In addition, for inspection of parts where direct inspection by inspectors is difficult, it is conceivable to configure an inspection system by mounting an inspection camera on an unmanned aerial vehicle. Among such drones (unmanned aerial vehicles), a multicopter in which a plurality of rotors levitate, fly, and stop in the air is known from Patent Document 2 and the like. At present, various types of multicopters are commercially available, and generally include a flight controller (FC) having a microcomputer, a GPS (Global Positioning System), a three-axis gyro sensor, a three-axis accelerometer, and the like. The self-position / posture control by them enables a certain degree of autonomous flight, and allows a remote control with a control device such as a smartphone or the like by using a wireless communication device equipped with a wireless communication device. Further, the multicopter is usually equipped with a flight video camera that captures a field of view such as forward and downward, and can transmit a moving image captured by the flight video camera to the pilot's control device.

マルチコプタに点検用カメラを搭載して垂直面の点検を行うシステムとしては例えば、特許文献３記載の写真撮影用移動体が知られている。この写真撮影用移動体は、橋梁等の点検対象の垂直面の撮影のために、マルチコプタに点検用カメラを左右軸（ピッチ軸）および前後軸（ロール軸）周りに姿勢変更可能なジンバルおよび上下軸（ヨー軸）周りに向き変更可能な回転制御手段を介して搭載するとともに、点検用カメラの左右に超音波式の距離センサを設け、マルチコプタを遠隔操縦してマルチコプタの飛行制御手段で飛行モータと併せて作動制御されるジンバルにより点検用カメラの水平姿勢を保持しながらマルチコプタを点検対象の垂直面の近傍で空中静止させるとともに、左右の距離センサで測定した点検対象の垂直面までの距離が互いに等しくなるように回転制御手段を動作させ、距離センサで測定した点検対象の垂直面までの距離が互いに等しくなった時に点検用カメラがその点検対象の垂直面に対し真正面に向いたものとして、撮影すべきタイミングを示す緑色のレーザポインタをその点検対象の垂直面に照射して点検用カメラのシャッタ操作を促し、もしくは点検用カメラのシャッタ操作を自動的に行ってその点検対象の垂直面の静止画を撮影する。   As a system in which an inspection camera is mounted on a multicopter to inspect a vertical plane, for example, a moving body for photography described in Patent Document 3 is known. This multi-copter is a gimbal that can change the attitude of the inspection camera around the left-right axis (pitch axis) and the front-rear axis (roll axis), and the up-and-down direction for photographing a vertical surface to be inspected such as a bridge. It is mounted via rotation control means that can change the direction around the axis (yaw axis), and ultrasonic distance sensors are provided on the left and right of the inspection camera, and the multi-copter is remotely operated and the flight motor is controlled by the multi-copter flight control means. The multi-copter is stopped in the air near the vertical surface to be inspected while maintaining the horizontal position of the inspection camera by the gimbal that is operated in conjunction with the gimbal, and the distance to the vertical surface to be inspected measured by the left and right distance sensors is reduced. The rotation control means is operated so as to be equal to each other, and when the distance to the vertical surface of the inspection object measured by the distance sensor becomes equal to each other, the inspection cap is used. Irradiates a green laser pointer indicating the timing to be photographed on the vertical surface of the inspection target to prompt the shutter operation of the inspection camera, The shutter operation of the camera is automatically performed to capture a still image on the vertical plane to be inspected.

特開２００５−１３３４７１号公報JP 2005-133471 A 特開２０１３−０１０４９９号公報JP 2013-010499 A 特許第６０２４０７４号公報Japanese Patent No. 6024074

ところで、点検用カメラで構造物の垂直壁面等の点検対象面を撮影し、その撮影画像を用いて点検対象面の近接目視点検を行うためには、点検対象面の欠損やひび割れ等の不具合の状況を画像から正確に把握できるように、点検対象面に対し点検用カメラを高精度に正対させて撮影を行う必要があるのに対し、特許文献１記載の点検装置では、垂下アームおよび水平アームを介して支持された入り込みアームの上端部に首振り機構を介して点検用カメラが搭載されていることから、点検用カメラの支持剛性を充分に得るのが構造的に困難であり、それゆえ、点検用カメラを構造物の点検対象面に高精度に正対させて撮影を行うのは困難であるという問題があった。   By the way, in order to photograph the inspection target surface such as the vertical wall surface of the structure with the inspection camera, and to perform close visual inspection of the inspection target surface using the captured image, it is necessary to inspect the inspection target surface for defects such as loss and cracks. In order to be able to accurately grasp the situation from the image, it is necessary to shoot the inspection camera with the inspection camera facing the inspection target surface with high precision. On the other hand, in the inspection device described in Patent Document 1, the hanging arm and the horizontal Since the inspection camera is mounted via the swing mechanism on the upper end of the entering arm supported via the arm, it is structurally difficult to obtain sufficient support rigidity of the inspection camera. Therefore, there is a problem that it is difficult to photograph the inspection camera with high accuracy facing the inspection target surface of the structure.

そこで本願発明者は、特許文献２で知られるようなマルチコプタに点検用カメラを搭載して点検システムを構成し、その点検用カメラの撮影画像で構造物の点検対象面の近接目視点検を行うことも検討したが、特許文献２のようなマルチコプタは飛行中の位置決め精度が充分でなく、しかも点検用カメラを搭載するとその搭載方法によっては機体のバランスを取るのが困難になることから、カメラを点検対象面に対して高精度に正対させて維持するのは困難であるという問題があった。   Therefore, the present inventor configures an inspection system by mounting an inspection camera on a multicopter as disclosed in Patent Literature 2, and performs close visual inspection of an inspection target surface of a structure with a captured image of the inspection camera. However, the multi-copter disclosed in Patent Document 2 has insufficient positioning accuracy during flight, and if an inspection camera is mounted, it will be difficult to balance the aircraft depending on the mounting method. There is a problem that it is difficult to maintain the inspection target face with high accuracy.

また、特許文献３のようにしてマルチコプタに点検用カメラを搭載して点検システムを構成することも検討したが、この点検システムでは、マルチコプタを遠隔操縦により点検対象面の近くで空中静止させ、マルチコプタの飛行制御手段で飛行モータと併せて作動制御されるジンバルにより水平姿勢を保持した点検用カメラが点検対象面に対し正対した時にその点検用カメラのシャッタを切ってその点検対象面を撮影するので、マルチコプタの位置や姿勢が安定しないような気流や気象等の条件下では、飛行モータの制御のための飛行制御手段の負荷が大きくなってジンバルの制御に遅れが生じ、点検対象面の近接目視点検用の画像を点検用カメラで確実に撮影することは困難であるという問題があった。   Also, as described in Patent Document 3, it has been considered to configure an inspection system by mounting an inspection camera on a multicopter. In this inspection system, the multicopter is stopped in the air near a surface to be inspected by remote control, and the multicopter is stopped. When the inspection camera holding the horizontal attitude by the gimbal operated and controlled in conjunction with the flight motor by the flight control means faces the inspection target surface, the shutter of the inspection camera is released and the inspection target surface is photographed. Therefore, under conditions such as airflow and weather where the position and attitude of the multicopter are not stable, the load on the flight control means for controlling the flight motor increases, causing a delay in gimbal control and the proximity of the inspection target surface. There has been a problem that it is difficult to reliably photograph an image for visual inspection with an inspection camera.

それゆえこの発明は、上述の如き支持剛性の確保が困難な点検装置や安定姿勢の確保が困難なマルチコプタ等を使用しても構造物の垂直壁面等の点検対象面の近接目視点検用の画像を点検用カメラで確実に撮影することができる点検対象面点検用カメラ安定装置および、それを具える点検対象面点検システムを提供することを目的としている。   Therefore, the present invention provides an image for close visual inspection of a surface to be inspected, such as a vertical wall surface of a structure, even if an inspection device or a multi-copter or the like that has difficulty in securing the support rigidity or a stable posture is difficult to use as described above. It is an object of the present invention to provide a camera stabilizing device for inspecting a surface to be inspected, which can surely photograph an image with a camera for inspection, and a system for inspecting an inspecting surface including the same.

この発明は、上記課題を有利に解決するものであり、この発明の点検対象面点検用カメラ安定装置は、点検対象面の動画または複数枚の静止画を継続的に撮影する点検用カメラを前記点検対象面に正対させるためのものであって、
前記点検用カメラを固定搭載可能なカメラマウントと、
基本位置で互いに直交する上下軸と前後軸と左右軸との３軸の各軸周りに前記カメラマウントの向きを変更するカメラマウント向き変更機構と、
前記カメラマウントに前記点検用カメラとともに固定搭載されて、前記点検対象面の、前記点検用カメラの少なくとも左右方向に互いに離間した複数箇所までの距離をそれぞれ継続的に測定する距離センサと、
前記距離センサが測定した前記点検対象面の複数箇所までの距離と姿勢センサが検出した前記点検対象面点検用カメラ安定装置の姿勢とに基づき、前記点検用カメラが前記点検対象面に常に正対するように前記カメラマウント向き変更機構の動作を継続的に制御するカメラマウント向き制御手段と、
を具えることを特徴とするものである。 The present invention advantageously solves the above-mentioned problems, and a camera stabilizing device for inspecting an inspection target surface of the present invention includes an inspection camera for continuously photographing a moving image or a plurality of still images of an inspection target surface. It is for facing directly to the inspection target surface,
A camera mount capable of fixedly mounting the inspection camera,
A camera mount direction changing mechanism for changing the direction of the camera mount around three axes of a vertical axis, a front-rear axis, and a left-right axis that are orthogonal to each other at a basic position;
A distance sensor that is fixedly mounted together with the inspection camera on the camera mount, and continuously measures distances to a plurality of locations on the inspection target surface that are separated from each other in at least the left-right direction of the inspection camera,
The inspection camera always faces the inspection target surface based on the distance to the plurality of locations on the inspection target surface measured by the distance sensor and the posture of the inspection target surface inspection camera stabilizer detected by the posture sensor. Camera mount orientation control means for continuously controlling the operation of the camera mount orientation change mechanism,
It is characterized by having.

また、この発明の点検対象面点検システムは、
前記点検対象面点検用カメラ安定装置と、
前記点検対象面点検用カメラ安定装置の前記カメラマウントに搭載された前記点検用カメラと、
前記点検対象面点検用カメラ安定装置を介して前記点検用カメラを前記点検対象面の近傍に配置するカメラ配置手段と、
を具えることを特徴とするものである。 In addition, the inspection target surface inspection system of the present invention includes:
A camera stabilizer for inspecting the inspection target surface;
The inspection camera mounted on the camera mount of the inspection target surface inspection camera stabilizer,
Camera placement means for placing the inspection camera near the inspection target surface via the inspection target surface inspection camera stabilizer,
It is characterized by having.

この発明の点検対象面点検用カメラ安定装置にあっては、カメラマウントが、点検対象面の動画または複数枚の静止画を継続的に撮影する点検用カメラを固定搭載でき、カメラマウント向き変更機構が、基本位置で互いに直交する上下軸（ヨー軸）と前後軸（ロール軸）と左右軸（ピッチ軸）との３軸の各軸周りにカメラマウントの向きを変更し、カメラマウントに固定搭載された距離センサが、点検用カメラの少なくとも左右方向に互いに離間した、点検対象面の複数箇所までの距離をそれぞれ継続的に測定し、カメラマウント向き制御手段が、距離センサがそれぞれ継続的に測定した点検対象面の複数箇所までの距離と姿勢センサが検出したカメラ安定装置の姿勢とに基づき、点検用カメラが点検対象面に常に正対するようにカメラマウント向き変更機構の動作を継続的に制御する。   In the camera stabilizing device for inspecting a surface to be inspected according to the present invention, the camera mount can be fixedly equipped with an inspection camera for continuously photographing a moving image or a plurality of still images on the surface to be inspected, and a camera mount orientation changing mechanism. However, the orientation of the camera mount is changed around the three axes of the vertical axis (yaw axis), the front-rear axis (roll axis), and the left-right axis (pitch axis) orthogonal to each other at the basic position, and fixed to the camera mount The distance sensor is continuously measured at least to a plurality of locations on the inspection target surface, which are separated from each other at least in the left-right direction of the inspection camera, and the camera mount orientation control means is continuously measured by the distance sensor. Based on the distance to the inspection target surface and the position of the camera stabilizer detected by the attitude sensor, the camera camera should always face the inspection target surface. To continuously control the operation of the door direction change mechanism.

従って、この発明の点検対象面点検用カメラ安定装置によれば、点検対象面点検システムによる当該点検対象面点検用カメラ安定装置の支持剛性や支持精度が充分高くなくても、距離センサがそれぞれ測定した点検対象面の複数箇所までの距離と当該垂直面点検用カメラ安定装置が有する姿勢センサが検出したカメラ安定装置の姿勢とに基づいて点検用カメラを点検対象面に常に正対させておき、その点検用カメラで点検対象面の動画または複数枚の静止画を撮影することで、点検対象面の点検用画像を確実に得ることができる。   Therefore, according to the inspection object surface inspection camera stabilizer of the present invention, even if the support rigidity and the supporting accuracy of the inspection object surface inspection camera stabilizer by the inspection object inspection system are not sufficiently high, the distance sensors can be measured. The inspection camera is always directly opposed to the inspection target surface based on the distance to the plurality of locations on the inspection target surface and the attitude of the camera stabilizer detected by the attitude sensor included in the vertical surface inspection camera stabilizer, By shooting a moving image or a plurality of still images of the inspection target surface with the inspection camera, an inspection image of the inspection target surface can be reliably obtained.

なお、この発明の点検対象面点検用カメラ安定装置においては、前記カメラマウントの、前記距離センサが距離をそれぞれ測定する点検対象面の複数個所は、前記カメラマウントに搭載された点検用カメラの左右方向に互いに離間していると好ましい。このように距離センサが距離をそれぞれ測定する点検対象面の複数個所を点検用カメラの左右方向に互いに離間させれば、距離センサが測定した距離から上下軸（ヨー軸）周りのカメラの向きを容易に求めることができる。   In the camera stabilizing device for inspecting an inspection target surface according to the present invention, a plurality of portions of the inspection target surface of the camera mount on which the distance sensors measure the distances are located at right and left sides of the inspection camera mounted on the camera mount. Preferably, they are spaced apart from each other in the direction. In this way, if a plurality of locations on the inspection target surface where the distance sensor measures the distance are separated from each other in the left-right direction of the inspection camera, the direction of the camera around the vertical axis (yaw axis) is calculated from the distance measured by the distance sensor. It can be easily obtained.

また、この発明の点検対象面点検用カメラ安定装置においては、前記カメラマウントの、前記距離センサが距離をそれぞれ測定する点検対象面の複数個所は、前記カメラマウントに搭載された点検用カメラの上下方向にも互いに離間していると好ましい。このように距離センサが距離をそれぞれ測定する点検対象面の複数個所を点検用カメラの上下方向にも互いに離間させれば、距離センサが測定した距離から左右軸（ピッチ軸）周りのカメラの向きも容易に求めることができる。   Further, in the camera stabilizing device for inspecting a surface to be inspected according to the present invention, a plurality of portions of the surface to be inspected of the camera mount where the distance sensors each measure a distance are located above and below an inspection camera mounted on the camera mount. It is preferable that they are also separated from each other in the direction. In this way, if a plurality of portions of the inspection target surface where the distance sensor measures the distance are separated from each other also in the vertical direction of the inspection camera, the direction of the camera around the left and right axis (pitch axis) from the distance measured by the distance sensor Can also be easily obtained.

さらに、この発明の点検対象面点検用カメラ安定装置においては、前記距離センサは、当該距離センサから遠ざかるにつれて互いに離れる方向へ向けられて前記カメラマウントに固定された複数の距離センサであると好ましい。このように複数の距離センサをそれらの距離センサから遠ざかるにつれて互いに離れる方向へ向ければ、複数の距離センサで各々測定した点検対象面までの距離の差を、複数の距離センサを互いに同一方向へ向けた場合よりも大きくできるので、点検用カメラをより高精度に点検対象面に向けることができる。   Further, in the camera stabilizing device for inspecting a surface to be inspected according to the present invention, it is preferable that the distance sensor is a plurality of distance sensors fixed to the camera mount so as to be directed away from each other as the distance sensor is separated. As described above, if the plurality of distance sensors are directed away from each other as they move away from each other, the difference in the distance to the inspection target surface measured by each of the plurality of distance sensors is directed to the same direction. Therefore, the inspection camera can be more accurately directed to the inspection target surface.

また、この発明の点検対象面点検システムにあっては、
点検対象面点検用カメラ安定装置のカメラマウントに点検用カメラが搭載され、
その点検用カメラが点検対象面の動画または複数枚の静止画を継続的に撮影し、
カメラ配置手段が、点検対象面点検用カメラ安定装置を介して点検用カメラを点検対象面の近傍に配置し、
その点検対象面点検用カメラ安定装置のカメラマウント向き変更機構が、基本位置で互いに直交する３軸の各軸周りにカメラマウントの向きを変更し、カメラマウントに点検用カメラとともに固定搭載された距離センサが、点検用カメラの少なくとも左右方向に互いに離間した、点検対象面の複数箇所までの距離をそれぞれ継続的に測定し、カメラマウント向き制御手段が、距離センサがそれぞれ継続的に測定した点検対象面の複数箇所までの距離と姿勢センサが検出したカメラ安定装置の姿勢とに基づき、点検用カメラが点検対象面に常に正対するようにカメラマウント向き変更機構の動作を継続的に制御する。 In the inspection target surface inspection system of the present invention,
A camera for inspection is mounted on the camera mount of the camera stabilizer for the surface to be inspected.
The inspection camera continuously shoots a video or multiple still images of the inspection target surface,
Camera placement means places the inspection camera near the inspection target surface via the inspection target inspection camera stabilizer,
The camera mount orientation changing mechanism of the camera stabilizer for the inspection target surface changes the direction of the camera mount around each of three axes orthogonal to each other at the basic position, and the distance fixedly mounted together with the inspection camera on the camera mount. The sensor continuously measures the distance to a plurality of locations on the inspection target surface, which are separated from each other at least in the left-right direction of the inspection camera, and the camera mount orientation control means continuously measures the distance of each of the inspection targets by the distance sensor. The operation of the camera mount orientation changing mechanism is continuously controlled based on the distance to a plurality of points on the surface and the posture of the camera stabilizer detected by the posture sensor so that the inspection camera always faces the inspection target surface.

従って、この発明の点検対象面点検システムによれば、点検対象面点検システム自体による点検用カメラの支持剛性や支持精度が充分高くなくても、そこに設けたこの発明の点検対象面点検用カメラ安定装置が、基本位置で互いに直交する３軸の各軸周りに関して点検用カメラを点検対象面に常に正対させておくことができるので、点検対象面に常に正対したその点検用カメラで点検対象面の動画または複数枚の静止画を撮影することで、点検対象面の点検用画像を確実に得ることができる。   Therefore, according to the inspection target surface inspection system of the present invention, even if the inspection rigidity and the supporting accuracy of the inspection camera by the inspection target inspection system itself are not sufficiently high, the inspection target surface inspection camera of the present invention provided there is provided. Since the stabilizer can keep the inspection camera always facing the inspection target surface around each of the three axes orthogonal to each other at the basic position, inspection is performed with the inspection camera always facing the inspection target surface. By photographing a moving image or a plurality of still images on the target surface, an inspection image of the inspection target surface can be reliably obtained.

なお、この発明の点検対象面点検システムにおいては、前記点検用カメラが撮影した前記点検対象面の動画のデータに同期された、前記距離センサがそれぞれ測定した点検対象面の複数個所の距離のデータを出力する距離データ同期出力手段を具えていると好ましい。このように点検用カメラが撮影した動画のデータに同期された点検対象面の複数個所の距離データを距離データ同期出力手段が出力すれば、その距離データを解析することで、点検用カメラが点検対象面に正対した時点の点検用画像をより高精度に得ることができる。   In the inspection target surface inspection system according to the present invention, the distance data at a plurality of locations on the inspection target surface measured by the distance sensor are synchronized with the video data of the inspection target surface captured by the inspection camera. It is preferable to include distance data synchronization output means for outputting the distance data. If the distance data synchronization output means outputs the distance data at a plurality of locations on the inspection target surface synchronized with the video data captured by the inspection camera in this way, the inspection camera can inspect the distance data by analyzing the distance data. An inspection image at the time of directly facing the target surface can be obtained with higher accuracy.

また、この発明の点検対象面点検システムにおいては、前記カメラ配置手段は、前記点検対象面点検用カメラ安定装置と前記点検用カメラとを搭載するとともに、前記姿勢センサを持つ前記カメラマウント向き制御手段と別個に、姿勢センサを持つ飛行制御手段を有し、前記点検対象面の近傍を飛行する無人飛行体であると好ましい。このようにすれば、前述したマルチコプタの如き従来の無人飛行体を用いて点検対象面点検システムを安価かつ容易に構成することができ、その際、無人飛行体による点検用カメラの支持精度がさほど高くなくても、また無人飛行体の飛行姿勢がさほど安定していなくても、あるいは無人飛行体の飛行モータの制御のための姿勢センサからの信号に基づく飛行制御手段の負荷が大きくなっても、点検対象面点検用カメラ安定装置が、点検用カメラを点検対象面に常に正対させておくことができる。   Further, in the inspection target surface inspection system of the present invention, the camera placement unit includes the inspection target surface inspection camera stabilizer and the inspection camera, and the camera mount orientation control unit having the posture sensor. In addition, it is preferable that the unmanned aerial vehicle has a flight control means having an attitude sensor and flies in the vicinity of the inspection target surface. With this configuration, the inspection target surface inspection system can be configured easily and inexpensively using a conventional unmanned aerial vehicle such as the above-described multicopter, and at that time, the support accuracy of the inspection camera by the unmanned aerial vehicle is very small. Even if the flight attitude of the unmanned aerial vehicle is not very stable, or if the load on the flight control means based on the signal from the attitude sensor for controlling the unmanned aerial vehicle's flight motor increases. In addition, the camera for stabilizing the inspection target surface can always keep the inspection camera directly facing the inspection target surface.

一方、この発明の点検対象面点検システムにおいては、前記カメラ配置手段は、少なくとも１本の支持アームを搭載し、その支持アームで前記点検対象面点検用カメラ安定装置と前記点検用カメラとを支持して前記点検対象面の近傍に配置する台車であっても好ましい。このようにすれば、前述した従来の台車型の点検装置を用いて点検対象面点検システムを安価かつ容易に構成することができ、その際、支持アームによる点検用カメラの支持剛性がさほど高くなくても、点検対象面点検用カメラ安定装置が、点検用カメラを点検対象面に常に正対させておくことができる。   On the other hand, in the inspection target surface inspection system of the present invention, the camera arranging means has at least one support arm mounted thereon, and the support arm supports the inspection target surface inspection camera stabilizer and the inspection camera. It is also preferable that the truck is arranged near the inspection target surface. With this configuration, the inspection target surface inspection system can be configured easily and inexpensively using the above-described conventional bogie-type inspection device. At this time, the support rigidity of the inspection camera by the support arm is not so high. Even so, the inspection object surface inspection camera stabilizer can always keep the inspection camera directly facing the inspection object surface.

マルチコプタにこの発明の点検対象面点検用カメラ安定装置の一実施形態としての垂直面点検用カメラ安定装置を点検用カメラとともに搭載したこの発明の点検対象面点検システムの一実施形態としての垂直面点検システムを示す斜視図である。Vertical surface inspection as an embodiment of the inspection object inspection system of the present invention, in which a multi-copter is equipped with a vertical inspection camera stabilizer as an embodiment of the inspection object inspection camera stabilizer of the present invention together with an inspection camera. It is a perspective view showing a system. 上記実施形態の垂直面点検システムを示す正面図である。It is a front view showing the perpendicular inspection system of the above-mentioned embodiment. 上記実施形態の垂直面点検システムを示す平面図である。It is a top view which shows the vertical surface inspection system of the said embodiment. 上記実施形態の垂直面点検システムを示す底面図である。It is a bottom view which shows the vertical surface inspection system of the said embodiment. 上記実施形態の垂直面点検システムを示す左側面図である。It is a left view which shows the vertical surface inspection system of the said embodiment. 上記実施形態の垂直面点検システムを示す右側面図である。It is a right view which shows the vertical surface inspection system of the said embodiment. マルチコプタを省略した状態で上記実施形態の垂直面点検用カメラ安定装置を点検用カメラとともに示す斜視図である。It is a perspective view which shows the camera stabilizer for vertical surfaces inspection of the said embodiment with the inspection camera in the state which omitted the multicopter. 上記実施形態の垂直面点検用カメラ安定装置を点検用カメラとともに示す正面図である。It is a front view which shows the camera for a vertical surface inspection of the said embodiment with an inspection camera. 上記実施形態の垂直面点検用カメラ安定装置を点検用カメラとともに示す右側面図である。It is a right view which shows the camera stabilizer for vertical surfaces inspection of the said embodiment with the camera for inspection. 上記実施形態の垂直面点検用カメラ安定装置を点検用カメラとともに示す平面図である。It is a top view which shows the camera stabilizer for vertical surfaces inspection of the said embodiment with the camera for inspection. 上記実施形態の垂直面点検用カメラ安定装置を点検用カメラとともに示す底面図である。It is a bottom view showing the camera stabilizer for perpendicular inspection of the above-mentioned embodiment with an inspection camera. （ａ），（ｂ），（ｃ）は、上記実施形態の垂直面点検用カメラ安定装置のジンバル機構を支持する支持構体の部品をそれぞれ示す斜視図である。(A), (b), (c) is a perspective view which shows the component of the support structure which supports the gimbal mechanism of the camera stabilizer for vertical surfaces inspection of the said embodiment, respectively. 上記実施形態の垂直面点検用カメラ安定装置の作動状態を示す説明図である。It is explanatory drawing which shows the operation | movement state of the camera stabilizer for vertical surface inspections of the said embodiment. （ａ），（ｂ）は、点検用カメラに対する２つの距離センサの従来のカメラ安定装置での配置および上記実施形態の垂直面点検用カメラ安定装置での配置をそれぞれ示す説明図である。(A), (b) is explanatory drawing which respectively shows arrangement | positioning with the conventional camera stabilization device of the two distance sensor with respect to the inspection camera, and arrangement | positioning with the camera stabilizer for vertical surface inspection of the said embodiment. 上記実施形態の垂直面点検用カメラ安定装置の制御方法を示す説明図である。It is explanatory drawing which shows the control method of the camera stabilizer for vertical surfaces inspection of the said embodiment. 台車から吊り下げたポールの先端部に上記実施形態の垂直面点検用カメラ安定装置を点検用カメラとともに搭載したこの発明の他の一実施形態の垂直面点検システムを示す斜視図である。It is a perspective view which shows the vertical surface inspection system of another embodiment of this invention which mounted the camera stabilizer for vertical surface inspection of the said embodiment with the camera for inspection at the front-end | tip part of the pole hung from the dolly. 距離センサとして２次元距離センサを搭載したこの発明の点検対象面点検用カメラ安定装置の他の一実施形態としての湾曲面点検用カメラ安定装置を、マルチコプタを省略した状態で点検用カメラとともに示す斜視図である。A perspective view showing a camera stabilizer for inspecting a curved surface as another embodiment of the camera for inspecting a surface to be inspected according to another embodiment of the present invention, which is equipped with a two-dimensional distance sensor as a distance sensor, together with the inspection camera without a multicopter. FIG. 距離センサとして３次元距離センサを搭載したこの発明の点検対象面点検用カメラ安定装置のさらに他の一実施形態としての傾斜面点検用カメラ安定装置を、マルチコプタを省略した状態で点検用カメラとともに示す斜視図である。A camera stabilizer for inspecting an inclined surface as still another embodiment of a camera for inspecting a surface to be inspected of the present invention, which is equipped with a three-dimensional distance sensor as a distance sensor, is shown together with the camera for inspection without a multicopter. It is a perspective view.

以下、この発明の実施の形態を図面に基づく実施例によって詳細に説明する。ここに、図１は、この発明の点検対象面点検用カメラ安定装置の一実施形態の垂直面点検用カメラ安定装置を点検用カメラとともにマルチコプタに搭載したこの発明の点検対象面点検システムの一実施形態の垂直面点検システムを示す斜視図、図２は、上記実施形態の垂直面点検システムを示す正面図、図３は、上記実施形態の垂直面点検システムを示す平面図、図４は、上記実施形態の垂直面点検システムを示す底面図、図５は、上記実施形態の垂直面点検システムを示す左側面図、そして図６は、上記実施形態の垂直面点検システムを示す右側面図である。   Hereinafter, embodiments of the present invention will be described in detail with reference to examples based on the drawings. Here, FIG. 1 is an embodiment of the inspection target surface inspection system of the present invention, in which the vertical inspection camera stabilizer of one embodiment of the inspection object inspection camera stabilizer of the present invention is mounted on a multicopter together with the inspection camera. FIG. 2 is a front view showing the vertical surface inspection system of the above embodiment, FIG. 3 is a plan view showing the vertical surface inspection system of the above embodiment, and FIG. FIG. 5 is a bottom view showing the vertical surface inspection system of the embodiment, FIG. 5 is a left side view showing the vertical surface inspection system of the embodiment, and FIG. 6 is a right side view showing the vertical surface inspection system of the embodiment. .

この実施形態の垂直面点検システム１は、上記実施形態の垂直面点検用カメラ安定装置１１と、その垂直面点検用カメラ安定装置１１のカメラマウント１２に所定の配置で着脱可能に固定搭載された点検用カメラ２１と、垂直面点検用カメラ安定装置１１を介して点検用カメラ２１を構造物の点検対象面としての垂直面の近傍に配置する、カメラ配置手段としてのマルチコプタ３１とを具えており、垂直面点検用カメラ安定装置１１は後述の如く、カメラマウント１２の向きを変更するジンバル機構１３を有するとともに、カメラマウント向き制御手段としてのジンバル制御ユニット（ＧＣＵ）１４を有している。また、点検用カメラ２１は、高解像度の通常のデジタルカメラであり、撮影対象の動画または複数枚の静止画を継続的に撮影してその動画や静止画の画像データを録画および／または出力することができる。   The vertical plane inspection system 1 of this embodiment is detachably fixedly mounted in a predetermined arrangement on the camera mount 12 of the vertical plane inspection camera stabilizer 11 and the vertical plane inspection camera stabilizer 11 of the above embodiment. An inspection camera 21 and a multi-copter 31 as a camera arranging means for arranging the inspection camera 21 via a vertical plane inspection camera stabilizer 11 near a vertical plane as a surface to be inspected of a structure are provided. The vertical plane inspection camera stabilizer 11 has a gimbal mechanism 13 for changing the orientation of the camera mount 12 and a gimbal control unit (GCU) 14 as camera mount orientation control means, as described later. The inspection camera 21 is a normal digital camera having a high resolution, and continuously shoots a moving image or a plurality of still images to be photographed, and records and / or outputs image data of the moving images and still images. be able to.

マルチコプタ３１は、機体３２と、その機体３２の下部に搭載したバッテリ３３と、機体３２の斜め前後方向に水平に突出する４本の腕３２ａの先端に搭載されてそのバッテリ３３により駆動される４個の飛行モータ３４と、それらの飛行モータ３４により隣り合うもの同士で互いに逆方向に回転駆動されてそれぞれ推力を生ずる４つの可変ピッチロータ３５と、４本の腕３２ａにそれぞれ２個ずつ搭載されて上記バッテリ３３により駆動され４つの可変ピッチロータ３５のピッチをそれぞれ変化させる４個のサーボモータ３６と、を有しており、飛行モータ３４により可変ピッチロータ３５の回転速度を変化させるとともにサーボモータ３６により可変ピッチロータ３５のピッチをそれぞれ変化させることで、機体３２に加わる推力の大きさや方向および機体３２の向きを変化させて浮上、飛行および空中静止（ホバリング）することができる。   The multicopter 31 is mounted on the body 32, a battery 33 mounted on the lower part of the body 32, and mounted on the tips of four arms 32 a projecting horizontally in the oblique front-rear direction of the body 32 and driven by the battery 33. Two flying motors 34, four variable pitch rotors 35, each of which is driven to rotate in the opposite direction by the flying motors 34 and generate thrust, and two are mounted on each of the four arms 32 a. And four servo motors 36 driven by the battery 33 to change the pitches of the four variable pitch rotors 35, respectively. 36, the pitch of the variable pitch rotor 35 is changed, so that the thrust applied to the fuselage 32 is increased. It floated by changing the or direction and orientation of the body 32, it is possible to fly and hovering (hovering).

マルチコプタ３１はまた、上記垂直面点検用カメラ安定装置１１のジンバル制御ユニット１４とは別に、機体３２の中央部に、飛行制御用の３軸加速度センサと３軸ジャイロセンサとを持つ機体情報取得手段としての慣性計測ユニット（ＩＭＵ）と、ＧＰＳと、通常のマイクロコンピュータを持つフライトコントローラ（ＦＣ）と、無線通信ユニットと、電源管理ユニット（ＰＭＵ）とを有する、飛行制御手段としての制御装置３７を搭載し、その制御装置３７のフライトコントローラが、バッテリ３３からの電源管理ユニットを介する給電により、慣性計測ユニットおよびＧＰＳから得られる機体３２の加速度、姿勢および位置情報に基づいて機体３２の位置および姿勢を安定させる制御を行って、マルチコプタ３１の浮上、飛行および空中静止を補助する。この制御装置３７の補助により、マルチコプタ３１は、例えば通常のデジタルプロポーショナル型の操縦装置から制御装置３７の無線通信ユニットを介してフライトコントローラに制御指令を与えることで、操縦装置の手動操作によって比較的容易かつ安全に遠隔操縦することができる。   In addition to the gimbal control unit 14 of the vertical plane inspection camera stabilizer 11, the multicopter 31 is provided with a three-axis acceleration sensor for flight control and a three-axis gyro sensor at the center of the body 32. A control device 37 as a flight control means having an inertial measurement unit (IMU), a GPS, a flight controller (FC) having a normal microcomputer, a wireless communication unit, and a power management unit (PMU). The flight controller of the control device 37 is provided with a power supply from a battery 33 via a power management unit, and the position and orientation of the aircraft 32 based on the acceleration, orientation and position information of the aircraft 32 obtained from the inertial measurement unit and the GPS. Control to stabilize the air conditioner so that the multicopter 31 To assist in the still. With the assistance of the control device 37, the multicopter 31 can give a control command to the flight controller via a wireless communication unit of the control device 37 from, for example, a normal digital proportional type control device, so that the multicopter 31 can be relatively operated by manual operation of the control device. Easy and safe remote control.

マルチコプタ３１はさらに、４つの可変ピッチロータ３５を全体的に囲む概ね矩形の保護枠３８を有するとともに、着陸用の脚となる二本のスキッド３９を有している。また、マルチコプタ３１は、周囲の撮影および探知用に機体３２の前方および左右側方と上方および下方とに向けてそれぞれ配置された、２個ずつカメラおよび超音波センサを持つビジョンユニット４０と、機体３２の中央部に配置され、それらのビジョンユニット４０からの画像および距離情報を処理して３次元的な視覚を得る視覚処理ユニット４１とを持つ飛行用視覚システム（例えば商品名「Ｇｕｉｄａｎｃｅ」）を搭載し、その飛行用視覚システムからの周辺構造物の位置や高さの情報を操縦装置に無線で伝達して、橋梁下や建物間等の、ＧＰＳから位置情報が得づらい環境でもマルチコプタ３１を安全に飛行させる操作を可能にする。   The multicopter 31 further has a substantially rectangular protective frame 38 which entirely surrounds the four variable pitch rotors 35, and has two skids 39 serving as landing legs. Further, the multicopter 31 includes a vision unit 40 having two cameras and an ultrasonic sensor, each of which is disposed toward the front and left and right sides of the body 32 and upward and downward for photographing and detecting the surroundings, respectively. A visual processing unit 41 (for example, trade name "Guidance") having a visual processing unit 41 arranged at the center of the 32 and processing the image and distance information from the vision unit 40 to obtain a three-dimensional vision. The multi-copter 31 is installed and wirelessly transmits the information on the position and height of the surrounding structures from the visual system for flight to the flight control device. Even in environments where it is difficult to obtain position information from GPS, such as under bridges or between buildings, the multicopter 31 can be used. Enables safe flying operation.

図７は、マルチコプタ３１を省略した状態で上記実施形態の垂直面点検用カメラ安定装置１１を点検用カメラ２１とともに示す斜視図、図８は、上記実施形態の垂直面点検用カメラ安定装置１１を点検用カメラ２１とともに示す正面図、図９は、上記実施形態の垂直面点検用カメラ安定装置１１を点検用カメラ２１とともに示す右側面図、図１０は、上記実施形態の垂直面点検用カメラ安定装置１１を点検用カメラ２１とともに示す平面図、図１１は、上記実施形態の垂直面点検用カメラ安定装置１１を点検用カメラ２１とともに示す底面図、図１２（ａ），（ｂ），（ｃ）は、上記実施形態の垂直面点検用カメラ安定装置１１のジンバル機構１３を支持する支持構体の部品をそれぞれ示す斜視図、図１３は、上記実施形態の垂直面点検用カメラ安定装置１１の作動状態を示す説明図、図１４（ａ），（ｂ）は、点検用カメラ２１に対する２つの距離センサの従来のカメラ安定装置での配置および上記実施形態の垂直面点検用カメラ安定装置１１での配置をそれぞれ示す説明図、そして図１５は、上記実施形態の垂直面点検用カメラ安定装置１１のジンバル制御ユニット１４の構成を示すブロック線図である。   FIG. 7 is a perspective view showing the camera stabilizing device 11 for vertical surface inspection of the above embodiment together with the inspection camera 21 in a state where the multicopter 31 is omitted, and FIG. 8 is a diagram showing the camera stabilizer 11 for vertical surface inspection of the above embodiment. FIG. 9 is a front view together with the inspection camera 21, FIG. 9 is a right side view showing the vertical plane inspection camera stabilizer 11 of the above embodiment together with the inspection camera 21, and FIG. FIG. 11 is a plan view showing the device 11 together with the inspection camera 21. FIG. 11 is a bottom view showing the vertical surface inspection camera stabilizer 11 of the above embodiment together with the inspection camera 21, and FIGS. 12 (a), (b), and (c). ) Is a perspective view showing parts of a support structure that supports the gimbal mechanism 13 of the camera stabilizer 11 for vertical surface inspection according to the above-described embodiment, and FIG. FIGS. 14 (a) and 14 (b) are explanatory diagrams showing the operation state of the laser stabilizing device 11, and FIGS. 14 (a) and 14 (b) show the arrangement of two distance sensors with respect to the inspection camera 21 in the conventional camera stabilizing device and the vertical surface inspection of the above embodiment. FIG. 15 is a block diagram showing a configuration of the gimbal control unit 14 of the camera stabilizing device 11 for inspecting a vertical plane according to the above embodiment.

垂直面点検用カメラ安定装置１１は、点検用カメラ２１の底面および背面を支持する図ではアングル状のカメラ支持部材１２ａと点検用カメラ２１の前面を支持する図では断面Ｌ字状のカメラ押さえ部材１２ｂとが組み合わされてそれらの間に点検用カメラ２１を着脱可能に固定搭載するカメラマウント１２を有するとともに、そのカメラマウント１２ひいてはそこに搭載した点検用カメラ２１の向きを上下軸（ヨー軸）であるｚ軸と前後軸（ロール軸）であるｘ軸と左右軸（ピッチ軸）であるｙ軸との、基本位置で互いに直交する３軸の各軸周りに変更するカメラマウント向き変更機構としてのジンバル機構１３を有している。   The vertical surface inspection camera stabilizer 11 includes an angle-shaped camera support member 12a supporting the bottom surface and the back surface of the inspection camera 21, and an L-shaped camera holding member supporting the front surface of the inspection camera 21. 12b is combined with the camera mount 12, and the inspection camera 21 is removably fixedly mounted between them. The camera mount 12 and thus the inspection camera 21 mounted thereon are oriented in the vertical axis (yaw axis). As a camera mount direction changing mechanism that changes around three axes orthogonal to each other at a basic position, that is, a z-axis which is a front-rear axis (roll axis), and an y-axis which is a left-right axis (pitch axis). Gimbal mechanism 13.

なお、これら３軸の、ジンバル機構１３の動作開始前の位置である基本位置は、図１〜図６に示すようにマルチコプタ３１が水平面上に置かれた状態で、ｚ軸がマルチコプタ３１の上下方向、ｘ軸がマルチコプタ３１の前後方向、ｙ軸がマルチコプタ３１の左右方向に延在するように設定されており、カメラマウント１２に固定搭載された点検用カメラ２１の図１〜図１１に示す初期姿勢での前後方向、左右方向および上下方向は、ジンバル機構１３の上記基本位置でのｘ軸方向、ｙ軸方向およびｚ軸方向（図７参照）に設定されている。   The basic positions of these three axes, which are positions before the operation of the gimbal mechanism 13 starts, are as shown in FIGS. 1 to 6 in a state where the multi-copter 31 is placed on a horizontal plane, and the z-axis is The direction and the x-axis are set so as to extend in the front-rear direction of the multicopter 31, and the y-axis is set in the left-right direction of the multicopter 31, and are shown in FIGS. 1 to 11 of the inspection camera 21 fixedly mounted on the camera mount 12. The front-back direction, the left-right direction, and the up-down direction in the initial posture are set to the x-axis direction, the y-axis direction, and the z-axis direction (see FIG. 7) at the above-described basic position of the gimbal mechanism 13.

ジンバル機構１３は、カメラ支持部材１２ａの図８では右端部に固定されたＬ字状の連結部材１２ｃを介してカメラマウント１２を出力部材で支持してカメラマウント１２をそこに搭載された点検用カメラ２１と一緒にｙ軸（ピッチ軸）周りに回動させるピッチ軸モータ１３ａと、そのピッチ軸モータ１３ａを点検用カメラ２１の前後方向に延在する一方の腕で支持する中間ブラケット１３ｂと、点検用カメラ２１の左右方向に延在するその中間ブラケット１３ｂの他方の腕を出力部材で支持してその中間ブラケット１３ｂをカメラマウント１２およびそこに搭載された点検用カメラ２１と一緒にｘ軸（ロール軸）周りに回動させるロール軸モータ１３ｃと、そのロール軸モータ１３ｃを点検用カメラ２１の概ね上下方向であるｚ軸方向に延在する一方の腕で支持する基部ブラケット１３ｄと、点検用カメラ２１の前後方向に延在するその基部ブラケット１３ｄの他方の腕を出力部材で支持してその基部ブラケット１３ｄを中間ブラケット１３ｂとカメラマウント１２およびそこに搭載された点検用カメラ２１と一緒にｚ軸（ヨー軸）周りに回動させるヨー軸モータ１３ｅとを有している。   The gimbal mechanism 13 supports the camera mount 12 with an output member via an L-shaped connection member 12c fixed to the right end of the camera support member 12a in FIG. 8, and the camera mount 12 is mounted for inspection on the output member. A pitch axis motor 13a that rotates around the y axis (pitch axis) together with the camera 21, an intermediate bracket 13b that supports the pitch axis motor 13a with one arm extending in the front-rear direction of the inspection camera 21, The other arm of the intermediate bracket 13b extending in the left-right direction of the inspection camera 21 is supported by an output member, and the intermediate bracket 13b is moved along with the camera mount 12 and the inspection camera 21 mounted on the x-axis ( A roll axis motor 13c that rotates around the roll axis), and extends the roll axis motor 13c in the z-axis direction, which is a substantially vertical direction of the inspection camera 21. A base bracket 13d supported by one arm, and the other arm of the base bracket 13d extending in the front-rear direction of the inspection camera 21 is supported by an output member, and the base bracket 13d is connected to the intermediate bracket 13b and the camera mount 12. And a yaw axis motor 13e that rotates around the z axis (yaw axis) together with the inspection camera 21 mounted thereon.

さらに垂直面点検用カメラ安定装置１１は、上記ヨー軸モータ１３ｅを介してジンバル機構１３、カメラマウント１２およびそこに搭載された点検用カメラ２１を支持する支持構体１５を有し、図１２（ａ），（ｂ）および（ｃ）は、その支持構体１５のカメラベースプレート１５ａ、ジョイントベースプレート１５ｂおよびロックプレート１５ｃをそれぞれ示す。ここで、カメラベースプレート１５ａは、図８および図９に示すように、その上面に上記ヨー軸モータ１３ｅを固定支持するとともに、その下面に、カメラマウント向き制御手段としての上述したジンバル制御ユニット１４を固定支持し、このジンバル制御ユニット１４は、垂直面点検用カメラ安定装置１１の支持構体１５の姿勢を検出する姿勢センサとしての３軸ジャイロ（角速度）センサを通常のマイクロコンピュータとともに搭載している。   Further, the vertical plane inspection camera stabilizer 11 has a gimbal mechanism 13, a camera mount 12, and a support structure 15 that supports the inspection camera 21 mounted thereon via the yaw axis motor 13e. , (B) and (c) show a camera base plate 15a, a joint base plate 15b and a lock plate 15c of the support structure 15, respectively. Here, as shown in FIGS. 8 and 9, the camera base plate 15a fixedly supports the yaw axis motor 13e on its upper surface, and has the above-described gimbal control unit 14 as camera mount direction control means on its lower surface. The gimbal control unit 14 has a three-axis gyro (angular velocity) sensor as an attitude sensor for detecting the attitude of the supporting structure 15 of the camera stabilizer 11 for vertical inspection, together with a normal microcomputer.

支持構体１５は、図７〜９に示すように、カメラベースプレート１５ａと、ジョイントベースプレート１５ｂと、ロックプレート１５ｃとを上から順に配置して、カメラベースプレート１５ａを貫通して水平方向に位置決めするとともに弾性ブッシュで上下から挟んで弾性的に支持する４本の支柱１５ｄでカメラベースプレート１５ａをジョイントベースプレート１５ｂに結合し、そのジョイントベースプレート１５ｂをロックプレート１５ｃに図ではねじ固定することで防振機能を持つように構成され、そのロックプレート１５ｃはこの実施形態の垂直面点検用カメラ安定装置１１では、上述のようにマルチコプタ３１が水平面上に置かれた状態でジンバル機構１３の基本位置に位置するｚ軸，ｘ軸およびｙ軸がマルチコプタ３１の上下方向、前後方向および左右方向にそれぞれ延在する向きで、マルチコプタ３１の機体３２の上端部に設けられた搭載面３２ｂ上に固定されている。   As shown in FIGS. 7 to 9, the support structure 15 has a camera base plate 15a, a joint base plate 15b, and a lock plate 15c arranged in order from the top, and penetrates the camera base plate 15a to position the camera base plate 15a in a horizontal direction. The camera base plate 15a is connected to the joint base plate 15b by four pillars 15d which are elastically supported by being sandwiched from above and below by a bush, and the joint base plate 15b is fixed to the lock plate 15c by screws in the drawing so as to have an anti-vibration function. In the camera stabilizing device 11 for inspecting a vertical plane according to this embodiment, the lock plate 15c has a z-axis, which is located at the basic position of the gimbal mechanism 13 with the multicopter 31 placed on a horizontal plane as described above. The x-axis and y-axis are above and below the multicopter 31 , In a direction extending respectively in the longitudinal and lateral directions, and is fixed on the mounting surface 32b provided at the upper portion of the body 32 of Maruchikoputa 31.

さらに垂直面点検用カメラ安定装置１１は、カメラマウント１２のカメラ支持部材１２ａに固定搭載された点検用カメラ２１の、図示例では左右方向に互いに離間した２箇所でカメラ支持部材１２ａに固定され、それらの箇所からそれぞれ点検対象の垂直面に向けられた例えば超音波式の２つの距離センサ１６を有しており、各距離センサ１６は、図１３に示すように、点検対象の垂直面ＶＰに向けて送波器１６ａから超音波ＳＳＷを発信し、その超音波ＳＳＷが垂直面ＶＰで反射した反射波を受波器１６ｂで受信して、超音波の発信から受信までの時間と音速とに基づき距離センサ１６から垂直面ＶＰまでの距離をそれぞれ実質上継続的に測定し、その距離センサ１６から垂直面ＶＰまでの距離を示す信号をジンバル制御ユニット１４のマイクロコンピュータに実質上継続的に供給する。なお図１３中、矢印Ｆはマルチコプタ３１の機体３２の前方、矢印Ｄはマルチコプタ３１の機体３２の下方をそれぞれ示す。２つの距離センサ１６は、上記の超音波式に代えてレーザ式のものを用いても良い。   Further, the camera stabilizer 11 for vertical surface inspection is fixed to the camera support member 12a at two places of the inspection camera 21 fixedly mounted on the camera support member 12a of the camera mount 12 and, in the illustrated example, separated from each other in the left-right direction. It has two distance sensors 16 of, for example, an ultrasonic type, each of which is directed to the vertical plane to be inspected from those places. As shown in FIG. 13, each distance sensor 16 is located on the vertical plane VP to be inspected. The ultrasonic wave SSW is transmitted from the transmitter 16a, and the ultrasonic wave SSW receives the reflected wave reflected on the vertical plane VP by the receiver 16b, and the time and sound speed from the transmission to the reception of the ultrasonic wave are reduced. The distance from the distance sensor 16 to the vertical plane VP is substantially continuously measured, and a signal indicating the distance from the distance sensor 16 to the vertical plane VP is output from the gimbal control unit 14. Black substantially continuously supplied to the computer. In FIG. 13, arrow F indicates the front of the body 32 of the multicopter 31, and arrow D indicates the bottom of the body 32 of the multicopter 31. As the two distance sensors 16, a laser type sensor may be used instead of the ultrasonic type sensor.

ところで特許文献３に記載されたものの如き従来の写真撮影用移動体では、図１４（ａ）に示すように、点検用カメラ２１の左右に設けられた超音波式の距離センサ１６が、互いに同一の方向かつ点検用カメラ２１の光軸とも同一の方向に向けられるとともに、距離センサ１６間の距離ΔＬを小さくされて全体をコンパクトに構成されているが、このように２つの距離センサ１６が互いに同一方向に向けられるとともに距離センサ１６間の距離ΔＬを小さくされると、２つの距離センサ１６の各々の垂直面ＶＰまでの測定距離Δｘ１，Δｘ２の差であるΔｘ１−Δｘ２が小さくなるため、より精度の高い制御を行おうとすると距離センサ１６に求められる分解能が高くなり、距離センサ１６が高価かつ大型のものになってしまう。   By the way, in a conventional moving body for photographing such as that described in Patent Document 3, as shown in FIG. 14A, ultrasonic distance sensors 16 provided on the left and right of the inspection camera 21 are the same as each other. And the optical axis of the inspection camera 21 is directed in the same direction, and the distance ΔL between the distance sensors 16 is reduced to make the whole compact. Thus, the two distance sensors 16 If the distance ΔL between the distance sensors 16 is reduced while being directed in the same direction, Δx1−Δx2, which is the difference between the measurement distances Δx1 and Δx2 of each of the two distance sensors 16 to the vertical plane VP, decreases. If an attempt is made to perform highly accurate control, the resolution required for the distance sensor 16 will increase, and the distance sensor 16 will be expensive and large.

これに対しこの実施形態の垂直面点検用カメラ安定装置１１では、図１４（ｂ）に示すように、点検用カメラ２１の左右に設けられた２つの距離センサ１６が、互いに同一の方向でなく、点検用カメラ２１の光軸方向に対し互いに同一の角度をなす方向であって、かつ距離センサ１６から遠ざかるにつれて互いに離れる方向に向けられてカメラ支持部材１２ａに固定されるとともに、距離センサ１６間の距離ΔＬを小さくされて全体をコンパクトに構成されており、このように２つの距離センサ１６が互いに離れる方向へ向けられることで、距離センサ１６間の距離ΔＬを従来と同様に小さくしても２つの距離センサ１６の各々の垂直面ＶＰまでの測定距離Δｘ１，Δｘ２の差であるΔｘ１−Δｘ２が、２つの距離センサ１６が互いに同一の方向に向けられている場合よりも大きくなるため、高価かつ大型の距離センサ１６を用いなくても、より精度の高い制御を行うことができる。   On the other hand, in the camera stabilizer 11 for vertical inspection of this embodiment, as shown in FIG. 14B, the two distance sensors 16 provided on the left and right of the inspection camera 21 are not in the same direction as each other. Are fixed to the camera support member 12a in directions that are at the same angle with respect to the optical axis direction of the inspection camera 21 and are separated from each other as the distance from the distance sensor 16 increases. The distance ΔL of the distance sensor 16 is made small by making the distance ΔL of the distance sensor 16 smaller, and thus the distance ΔL between the distance sensors 16 can be reduced in the same manner as in the related art. Δx1−Δx2, which is the difference between the measurement distances Δx1 and Δx2 of each of the two distance sensors 16 to the vertical plane VP, indicates that the two distance sensors 16 are in the same direction. To become larger than if oriented, without using an expensive and large distance sensor 16, it is possible to perform more accurate control.

そしてジンバル制御ユニット１４のマイクロコンピュータは、上記３軸ジャイロ（角速度）センサが検出した、垂直面点検用カメラ安定装置１１の支持構体１５の初期姿勢からのジンバル機構１３の各軸周りの角度変化から得られる支持構体１５の現在の姿勢に基づき、カメラマウント１２に固定搭載された点検用カメラ２１の底面が常時水平になるとともに点検用カメラ２１の光軸Ｌが常時水平に向くようにジンバル機構１３のピッチ軸モータ１３ａとロール軸モータ１３ｃとを継続的に動作させ、その点検用カメラ２１の水平出しが行われている状態で、上記２つの距離センサ１６がそれぞれ測定した垂直面ＶＰの２箇所までの距離に基づき、点検用カメラ２１が垂直面ＶＰに常に正対するようにジンバル機構１３のヨー軸モータ１３ｅを実質上継続的に動作させる。   The microcomputer of the gimbal control unit 14 detects the change in the angle around each axis of the gimbal mechanism 13 from the initial position of the support structure 15 of the camera stabilizer 11 for vertical surface inspection, detected by the three-axis gyro (angular velocity) sensor. On the basis of the obtained current posture of the support structure 15, the gimbal mechanism 13 is arranged such that the bottom surface of the inspection camera 21 fixedly mounted on the camera mount 12 is always horizontal and the optical axis L of the inspection camera 21 is always horizontal. In the state where the pitch axis motor 13a and the roll axis motor 13c are continuously operated and the inspection camera 21 is leveled out, the two positions on the vertical plane VP measured by the two distance sensors 16 are described. The yaw axis motor 13e of the gimbal mechanism 13 so that the inspection camera 21 always faces the vertical plane VP based on the distance Substantially continuously operating.

図１５は、上記２つの距離センサ１６がそれぞれ測定した垂直面ＶＰの２箇所までの距離に基づいてジンバル制御ユニット１４のマイクロコンピュータが実行するヨー軸モータ１３ｅの制御方法を示す説明図であり、図示のようにマイクロコンピュータは、ステップＳ１およびＳ２で、２つの距離センサ１６が測定した距離センサ値１および距離センサ値２を入力し、ステップＳ３で、それらの距離センサ値１，２に基づきヨー軸モータ１３ｅへの、点検用カメラ２１の光軸Ｌを垂直面ＶＰに直交させる指令値を演算し、ステップＳ４で、そのモータ指令値をヨー軸モータ１３ｅに与える、という処理を所定の短時間毎に繰り返し実行し、点検用カメラ２１がその左右方向の向きに関して垂直面ＶＰに実質上常に正対するようにジンバル機構１３を動作させる。   FIG. 15 is an explanatory diagram showing a control method of the yaw axis motor 13e executed by the microcomputer of the gimbal control unit 14 based on the distances to the two points on the vertical plane VP measured by the two distance sensors 16, respectively. As shown in the figure, the microcomputer inputs the distance sensor values 1 and 2 measured by the two distance sensors 16 in steps S1 and S2, and in step S3, based on the distance sensor values 1 and 2, A command value for the axis motor 13e to make the optical axis L of the inspection camera 21 orthogonal to the vertical plane VP is calculated, and in step S4, the motor command value is given to the yaw axis motor 13e for a predetermined short time. The gimbal mechanism is repeatedly executed every time, so that the inspection camera 21 substantially always faces the vertical plane VP in the horizontal direction. 3 to the operation.

上述のように構成されたこの実施形態の垂直面点検システム１にあっては、垂直面点検用カメラ安定装置１１がマルチコプタ３１に搭載されるとともに、垂直面点検用カメラ安定装置１１のカメラマウント１２に点検用カメラ２１が搭載され、マルチコプタ３１が、検査員による操縦装置の手動操作で遠隔操縦されるとともに制御装置３７および飛行用視覚システムの補助を受けて、橋梁の橋脚等の点検対象の垂直面ＶＰの近傍位置を飛行し、好ましくはその近傍位置で空中静止し、その飛行もしくは空中静止に伴い、ジンバル機構１３が、基本位置で互いに直交する３軸の各軸周りにカメラマウント１２の向きを変更し、点検用カメラ２１の左右方向に互いに離間した２箇所でカメラマウント１２に固定された２つの距離センサ１６が、それら２箇所から垂直面ＶＰの２箇所までの距離をそれぞれ継続的に測定してジンバル制御ユニット１４に送る。   In the vertical plane inspection system 1 of this embodiment configured as described above, the vertical plane inspection camera stabilizer 11 is mounted on the multicopter 31 and the camera mount 12 of the vertical plane inspection camera stabilizer 11 is mounted. The multi-copter 31 is remotely controlled by a manual operation of the control device by the inspector, and with the assistance of the control device 37 and the flight visual system, the inspection target such as the pier of the bridge is inspected. The gimbal mechanism 13 flies at a position near the plane VP, and preferably stands still in the vicinity of the plane VP, and moves along with the flight or the air standstill around the three axes orthogonal to each other at the basic position. And the two distance sensors 16 fixed to the camera mount 12 at two locations separated from each other in the left-right direction of the inspection camera 21 are It sends to the gimbal control unit 14 et two points to measure the distance to the two positions, respectively continuous vertical plane VP.

そしてジンバル制御ユニット１４が、２つ距離センサ１６がそれぞれ測定した垂直面ＶＰまでの距離のデータをその距離測定時の時間情報と一緒にメモリ等に記録するとともに、それら垂直面ＶＰの２箇所までの距離とそのジンバル制御ユニット１４自身の３軸角速度センサが検出した支持構体１５の現在の姿勢とに基づき点検用カメラ２１が垂直面ＶＰに常に正対するようにジンバル機構１３の動作を継続的に制御し、点検用カメラ２１が、操縦装置の手動操作で任意の時点から撮影を開始してその垂直面ＶＰの動画または複数枚の静止画を継続的に撮影し、その動画または静止画を録画時の時間情報と一緒にメモリカード等に録画し、マルチコプタ３１の飛行終了後に点検用カメラ２１からその動画または静止画の画像データを読み出すとともにジンバル制御ユニット１４から記録した距離のデータを読み出して、それら画像データと距離データとをそれぞれの時間情報を用いて同期させることで、点検用カメラ２１が垂直面ＶＰに正対した状態で録画した動画または静止画の画像データが得られる。   Then, the gimbal control unit 14 records the data of the distance to the vertical plane VP measured by the two distance sensors 16 together with the time information at the time of measuring the distance in a memory or the like, and up to two locations on the vertical plane VP. The gimbal mechanism 13 is operated continuously so that the inspection camera 21 always faces the vertical plane VP based on the distance of the gimbal control unit 14 and the current posture of the support structure 15 detected by the gimbal control unit 14 itself. The inspection camera 21 starts photographing from an arbitrary point in time by manual operation of the control device, continuously shoots a moving image or a plurality of still images on the vertical plane VP, and records the moving image or the still image. It is recorded on a memory card or the like together with the time information of the time, and the image data of the moving image or the still image is read out from the inspection camera 21 after the flight of the multicopter 31 is completed. Both read the distance data recorded from the gimbal control unit 14 and synchronize the image data and the distance data using the respective time information, so that the inspection camera 21 is recorded in a state where the camera 21 faces the vertical plane VP. The obtained moving image or still image image data is obtained.

なお、点検用カメラ２１が、撮影した垂直面ＶＰの動画または複数枚の静止画を録画時の時間情報と一緒にメモリカード等に録画するのに代えて、もしくは加えて、ジンバル制御ユニット１４が、距離データ同期出力手段として、その動画または複数枚の静止画を録画時の時間情報と一緒に操縦装置に送信し、操縦装置の画面上に実質上実時間で表示させてもよい。   In addition, instead of or in addition to the inspection camera 21 recording the captured moving image of the vertical plane VP or a plurality of still images together with time information at the time of recording on a memory card or the like, the gimbal control unit 14 Alternatively, the moving image or a plurality of still images may be transmitted to the control device together with the time information at the time of recording as the distance data synchronous output means, and displayed on the screen of the control device in substantially real time.

従って、この実施形態の垂直面点検システム１によれば、垂直面点検システム１のマルチコプタ３１による点検用カメラ２１の支持剛性や支持精度が充分高くなくても、そこに設けたこの実施形態の垂直面点検用カメラ安定装置１１が点検用カメラ２１を点検対象の垂直面ＶＰに常に正対させておくことができるので、垂直面ＶＰに常に正対したその点検用カメラ２１で垂直面ＶＰの動画または複数枚の静止画を撮影することで、垂直面ＶＰの点検用画像を確実に得ることができる。   Therefore, according to the vertical plane inspection system 1 of this embodiment, even if the support rigidity and the support accuracy of the inspection camera 21 by the multicopter 31 of the vertical plane inspection system 1 are not sufficiently high, the vertical plane inspection system 1 of this embodiment provided there is provided. Since the surface inspection camera stabilizer 11 can always keep the inspection camera 21 directly facing the vertical plane VP to be inspected, the moving image of the vertical plane VP with the inspection camera 21 always facing the vertical plane VP. Alternatively, by taking a plurality of still images, an inspection image of the vertical plane VP can be reliably obtained.

しかも、この実施形態の垂直面点検システム１によれば、周囲の気流や気象等の条件によってマルチコプタ３１の飛行姿勢がさほど安定しなくても、あるいはマルチコプタ３１の飛行モータ３４の制御のための３軸角速度センサや３軸加速度センサからの信号に基づく制御装置３７の負荷が大きくなっても、制御装置３７とは別個に設けられたジンバル制御ユニット１４で制御されるジンバル機構１３によって点検用カメラ２１を点検対象の垂直面ＶＰに常に正対させておくことができるので、垂直面ＶＰの点検用画像を確実に得ることができる。   In addition, according to the vertical plane inspection system 1 of this embodiment, even if the flight attitude of the multicopter 31 is not very stable due to the surrounding airflow, weather, or the like, or if the flight motor 34 of the multicopter 31 is controlled, Even if the load on the control device 37 based on signals from the shaft angular velocity sensor or the three-axis acceleration sensor increases, the gimbal mechanism 13 controlled by the gimbal control unit 14 provided separately from the control device 37 allows the inspection camera 21 to be inspected. Can always be directly opposed to the vertical plane VP to be inspected, so that an inspection image of the vertical plane VP can be reliably obtained.

図１６は、台車から吊り下げたポールの先端部に上記実施形態の垂直面点検用カメラ安定装置１１を点検用カメラ２１とともに搭載したこの発明の他の一実施形態の垂直面点検システム２を示す斜視図であり、図中、先の実施形態と同様の部分はそれと同一の符号にて示す。   FIG. 16 shows a vertical plane inspection system 2 according to another embodiment of the present invention, in which the vertical plane inspection camera stabilizer 11 of the above embodiment is mounted together with the inspection camera 21 on the tip of a pole suspended from a cart. FIG. 14 is a perspective view, in which parts similar to those in the previous embodiment are denoted by the same reference numerals.

この実施形態の垂直面点検システム２は、上記実施形態の垂直面点検用カメラ安定装置１１と、その垂直面点検用カメラ安定装置１１のカメラマウント１２に所定の配置で着脱可能に固定搭載された点検用カメラ２１と、垂直面点検用カメラ安定装置１１を介して点検用カメラ２１を構造物の点検対象の垂直面の近傍に配置する、カメラ配置手段としての台車型点検装置５１とを具えており、垂直面点検用カメラ安定装置１１は上述の如く、カメラマウント１２の向きを変更するジンバル機構１３を有するとともに、カメラマウント向き制御手段としてのジンバル制御ユニット（ＧＣＵ）１４を有している。また、点検用カメラ２１は、高解像度の通常のデジタルカメラであり、撮影対象の動画または複数枚の静止画を継続的に撮影してその動画または静止画の画像データを録画および／または出力することができる。   The vertical plane inspection system 2 of this embodiment is detachably fixedly mounted in a predetermined arrangement on the camera mount 12 of the vertical plane inspection camera stabilizer 11 and the vertical plane inspection camera stabilizer 11 of the above embodiment. An inspection camera 21 and a trolley-type inspection device 51 as camera arrangement means for arranging the inspection camera 21 near a vertical surface to be inspected of a structure via the vertical inspection camera stabilizer 11. As described above, the camera stabilizing device 11 for inspecting the vertical plane has the gimbal mechanism 13 for changing the direction of the camera mount 12 and the gimbal control unit (GCU) 14 as a camera mount direction control unit. The inspection camera 21 is a normal digital camera having a high resolution, and continuously shoots a moving image or a plurality of still images to be shot, and records and / or outputs image data of the moving image or the still image. be able to.

台車型点検装置５１は、点検対象の垂直面ＶＰを有する橋梁Ｂの床板Ｐ上、例えば側部の歩道上に配置されるとともに下部に複数のキャスタ５２ａを設けられて移動可能とされた台車５２と、その台車５２上に搭載されるとともに後述の如く垂直面点検用カメラ安定装置１１とそのカメラマウント１２に着脱可能に固定搭載された点検用カメラ２１との動作を制御し、さらにその点検用カメラ２１から送られてくる橋梁Ｂの橋桁Ｇの上下フランジ間のウエブの表面である垂直面ＶＰの動画または複数枚の静止画の画像をその撮影時の時間情報および垂直面点検用カメラ安定装置１１の２つの距離センサ１６が測定した垂直面ＶＰの２箇所までの距離とともに記録し、および／またはディスプレイ装置の画面上に表示するパーソナルコンピュータ５３とを有している。   The trolley type inspection device 51 is arranged on a floor plate P of a bridge B having a vertical surface VP to be inspected, for example, on a sidewalk, and provided with a plurality of casters 52a at a lower portion so as to be movable. And controls the operation of the camera stabilizing device 11 for vertical surface inspection and the inspection camera 21 which is detachably fixed to the camera mount 12 as described later. Time information at the time of shooting a moving image or a plurality of still images of the vertical plane VP which is the surface of the web between the upper and lower flanges of the bridge girder G of the bridge B sent from the camera 21 and a camera stabilizer for vertical plane inspection A personal computer that records the distance to the two points on the vertical plane VP measured by the two distance sensors 16 and / or displays the distance on the screen of the display device. And a 53.

台車５２上にはさらに、概略水平に延在するポール支持フレーム５４の基端部が固定され、そのポール支持フレーム５４の先端部は、橋梁Ｂの高欄Ｈを越えて床板Ｐの外に突出して縦ポール５５の上部を回動可能に支持し、縦ポール５５は、多重筒状をなして概略垂直に延在するとともに、図示しないウインチから出し入れされるワイヤ５６の先端を下端部に連結されてそのウインチの操作で伸縮し、縦ポール５５の下端部は、概略水平に延在する横ポール５７の後端部付近の中間部を支持し、その横ポール５７の先端部は、床板Ｐの下方で概略垂直に延在して橋桁Ｇ間に入り込む入り込みポール５８の下端部を支持し、入り込みポール５８の上端部は、垂直面点検用カメラ安定装置１１と、その垂直面点検用カメラ安定装置１１のカメラマウント１２に所定の配置で着脱可能に固定搭載された点検用カメラ２１とを支持している。また、横ポール５７の後端部には、垂直面点検用カメラ安定装置１１と点検用カメラ２１と横ポール５７の中間部から先の部分との重量に対し横ポール５７の中間部から後ろの部分でバランスをとって横ポール５７を概略水平に維持するためのウエイト５９が設けられている。   A base end of a pole support frame 54 extending substantially horizontally is fixed on the carriage 52, and a tip end of the pole support frame 54 projects out of the floor plate P beyond the railroad H of the bridge B. The upper portion of the vertical pole 55 is rotatably supported, and the vertical pole 55 has a multi-tubular shape, extends substantially vertically, and has a lower end connected to a distal end of a wire 56 that is inserted into and removed from a winch (not shown). The lower end of the vertical pole 55 supports an intermediate portion near the rear end of the horizontal pole 57 extending substantially horizontally, and the front end of the horizontal pole 57 is located below the floor plate P. Supports the lower end of the entry pole 58 which extends substantially vertically and enters between the bridge girders G. The upper end of the entry pole 58 is provided with a camera stabilizer 11 for vertical surface inspection and a camera stabilizer 11 for vertical surface inspection. Camera Supporting the inspection camera 21 is detachably fixed mounting in a predetermined arrangement on the cement 12. In addition, the rear end of the lateral pole 57 is attached to the rear of the vertical pole inspection camera stabilizer 11, the inspection camera 21, and the middle part of the horizontal pole 57 from the middle part of the horizontal pole 57. A weight 59 is provided for keeping the horizontal pole 57 substantially horizontal by balancing the portions.

上述のように構成されたこの実施形態の垂直面点検システム２にあっては、垂直面点検用カメラ安定装置１１が台車型点検装置５１に搭載されるとともに、垂直面点検用カメラ安定装置１１のカメラマウント１２に点検用カメラ２１が搭載され、台車型点検装置５１が、横ポール５７を橋桁Ｇに沿わせて配置した状態で検査員Ｃによるウインチの操作で縦ポール５５を伸張し、次いで検査員Ｃによる縦ポール５５の回動操作で横ポール５７の先端部および入り込みポール５８を橋桁Ｇの下方に配置し、その後に縦ポール５５を短縮させて入り込みポール５８を橋桁Ｇ間に入り込ませることで、点検対象の垂直面ＶＰの近傍位置に垂直面点検用カメラ安定装置１１および点検用カメラ２１を配置し、その配置に伴い、ジンバル機構１３が、基本位置で互いに直交する３軸の各軸周りにカメラマウント１２の向きを変更し、点検用カメラ２１の左右方向に互いに離間した２箇所でカメラマウント１２に固定された２つの距離センサ１６が、それら２箇所から垂直面ＶＰの２箇所までの距離をそれぞれ継続的に測定してジンバル制御ユニット１４に送る。   In the vertical surface inspection system 2 of this embodiment configured as described above, the vertical surface inspection camera stabilizer 11 is mounted on the trolley-type inspection device 51 and the vertical surface inspection camera stabilizer 11 The inspection camera 21 is mounted on the camera mount 12, and the bogie type inspection device 51 extends the vertical pole 55 by operating the winch by the inspector C in a state where the horizontal pole 57 is arranged along the bridge girder G, and then inspects. The tip of the horizontal pole 57 and the entry pole 58 are disposed below the bridge girder G by the rotation operation of the vertical pole 55 by the member C, and then the vertical pole 55 is shortened so that the entry pole 58 enters the space between the bridge girder G. Then, the vertical plane inspection camera stabilizer 11 and the inspection camera 21 are arranged near the vertical plane VP to be inspected, and the gimbal mechanism 13 is The direction of the camera mount 12 is changed around each of three axes orthogonal to each other at two positions, and two distance sensors 16 fixed to the camera mount 12 at two places separated from each other in the left-right direction of the inspection camera 21 are The distance from the two places to the two places on the vertical plane VP is continuously measured and sent to the gimbal control unit 14.

そしてジンバル制御ユニット１４が、２つ距離センサ１６がそれぞれ測定した垂直面ＶＰの２箇所までの距離のデータをその距離測定時の時間情報と一緒にメモリ等に記録するとともに、それら垂直面ＶＰまでの距離とそのジンバル制御ユニット１４自身の３軸角速度センサが検出した支持構体１５の現在の姿勢とに基づき点検用カメラ２１が垂直面ＶＰに常に正対するようにジンバル機構１３の動作を継続的に制御し、点検用カメラ２１が、パーソナルコンピュータ５３からの指令で任意の時点から撮影を開始してその垂直面ＶＰの動画または複数枚の静止画を継続的に撮影し、その動画または複数枚の静止画を録画時の時間情報と一緒にメモリカード等に録画し、点検終了後にパーソナルコンピュータ５３が、点検用カメラ２１からその動画または複数枚の静止画の画像データを読み出すとともにジンバル制御ユニット１４から記録した距離のデータを読み出して、それら動画データと距離データとをそれぞれの時間情報を用いて同期させることで、点検用カメラ２１が垂直面ＶＰに正対した状態で録画した動画または複数枚の静止画の画像データを取得し、その動画または複数枚の静止画をディスプレイ装置の画面上に表示する。   The gimbal control unit 14 records the data of the distance up to two points on the vertical plane VP measured by the two distance sensors 16 together with the time information at the time of the distance measurement in a memory or the like. The gimbal mechanism 13 is operated continuously so that the inspection camera 21 always faces the vertical plane VP based on the distance of the gimbal control unit 14 and the current posture of the support structure 15 detected by the gimbal control unit 14 itself. The inspection camera 21 starts photographing from an arbitrary point in time according to a command from the personal computer 53 to continuously photograph a moving image or a plurality of still images on the vertical plane VP. The still image is recorded on a memory card or the like together with the time information at the time of recording. By reading image data of an image or a plurality of still images, reading the distance data recorded from the gimbal control unit 14, and synchronizing the moving image data and the distance data using the respective time information, the inspection camera 21 acquires image data of a moving image or a plurality of still images recorded while facing the vertical plane VP, and displays the moving image or the plurality of still images on the screen of the display device.

なお、点検用カメラ２１が、撮影した垂直面ＶＰの動画または複数枚の静止画を録画時の時間情報と一緒にメモリカード等に録画するのに代えて、もしくは加えて、ジンバル制御ユニット１４が、距離データ同期出力手段として、その動画または複数枚の静止画を録画時の時間情報と一緒にパーソナルコンピュータ５３に送り、パーソナルコンピュータ５３がその動画または複数枚の静止画をディスプレイ装置の画面上に実質上実時間で表示してもよい。   In addition, instead of or in addition to the inspection camera 21 recording the captured moving image of the vertical plane VP or a plurality of still images together with time information at the time of recording on a memory card or the like, the gimbal control unit 14 As the distance data synchronous output means, the moving image or the plurality of still images are sent to the personal computer 53 together with the time information at the time of recording, and the personal computer 53 displays the moving image or the plurality of still images on the screen of the display device. It may be displayed substantially in real time.

従って、この実施形態の垂直面点検システム２によれば、垂直面点検システム２の台車型点検装置５１による点検用カメラ２１の支持剛性や支持精度が充分高くなくても、そこに設けたこの実施形態の垂直面点検用カメラ安定装置１１が点検用カメラ２１を点検対象の垂直面ＶＰに常に正対させておくことができるので、垂直面ＶＰに常に正対したその点検用カメラ２１で垂直面ＶＰの動画または複数枚の静止画を撮影することで、垂直面ＶＰの点検用画像を確実に得ることができる。   Therefore, according to the vertical surface inspection system 2 of this embodiment, even if the support rigidity and the support accuracy of the inspection camera 21 by the bogie type inspection device 51 of the vertical surface inspection system 2 are not sufficiently high, this embodiment provided there is provided. Since the vertical inspection camera stabilizer 11 in the form can always keep the inspection camera 21 directly facing the vertical plane VP to be inspected, the inspection camera 21 always faces the vertical plane VP. By capturing a moving image of the VP or a plurality of still images, an inspection image of the vertical plane VP can be reliably obtained.

図１７は、距離センサ１６として一台の２次元点群センサを搭載したこの発明の点検対象面点検用カメラ安定装置の他の一実施形態としての湾曲面点検用カメラ安定装置１１Ａを、マルチコプタを省略した状態で点検用カメラ２１とともに示す斜視図であり、この実施形態の湾曲面点検用カメラ安定装置１１Ａも、先の実施形態の垂直面点検用カメラ安定装置１１と同様にしてマルチコプタ３１に搭載して、この発明の点検対象面点検システムの他の一実施形態を構成し、先の実施形態の垂直面点検用カメラ安定装置１１と同様の作用効果を奏することができる。   FIG. 17 shows a camera stabilizer 11A for inspecting a curved surface as another embodiment of the camera stabilizer for inspecting a surface to be inspected according to another embodiment of the present invention in which one two-dimensional point cloud sensor is mounted as the distance sensor 16, and a multicopter. FIG. 11 is a perspective view showing the camera stabilizing device 11A for a curved surface inspection of this embodiment together with the inspection camera 21 in an omitted state, and is mounted on the multicopter 31 in the same manner as the camera stabilization device 11 for a vertical surface inspection of the previous embodiment. Thus, another embodiment of the inspection target surface inspection system of the present invention is constituted, and the same operation and effect as the vertical surface inspection camera stabilizer 11 of the previous embodiment can be obtained.

ここで、距離センサ１６としての２次元点群センサは、カメラマウント１２の下面に固定されたセンサ基部１６ｃと、そのセンサ基部１６ｃに設けられたモータでジンバル機構１３のｚ軸（ヨー軸）と平行な軸線周りに連続的に回動駆動されるレーザスキャナ部１６ｄとを有しており、レーザスキャナ部１６ｄはレーザ光を実質的に連続的に出力して対象物からの反射光を受光し、その反射光から三角測量の原理で対象物との距離を測定する。これにより距離センサ１６はｚ軸（ヨー軸）と直交する平面で切断した点検対象面の断面形状を点群として実質上連続的に取得することができ、この実施形態の湾曲面点検用カメラ安定装置１１Ａは、その距離センサ１６が取得した点検対象面の断面形状に基づき、その断面形状が例え橋脚の側部のように水平方向に湾曲していても点検用カメラ２１をジンバル機構１３のヨー軸周りに関して点検対象面に正対させ続けることができる。   Here, the two-dimensional point cloud sensor as the distance sensor 16 includes a sensor base 16c fixed to the lower surface of the camera mount 12, and a z-axis (yaw axis) of the gimbal mechanism 13 using a motor provided on the sensor base 16c. A laser scanner section 16d that is driven to rotate continuously about a parallel axis, and the laser scanner section 16d outputs laser light substantially continuously to receive reflected light from an object. Then, the distance from the reflected light to the target object is measured based on the principle of triangulation. As a result, the distance sensor 16 can substantially continuously acquire the cross-sectional shape of the inspection target surface cut along a plane orthogonal to the z axis (yaw axis) as a point cloud, and the curved surface inspection camera according to this embodiment can be stabilized. Based on the cross-sectional shape of the inspection target surface acquired by the distance sensor 16, the device 11 </ b> A controls the inspection camera 21 to yaw the gimbal mechanism 13 even if the cross-sectional shape is curved horizontally like the side of a pier. It is possible to keep facing the inspection target surface around the axis.

なお、このような２次元点群センサとしては、例えばＳｈｅｎｚｈｅｎ Ｙｕｅｄｅｎｇ Ｔｅｃｈｎｏｌｏｇｙ社が製造する３６０°レーザスキャナ、商品名ＹＤＬＩＤＥＲＸ４を使用することができる。   In addition, as such a two-dimensional point group sensor, for example, a 360 ° laser scanner manufactured by Shenzhen Yuedeng Technology, a trade name of YDLIDERX4 can be used.

図１８は、距離センサ１６として３次元点群センサを搭載したこの発明の点検対象面点検用カメラ安定装置のさらに他の一実施形態としての下向き面点検用カメラ安定装置１１Ｂを、マルチコプタを省略した状態で点検用カメラ２１とともに示す斜視図であり、この実施形態の下向き面点検用カメラ安定装置１１Ｂも、先の実施形態の垂直面点検用カメラ安定装置１１と同様にしてマルチコプタ３１に搭載して、この発明の点検対象面点検システムの他の一実施形態を構成し、先の実施形態の垂直面点検用カメラ安定装置１１と同様の作用効果を奏することができる。   FIG. 18 shows a camera stabilizing device 11B for downward-facing surface inspection as still another embodiment of a camera stabilizing device for inspecting an inspection object surface according to the present invention, in which a three-dimensional point cloud sensor is mounted as the distance sensor 16, and a multicopter is omitted. It is a perspective view shown with the inspection camera 21 in the state, and the camera stabilizer 11B for downward surface inspection of this embodiment is mounted on the multicopter 31 in the same manner as the camera stabilizer 11 for vertical surface inspection of the previous embodiment. Another embodiment of the inspection target surface inspection system according to the present invention is constituted, and the same operational effects as those of the vertical surface inspection camera stabilizer 11 of the previous embodiment can be obtained.

ここで、距離センサ１６としての３次元点群センサは、カメラマウント１２の下面に固定されたセンサ本体１６ｅと、そのセンサ本体１６ｅの正面左右に配置された２台の赤外線カメラ１６ｆと、それらの赤外線カメラ１６ｆの間に配置されて正面の一定範囲に多数のドットからなるドットパターンを赤外線で照射するプロジェクタ１６ｇと、センサ本体１６ｅ内に収納された図示しない演算処理回路とを有しており、その演算処理回路は、プロジェクタ１６ｇが照射して２台の赤外線カメラ１６ｆが撮影した点検対象面の表面上のドットパターンの各ドットの視差から点検対象面の３次元形状を求め、その形状データを出力することができ、この実施形態の下向き面点検用カメラ安定装置１１Ｂは、その距離センサ１６が取得した点検対象面の３次元形状に基づき、姿勢センサからのデータに代えてあるいは加えて、距離センサ１６から点検用カメラの左右方向および上下方向に互いに離間した点検対象面の複数箇所までの距離から、ジンバル機構１３のピッチ軸、ヨー軸およびロール軸周りの点検用カメラ２１の姿勢を点検対象面に常に正対するように制御することができ、これにより、その点検対称面の３次元形状が例え橋桁の下面のように斜め下や真下に向く下向き面であったとしても点検用カメラ２１をジンバル機構１３の直交３軸周りに関して点検対象面に正対させ続けることができる。   Here, the three-dimensional point cloud sensor as the distance sensor 16 includes a sensor body 16e fixed to the lower surface of the camera mount 12, two infrared cameras 16f arranged on the front left and right of the sensor body 16e, and It has a projector 16g that is arranged between the infrared cameras 16f and irradiates a dot pattern composed of a large number of dots in a certain area on the front with infrared rays, and an arithmetic processing circuit (not shown) housed in the sensor body 16e. The arithmetic processing circuit obtains the three-dimensional shape of the inspection target surface from the parallax of each dot of the dot pattern on the surface of the inspection target surface illuminated by the projector 16g and photographed by the two infrared cameras 16f, and calculates the shape data. In this embodiment, the camera stabilizing device 11B for downward surface inspection according to this embodiment is provided with the inspection object acquired by the distance sensor 16. Gimbal mechanism 13 based on the distance from the distance sensor 16 to a plurality of locations on the inspection target surface that are spaced apart from each other in the left-right direction and the up-down direction of the inspection camera based on the three-dimensional shape of Of the inspection camera 21 around the pitch axis, the yaw axis and the roll axis can be controlled so as to always face the inspection target surface, whereby the three-dimensional shape of the inspection symmetry plane can be controlled, for example, on the lower surface of the bridge girder. As described above, even if the inspection camera 21 has a downward surface facing obliquely downward or directly below, the inspection camera 21 can be kept facing the inspection target surface around the three orthogonal axes of the gimbal mechanism 13.

なお、このような３次元点群センサとしては、例えばインテル株式会社が販売する、商品名リアルセンスデプスカメラ Ｄ４３５を使用することができる。   As such a three-dimensional point cloud sensor, for example, a Realsense depth camera D435 (trade name, sold by Intel Corporation) can be used.

以上、図示例に基づき説明したが、この発明は上述の例に限定されるものでなく、特許請求の範囲の記載範囲内で適宜変更し得るものであり、例えば、カメラ配置手段としての無人飛行体は、上記例のマルチコプタ３１に限られず、他の構成や機能を持つものであってもよい。   As described above, the present invention has been described based on the illustrated examples. However, the present invention is not limited to the above examples, and can be appropriately changed within the scope of the claims. For example, unmanned flight as camera arrangement means The body is not limited to the multicopter 31 of the above example, and may have another configuration or function.

また、カメラマウントに固定されて点検対象面の複数個所までの距離を継続的に測定する距離センサは、上記例における超音波式やレーザ式や光学式等の非接触式センサに限られず、点検対象面点検システムの点検対象等に応じて正確な距離測定ができるものを適宜選択することができる。   In addition, the distance sensor fixed to the camera mount and continuously measuring the distance to a plurality of locations on the inspection target surface is not limited to the ultrasonic type, laser type, optical type or other non-contact type sensor in the above example. A device that can accurately measure the distance can be appropriately selected according to the inspection target of the target surface inspection system.

さらに、図１７に示す湾曲面点検用カメラ安定装置や図１８に示す下向き面点検用カメラ安定装置を搭載するカメラ配置手段は、図１に示す実施形態の点検対象面点検システムにおける無人飛行体に代えて、図１６に示す実施形態の点検対象面点検システムにおける台車としても良く、他の構成のものとしても良い。   Further, the camera arranging means on which the camera stabilizer for curved surface inspection shown in FIG. 17 and the camera stabilizer for downward surface inspection shown in FIG. 18 are mounted is used for an unmanned aerial vehicle in the inspection object surface inspection system of the embodiment shown in FIG. Instead, a truck in the inspection target surface inspection system of the embodiment shown in FIG. 16 may be used, or another configuration may be used.

さらに、カメラ配置手段が点検対象面点検用カメラ安定装置を介して点検用カメラを点検対象面の近傍に充分な精度で安定して配置できる場合には、そのカメラ配置手段が、カメラマウント向き変更機構およびカメラマウント向き制御手段を兼ねるように、点検対象面点検システムを構成しても良い。   Further, when the camera arranging means can stably arrange the inspection camera in the vicinity of the inspection target surface with sufficient accuracy via the camera stabilizing device for inspecting the inspection target surface, the camera arranging means changes the camera mount orientation. The inspection target surface inspection system may be configured to also serve as a mechanism and a camera mount direction control unit.

かくしてこの発明の点検対象面点検用カメラ安定装置によれば、点検対象面点検システムによる当該点検対象面点検用カメラ安定装置の支持剛性や支持精度が充分高くなくても、距離センサがそれぞれ測定した点検対象面の複数箇所までの距離と当該垂直面点検用カメラ安定装置が有する姿勢センサが検出したカメラ安定装置の姿勢とに基づいて点検用カメラを点検対象面に常に正対させておき、その点検用カメラで点検対象面の動画または複数枚の静止画を撮影することで、点検対象面の点検用画像を確実に得ることができる。   Thus, according to the camera stabilizer for inspecting the inspection target surface of the present invention, even if the support rigidity and the supporting accuracy of the camera stabilizer for inspecting the inspection target surface by the inspection target inspection system are not sufficiently high, the distance sensors respectively measure. Always keep the inspection camera directly facing the inspection target surface based on the distance to a plurality of locations on the inspection target surface and the attitude of the camera stabilizer detected by the attitude sensor of the vertical surface inspection camera stabilizer. By photographing a moving image or a plurality of still images of the inspection target surface with the inspection camera, an inspection image of the inspection target surface can be reliably obtained.

そしてこの発明の点検対象面点検システムによれば、点検対象面点検システム自体による点検用カメラの支持剛性や支持精度が充分高くなくても、そこに設けたこの発明の点検対象面点検用カメラ安定装置が、基本位置で互いに直交する３軸の各軸周りに関して点検用カメラを点検対象面に常に正対させておくことができるので、点検対象面に常に正対したその点検用カメラで点検対象面の動画または複数枚の静止画を撮影することで、点検対象面の点検用画像を確実に得ることができる。   According to the inspection target surface inspection system of the present invention, even if the support rigidity and the supporting accuracy of the inspection camera by the inspection target inspection system itself are not sufficiently high, the inspection target inspection camera of the present invention provided therewith can be stabilized. Since the device can always keep the inspection camera directly facing the inspection target surface around each of the three axes orthogonal to each other at the basic position, the inspection target is always inspected with the inspection camera always facing the inspection target surface. By capturing a moving image of the surface or a plurality of still images, an inspection image of the inspection target surface can be reliably obtained.

１，２ 垂直面点検システム
１１ 垂直面点検用カメラ安定装置
１１Ａ 湾曲面点検用カメラ安定装置
１１Ｂ 下向き面点検用カメラ安定装置
１２ カメラマウント
１２ａ カメラ支持部材
１２ｂ カメラ押さえ部材
１３ ジンバル機構
１３ａ ピッチ軸モータ
１３ｂ 中間ブラケット
１３ｃ ロール軸モータ
１３ｄ 基部ブラケット
１３ｅ ヨー軸モータ
１４ ジンバル制御ユニット
１５ 支持構体
１５ａ カメラベースプレート
１５ｂ ジョイントベースプレート
１５ｃ ロックプレート
１５ｄ 支柱
１６ 距離センサ
２１ 点検用カメラ
３１ マルチコプタ
３２ 機体
３２ａ 腕
３２ｂ 搭載面
３３ バッテリ
３４ 飛行モータ
３５ 可変ピッチロータ
３６ サーボモータ
３７ 制御装置
３８ 保護枠
３９ スキッド
４０ ビジョンユニット
４１ 視覚処理ユニット
５１ 台車型点検装置
５２ 台車
５２ａ キャスタ
５３ パーソナルコンピュータ
５４ ポール支持フレーム
５５ 縦ポール
５６ ワイヤ
５７ 横ポール
５８ 入り込みポール
５９ ウエイト
Ｂ 橋梁
Ｃ 検査員
Ｄ 機体の下方
Ｆ 機体の前方
Ｇ 橋桁
Ｈ 高欄
Ｌ 光軸
Ｐ 床板
ＶＰ 垂直面 Reference numerals 1 and 2 Vertical surface inspection system 11 Vertical surface inspection camera stabilizer 11A Curved surface inspection camera stabilizer 11B Downward surface inspection camera stabilizer 12 Camera mount 12a Camera support member 12b Camera holding member 13 Gimbal mechanism 13a Pitch axis motor 13b Intermediate bracket 13c Roll axis motor 13d Base bracket 13e Yaw axis motor 14 Gimbal control unit 15 Support structure 15a Camera base plate 15b Joint base plate 15c Lock plate 15d Post 16 Distance sensor 21 Camera for inspection 31 Multicopter 32 Body 32a Arm 32b Mounting surface 33 Battery 33 Flying motor 35 Variable pitch rotor 36 Servo motor 37 Control device 38 Protective frame 39 Skid 40 Vision unit 41 Visual processing unit Unit 51 Dolly type inspection device 52 Dolly 52a Caster 53 Personal computer 54 Pole support frame 55 Vertical pole 56 Wire 57 Lateral pole 58 Entrance pole 59 Weight B Bridge C Inspector D Below the fuselage F Front of the fuselage G Bridge girder H Height column L Light Axis P Floor plate VP Vertical surface

Claims (10)

点検対象面の動画または複数枚の静止画を継続的に撮影する点検用カメラを前記点検対象面に正対させるための点検対象面点検用カメラ安定装置において、
前記点検用カメラを固定搭載可能なカメラマウントと、
基本位置で互いに直交する上下軸と前後軸と左右軸との３軸の各軸周りに前記カメラマウントの向きを変更するカメラマウント向き変更機構と、
前記カメラマウントに前記点検用カメラとともに固定搭載されて、前記点検対象面の、前記点検用カメラの少なくとも左右方向に互いに離間した複数箇所までの距離をそれぞれ継続的に測定する距離センサと、
前記距離センサが測定した前記点検対象面の複数箇所までの距離と姿勢センサが検出した前記点検対象面点検用カメラ安定装置の姿勢とに基づき、前記点検用カメラが前記点検対象面に常に正対するように前記カメラマウント向き変更機構の動作を継続的に制御するカメラマウント向き制御手段と、
を具えることを特徴とする点検対象面点検用カメラ安定装置。 In a camera stabilizing device for inspection target surface inspection for directly facing the inspection target surface the inspection camera that continuously shoots a moving image or a plurality of still images of the inspection target surface,
A camera mount capable of fixedly mounting the inspection camera,
A camera mount direction change mechanism for changing the direction of the camera mount around each of three axes of a vertical axis, a front-rear axis, and a left-right axis that are orthogonal to each other at a basic position;
A distance sensor that is fixedly mounted together with the inspection camera on the camera mount, and continuously measures distances to a plurality of locations on the inspection target surface that are separated from each other in at least the left-right direction of the inspection camera,
The inspection camera always faces the inspection target surface based on the distance to the plurality of locations on the inspection target surface measured by the distance sensor and the posture of the inspection target surface inspection camera stabilizer detected by the posture sensor. Camera mount direction control means for continuously controlling the operation of the camera mount direction change mechanism,
A camera stabilizer for inspecting a surface to be inspected, comprising: 前記カメラマウントの、前記距離センサが距離をそれぞれ測定する点検対象面の複数個所は、前記カメラマウントに搭載された点検用カメラの左右方向に互いに離間していることを特徴とする、請求項１記載の点検対象面点検用カメラ安定装置。   2. The camera mount according to claim 1, wherein a plurality of inspection target surfaces on which the distance sensor measures the distance are separated from each other in the left-right direction of the inspection camera mounted on the camera mount. Camera stabilizer for inspection of inspection target surface described. 前記カメラマウントの、前記距離センサが距離をそれぞれ測定する点検対象面の複数個所は、前記カメラマウントに搭載された点検用カメラの上下方向にも互いに離間していることを特徴とする、請求項２記載の点検対象面点検用カメラ安定装置。   A plurality of inspection target surfaces of the camera mount, at which the distance sensors measure distances, are also separated from each other in a vertical direction of an inspection camera mounted on the camera mount. 2. A camera stabilizer for inspecting a surface to be inspected according to 2. 前記距離センサは、当該距離センサから遠ざかるにつれて互いに離れる方向へ向けられて前記カメラマウントに固定された複数の距離センサであることを特徴とする、請求項１から３までの何れか１項記載の点検対象面点検用カメラ安定装置。   The distance sensor according to any one of claims 1 to 3, wherein the distance sensor is a plurality of distance sensors fixed to the camera mount in a direction away from each other as the distance sensor moves away from the distance sensor. Camera stabilizer for inspecting the inspection target surface. 前記距離センサは、前記点検対象面の断面形状を取得する２次元点群センサであることを特徴とする、請求項１から３までの何れか１項記載の点検対象面点検用カメラ安定装置。   4. The camera stabilizing device for inspecting an inspection target surface according to claim 1, wherein the distance sensor is a two-dimensional point cloud sensor that acquires a cross-sectional shape of the inspection target surface. 5. 前記距離センサは、前記点検対象面の３次元形状を取得する３次元点群センサであることを特徴とする、請求項１から３までの何れか１項記載の点検対象面点検用カメラ安定装置。   The camera device according to any one of claims 1 to 3, wherein the distance sensor is a three-dimensional point group sensor that acquires a three-dimensional shape of the inspection target surface. . 請求項１から６までの何れか１項記載の点検対象面点検用カメラ安定装置と、
前記点検対象面点検用カメラ安定装置の前記カメラマウントに搭載された前記点検用カメラと、
前記点検対象面点検用カメラ安定装置を介して前記点検用カメラを前記点検対象面の近傍に配置するカメラ配置手段と、
を具えることを特徴とする点検対象面点検システム。 A camera stabilizer for inspecting a surface to be inspected according to any one of claims 1 to 6,
The inspection camera mounted on the camera mount of the inspection target surface inspection camera stabilizer,
Camera placement means for placing the inspection camera near the inspection target surface via the inspection target surface inspection camera stabilizer,
An inspection target surface inspection system characterized by comprising: 前記点検用カメラが撮影した前記点検対象面の動画または複数枚の静止画のデータに同期された、前記距離センサがそれぞれ測定した点検対象面の複数個所の距離のデータを出力する距離データ同期出力手段を具えることを特徴とする、請求項７記載の点検対象面点検システム。   A distance data synchronous output that outputs data of a plurality of distances of the inspection target surface measured by the distance sensor, which are synchronized with data of a moving image or a plurality of still images of the inspection target surface taken by the inspection camera. The inspection target surface inspection system according to claim 7, comprising means. 前記カメラ配置手段は、前記点検対象面点検用カメラ安定装置と前記点検用カメラとを搭載するとともに、前記姿勢センサを持つ前記カメラマウント向き制御手段と別個に、姿勢センサを持つ飛行制御手段を有し、前記点検対象面の近傍を飛行する無人飛行体であることを特徴とする、請求項７または８記載の点検対象面点検システム。   The camera arranging means includes a flight control means having an attitude sensor separately from the camera mount direction control means having the attitude sensor and mounting the inspection object surface inspection camera stabilizer and the inspection camera. The inspection target surface inspection system according to claim 7, wherein the inspection target surface inspection system is an unmanned aerial vehicle that flies near the inspection target surface. 前記カメラ配置手段は、少なくとも１本の支持アームを搭載し、その支持アームで前記点検対象面点検用カメラ安定装置と前記点検用カメラとを支持して前記点検対象面の近傍に配置する台車であることを特徴とする、請求項７または８記載の点検対象面点検システム。   The camera arranging means is a trolley mounted with at least one support arm, supporting the inspection object inspection camera stabilizer and the inspection camera with the support arm, and arranging the inspection inspection surface near the inspection target surface. 9. The inspection target surface inspection system according to claim 7, wherein:
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