Movable imaging device and movable imaging method

A movable imaging method of imaging an object to be inspected including a flat surface and using a movable imaging device including a camera that images the object to be inspected and acquires an image for inspection, a pan/tilt mechanism that rotates the camera in each of a pan direction and a tilt direction, and a moving body on which the camera is mounted and which moves the camera along the flat surface of the object to be inspected, the movable imaging method comprising:

• a definition calculating step of calculating definition of the image for inspection acquired by the camera;
• a determination step of determining whether the definition calculated by the definition calculating step is equal to or higher than required definition required for inspection accuracy of the object to be inspected;
• a pan/tilt control step of operating the pan/tilt mechanism to move an imaging area on the object to be inspected and operating the pan/tilt mechanism in a case in which it is determined in the determination step that the calculated definition is equal to or higher than the required definition;
• a moving body control step of moving the moving body to move an imaging area on the object to be inspected and moving the moving body in a case in which the pan/tilt mechanism is operated in the pan/tilt control step and it is determined in the determination step that the calculated definition is lower than the required definition;
• and
• an imaging control step of imaging the object to be inspected by the camera in a case in which it is determined in the determination step that the calculated definition is equal to or higher than the required definition.