JP2017075863A5

JP2017075863A5 -

Info

Publication number: JP2017075863A5
Application number: JP2015203586A
Authority: JP
Filing date: 2015-10-15
Publication date: 2018-04-26
Anticipated expiration: 2035-10-15

Claims

A small unmanned aerial vehicle having a plurality of rotor blades and a control unit that controls flight by the plurality of rotor blades;
An inspection unit that is attached to the small unmanned aerial vehicle and inspects the state of the target surface that is a planar inspection target in a non-contact manner,
A flight type inspection apparatus comprising: a distance measuring unit that measures a target distance that is a distance to the target surface in a plurality of measurement directions;
The control unit is configured to estimate a facing parameter including an angle of the inspection unit with respect to the target surface and a distance from the target surface at the angle based on information on the target distance measured by the distance measuring unit. With
The flight type inspection apparatus moves the small unmanned airplane along the target surface while maintaining the facing parameter with respect to the target surface of the inspection unit constant based on the estimation result in the estimation unit, There line inspection by the inspection unit for a plurality of locations of the target surface,
A flight type inspection apparatus that executes at least one of first estimation control and second estimation control .
In the first estimation control, the control unit performs the first control to keep the facing parameter of the inspection unit constant with respect to the first part of the target surface, and the small unmanned airplane is In a state where it is moved parallel to one part,
The estimation means includes two minimum points in the target distance as a function of the measurement direction, and the target distance at the minimum point located in the measurement direction ahead of the moving direction of the small unmanned airplane among the two minimum points. However, when the small unmanned airplane is detected to decrease as the small unmanned airplane moves, it is estimated that there is a second part on the target surface in the direction of approaching the small unmanned airplane in front of the moving direction. ,
When the target distance at the two local minimum points becomes equal, the control unit maintains the facing parameter of the inspection unit with respect to the second part from the first control. Transition.
In the second estimation control, the control unit performs the third control of maintaining the facing parameter of the inspection unit with respect to the third part of the target surface, and the small unmanned airplane is In the state of moving parallel to the three parts,
When the estimation means detects a behavior in which the target distance as an infinite function is infinite, a fourth direction in which a surface is directed in a direction away from the small unmanned airplane in front of the moving direction of the small unmanned airplane. Is estimated to exist on the target surface,
The control unit detects the state in which the target distance is symmetric with respect to a minimum point in the measurement direction behind the movement direction with respect to the measurement direction in which the target distance is infinite. The process shifts from the third control to the fourth control for maintaining the facing parameter of the inspection unit to be constant.

The distance measuring unit measures the target distance in a plurality of measurement directions perpendicular to the distance measuring axis,
The flight type inspection apparatus according to claim 1, wherein the estimation unit estimates an angle of the inspection unit in a plane perpendicular to the distance measuring axis as an angle of the inspection unit with respect to the target surface.

The flight type inspection apparatus according to claim 2, wherein the distance measuring axis is provided on a yaw axis of the small unmanned airplane or in parallel with the yaw axis.

The control unit can change the position and orientation of the small unmanned aerial vehicle based on a signal from the outside, and during the inspection by the inspection unit, the facing parameter for the target surface of the small unmanned aircraft Is controlled based on the estimation result of the estimation means, not based on the signal from the outside, and the position of the small unmanned airplane along the target surface is controlled based on the signal from the outside The flight type inspection apparatus according to any one of claims 1 to 3, wherein

The distance measuring unit is rotatably attached to the small unmanned aerial vehicle, and measures the target distance in the plurality of measurement directions by the rotation. The flight type inspection apparatus according to the item.

The estimation means estimates the facing parameter, assuming that a measurement direction in which the target distance as a function of the measurement direction takes a minimum value is a perpendicular direction perpendicular to the target surface. Item 6. The flight type inspection apparatus according to any one of Items 1 to 5.

The estimating means sets the target distance to L, the measurement direction with reference to the plane perpendicular direction orthogonal to the target plane as θ, and the distance from the distance measuring unit along the plane perpendicular direction to the target plane as L0. The flight type inspection apparatus according to claim 1, wherein the facing parameter is estimated using a function form of L = L 0 / cos θ.

The distance measuring unit measures the target distance with respect to three or more measurement directions, and the estimation unit has a relationship between the target distance and the measurement direction in some measurement directions other than the part. 8. The face-to-face parameter is estimated by ignoring the measurement result in the part of the measurement direction if it deviates from the function form estimated from the relationship in the measurement direction. The flight type inspection apparatus according to claim 1.

Inspection method characterized by checking the status of the target surface is a planar test object using a flying type testing apparatus according to any one of claims 1 to 8.

The small unmanned aerial vehicle is based on a photographing unit that is fixed with respect to the target surface and that photographs the target surface from a position farther than the small unmanned airplane, and a photographed image of the target surface photographed by the photographing unit. Using external control means capable of controlling the position and posture of
The external control means moves the small unmanned airplane along the target surface and inspects the target surface while the control unit maintains the facing parameter of the inspection unit with respect to the target surface constant. The inspection method according to claim 9 .