JP2017109593A - Flight type inspection machine, and inspection system and inspection method using flight type inspection machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flight type inspection machine allowing safe and reliable inspection over a long period of time by avoiding secondary disasters.SOLUTION: The flight type inspection machine, which is loaded with an inspection device for inspecting surrounding conditions and flies according to a flight device, is provided with a fixing device for fixing the flight type inspection machine to an arbitrary structure. In addition, a fixation release device for releasing the fixation by the fixing device may be provided. Further, a relay device for transmitting a signal received from the outside of the flight type inspection machine to a predetermined device outside the flight type inspection machine may be disposed. The flight device may be a device which flies according to double reversal type propellers.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flight-type research machine, a research system using a flight-type research machine, and a research method using a flight-type research machine, and more specifically, a flight-type research machine that performs a survey by flying to a survey target point. The present invention relates to a survey system using a survey machine and a survey method using a flight type survey machine.

  When disasters such as earthquakes, fires, tornadoes, floods, and tsunamis occur, the structure is damaged, whether there are injuries in the structure, the status of dangerous goods, the presence of danger due to damage to buildings and equipment, etc. Need to be done safely and quickly. However, when the structure is damaged, it is assumed that the passage is blocked or that various things are scattered on the floor surface and the entry is hindered. There is a risk of the next disaster. In order to investigate the target safely while avoiding the risk of secondary disaster, it is considered effective to use a remote control type robot.

  Numerous robots have been developed in Japan since the Great Hanshin-Awaji Earthquake to investigate structures that enter the structure during a disaster. There are snake-shaped robots for entering the rubble and crawler robots suitable for running on rough terrain. Already known. These robots are effective for entering narrow spaces such as the lower part of a collapsed building, but have the disadvantage that they are inefficient when investigating large buildings and high places.

  In relation to this type of technology, Japanese Patent Application Laid-Open No. 2014-104797 discloses a crawler-type moving mechanism that moves on the floor surface and enters the building, a camera provided in the moving mechanism, and a pan / tilt mechanism of the camera And a flying body that can be mounted on the moving mechanism, a light emitting body provided on the flying body, a pan / tilt control means for controlling the pan / tilt mechanism so that the camera tracks the light emitting body, and an image captured by the camera is displayed. An indoor survey system including a display unit and an operation unit for operating a flying object is disclosed.

JP, 2014-104797, A

  However, in the system described in Japanese Patent Application Laid-Open No. 2014-104797, when the position and posture of the flying object are desired to be held at a high point from the ground or floor surface (for example, when fixed point observation is desired with a camera mounted on the flying object) ), It is necessary to continue the control of the flying body so that the position and posture are maintained, unlike the case where the moving body traveling on the ground or the like is stopped at an arbitrary point. In particular, when the flying vehicle is battery-driven, battery power is consumed by continuous flight, so that it is difficult to maintain the position and posture for a long time.

  An object of the present invention is to provide a flight type research machine capable of avoiding the risk of a secondary disaster and capable of conducting a survey for a long time safely and reliably.

  In order to achieve the above object, the present invention is equipped with a survey device for investigating the surrounding situation, and in a flight type survey aircraft that flies by a flight device, the flight type survey aircraft can be fixed to an arbitrary structure. And a device.

  ADVANTAGE OF THE INVENTION According to this invention, the flight type investigation machine which can avoid the risk of a secondary disaster, and can investigate for a long time safely and reliably can be provided.

  Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

The block diagram which shows the structure of the investigation system using the flight type investigation machine which concerns on embodiment of this invention. Explanatory drawing which showed the condition which is investigating the building interior by the disaster investigation system as an Example of the investigation system using the flight type investigation machine which concerns on this invention. The perspective view which shows schematic structure of the flying body as an Example of the flight type research aircraft which concerns on this invention. The block diagram which shows the control system of the flying body as an Example of the flight type research aircraft which concerns on this invention. FIG. 6 is a cross-sectional view of the vicinity of the fixing device 22 and shows a state before the fixing release device 23 operates. FIG. 6 is a cross-sectional view of the vicinity of the fixing device 22 and shows the operation of the fixing release device 23. The perspective view which shows the example which attached the hook-shaped member 22b which is a collar part as the fixing device 22 to the upper part of the flying body 10. FIG. The flowchart which showed the flow when investigating a building by the disaster investigation system of a present Example. Explanatory drawing which showed the condition which is investigating the building interior by the disaster investigation system as an Example of the investigation system using the flight type investigation machine which concerns on this invention.

  Hereinafter, a flight type research machine and a research system using the flight type research machine according to an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of an investigation system using a flight type investigation machine according to an embodiment of the present invention.

  The survey system using the flight type research machine of the present embodiment includes the flight type research machine 100 and the terminal device 200.

  The flight type research machine 100 includes a battery 106, a flying device 101 that operates using the battery 106 as a power source, a fixing device 102 that can be fixed to a fixed portion of an arbitrary structure after flying by the flying device 101, and a fixing device. An unlocking device 104 that releases the state fixed to the fixed location by 102, an investigation device 103 that operates using the battery 106 as a power source, and that at least is fixed to the fixed location by the fixing device; And a control device 105 that controls the flying device 101 and the survey device 103. Configurations other than the flying device 101 and the survey device 103 may also operate using the battery 106 as a power source. The control device 105 may also control components other than the flying device 101 and the survey device 103.

  By performing the investigation by the investigation device 103 in a state where the fixing device 102 is fixed to the fixed location, the flying device 101 can be stopped in a state where the fixing device 102 is fixed to the fixed location. Therefore, it is possible to secure a power source for driving the investigation device 103, and a long-term investigation can be executed.

  The flight type research machine 100 may further include an operation instruction receiving apparatus 107 that receives an operation instruction for the flight type research machine 100, and a survey result transmission apparatus 108 that transmits a survey result by the survey apparatus 103. The control device 105 controls the flying device and the investigation device based on the operation instruction received by the operation instruction receiving device.

  The terminal device 200 includes an operation instruction input device 201 that receives an operation instruction input from the operator to the flight type research machine 100, an operation instruction transmission device 202 that transmits an operation instruction received by the operation instruction input device 201, and an investigation result. And a survey result receiving device 203 for receiving. An operation instruction for the flight type research aircraft 100 is received by the operation instruction input device 201 and transmitted from the operation instruction transmission device 202. The survey result receiving device 203 of the terminal device 200 receives the survey result transmitted by the survey result transmitting device 108 of the flight type research machine 100. This operation instruction and survey result transmission / reception may be performed by wired communication, but is preferably performed by wireless communication, and any known communication method such as radio wave communication or infrared communication may be used. With this configuration, it is possible to remotely control the flight type research machine 100 using the terminal device 200.

  In the research system using the flight type research machine of the present embodiment, a plurality of flight type research machines 100 may be provided. In this case, the one flight type researcher 100 receives an operation instruction for another flight type researcher 100 different from the one flight type researcher 100 from the terminal device 200 or still another flight type researcher 100. The operation instruction is transmitted to the other flight type research aircraft 100, and the survey result from the other flight type survey device 100 is received, and the survey result is used as the terminal device 200 or another flight type survey. It further includes a relay device 109 that transmits to the device 100. Note that there may be a case where the survey apparatus 103 and the survey result transmission apparatus 108 are not necessarily provided in the flight type survey machine 100 that performs only relay.

  The flying device 101 may be a device that performs flight with a double reversing propeller. The flying device 101 may fly by any other mechanism.

  The fixing device 102 may be a magnet, and in this case, the fixing device 102 that is a magnet at a fixed location that is a location of a ferromagnetic material (iron pillar, wall, beam, ceiling, overhead crane, other heavy machinery, etc.). The flight type research machine 100 is fixed to the fixed place by the fixing device 102. The fixing device 102 which is a magnet may be an electromagnet or a permanent magnet. In the case where the fixing device 102 is an electromagnet, the fixing device 102 may be controlled by the control device 105 so that the electromagnet is excited and fixed to a fixed portion that is a ferromagnetic material portion. The release device 104 may be controlled by the control device 105 to demagnetize the electromagnet and release the fixation to the fixed portion. When the fixing device 102 is a permanent magnet, it is possible to achieve fixation to a fixed location that is a location of a ferromagnetic material with a simple configuration. The fixing release device 104 may release the fixing by separating the fixing device 102 from the fixed portion. For example, the unlocking device 104 is provided with a rod-shaped member that can be moved and controlled so as to project from the flight type research machine 100 toward the fixed location, and the control device 105 projects the rod-shaped member toward the fixed location. Thus, the fixing device 102 and the fixed portion may be separated to a distance that the attracting force of the fixing device 102 that is a magnet does not reach and the fixing to the fixed portion may be released.

  The fixing device 102 may be a buttocks. In this case, the to-be-fixed location is a location where the fixing device 102 which is a collar portion can be hooked, such as a hook of an overhead crane or an exposed pipe.

  In addition, the fixing device 102 may be one that is strong enough to withstand the weight of the flying device 101 and fixed to a fixed portion with an adhesive surface, or a double-sided tape, a gummed tape, an instantaneous adhesive, or the like is used. However, it is desirable to fix by means of reusable means.

  Further, the position at which the fixing device 102 is provided in the flight type research machine 100, that is, the position in contact with the fixed location in the flight type research machine 100 may be the top surface of the flight type research machine 100, the side surface, the bottom surface, etc. Any position may be sufficient. As in Example 1 to be described later, when the flight type research machine 100 is the flying object 10 covered with the outer shell 11, the fixing device 22 as the fixing device 102 may be provided on the top of the outer shell 11. (See FIG. 3) Besides this, when the spherical shape of the outer shell 11 is regarded as the earth, a fixing device 22 may be provided on any surface above the equator position (north hemisphere), The fixing device 22 may be provided on any surface of the equator position, or the fixing device 22 may be provided on any surface below (southern hemisphere) below the equator position.

  The investigation device 103 may include a photographing device that photographs surrounding images. The video imaged by this imaging device is transmitted to the terminal device 200 as a survey result, and the terminal device 200 can display this video on a display device (not shown). Further, the survey device 103 may include a temperature measurement device that measures the ambient temperature of the flight type research machine 100, or may include a gas measurement device that measures gas components around the flight type survey device 100, It may include a sound recording device that records the sound around the flight type researcher 100, may include a radiation measurement device that measures the radiation dose around the flight type research device 100, and any other known environmental surveys. An apparatus for performing the above may be included.

  When a plurality of flight-type research aircraft 100 are provided, the imaging device of one flight-type research aircraft 100 photographs another flight-type research aircraft 100 different from this one flight-type research aircraft 100, and the operator is one While viewing the video of the other flight type researcher 100 taken by the photographing device of the flight type researcher 100, the other flight type researcher 100 can be operated by operating the terminal device 200.

  Incidentally, like a crawler type moving mechanism disclosed in Japanese Patent Application Laid-Open No. 2014-104797, an operation of a flying object based on a tracking image by a remote operation robot of a type moving on the ground surface or a floor surface is performed by the remote operation robot. As a result, there is a problem that the investigation range by the traveling body is limited. For example, when there is an obstacle on the ground or the like that cannot be overtaken by the crawler, it is difficult to track the flying object in the area beyond the obstacle, and the investigation by the flying object is also difficult. In addition, since the camera mounted on the moving mechanism that moves on the floor surface is set near the floor surface, if there is an obstacle above the moving mechanism, the flying object flying at a high position should be This makes tracking difficult and makes it difficult to investigate with flying objects. In addition, when a flying object is controlled by radio output from a moving mechanism, if there is a structure made of a material that reflects radio waves, the structure becomes an obstacle to reaching the signal to the flying object, and the flying object is moved to a desired location. There is a possibility that it cannot move.

  According to the present embodiment, the operator operates the terminal device 200 while viewing the video of the other flight type researcher 100 photographed by the photographing device of the one flight type researcher 100, and the other flight type research machine 100. Since one flight type researcher 100 can fly by the flying device 101, the range of movement can be widened, and by using a plurality of relay type flight type surveying devices 100, obstacles can be overcome. To investigate further.

  Embodiments of a survey system using a flight type survey machine according to the present invention will be described below in detail with reference to the drawings.

  FIG. 2 is an explanatory diagram showing a situation in which a building is being surveyed by a disaster survey system as an embodiment of a survey system using a flight type research machine according to the present invention.

  FIG. 3 is a perspective view showing a schematic configuration of a flying object as an embodiment of the flight type research aircraft according to the present invention.

  FIG. 4 is a block diagram showing the control system of the flying object as an embodiment of the flight type research aircraft according to the present invention.

  The survey system using the flight type surveying machine according to the present invention is not specialized in surveying buildings in a disaster, surveys in buildings and artificial buildings other than disasters, caves, underground, mountainous areas, etc. In this embodiment, a disaster investigation system as an embodiment of the investigation system using the flight type research machine according to the present invention will be described.

  First, the configuration of the disaster investigation system of this embodiment will be described with reference to FIG.

  The disaster investigation system includes a flying object 10 (first flight type investigation machine) as a flight type investigation machine 100 that is fixed in a place where an operator (operator) in the building 1 to be examined can be directly visually confirmed. A second flying object 30 (for example, the same structure as the flying object 10; a second flying type investigation machine) that inspects the flying object 10 as a wireless relay station and enters a place that cannot be directly confirmed by the operator; Includes a remote control device 40 as a terminal device 200 for operating the flying vehicle 10 and the second flying vehicle 30. In the example of FIG. 2, the flying object 10 passes through the openings 2 of each floor in the building 1 and is fixed to the overhead crane 50 by a fixing device 22 (see FIGS. 3 and 4) as a fixing device 102. Indicates the state.

  In FIG. 2, the remote control device 40 as the terminal device 200 is shown in the building 1. However, when the building 1 may collapse, an antenna for communicating with the flying object 10 (for example, operation instruction transmission) Device 202 and the antenna constituting the survey result receiving device 203, and a camera with a pan head (for example, the surroundings of the flying object 10 are photographed, and the flying object 10 is operated while viewing this photographed image outside the building 1. 2 may be installed at the position of the remote control device 40 shown in FIG. 2, and the operator may operate from outside the building 1 (for example, with the operation instruction input device 201). Furthermore, it can be easily understood that the flying object 10 can be fixed to a structure near the opening 2 of another floor and the floor can be investigated by the second flying object 30.

  Next, the configuration of the flying object 10 will be described with reference to FIGS.

  The flying object 10 has a shaft 12a attached to a central portion of a spherical outer shell 11, and has a structure in which a double reversing propeller 13 as a flying device 101 is held in the central portion of the shaft 12a. The double reversing propeller 13 has an upper propeller 13a and a lower propeller 13b, and reversely rotates them to cancel the counter-torque and realize a stable flight.

  Further, the flying object 10 includes a propeller direction control device 14a for rotating the double reversing propeller 13 around the axis of the shaft 12a (pitch axis), and the double reversing propeller 13 around the axis of the shaft 12b (rolling). And a propeller direction control device 14b that rotates about the axis). The axial direction of the shaft 12a and the axial direction of the shaft 12b are orthogonal to each other.

  A battery 15 and a power supply circuit 16 (see FIG. 4) (corresponding to the battery 106) for supplying power to each part of the flying object are provided at the lower part of the flying object 10, and a pan head 17 capable of adjusting the pan / tilt is further provided. A camera 18 mounted on (see FIG. 4) is provided. The camera 18 may be capable of shooting various types of images such as moving images, still images, night vision images, night vision images, and the like.

  The outer shell 11 has a plurality (for example, 30 in this embodiment) of outer shell pieces 11a made of resin, for example, which are curved so as to form a spherical outer peripheral shape, and one end of each outer shell piece 11a is connected to a connecting component 11b. It is connected to (for example, made of resin) and the other end is connected to another connecting component 11b to form a spherical shape. By housing the configuration of the double reversing propeller 13 and the camera 18 in the outer shell 11, the outer shell 11 collides with the outer wall of the structure during the flight of the flying object 10 or falls to the ground. The structure held in can be protected from impact. Moreover, according to the structure of the outer shell 11 of a present Example, the inside of the outer shell 11 can be visually recognized and operation | movement etc. of the double inversion type propeller 13 can be visually observed. Moreover, according to the structure of the outer shell 11 of a present Example, the outer shell 11 can be reduced in weight and the load of the double inversion propeller 13 can be reduced.

  The outer shell 11 is provided with a plurality of white LEDs 19 for illumination when photographing with the camera 18 and a color LED 20 for indicating the traveling direction of the flying object 10 to the operator, for example.

  For example, in the example of FIG. 2, the position of the flying objects 10 and 30 can be recognized by turning on the color LED 20. The light of the color LED 20 of the flying object 30 is tracked by the camera 18 of the flying object 10 (the pan head 17 of the flying object 10 is pan-tilt controlled), and the operator flies while watching the image taken by the camera 18 of the flying object 10. The body 30 can be maneuvered.

  Further, since the outer shell 11 of the flying object 10 is spherical, the front, rear, left and right sides of the flying object 10 are unknown, and it is difficult to confirm the traveling direction when maneuvering the flying object 10, but the color LED 20 is not attached. For example, the front, rear, left and right sides of the flying object 10 are clarified by providing them in front of the shell 11. That is, it is known in advance that if the remote control device 40 is operated so that the flying object 10 moves forward, the flying object 10 moves in the direction in which the color LED 20 is moved forward. Can do.

  Further, the flying object 10 is provided with an attitude detection device (for example, a gyro) 21 that detects an attitude at the time of flight. Further, on the upper part of the flying object 10, the fixing device 22 for fixing the flying object 10 to a fixed location in the vicinity of the investigation object and the fixing release device 104 for releasing the fixing device 22 are released. A device 23 is provided. Further, the air vehicle 10 includes a radio repeater 24 (refer to FIG. 4) (corresponding to the relay device 109) that relays a control signal (corresponding to an operation instruction) of the second air vehicle 30, and a second air vehicle 30. Video relay device 25 (FIG. 4) (corresponding to relay device 109) that relays the video signal of camera 18 (corresponding to the survey result) is also provided.

  When passing through a narrow place in the building 1, it is assumed that the flying object 10 contacts the structure, but as shown in FIG. 3, a spherical outer shell 11 surrounds the double reversing propeller 13. Therefore, the double inversion propeller 13 has a structure that is difficult to contact the structure.

  Further, by placing a heavy object such as a battery 15 under the flying object 10, even when the flying object 10 has landed unexpectedly, the battery is near the ground plane due to the moment due to the position of the center of gravity of the flying object 10. Since the double reversing propeller 13 is substantially oriented in the vertical direction, the reversing propeller 13 can be driven again by driving the double reversing propeller 13.

  Furthermore, by fixing the flying object 10 to a structure (fixed location) in the vicinity of the investigation object by the fixing device 22, there is no need to hover after the fixing, so that the consumption of the battery 15 is suppressed and the pan head 17 is Investigation using the camera 18 used can be performed for a long time.

  The remote control device 40 includes operation input devices 41 and 43 as the operation instruction input device 201. For example, the operation input device 41 is a device that performs input to the flying object 10, and the operation input device 43 is a device that performs input to the second flying object 30. The operation input devices 41 and 43 may be a common device. When more aircraft are used, the number of operation input devices may be increased accordingly.

  The remote control device 40 includes wireless transmitters 42 and 44 as the operation instruction transmission device 202. For example, the wireless transmitter 42 is a device that performs transmission toward the flying object 10, and the wireless transmitter 44 is a device that performs transmission toward the second flying object 30. The wireless transmitters 42 and 44 may be a common device. If more aircraft are used, the number of radio transmitters may be increased accordingly.

  The remote control device 40 includes a video receiver 46 as the survey result receiving device 203, and a monitor 45 as a display device that displays the video received by the survey result receiving device 203.

  The flying object 10 includes a microcomputer 27 as the control device 105. The microcomputer 27 can control the operation of the camera 18 and the pan head 17 as the investigation device 103. The direction in which the camera 18 captures an image can be changed by operating the camera platform 17.

  The rotation control of the double reversing propeller 13 is controlled by the speed controller 27c controlled by the microcomputer 27 under the propeller that rotates the upper propeller motor 27e that rotates the upper propeller of the two propellers and the lower propeller of the two propellers. This is implemented by driving the motor 27f.

  Tilt control (orientation control) of the double reversing propeller 13 is carried out by means of a speed controller 27d controlled by the microcomputer 27, propeller direction control (roll) 27g for driving the propeller direction control devices 14a and 14b, and propeller direction control (pitch). It is implemented by driving 27h.

  The flying body 10 may further include a camera 18 a in addition to the camera 18 so that a video image different from the camera 18 can be taken.

  The microcomputer 27 can control the operation of the fixing release device 23.

  The second aircraft 30 can have the same configuration as the aircraft 10. Further, the second flying body 30 may include an environment measurement sensor 28 as the investigation device 103. The environmental measurement sensor 28 acquires environmental data (temperature, radiation dose, etc.), and transmits the environmental data as a survey result by the survey result transmitting device 108 (the corresponding configuration is not shown in FIG. 4). Of course, the flying object 10 may also include the environmental measurement sensor 28.

  Next, an example of the fixing device 22 and the fixing release device 23 will be described with reference to FIGS. 5A and 5B. FIG. 5A is a cross-sectional view of the vicinity of the fixing device 22 and shows a state before the fixing release device 23 operates. FIG. 5B is a cross-sectional view of the vicinity of the fixing device 22, and shows the operation of the fixing release device 23.

  In this embodiment, a donut-shaped permanent magnet is used as the fixing device 22. If a magnet is used as the fixing device 22, the flying object 10 can be attracted and fixed to an iron structure such as an overhead crane or an overhead air conditioner with a magnetic force.

  In this embodiment, a solenoid is used as the fixing release device 23. By energizing the solenoid, the pin 26 (bar-shaped member) is pressed from the hole 22a at the center of the donut-shaped magnet against the iron structure (fixed portion) to which the magnet (fixing device 22) is adsorbed, and the fixing device The fixing release device 23 can be separated from the fixing location by making the force pressing the pin 26 against the fixing location stronger than the force obtained by subtracting the weight of the flying object from the magnet's adsorption force. Unlocking can be realized.

  Further, when the flying object 10 is fixed at the position shown in FIG. 2, a rope (not shown) is tied to the lower part of the flying object 10 as the fixing release device 23, and when releasing, the rope can be pulled. It can be released. In this case, if the rope is used as a power cable and power is supplied instead of the battery, the camera with pan head 18 of the flying object 10 may be used without worrying about the battery.

  FIG. 6 is a perspective view showing an example in which a hook-like member 22 b that is a hook as the fixing device 22 is attached to the upper part of the flying object 10.

  In the case of such a fixing device 22, the flying object 10 can be fixed by hooking the hook-like member 22 b on a horizontally installed pipe or an overhead crane hook. The release in this case can be realized by driving the double reversing propeller 13 to fly again, moving in the lateral direction, and removing the hook-like member 22b from the pipe, and this control corresponds to the fixing release device 104.

  Next, the procedure for conducting a survey in a building using the disaster survey system of this embodiment will be described with reference to FIG. FIG. 7 is a flowchart showing a flow when the building is surveyed by the disaster survey system of this embodiment.

  The operator controls the flying object 10 directly or visually while viewing the camera image mounted on the flying object 10 with the remote control device 40, and fixes the flying object 10 on the floor to be investigated using the fixing device 22. Next, the pan head 17 mounted on the flying object 10 is operated, the surrounding image with the flying object 10 fixed is acquired by the camera 18, and the damage of the building, the state of the obstacle, etc. are investigated (steps S110 and S111). ).

  When there is no damage to the building or the like around the flying object 10 and it is possible to investigate further into the investigation target floor, the second flying object 30 is caused to fly and the investigation is performed. Furthermore, environmental data (temperature, radiation dose, etc.) is also acquired by the environmental measurement sensor 28 mounted on the second flying body 30 (steps S112 and S113). At this time, the operator operates the operation input device 43 for the second flying object 30, and the control signal is sent to the second flying object 30 via the radio repeater 24 of the flying object 10. The image of the camera 18 of the second flying object 30 is displayed on the monitor 45 of the remote control device 40 via the image relay unit 25 of the flying object 10.

  The operator compares the available flight time from the full charge of the second flying object 30 checked in advance with the current flying time, and conducts the investigation by the second flying object 30 in consideration of the remaining state of the battery ( Steps S114 and S115). When the remaining battery is low, the second flying object 30 is operated and returned (step S116). Further, when the survey of the necessary range is completed, the second flying object 30 is operated and returned (step S116).

  Thereafter, the double-reversed propeller 13 of the flying object 10 is operated (step S117) to be in a hovering state, and the fixing is released by operating the fixing release device 23 (step S118). (Step S119). By such a procedure, it is possible to safely conduct an investigation of a building at the time of a disaster while avoiding the danger of a secondary disaster.

  Further, as shown in FIG. 8, the second flying object 30 is fixed at a position where it can be confirmed from the flying object 10 on the floor to be investigated like the flying object 10, and the flying object 10 and the second flying object 30 are connected to the relay station. As a result, it is possible to investigate a wider area by flying the third flying object 60. When the flying object 10 or the second flying object 30 is fixed, there is a high possibility that monitoring of the third flying object 60 is easier at a higher floor, but there are few obstacles that cause radio interruption. It is clear that the mobile station can be used as a relay station by landing on the floor 51. In the example of FIG. 8, the flying object 10 is landed on the floor 51.

  According to the survey system described above, the operator can remotely control the aircraft and fix it in the vicinity of the survey object while visually observing the video of the camera and the video of the camera mounted on the aircraft, and the camera mounted on the aircraft. By operating the pan head, it is possible to investigate with a stable image unlike in flight. In addition, by using the first flying object fixed within the range where the radio of the floor under investigation reaches as a relay station, the second flying object is made to fly using the image of the panoramic camera of the first flying object, Inability to control due to disruption of communication can be prevented, and the survey area can be expanded. In addition, a wireless relay station is mounted on the first and second flying bodies to form a wireless relay station, and the third flying body is controlled to further expand the movable range of the flying body. Therefore, the scope of the survey can be expanded, and the purpose of conducting a survey with a reduced risk of secondary disaster is achieved. Needless to say, the number of flying bodies as relay stations is not limited, and three or more flying bodies may be used as relay stations.

<Appendix>
The embodiment described above is
1.
In a flight type research aircraft equipped with a survey device that investigates the surrounding situation and flying with a flight device,
A fixing device capable of fixing the flight type research aircraft to an arbitrary structure;
With
Because it was a flight type research machine, characterized by
-It is possible to provide a flight-type research machine that can avoid the risk of secondary disasters, and can conduct surveys for a long time safely and reliably.
In other words, according to the present embodiment, by fixing to an arbitrary structure with the fixing device, even if the flying device is stopped, the flying device can be stopped at the fixed location. Investigation with the investigation device can be performed in a state where consumption is reduced, and the investigation can be performed for a long time with energy saving.

In the present embodiment,
2.
1. In the flight type research aircraft described in
A battery as a power source for driving the flying device;
Further equipped with,
Because it was a flight type research machine, characterized by
-By fixing to any structure with a fixing device, even if the flying device is stopped, it can be stopped at the fixed place, so the investigation device is used with the flying device stopped and the battery consumption reduced Surveys can be conducted and surveys can be conducted for a long time.

In the present embodiment,
3.
1. In the flight type research aircraft described in
A fixing release device capable of releasing the fixing by the fixing device;
Further equipped with,
Because it was a flight type research machine, characterized by
-After releasing the lock with the lock release device, it can fly again by operating the flight device.

In the present embodiment,
4).
1. In the flight type research aircraft described in
An operation instruction receiving device for receiving an operation instruction for the flight type research aircraft from the outside;
A survey result transmitting device for transmitting a survey result by the survey device to the outside;
Further equipped with,
Because it was a flight type research machine, characterized by
・ The terminal device having an operation instruction transmission device that transmits an operation instruction can remotely control the flight-type survey machine, and can remotely receive the survey result transmitted by the survey result transmission device. A safe and reliable survey can be conducted.

In the present embodiment,
5).
1. In the flight type research aircraft described in
A relay device for transmitting a signal received from the outside of the flight type research aircraft to a predetermined device outside the flight type research device;
Further equipped with,
Because it was a flight type research machine, characterized by
-By using a plurality of flight-type survey machines and relaying them by a relay device, it is possible to survey a region farther and more complicated from a point operated by a human.

In the present embodiment,
6).
1. In the flight type research aircraft described in
The flying device is a device that performs flight with a double reversing propeller.
Because it was a flight type research machine, characterized by
・ Can counter-torque and perform stable flight.

In the present embodiment,
7).
3. In the flight type research aircraft described in
The fixing device is a device that can be fixed to the structure by a magnet.
Because it was a flight type research machine, characterized by
-A flight type research machine can be fixed with a simple structure by fixing it to a ferromagnetic material such as an iron pillar, wall, beam, ceiling, overhead crane, or other heavy machine with a magnet. The magnet of the fixing device may be an electromagnet or a permanent magnet. When the magnet of the fixing device is an electromagnet, the fixing release device may be a device that releases the fixation by stopping energization of the electromagnet.

In the present embodiment,
8).
7). In the flight type research aircraft described in
The magnet is a permanent magnet;
Because it was a flight type research machine, characterized by
・ A configuration that energizes like an electromagnet is unnecessary, and a flying survey machine can be fixed with a simple configuration.

In the present embodiment,
9.
8). In the flight type research aircraft described in
The fixation release device is a device that releases the fixation by separating the structure and the permanent magnet.
Because it was a flight type research machine, characterized by
-The fixing release device can reliably release the fixing by separating the fixed portion and the permanent magnet, and can fix the flying research machine with a simple configuration.

In the present embodiment,
10.
1. In the flight type research aircraft described in
The investigation device includes a photographing device for photographing a surrounding image,
Because it was a flight type research machine, characterized by
・ It is possible to take pictures of places where humans cannot enter and to easily grasp the situation.
In addition, the flight type research aircraft receives an operation instruction for the other flight type research aircraft, transmits the operation instruction to the other flight type research aircraft, and investigates from the other flight type research aircraft. In the case of further comprising a relay device for receiving the result and transmitting the survey result, the flight type research machine photographs another flight type research machine with a photographing device that photographs the surrounding image, The surroundings of the flight type research aircraft can be confirmed on the video, and other flight type research aircraft can be easily operated.

In the present embodiment,
11.
4). A flight type research machine as described in
A terminal device operated by an operator;
With
The terminal device
An operation instruction input device for receiving an operation instruction input to the flight type research aircraft by an operator;
An operation instruction transmitting device for transmitting an operation instruction received by the operation instruction input device;
A survey result receiving device for receiving the survey results;
Having
Because it was a survey system using a flight type survey machine characterized by that,
-By operating the terminal device, the operator can operate the flight type research machine located at a distant place, and can perform a safer and more reliable investigation.

In the present embodiment,
12
In the investigation method using the flight type research machine that carries the investigation device that investigates the surrounding situation and flies by the flying device,
After flying by the flying device, it is fixed to an arbitrary structure by a fixing device,
In the state fixed by the fixing device, the surroundings are investigated by the investigation device.
Because it was an investigation method using a flight type research machine characterized by that,
-It is possible to provide an investigation method using a flight type investigation machine that can avoid the risk of secondary disasters and can conduct a long-term investigation safely and reliably.

Also, the embodiment
13.
12 In the survey method using the flight type survey machine described in
Using a plurality of the flight type survey aircraft,
One of the plurality of flight-type survey aircraft is a first flight-type survey aircraft,
One of the plurality of flight-type survey aircraft is a second flight-type survey aircraft,
The first flight type research aircraft is fixed to an arbitrary structure by the fixing device,
In a state where the first flight type research machine is fixed by the fixing device, the second flight type research machine is photographed by the first flight type research machine,
The operator controls the second flight type research aircraft while viewing the video of the second flight type research aircraft taken by the first flight type research aircraft.
Because it was an investigation method using a flight type research machine characterized by that,
-It is possible to facilitate the operation of the second flight type research aircraft by using a plurality of flight type research aircraft.

  As described above, for example, a manual investigation in a closed space such as a building damaged by a disaster or a tunnel that may collapse may cause a risk of a secondary disaster. According to this embodiment, it is possible to investigate such a closed space safely while avoiding the risk of a secondary disaster. Furthermore, in many factories and plants, the ceiling of the floor is often high, and the survey target is often located at a high place. When investigating such objects, the risk of secondary disasters at the time of investigation increases even if people can go. Furthermore, even if there are multiple floors in the building, for example, the upper floors take a long time to move, so the risk of investigation is high if they are in a radiation environment. Even in such a case, according to the flight type research machine of this embodiment, it is possible to carry out the research safely.

  In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  DESCRIPTION OF SYMBOLS 10 ... Aircraft, 11 ... Outer shell, 13 ... Double reversing propeller, 14a, 14b ... Propeller direction control device, 15 ... Battery, 17 ... Head, 18 ... Camera, 21 ... Attitude detection device, 22 ... Fixing device , 23 ... Unlocking device, 24 ... Wireless relay machine, 25 ... Video relay machine, 30 ... Second aircraft, 40 ... Remote control device.

Claims (13)

In a flight type research aircraft equipped with a survey device that investigates the surrounding situation and flying with a flight device,
A fixing device capable of fixing the flight type research aircraft to an arbitrary structure;
With
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 1,
A battery as a power source for driving the flying device;
Further equipped with,
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 1,
A fixing release device capable of releasing the fixing by the fixing device;
Further equipped with,
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 1,
An operation instruction receiving device for receiving an operation instruction for the flight type research aircraft from the outside;
A survey result transmitting device for transmitting a survey result by the survey device to the outside;
Further equipped with,
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 1,
A relay device for transmitting a signal received from the outside of the flight type research aircraft to a predetermined device outside the flight type research device;
Further equipped with,
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 1,
The flying device is a device that performs flight with a double reversing propeller.
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 3,
The fixing device is a device that can be fixed to the structure by a magnet.
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 7,
The magnet is a permanent magnet;
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 8,
The fixation release device is a device that releases the fixation by separating the structure and the permanent magnet.
A flight-type research machine characterized by that. In the flight type research aircraft according to claim 1,
The investigation device includes a photographing device for photographing a surrounding image,
A flight-type research machine characterized by that. A flight type research aircraft according to claim 4;
A terminal device operated by an operator;
With
The terminal device
An operation instruction input device for receiving an operation instruction input to the flight type research aircraft by an operator;
An operation instruction transmitting device for transmitting an operation instruction received by the operation instruction input device;
A survey result receiving device for receiving the survey results;
Having
A survey system using a flight-type survey machine characterized by that. In the investigation method using the flight type research machine that carries the investigation device that investigates the surrounding situation and flies by the flying device,
After flying by the flying device, it is fixed to an arbitrary structure by a fixing device,
In the state fixed by the fixing device, the surroundings are investigated by the investigation device.
A survey method using a flight type survey machine characterized by that. In the survey method using the flight type survey machine according to claim 12,
Using a plurality of the flight type survey aircraft,
One of the plurality of flight-type survey aircraft is a first flight-type survey aircraft,
One of the plurality of flight-type survey aircraft is a second flight-type survey aircraft,
The first flight type research aircraft is fixed to an arbitrary structure by the fixing device,
In a state where the first flight type research machine is fixed by the fixing device, the second flight type research machine is photographed by the first flight type research machine,
The operator controls the second flight type research aircraft while viewing the video of the second flight type research aircraft taken by the first flight type research aircraft.
A survey method using a flight type survey machine characterized by that.

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