JP2018001967A - Take-off landing device for unmanned flying object for inspecting closed space and system for inspecting closed space using unmanned flying object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a take-off landing device for an unmanned flying object for inspecting a closed space and a system for inspecting the closed space using the unmanned flying object capable of safely and efficiently inspecting the closed space such as a sewage pipeline facility.SOLUTION: A take-off landing device 2 for an unmanned flying object for inspecting a closed space comprises: a housing, which receives the unmanned flying object 4 flying in the closed space 6, and which is detachably attached to an opening 5 causing the closed space 6 to communicate with an open-air; a positioning part 27 for positioning the housing to the opening 5 of the closed space 6; and an opening/closing part 24, which is closed when the unmanned flying object 4 enters the closed space 6 through the opening part 5.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system for inspecting a state in a closed space using an unmanned air vehicle, and in particular, in order to investigate the state of an inner surface of a pipe line forming a closed space, the unmanned air vehicle is thrown into the pipe line, The present invention relates to an unmanned aerial vehicle launching and landing device for inspecting a closed space suitable for acquiring images or sensor information and a closed space inspection system using the unmanned aerial vehicle.

  After the war, in Japan, the spread of sewerage has accelerated with economic growth, and the total length of the current sewerage pipeline is about 460,000 km (about 11 laps of the earth). Many of them are sewage pipe facilities that exceed the useful life laid 40 to 50 years ago, and the number is rapidly increasing year by year. A method for efficiently maintaining and inspecting such sewer pipe facilities that are aging has become a major issue. This is a common issue in developed countries such as North America and Europe. As pipes age, cracks, breaks, joint slips, corrosion, etc. occur, which causes sediment to flow into the pipes and create cavities in the ground. As a result, the road collapses and the drainage function of the sewer pipes declines. In fact, 3,000 to 4,000 road cave accidents occur annually due to a sewer defect, and there are concerns about the occurrence of further serious accidents in the future. In order to prevent accidents, it is indispensable to detect abnormal parts at an early stage and respond appropriately. Sewage pipe facilities are usually buried underground, the pipes are very dark and have a foul odor, and there are also gases harmful to the human body such as hydrogen sulfide and methane. Furthermore, since the depth and flow velocity of the sewage flowing in the pipe vary depending on the place and time zone, there are cases where a person cannot enter the pipe for inspection. For these reasons, there is a need for safe and efficient maintenance and inspection technology for sewage pipeline facilities.

For such needs, for example, a technique described in Patent Document 1 or Patent Document 2 has been proposed. In patent document 1, it is a self-propelled vehicle for in-pipe inspection, has two motors provided independently corresponding to two drive wheels, and drives these two motors independently. Thus, there has been disclosed an object that enables oblique running by a running belt and stability of posture when climbing over a step. This describes that it is possible to reduce excessive tension on the traveling belt and to prevent the self-propelled vehicle from toppling over.
Further, in Patent Document 2, in order to be able to confirm the situation in a sealed room where entry of people is normally restricted, a plurality of safety hangars are provided in the sealed room, and the flight type surveillance robot is stored in each safety hangar, When checking the situation in the sealed room, the openable lid provided in each safety hangar is opened by remote control from outside, and the flying surveillance robot is allowed to fly in the sealed room, What is monitored by an image is disclosed.

Japanese Patent No. 2894266 Japanese Patent Laid-Open No. 10-288689

However, in the configuration disclosed in Patent Document 1, it is necessary to clean the main body, the power source, and the communication cable that are in contact with the sewage after the investigation of the sewage pipeline facility. In addition, since the application range is limited, the amount of images obtained per unit time is small. In other words, there may be a problem that the sewage pipe that can be inspected per unit time is shortened.
Moreover, in the structure disclosed by patent document 2, since it is a structure which has a safety hangar which accommodates a flight type surveillance robot beforehand in the airtight room which is a monitoring object, a monitoring object is restrict | limited. In addition, no consideration is given to the point that the flying object enters the closed space having the opening communicating with the outside air.
Therefore, the present invention provides an unmanned air vehicle landing device for inspecting a closed space and a closed space inspection system using the unmanned air vehicle that can safely and efficiently inspect a closed space such as a sewer pipe facility.

In order to solve the above-mentioned problems, an unmanned air vehicle landing and landing device for inspecting a closed space according to the present invention accommodates an unmanned air vehicle flying in a closed space, and is detachable from an opening communicating with the outside air. A housing, a positioning unit that positions the housing with respect to the opening of the closed space, and an opening / closing unit that is opened when the unmanned air vehicle enters the closed space through the opening, It is characterized by providing.
The closed space inspection system of the present invention includes a camera that flies in the closed space and images at least a moving image and / or a still image in the closed space and a sensor for sensing the environment in the closed space. An unmanned aerial vehicle, a controller for an unmanned aerial vehicle that remotely controls the unmanned aerial vehicle, and an unmanned aerial vehicle that houses the unmanned aerial vehicle and has a housing that is detachable from an opening that communicates the closed space with the outside air. The unmanned aerial vehicle landing device includes a positioning unit that positions the housing with respect to the opening of the closed space, and the unmanned air vehicle enters the closed space through the opening. And an opening / closing portion that is in an open state when the operation is performed.

Advantageous Effects of Invention According to the present invention, it is possible to provide an unmanned air vehicle landing device for inspecting a closed space and a closed space inspection system using the unmanned air vehicle that can safely and efficiently inspect a closed space such as a sewer pipe facility. It becomes.
Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

1 is an overall schematic configuration diagram of a closed space inspection system according to an embodiment of the present invention. It is a perspective view which shows the whole structure of the unmanned air vehicle landing device shown in FIG. It is a cross-sectional isometric view of the unmanned air vehicle landing apparatus shown in FIG. It is a longitudinal cross-sectional view in the state in which the unmanned air vehicle landing apparatus shown in FIG. 1 was installed in the opening part of closed space. It is a top view of the unmanned air vehicle landing apparatus shown in FIG. It is a bottom view of the unmanned air vehicle landing apparatus shown in FIG. It is the elements on larger scale near the exhaust flap attachment part which comprises the unmanned air vehicle landing device shown in FIG. It is a perspective view of the lower part in the state in which the unmanned air vehicle landing device shown in FIG. 1 was installed in the opening part of closed space. It is a longitudinal cross-sectional view in the state in which the unmanned air vehicle landing apparatus shown in FIG. 1 was installed in the opening part of closed space. It is an external view of the controller for unmanned air vehicles shown in FIG. It is a functional block diagram of the controller for unmanned air vehicles shown in FIG. It is a process flow figure of the inspection work of the closed space by the closed space inspection system shown in FIG. It is a figure which shows the state of the closed space inspection system in the process of the inspection operation | work shown in FIG. It is a figure which shows the state of the closed space inspection system in the process of the inspection operation | work shown in FIG. It is a figure which shows the state of the closed space inspection system in the process of the inspection operation | work shown in FIG. It is a figure which shows the state of the closed space inspection system in the process of the inspection operation | work shown in FIG. It is a figure which shows the state of the closed space inspection system in the process of the inspection operation | work shown in FIG. It is a figure which shows the state of the closed space inspection system in the process of the inspection operation | work shown in FIG. It is a whole schematic block diagram of the closed space inspection system which concerns on the other Example of this invention.

In this specification, the “closed space” to be inspected is a space defined by a wall surface, a pipe line, or the like, and a space having an opening that allows access to at least a part of the space. Say. For example, any structure may be used as long as the gas phase exists in the pipe, such as a sewage pipe facility including a sewer pipe, a rainwater storage facility, a pipe dredging facility, a common groove, a ventilation hole, a tunnel, and a gas pipe.
Hereinafter, with reference to the drawings, an embodiment of the present invention will be described by taking a sewer pipe facility or a common groove as an example of a closed space to be inspected.

  FIG. 1 is an overall schematic configuration diagram of a closed space inspection system according to an embodiment of the present invention. In FIG. 1, as an example of the closed space 6 having the opening 5, a sewer pipe 61 that constitutes a sewage pipe facility is shown, and the first manhole 51 and the second manhole 52 are provided as the opening 5. The closed space inspection system 1 according to the present embodiment includes an unmanned air vehicle landing device 2, an unmanned air vehicle controller 3, and an unmanned air vehicle 4. In FIG. 1, the first manhole 51 and the second manhole 52 which are the entrances and exits of the unmanned air vehicle 4 are opened, and the unmanned air vehicle landing and landing devices are respectively covered so as to cover the first manhole 51 and the second manhole 52 which are the openings 5. 2 is installed. In the state shown in FIG. 1, the unmanned air vehicle 4 is flying from the unmanned air vehicle landing device 2 through the first manhole 51 to the second manhole 52 side in the sewer pipe 61 which is the closed space 6. Show. The operator operates the unmanned aerial vehicle controller 3 to fly the unmanned aerial vehicle 4 through the sewer pipe 61 and to the unmanned air vehicle 4 to inspect and investigate the sewer pipe 61, which will be described later in detail. Image data (in-pipe video) and measurement values from the installed camera and sensor can be confirmed on the display unit of the unmanned air vehicle controller 3.

  In FIG. 1, the unmanned air vehicle 4 enters the sewer pipe 61 from the first manhole 51 and flies through the sewer pipe 61 toward the second manhole 52 side as indicated by the black arrows. The environment inside the sewage pipe 61 or the sewer pipe 61 is monitored (investigated) and returned to the unmanned air vehicle landing device 2 through the second manhole 52. Instead of this, the unmanned air vehicle 4 enters the sewer pipe 61 from the first manhole 51 as shown by a dotted arrow, and sewers fly in the sewer pipe 61 toward the second manhole 52 side. The environment in the inner wall of the pipe 61 or the sewer pipe 61 is monitored (investigated), and when it reaches the vicinity of the second manhole 52 or just below the second manhole 52, it is turned back so as to cover the first manhole 51 through the first manhole 51. You may operate by the unmanned air vehicle controller 3 so that it may return to the installed unmanned air vehicle landing and arrival apparatus 2. In this case, the work of installing the unmanned air vehicle landing device 2 so as to cover the second manhole 52 is omitted, and the work load on the worker is reduced correspondingly. However, since the flight time or the flight distance in the sewer pipe 61 of the unmanned air vehicle landing device 2 is doubled, the time required for the pipeline inspection increases. Hereinafter, in this embodiment, the unmanned aerial vehicle 4 enters the sewer pipe 61 from the first manhole 51, conducts a pipe inspection while flying through the sewer pipe 61 toward the second manhole 52, and the second manhole. The case where the unmanned aerial vehicle 4 is returned or collected in the unmanned aerial vehicle landing device 2 installed so as to cover 52 is described as an example.

Here, the unmanned air vehicle 4 will be described. Although not shown in particular, the unmanned air vehicle 4 is equipped with a camera capable of capturing moving images and / or still images and monitoring the inside of the sewer pipe 61 that is the closed space 6 to be inspected. A sensor for sensing the environment inside the vehicle and a sensor used for attitude control of the unmanned air vehicle 4 itself are mounted. As a sensor used for attitude control of the unmanned air vehicle 4 itself, for example, a gyro sensor, an acceleration sensor, a magnetic sensor, an inertial measurement unit (Internal Measurement Unit: IMU) that combines these, or the like is used. An inertial measurement unit (IMU) is a device that detects three-axis angles or angular velocities and accelerations that control movement. Basically, three-dimensional angular velocities and accelerations are measured by three-axis gyros and three-direction accelerometers. Ask.
Moreover, as a sensor used for the flight of the unmanned air vehicle 4, that is, a sensor for detecting an obstacle present in the sewer pipe 61 or measuring a flight altitude, for example, an ultrasonic sensor, an infrared sensor, a laser range finder, or an atmospheric pressure A sensor or the like is used. As a sensor for measuring the environment in the sewer pipe 61, for example, a temperature sensor, a humidity sensor, a gas sensor or the like is used. Furthermore, since the unmanned air vehicle 4 uses a battery as a power source, the remaining amount of the battery is determined. A voltage sensor or the like to be monitored is mounted on the unmanned air vehicle 4.

  The unmanned aerial vehicle 4 includes a storage unit for recording measurement values measured by the above-described sensors and / or moving image data or image data (still images) captured by the camera, and an unmanned aerial vehicle controller 3 described later in detail. A receiving unit (wireless receiver) for receiving an operation amount (operation amount with respect to the unmanned air vehicle 4) input as a wireless signal and moving image data captured by the above-described sensor and / or camera, or A transmission unit (wireless transmitter) for transmitting image data (still image) or the like to the unmanned air vehicle controller 3 wirelessly is provided. Further, the sewer pipe 61 that is the closed space 6 to be inspected is generally an environment in which the amount of light is insufficient in order to capture a moving image and / or a still image with a camera. Therefore, it is desirable that the unmanned air vehicle 4 is equipped with an illuminating device that can illuminate a desired region by remote control by the unmanned air vehicle controller 3. In addition, in order to enable the unmanned air vehicle 4 to continue flying stably in the narrow environment of the sewer pipe 61, the aircraft is previously secured with an outer shell (protective frame) in case of contact with a wall surface or an obstacle. It is desirable to protect. In particular, it is preferable to provide an outer shell such as a propeller guard that covers the periphery of a propeller or the like that imparts propulsive force to the unmanned air vehicle 4.

  In addition, as the unmanned aerial vehicle 4, for example, a small helicopter, multicopter, drone, airship, balloon, or unmanned aerial vehicle (UAN) that can float in the air even if the moving speed in the horizontal direction is low. An unmanned aerial vehicle or the like called is used, and is not particularly limited. However, the unmanned aerial vehicle 4 may be anything that can be autonomously controlled or wirelessly controlled. In this embodiment, an unmanned air vehicle 4 capable of wireless remote control will be described as an example.

  As shown in FIG. 1, the unmanned aerial vehicle landing device 2 is provided with a transmitting / receiving antenna 41 therein, and the front end (vertical lower end) of the transmitting / receiving antenna 41 is a first manhole 51 and a first manhole 51, respectively. 2 Passes through the manhole 52 and extends into the sewer pipe 61. Measurement values measured by the above-described sensors installed on the unmanned air vehicle 4 and / or moving image data or image data (still images) captured by the camera are transmitted by wireless communication via the transmission unit of the unmanned air vehicle 4. Then, it is transmitted to the transmission / reception antenna 41 of the unmanned aerial vehicle landing device 2 and then transmitted to the unmanned air vehicle controller 3 via the transmission / reception antenna 41. Measurement values measured by the above-described sensors and / or moving image data or image data (still images) captured by the camera are transmitted to the unmanned air vehicle controller 3 via the transmission / reception antenna 41 in real time. Note that the moving image data or image data (still image) captured by the camera is also used for the flight operation of the unmanned air vehicle 4 using the unmanned air vehicle controller 3 by the operator, and therefore may be transmitted in real time. Although it is desirable, the measurement value measured by the above-described sensor does not necessarily have to be configured to be transmitted in real time. During the inspection work, it may be recorded in the storage unit in the unmanned air vehicle 4 and read out from the storage unit after the inspection work is completed.

Next, the unmanned air vehicle landing apparatus 2 that constitutes the closed space inspection system 1 according to the present embodiment will be described. 2 is a perspective view showing the entire structure of the unmanned air vehicle landing device 2 shown in FIG. 1, and FIG. 3 is a cross-sectional isometric view of the unmanned air vehicle landing device shown in FIG.
As shown in FIGS. 2 and 3, the unmanned air vehicle landing device 2 is attached to a rectangular parallelepiped main body frame 11 formed from a frame material for storing the unmanned air vehicle 4, and all side surfaces (four side surfaces) inside the main body. A plurality of exhausts that can be opened and closed in multiple stages so as to cover the outside of the side surface 12 with vent holes And an opening / closing shutter 24 with an exhaust hole on the bottom surface of the main body, an L-shaped stopper 27 for preventing displacement and a stopper 30 installed on the frame 11 on the bottom of the main body. And, in this specification, the unmanned air vehicle landing and landing apparatus is particularly referred to as a structure including the main body frame 11, the four side surfaces, the upper surface and the bottom surface on which the inner body take-out lid 16 and the outer body take-out lid 13 are provided. This is referred to as a case 2. As shown in FIG. 3, the housing of the unmanned air vehicle landing device 2 is detachable from the opening 5.

  As shown in FIGS. 2 and 3, two inner body take-out lids 16 are provided on the two sides of the main body frame 11, which are arranged in the upper part of the main body frame 11 so as to face each other. It is fixed by the fuselage take-out lid hinge 18 and can be opened and closed in the form of a double door with the inner fuselage take-off lid hinge 18 as a fulcrum. In addition, on the upper surfaces of the two inner fuselage removal lids 16, inner fuselage removal lid handles 17 are respectively provided. Similarly, the outer fuselage removal lid 13 that covers the inner fuselage removal lid 16 is located on the two sides of the main body frame 11 that are arranged at the upper part in the vertical direction and face each other. It is fixed by the fuselage take-out cover hinge 15 and can be opened and closed in a double-speech manner with the outer fuselage take-off cover hinge 15 as a fulcrum. Further, on the upper surface of the two outer body body taking out lid bodies 13, outer body body taking out body lid handles 14 are respectively provided. In addition, on each of the four side surfaces constituting the housing of the unmanned air vehicle landing and landing apparatus 2, seven exhaust flap shafts 21 are provided that are spaced apart at predetermined intervals in the vertical direction and extend in the horizontal direction. Each exhaust flap shaft 21 is provided with a flat exhaust flap 19. The flat exhaust flap 19 is configured to be rotatable about the exhaust flap shaft 21 so as to have a desired opening degree. Therefore, seven exhaust flaps 19 are provided in the vertical direction on each side surface constituting the housing of the unmanned air vehicle landing and landing apparatus 2. The number of exhaust flap shafts 21 and exhaust flaps 19 disposed on each side surface is not limited to seven or seven, and a desired number of exhaust flap shafts 21 and exhaust flaps 19 can be provided. In consideration of the exhaust efficiency, it may be appropriately arranged. The rotation of the exhaust flap 19 will be described later.

  In the present embodiment, an example in which lattice lattice-shaped air holes are provided on the side surface 12 with air holes, the lid 16 for taking out the inner fuselage, and the opening / closing shutter 24 with exhaust holes is shown. It is not a thing. For example, it is good also as a structure which has several through-holes as a ventilation hole by the predetermined space | interval in the flat hole formed in the continuous pattern of a triangular lattice.

  As shown in FIG. 3, the L-shaped stopper 27 for preventing displacement is an L-shaped rod having a long side portion extending in the horizontal direction and a short side portion bent substantially at a right angle from the end portion of the long side portion. It is comprised with the member. The L-shaped stopper 27 for preventing misalignment is a bottom surface constituting the housing of the unmanned air vehicle landing device 2 and is positioned below the opening / closing shutter 24 with exhaust holes and is positioned so as to face each other. An L-shaped stopper 27 for prevention is arranged. In the state shown in FIG. 3, the short side portions constituting the two L-shaped stoppers 27 for preventing misalignment are in contact with the inner wall surface (inner peripheral surface) of the manhole which is the opening 5. In this way, the short sides of the two L-position stoppers 27 for preventing misalignment arranged so as to face each other come into contact with the inner wall surface (inner peripheral surface) of the manhole which is the opening 5, thereby opening the opening. The position shift of the unmanned air vehicle landing device 2 with respect to 5 is prevented, and the unmanned air vehicle landing device 2 is prevented from falling.

  FIG. 4 is a longitudinal sectional view showing a state where the unmanned air vehicle landing device 2 shown in FIG. 1 is installed in the opening 5 of the closed space 6. As shown in FIG. 4, a stopper 30 is provided below the four main body frames 11 extending in the vertical direction in the main body frame 11, and a moving caster 29 is provided slightly inside these stoppers 30. ing. The state shown in FIG. 4 is a state in which the inner body take-out lid 16 is open, the caster 29 is grounded, and the vertical lower end of the stopper 30 is slightly separated from the ground. That is, the lid of the manhole which is the opening 5 is removed, the unmanned air vehicle landing device 2 is moved by the caster 29 so as to cover the opening 5, and the short sides of the two L-shaped stoppers 27 for preventing misalignment are opened. The state immediately after positioning so that it may contact | abut to the inner wall face of the manhole which is the part 5 is shown. 4 shows a state in which each exhaust flap 19 is opened at the same opening, and each exhaust flap 19 is attached to the exhaust flap shaft 21 by the exhaust flap shaft attaching portion 20. It has been.

FIG. 5 is a top view of the unmanned air vehicle landing device 2 shown in FIG. 1, and FIG. 6 is a bottom view (viewed from the bottom side) of the unmanned air vehicle landing device 2 shown in FIG. In FIG. 5 and FIG. 6, three-dimensional coordinates are shown together to make the direction easy to understand.
As shown in FIG. 5, the take-out port of the unmanned air vehicle 4 at the upper part of the unmanned air vehicle landing and landing device 2 is the upper surface of the two main body frames 11 parallel to the Y direction by the inner airframe take-off lid hinge 18. Two body frames 16 which are fixed to the inside and have two ventilating inner lids 16 with air holes, and which cover the inner fuselage ejecting lid 16 and are parallel to the Y direction by the outer fuselage ejecting lid 15 11 is composed of two outer body take-out lids 13 that are fixed to the outer side of the upper surface 11 and have no vent holes. Further, as described above, the inner fuselage removal lid handle 17 is provided on the upper surface of the inner fuselage removal lid 16 at a position where it does not interfere with the vent hole, and the outer fuselage removal lid 13 is provided on the upper surface of the outer fuselage removal lid 13. Although not shown in FIG. 5, a cover handle 14 (FIG. 6) for taking out the outer body is provided. The state shown in FIG. 5 shows a state in which the outer fuselage removal lid 13 is completely opened and the inner fuselage removal lid 16 is being opened, and constitutes the casing of the unmanned air vehicle landing device 2. An exhaust flap 19 provided on two side surfaces parallel to the X direction is shown in a state opened at a desired opening degree. Further, as shown in FIG. 5, the opening / closing shutter 24 with exhaust hole provided on the bottom surface side of the housing of the unmanned air vehicle landing / release device 2 has a structure divided into two in the X direction. 24 is in a closed state.

  As shown in FIG. 6, since the unmanned air vehicle 4 moves back and forth between the unmanned air vehicle landing device 2 and the manhole which is the opening 5 on the bottom surface side of the housing of the unmanned air vehicle landing device 2, the X direction (left and right) Is provided with an open / close shutter 24 with an exhaust hole that can be opened and closed. As described above, the opening / closing shutter 24 with the exhaust hole has a structure divided into two in the X direction, and the opening / closing shutter 24 with the exhaust hole slides along the X direction so 4 can enter the manhole which is the opening 5 from the bottom surface of the housing of the unmanned air vehicle landing device 2. Opening / closing shutter handles 25 with exhaust holes to be described later are provided at both ends of the opening / closing shutter 24 with exhaust holes having a structure divided into two in the X direction. In addition, as shown in FIG. 6, the opening / closing shutter 24 with the exhaust hole has a lattice lattice shape for exhausting downward wind (airflow) generated by the unmanned air vehicle 4 to the lower side of the unmanned air vehicle landing device 2. Vent holes are provided. The air holes are not limited to the lattice lattice shape, and air holes formed in a continuous pattern of triangular lattices or a plurality of through holes formed in the flat plate at a predetermined interval may be used as the air holes. Further, the area of the opening / closing shutter 24 with the exhaust hole is not necessarily an area that covers the entire manhole part that is the opening 5, and the unmanned air vehicle 4 does not fall into the manhole that is the opening 5, Any area that can stably land on the open / close shutter 24 with the exhaust hole may be used.

  As shown in FIG. 6, two L-shaped stoppers 27 for preventing misalignment are provided on the bottom surface of the rectangular parallelepiped main body frame 11 so as to face each other along the Y direction. In FIG. 6, the long side portions constituting the two L-shaped stoppers 27 for preventing misalignment extend along the Y direction, and the short side portions stand or stand up in the Z direction. Show. Further, the two L-shaped stoppers 27 for preventing misalignment are arranged at substantially the center of the two main body frames 11 parallel to the X direction, and the opening / closing shutter 24 with exhaust holes divided in the X direction is closed. In the state, two L-shaped stoppers 27 for preventing misalignment are arranged at positions corresponding to the contact surfaces of the two-divided opening / closing shutters 24 with exhaust holes. As described above, by arranging the two L-shaped stoppers 27 for preventing misalignment, the L-shaped stopper 27 for preventing misalignment is formed on the inner peripheral surface of the manhole whose opening 5 has a circular horizontal cross-sectional shape. When the side portions abut, it is possible to abut more stably. As a result, the effect of preventing the displacement of the unmanned air vehicle landing device 2 with respect to the opening 5 is improved, and the effect of preventing the unmanned air vehicle landing device 2 from falling is also improved. It should be noted that the same effect can be obtained not only for the manhole having a circular horizontal cross-sectional shape but also for the opening 5 having a rectangular horizontal cross-sectional shape.

  As shown in FIG. 6, stoppers 30 that can extend and contract in the Z direction (vertical direction) and casters 29 for movement are provided at the four corners of the bottom surface of the rectangular parallelepiped main body frame 11. The moving caster 29 is disposed on the inner side of the stopper 30 so as not to interfere with the stopper 30. Further, bevel gears 23 are attached to both ends in the longitudinal direction of the exhaust flap shaft 21 arranged on the four side surfaces constituting the casing of the unmanned air vehicle landing and landing apparatus 2. The state shown in FIG. 6 shows a state in which the exhaust flaps 19 provided on the four side surfaces constituting the casing of the unmanned air vehicle landing apparatus 2 are opened at a desired opening degree.

  FIG. 7 is a partially enlarged view of the vicinity of the exhaust flap attaching portion 20 constituting the unmanned air vehicle landing apparatus 2 shown in FIG. As described above, in order to cover the side surface 12 with the vent hole, a plurality of exhaust flaps 19 that can be opened and closed are provided on all four side surfaces constituting the housing of the unmanned air vehicle landing apparatus 2 in the vertical direction. The flaps 19 are fixed to the exhaust flap shafts 21 by exhaust flap shaft attachment portions 20. The exhaust flap shaft 21 is rotatably supported by an exhaust flap shaft bearing 22 arranged on a frame (frame on the side surface of the main body) extending in the vertical direction of the main body frame 11. Also, bevel gears 23 are attached to both longitudinal ends of a plurality of exhaust flap shafts 21 that are spaced apart at predetermined intervals in the vertical direction and extend in the horizontal direction, and each exhaust flap 19 is connected to the bevel gear 19. 23 is in contact. That is, the bevel gears 23 arranged on the side surfaces adjacent to each other among the side surfaces constituting the housing of the unmanned air vehicle landing gear 2 are engaged with each other, and the bevel gear 23 is rotated in the direction indicated by the black arrow in FIG. Thus, the exhaust flap shaft 21 disposed on each side surface rotates, and the exhaust flap 19 disposed on each side surface interlocks to obtain a desired opening. This is because each of a plurality of exhaust flap shafts 21 spaced apart at a predetermined interval in the vertical direction on each side surface and extending in the horizontal direction is similarly rotated by a bevel gear 23, and the exhaust flaps disposed on each side surface. 19 is linked.

When the bevel gear 23 is rotated manually, the exhaust flap 19 is stopped at a desired opening degree. For example, the exhaust flap shaft bearing 22 that rotatably supports the exhaust flap shaft 21 is connected to the exhaust flap shaft bearing 22. A push-in bolt (head screw, etc.) for restricting the rotation of the shaft 21 is provided, and the push bolt (head screw, etc.) is fitted (screwed) into the flap shaft bearing 22, and the tip of the push bolt (head screw, etc.) is for exhaust. By contacting the flap shaft 21, the opening degree of the exhaust flap 19 opened to a desired opening degree can be maintained. Or you may comprise so that the opening degree of the exhaust flap 19 may be maintained by using the bevel gear 23 which has a ratchet.
Further, in the case of rotating the bevel gear 23 by an electric drive type, among the multiple exhaust flaps 19 disposed on each side surface constituting the housing of the unmanned air vehicle landing device 2 by a motor, a belt, and a gear, 1 Each exhaust flap 19 disposed on one side surface may be configured to transmit a rotational force to a driving bevel gear 23 that rotates an exhaust flap shaft 21 fixed via an exhaust flap shaft attachment portion 20. Thus, the opening degree of the exhaust flap 19 is maintained by stopping the motor when the exhaust flap 19 reaches a desired opening degree.

  FIG. 8 is a perspective view of the lower part in a state where the unmanned air vehicle landing device 2 shown in FIG. 1 is installed in the opening 5 of the closed space 6. As shown in FIG. 8, an L-shaped stopper 27 for preventing misalignment is attached to the bottom surface of the housing of the unmanned air vehicle landing device 2 via a shaft sliding housing 28. The L-shaped stopper 27 for preventing misalignment is slid in the axial direction (longitudinal direction of the long side portion constituting the L-shaped stopper 27 for preventing misalignment) and the shaft (L-shaped for preventing misalignment). The stopper 27 can be rotated around a long side). By making the short side part which comprises the L-shaped stopper 27 for position shift prevention contact | abuts the inner wall surface (inner peripheral surface) of the manhole which is the opening part 5, the unmanned air vehicle landing device 2 with respect to the manhole which is the opening part 5 Misalignment can be prevented, and the unmanned air vehicle landing device 2 itself can be prevented from falling.

  Further, as shown in FIG. 8, the caster 29 for movement and the stopper 30 that can be expanded and contracted in the vertical direction are arranged at the four corners on the bottom surface of the housing of the unmanned air vehicle landing and landing device 2. By extending the stopper 30 when the positioning of the unmanned air vehicle landing device 2 with respect to the manhole is completed, the caster 29 can be lifted (disengaged from the ground) and the caster 29 can be prevented from rotating. An open / close shutter handle 25 with exhaust holes is provided on the upper surface of the open / close shutter 24 with exhaust holes. A slide rail 26 having an L-shaped or U-shaped vertical cross section is provided on the bottom surface of the housing of the unmanned flying object landing apparatus 2, and the opening / closing shutter 24 with exhaust holes is horizontal along the slide rail 26. By moving in the direction, the opening / closing shutter 24 with the exhaust hole is opened and closed.

  The L-shaped stopper 27 for preventing misalignment is positioned parallel to the ground before the unmanned air vehicle landing device 2 is positioned with respect to the manhole which is the opening 5. That is, during the movement of the unmanned air vehicle landing device 2 by the caster 29, the short side portion constituting the L-shaped stopper 27 for preventing misalignment is maintained parallel to the ground. At the time of positioning the unmanned air vehicle landing device 2 with respect to the manhole which is the opening 5, the shaft-sliding housing 28 causes the L-shaped stopper 27 for misalignment prevention to pivot (the long side portion constituting the L-shaped stopper 27 for misalignment prevention). ) Rotate around 90 °, so that the short side portion constituting the misregistration preventing L-shaped stopper 27 is directed downward in the vertical direction of the manhole which is the opening 5. Thereafter, the shaft-sliding housing 28 slides the L-shaped stopper 27 for preventing misalignment in the axial direction (the longitudinal direction of the long side portion constituting the L-shaped stopper 27 for preventing misalignment), thereby preventing misalignment. The short side portion constituting the L-shaped stopper 27 contacts the inner wall surface (inner peripheral surface) of the manhole which is the opening 5.

  In addition, although the present Example demonstrated using the rectangular parallelepiped unmanned air vehicle landing device 2, it is not necessarily limited to the external shape, The cylindrical type and hemispherical unmanned air vehicle landing device 2 are also included. . In this case, the plurality of exhaust flaps 19 provided have a shape simulating a cylindrical shape or a hemispherical shape that is the outer shape of the unmanned air vehicle landing device 2. As for the exhaust flap 19, it is desirable to use a transparent or translucent material so that the inside of the unmanned air vehicle landing device 2 can be seen from the outside. In addition, as a method of opening and closing the exhaust flap 19, the configuration in which the plurality of exhaust flaps 19 arranged on the side surfaces adjacent to each other by the bevel gear 23 described above is interlocked and rotated, but instead, for example, A blind method, a belt drive method, or a passive method that naturally opens and closes by the weight of the exhaust flap 19 and the wind (airflow) generated by the unmanned air vehicle 4 may be used.

  FIG. 9 is a longitudinal sectional view showing a state where the unmanned air vehicle landing device 2 shown in FIG. 1 is installed in the opening 5 of the closed space 6. The unmanned aerial vehicle landing device 2 shown in FIG. 9 adds various functions to the basic configuration of the unmanned air vehicle landing device 2 shown in FIGS. 2 to 8 described above. Specifically, an illuminator 40, a transmission / reception antenna 41, and an unmanned air vehicle guidance device 42 are provided in the unmanned air vehicle landing device 2, and a warning light 43 and an alarm device 44 are attached to the upper part of the unmanned air vehicle landing device 2. ing. The illuminator 40 is for illuminating the manhole which is the opening 5 when working in the dark, and the transmission / reception antenna 41 is installed in the sewer pipe which is a closed space 6 where radio from the ground is difficult to reach. It is provided for receiving images and sensor data (measured values) acquired in the sewer pipe on the ground and transmitting control signals from the ground to the unmanned air vehicle 4. An unmanned air vehicle guidance device 42 is provided in the unmanned air vehicle landing device 2 in order to compensate for the flight between the unmanned air vehicle landing device 2 and the manhole which is the opening 5. As the unmanned air vehicle guidance device 42, for example, a laser, an infrared ray, a beacon or the like is used. However, in this case, it is necessary for the unmanned air vehicle 4 to include a receiving unit that can receive a signal from the unmanned air vehicle guidance device 42. The warning light 43 and the alarm device 44 attached to the upper part of the unmanned air vehicle landing device 2 are used to alert the workers and passers-by when the unmanned air vehicle 4 arrives and departs within the unmanned air vehicle landing device 2. Is provided.

Next, the unmanned air vehicle controller 3 will be described. 10 is an external view of the unmanned air vehicle controller 3 shown in FIG. 1, and FIG. 11 is a functional block diagram of the unmanned air vehicle controller 3 shown in FIG.
As shown in FIG. 10, the unmanned air vehicle controller 3 includes an input unit 45 a for inputting an operation amount for the unmanned air vehicle 4 such as a joystick or a lever, and a touch panel or an operation button. The input unit 45 includes an input unit 45b that can be designated to input an instruction for starting or stopping the display, switching the display form to the display unit 46, or the like. The unmanned aerial vehicle controller 3 displays the measurement values (sensor data) measured by the sensors mounted on the unmanned aerial vehicle 4 and / or moving image data or image data (still images) captured by the camera on the screen. The display unit 46 and the transmission / reception antenna are displayed. FIG. 10 shows a state where moving image data or image data in which a crack 47 in the pipe is generated on the inner wall surface in the sewer pipe is displayed on the screen of the display unit 46.

  As shown in FIG. 11, the unmanned air vehicle controller 3 includes an unmanned air vehicle position specifying unit 31, a display control unit 32, a measurement value acquisition unit 33, a transmission unit 34, a reception unit 35, an input I / F 36, and an output I. / F37, which are connected to each other via an internal bus 39. The input I / F 36 is connected to the input unit 45 and is input via the input unit 45. The operation amount for the unmanned air vehicle 4, the start / stop instruction input to the unmanned air vehicle 4, and the display unit 46. The display mode switching instruction input or the like is taken in. The output I / F 37 is connected to the display unit 46, and measured values (sensor data) measured by a sensor mounted on the unmanned air vehicle 4 and / or a camera via the measured value acquisition unit 33 and the display control unit 32. The captured moving image data or image data (still image) is output to the display unit 46.

The transmission unit 34 acquires the operation amount for the unmanned air vehicle 4 and the instruction input for starting or stopping the unmanned air vehicle 4 input from the input unit 45 via the input I / F 36 and the internal bus 36, and the unmanned flight. It transmits as a radio signal to the transmission / reception antenna 41 installed in the body landing apparatus 2.
The receiving unit 35 is imaged by a measurement value (sensor data) measured by a sensor mounted on the unmanned air vehicle 4 and / or a camera, which is transmitted from a transmission / reception antenna 41 installed in the unmanned air vehicle landing and arrival device 2. Moving image data or image data (still image) or the like is received, and these measured values (sensor data) and / or moving image data or image data (still image) are transferred to the measured value acquisition unit 33 via the internal bus 39. .

  The measurement value acquisition unit 33 performs, for example, processing such as noise removal on the measurement value (sensor data) and / or moving image data or image data (still image) transferred from the reception unit 35, and passes through the internal bus 39. Are transferred to the unmanned air vehicle position specifying unit 31 and the display control unit 32 and stored in a predetermined storage area of the storage unit 38 as necessary.

The unmanned air vehicle position specifying unit 31 includes a measurement value (sensor data) and / or moving image data or image data (still image) transferred from the measurement value acquisition unit 33, and a sewer network diagram stored in the storage unit 38 in advance. Based on the (sewage piping diagram), the position of the unmanned air vehicle 4 in the sewer pipe which is the closed space 6 is obtained and specified. The unmanned aerial vehicle position specifying unit 31 uses the unmanned air vehicle 4 in the closed space 6 based on the flight time of the unmanned air vehicle 4 when the unmanned air vehicle 4 is flying in the sewer pipe that is the closed space 6 at a constant speed. The position of the unmanned air vehicle 4 in a certain sewer pipe is obtained and specified.
Further, for example, in a form in which a wheel in contact with the inner wall surface of the sewer pipe that is the closed space 6 is provided on the upper part of the unmanned air vehicle 4, and the unmanned air vehicle 4 flies while the wheel rolls on the inner wall surface of the sewer pipe. The unmanned air vehicle position specifying unit 31 obtains and specifies the position of the unmanned air vehicle 4 in the sewer pipe which is the closed space 6 based on the flight time of the unmanned air vehicle 4 based on the rotation speed of the wheel. Thus, when the unmanned air vehicle 4 has wheels that roll on the inner wall surface of the sewer pipe, the unmanned air vehicle 4 can fly in the sewer pipe that is the closed space 6 more stably. Moving image data or image data (still image) captured by a camera mounted on the unmanned air vehicle 4 can also be acquired in a more stable state.

  The display control unit 32 has a measured value (sensor data) and / or moving image data or image data (still image) transferred from the measured value acquisition unit 33, or a sewer network diagram (stored in the storage unit 38 in advance). The display unit 46 is controlled to display the sewage piping diagram) on the screen, and the display unit 46 is controlled in response to the display mode switching instruction transferred from the input I / F 36. For example, the display control unit 32 superimposes the moving image data or image data (still image) displayed on the screen of the display unit 46 and displays the measurement value (sensor data) or displays the moving image. The display unit 46 performs various displays such as displaying a window in a partial area on the screen where data or image data (still image) is displayed on a full screen, and displaying measured values (sensor data) in the window. To control.

  The storage unit 38 is the position of the unmanned air vehicle 4 specified by the unmanned air vehicle position specifying unit 31 such as the measurement value (sensor data) and / or moving image data or image data (still image) transferred to the measurement value acquisition unit 33. Information or sewer pipe network diagram (sewage piping diagram) is stored. The storage unit 38 stores the measurement value (sensor data) and / or moving image data or image data (still image), etc. transferred to the measurement value acquisition unit 33 in association with the specified position information of the unmanned air vehicle 4. It is desirable to do.

  The unmanned air vehicle position specifying unit 31, the display control unit 32, and the measurement value acquisition unit 33 are, for example, a processor such as a CPU (not shown), a ROM that stores various programs, and a RAM that temporarily stores calculation process data. In addition to being realized by a storage device such as an external storage device, a processor such as a CPU reads out and executes various programs stored in the ROM, and stores an operation result as an execution result in the RAM or the external storage device. Here, the calculation result or the data of the calculation process may be stored in a predetermined storage area of the storage unit 38 instead of the RAM.

  Although not shown in FIG. 11, the unmanned aerial vehicle controller 3 has a radio frequency switching control unit, and wirelessly communicates with the unmanned aerial vehicle 4 via a transmission / reception antenna 41 installed in the unmanned aerial vehicle landing device 2. For example, a frequency between the wireless communication frequency in communication and a wireless frequency for wirelessly communicating a measurement value (sensor data) and / or moving image data or image data (still image) from the unmanned air vehicle 4 to a server (not shown) It is good also as a structure which has the function to switch.

Next, the process of inspection work (sewer pipe survey work) in the sewer pipe that is the closed space 6 using the closed space inspection system 1 according to the present embodiment will be described.
FIG. 12 is a process flow diagram of a closed space inspection work by the closed space inspection system 1 shown in FIG. 1, and FIGS. 13 to 18 show the state of the closed space inspection system 1 in the inspection work process shown in FIG. FIG. In the following, for example, as shown in FIG. 13, the unmanned air vehicle landing device 2 a is positioned in the first manhole 51 and the unmanned air vehicle landing device 2 b is positioned in the second manhole 52. Of these, a case where the section between the first manhole 51 and the second manhole 52 is inspected (inspection work) by remotely operating the unmanned air vehicle 4 by the unmanned air vehicle controller 3 will be described as an example. In addition, in FIG. 13 to FIG. 18, the notation of the stopper 30 is omitted in consideration of easy viewing of the drawings.

First, in the preparation step (step S11) shown in FIG. 12, the lid of the first manhole 51 at the sewer pipe survey start point and the second manhole 52 at the end point is opened, and the unmanned air vehicle 4 is placed in the unmanned air vehicle landing device 2a. Store.
Subsequently, in the step (step S12) of moving the unmanned air vehicle landing device 2a directly above the first manhole 51 (opening), the unmanned air vehicle 4 is stored as shown by the white arrow in FIG. The unmanned air vehicle landing device 2a is moved by the caster 29 to a position covering the first manhole 51 (opening) which is the sewer pipe survey start point. At this time, the inner airframe taking-out lid 16 and the outer airframe taking-out lid 13 above the unmanned air vehicle landing device 2a are closed, and the opening / closing shutter 24 with exhaust holes provided on the bottom surface of the unmanned air vehicle landing device 2a is closed. The unmanned aerial vehicle 4 is stored in the unmanned aerial vehicle landing device 2a in a form in which the unmanned aerial vehicle 4 is placed on the upper surface of the opening / closing shutter 24 with exhaust holes. The misalignment preventing L-shaped stopper 27 is maintained such that the short side portion of the misalignment preventing L-shaped stopper 27 is parallel to the ground. All the exhaust flaps 19 provided on all sides of the housing of the unmanned air vehicle landing device 2a are closed, and the transmission / reception antenna 41 installed in the unmanned air vehicle landing device 2a has its tip (vertically downward) Is in a state of being contracted so as not to come into contact with the unmanned air vehicle 4 housed inside the unmanned air vehicle landing device 2a. Similarly, the unmanned aerial vehicle landing device 2b is moved by the caster 29 to a position covering the second manhole 52 (opening), which is the end point of the sewer pipe survey.

  In the step of positioning the unmanned air vehicle landing device 2a in the first manhole 51 with the L-shaped stopper 27 for preventing misalignment (step S13), exhaust is performed to prevent the unmanned air vehicle 4 from falling into the first manhole 51. The opening / closing shutter 24 with a hole is kept closed, and the shaft-sliding housing 28 moves the L-shaped stopper 27 for misalignment prevention around the shaft (long side portion constituting the L-shaped stopper 27 for misalignment prevention). Rotate 90 ° so that the short side portion constituting the L-shaped stopper 27 for preventing misalignment is directed downward in the vertical direction of the first manhole 51. Thereafter, the shaft-sliding housing 28 slides the L-shaped stopper 27 for preventing misalignment in the axial direction (the longitudinal direction of the long side portion constituting the L-shaped stopper 27 for preventing misalignment), thereby preventing misalignment. The short side portion constituting the L-shaped stopper 27 is brought into contact with the inner wall surface (inner circumferential surface) of the first manhole 51. And the caster 29 is made to detach | leave from the ground (it floats) by extending the stopper 30. FIG. Then, the front-end | tip part (vertical end part of a perpendicular direction) of the transmission / reception antenna 41 is extended to the position which passes the 1st manhole 51 and protrudes in the sewer pipe 61. FIG. The same applies to the unmanned air vehicle landing device 2b. When the steps up to step S13 are completed, the closed space inspection system 1 is in the state shown in FIG.

In the step of opening the outer fuselage removal lid 13 and opening the exhaust flap 19 to a desired opening (step S14), as shown in FIG. 14, the outer fuselage ejection lid 13 of the unmanned air vehicle landing device 2a is removed. At the same time, the exhaust flap shaft 21 is rotated by rotating the bevel gear 23 as described above, and the exhaust flap 19 fixed to the exhaust flap shaft 21 by the exhaust flap shaft attachment portion 20 has a desired opening degree. Open to be.
In the step of starting the unmanned air vehicle 4 and hovering in the unmanned air vehicle landing device 2a (step S15), by operating the touch panel or the operation button of the input unit 45b (FIG. 10) of the unmanned air vehicle controller 3, The unmanned air vehicle 4 is activated. Then, the input unit 45a (FIG. 10) such as a joystick or a lever is operated to hover the unmanned air vehicle 4 at a desired height in the unmanned air vehicle landing device 2a. Although wind (airflow) is generated in the unmanned air vehicle landing device 2a due to hovering of the unmanned air vehicle 4, the generated air current opens the outer airframe take-out lid 13 and the exhaust flap 19 in step S14. Since it is in a state, it is discharged out of the unmanned air vehicle landing device 2a. Thereby, the turbulent flow (turbulence) of the wind in the unmanned air vehicle landing device 2a is reduced, and the posture stability of the unmanned air vehicle 4 can be improved. Further, since the outer airframe take-out lid 13 and the exhaust flap 19 are in the opened state in step S14, the unmanned air vehicle 4 is caused by the pressure drop in the unmanned air vehicle landing device 2a, that is, the negative pressure. It is possible to prevent the unmanned air vehicle landing device 2a from adhering to the ceiling surface composed of the outer airframe take-out lid 13 and the inner airframe take-out lid 16. At the end of step S14 and step S15, the closed space inspection system 1 is in the state shown in FIG.

In the step of opening the open / close shutter 24 with exhaust holes and lowering the unmanned air vehicle 4 into the first manhole 51 (step S16), as shown in FIG. 15, the open / close shutter 24 with exhaust holes of the unmanned air vehicle landing device 2a is placed horizontally. The unmanned aerial vehicle 4 is lowered into the first manhole 51 by operating the input unit 45 a such as a joystick or a lever of the unmanned air vehicle controller 3.
In the step of closing the outer airframe take-out lid 13 and the exhaust flap 19 (step S17), as shown in FIG. 16, the outer airframe take-out lid 13 of the unmanned air vehicle landing device 2a is closed and the bevel gear 23 is rotated. As a result, the exhaust flap shaft 21 is rotated, and the exhaust flap 19 fixed to the exhaust flap shaft 21 by the exhaust flap shaft attachment portion 20 is closed. Further, the open / close shutter 24 with the exhaust hole of the unmanned air vehicle landing / release device 2a is closed. This makes it possible to prevent wind from the ground from blowing into the sewer pipe 61 through the first manhole 51.

  In the step of checking the inside of the pipe while moving the unmanned air vehicle 4 through the sewer pipe 61 to the second manhole 52 (step S18), as shown by the black arrow in FIG. Of the sewage pipe 61 by the above-described sensor and camera mounted on the unmanned aerial vehicle 4 while operating the input unit 45a such as a joystick or a lever and horizontally flying the unmanned aerial vehicle 4 toward the second manhole 52 side. Inspect (inspect) the walls. Even if the unmanned air vehicle 4 is out of control in the inspection (investigation) of the inner wall surface of the sewer pipe 61, as shown in FIG. 16, the unmanned air vehicle landing device 2a and the unmanned air vehicle landing device Since the outer body take-out lid 13, the exhaust flap 19, and the opening / closing shutter 24 with the exhaust hole are in the closed state, the unmanned air vehicle 4 that has become uncontrollable will fly in the sky. Can be prevented.

  In the step (step S19) of opening the opening / closing shutter 24 with exhaust hole, the outer body take-out lid 13 and the exhaust flap 19 to a desired opening and operating the unmanned air vehicle guidance device 42, as shown in FIG. When the unmanned air vehicle 4 reaches the vicinity of the second manhole 52, which is the end point of the sewer pipe survey, or just below the second manhole 52, the opening / closing shutter 24 with the exhaust hole of the unmanned air vehicle landing device 2b and the lid for taking out the outer airframe While opening the body 13 and rotating the bevel gear 23, the exhaust flap shaft 21 is rotated, and the exhaust flap 19 fixed to the exhaust flap shaft 21 by the exhaust flap shaft attachment portion 20 has a desired opening. Open. Moreover, the unmanned air vehicle guidance device 42 installed in the unmanned air vehicle landing and arrival device 2b is operated. The unmanned aerial vehicle 4 starts ascending with the signal from the unmanned aerial vehicle guidance device 42 as a target.

  In the step of accommodating the unmanned air vehicle 4 in the unmanned air vehicle landing device 2b, closing the opening / closing shutter 24 with the exhaust hole, and turning off the power of the unmanned air vehicle 4 (step S20), first, the unmanned air vehicle 4 is unmanned air vehicle landing and landing. Confirm that it has completely entered the device 2b. At this time, the unmanned aerial vehicle 4 is in a hovering state, and drops of dust, sewage, etc. adhering to the unmanned aerial vehicle 4 are scattered. However, as shown in FIG. 17, at this time, since the exhaust flap 19 is opened at a desired opening, droplets such as scattered dust and sewage are scattered on the inner surface of the exhaust flap 19. Since it collides and adheres or falls, it is possible to prevent droplets of dust, sewage and the like from scattering over a wide area on the ground. Furthermore, the influence of crosswind on the ground can be suppressed. When it is confirmed that the unmanned air vehicle 4 has completely entered the unmanned air vehicle landing device 2b, the open / close shutter 24 with the exhaust hole of the unmanned air vehicle landing device 2b is closed, Land the unmanned air vehicle 4. Thereafter, the outer body take-out lid 13 is closed and the exhaust flap shaft 21 is rotated by rotating the bevel gear 23, and the exhaust flap 19 fixed to the exhaust flap shaft 21 by the exhaust flap shaft attachment portion 20. Is closed and the unmanned air vehicle 4 is turned off.

  In the inspection work ending step (step S21), first, the shaft-sliding housing 28 of the unmanned air vehicle landing device 2b is used to configure the L-shaped stopper 27 for preventing misalignment in the axial direction (the L-shaped stopper 27 for preventing misalignment). The long side portion is slid in the longitudinal direction), and the short side portion constituting the L-shaped stopper 27 for preventing misalignment is separated from the inner wall surface (inner circumferential surface) of the second manhole 52. Thereafter, the L-shaped stopper 27 for preventing misalignment is rotated by 90 ° around the axis (long side portion constituting the L-shaped stopper 27 for preventing misalignment) by the sliding housing 28, and the L-shaped stopper 27 for preventing misalignment. The caster 29 is grounded by shrinking the stopper 30 so that the short side portion constituting is parallel to the ground. The transmitting / receiving antenna 41 installed in the unmanned air vehicle landing device 2 b is shrunk to a height that does not contact the unmanned air vehicle 4, and the unmanned air vehicle landing device 2 b is moved from a position covering the second manhole 52. Thereafter, the lid of the second manhole 52 is closed, and after confirming safety, the inspection work (investigation work) is terminated. The same applies to the unmanned air vehicle landing device 2 a installed so as to cover the first manhole 51.

  In the present embodiment, the configuration in which a plurality of exhaust flaps 19 are provided in the vertical direction on each side surface of the housing constituting the unmanned air vehicle landing and landing device 2 is shown, but the present invention is not necessarily limited thereto. For example, instead of the plurality of exhaust flaps 19, a flat plate that does not have an opening is arranged on each side surface of a housing that forms the unmanned air vehicle landing device 2, and an inner body that can be opened and closed provided on the upper surface of the housing. It is good also as a structure which slides the side surface which consists of the said flat plate along the flame | frame extended | stretched in the perpendicular direction among the main body frames 11, without interfering with the taking-out lid 16 and the outer body taking-out lid 13. In this case, although the effect of preventing the scattering of droplets such as dust and sewage attached to the unmanned air vehicle 4 is reduced, the atmospheric pressure in the unmanned air vehicle landing device 2 when the unmanned air vehicle 4 arrives and departs decreases. As a result, it is possible to prevent the unmanned air vehicle 4 from being sucked to the ceiling surface of the unmanned air vehicle landing device 2 due to the negative pressure.

  In Japan, as a result of the amendment to the Aviation Law, permission to apply for unmanned aerial vehicles (unmanned aerial vehicles) with a total aircraft weight of 200 g or more was obligated in the population-intensive areas of Japan from December 10, 2015. The sewer pipe is surrounded on all sides and top and bottom, and it does not harm the public, so application for flight is unnecessary, but it is assumed that permission is required when entering and exiting the manhole and the ground The However, in the closed space inspection system 1 according to the present embodiment, it is not necessary to make a prior flight application to the Ministry of Land, Infrastructure, Transport and Tourism when conducting pipeline inspections in a population-intensive area, and further, there is a danger that workers may directly touch when an unmanned air vehicle arrives and departs. The safety can be maintained because it is lost. In addition, the use of unmanned air vehicles eliminates the need for pre-ventilation and cleaning work after the survey, which was a problem, and is not affected by the flow rate or depth of sewage. Is also applicable.

As described above, according to the present embodiment, an unmanned air vehicle landing device for inspecting a closed space and a closed space inspection system using the unmanned air vehicle capable of safely and efficiently inspecting a closed space such as a sewer pipe facility. It becomes possible to provide.
Further, when the closed space inspection system according to the present embodiment is applied to the inspection of the sewer pipe as the closed space, the following effects can be obtained.
(1) By enclosing the unmanned aerial vehicle on all sides and the upper surface with an unmanned aerial vehicle landing device, a preliminary flight application to the Ministry of Land, Infrastructure, Transport and Tourism is not required when conducting pipeline surveys using unmanned aerial vehicles in population-intensive areas. Work efficiency can be increased.
(2) Since it is possible to reduce a risk that an operator directly touches the unmanned air vehicle when the unmanned air vehicle arrives and departs, safety can be improved.
(3) When an unmanned air vehicle falls out of control, it can be prevented from flying to the sky.
(4) During the inspection, by covering the opening that is always in the open state with the unmanned air vehicle landing device, it is possible to prevent a person or an object from falling down.
(5) When the unmanned air vehicle arrives and departs, the exhaust flap on the side is opened, and the unmanned air vehicle discharges the wind (airflow) generated in the unmanned air vehicle landing device to the outside. By reducing the turbulence of the wind, it is possible to improve the posture stability of the unmanned air vehicle during arrival and departure.
(6) After the inspection (investigation) of the pipeline has been completed, it is possible to prevent dust and sewage droplets adhering to the unmanned air vehicle returned to the unmanned air vehicle landing system from being scattered over a wide area by the exhaust flap. The influence of crosswind on the ground can also be suppressed.
(7) After the unmanned aerial vehicle has entered the pipe, it is possible to prevent wind from the ground from being blown into the pipe line by closing all the exhaust flap and the outer body take-out lid.
(8) When the unmanned aerial vehicle is opened and closed, the unmanned air vehicle landing device is opened by opening the outer fuselage lid. It can prevent sticking.
(9) Since the unmanned air vehicle can be moved by a caster while being stored in the unmanned air vehicle landing and arrival device, transportation and installation are facilitated.

  FIG. 19 is an overall schematic configuration diagram of a closed space inspection system according to another embodiment of the present invention. The present embodiment is different from the first embodiment in that a horizontal unmanned air vehicle landing apparatus is used. The same components as those shown in the first embodiment are denoted by the same reference numerals, and redundant description will be omitted below.

  In this embodiment, a common groove will be described as an example of a closed space to be inspected. As shown in FIG. 19, the joint groove 62 has a closed space extending in the horizontal direction, and has an opening at the end in the horizontal direction. The closed space inspection system 1a for inspecting (investigating) the inside of the joint groove 62 includes a horizontal unmanned air vehicle landing and landing device 2c, an unmanned air vehicle controller 3, and an unmanned air vehicle 4. The basic configuration of the horizontal unmanned air vehicle landing device 2c is the same as that of the unmanned air vehicle landing device 2 of the first embodiment, but the differences will be mainly described below. The horizontal unmanned air vehicle landing device 2c includes a frame in which a rectangular parallelepiped main body frame similar to that of the first embodiment (not shown) is placed horizontally, and one of the horizontal unmanned air vehicle landing devices 2c in the horizontal direction. Open / close shutter 24a with exhaust holes provided on the side surface, at least a plurality of exhaust flaps 19 provided on the side surface facing the open / close shutter 24a with exhaust holes, provided on the bottom surface of the housing of the horizontal unmanned air vehicle landing device 2c. A moving caster 29 and a stopper 30 that can extend and contract in the vertical direction. The opening / closing shutter 24a with the exhaust hole is configured to be slidable in the vertical direction. With the unmanned air vehicle 4 stored in the horizontal unmanned air vehicle landing device 2 c, the horizontal unmanned air vehicle landing device 2 c is positioned at the opening of the joint groove 62 by the moving caster 29. At this time, one side surface in the horizontal direction is positioned so as to correspond to the opening of the common groove 62 of the housing of the horizontal unmanned air vehicle landing device 2 c provided with the opening / closing shutter 24 a with exhaust holes. Then, by extending the stopper 30, the caster 29 floats (detaches from the ground), and the caster 29 is prevented from rotating. Thereafter, the unmanned air vehicle 4 is opened by the unmanned air vehicle controller 3 in a state where the plurality of exhaust flaps 19 are opened to a desired opening degree and the open / close shutter 24a with the exhaust hole is closed. Hover within 2c. A sensor mounted on the unmanned aerial vehicle 4 while horizontally flying, by sliding the open / close shutter 24a with an exhaust hole vertically upward, causing the unmanned aerial vehicle controller 3 to enter the unmanned air vehicle 4 into the common groove 62. And the inspection work (inspection work) of the inner wall surface of the common groove 62 is performed by the camera.

  By opening the exhaust flap 19 to a desired opening, the air pressure in the horizontal unmanned air vehicle landing device 2c when the unmanned air vehicle 4 arrives and de- creases, and as a result, the unmanned air vehicle 4 is horizontal due to negative pressure. It is possible to prevent the unmanned aerial vehicle 4 from being sucked to a side surface that faces the open / close shutter 24a with an exhaust hole among the side surfaces that constitute the unmanned flying object landing apparatus 2c.

Instead of this, an exhaust flap 19 is provided on the upper surface and / or the other two side surfaces constituting the housing of the horizontal unmanned air vehicle landing device 2c in addition to the side surface facing the opening / closing shutter 24a with the exhaust hole. It is good also as a structure provided. By setting it as such a structure, it becomes possible to further improve exhaust efficiency.
Further, the opening / closing shutter 24a with the exhaust hole is not necessarily limited to the configuration having the exhaust hole, and may be configured without the exhaust hole. In the present embodiment, the opening / closing shutter 24a with the exhaust hole is configured to be slidable in the vertical direction. Alternatively, the opening / closing shutter 24a with the exhaust hole slidable in the horizontal direction may be used.
According to the present embodiment, as in the first embodiment, an unmanned air vehicle landing device for inspecting a closed space and a closed space inspection system using the unmanned air vehicle that can safely and efficiently inspect the closed space. Is possible.

  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.

DESCRIPTION OF SYMBOLS 1, 1a ... Closed space inspection system 2, 2a, 2b, 2c ... Unmanned air vehicle landing device 3 ... Unmanned air vehicle controller 4 ... Unmanned air vehicle 5 ... Opening 6 ... · Closed space 11 ··· Main body frame 12 ··· Side surface 13 with vent hole · · · Outer airframe removal lid 14 · · · Outer airframe removal lid handle 15 · · · Outer airframe removal lid hinge 16 ... Inner fuselage removal lid 17 ... Inner fuselage removal lid handle 18 ... Inner fuselage removal lid hinge 19 ... Exhaust flap 20 ... Exhaust flap shaft attachment portion 21 ..Exhaust flap shaft 22 ... exhaust flap shaft bearing 23 ... bevel gears 24, 24a ... exhaust opening / closing shutter 25 ... exhaust opening / closing shutter handle 26 ... slide rail 27 ..L-position stopper 28 for preventing misalignment ... Shaft sliding housing 29 ... Caster 30 ... Stopper 31 ... Unmanned air vehicle position specifying unit 32 ... Display control unit 33 ... Measurement Value acquisition unit 34 ... transmission unit 35 ... reception unit 36 ... input I / F
37 ... Output I / F
38 ... Storage unit 39 ... Internal bus 40 ... Illuminator 41 ... Transmitting / receiving antenna 42 ... Unmanned air vehicle guidance device 43 ... Warning light 44 ... Alarm 45, 45a, 45b ... Input unit 46 ... Display unit 47 ... Crack 51 in pipe ... First manhole 52 ... Second manhole 61 ... Sewer pipe 62 ... Common groove

Claims (18)

A housing that accommodates an unmanned air vehicle flying in a closed space and is detachable from an opening communicating with the outside air through the closed space;
A positioning part for positioning the housing with respect to the opening of the closed space;
An unmanned air vehicle landing device for inspection of a closed space, comprising: an opening / closing portion that is opened when the unmanned air vehicle enters the closed space through the opening. In the unmanned aerial vehicle landing device for closed space inspection according to claim 1,
The unmanned air vehicle landing and landing device for checking a closed space, wherein the housing includes an exhaust portion for discharging an air flow generated by the unmanned air vehicle to the outside of the housing. In the unmanned aerial vehicle landing apparatus for closed space inspection according to claim 2,
The exhaust part is a flat exhaust flap disposed in a vertical direction on at least one side surface among a plurality of side surfaces constituting the housing, and is an unmanned air vehicle for closed space inspection. Departure and arrival equipment. In the unmanned aerial vehicle landing apparatus for closed space inspection according to claim 3,
The unmanned air vehicle landing device for closed space inspection, wherein the opening / closing portion is an opening / closing shutter provided on a bottom surface constituting the housing, movable in a horizontal direction and having an exhaust hole. In the unmanned aerial vehicle landing apparatus for closed space inspection according to claim 3,
The opening / closing part is an opening / closing shutter provided on one side surface of the plurality of side surfaces constituting the housing and capable of moving vertically in the vertical direction or moving in the horizontal direction and having an exhaust hole. An unmanned air vehicle landing device for inspection of closed space. In the unmanned aerial vehicle landing apparatus for closed space inspection according to claim 4 or 5,
A plurality of casters and a plurality of stoppers that can be expanded and contracted in the vertical direction are provided on the bottom surface constituting the housing,
An unmanned air vehicle landing and landing apparatus for closed space inspection, wherein when the plurality of stoppers are grounded by extending in a vertical direction, the plurality of casters are separated from the ground. In the unmanned aerial vehicle landing and landing device for closed space inspection according to claim 4,
The positioning portion is formed by an L-shaped rod-shaped member having a long side portion extending in the horizontal direction and a short side portion bent substantially at right angles from one end portion of the long side portion on the bottom surface constituting the housing. A pair of L-shaped stoppers for preventing misalignment are provided so as to face each other,
The closed space is characterized in that the casing is positioned with respect to the opening of the closed space by the short sides of the pair of L-shaped stoppers for preventing misalignment coming into contact with the inner wall surface of the opening. Unmanned air vehicle landing and inspection device for inspection. In the unmanned aerial vehicle landing device for closed space inspection according to claim 7,
A lid for taking out the inner fuselage having a plurality of ventilation holes at the top of the casing, and a lid for taking out the outer fuselage which is arranged so as to cover the lid for taking out the inner fuselage and has no ventilation holes. And an unmanned air vehicle landing and landing device for closed space inspection. An unmanned air vehicle equipped with a camera for flying in a closed space and capturing at least a moving image and / or a still image in the closed space and a sensor for sensing an environment in the closed space;
A controller for an unmanned air vehicle that remotely controls the unmanned air vehicle,
An unmanned air vehicle landing device that houses the unmanned air vehicle and has a housing that is detachable from an opening that communicates the closed space with the outside air,
The unmanned air vehicle landing device is in an open state when a positioning unit that positions the housing with respect to the opening of the closed space and when the unmanned air vehicle enters the closed space through the opening. An enclosed space inspection system comprising: an opening / closing part. The closed space inspection system according to claim 9,
The unmanned air vehicle includes an outer shell for protecting the airframe and / or a propeller guard that covers the periphery of the propeller that imparts propulsive force. The closed space inspection system according to claim 10,
The unmanned air vehicle controller includes at least an input unit for inputting an operation amount for the unmanned air vehicle, a measurement value measured by a sensor mounted on the unmanned air vehicle, and / or moving image data captured by the camera. Or a display part which displays image data on a screen, The closed space inspection system characterized by the above-mentioned. The enclosed space inspection system according to claim 11,
The closed space inspection system, wherein the case has an exhaust part that discharges an air flow generated by the unmanned air vehicle to the outside of the case. The enclosed space inspection system according to claim 12,
The closed space inspection system, wherein the exhaust part is a flat exhaust flap disposed in a vertical direction on at least one side surface among a plurality of side surfaces constituting the housing. The closed space inspection system according to claim 13,
The closed space inspection system, wherein the open / close section is an open / close shutter provided on a bottom surface constituting the casing, movable in a horizontal direction and having an exhaust hole. The closed space inspection system according to claim 13,
The opening / closing part is an opening / closing shutter provided on one side surface of the plurality of side surfaces constituting the housing and capable of moving vertically in the vertical direction or moving in the horizontal direction and having an exhaust hole. Closed space inspection system. In the closed space inspection system according to claim 14 or 15,
A plurality of casters and a plurality of stoppers that can be expanded and contracted in the vertical direction are provided on the bottom surface constituting the housing,
The closed space inspection system, wherein when the plurality of stoppers are grounded by extending in a vertical direction, the plurality of casters are separated upward from the ground. The enclosed space inspection system according to claim 14,
The positioning portion is formed by an L-shaped rod-shaped member having a long side portion extending in the horizontal direction and a short side portion bent substantially at right angles from one end portion of the long side portion on the bottom surface constituting the housing. A pair of L-shaped stoppers for preventing misalignment are provided so as to face each other,
The closed space is characterized in that the casing is positioned with respect to the opening of the closed space by the short sides of the pair of L-shaped stoppers for preventing misalignment coming into contact with the inner wall surface of the opening. Inspection system. The closed space inspection system according to claim 17,
A lid for taking out the inner fuselage having a plurality of ventilation holes at the top of the casing, and a lid for taking out the outer fuselage which is arranged so as to cover the lid for taking out the inner fuselage and has no ventilation holes. A closed space inspection system comprising: a body;

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