JP2018116443A - Inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate steering of an unmanned floater.SOLUTION: An inspection system comprises an unmanned floater 20 having floating means 22 and 23 to be floated in air through remote operation, and a steering device 40 for steering the unmanned floater. The unmanned floater has acquisition means 25 for acquiring inspected information on an object of inspection, flight state detection means 24 for detecting a flight state of the unmanned floater, and transmission means 26 for transmitting the detected flight state to the steering device. The steering device has communication means 42 for giving a notification to a steering person of the unmanned floater in a force sense or auditory manner, and control means 45 for operating the communication means in an operation mode corresponding to the flight state received from the unmanned floater.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an inspection system using an unmanned floating machine.

Conventionally, inspecting a structure having a place where human hands cannot reach, an inspection system using a remotely controlled unmanned floating machine called a drone has been utilized (see, for example, Patent Document 1).
The said inspection system is applicable to the test | inspection of the wall surface of a narrow place like the indoor of the boiler furnace of a thermal power generation, for example.
The unmanned floating machine of the inspection system is equipped with multiple propellers connected to the motor to obtain floating force, a camera that images the indoor wall surface, a distance measurement unit to the wall surface, an inertial measurement unit that measures the body posture, etc. Yes.

  During the inspection, the ground equipment installed outdoors receives information such as the camera image, measurement distance, and body posture from the unmanned floating aircraft wirelessly and confirms them on a monitor that displays them. The floating aircraft was being operated.

Japanese Unexamined Patent Publication No. 2016-15628

In the above inspection system, the unmanned floating machine is operated by checking the image of the camera mounted on the unmanned floating machine, the measurement distance to the surrounding wall surface, and the measured attitude of the aircraft on the monitor. However, with the information on the monitor, the actual unmanned floating aircraft is inclined to which direction it is moving, etc., and it has skill and sufficient experience to perform appropriate maneuvers accordingly. It was very difficult for those who were not.
In particular, when the structure to be inspected is a narrow inner wall such as a boiler furnace, it is necessary to operate the unmanned floating machine quickly and accurately. On the other hand, in such a closed space, the downwash caused by the unmanned floating aircraft itself becomes a turbulent wind in the closed space, which makes the aircraft unstable and makes it more difficult to maneuver.

  An object of the present invention is to facilitate the operation of an unmanned floating aircraft.

  The present invention is an inspection system comprising an unmanned floating machine provided with a floating means for levitating in the air by remote control, and a control device for maneuvering the unmanned floating machine, wherein the unmanned floating machine is a target to be inspected. An acquisition unit for acquiring inspection information, a flight state detection unit for detecting a flight state of the unmanned floating aircraft, and a transmission unit for transmitting the detected flight state to the control device. A transmission means for notifying the driver of the unmanned floating aircraft by force or hearing; and a control means for operating the transmission means in an operation mode corresponding to a flight state received from the unmanned floating aircraft. The configuration.

  According to the present invention, it is possible to easily control an unmanned floating machine.

It is a schematic structure figure of an inspection system concerning an embodiment of the invention. It is an expansion perspective view of an unmanned floating machine. It is a block diagram which shows the control system of an unmanned floating machine. It is a front view of a control device. It is a block diagram of a control device.

[Outline of inspection system]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of an inspection system according to an embodiment of the present invention.
The inspection system 100 according to the embodiment of the present invention includes an unmanned floating machine 20 provided with a floating means for levitating in the air by remote control, a control device 40 for maneuvering the unmanned floating machine 20, and a target obtained by the unmanned floating machine 20. And a ground device 60 that receives inspection information by wireless communication.
The inspection system 100 uses a structure, for example, an inner wall surface of a furnace F of a circulating fluidized bed boiler as an inspection object, and acquires inspection information on the inner wall surface of the furnace F.

[Circulating fluidized bed boiler furnace]
The inspection system 100 is intended for inspection of the inner wall surface of the furnace F. A circulating fluidized bed boiler using the furnace F will be briefly described.
A circulating fluidized bed boiler is a device that generates steam by burning fuel while circulating circulating material (silica sand) that flows at a high temperature. In the circulating fluidized bed boiler, for example, non-fossil fuel (woody biomass, waste tire, waste plastic, sludge, etc.) can be used as the fuel. Steam generated in the circulating fluidized bed boiler is used, for example, for driving a power generation turbine.

The circulating fluidized bed boiler circulates the circulating material between the furnace F and the cyclone, and exhausts exhaust gas using the cyclone.
The furnace F has a rectangular tube shape of several meters in length and width and several tens of meters in height, and the ceiling is closed. In addition, although a furnace is generally cylindrical, the dimensions shown here are merely examples, and the actual sizes vary.
The wall surface of the furnace F has a structure in which a plurality of circular tubes extending vertically are connected in a wall shape, and water for generating steam is passed through each circular tube.

The circular pipe constituting the wall surface of the furnace F is required to have pressure resistance because water that generates steam passes therethrough. On the other hand, wear occurs in the furnace F because the circulating material circulates in the vertical direction. Therefore, it is necessary to periodically inspect the inner wall of the furnace F for surface wear or cracks.
If the unmanned floating machine 20 is used for the inspection of the inner wall of the furnace F, the inner wall surface can be inspected with less labor, less time and less cost without constructing a working scaffold in the narrow furnace F. Is possible.

[Unmanned floating machine]
FIG. 2 is an enlarged perspective view of the unmanned floating machine 20, and FIG. 3 is a block diagram showing a control system.
As shown in the figure, the unmanned floating machine 20 includes four rotors 22 provided on the upper part of the machine body 21 and a floating machine driving unit 23 that drives each rotor 22.
Note that the above-described floating means includes four rotors 22 and a floating machine driving unit 23.
The unmanned floating machine 20 includes a flight state detection unit 24 that detects the flight state of the unmanned floating machine 20 and an imaging unit 25 as an acquisition unit that acquires inspected information on the inner wall of the furnace F.
Further, the unmanned floating machine 20 includes a transmission unit 26 as a transmission unit that wirelessly transmits information to be inspected to the control device 40 and the ground device 60 and a reception unit 27 that receives a control command from the control device 40 wirelessly. Yes.

The floating machine drive unit 23 includes four motors that individually drive the rotors 22, drive circuits for these motors, an encoder that detects the number of rotations of each motor, and the like.
When the receiving unit 27 receives the steering command from the steering device 40, the torque output of the four motors is individually controlled through the drive circuit. Thereby, the unmanned floating machine 20 can perform floating operations such as forward movement, backward movement, left movement, right movement, ascent, descent, left turn, right turn, and hovering.

  The flight state detection means 24 includes an acceleration sensor 241, distance sensors 242-245, an altitude sensor 246, an electronic compass 247, a flight information acquisition unit 248, and the like.

The acceleration sensor 241 is installed at the center of gravity of the unmanned floating machine 20 and can detect acceleration generated in the unmanned floating machine 20 in three axial directions parallel to the front-rear direction, the left-right direction, and the up-down direction of the body 21.
The detected acceleration of each axis is transmitted by the flight information acquisition unit 248 to the control device 40 and the ground device 60 through the transmission unit 26.

The distance sensors 242 to 245 are individually provided on the front side, the rear side, the left side, and the right side of the airframe 21. These are for detecting the direction or distance in which obstacles around the unmanned floating aircraft 20 exist, and structures (obstacles) existing in the forward, rearward, leftward, and rightward directions of the airframe 21. It is a sensor that detects the distance to the object. Here, the inner wall of the furnace F around the fuselage 21 is an object as a structure (obstacle).
For example, the distance sensors 242 to 245 use optical distance sensors (laser scanners) that project laser light in the direction of distance detection, receive reflected light, and calculate the distance.
It should be noted that the distance sensor is not limited to the optical type as long as the distance can be detected and is a non-contact type, and any other type of distance sensor (for example, an ultrasonic sensor or the like) can be used.
The distance detected in each direction is transmitted by the flight information acquisition unit 248 to the control device 40 and the ground device 60 through the transmission unit 26.

The altitude sensor 246 is installed in the lower part of the airframe 21. The altitude sensor 246 is a barometric pressure detection type altitude sensor.
The pressure detected by the altitude sensor 246 is transmitted by the flight information acquisition unit 248 to the control device 40 and the ground device 60 through the transmission unit 26.
As with the distance sensors 242 to 245, the altitude sensor projects an optical distance sensor (laser) that projects light downward from the airframe 21 and receives the reflected light from the ground or floor surface to calculate the height. It is also possible to use a scanner) or an ultrasonic sensor using an ultrasonic reflected wave.

The electronic compass 247 includes a geomagnetic sensor that detects the inclination angle of the geomagnetism with respect to the three axis directions of the airframe 21 described above, and can detect which direction of the east, west, south, and north the front of the airframe 21 is facing. Moreover, since it is a three-axis type, the electronic compass 247 can detect the orientation of the airframe 21 even when it is tilted.
The inclination angle of the geomagnetism for each axis detected by the electronic compass 247 is transmitted to the control device 40 and the ground device 60 through the transmission unit 26 by the flight information acquisition unit 248.
Note that the orientation detection means of the airframe 21 is not limited to the electronic compass 247 as long as the sensor can detect the tilt angle, and for example, a gyro sensor or a tilt sensor may be used.

The imaging unit 25 has a still image camera 251 and a moving image camera 252 provided at the front end of the machine body 21. The still image camera 251 and the moving image camera 252 are both arranged with the optical axis facing forward. And each camera 251,252 acquires the captured image of the inner wall of the furnace F as to-be-inspected information. Note that the imaging unit 25 may include only one of the still image camera 251 and the moving image camera 252.
Data of the captured image acquired by the imaging unit 25 is transmitted to the ground device 60 through the transmission unit 26 by the flight information acquisition unit 248.

[Ground equipment]
The ground device 60 is composed of a PC (personal computer) provided with a receiving unit for wireless communication and a display as a display unit.
This ground device 60 is received from the unmanned floating machine 20, and the distance from the flying state detected by the flying state detection means 24 to the moving direction and moving speed of the unmanned floating machine 20, the front-rear and left-right structures (obstacles), The detection height and the detection inclination angle are calculated and recorded in the storage device together with the captured image data acquired by the imaging unit 25. The ground device 60 displays the flight state and captured image data on the display.
In addition, as long as the ground apparatus 60 is provided with the display part and the receiving part, you may comprise by processing apparatuses other than PC.

[Control device: General overview]
FIG. 4 is a front view of the control device 40, and FIG. 5 is a block diagram of the control device 40.
The control device 40 includes an operation unit 41 that inputs a control operation of the unmanned floating machine 20, a transmission means 42 that notifies the operator of the unmanned floating machine 20 with force, and a flight received from the unmanned floating machine 20. And a control unit 45 that operates the transmission unit in an operation mode corresponding to the state.
Furthermore, the control device 40 includes a receiving unit 43 for receiving a flight state wirelessly transmitted from the unmanned floating aircraft 20 and a transmitting unit 44 that transmits an operation command of a steering operation input from the operation unit 41 wirelessly. ing. In addition, the code | symbol 431 of FIG. 4 is an antenna for performing radio | wireless transmission / reception.

[Maneuvering device: operation unit]
The operation unit 41 mainly includes a pair of left and right control sticks 411 and 412. Each control stick 411, 412 can be tilted in the up-down direction, the left-right direction, and the combined direction thereof in FIG. 4 with the state of standing vertically to the front portion of the control device 40 as a reference position. Then, according to the tilting direction of the control sticks 411 and 412, it is possible to input a steering operation such as forward, backward, leftward movement, rightward movement, ascending, descending, leftward turning, rightward turning, and hovering.

[Control device: Transmission means]
The transmission means 42 includes actuators 421 to 426 arranged at the upper end portion, the lower end portion, the left end portion, the right end portion, the front center portion, and the rear center portion of the front surface of the control device 40. Moreover, the transmission means 42 has a speaker 427 as a spare transmission means for making an audible notification to the operator of the unmanned floating machine 20.

  Each of the actuators 421 to 426 is a vibrator and includes a weight and a motor. And as for each actuator 421-426, the arrangement | positioning in the control apparatus 40 and the direction regarding the flight state of the unmanned floating machine 20 are linked | related.

That is, the actuator 421 provided at the upper end of the control device 40 corresponds to the front of the unmanned floating machine 20, and the actuator 422 provided at the lower end of the control device 40 corresponds to the rear of the unmanned floating machine 20. Yes.
The actuator 423 provided at the left end portion of the control device 40 corresponds to the left side of the unmanned floating machine 20, and the actuator 424 provided at the right end portion of the control device 40 corresponds to the right side of the unmanned floating device 20. doing.
Further, the actuator 425 provided at the front center of the control device 40 corresponds to the upper side of the unmanned floating machine 20, and the actuator 426 provided at the center of the rear surface of the control device 40 corresponds to the lower side of the unmanned floating machine 20. doing.

  The relationship between the arrangement of the actuators 421 to 426 in a state where the operator holds the pilot device 40 in his / her hand and the directions in the unmanned floating machine 20 in the horizontal state is the same. For this reason, in order to alert | report about the flight state in each direction of the unmanned floating machine 20, even if the corresponding actuator 421-426 vibrates, even if it does not look at the control apparatus 40 side, it is unmanned from the vibration generating position. It is possible to recognize that various notifications to be described later are performed in any direction of the floating machine 20.

  In addition, a speaker 427 that performs auditory notification is disposed as an auxiliary transmission means 42 in the lower left part of the front surface of the control device 40. The speaker 427 is connected to a sound generation circuit that generates sound for notification, an amplifier, and the like (not shown).

[Control device: Control means]
The control unit 45 selectively executes four types of control modes for performing force feedback, and operates the actuators 421 to 426 in operation modes corresponding to various flight states received from the unmanned floating aircraft 20.
The four types of control modes are a speed mode, an obstacle detection mode, a height mode, and an attitude mode.
These control modes can be selected by a dial 461 as selection means provided in the lower right front portion of the control device 40. The selection of the control mode is not limited to the dial, and any input means such as an input panel, a button, or a lever can be used.

  The control means 45 has four functional configurations including a flight state selection unit 451, a physical quantity calculation unit 452, an operation amount calculation unit 453, and an actuator selection unit 454 in order to execute four control modes. Note that these functional configurations are actually configured by a hardware circuit that executes predetermined control and processing, or a processing device that executes predetermined control and processing based on a program.

The flight state selection unit 451 selects information necessary for the control mode selected from various flight state information received from the unmanned floating aircraft 20.
Specifically, the flight state selection unit 451 selects the output of the acceleration sensor 241 when the speed mode is selected.
The flight state selection unit 451 selects the outputs of the distance sensors 242 to 245 when the obstacle detection mode is selected.
Further, the flight state selection unit 451 selects the output of the altitude sensor 246 when the height mode is selected.
The flight state selection unit 451 selects the output of the electronic compass 247 when the posture mode is selected.

The physical quantity calculation unit 452 calculates a necessary physical quantity from information on various flight states selected by the flight state selection unit 451 for each of various control modes.
Specifically, when the speed mode is selected, the physical quantity calculation unit 452 calculates the speed in each direction by integrating the longitudinal, lateral, and vertical accelerations of the body 21.
Further, when the obstacle detection mode is selected, the physical quantity calculation unit 452 calculates the distance from the output of the distance sensors 242 to 245 to the obstacle (the surrounding structure) in the front-rear direction and the left-right direction.
Further, when the height mode is selected, the physical quantity calculation unit 452 calculates the height of the aircraft 21 from the output of the altitude sensor 246, that is, the atmospheric pressure corresponding to the altitude of the aircraft 21. In this case, the physical quantity calculation unit 452 calculates the altitude based on the difference between the atmospheric pressure on the ground before the flight starts and the atmospheric pressure during the flight.
In addition, when the attitude mode is selected, the physical quantity calculation unit 452 tilts in the triaxial direction that is the attitude of the airframe 21 from the output of the electronic compass 247, that is, the geomagnetic inclination angle with respect to the triaxial direction of the airframe 21. Calculate the angle. Also in this case, the physical quantity calculator 452 is based on the difference between the geomagnetic tilt angle with respect to the triaxial direction of the aircraft 21 in the horizontal state before the start of flight and the geomagnetic tilt angle with respect to the triaxial direction of the aircraft 21 during the flight. The inclination angle of the machine body 21 in the triaxial direction is calculated.

  The operation amount calculation unit 453 selects the actuators 421 to 426 to be driven from the physical amount calculated by the physical quantity calculation unit 452 for each of various control modes and calculates the operation amount.

Specifically, when the speed mode is selected, the operation amount calculation unit 453 is a direction in which the speed is generated in the forward direction based on the calculated speeds of the aircraft body 21 in the front-rear direction, the left-right direction, and the up-down direction. And a drive command for the motors of the actuators 421 to 426 corresponding to the direction is generated. At this time, the operation amount calculation unit 453 generates a drive command for the motors of the actuators 421 to 426 so that the number of rotations increases as the calculated moving speed of the airframe increases.
Depending on the moving direction of the machine body 21, two or three actuators 421 to 426 may be driven simultaneously.

  In addition, in the speed mode, instead of the above control, the actuators 421 to 426 corresponding to the direction in which the speed of the airframe 21 is generated in the forward direction are driven at a constant rotational speed, and only the moving direction is shown. Simple control may be performed. Moreover, you may perform control which drives only the single actuator 421-426 corresponding to the direction where the speed is the fastest.

Further, when the obstacle detection mode is selected, the operation amount calculation unit 453 sets a predetermined proximity distance threshold for the calculated distance to the obstacle (surrounding structures) in the front-rear direction and the left-right direction. In the following cases, a drive command with a constant rotational speed for the motors of the actuators 421 to 424 corresponding to the direction is generated.
The two actuators 421 to 424 may be driven at the same time depending on the direction in which an obstacle close to the airframe 21 exists.

  In place of the above control, the motors of the actuators 421 to 424 are rotated at the number of rotations corresponding to the distance in each of the front, rear, left and right directions based on the calculated distance to the obstacle (the surrounding structure) in the front and rear direction and the left and right direction. A drive command may be generated. At this time, the operation amount calculation unit 453 generates a drive command for the motors of the actuators 421 to 424 so that the rotation speed increases as the calculation distance decreases.

  Further, when the height mode is selected, the operation amount calculation unit 453 has a threshold (1) where the calculated altitude is a predetermined lower limit of altitude and a threshold (2) which is an upper limit of altitude. When it is between, the drive command with respect to the motor of the actuator 425 is produced | generated by fixed rotation speed.

  In place of the above control, the difference between the calculated altitude and the upper limit threshold (or the lower limit altitude threshold) is obtained, and the actuator 425 (in the case of the lower limit altitude threshold) with the number of revolutions according to the altitude difference. May generate a drive command for the motor of the actuator 426). At this time, the operation amount calculation unit 453 generates a drive command for the motor of the actuator 425 so that the rotational speed increases as the difference in the calculated altitude decreases.

In addition, when the posture mode is selected, the operation amount calculation unit 453 obtains the difference between the calculated inclination angles around the front, rear, left, and right axes with respect to the predetermined basic posture. A drive command for the motors of the actuators 421 to 426 is generated at the number of rotations corresponding to the difference value. At this time, the operation amount calculation unit 453 generates a drive command for the motors of the actuators 421 to 426 so that the rotation speed increases as the difference increases.
For example, the left and right actuators 423 and 424 are driven for the inclination around the axis along the front-rear direction, and the front and rear actuators 421 and 422 are driven for the inclination around the axis along the left-right direction. For the inclination around the axis, the upper and lower actuators 425 and 426 are driven. However, this is only an example, and the correspondence relationship between the actuators 421 to 426 to be driven and the inclinations around the respective axes may be changed.

  In addition, regarding the posture mode, the actuator 421-426 does not report the difference in inclination angle of all three axes of front, rear, left, right, and upper, and the inclination angle around one axis or two axes of the three axes is determined by some actuators 421. You may alert | report by -426.

  The actuator selection unit 454 inputs a drive command to the actuators 421 to 426 selected by the operation amount calculation unit 453.

[Inspection by inspection system and its technical effect]
In the inspection system 100, when inspecting the inner wall surface of the furnace F of the circulating fluidized bed boiler, the still image camera 251 or the moving image camera 252 captures an image while flying along a predetermined route so that the entire inner wall surface can be imaged. Executed. At this time, the unmanned floating machine 20 is operated by the control device 40 so that the flight is performed with the front side portion directed toward the inner wall surface.

  In the control device 40, when the speed mode is selected by the dial 461, the output of the acceleration sensor 241 is processed by the control means 45 among the flight information input from the unmanned floating aircraft 20. That is, the moving speed of the unmanned floating machine 20 in each axial direction is obtained from the output of the acceleration sensor 241, and the actuators 421 to 426 corresponding to the moving direction are driven at the number of rotations corresponding to the moving speed.

For this reason, when operating the unmanned floating machine 20 while visually checking the unmanned floating machine 20, an actuator that drives whether the driver is moving in the front-rear, left-right, or up-down direction of the unmanned floating machine 20. It can grasp | ascertain forcefully by the position of 421-426.
Therefore, the pilot can steer without taking his eyes off the unmanned floating machine 20, and can accurately grasp the moving direction of the unmanned floating machine 20, and can easily steer without requiring skill. It becomes possible.
Further, since the actuators 421 to 426 are controlled so as to operate violently according to the moving speed of the unmanned floating machine 20, the operator can recognize the slowness of the moving speed of the unmanned floating machine 20 by force. . Thereby, when maneuvering the unmanned floating machine 20 in the narrow furnace F, it becomes possible to effectively reduce the occurrence of an operation error such as a collision with the inner wall surface.

  In the speed mode, for example, a moving direction and a moving speed in which an inspection is desired may be determined. In this case, depending on which actuator 421 to 426 is operated, and depending on the amount of operation, it is controlled so as to maintain the target moving direction and moving speed without taking an eye off the unmanned floating machine 20. And the inspection can be performed more easily and accurately.

Further, in the control device 40, when the obstacle detection mode is selected by the dial 461, the outputs of the four distance sensors 242 to 245 among the flight information input from the unmanned floating machine 20 are sent to the control means 45. Processed. That is, a distance to an obstacle, for example, an inner wall surface, which is present on the front, rear, left, and right sides is calculated from the outputs of the distance sensors 242 to 245.
Then, when the distance to the inner wall surface of the unmanned floating machine 20 is less than or equal to the threshold value in any direction, the actuators 421 to 424 corresponding to that direction are controlled to operate. For this reason, the operator can grasp whether the unmanned floating machine 20 has approached to the inner wall surface of the front, rear, left, or right up to a distance equal to or less than the threshold without keeping an eye on the unmanned floating machine 20. Thereby, when maneuvering the unmanned floating machine 20 in the narrow furnace F, it becomes possible to effectively reduce the occurrence of an operation error such as a collision with the inner wall surface.

In the obstacle detection mode, there is a case where it is desired to perform an inspection while maintaining a certain distance from the obstacle (inspection target).
In this case, depending on which of the actuators 421 to 424 is operated, it is possible to maneuver so as to maintain the distance from the obstacle without taking an eye from the unmanned floating machine 20, thereby making the inspection easier and easier. It becomes possible to carry out accurately.

Further, in the control device 40, when the height mode is selected by the dial 461, the output of the altitude sensor 246 is processed by the control means 45 among the flight information input from the unmanned floating aircraft 20. That is, the height of the unmanned floating machine 20 from the ground is calculated from the output of the altitude sensor 246.
Then, when the calculated height of the unmanned floating machine 20 is between two high and low thresholds, the actuator 425 is controlled to operate. For this reason, the operator can maintain the unmanned floating machine 20 at a constant height without keeping an eye on the unmanned floating machine 20. Thereby, when maneuvering the unmanned floating machine 20 in the narrow furnace F, it becomes possible to effectively reduce the occurrence of a collision with the ceiling.

  It is also possible to keep the unmanned floating machine 20 in the range of the target height where the inspection is desired. Thereby, it becomes possible to perform the inspection more easily and accurately without taking the eyes off the unmanned floating machine 20.

Further, in the control device 40, when the posture mode is selected by the dial 461, the output of the electronic compass 247 is processed by the control means 45 among the flight information input from the unmanned floating aircraft 20. That is, the three-axis tilt angle of the unmanned floating machine 20 is calculated from the output of the electronic compass 247.
Then, in the flight state of the unmanned floating aircraft 20, the corresponding actuators 421 to 426 operate violently as the difference between the predetermined three-axis tilt angle and the calculated three-axis tilt angle increases. Be controlled. For this reason, when it is desired to carry out an inspection in a posture where the unmanned floating machine 20 is a target, the operator can carry out the inspection so as to maintain the target posture without taking his eyes off the unmanned floating machine 20. Thereby, when maneuvering the unmanned floating machine 20 in the narrow furnace F, the inspection can be performed more easily and accurately.

[Inspection object]
In the said embodiment, although the case where the internal wall surface of the furnace F of a circulating fluidized bed boiler was made into an inspection target object was illustrated, an inspection target object is not limited to this. As the inspection object, any structure that can be suitably inspected by the flight of the unmanned floating machine 20 can be targeted, and in particular, a suitable inspection is performed even when inspection in a narrow place is required. It is possible. For example, other structures include a chimney, a bridge, a tunnel, and the like.

Moreover, in the said embodiment, although the imaging of a still image or a moving image was illustrated as an inspection implemented with respect to a test object, a test | inspection is not limited to this.
For example, an ultrasonic probe or a hammering tester may be mounted on the unmanned floating machine 20, and a flaw detection test may be performed by applying ultrasonic waves or a hammering sound to the target position of the inspection object. In the case of the hammering test, the unmanned floating machine 20 is also equipped with a microphone for detecting the hammering and an imaging means for detecting the vibration.
In addition, since the ultrasonic probe and the hammering tester need to be brought into contact with the inspection object, it is desirable that the ultrasonic probe and the hammering tester be provided in advance at the tip of the extension portion extended from the unmanned floating machine 20.
Moreover, it is good also as a structure which mounts an infrared camera and a thermometer in the unmanned floating machine 20, and detects the temperature of a test object.

[Others]
As described above, the steering device 40 of the inspection system 100 is equipped with the speaker 427 as a transmission means, so that the operator is notified by force as with the actuators 421 to 426 described above. It is good also as a structure which is alert | reported by hearing instead of the structure to perform or using together with these.
For example, in the speed mode, the controller 45 causes the speaker 427 to output the moving direction and moving speed of the unmanned floating machine 20 as a sound.
Further, in the obstacle detection mode, the control means 45 causes the speaker 427 to output a voice in a direction in which an obstacle that has approached to a distance equal to or less than a threshold exists.
In the height mode, the control unit 45 causes the speaker 427 to output a sound as to whether or not the current unmanned floating machine maintains a height that falls within a predetermined height range.
In the posture mode, the control means 45 causes the speaker 427 to output a sound indicating how much the three axes are inclined with respect to the prescribed posture.
In addition, it is good also as a structure which mounts only any one of the actuators 421-426 or the speaker 427 in the control apparatus 40, and alert | reports only by any one.

  In the inspection system 100 described above, the height from the ground is detected for the height detection of the unmanned floating machine 20, but the height from the ceiling is used to cope with the indoor inspection. The means for detecting may be mounted on the unmanned floating machine 20. In that case, a distance sensor that detects the distance toward the upper side of the body 21 can be used.

  In addition, the details shown in the embodiments can be changed as appropriate without departing from the spirit of the invention.

20 Unmanned floating machine 21 Airframe 22 Rotor (floating means)
23 Floating machine drive (floating means)
24 flight state detection means 25 imaging part 25 acquisition means 26 transmission part (transmission means)
27 receiver 40 control device 41 operation unit 42 transmission unit 43 reception unit 44 transmission unit 45 control unit 60 ground device 100 inspection system 241 acceleration sensor 246 altitude sensor 247 electronic compass 248 flight information acquisition unit 251 still image camera 252 video camera 411 412 Control stick 421-426 Actuator 427 Speaker (Transmission means)
451 Flight state selection unit 452 Physical quantity calculation unit 453 Operation amount calculation unit 454 Actuator selection unit 461 Dial (selection means)
F furnace (inspection object)

Claims (5)

An unmanned floating machine equipped with floating means to levitate in the air by remote operation;
A maneuvering device for maneuvering the unmanned floating machine,
The unmanned floating machine
An acquisition means for acquiring inspection information of an inspection object;
Flight state detection means for detecting the flight state of the unmanned floating aircraft;
Transmitting means for transmitting the detected flight state to the control device;
The steering device is
A transmission means for informing the operator of the unmanned floating machine by force or hearing;
An inspection system comprising: a control unit that operates the transmission unit in an operation mode corresponding to a flight state received from the unmanned floating aircraft. The flight state detection means detects the moving direction or moving speed of the unmanned floating aircraft,
The inspection system according to claim 1, wherein the control unit is capable of executing a control mode in which the transmission unit is operated in an operation mode corresponding to the detected moving direction or moving speed of the unmanned floating machine. The flight state detection means detects the direction or distance of obstacles around the unmanned floating aircraft,
3. The control unit according to claim 1, wherein the control unit is capable of executing a control mode in which the transmission unit is operated in an operation mode corresponding to the detected direction or distance of the surrounding obstacle. Inspection system. The flight state detection means detects the height of the unmanned floating aircraft,
4. The control unit according to claim 1, wherein the control unit is capable of executing a control mode in which the transmission unit is operated in an operation mode according to the detected height of the unmanned floating machine. 5. The inspection system described. The flight state detection means detects the orientation of the unmanned floating aircraft,
5. The control unit according to claim 1, wherein the control unit is capable of executing a control mode in which the transmission unit is operated in an operation mode according to the detected orientation of the airframe of the unmanned floating machine. Inspection system as described in.

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