JP2020180960A - Inspection system and unmanned flight vehicle - Google Patents

Abstract

To provide an inspection system with which the inspection of equipment installed inside a facility is performed using a ground machine and an unmanned flight vehicle.SOLUTION: An inspection system comprises: an unmanned flight vehicle 10 for inspection having flight means, travel means, an apparatus for observation and communication means; a ground machine 40 communicably connected to the unmanned flight vehicle 10 for inspection and having a display; and a general control unit 9 provided in at least one of the unmanned flight vehicle 10 for inspection and the ground machine 40, for causing the unmanned flight vehicle 10 for inspection to fly to a landing point provided in equipment 90, 91, 92 which is the inspection object and travel from the landing point to a main observation point provided in the periphery of the equipment 90, 91, 92, and determining the presence of abnormality in the equipment 90, 91, 92 on the basis of the observed value obtained from the equipment 90, 91, 92 using the apparatus for observation.SELECTED DRAWING: Figure 1

Description

The present invention relates to an inspection system for inspecting equipment installed in a facility using a ground aircraft and an unmanned aerial vehicle for inspection.

In recent years, factories that manufacture a large amount of precision devices, etc. have high airtightness and are constructed by arranging large-scale equipment in association with a large-area covered building. In such factories, they dislike humans who cause dust, so they are kept unmanned as much as possible. However, these interconnected facilities must undergo regular inspections. This is because the failure or shutdown of one facility may lead to the shutdown of the entire factory.

Inspection of these facilities has traditionally relied on manual labor. However, it is troublesome and costly to walk around the vast facility for inspection. Therefore, mechanizing inspection work is a natural idea.

Patent Document 1 can accurately and automatically fly an unmanned aerial vehicle having an inspection function along a predetermined flight route in a facility containing equipment requiring inspection, so that a worker does not go to the site. Also, an in-facility inspection system using an unmanned aerial vehicle that can inspect the equipment installed in the facility has been proposed.

On the other hand, when a person inspects equipment, it is known that not only the numerical values indicated by the equipment indicators but also the five senses such as sight, hearing, touch, smell, and taste are used for inspection.

In Patent Document 2, in order to ensure that dynamic equipment installed in a dangerous place such as a high place or underground can be inspected in a safe state, a CCD camera, a microphone, an odor sensor, etc. are attached to the equipment. , A remote inspection facility that can monitor the value in a safe place is disclosed.

Japanese Unexamined Patent Publication No. 2017-154577 Japanese Unexamined Patent Publication No. 2005-240558

It is costly and time consuming to manually inspect multiple facilities located inside a large factory building. Therefore, using an unmanned aerial vehicle (so-called drone) is considered to be a suitable method.

Then, when a person inspects the equipment, not only the numerical values on the operation status display panel of the equipment are viewed, but also parameters such as operation sound, odor, and temperature are taken into consideration. Since there are known sensors that detect these, it is possible to place these sensors on the drone.

However, there is a problem that the driving noise, odor, and temperature cannot be detected correctly when there is a strong downdraft generated by the drone propeller.

The present invention was conceived in view of the above problems, and is an inspection system capable of correctly acquiring the operating state of equipment by using an unmanned aerial vehicle and using parameters used by humans such as sound and odor. Is to provide.

More specifically, the inspection system for inspecting the equipment in the facility provided with the plurality of equipment according to the present invention is
An inspection system that inspects the equipment in a facility equipped with multiple equipment.
Means of flight and
Means of travel and
Observation equipment and
An unmanned aerial vehicle for inspection with communication means,
A ground plane communicatively connected to the unmanned aerial vehicle for inspection and having a display,
Provided on at least one of the inspection unmanned aerial vehicle and the ground plane,
The unmanned aerial vehicle for inspection is flown to the landing point provided in the equipment to be inspected.
Travel from the landing point to the main observation point provided around the equipment,
Based on the observed values obtained from the equipment using the observation equipment
It is characterized by having a comprehensive control unit for determining the presence or absence of an abnormality in the equipment.

In the inspection system according to the present invention, since the unmanned vehicle for inspection flies to the equipment to be inspected, then lands and travels, it does not disturb the atmosphere and environment around the equipment to be inspected. Therefore, not only the inspection by the image but also the inspection using the sound and the odor becomes possible. As a result, more accurate equipment inspection becomes possible, and the burden of inspection by humans can be reduced.

Further, in the inspection system according to the present invention, the inspection result obtained by the inspection device is not determined only as normal or abnormal, but is determined as a state (ambiguous) that cannot be said to be either. As a result, it is possible to obtain information that is not abnormal at present but leads to signs of abnormality.

Further, in the inspection system according to the present invention, even if it is once determined to be "abnormal", if it can be determined that the cause of the abnormality is not the equipment to be inspected by referring to the operation schedule of the surrounding equipment, it is "abnormal". The judgment can be overturned. Therefore, it is possible to make a judgment close to a human judgment without making a uniform judgment on the inspection.

Further, in the inspection system according to the present invention, the equipment is inspected once, and when it is determined that the equipment is neither normal nor abnormal, the equipment is inspected again. Therefore, it is possible to eliminate the waste of sequentially inspecting the equipment that is operating normally in detail.

It is a figure which shows the outline of the facility which the inspection system which concerns on this invention is inspected. It is a figure which shows the structure of the unmanned aerial vehicle for inspection. It is a figure which shows the structure of the ground plane. It is a figure which shows the specific example of equipment. It is a figure which shows the specific example of equipment. It is a figure which shows the specific example of equipment. It is a flow chart which shows the operation of the unmanned aerial vehicle for inspection. It is a flow chart which shows the operation of the ground plane. It is a figure explaining the incidental equipment arranged around the equipment and the permissible range of judgment. It is a flow chart which shows the process of "judgment". It is a flow chart which shows the process of "reference process".

The inspection system according to the present invention will be described below with reference to the drawings. The following description illustrates one embodiment of the present invention, and the present invention is not limited to the following description. The following description can be modified without departing from the spirit of the present invention.

FIG. 1 shows an outline of the inspection system according to the present invention. The inspection system 1 targets the equipment 90 to 92 installed in the covered building 100. The covered building 100 is provided with a side wall and is separated from the outside. Various facilities are arranged in the covered building 100. In the following description, the equipment to be inspected is generally referred to as equipment 90. The equipment adjacent to the equipment 90 is called the equipment 91, and the equipment located facing the equipment 90 is called the equipment 92. The covered building 100 may be referred to as a facility 100.

The type of equipment 90 is not particularly limited. It does not have to be the same equipment, or a plurality of the same equipment may be juxtaposed. The inspection system 1 according to the present invention targets equipment 90, which requires periodic inspections in order to maintain an operating state.

The inspection system 1 is configured by arranging a ground plane 40 and an unmanned aerial vehicle 10 for inspection in the facility 100. In FIG. 1, one ground aircraft 40 and one unmanned aerial vehicle for inspection 10 are shown, but a plurality of each may be arranged. The unmanned aerial vehicle 10 for inspection keeps in touch with the ground plane 40. The ground plane 40 can communicate with a plurality of unmanned aerial vehicles 10 for inspection or control a plurality of unmanned aerial vehicles 10 for inspection. On the other hand, the inspection unmanned aerial vehicle 10 may operate independently.

The unmanned aerial vehicle 10 for inspection and the ground plane 40 each have a control unit, but these control units are connected by wireless communication and can be regarded as one control unit. This is called the comprehensive control unit 9 of the inspection system 1.

FIG. 2 shows the configuration of the unmanned aerial vehicle 10 for inspection. FIG. 2A is a plan view from above, and FIG. 2B is a side view. The unmanned aerial vehicle 10 for inspection is a so-called drone that can fly and travel on the ground. It has a housing 12, a traveling means 16, and a flying means 14. Further, as observation equipment, a camera 18, a microphone 20, an odor sensor 22, a temperature / humidity sensor 24, and a vibration sensor 32 are provided. The inside of the housing 12 is composed of a battery 26, a communication unit 28, and a movement control unit 30.

The traveling means 16 is used when the inspection unmanned aerial vehicle 10 moves on a plane. It consists of wheels or tracks and a motor. Since the unmanned aerial vehicle 10 for inspection has the traveling means 16, it is possible to move in a two-dimensional plane such as forward movement, reverse movement, and left / right direction change.

The flight means 14 can float the inspection unmanned aerial vehicle 10 and move it in the air in a predetermined direction. It usually consists of a propeller and a motor. It may be a jet engine or a reciprocating engine instead of a motor. The inspection unmanned aerial vehicle 10 can perform operations such as ascending, descending, advancing, reversing, turning left and right, and hovering by the flight means 14.

The camera 18 is used by the inspection unmanned aerial vehicle 10 for checking the appearance of the equipment 90 and reading the value of an indicator indicating the operating state of the equipment 90. It has a lens barrel portion 18a on which a lens is arranged and a biaxial movable portion 18b. The biaxial movable portion 18b has a lens barrel portion 18a that secures a field of view up to 90 ° so that the unmanned aerial vehicle 10 for inspection can look up from below when landing in front of the equipment 90. It can be moved.

Further, it can be moved so that the field of view can be secured up to 90 ° below so that the equipment 90 can be seen directly below from above the equipment 90 while hovering. Further, the optical axis of the lens barrel portion 18a can be swung to the left and right at an angle of at least 90 degrees.

Further, it is desirable that the camera 18 can discriminate from the visible band to the infrared band. By observing the image in the infrared band, it is possible to confirm the local temperature rise of the equipment 90, and it is easy to find an abnormality. A camera dedicated to the infrared band may be separately installed.

The microphone 20 is for measuring the operating sound of the equipment 90. When the equipment 90 is in an operating state, it often makes some kind of operating noise. On the contrary, it may be normal that there is no driving noise. In any case, when an abnormality occurs in the operating state of the equipment 90, an operating sound different from the normal operating sound is often emitted. In the inspection system 1 according to the present invention, the driving sound (acoustic) is measured to determine the driving state.

Further, since many facilities 90 are arranged in the facility 100, operating sounds from other facilities 90 are also observed. Although the details will be described later, in the inspection system 1, when measuring the operating noise of the equipment 90, the operation schedule of the other equipment 90 is referred to, and the judgment is made in consideration of the influence of the operating noise of the other equipment 90.

Further, it is desirable that the microphone 20 has a certain directivity and is capable of rotating so that the direction of the sound source can be detected. This is to check the direction of the sound source when observing the sound. It should be noted that the installation of an omnidirectional microphone is not excluded.

The odor sensor 22 measures the odor around the equipment 90. When an abnormality occurs in the operating state of the equipment 90, some kind of odor is often generated. When the equipment 90 handles a solvent, the solvent odor becomes strong, and when the equipment 90 has a heater, it may have a burnt odor. The odor sensor 22 detects the odor related to such an operation abnormality and detects the abnormality of the equipment 90. It is desirable that the odor sensor 22 also has a certain directivity.

The temperature / humidity sensor 24 measures the temperature / humidity around the equipment 90. This is to detect an abnormality in the equipment 90 by measuring the temperature and humidity around the equipment 90. In addition, the vibration sensor 32 can detect vibration from the floor surface when landing. In FIG. 2, it is shown as a fifth wheel-like shape provided near the center of the bottom surface of the housing 12.

The vibration of the equipment 90 causes problems such as loosening of bolts if it continues for a long period of time. On the other hand, if the long wavelength fluctuation of the entire facility 100 is repeated, it may affect the equipment 90 and people. The vibration sensor 32 can also collect data such as whether or not the vibration in the facility 100 affects the equipment 90 and people.

The microphone 20 and the odor sensor 22 are used in a non-flying state. The flight means 14 generates some wind noise in order to obtain lift. Moreover, in order to hover, a strong downdraft is generated. In such a situation, the wind noise makes it impossible to correctly measure the operating noise of the equipment 90. In addition, the odor sensor 22 cannot specify at which point the odor is being measured.

Therefore, the microphone 20 and the odor sensor 22 are used with the flight means 14 stopped. However, it may be operated during the movement by the traveling means 16. This is because it does not make loud noises or stir the atmosphere violently. In addition, it is possible to move at a speed that does not interfere with the measurement. Needless to say, the vibration sensor 32 is used only when the inspection unmanned aerial vehicle 10 is landing.

A battery 26, a communication unit 28, and a movement control unit 30 are mounted in the housing 12. The battery 26 supplies electric power used by the traveling means 16, the flying means 14, the camera 18, the microphone 20, the odor sensor 22, the temperature / humidity sensor 24, the vibration sensor 32, the communication unit 28, and the movement control unit 30.

The communication unit 28 communicates with the ground machine 40. When there are a plurality of unmanned aerial vehicles 10 for inspection, the unmanned aerial vehicles 10 for inspection may communicate with each other. In addition, the communication unit 28 is provided with a position specifying function for specifying a position in the facility 100.

The movement control unit 30 controls the operation of the inspection unmanned aerial vehicle 10. However, the movement control unit 30 may be considered as a part of the comprehensive control unit 9 of the inspection system 1 described later. And, the abnormality of the equipment 90 is judged from various observation data (including the observation image). The movement control unit 30 performs at least the operation of the unmanned aerial vehicle 10 for inspection and various measurements. However, the determination of the operation abnormality of the equipment 90 may be performed separately from the ground machine 40. The movement control unit 30 can be composed of an MPU (MicroProcessor Unit) and a memory. The memory 30 m may be included in the movement control unit 30.

FIG. 3 shows the configuration of the ground plane 40. The ground plane 40 is mounted in the facility 100, receives observation data from the unmanned aerial vehicle 10 for inspection, and when there is a risk of an operation abnormality of the equipment 90 or it is determined that the operation abnormality is made, the user is notified. Notice. The ground machine 40 has a ground control unit 42, a notification means 44, a ground communication unit 46, and a power feeding unit 48 in the housing 40a.

The ground control unit 42 can be formed with the same configuration as the movement control unit 30 of the inspection unmanned aerial vehicle 10. The memory 42m may be included in the ground control unit 42. The ground control unit 42 controls the operation of the ground machine 40. The ground control unit 42 may be considered as a part of the comprehensive control unit 9 of the inspection system 1 described later.

The ground communication unit 46 is used for communication with the inspection unmanned aerial vehicle 10, and may also perform wireless communication with a specific user. The power feeding unit 48 is a device for supplying power to the battery 26 of the unmanned aerial vehicle 10 for inspection.

The power feeding unit 48 does not have to be arranged in the vicinity of the ground machine 40. This is because it is more efficient to provide the unmanned aerial vehicle 10 for inspection in a place where power can be easily supplied in the facility 100.

The notification means 44 notifies the user of the situation when it is determined that an abnormality may occur in the equipment 90 or has already occurred based on various observation data from the unmanned aerial vehicle 10 for inspection. It is a means to do.

Specifically, a method such as a display 44a, a siren 44b, or a radio 44c (which may also be used as the terrestrial communication unit 46) can be preferably used. These may be any one, or a plurality may be operated at the same time.

The movement control unit 30 of the unmanned aerial vehicle 10 for inspection shown in FIG. 2 and the ground control unit 42 of the ground aircraft 40 shown in FIG. 3 are separate in terms of hardware, but are separated by the communication unit 28 and the ground communication unit 46. It is connected and can be regarded as a control unit (comprehensive control unit 9) of the inspection system 1. Therefore, in the following description, the processing flow by the movement control unit 30 and the processing flow by the ground control unit 42 can be said to be processing by the comprehensive control unit 9.

Further, the portable and portable terminal 41 including the ground control unit 42, the ground communication unit 46, and the notification means 44 may be a part of the ground machine 40 or the ground machine 40. If a person performs a portion that cannot be inspected by the unmanned aerial vehicle 10 for inspection, the range covered by the inspection system 1 according to the present invention will be expanded. When the person performing the inspection is carrying out the inspection while carrying the mobile terminal 41, if the unmanned vehicle for inspection 10 notifies the possibility of an operation abnormality of the equipment 90 or the operation abnormality, the person performing the inspection You can rush immediately and respond quickly.

FIG. 4 shows a specific example of the equipment 90. Equipment 60 is a water treatment device. The attached pipe 60p is connected, raw water is injected, and treated water is discharged. In front of the equipment 60, an indicator 60i indicating an operating state is installed. The indicator 60i displays a numerical value indicating the operating state of the equipment 60.

In front of the equipment 60, a landing point 65a, a main observation point 65b, an inspection road 65c, a sub observation point 65d, and a taxiway 65e are provided. These are ancillary equipment 65 used by the inspection unmanned aerial vehicle 10 when inspecting the equipment 60. The landing point 65a is the point where the unmanned aerial vehicle 10 for inspection lands. The main observation point 65b is a point where the inspection unmanned aerial vehicle 10 observes the equipment 60. A taxiway 65e is provided between the landing point 65a and the main observation point 65b.

By providing a distance between the landing point 65a and the main observation point 65b in this way, the influence of the turbulent air flow generated at the landing point 65a at the main observation point 65b can be reduced. Further, while moving from the landing point 65a to the main observation point 65b, the atmosphere at the main observation point 65b is restored. As a result, the accurate state of the equipment 60 can be observed at the main observation point 65b.

The main observation point 65b is the most suitable point for inspecting the equipment 60. For example, it may be before the indicator 60i of the equipment 60 is installed. An inspection path 65c is provided around the equipment 60 from the main observation point 65b. It is used to measure the surrounding image of the equipment 60, temperature, operating noise and odor. Further, the sub-observation point 65d is provided on the inspection road 65c. The sub-observation points 65d may not be provided or may be provided at a plurality of locations.

FIG. 5 shows a specific example of the equipment 70. The equipment 70 is a blower. A fan 70a and a motor 70b are provided. In addition, an indicator 70i indicating the operating state of the equipment 70 is also provided.

In the equipment 70, the indicator 70i indicates a state in which the indicator 70i is installed at a place away from the fan 70a. In this way, the indicator of the equipment 90 may be separated from the equipment 90 itself. Here, the landing point 75a is provided in front of the indicator 70i. A relatively long taxiway 75e is provided up to the main observation point 75b provided in front of the fan 70a.

Further, the inspection path 75c is provided only in front of the fan 70a, and sub-observation points 75d are provided at both ends. As described above, the inspection path 75c does not have to surround the equipment 70.

FIG. 6 shows a specific example of the equipment 80. The equipment 80 is an air conditioner. Filters 80a and dampers 80b are provided at both ends of the main body serving as a wind tunnel. The landing point 85a with respect to the equipment 80 is set in front of the indicator 80i. The landing point 85a is also used as the main observation point 85b. Therefore, the taxiway 85e is omitted. The inspection path 85c and the sub-observation point 85d are provided in the same manner as the equipment 70.

When explaining each facility as a representative, the facility 90 is used, and when the ancillary facilities such as the landing point, the main observation point, the inspection path, the sub observation point, and the taxiway are collectively referred to, the landing point 95a of the ancillary facility 95 The main observation point 95b, the inspection path 95c, the sub observation point 95d, and the taxiway 95e. Therefore, as shown in FIGS. 4 to 6, the main observation point 95b, the inspection path 95c, the sub observation point 95d, and the taxiway 95e other than the landing point 95a may be partially omitted or also used. It can be said that. The indicator of the equipment 90 is called an indicator 90i.

Ancillary equipment 95 may be provided on the floor surface of facility 100. However, the ancillary equipment 95 may be provided at a predetermined height. This is because if the equipment 90 is tall, the inspection based only on the height of the floor surface may not be sufficient. For example, in the equipment 60, the incidental equipment 65 may be provided at three locations, the floor surface and the middle and upper parts of the equipment 60.

In this way, by providing the incidental equipment 95 at a predetermined height with respect to the equipment 90, the unmanned aerial vehicle 10 for inspection also inspects the tall equipment 90 without using the flight means 14. Can be done.

<Operation of unmanned aerial vehicle 10 for inspection>
Hereinafter, the operation of the unmanned aerial vehicle 10 for inspection will be described with reference to FIG. 7 using a flow. When the processing starts (step S100), the inspection unmanned aerial vehicle 10 determines the end (step S102). Criteria for termination may be the completion of scheduled inspections of all facilities 90 or forced shutdown in an emergency.

If it ends (Y branch in step S102), it returns to the power feeding unit 48 and ends (step S104), and if it does not end (N branch in step S102), the process moves to step S106. In step S106, the inspection unmanned aerial vehicle 10 starts flying and moves toward the equipment 90 to be inspected. Then, when it arrives at the equipment 90 to be inspected, it lands at the landing point 95a (step S108).

Next, it moves to the main observation point 95b and makes an observation (step S110). For observation, the camera 18, the microphone 20, the vibration sensor 32, and the odor sensor 22 are used to collect image data Dp, acoustic data Ds, odor data Dm, and vibration data Dv for inspection items such as image, sound, odor, and vibration. It is done by. Then, the observed value of the main observation point 95b is judged by comparing the permissible range Lv for each inspection item (step S112). The details of the determination of the observed value in step S112 will be described later, but in this step, it is determined whether the observed value is normal (ok branch), abnormal (bd branch), or ambiguous (sus branch). Will be done.

When the observed value is determined to be normal (ok branch in step S112), the process returns to step S102 and heads for the next inspection target (step S106), or returns to the power feeding unit 48 and stops (step S104).

When the observed value is determined to be abnormal (bd branch in step S112), the current position and the occurrence of the abnormality (including the content of the abnormality) are notified to the ground plane 40 or the mobile terminal 41, and the operation is stopped on the spot (step S124). ). At this time, a warning sound such as a siren may be emitted in order to inform the surroundings of the position of the player. The unmanned aerial vehicle 10 for inspection entrusts the subsequent processing to human hands.

When the observed value is determined to be ambiguous (sus branch in step S112), the unmanned aerial vehicle 10 for inspection performs a detailed inspection. In the detailed inspection, the inspection path 95c provided around the equipment 90 is traveled and moved (step S114), and the observation is continued (step S116). The purpose is to change the position of the equipment 90 and further inspect it from the viewpoint of image, sound, odor, and vibration. It is desirable that the observation here is stopped at the sub-observation point 95d, but the observation may be performed while traveling, or may be stopped in the middle of the inspection road 95c.

Then, the observed value is determined (step S118). The determination here may be performed in the same step as the determination in step S110. Although the details will be described later, in this inspection system 1, the permissible range Lv for each inspection item is set according to each position of the facility 100. When the unmanned aerial vehicle 10 for inspection travels and moves, the position changes, so the allowable range Lv used for judgment also changes. Therefore, it is possible to make an appropriate judgment (comparison between the observed value and the allowable range Lv) by the same procedure. The judgment here is also divided into three judgments: normal, abnormal, and ambiguous.

If it is determined to be normal (ok branch in step S118), it is determined whether or not to end the detailed inspection (step S122), and if it is continued (Y branch in step S122), it goes to the next observation point. Therefore, the process returns to step S114. The judgment of the end here may be judged by whether or not there is still a point for conducting a detailed inspection.

If the detailed inspection of the target equipment 90 has been completed (the observations at all the observation points scheduled in the target equipment 90 have been completed) (N branch in step S122), the process is returned to step S102 and the next inspection is completed. Heading toward the target (step S106), or returning to the power feeding unit 48 and stopping (step S104).

If it is determined to be abnormal (bd branch in step S118), the current location and the occurrence of the abnormality (including the content of the abnormality) are notified to the ground plane 40 or the mobile terminal 41, and the operation is stopped on the spot (step S124). At this time, a warning sound such as a siren may be emitted in order to inform the surroundings of the position of the player. The unmanned aerial vehicle 10 for inspection entrusts the subsequent processing to human hands. At the main observation point 95b, it could not be judged as a complete abnormality, but as a result of a detailed investigation around the equipment 90, an abnormality was found.

If it is determined to be ambiguous (sus branch in step S118), the record of that point is left (step S120), and the process is moved to step S122, which is the end determination. The fact that it is determined to be ambiguous in step S118 may mean that an abnormality may be found when moving from step S122 to the next observation point (step S114).

Further, even if the surroundings of the equipment 90 are observed in detail, if only an ambiguous judgment is obtained, it is necessary to consider whether there is a sign of trouble that cannot be detected or the setting of the allowable range Lv is corrected. However, in the inspection system 1 according to the present invention, it is left to the hands of humans.

As described above, the unmanned aerial vehicle 10 for inspection flies to the equipment 90 to be inspected, lands, and then observes and determines the observed value. If the observation result is ambiguous, the surroundings of the equipment 90 are further observed in detail, and the observed value is judged. As a result, the equipment 90 is judged to be normal, abnormal, and ambiguous.

Next, the processing of the ground plane 40 will be described with reference to FIG. When the ground plane 40 starts processing (step S200), it determines the end (step S202). The judgment of termination may be a forced termination instruction or the like. It is conceivable that there are a plurality of unmanned aerial vehicles 10 for inspection, and equipment 90 is constantly inspected. Therefore, it is considered that the ground plane 40 is in a normal state of continuous operation.

If it is finished (Y branch in step S202), the ground plane 40 stops (step S204). When continuing the process (N branch in step S202), it waits for reception from any of the inspection unmanned aerial vehicles 10 (step S206). If there is no communication (N branch in step S206), this step is repeated again. That is, the ground plane 40 waits until there is communication from the inspection unmanned aerial vehicle 10.

When there is communication (Y branch in step S206), it is determined whether or not the content of the communication is abnormal detection (step S208). If it is a notification of abnormality discovery (Y branch in step S208), the user is notified (step S210). This at least displays to that effect on the display 44a. Further, the notification means 44 may notify a predetermined address or telephone number and sound an alarm in the facility 100. The notification step of step S210 may be continued until the person cancels the notification, or after a certain period of time has elapsed, the process may be terminated and the process may be transferred.

If it is not an abnormality notification (N branch in step S208), the communication content is recorded (step S212), and the process returns to the end determination (step S202).

Next, the flow related to the determination in steps S112 and S118 of FIG. 7 will be described. First, refer to FIG. 9A. In the inspection system 1 according to the present invention, an allowable range Lv for each inspection item of video, sound, and odor is set for each point of the inspection path 95c provided around the equipment 90. Although the equipment 90 is shown in FIG. 9A, the main observation point 95b, the sub observation point 95d1, and the sub observation point 95d2 are separately provided with the allowable range Lv ¹ , the allowable range Lv ² , and the allowable range Lv ³ , respectively. ing.

Further, the inspection path 95c may also have an allowable range Lv set depending on the location. In FIG. 7, the inspection path 95c1 and the inspection path 95c2 are shown separately to show this. The subscript on the right shoulder indicates the position or time. That is, in the inspection system 1 of the present invention, the permissible value of the observed value depending on the position and time in the facility 100 is set.

For example, in the equipment 90 that constantly emits rotating sound, the loudness and spectrum of the sound change depending on the observation position. In addition, the sound level and temperature around the facility 100 change between daytime and nighttime. Furthermore, the temperature inside the facility 100 changes depending on the season. Therefore, these permissible ranges Lv are determined based on the position and time. The time also includes seasonal changes.

FIG. 9B shows the relationship of the allowable range Lv with respect to the observed value D. The permissible range Lv is divided into two stages, and a first permissible range Lv1 determined by an upper limit value Lv1H and a lower limit value Lv1L and a second permissible range Lv2 determined by an upper limit value Lv2H and a lower limit value Lv2L are provided.

If the observed value D is within the first permissible range Lv1, it is judged to be normal (“ok” branch), and if it exceeds the second permissible range Lv2, it is judged to be abnormal (“bd” branch). If it is included in the second permissible range Lv2 but not included in the first permissible range Lv1, it is determined to be ambiguous (“sus” branch).

Here, the observed value D is, for example, a numerical value when the value of the indicator 90i of the equipment 90 is read by the camera 18. If this value is within the first permissible range Lv1, it is normal, and if it is not within the second permissible range Lv2, it is judged to be abnormal. If it is included in the second allowable range Lv2 but not included in the first allowable range Lv1, it is judged to be ambiguous.

The observed value D corresponds not only to the numerical value of the indicator 90i but also to the changes in the observed value D and the observed value D of the appearance, sound, odor, and vibration detected by the camera 18, the microphone 20, the odor sensor 22, and the vibration sensor 32. The camera 18 includes an infrared camera, and the temperature of the equipment 90 can also be observed by the camera 18.

The observed value D is acquired as two-dimensional data, frequency data, and time series data, but may be converted into an observed value that can be compared with the allowable range Lv by appropriate processing. Further, the upper limit values Lv1H and Lv2H and the lower limit values Lv1L and Lv2L change depending on the position and time of the facility 100. This is because the permissible range Lv changes depending on the position and time.

Next, with reference to FIG. 10, the process of "determination" in steps S112 and S118 of FIG. 7 will be described. Here, the value of the indicator 90i is defined as the image data Dpi in the image of the camera 18, and the appearance of the equipment 90 is defined as the image data Dpo. The image data Dpo also includes the temperature obtained by the infrared camera. Further, the value observed by the microphone 20 is defined as acoustic data Ds, the value observed by the odor sensor 22 is defined as odor data Dm, and the value observed by the vibration sensor 32 is defined as vibration data Dv.

The processing in "judgment" is to compare these observed values D with the allowable range Lv based on the position and time in the facility 100, and determine one of "normal", "abnormal", and "ambiguous". Is. The observed value D may be determined to be "normal", "abnormal", or "ambiguous" by a method other than the following description.

When the process shifts to "determination" (step S300), image processing is performed (step S302). The image data Dpi here is a numerical value of the indicator 90i read by the camera 18. Further, the allowable range for this image data Dpi is defined as the allowable range Lvpi.

As shown in FIG. 9B, step S302 is determined to be normal (ok branch of step S302), abnormal (bd branch of step S302), or ambiguous (sus branch of step S302). If it is determined to be normal (ok branch in step S302), the process is moved to the next (step S308). If it is determined to be ambiguous (sus branch in step S302), the state is recorded (step S304), and the process is moved to the next (step S308).

If it is determined to be abnormal (bd branch in step S302), "pi reference processing" (described as "piRef") is performed (step S306). The reference process, which will be described in detail in FIG. 11, is a process of examining the direction of the source where the abnormality is observed, referring to the operation schedule of the surrounding equipment 90, and determining the validity of the determination of the abnormality.

In step S306, since the image data Dpi is a numerical value indicated by the indicator 90i, the source of the abnormality is the equipment 90 itself to be inspected. The operation schedule is also the equipment 90 itself to be inspected. Therefore, if the numerical value indicated by the current indicator 90i is appropriate in consideration of the operation schedule, the determination of abnormality is canceled and the process is moved to the next (step S308) (rc branch in step S306).

For example, if the equipment 90 is scheduled to be operated at half the rating at the time of inspection, the numerical value of the indicator 90i by the image data Dpi may be a low numerical value. Therefore, in such a case, the judgment of "abnormality" made in step S302 is overturned, and the process is moved to the next step S308 as normal (rc branch in step S306). If the unmanned aerial vehicle 10 for inspection travels on the inspection road 95c and there is no indicator 90i at the sub-observation point 95d or the like and the image Dpi is not input, step S302 may be skipped.

In step S308, the image data Dpo and the permissible value Lvpo are compared, and normality, abnormality, and ambiguity are determined. In the image data Dpo, the appearance of the equipment 90 is compared with the permissible value Lvpo. Some defects, discoloration, and slight changes in temperature as a whole are included in the allowable range Lvpo1, but changes such as missing parts, formation of through holes, and local temperature rise exceed the allowable range Lvpo2. Judged.

If the image data Dpo is determined to be normal, the process is moved to the next (step S314) (ok branch in step S308), if it is determined to be ambiguous (sus branch in step S308), after recording (step S310). , The process is moved to the next (step S314).

Further, when the image data Dpo is determined to be abnormal (bd branch in step S308), "po reference processing" (described as poRef) is performed. The source of the image data Dpo is the equipment 90 currently being inspected. Then, the operation schedule of the equipment 90 is examined, and the validity of the image data Dpo is determined. For example, if the repair is currently underway, even if a part of the exterior plate is removed, it is judged to be appropriate and the process is returned to normal (rc branch in step S312).

In step S314, the acoustic data Ds is compared with the permissible range Lvs. The acoustic data Ds are observation values obtained by observing the acoustic level (which may be an acoustic spectrum) when the unmanned aerial vehicle 10 for inspection is located at the main observation point 95b or the sub observation point 95d with the microphone 20. Here, too, when the acoustic data Ds is determined to be normal (ok branch in step S314), the process is moved to the next step (step S320). If the acoustic data Ds is determined to be ambiguous (sus branch in step S314), the process is moved to the next (step S320) after recording (step S316).

When the acoustic data Ds is determined to be abnormal (bd branch in step S314), "s reference processing" (denoted as sRef) (step S318) is performed. Here, the microphone 20 is rotated to search for an abnormal direction in the acoustic data Ds. Then check the driving schedule.

For example, even if it is determined that an abnormality occurs when the acoustic data Ds is larger than the allowable range Lvs, the cause of the acoustic data Ds is the direction of the adjacent equipment 91 or the opposite equipment 92, and those equipments are currently rated or higher. If it is in operation, or if it is already judged to be abnormal and is being dealt with, it cannot be judged that the equipment 90 to be inspected is abnormal.

In such a case, the determination of abnormality in step S314 is overturned, and the process is returned to normal processing (rc branch in step S318).

In step S320, the odor data Dm is compared with the permissible range Lvm. The odor data Dm is an observation value obtained by observing the odor level (which may be an odor spectrum) when the unmanned aerial vehicle 10 for inspection is located at the main observation point 95b or the sub observation point 95d with the odor sensor 22. .. Again, if the odor data Dm is determined to be normal (ok branch in step S320), the process is moved to the next step (step S326). If the odor data Dm is determined to be ambiguous (sus branch in step S320), the process is moved to the next (step S326) after recording (step S322).

When the odor data Dm is determined to be abnormal (bd branch in step S320), the "m reference process" (denoted as mRef) (step S324) is performed. Here, the odor sensor 22 is rotated to search for an abnormal direction in the odor data Dm. Then check the driving schedule.

For example, even if an abnormality is determined when the odor data Dm is larger than the permissible level Lvm, the cause of the odor data Dm is the direction of the adjacent equipment 91 or the opposite equipment 92, and those devices are currently rated or higher. If the operation is being performed, or if it is already determined to be abnormal and is being dealt with, it cannot be determined that the equipment 90 to be inspected is abnormal. In such a case, the determination of abnormality in step S320 is overturned, and the process returns to normal processing (rc branch in step S324).

In step S326, the vibration data Dv is compared with the permissible range Lvv. The vibration data Dv is an observation value obtained by observing the vibration level when the unmanned vehicle for inspection 10 is located at the main observation point 95b or the sub observation point 95d with the vibration sensor 32. Here, too, when the vibration data Dv is determined to be normal (ok branch in step S326), the process is moved to the next (step S332). If the vibration data Dv is determined to be ambiguous (sus branch in step S326), the process is moved to the next (step S332) after recording (step S328).

When the vibration data Dv is determined to be abnormal (bd branch in step S326), "v reference processing" (denoted as vRef) (step S330) is performed. The inspection unmanned aerial vehicle 10 moves a little to find the direction of the epicenter. Then check the driving schedule.

For example, even if it is determined that an abnormality occurs when the vibration data Dv is larger than the permissible level Lvv, the cause of the vibration data Dv is the direction of the adjacent equipment 91 or the opposite equipment 92, and those devices are currently rated or higher. If it is in operation, or if it is already judged to be abnormal and is being dealt with, it cannot be judged that the equipment 90 to be inspected is abnormal. In such a case, the determination of abnormality (bd) in step S330 is overturned, and normal processing is returned (rc branch in step S330).

As described above, the image data Dpi, the image data Dpo, the acoustic data Ds, the odor data Dm, and the vibration data Dv are normal by comparison with the allowable range Lvpi, the allowable range Lvpo, the allowable range Lvs, the allowable range Lvm, and the allowable range Lvv, respectively. , Abnormal, ambiguous. If it is determined to be abnormal, the direction of the source and the operation schedule including the surrounding equipment are checked to check the validity of the judgment. As a result, even if it is observed to be abnormal, if the measurement target is not the cause, the normal processing is restored.

Step S332 is a process for arriving when it is determined that the image data Dpi, the image data Dpo, the acoustic data Ds, the odor data Dm, and the vibration data Dv are normal or ambiguous. Here, by looking at the records in step S304, step S310, step S316, step S322, and step S328, it is determined whether or not there is at least one or more ambiguous determination.

Then, if there is even one ambiguous determination (Y branch in step S332), the process proceeds to the sus branch in step S336. The branching determination in step S328 is not limited to the condition that "there is at least one or more ambiguities".

Further, if there is no ambiguous judgment (N branch in step S332), it can be said that all of the image data Dpi, image data Dpo, acoustic data Ds, odor data Dm, and vibration data Dv are normal, so it can be said that the OK branch in step S334. Proceed to.

Next, refer to FIG. First, the “reference process” of FIG. 10 will be described. In FIG. 10, “piRef (step S306)”, “poRef (step S312)”, “sRef (step S318)”, “mRef (step S324)”, and “vRef (step S330)” are described, respectively.

In FIG. 11, these are represented by “xRef”. The first lowercase letter "x" is the first character of each reference process. When the "reference process" is entered (step S400), the direction in which the observed value is generated is checked (step S402). In step S402, each measured value is represented by “Dx”.

The "reference process" is executed when the observed value D deviates from the permissible range Lv. Therefore, the direction that causes the observed value D to deviate from the permissible range Lv is investigated. More specifically, in the image data Dpi and the image data Dpo, the equipment 90 to be observed is in the direction of abnormality occurrence.

On the other hand, in the acoustic data Ds and the odor data Dm, the cause of the abnormality is not necessarily the equipment 90 to be inspected. Therefore, the microphone 20 and the odor sensor 22 are rotated to check the direction in which the abnormality occurs. Further, in the case of detection by the vibration sensor 32, the inspection unmanned aerial vehicle 10 itself moves its position to check the direction in which the abnormality occurs.

Next, the operation schedule of the equipment is checked (step S404). In this case, the equipment may be all the equipment installed in the facility 100. In this operation schedule, it is determined whether or not the direction of abnormality occurrence coincides with the equipment that is in an operation state different from the normal one (step S406). In other words, if the sound is very loud, on the contrary, the sound is too quiet, or if the odor is very strong, or if there is no odor that should normally be present, the cause of loud vibration or conversely too little vibration is the surroundings. It can be judged here whether or not it is caused by the operating condition of the equipment of.

If the direction of the cause of the abnormality and the direction of the equipment performing the unusual operation in the operation schedule match (Y branch in step S406), it is determined that the equipment 90 to be inspected is not the cause of the abnormality, and reference processing is performed. The process is transferred to the rc branch of (step S408). The rc branch returns to the process determined to be normal in the determination of each observed value in FIG. 10 (for example, the rc branch in the “s reference process” returns to the ok branch in step S314).

If the direction of the cause of the abnormality and the direction of the equipment performing unusual operation in the operation schedule are different, it is determined that the abnormality is not due to the influence of the surrounding equipment, and the N branch of step S406 is performed again. The process is transferred to the bd branch (step S410).

The determination process shown in FIGS. 10 and 11 may be performed only by the movement control unit 30 of the unmanned aerial vehicle 10 for inspection, or may be performed only by the ground control unit 42 of the ground plane 40. Further, the movement control unit 30 and the ground control unit 42 may share the processing. Whichever is used, it can be said that the general control unit 9 of the inspection system 1 performed the test. Further, it can be said that the comprehensive control unit 9 is provided in at least one of the inspection unmanned aerial vehicle 10 and the ground plane 40.

Further, the operation schedule shown in step S404 of FIG. 11 has a comprehensive control unit 9. That is, physically, it may be recorded in either the memory 30 m of the movement control unit 30 of the unmanned aerial vehicle 10 for inspection or the memory 42 m of the ground control unit 42 of the ground plane 40.

Next, a specific example of the operation of the inspection system 1 according to the present invention will be shown. The inspection unmanned aerial vehicle 10 is in a power supply state by a power supply unit 48 arranged in the facility 100. The timing at which the unmanned aerial vehicle 10 for inspection goes for inspection may be determined at a predetermined time, or may be separately commanded by the ground plane 40.

When the unmanned aerial vehicle 10 for inspection determines the equipment 90 to be inspected, it flies and moves to the equipment 90 to be inspected. Then, it lands at the landing point 95a and travels to the main observation point 95b. Observation is performed at the main observation point 95b, and normal, abnormal, or ambiguous is determined for the observed value.

If it is normal, then fly to the equipment 90 to be inspected. In the case of an abnormality, the abnormality is notified to the ground plane 40 and the mobile terminal 41, stays there, and informs the user of the position.

If the observed value is ambiguous, the observation is performed at the sub-observation point 95d or the like while traveling along the inspection road 95c in order to perform a detailed inspection. At this time, since the movement is performed by traveling, the observation of the acoustic data Ds is not disturbed by the sound of the propeller for flight. Moreover, since the atmosphere is not significantly disturbed, the odor data Dm can be observed without any error.

Also in this detailed inspection, the observed value is judged to be normal, abnormal, or ambiguous with respect to the allowable range Lv. In the inspection system 1 of the present invention, the permissible range Lv is determined according to the position and time in the facility, so that the observed value D measured by the unmanned vehicle for inspection 10 is compared with the permissible range Lv at the moved position. By doing so, normal, abnormal, and ambiguous judgments are made.

Then, if the result of the detailed inspection is normal, the flight moves to the next equipment to be inspected. If an abnormality is found, it stays at that point, notifies the ground plane 40 and the mobile terminal 41 of the abnormality, and informs the user of the location.

If the result of the detailed inspection becomes ambiguous, the result is recorded and moved to the next equipment 90 to be inspected. If the result of the detailed inspection is judged to be ambiguous, there is a sign of some kind of failure, but the purpose is to leave the judgment to the user as it cannot be fully grasped.

In the inspection system 1 according to the present invention, when the unmanned aerial vehicle 10 for inspection lands at the landing point 95a and then travels to the main observation point 95b, and the observed value at that point is determined to be ambiguous. Although it has been explained that the inspection will be further carried out, normality or abnormality may be judged only by the observation value at the main observation point 95b.

Further, instead of performing a detailed inspection based on the observed value of the main observation point 95b, a detailed inspection may always be performed. In either case, the flight means 14 does not interfere with the observation of sound and odor, which is the subject of the present invention.

As described above, in the inspection system 1 according to the present invention, the unmanned aerial vehicle 10 for inspection moves by flight between a plurality of facilities arranged in the facility, and when observing, it lands and observes. It does not disturb the wind noise of the propeller or the surrounding atmosphere. Therefore, not only the inspection by the image but also the inspection can be performed by the judgment close to the five senses used by a skilled person such as sound and odor.

1 Inspection system 9 Comprehensive control unit 10 Unmanned vehicle for inspection 12 Housing 14 Flight means 16 Traveling means 18 Camera 18a Lens barrel 18b 2-axis movable part 20 Microphone 22 Odor sensor 24 Temperature / humidity sensor 32 Vibration sensor 26 Battery 28 Communication unit 30 Mobile control unit 30m Memory 32 Vibration sensor 40 Ground unit 40a Housing 41 Mobile terminal 42 Ground control unit 42m Memory 44 Notification means 44a Display 44b Siren 44c Wireless 46 Ground communication unit 48 Power supply unit 60 Equipment 60p Attached pipe 60i Indicator 65a Landing point 65b Main observation point 65c Inspection path 65d Sub observation point 65e Induction path 65 Ancillary equipment 70 Equipment 70a Fan 70b Motor 70i Indicator 75a Landing point 75b Main observation point 75c Inspection path 75d Sub observation point 75e Induction path 80 Equipment 80a Filter 80b Damper 80i Indicator 85a Landing point 85b Main observation point 85e Guideway 85c Inspection path 85d Sub-observation point 90 Equipment 91 Equipment 92 Equipment 95 Ancillary equipment 95a Landing point 95b Main observation point 95c Inspection path 95d Sub-observation point 95e Guideway 90i Indicator 100 Covered building 100 Facility D Observation value Lv Allowable range Dp Image data Ds Acoustic data Dm Odor data Dv Vibration data

Claims (10)

An inspection system that inspects the equipment in a facility equipped with multiple equipment.
Means of flight and
Means of travel and
Observation equipment and
An unmanned aerial vehicle for inspection with communication means,
A ground plane communicatively connected to the unmanned aerial vehicle for inspection and having a display,
Provided on at least one of the inspection unmanned aerial vehicle and the ground plane,
The unmanned aerial vehicle for inspection is flown to the landing point provided in the equipment to be inspected.
Travel from the landing point to the main observation point provided around the equipment,
Based on the observed values obtained from the equipment using the observation equipment
An inspection system characterized by having a comprehensive control unit for determining the presence or absence of an abnormality in the equipment. The inspection system according to claim 1, wherein the ground plane is portable. Around the equipment, there is an allowable range that changes with the position and time for the observation items.
The comprehensive control unit
The inspection system according to claim 1 or 2, wherein the presence or absence of an abnormality in the equipment is determined by comparing the observed value with the permissible range. The comprehensive control unit
The inspection system according to any one of claims 1 to 3, wherein when the observed value is determined to be abnormal, the operation schedule of the equipment in the facility is referred to. The comprehensive control unit
It is possible to make a judgment when it is neither normal nor abnormal with respect to the judgment of the observed value at the main observation point.
The inspection system according to any one of claims 1 to 4, further comprising performing a detailed inspection on the equipment to be inspected when the determination is neither normal nor abnormal. In the detailed inspection,
The comprehensive control unit
An unmanned aerial vehicle for inspection is driven on an inspection road provided around the equipment to be inspected.
The inspection system according to claim 5, wherein the presence or absence of an abnormality in the equipment is determined based on the observed values obtained from the equipment using the observation equipment. The inspection system according to any one of claims 1 to 6, wherein the observation device is a camera and a microphone. The inspection system according to any one of claims 1 to 6, wherein the observation device further has an odor sensor. It has a means of flight, a means of traveling, a microphone, a camera, and a means of communication.
An unmanned aerial vehicle for inspection, characterized in that it lands and travels a certain distance when operating the microphone. The unmanned aerial vehicle for inspection according to claim 9, further comprising an odor sensor, and when operating the odor sensor, the vehicle lands and travels a certain distance.