JP2020192903A - Altitude inspection device - Google Patents

Abstract

To provide an altitude inspection device capable of inspecting an altitude structure by moving an observation device such as a camera to the vicinity of the altitude structure for an inspection instrument body difficult to approach.SOLUTION: An altitude inspection device, used to inspect an altitude inspection object from a floor surface or a wall surface, includes: attraction means for attraction to the floor surface or the wall surface; travel means for driving on the floor surface or the wall surface; dead weight holding means for supporting dead weight during travel on the wall surface; an extensible telescopic pole; and imaging means mounted on a front end of the telescopic pole.SELECTED DRAWING: Figure 1

Description

The present invention relates to an inspection device for inspecting a building, a structure, or the like, and particularly relates to a high-altitude inspection device capable of easily inspecting the inside of a complicated structure at a high place.

As an inspection device for inspecting a high place, a flight device of Patent Document 1 and a flying machine of Patent Document 2 are known.

The abstract of Patent Document 1 states that "providing a flight device that moves while maintaining the attitude even on a complicated object surface such as a wall surface or a ceiling surface" as an issue, and "attitude measurement" as a solution. The unit 21 detects a change in the attitude of the flight unit 11. The attitude control unit 41 detects a change in the attitude of the flight unit 11 detected by the attitude measurement unit 21, and the change in the attitude is a preset change tolerance L. The attitude control unit 41 changes the attitude of the flight unit 11 until the change in attitude becomes smaller than the change permissible value L. As a result, the attitude of the flight unit 11 is changed to the object to fly. The change in flight attitude is maintained along the surface 17 so as to be smaller than the change tolerance value L. Therefore, the flight unit 11 does not undergo an unnecessarily large change in attitude. " Then, with such a flight device, as shown in FIG. 5 and the like of the same document, the wall surface and the ceiling surface can be inspected while moving along the wall surface and the ceiling surface.

Further, in the abstract of Patent Document 2, it is described as a problem "to enable the flying machine to move stably along the vertical wall surface of the object", and as a solution, "the flying machine 10 is , A flying machine main body 12, a flying rotary wing 26, and a vacuum rotary wing 32. The flying rotary wing 26 is included in the flying machine main body 12, and the vertical direction of the flying machine main body 12 is the axial direction. The vacuum rotary blade 32 is arranged on the side of the flying machine main body 12, and the front-back direction of the flying machine main body 12 is the axial direction. " Then, with such a flying machine, as shown in FIGS. 6 and 26 of the same document, it is possible to inspect and inspect the wall surface while moving along the wall surface.

JP-A-2017-61298 JP-A-2018-165131

However, since the flight device of Patent Document 1 and the flying machine of Patent Document 2 themselves move to the vicinity of the inspection target surface for inspection and the like, the flying device and the flying machine cannot approach the portion. There was a problem that inspections could not be carried out. In particular, since there are many narrow spaces in which a flight device or the like cannot enter in a plant having a complicated internal structure, there are many areas that cannot be inspected by the techniques of Patent Document 1 and Patent Document 2.

Therefore, the present invention provides an high-altitude inspection device capable of inspecting a high-altitude structure by moving an observation device such as a camera to the vicinity of the high-altitude structure that the inspection device main body cannot approach. With the goal.

In order to achieve the above object, the high-altitude inspection device of the present invention inspects a high-altitude inspection target from a floor surface or a wall surface, and comprises an adsorption means for adsorbing to the floor surface or the wall surface. A traveling means for traveling on the floor surface or the wall surface, a self-weight holding means for supporting the own weight when traveling on the wall surface, a telescopic telescopic pole, and a photographing means provided at the tip of the telescopic pole. And.

According to the high-altitude inspection device of the present invention, the high-altitude structure can be inspected by moving the observation device such as a camera to the vicinity of the high-altitude structure that the inspection device main body cannot approach.

Schematic side view of the height inspection device of one embodiment. Explanatory drawing of inspection work using the high-altitude inspection apparatus of one Example. The figure explaining the connection of the high-altitude inspection apparatus and a controller of one Example. The figure explaining the detailed structure of the controller of the high-altitude inspection apparatus of one Example. A flowchart of inspection work using the high-altitude inspection device of one embodiment.

Hereinafter, the configuration and operation of the height inspection device 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 5.

First, the schematic structure of the height inspection device 1 of this embodiment will be described with reference to the schematic side view of FIG. As shown here, the height inspection device 1 of this embodiment includes a trolley 2, wheels 3 (traveling means), outriggers 4, pressing propeller 5 (suction means), self-weight holding propeller 6 (self-weight holding means), and telescopole. 7. Has a battery 8.

The lower part of the bogie 2 is provided with a plurality of wheels 3 that are rotationally driven and a plurality of outriggers 4 that are movable in the vertical direction. Then, by controlling the rotation direction of each of the wheels 3, the height inspection device 1 can be moved in each direction of forward, backward, left turn, and right turn, and each of the outriggers 4 is placed on the floor. By pressing the wheel 3 against the surface 9a and floating the wheel 3, the posture of the height inspection device 1 can be stabilized.

Further, a pressing propeller 5, a self-weight holding propeller 6, and a telescopic pole 7 are provided on the upper portion of the carriage 2. The pressing propeller 5 generates a propulsive force F1 that presses the height inspection device 1 against the floor surface 9a and the wall surface 9b by rotationally driving the propeller indicated by the broken line. The self-weight holding propeller 6 generates a propulsive force F2 for maintaining the vertical position of the height inspection device 1 by rotationally driving the propeller indicated by the broken line when the height inspection device 1 moves on the wall surface 9b. .. Here, the names of the pressing propeller 5 and the self-weight holding propeller 6 are given mainly focusing on the function when the height inspection device 1 moves on the floor surface 9a and the wall surface 9b. Both propellers may be used to operate the location inspection device 1 as a so-called drone / multicopter.

Further, inside the carriage 2, a battery 8 for supplying electric power to the wheels 3 and the like, a receiver for receiving a command from a controller 10 described later, a control device for controlling each part of the height inspection device 1, and the like are provided. ..

Note that, in FIG. 1, a configuration in which two wheels 3, two outriggers 4, and two pressing propellers 5 are provided on both side surfaces of a flat square columnar carriage 2 (that is, four wheels 3, four outriggers 4, and four pressing propellers 5 are provided). Although the provided configuration) is illustrated, the number and installation position of these may be changed as appropriate. Further, in FIG. 1, the wheel 3 is used to move the height inspection device 1, but a crawler (caterpillar, endless track) may be used instead of the wheel 3. This crawler may be a magnetic crawler that can move freely on a metal wall surface.

The telescopic pole 7 provided on the upper part of the trolley 2 has a telescopic pole portion 7a, a pan head 7b attached to the tip of the pole portion 7a, and a pan (horizontal direction) and tilt (vertical direction) swinging motions. It is composed of a pan / tilt drive unit 7c to perform the operation and a camera unit 7d having a zoom function.

The pole portion 7a is, for example, a combination of a plurality of different diameter pipes in a nested manner, and can be extended to a desired length by supplying compressed air from an air cylinder 20 described later. As a result, the camera unit 7d provided at the tip of the telescopic pole 7 can be moved to a desired height. Further, since the pan head 7b and the camera unit 7d are connected via the pan / tilt drive unit 7c, the field of view V of the camera unit 7d can be directed in a desired direction. The pole portion 7a may be made of metal, but it is preferably made of resin or carbon fiber in order to achieve both weight reduction and rigidity enhancement.

Here, when the pole portion 7a is extended, the moment of the telescopic pole 7 becomes large, so that the posture of the carriage 2 tends to be unstable, and the field of view V of the camera unit 7d at the tip of the telescopic pole 7 also tends to blur. There is. Therefore, in the height inspection device 1 of the present embodiment, the outrigger 4, the pressing propeller 5, and the self-weight holding propeller 6 are controlled in consideration of the length of the pole portion 7a, and the height inspection device 1 controls the floor surface 9a. The posture of the dolly 2 is stabilized both when it is on the top and when it is on the wall surface 9b, and as a result, the field of view V of the camera unit 7d is stabilized. However, when the telescopole 7 is extended to, for example, about 12 m, the shaking of the tip of the pole portion 7a may not be sufficiently suppressed even if the above control is performed. Therefore, it is desirable to present the image captured by the camera unit 7d to the operator with an image from which blur has been removed by performing a well-known blur correction process.

Although FIG. 1 illustrates a configuration in which only the camera unit 7d is installed on the pan head 7b, the illumination 7e and the laser rangefinder 7f are installed on the pan head 7b so as to face in the direction synchronized with the camera unit 7d. You may. If the illumination 7e is installed near the camera unit 7d, it is possible to shoot even in a dark place, and if the laser rangefinder 7f is installed near the camera unit 7d, the distance between the camera unit 7d and the shooting target can be measured. Since it can be calculated, it is possible to calculate the size of scratches in the image captured by the camera unit 7d and notify the operator.

Next, using FIG. 2, the operator remotely controls the high-altitude inspection device 1 to inspect the waste storage room of the building, which is the floor surface 9a, the wall surface 9b, and the high-altitude structure 9c (shelf). Explain how each of the bottleneck-shaped parts such as the inside of the cabinet and the inside of the cabinet is inspected for cracks and breakage. Although the outrigger 4, the pressing propeller 5, the self-weight holding propeller 6, and the like are not shown in FIG. 2, it is assumed that each of them is operating as appropriate depending on the situation.

The height inspection device 1a shows a state of inspecting the floor surface 9a of the waste storage room. As shown here, the operator can inspect the floor surface 9a by directing the camera unit 7d toward the floor surface 9a in a form in which the height inspection device 1a on the floor surface 9a accommodates the telescopic pole 7.

The height inspection device 1b shows a state of inspecting the wall surface 9b of the waste storage room. As shown here, the operator can inspect the wall surface 9b by directing the camera unit 7d toward the floor surface 9a in a form in which the height inspection device 1b on the wall surface 9b accommodates the telescopic pole 7. Although not shown, in the high-altitude inspection device 1b, the self-weight holding propeller 6 is operated to generate a propulsive force F2 vertically upward to support the self-weight.

When the telescopic pole 7 is housed like the high-altitude inspection device 1a and the high-altitude inspection device 1b, the moment of the telescopic pole 7 is small and the posture of the trolley 2 is relatively stable. Therefore, the outrigger 4 And the operation of the pressing propeller 5 may be omitted.

The height inspection device 1c shows a state in which the inside of the structure 9c of the waste storage room is inspected from the floor surface 9a side. As shown here, the operator can inspect the inside of the structure 9c by directing the camera unit 7d toward the structure 9c in the form in which the height inspection device 1c on the floor surface 9a extends the telescopic pole 7. it can.

The height inspection device 1d shows a state in which the inside of the structure 9c of the waste storage room is inspected from the wall surface 9b side. As shown here, the operator can inspect the inside of the structure 9c by directing the camera unit 7d toward the structure 9c in a form in which the height inspection device 1d on the wall surface 9b extends the telescopic pole 7. ..

When the telescopic pole 7 is extended as in the high-altitude inspection device 1c and the high-altitude inspection device 1d, the moment of the telescopic pole 7 is large and the posture of the trolley 2 becomes unstable. Therefore, the pressing propeller 5 is used. Operation is essential. In particular, in the high-altitude inspection device 1d, a large moment in the vertical downward direction is generated in the telescopic pole 7 in the horizontal state. To counter this, the pressing propeller 5 and the self-weight holding propeller 6 are compared with the high-altitude inspection device 1b. Increase the number of revolutions of F1 and F2 so that larger propulsive forces F1 and F2 can be obtained.

The order of inspecting the floor surface 9a, the wall surface 9b, and the structure 9c is not particularly limited, but it is desirable to first perform the inspection on the floor surface 9a and then perform the inspection on the wall surface 9b. .. In this case, for example, the waste storage chamber may be inspected in the order of the height inspection device 1a, the height inspection device 1c, the height inspection device 1b, and the height inspection device 1d.

Next, the details of the controller 10 used by the operator when remotely controlling the height inspection device 1 will be described with reference to FIG. FIG. 3 shows the connection between each device included in the height inspection device 1 and each part of the controller 10. The height inspection device 1 and the controller 10 are connected by wireless communication (dashed line arrow) for signal transmission / reception. Further, since the outriggers 4 and the pole portion 7a of the height inspection device 1 are controlled by the air pressure supplied from the air cylinder 20, the height inspection device 1 and the controller 10 are also connected by the air hose 21.

A monitor 11, a recorder 12, a camera controller 13, and a switch 14 are installed in the controller 10 as related to the camera unit 7d. The monitor 11 is a liquid crystal display or the like that displays an image captured by the camera unit 7d, and the recorder 12 is a video recording device that records the image displayed on the monitor 11. Further, the camera controller 13 sends a command to the pan / tilt drive unit 7c to change the pan direction and tilt direction of the field of view V of the camera unit 7d, or sends a command to the camera unit 7d to change the zoom of the captured image. It is a controller that can be used. The switch 14 switches the lighting 7e on and off. The illumination 7e is configured to change its direction in synchronization with the operation of the camera controller 13 so that it can illuminate in the same direction as the camera unit 7d.

In addition, switches 15 to 17 and air switches 18 and 19 are also installed in the controller 10. The switch 15 controls the wheel 3. The switch 16 controls the pressing propeller 5. The switch 17 controls the self-weight holding propeller 6. The air switch 18 controls the outriggers 4. The air switch 19 controls the pole portion 7a.

When inspecting a high-altitude structure 9c from the floor surface 9a as in the high-altitude inspection device 1c of FIG. 2, the high-altitude inspection device 1 is moved to a predetermined position, and then the telescopic pole 7 has a desired length. It is necessary to fix the posture by pressing the height inspection device 1 against the floor surface 9a. Therefore, the switch 15 is operated to move the wheel 3 on the floor surface 9a, and after arriving at a desired position, the air switch 19 is operated to extend the pole portion 7a to a desired height, and the switch 16 is operated. By driving the pressing propeller 5 and generating a thrust F1 in the direction opposite to the floor surface 9a, the height inspection device 1 is brought into close contact with the floor surface 9a. At this time, if the air switch 18 is operated to press the outriggers 4 against the floor surface 9a and the wheels 3 are lifted, the posture of the height inspection device 1 can be further stabilized.

Further, when inspecting a high-altitude structure 9c from a wall surface 9b as in the high-altitude inspection device 1d of FIG. 2, the high-altitude inspection device 1 is moved to a predetermined position, and then the telescopic pole 7 is moved to a desired length. It is necessary to extend the length and press the height inspection device 1 against the wall surface 9b to fix the posture. Therefore, by operating the switch 16 to drive the pressing propeller 5 and generating a thrust F1 in the direction opposite to the wall surface 9b, the height inspection device 1 is brought into close contact with the wall surface 9b, and the switch 17 is operated to operate the self-weight holding propeller. At 6, an upward propulsion force F2 is generated. Then, the switch 15 is operated to move the wall surface 9b on the wheels 3. Then, after arriving at the desired position, the air switch 19 is operated to extend the pole portion 7a to a desired length.

FIG. 4 is a diagram illustrating an example of the detailed structure of the controller 10 of this embodiment. As shown here, the controller 10 has an antenna 10a, through which signals are transmitted and received to and from the height inspection device 1. The controller 10 is battery-powered, and the power switch 10b turns on the power, the indicator 10c confirms the power on, and the control is started.

Further, on the left side of the controller 10, a joystick corresponding to the switch 15 in FIG. 3 is provided. By operating this, the height inspection device 1 can be made to move forward, backward, turn right, and turn left.

A lever corresponding to the switch 16 in FIG. 3 is provided in the center of the controller 10. If you want to attract the height inspection device 1 to the floor surface 9a or wall surface 9b, tilt the lever in the "suction" direction, and if you want to separate the height inspection device 1 from the floor surface 9a or wall surface 9b, move the lever to "suction". Defeat in the direction of "leave". As a result, the pressing propeller 5 can generate a propulsive force F1 in the suction direction and a propulsive force F1 in the detachment direction.

A lever corresponding to the air switch 19 of FIG. 3 is provided in the lower part of the controller 10. If you want to extend the pole portion 7a, tilt the lever in the "stretching" direction, and if you want to contract the pole portion 7a, tilt the lever in the "contracting" direction. As a result, the telescopic pole 7 can be made to a desired length, and the camera unit 7d can be brought closer to the inspection point.

On the right side of the controller 10, a joystick 13a and a lever 13b corresponding to the camera controller 13 of FIG. 3 are provided. By controlling the pan / tilt drive unit 43 with the joystick 13a, the camera unit 7d can be directed in a desired direction. Further, by controlling the zoom of the camera unit 7d with the lever 13b, the captured image can be adjusted to an angle of view that is easy to check. Although omitted in FIG. 4, the controller 10 is also provided with a lever corresponding to the air switch 18 in FIG.

FIG. 5 is a diagram illustrating an inspection work flow by the high-altitude inspection device 1 of this embodiment. After starting the point work, the system is started (S1) in which the power is turned on. At first, the inspection completion check (S2) is not performed, but the initial fixed position movement (S4) is performed. Therefore, the fixed propeller is driven (S5) to fix the position. Therefore, the telescopic pole is extended (S6), the camera is brought closer to the inspection point, and it is determined whether or not the camera has arrived (S7). If it has not been reached, the telescopole is further extended (S6), and the determination is repeated (S7). When the inspection point is reached, the inspection is carried out (S8). After that, the inspection device main body is placed at the same position, and it is determined whether or not inspection by changing the length of the telescopic pole is necessary (S9). If not, the telescopic pole is contracted and the inspection is determined to be completed (S2). .. If it is completed, the inspection work is completed (S3), and if it is not completed, the fixed position is moved again (S4). If it is determined in S9 that inspection by changing the length of the telescopole is necessary, the process returns to S6 and the length of the telescopole is changed.

According to the high-altitude inspection device of the present embodiment described above, the high-altitude structure is inspected by moving the observation device such as a camera to the vicinity of the high-altitude structure that the inspection device main body cannot approach. Can be done.

1, 1a ~ 1d Height inspection device 2 trolley 3 wheels 4 out trigger 5 pressing propeller 6 self-weight holding propeller 7 telesco pole 7a pole part 7b pan head 7c pan / tilt drive part 7d camera unit 7e lighting 7f laser rangefinder 8 battery 9a floor Surface 9b Wall surface 9c Structure 10 Controller 10a Antenna 10b Power switch 10c Indicator 10d
11 Monitor 12 Recorder 13 Camera controller 13a Joystick 13b Lever 14 to 17 Switch 18, 19 Air switch 20 Air bomb 21 Air hose

Claims (8)

A high-altitude inspection device that inspects high-altitude inspection targets from the floor or wall surface.
With the adsorption means for adsorbing to the floor surface or the wall surface
A traveling means for traveling on the floor surface or the wall surface, and
A self-weight holding means for supporting the self-weight when traveling on the wall surface,
Telescopic telescopole and
The photographing means provided at the tip of the telescopic pole and
A high-altitude inspection device characterized by having. In the high-altitude inspection device according to claim 1,
The suction means is a propeller that generates a propulsive force that sucks on the floor surface or the wall surface.
The self-weight holding means is a height inspection device characterized by being a propeller that generates a vertically upward propulsive force. In the height inspection device according to claim 2.
The traveling means is a height inspection device characterized by being wheels or crawlers. In the high-altitude inspection device according to claim 1,
The photographing means
A camera unit that shoots the inspection target and
A pan / tilt drive unit that changes the pan direction and tilt direction of the field of view of the camera unit,
A high-altitude inspection device characterized by having. In the high-altitude inspection device according to claim 4,
The imaging means is a high-altitude inspection device, characterized in that it has illumination that faces in a direction synchronized with the camera unit. In the high-altitude inspection device according to claim 4,
The imaging means is a high-altitude inspection device, characterized by having a laser range finder that points in a direction synchronized with the camera unit. In the height inspection device according to any one of claims 1 to 6.
The high-altitude inspection device, characterized in that the suction means, the traveling means, the self-weight holding means, the telescopic pole, and the photographing means are controlled based on a signal from an external controller. In the height inspection device according to any one of claims 1 to 6.
The telescopic pole is an aerial inspection device characterized in that it expands and contracts in response to compressed air supplied from an external air cylinder.

Images