JP2021047558A - Patrol inspection system - Google Patents

Abstract

To improve safety and the degree of freedom for imaging points when picking up an image of a large-scale facility such as a transformer, a breaker or the like of a substation from a height to inspect it.SOLUTION: A system 31 for patrol inspection of an inspection object comprises a patrol inspection robot 3 freely moving to a monitoring point for the inspection object and a floating imaging device 4 freely floatable to be mounted on the patrol inspection robot 3 and picking up an image of the inspection object. A telescopic guide pole 6 is stood on an upper surface of the patrol inspection robot 3, and a guide hole through which the guide pole 6 is to be inserted is formed in the floating imaging device 4. An impact protection device 30 which absorbs impact at the time of collision against the floating imaging device 4 is installed on the patrol inspection robot 3. This impact protection device 30 comprises a pair of upper and lower support plates 34 and 36 and a coil spring 35 interposed between both of the plates 34 and 36.SELECTED DRAWING: Figure 14

Description

The present invention relates to a system for performing a patrol inspection of an inspection target such as a substation facility, and particularly to a patrol inspection system equipped with a floating type photographing device.

Patent Documents 1 and 2 are known as methods for inspecting various equipment using a mobile robot. In the method of Patent Document 1, by remotely controlling a robot equipped with a camera, an inspection is performed by photographing the attic and the underfloor where it is difficult for an operator to enter and exit.

In Patent Document 2, a CCD camera or the like for image processing is installed in an automatic inspection device that inspects production equipment in the manufacturing industry, and guidance is performed using technologies such as GPS and SLAM.

Further, Patent Document 3 is known as a method of aerial photography by applying a drone to a method of photographing the appearance of equipment from a high place. Patent Document 3 relates to a method for improving safety when operating a drone, and aims to prevent the drone from falling when an abnormality occurs by physically suspending the drone on a wire called a guideline installed with two pillars. There is.

JP-A-2018-39075 Japanese Patent No. 6011562 Japanese Patent No. 6143311 Japanese Unexamined Patent Publication No. 63-284376 JP-A-64-49764 Japanese Unexamined Patent Publication No. 64-90604 Japanese Patent No. 6436468 JP-A-2019-93749 Japanese Patent No. 6446491 Japanese Patent No. 6168248 Japanese Patent No. 6385604

Although the methods of Patent Documents 1 and 2 are suitable for taking pictures under the ceiling or under the floor, they may not be suitable for taking pictures of large equipment such as transformers and circuit breakers in substations from high places for inspection. is there.

Further, although the method of Patent Document 3 can photograph large equipment such as a transformer and a circuit breaker of a substation from the sky, one drone can only photograph the inside of a section where guidelines are set, and the photographing point. There is a risk of lacking the degree of freedom.

The present invention has been made to solve such a conventional problem, and improves the safety and the degree of freedom of the imaging point when photographing and inspecting a large facility such as a transformer or a circuit breaker of a substation from a high place. The solution is to let them do it.

(1) The present invention is a system for performing a patrol inspection of an inspection target.
A patrol device that can move to the monitoring point to be inspected,
It is provided with a floating type photographing device that is freely mounted on the patrol device and photographs the target equipment.
A telescopic guide pole erected on the upper surface of the patrol device,
A guide hole formed in the floating imaging device for inserting the guide pole, and
The shock protection device installed in the patrol device is provided.
While the ascent / descent of the floating imaging device is guided by the guidance pole,
The impact protection device is installed around the lower end of the guide pole on the upper surface of the patrol device.
It is characterized by alleviating the impact at the time of collision with the floating type photographing device.

(2) In one aspect of the present invention
The impact protection device includes a pair of upper and lower support plates and an elastic body through which the lower end portion of the guide pole is inserted, and the elastic body is interposed between the both support plates.

(3) In another aspect of the present invention.
The impact protection device includes an airbag arranged on the upper surface of the patrol device so as to surround the elastic body.

(4) In still another aspect of the present invention.
The impact protection device includes a cushioning material arranged on the upper surface of the patrol device so as to surround the elastic body.

(5) In still another aspect of the present invention.
The impact protection device includes a flexible frame group that surrounds the lower end portion of the guide pole on the upper surface of the patrol device while the both support plates and the elastic body are abolished.

(6) In still another aspect of the present invention.
The impact protection device is provided with an airbag that surrounds the lower end portion of the guide pole on the upper surface of the patrol device, in which both support plates and the elastic body are abolished.

(7) In still another aspect of the present invention.
The impact protection device is provided with a cushioning material that surrounds the lower end portion of the guide pole on the upper surface of the patrol device, in which both support plates and the elastic body are abolished.

According to the present invention, it is possible to improve the safety and the degree of freedom of the imaging point when photographing and inspecting a large facility such as a transformer or a circuit breaker of a substation from a high place.

The schematic diagram which shows the photographing state of the patrol inspection system which concerns on Example 1. FIG. A side view of a patrol inspection system showing the state of the floating type photographing device before ascending. (A) is a vertical sectional view (b) showing an arrangement example of a proximity sensor installed in the guide hole is the same horizontal sectional view. (A) is a vertical cross-sectional view showing the XX coordinate system of the floating type photographing apparatus, and (b) is a cross-sectional view showing the XY coordinate system. The vertical sectional view which shows the XZ coordinate system (XZ plane) of the normal posture of a floating type photographing apparatus. The vertical sectional view which shows the XZ coordinate system (XZ plane) of the same abnormal posture. The vertical sectional view which shows the YZ coordinate system (YZ plane) of the same abnormal posture. The block diagram of the floating type photographing apparatus. The block diagram of the floating attitude estimation part. Schematic diagram of the same attitude control. The schematic diagram of the height measurement situation of the floating type photographing apparatus which concerns on Example 2. FIG. Schematic diagram of the same height control. The block diagram of the floating type photographing apparatus. The side view of the patrol inspection system which concerns on Example 3. FIG. (A) is a side view of the collision protection device in the patrol inspection system according to the fourth embodiment, and (b) is a front view of the same. (A) is a side view of the collision protection device in the patrol inspection system according to the fifth embodiment, and (b) is a front view of the same. FIG. 5 is a side view of the collision protection device in the patrol inspection system according to the sixth embodiment. (A) is a side view of the collision protection device in the patrol inspection system according to the seventh embodiment, and (b) is a front view of the same. (A) is a side view of the collision protection device according to the eighth embodiment, and (b) is a front view of the same.

Hereinafter, an example of the patrol inspection system according to the embodiment of the present invention will be described based on Examples 1 to 8.

<< Example 1 >>
The patrol inspection system of the first embodiment will be described with reference to FIGS. 1 to 10. Here, the patrol inspection system 1 of a substation capable of safely photographing the equipment to be inspected of the substation from a high place is provided.

(1) Overall system configuration In the conventional maintenance point work, the meters and appearance of the substation equipment were confirmed from the operator's point of view. At that time, for the upper part of large equipment such as transformers and circuit breakers, only the range that the operator could look up and check from below was observed during normal inspection, but the tower was looked down from above. There was a request to inspect cracks and stains on the insulators of electric wires and wires.

Therefore, as shown in FIGS. 1 and 2, the patrol inspection system 1 has a patrol inspection robot 3 that can move to the inspection target 2 of the substation equipment and a patrol inspection robot 3 that can freely float on the patrol inspection robot 3 in order to meet the above demands. It is equipped with a floating imaging device (so-called drone "drone") 4 mounted on the camera.

The patrol inspection robot 3 in FIGS. 1 and 2 is configured to be an electrically driven vehicle type, and includes a main body device 3a and four wheels 3b. The patrol inspection robot 3 is not limited to the configurations shown in FIGS. 1 and 2, and may be, for example, a crawler-type mobile trolley such as a tank.

According to such a patrol inspection robot 3, after moving the patrol inspection robot 3 to the observation point of the inspection target 2, the floating type photographing device 4 can be separated and levitated from the patrol inspection robot 3 stopped at the monitoring point. it can. As a result, it becomes possible to photograph the inspection target 2 of the substation equipment from a high place by using the photographing equipment 5 such as the camera mounted on the floating type photographing device 4.

However, simply floating the device may cause a serious accident such as damage to the substation equipment or disconnection of the wiring when the device is dropped due to a failure of the floating image pickup device 4. Therefore, in order to ensure the safety of the floating operation of the floating type photographing device 4, the patrol inspection system 1 is a lightweight pole that can be expanded and contracted on the main body device 3a of the patrol inspection robot 3 (hereinafter, referred to as a guide pole). 6 is erected.

As a result, the ascending / descending motion indicated by the arrow P of the floating imaging device 4 is guided by the guide pole 6. Here, a hole (hereinafter referred to as an guide hole) 7 that penetrates the floating type photographing device 4 in the vertical direction is formed, and a guide pole 6 is inserted into the guide hole 7, whereby the movable range of the floating type photographing device 4 in the horizontal direction is formed. Can also be limited.

Normally, the height of the substation equipment is about "5 m", so in order to photograph and observe the upper surface of the substation equipment, it is necessary to levitate the floating imaging device 4 at a height of about "7 m". , The height of the guide pole 6 is assumed to be about "8 m".

Further, the material of the guide pole 6 is required to be lightweight for guiding the patrol inspection robot 3, and in this respect, a lightweight material such as glass fiber is preferably selected. Further, as a method for expanding and contracting the guide pole 6, various methods have been proposed in Patent Documents 4 to 6, and the guide pole 6 can be expanded and contracted by using such a conventional method.

In the state where the floating type photographing device 4 is not levitated, as shown in FIG. 2, the guide pole 6 is shortened, and the floating type photographing device 4 is landed on the main body device 3a of the patrol inspection robot 3 and is not shown. Fix it with a hook etc.

(2) Control of levitation operation The levitation control of the floating type photographing apparatus 4 will be described with reference to FIGS. 3 to 5. That is, when the floating type photographing device 4 is floating, the floating operation of the floating type photographing device 4 is controlled so that the outer peripheral surface 6a of the guide pole 6 does not come into contact with the inner peripheral surface 7a of the guide hole 7.

As shown in FIG. 3A, the floating type imaging device 4 has proximity sensors 9 installed on the upper and lower portions of the inner peripheral surface 7a of the guide hole 7. As shown in FIG. 3B, the proximity distance sensors 9 are installed at 90-degree positions in the circumferential direction of the guide hole 7 at equal intervals, and the insertion portion of the guide pole 6 into the guide hole 7 is close to each other. It is surrounded by 9 groups of distance sensors.

Here, (A) the current posture (horizontal position and inclination) of the floating imaging device 4 based on the measurement data of each proximity sensor 9 (distance data from the proximity sensor 9 to the outer peripheral surface 6a of the guide pole 6). (B) The posture of the floating imaging device 4 is controlled so that the measurement data falls within the preset range.

A procedure for estimating the current posture of the floating imaging device 4 based on the measurement data of each proximity sensor 9 will be described with reference to FIGS. 4 to 7. First, as shown in FIGS. 4A and 4B, the coordinate system of the floating photographing apparatus 4 (hereinafter, referred to as the floating imaging apparatus coordinate system) is set. It is assumed that the coordinate system of this floating type photographing device is preset at the time of shipment from the factory.

Specifically, the center between the proximity distance sensors 9 is set as the origin o, the vertical direction from the origin o (the axial direction of the guide hole 7) is set as the Z axis, and the inner peripheral surface 7a of the guide hole 7 is set from the origin o. The direction toward (the radial direction of the guide hole 7) is set to the X-axis and the Y-axis. As shown in FIG. 4B, the X-axis and the Y-axis are set at angles of 90 degrees from the origin o, respectively.

X1 to x4 in FIGS. 5 and 6 indicate four proximity sensors 9 arranged in the "XZ" plane, and y1 to y4 in FIG. 7 indicate 4 arranged in the "YZ" plane. The proximity distance sensors 9 are shown. Here, the posture estimation calculation is performed for each posture of the "XZ" plane and the "YZ" plane, and the deviation amount of the horizontal position and the inclination is calculated.

The posture of the floating type photographing apparatus 4 when there is no misalignment will be described with reference to FIG. Here, the guidance pole 6 is arranged in the center of the guidance hole 7, is maintained in a posture (positional relationship) parallel to the patrol inspection robot 3, and the distance data “d _x1 ” measured by each proximity distance sensor 9 (x1 to x4). , "D _x2 ", "d _x3 ", and "d _x4 " keep approximately equal distances and do not tilt. In FIG. 5, "L ₁ " indicates the horizontal distance between the proximity sensors 9, and "L ₂ " indicates the vertical (vertical) distance between the proximity sensors 9.

FIG. 6 shows a state in which a horizontal deviation and an inclination occur in the posture of the “XY” plane of the floating type photographing apparatus 4. In FIG. 6, “Δx” indicates the amount of deviation in the horizontal direction, and “θ _x ” indicates the amount of inclination deviation. Here, the distance data "d _x1 ", "d _x2 ", "d _x3 ", and "d _x4 " measured by each proximity distance sensor 9 are not equal, and the distance data "d _x1 ", "d _x2 ", "d" _{Based on the combination of "x3} " and "d _x4 ", the posture estimation calculation of Eq. (1) is performed to calculate each of the above deviation amounts.

FIG. 7 shows a state in which the posture of the “YZ” plane of the floating type photographing apparatus 4 is displaced and tilted in the flat direction. In FIG. 7, “Δy” indicates the amount of deviation in the horizontal direction, and “θ _y ” indicates the amount of deviation of the inclination. Here, the distance data " _dy1 ", " _dy2 ", " _dy3 ", and " _dy4 " measured by each proximity sensor 9 are not equal as in the "XY" plane, and the distance data "_dy1". , "D _y2 ", " _dy3 ", and " _dy4 ", the posture estimation calculation of the equation (2) is performed to calculate each of the deviation amounts.

(3) Configuration Example of Floating Imaging Device A configuration example (control block) of the floating imaging device 4 will be described with reference to FIGS. 8 and 9. Here, the control block of the floating imaging device 4 is mainly composed of a computer, and as shown in FIG. 8, a floating attitude estimation unit 10 that estimates the current attitude based on the detection data of each proximity sensor 9 and a floating attitude estimation unit 10 and floating. The floating control unit 11 that executes attitude control based on the estimation result of the attitude estimation unit 10, and the propeller drive motor driver 13 that rotates the drive motor of the propeller 4a according to the output signal (command value of the rotation speed) of the floating control unit 11. And.

As shown in FIG. 9, the floating posture estimation unit 10 has a memory device 14 that stores input information to the floating photographing device 4, and an “XZ” plane and “XZ” plane and “XZ” plane based on the stored information of the memory device (RAM) 14. The posture estimation units 15 and 16 that estimate the posture of the floating type imaging device on the "YZ" plane, and the posture estimation result output unit 17 that outputs the estimation results of the both posture estimation units 15 and 16 to the floating control unit 11. Be prepared.

The memory device 14 has various types of information required for posture estimation in advance, such as outer diameter data of the guide pole 6, inner diameter data of the guide hole 7, data of the interval "L ₁ ", and data of the interval "L _2". Parameters have been entered and saved. Further, in the memory device 14, the measurement data of the proximity distance sensor 9 (distance data "d _x1 ", "d _x2 ", "d _x3 ", "d _x4 ", " _dy1 ", " _dy2 ", "d"_"y3" and " _dy4 ") are sequentially input, and the current measurement data is temporarily saved.

The "XZ" plane posture estimation unit 15 inputs the various parameters and the distance data "d _x1 ", "d _x2 ", "d _x3 ", and "d _x4 ", and estimates the posture of the equation (1). The calculation is performed to calculate the "positional deviation amount Δx" and the "tilt deviation amount θx" on the "XZ" plane, and the calculation results are temporarily stored in the memory device 14.

The "YZ" plane posture estimation unit 16 inputs the various parameters and the distance data " _dy1 ", " _dy2 ", " _dy3 ", and " _dy4 ", and the arbitrariness of the equation (2). The estimation calculation is performed to calculate the "positional deviation amount Δy" and the "tilt deviation amount θy" on the "YZ" plane, and the calculation results are temporarily stored in the memory device 14.

The attitude estimation result output unit 17 reads out the information of the “positional deviation amount Δx, Δy” and the “tilt deviation amount θx, θy” temporarily stored in the memory device 14, and outputs the read information to the floating control unit 11.

The floating control unit 11 is input with the information of the "positional deviation amount Δx, Δy" and the "tilt deviation amount θx, θy" output by the posture estimation result output unit 17, and the horizontal position and inclination of the floating type photographing device 4. Is automatically controlled. The control method, the rotation speed command value of the drive motor, each distance data _{"d x1 ~d x4, d y1 ~d} y4 " is controlled to a value falling within the range of preset.

Therefore, the distance data "d _{x1 to d x4} , d _{y1 to d y4} " are adjusted substantially evenly, and "θx", "θy", "Δx", and "Δy" in the equations (1) and (2) are "Δx". Approximate to "0". As a result, the posture of the floating type photographing device 4 shown in FIG. 10A is controlled by the horizontal position and the inclination, and the posture is corrected to the posture of the floating type photographing device 4 shown in FIG. 10B. At this time, the altitude of the floating type photographing device 4 and the orientation of the photographing equipment 5 can be specified by operating the remote control terminal 25 (see FIG. 12).

According to the patrol inspection system 1 as described above, the horizontal movable range of the floating type photographing device 4 mounted on the patrol inspection robot 3 is limited to the guidance pole 6. Therefore, when the floating type photographing device 4 is dropped due to a failure, there is no possibility of causing an accident such as a broken line or wiring disconnection in the substation equipment, and the substation equipment can be safely photographed from a high place.

Further, since the posture of the floating type photographing device 4 is automatically controlled, it is easy to photograph the inspection target 2, and it is possible to reduce photography errors. Further, since the inspection point can be freely moved and selected by the patrol inspection robot 3, one set of the patrol inspection system 1 may be prepared at the site in the substation, which can contribute to cost reduction.

The floating altitude estimation unit 27 and the floating posture estimation unit 10 may be provided on the patrol inspection robot 3 instead of the floating imaging device 4, and the processing may be executed by a control computer (not shown). In this case, data transmission / reception is executed by wire / wireless communication between the patrol inspection robot 3 and the floating type photographing device 4.

<< Example 2 >>
21 in FIG. 11 shows the patrol inspection system of the second embodiment. In the patrol inspection system 21, a function of controlling the altitude (height) of the floating type photographing device 4 is added to the patrol inspection system 1 of the first embodiment.

In the patrol inspection system 21, a distance sensor (laser range finder) 22 is installed on the flat surface (upper surface) 3b of the patrol inspection robot 3, while a reflector (reflector) is provided on the bottom surface (lower surface) 4b of the floating imaging device 4. 24 are installed. The laser beam emitted from the distance sensor 22 is reflected by the reflector 24, and the distance D1 between the two 3b and 4b is measured based on the time difference required for the reciprocation of the laser beam.

As shown in FIG. 12, the measured distance D1 is the height L4 from the patrol inspection robot 3 to the floating imaging device. The height L5 of the patrol inspection robot 3 is added to this height L4 to obtain the altitude L3 of the patrol inspection robot 3 from the ground. The altitude L3 is temporarily stored in a memory device (not shown) in the patrol inspection robot 3, transmitted to the floating photographing device 4 by wireless communication, and temporarily stored in the memory device 14. The value of the altitude L3 stored here can be viewed from the remote control terminal (remote controller) 25 that operates the patrol inspection robot 3 and the floating photographing device 4.

The remote control terminal 25 can set the altitude L3 of the floating photographing device 4. That is, the target altitude of the floating type photographing device 4 is set by operating the height setting operation unit 26 of the remote control terminal 25, and the set target altitude is transmitted as data to the floating type photographing device 4.

Here, when the floating altitude photographing device 4 receives the data of the target altitude, the floating altitude estimation unit 27 shown in FIG. 13 calculates the difference between the current altitude L3 of the memory device 14 and the target altitude. This calculation result is estimated to be the amount of altitude deviation between the current altitude L and the target altitude, and is output to the floating control unit 11.

The floating control unit 11 is input with the altitude deviation amount, and controls the command value of the rotation speed of the drive motor to a value at which the altitude deviation amount falls within the preset range. As a result, the altitude L3 of the floating imaging device 4 is modified, and the altitude L3 can be approximated to the target altitude. The target altitude setting can be canceled by operating the setting operation unit 26.

According to the patrol inspection system 21 of the second embodiment, in addition to the effect of the first embodiment, the substation equipment is installed from the same height at each inspection at the monitoring point of the substation equipment to be inspected. It is also possible to take pictures.

The distance sensor 22 may be attached to the lower surface 4b of the floating imaging device 4, while the reflector 24 may be attached to the flat surface (upper surface) 3c of the patrol inspection robot 3. In this case as well, the distance D1 can be measured by reflecting the laser beam of the distance sensor 22 by the reflector 24. Further, the distance D1 can be measured by the laser beam reflected on the lower surface of the floating type photographing apparatus 4 only by the distance sensor 22 without using the reflector 24.

<< Example 3 to Example 8 >>
In the patrol inspection systems 31, 41, 51, 61, 71, 81 of the third to eighth embodiments, a configuration is added to the patrol inspection robot 3 to reduce the impact when the floating type photographing device 4 is dropped.

That is, the patrol inspection systems 1 and 21 of the first and second embodiments do not have a function of suppressing a collision with the patrol inspection robot 3 when the floating type photographing device 4 falls. Therefore, when the floating type photographing device 4 is dropped, the device may be damaged due to a collision with the patrol inspection robot 3.

Regarding this point, as a method of protecting the drone from falling from a high place, a method of suspending the drone with a wire of Patent Document 7 to prevent the fall, a method of covering the drone of Patent Document 8 with a net, and a parachute of Patent Document 9. A method of expressing the above, a method of floating with a balloon of Patent Document 10, a method of expanding the air bag of Patent Document 11, and the like have been proposed.

However, in the method of suspending with the wire of Patent Document 7, when the floating type photographing apparatus 4 falls, a large force is applied to the upper part of the guide pole 6 through the wire, so that the patrol inspection robot 3 may fall. Further, in the methods of Patent Documents 8 to 11, since the collision suppression function is added to the floating type photographing device 4, the structure of the floating type photographing device 4 which consumes electric power by ascending may be complicated.

Therefore, the patrol inspection systems 31, 41, 51, 61, 71, 81 of Examples 3 to 8 perform floating photography without adding a function to the floating imaging device 4 side, which tends to consume power by floating. The device 4 is designed to prevent damage due to a collision with the patrol inspection robot 3 when the device 4 is dropped.

(1) Example 3
The patrol inspection system 31 of the third embodiment will be described with reference to FIG. In the third embodiment, the collision protection device 30 is provided on the device main body 3a of the patrol inspection robot 3.

The collision protection device 30 is installed around the lower end portion 6b of the guide pole 6, and includes a pair of upper and lower support plates 34, 36 and a coil spring 35 interposed between both support plates 34, 36.

Here, one support plate 34 is placed (or fixed) on a flat surface of the apparatus main body 3a, while the other support plate 36 is urged by the coil spring 35. Further, through holes (not shown) are formed at the center positions of the support plates 34 and 36, and the lower end portion 6b of the guide pole 6 is inserted into each of the through holes and the coil spring 35.

According to the patrol inspection system 31 of the third embodiment, the floating type photographing device 4 falls vertically along the guide pole 6 and therefore collides with the support plate 36. At this time, since the coil spring 35 elastically deforms in the axial direction to absorb the impact at the time of collision, the impact at the time of dropping the floating type photographing device 4 is alleviated, and the patrol inspection robot 3 is prevented from being damaged.

Further, since the collision protection device 30 is provided not on the floating type photographing device 4 but on the patrol inspection robot 3 side, damage due to a collision at the time of dropping is prevented without adding a function to the floating type photographing device 4. It is possible. Since the floating type photographing device 4 falls vertically along the guide pole 6 and collides with the support plate 36, the patrol inspection robot 3 is less likely to lose its balance, and in this respect, the risk of falling is reduced. ..

(2) Example 4
The patrol inspection system 41 of the fourth embodiment will be described with reference to FIGS. 15 (a) and 15 (b). Here, an airbag 37 is added to the collision protection device 30. The airbag 37 is fixed to the flat surface 3c of the apparatus main body 3a, and double surrounds the support plate 34 and the coil spring 35.

Therefore, according to the patrol inspection system 41 of the fourth embodiment, the impact that could not be absorbed by the coil spring 35 when the floating type photographing device 4 is dropped can be absorbed by the airbag 37. As a result, the shock absorption when the floating type photographing apparatus 4 is dropped is improved, and the shock when the floating type photographing device 4 is dropped is alleviated as compared with the first embodiment.

(3) Example 5
The patrol inspection system 51 of the fifth embodiment will be described with reference to FIGS. 16A and 16B. Here, a cushioning material 38 is added to the collision protection device 30. For the cushioning material 38, for example, a hard sponge, a shock absorbing sheet, or the like is used, and a type having a wall thickness larger than that of the support plate 34 is used. Here, the cushioning material 38 is fixed to the flat surface 3c of the apparatus main body 3a, and the support plate 34 and the coil spring 35 are doubly surrounded.

Therefore, according to the patrol inspection system 41 of the fifth embodiment, the cushioning material 38 can absorb the impact that could not be absorbed by the coil spring 35 when the floating type photographing device 4 is dropped. As a result, the shock absorption when the floating type photographing apparatus 4 is dropped is improved, and the shock when the floating type photographing device 4 is dropped is alleviated as compared with the first embodiment.

At this time, although the shock absorbing power of the cushioning material 38 is lower than that of the airbag 37, it is not necessary to consider a decrease in the air pressure of the airbag 37, which has an advantage that the maintenance of the system is easy.

(4) Example 6
The patrol inspection system 61 of the sixth embodiment will be described with reference to FIG. In the collision protection device 30 of the sixth embodiment, the support plates 34 and 36 and the coil spring 35 are abolished, and the collision protection device 30 is composed of a flexible frame 39 group.

Each of the flexible frames 39 is formed in a semicircular shape by, for example, a resin material or a rubber material. Here, both end portions 39a of each flexible frame 39 are fixed to the flat surface 3c of the apparatus main body 3a, each flexible frame 39 is erected in a semicircular shape, and the lower end portion 6b of the guide pole 6 is surrounded by the flexible frame 39 group. ing.

Therefore, according to the patrol inspection system 31 of the sixth embodiment, the floating type photographing device 4 falls vertically along the guide pole 6 and therefore collides with the flexible frame 39 group. At this time, since the flexible frame group is elastically deformed to absorb the impact at the time of collision, the impact at the time of dropping of the floating type photographing apparatus 4 is alleviated, and the same effect as that of the third embodiment can be obtained. Although the flexible frame 39 group has a smaller shock absorbing force than the coil spring 35, it has a simple structure, good maintainability, can be installed at low cost, and is excellent in cost.

(5) Example 7
The patrol inspection system 71 of the seventh embodiment will be described with reference to FIGS. 18A and 18B. The collision protection device 30 of the seventh embodiment is composed of only the airbag 37 without the support plates 34 and 36 and the coil spring 35 as in the sixth embodiment. Here, the airbag 37 is fixed to the flat surface 3c of the apparatus main body 3a and doublely surrounds the lower end portion 6b of the guide pole 6.

Therefore, according to the patrol inspection system 71 of the seventh embodiment, the floating type photographing device 4 falls vertically along the guide pole 6 and therefore collides with the airbag 37. At this time, since the impact at the time of collision is absorbed by the airbag 37, the impact at the time of dropping of the floating type photographing apparatus 4 is alleviated, and the same effect as that of the third embodiment can be obtained.

(6) Example 8
The patrol inspection system 81 of the eighth embodiment will be described with reference to FIGS. 19 (a) and 19 (b). In the collision protection device 30 of the seventh embodiment, the support plates 34 and 36 and the coil spring 35 are abolished as in the sixth and seventh embodiments, and the collision protection device 30 is composed of only the cushioning material 38. Here, the cushioning material 38 is fixed to the flat surface 3c and doublely surrounds the lower end portion 6b of the guide pole 6.

Therefore, according to the patrol inspection system 81 of the eighth embodiment, the floating type photographing apparatus 4 falls vertically along the guide pole 6 and therefore collides with the cushioning material 38. At this time, since the impact at the time of collision is absorbed by the cushioning material, the impact at the time of dropping of the floating type photographing apparatus 4 is alleviated, and the same effect as that of the third embodiment can be obtained.

The present invention is not limited to the above embodiment, and can be modified and implemented within the range described in each claim. For example, the patrol inspection robot 3 / floating type photographing device 4 of the patrol inspection systems 31, 41, 51, 61, 71, 81 of Examples 3 to 7 does not have to be provided with the distance sensor 22 and the reflector 24. ..

1,21,31,41,51,61,71,81 ... Patrol inspection system 2 ... Inspection target 3 ... Patrol inspection robot (patrol device)
3a ... Main unit 3b ... Wheels 3c ... Top surface 4 ... Floating imaging device 4a ... Propeller 4b ... Bottom surface 5 ... Imaging equipment 6 ... Guide pole 6a ... Outer surface 6b ... Lower end 7 ... Guide hole 7a ... Inner peripheral surface 9 ... Proximity Distance sensor 10 ... Floating posture estimation unit 11 ... Floating control unit 13 ... Propeller drive motor driver 14 ... Memory device (RAM)
15 ... XZ plane attitude estimation unit 16 ... YZ plane attitude estimation unit 17 ... attitude estimation result output unit 22 ... distance sensor 24 ... reflector (reflector)
25 ... Remote control terminal 26 ... Height setting operation unit 27 ... Floating altitude estimation unit 30 ... Collision protection device 34, 36 ... Support plate 35 ... Coil spring (elastic body)
37 ... Airbag 38 ... Cushioning material 39 ... Flexible frame 39a ... End

Claims (7)

It is a system that performs a patrol inspection of the inspection target,
A patrol device that can move to the monitoring point to be inspected,
It is provided with a floating type photographing device that is freely mounted on the patrol device and photographs the target equipment.
A telescopic guide pole erected on the upper surface of the patrol device,
A guide hole formed in the floating imaging device for inserting the guide pole, and
The shock protection device installed in the patrol device is provided.
While the ascent / descent of the floating imaging device is guided by the guidance pole,
The impact protection device is installed around the lower end of the guide pole on the upper surface of the patrol device.
A patrol monitoring system characterized by alleviating an impact at the time of a collision with the floating imaging device. The impact protection device includes a pair of upper and lower support plates and an elastic body through which the lower end portion of the guide pole is inserted.
The patrol monitoring system according to claim 1, wherein the elastic body is interposed between both support plates. The patrol monitoring system according to claim 2, wherein the impact protection device includes an airbag arranged on the upper surface of the patrol device so as to surround the elastic body. The patrol monitoring system according to claim 2, wherein the impact protection device includes a cushioning material arranged on the upper surface of the patrol device so as to surround the elastic body. The patrol monitoring system according to claim 1, wherein the impact protection device includes a group of flexible frames surrounding the lower end of the guide pole on the upper surface of the patrol device. The patrol monitoring system according to claim 1, wherein the impact protection device includes an airbag that surrounds a lower end portion of the guidance pole on the upper surface of the patrol device. The patrol monitoring system according to claim 1, wherein the impact protection device includes a cushioning material that surrounds a lower end portion of the guide pole on the upper surface of the patrol device.

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