JP2021162460A - Data acquisition device and data acquisition method - Google Patents

Abstract

To provide a data acquisition device and data acquisition method, which can acquire internal data of which data acquisition direction is recognized when acquiring the internal data of a cylindrical structure.SOLUTION: A data acquisition device S includes: a mark formation section 1 for forming a linear mark extending in one direction in an inner surface of a cylindrical structure that is a cylindrical member; a data acquisition section 2 for acquiring predetermined data (internal data) representing a state inside the cylindrical structure; and a direction detection section 3 for obtaining a data acquisition direction of the data acquisition section 2 inside the cylindrical structure on the basis of the linear mark.SELECTED DRAWING: Figure 1

Description

The present invention relates to a data acquisition device and a data acquisition method for acquiring predetermined data representing the internal state (situation, state) of a cylindrical structure.

For example, the inside of a cylindrical structure represented by a chimney, a pipe, or the like is usually inspected (inspected and measured) for maintenance and management. In the inspection of the inside of such a cylindrical structure, for example, a relatively large-scale temporary construction such as a scaffold or a gondola is installed, and the temporary construction is used. Since the temporary construction requires cost and time for its installation and dismantling, its reduction is desired. In response to such a request, for example, an inspection method disclosed in Patent Document 1 has been proposed.

The inspection method using the unmanned small flying object disclosed in Patent Document 1 uses an unmanned small flying object that inspects the inside of the structure by flying the unmanned small flying object into the internal space of the structure. As an inspection method, the unmanned small aircraft is provided with a guide for guiding the aircraft along the linear body, and the linear body is installed in the internal space in a stretched state, and the guide is used to guide the aircraft. The inside of the structure is inspected while the unmanned small flying object is flying along the linear body.

Japanese Patent No. 65505927

By the way, when inspecting based on the internal data obtained by acquiring predetermined data (internal data, for example, an image of the inside) representing the internal state of the cylindrical structure, the cylindrical structure is a cylinder. Since there are not many feature points, it becomes difficult to understand which direction the internal data is. Even in the inspection method disclosed in Patent Document 1, if the unmanned small flying object is displaced in the circumferential direction when moving along the guide, or the guide is twisted due to the movement of the unmanned small flying object, the unmanned small size is small. It becomes difficult to understand which direction the image captured by the flying object is.

The present invention has been made in view of the above circumstances, and an object of the present invention is to acquire internal data in which the data acquisition direction is known when acquiring predetermined internal data representing the internal state of the cylindrical structure. It is to provide a data acquisition apparatus and a data acquisition method which can be performed.

As a result of various studies, the present inventor has found that the above object can be achieved by the following invention. That is, the data acquisition device according to one aspect of the present invention has a mark forming portion that forms a linear mark extending in one direction on the inner surface of the cylindrical structure that is a cylindrical member, and an inside of the cylindrical structure. It is provided with a data acquisition unit for acquiring predetermined data representing a state, and a direction detection unit for obtaining a data acquisition direction of the data acquisition unit inside the cylindrical structure based on the linear mark. Preferably, in the data acquisition device, the direction detection unit determines the data acquisition direction in an orthogonal plane orthogonal to the extension direction of the cylindrical structure based on the linear mark. Preferably, in the data acquisition device described above, the cylindrical structure is a chimney or tube. Preferably, in the data acquisition device described above, the cylindrical structure is a chimney of a thermal power plant or a water pipe of a hydroelectric power plant. Preferably, in the above-mentioned data acquisition device, the mark forming portion is a light source portion that irradiates the inner surface of the cylindrical structure with linear light as the linear mark. Preferably, the light source unit is a laser light source device. Preferably, the light source unit is a plurality of light emitting diodes (for example, LED tape lights) arranged linearly. Preferably, in the above-mentioned data acquisition device, the mark forming portion is a linear phosphorescent member (phosphorescent member) that emits phosphorescence. Preferably, in the above-mentioned data acquisition device, the mark forming portion includes a linear reflecting member that reflects light and a light source portion that irradiates the reflecting member with light. Preferably, in the above-mentioned data acquisition device, the direction detection unit obtains a data acquisition direction of the data acquisition unit based on a camera (imaging unit) that captures the linear mark and an image captured by the camera. It is equipped with a processing unit. Preferably, in the above-mentioned data acquisition device, the predetermined data is an image inside the cylindrical structure, the data acquisition unit is a camera that generates an image, and the data acquisition direction of the data acquisition unit is , The imaging direction of the camera. Preferably, in the above-mentioned data acquisition device, the predetermined data is the heat distribution inside the cylindrical structure, the data acquisition unit is thermography for measuring the heat distribution, and the data acquisition of the data acquisition unit. The direction is the measurement direction of the thermography. Preferably, in the above-mentioned data acquisition device, the predetermined data is a surface unevenness distribution (diametrical height distribution) on the inner wall surface of the cylindrical structure, and the data acquisition unit is said to be from the data acquisition device. It is a distance measuring device (for example, a laser distance measuring device) that measures the distance to the inner wall surface of the cylindrical structure, and the data acquisition direction of the data acquisition unit is the measurement direction of the distance measuring device.

Since such a data acquisition device includes a mark forming portion, the data acquisition direction can be obtained using the linear mark formed by the mark forming portion as a mark. Therefore, the data acquisition device can acquire internal data in which the data acquisition direction is known when acquiring predetermined internal data representing the internal state of the cylindrical structure.

In another aspect, the above-mentioned data acquisition device includes the data acquisition unit and the direction detection unit, and further includes an aviation unit to fly. Preferably, in the above-mentioned data acquisition device, the aviation unit flies autonomously.

Since such a data acquisition device includes an aviation unit, the inside of the cylindrical structure is provided at a plurality of locations (positions) inside the cylindrical structure without using a relatively large-scale temporary construction such as a scaffold or a gondola. You can get the data.

In another aspect, in these above-mentioned data acquisition devices, based on the position measuring unit for measuring the position of the aviation unit inside the cylindrical structure and the position of the aviation unit measured by the position measuring unit. A position control unit that controls the aviation unit is further provided so as to be located at the center position of the cylindrical structure on an orthogonal plane orthogonal to the extension direction of the cylindrical structure, and the aviation unit includes the position measurement unit and the position measurement unit. It has the position control unit.

In the inspection method disclosed in Patent Document 1, when the linear body is a wire, thread, or rope (paragraph [0022] of Patent Document 1), when the unmanned small flying object moves along the linear body, this movement is performed. As a result, the position of the linear body in the intersection intersecting in the extension direction of the linear body is displaced, and as a result, the position of the unmanned small flying object may also be displaced. If the position of the unmanned small aircraft shifts, the distance between the camera mounted on the unmanned small aircraft and the structure shifts, so if the angle of view is fixed, the inside of the structure can be imaged with the assumed area size. It will disappear. For this reason, the size of the subject reflected in each pixel deviates from the assumption, and the image cannot be obtained with the expected accuracy. On the other hand, when the linear body is composed of a rod-shaped body, such misalignment may be reduced, but when the rod-shaped body becomes relatively long, the rod-shaped body is fixed at one end of the rod-shaped body. At the other end of the rod, the position of the rod-shaped body may shift, and even if the rod-shaped body is fixed at both ends thereof, the position of the rod-shaped body may shift in the vicinity of the central position. In addition, there is a risk that temporary installation will be required to install the rod-shaped body.

Since the data acquisition device controls the aviation unit so as to be located at the center position of the cylindrical structure in the orthogonal plane based on the measured position of the aviation unit, the inside of the cylindrical structure with the expected accuracy. You can get the data.

In another aspect, in the above-mentioned data acquisition device, the position control unit further directs the data acquisition unit in a predetermined direction based on the data acquisition direction of the data acquisition unit obtained by the direction detection unit. As described above, the aviation unit is controlled. Preferably, in the above-mentioned data acquisition device, the altitude measuring unit for measuring the altitude of the aviation unit is further provided, the aviation unit has the altitude measuring unit, and the position control unit is further provided by the altitude measuring unit. Based on the obtained altitude, the aviation unit is controlled so that the aviation unit has a predetermined altitude.

Since such a data acquisition device controls the aviation unit so that the data acquisition unit faces a predetermined direction, it is possible to acquire the internal data of the cylindrical structure in a predetermined direction.

The data acquisition method according to another aspect of the present invention includes a mark forming step of forming a linear mark extending in one direction on the inner surface of a cylindrical structure which is a cylindrical member, and an inside of the cylindrical structure. The present invention includes a data acquisition step of acquiring predetermined data representing a state, and a direction detection step of obtaining a data acquisition direction in the data acquisition step inside the cylindrical structure based on the linear mark.

Since such a data acquisition method includes a mark forming step, the data acquisition direction can be obtained using the linear mark formed in the mark forming step as a mark. Therefore, the above data acquisition method can acquire internal data in which the data acquisition direction is known when acquiring predetermined internal data representing the internal state of the cylindrical structure.

The data acquisition device and the data acquisition method according to the present invention can acquire internal data in which the data acquisition direction is known when acquiring predetermined internal data representing the internal state of the cylindrical structure.

It is a block diagram which shows the structure of the data acquisition apparatus in embodiment. It is a figure for demonstrating how the data acquisition apparatus flies inside a cylindrical structure. It is a figure for demonstrating the relationship between the image of the direction detection part, and the data acquisition direction in the data acquisition apparatus. It is a flowchart which shows the operation of the data acquisition apparatus regarding the acquisition of the internal data of the cylindrical structure. It is a figure for demonstrating how the internal data of the cylindrical structure is acquired by the data acquisition apparatus. It is a figure for demonstrating the control of the data acquisition direction in the said data acquisition apparatus.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that the configurations with the same reference numerals in each figure indicate that they are the same configurations, and the description thereof will be omitted as appropriate. In the present specification, when they are generically referred to, they are indicated by reference numerals without subscripts, and when they refer to individual configurations, they are indicated by reference numerals with subscripts.

The data acquisition device in the present embodiment has a mark forming portion that forms a linear mark extending in one direction on the inner surface of the cylindrical structure that is a cylindrical member, and a predetermined state that represents the internal state of the cylindrical structure. A data acquisition unit for acquiring data and a direction detection unit for obtaining a data acquisition direction of the data acquisition unit inside the cylindrical structure based on the linear mark are provided. Such a data acquisition device will be described in more detail below.

FIG. 1 is a block diagram showing a configuration of a data acquisition device according to an embodiment. FIG. 2 is a diagram for explaining how the data acquisition device flies inside the cylindrical structure. FIG. 3 is a diagram for explaining the relationship between the image of the direction detection unit and the data acquisition direction in the data acquisition device. FIG. 3A is a diagram for explaining the definition of the data acquisition direction with respect to the image of the direction detection unit, and FIG. 3B is a diagram for explaining the data acquisition direction obtained based on the mark image.

The data acquisition device S in the embodiment includes, for example, a mark forming unit 1, a data acquisition unit 2, and a direction detection unit 3, as shown in FIG. In the example shown in FIG. 1, the data acquisition device S further includes a first position measurement unit 4, a second position measurement unit 5, an altitude measurement unit 6, an aviation unit 7, a control processing unit 8, and a storage unit. 9, an interface unit (IF unit) 10, a communication unit 11, and an emergency operation unit 12 are provided.

The mark forming portion 1 is a device for forming a linear mark extending in one direction on the inner surface of the cylindrical structure. The cylindrical structure may be any structure as long as it is a cylinder, but preferably, for example, a cylindrical structure elongated in the height direction (vertical direction), a horizontal direction, a vertical direction, or the like. It is a cylindrical structure that is long and difficult for humans to invade or is dangerous. Such a cylindrical structure is typically, for example, a chimney of an incineration facility, a chimney of a power plant (for example, a thermal power plant, etc.), a chimney of a steel mill, a chimney or pipe of a chemical plant, a water pipe of a hydroelectric power plant (for example, a water pipe of a hydroelectric power plant). For example, a water guide pipe to a turbine) and a cylinder through a tunnel. In the example shown in FIG. 2, the cylindrical structure CB is a chimney, and the mark forming portion 1 forms a linear mark MK extending along the radial direction on the bottom surface of the cylindrical structure CB. More specifically, in the example shown in FIG. 2, the mark forming portion 1 passes through the central position CP of the bottom surface and forms a linear mark MK extending from the central position CP to both sides in the radial direction. The linear mark MK does not necessarily have to pass through the central position CP of the bottom surface, and if it is linear, it may intersect with the radial direction. Such a mark forming portion 1 is, for example, a light source portion that irradiates the inner surface of the cylindrical structure CB with linear light as a linear mark MK. The light source unit is, for example, a laser light source device that irradiates a sheet-shaped (slit-shaped) laser beam, or a plurality of light emitting diodes (for example, LED tape lights) arranged linearly. Further, for example, the mark forming portion 1 is a linear phosphorescent member (phosphorescent member) that emits phosphorescence as a linear mark MK. Further, for example, the mark forming unit 1 includes a linear reflecting member that reflects light as a linear mark MK, and a light source unit that irradiates the reflecting member with light.

The data acquisition unit 2 is a device that is connected to the control processing unit 8 and acquires predetermined data (internal data) representing the internal state (situation, state) of the cylindrical structure according to the control of the control processing unit 8. .. The internal data is, for example, an image of the inside of the cylindrical structure CB, and in this case, the data acquisition unit 2 is a camera (first camera) 2 that generates an image. Alternatively, for example, the internal data is the heat distribution inside the cylindrical structure CB, and in this case, the data acquisition unit 2 is a thermography 2 for measuring the heat distribution. Alternatively, for example, the internal data is the surface unevenness distribution (radial height distribution) of the inner wall surface (inner side surface) of the cylindrical structure CB, and in this case, the data acquisition unit 2 is from the data acquisition device S. A distance measuring device (for example, a laser range finder) 2 for measuring the distance to the inner wall surface of the cylindrical structure CB. Hereinafter, the case where the internal data is an image of the inside of the cylindrical structure CB, for example, the inner wall surface (inner side surface) thereof will be described, but the same can be described when the internal data is other types of data. The first camera 2 as an example of the data acquisition unit 2 may be a monochrome camera, a color camera, an infrared camera, or the like, and is appropriately selected according to the purpose of acquiring an image inside the cylindrical structure CB. .. The resolution of the first camera 2 is appropriately selected according to the purpose of acquiring an image of the inside of the cylindrical structure CB. For example, when the purpose is to inspect the inside of the cylindrical structure CB, the first camera 2 may be used. For example, a digital camera having an area image sensor with a pixel number suitable for capturing an abnormality such as a submillimeter-order crack on the inner wall surface of a chimney having a diameter of 5 m is used. The data acquisition unit 2 outputs the acquired internal data, an image inside the cylindrical structure CB (structure internal image) in the present embodiment, to the control processing unit 8.

The direction detection unit 3 is a device that obtains the data acquisition direction (direction of the aviation unit 7) of the data acquisition unit 2 based on the linear mark MK formed by the mark formation unit 1. In the present embodiment, the data acquisition direction is a direction in an orthogonal plane orthogonal to the extension direction of the cylindrical structure CB. The linear mark MK serves as a reference for the data acquisition direction of the data acquisition unit 2. In the present embodiment, the data acquisition direction is the imaging direction of the first camera 2 (first imaging direction). When the data acquisition unit 2 is the thermography 2, the data acquisition direction is the measurement direction of the thermography 2, and when the data acquisition unit 2 is the distance measuring device 2, the data acquisition direction is the distance measuring device 2. Is the measurement direction of.

In the present embodiment, as an example, the direction detection unit 3 has a data acquisition direction with respect to an extension direction of the linear mark MK based on an image (mark image) obtained by capturing the linear mark MK, in this example, the first camera 2. 1 Obtain the imaging direction (direction of the aviation unit 7). In this example, more specifically, the direction detection unit 3 acquires data of the data acquisition unit 2 based on the cameras (imaging unit, second camera) that image the linear mark MK and the images captured by the second camera. It includes an information processing circuit (information processing circuit for direction detection) such as a microcomputer that obtains a direction (imaging direction of the first camera). The second camera is, for example, a digital camera similar to the first camera 2. The direction detection information processing circuit detects a linear mark MK from a mark image acquired by the second camera, and obtains a data acquisition direction based on the detected linear mark MK.

More specifically, the direction detection information processing circuit extracts the linear mark MK from the mark image. For example, the direction detection information processing circuit detects a linear region having high brightness as a linear mark MK by binarizing the mark image with a predetermined threshold value. The information processing circuit for direction detection further detects edges on both sides in a linear region having high brightness by detecting edges from the binarized mark image by an edge filter, and each of the detected edges ( The center line of each side) may be detected as a linear mark MK. The information processing circuit for direction detection may further obtain two straight lines for each of the detected edges by Hough transform of a straight line, and detect the center line of each of the obtained straight lines as a linear mark MK. Then, the direction detection information processing circuit obtains the data acquisition direction from the extracted linear mark MK using the orientation correspondence data stored in advance. The orientation correspondence data is data representing the correspondence between the direction of the image acquired by the second camera and the orientation of the aviation unit 7 (data acquisition direction, in this example, the first imaging direction of the first camera 2). Yes, for example, as shown in FIG. 3A, the lateral direction (horizontal direction, lateral direction of the area image sensor) HL of the image is defined as the orientation of the aviation section 7, and the lateral direction HL of the image and the orientation of the aviation section 7 are defined. The associated data, etc. More specifically, the direction detection information processing circuit obtains the direction of the aviation unit 7 as the data acquisition direction by obtaining the lateral angle of the image (mark image) with respect to the extracted linear mark MK. For example, as shown in FIG. 3B, when the angle of the lateral HL of the image (mark image) with respect to the extracted linear mark MK is α °, the aviation unit 7 (data acquisition unit 2) is a cylindrical structure. It is oriented in the direction of α ° with respect to the linear mark MK on the bottom surface of the CB. That is, the direction of the aviation unit 7 is the direction of α ° with reference to the linear mark MK on the bottom surface of the cylindrical structure CB. The direction detection information processing circuit outputs the obtained direction of the aviation unit 7 (data acquisition direction of the data acquisition unit 2) to the control processing unit 8.

The first position measuring unit 4 is connected to the control processing unit 8, and according to the control of the control processing unit 8, the position of the aviation unit 7 inside the cylindrical structure (the position of the data acquisition unit 2 (in this example, the first camera 2). Position)) is a device for measuring. In the present embodiment, the position of the aviation unit 7 obtained by the first position measuring unit 4 is a position on an orthogonal plane (horizontal plane in the present embodiment) orthogonal to the extension direction of the cylindrical structure CB, and is a position of the cylindrical structure CB. Is circular on the orthogonal plane, so the distance (horizontal distance) from the aviation section 7 to the inner wall surface of the cylindrical structure CB is the measurement direction along the radial direction of the cylindrical structure CB, and the cylindrical structure The position of the aviation unit 7 can be obtained by measuring in a plurality of the measurement directions different from each other in the circumferential direction of the CB. Therefore, the first position measuring unit 4 is configured to include a distance measuring device for measuring the distance from the inner wall surface of the cylindrical structure CB to the aviation unit 7, which is configured to be measurable in the plurality of measuring directions. .. More specifically, the first position measuring unit 4 measures a plurality of the distances (horizontal distances) in one round at predetermined sampling intervals while rotating the measuring direction along the radial direction in the circumferential direction. For example, it is configured to include a distance measuring meter that obtains a distance by a so-called TOF (Time of Flight) method by transmitting and receiving a measurement pulse wave such as light or ultrasonic waves such as LiDAR (Light Direction and Ringing). The first position measuring unit 4 is configured to rotate, for example, the distance measuring meter itself. Alternatively, for example, the first position measurement unit 4 is configured to rotate the measurement pulse wave with, for example, a polygon mirror at the time of the transmission / reception. The first position measuring unit 4 outputs each of the distances measured in the plurality of measuring directions to the control processing unit 8.

The second position measuring unit 5 is a device that is connected to the control processing unit 8 and measures the position of the aviation unit 7 inside the cylindrical structure under the control of the control processing unit 8 in the same manner as the first position measuring unit 4. be. The second position measuring unit 5 backs up the first position measuring unit 4 when the distance measurement is unsuccessful in the first position measuring unit 4, and fulfills a so-called fail-safe function. For example, when the cylindrical structure CB is branched, a through hole is formed in the inner wall surface, or the like, the TOF type distance measuring meter may not be able to measure the distance. Therefore, the second position measuring unit 5 is a device that measures the distance from the aviation unit 7 to the inner wall surface of the cylindrical structure CB by a distance measuring method different from the distance measuring method of the first position measuring unit 4. .. More specifically, the second position measuring unit 5 measures the distance in the same measuring direction as the first position measuring unit 4 while rotating the measuring direction along the radial direction in the circumferential direction, for example, stereo. It is equipped with a rangefinder that calculates the distance using a camera method. In the stereo camera method, parallax is obtained based on each pair of left and right images captured by a pair of left and right stereo cameras arranged apart by the baseline length so that the optical axes are parallel to each other. The distance is obtained based on the principle of so-called triangulation based on parallax. The second position measurement unit 5 outputs the distance measured in the same measurement direction as the first position measurement unit 4 to the control processing unit 8.

The altitude measurement unit 6 is connected to the control processing unit 8, and according to the control of the control processing unit 8, the altitude (height) of the aviation unit 7 (the altitude of the data acquisition unit 2 (in this example, the altitude of the first camera 2)). It is a device to measure. The altitude measuring unit 6 outputs the measured altitude to the control processing unit 8. The altitude measuring unit 6 includes, for example, a barometer, a distance measuring meter for measuring the distance from the bottom surface of the cylindrical structure CB, and the like.

The IF unit 10 is a circuit that is connected to the control processing unit 8 and inputs / outputs data to / from an external device according to the control of the control processing unit 8. The data is, for example, internal data of a structure, and the internal data of the structure is internal data acquired by the data acquisition unit 2 stored in the storage unit 9 as described later (in this example, an image of the internal structure of the structure). ), The data acquisition direction of the data acquisition unit 2 detected by the direction detection unit 3 when the internal data was acquired, and the altitude of the data acquisition unit 2 measured by the altitude measurement unit 6 when the internal data was acquired. include. The IF unit 10 includes, for example, an interface circuit using the Bluetooth (registered trademark) standard, an interface circuit for performing infrared communication such as the IrDA (Infrared Data Association) standard, or an interface circuit using the USB (Universal Social Bus) standard. Is configured with.

The communication unit 11 is a device that is connected to the control processing unit 8 and wirelessly communicates with an external device according to the control of the control processing unit 8. In the present embodiment, the communication unit 11 communicates with the emergency operation unit 12. I do. The communication unit 11 is configured to include, for example, an interface circuit using the Bluetooth (registered trademark) standard, an interface circuit for performing infrared communication such as the IrDA standard, and may also be used as the IF unit 10.

The aviation unit 7 is a device that autonomously flies in the atmosphere. In the present embodiment, since it flies inside the cylindrical structure CB, it is configured to include a so-called unmanned aerial vehicle (drone) such as a helicopter or a multicopter. More specifically, the aviation unit 7 is configured to include a main body, four arms extending in all directions from the main body, and a multicopter including four rotors provided at each tip of each arm. NS. The aviation unit 7 includes a data acquisition unit 2, a direction detection unit 3, a first and second position measurement unit 4, 5, an altitude measurement unit 6, a control processing unit 8, a storage unit 9, an IF unit 10, and a communication unit 11. And have it. The data acquisition unit 2 is arranged on the main body of the aviation unit 7 so that the data acquisition direction (the first imaging direction of the first camera 2) faces the outward direction along the horizontal direction, and similarly, the first and the first Each of the second position measuring units 4 and 5 is arranged on the main body of the aviation unit 7 so that the measuring directions thereof face outward along the horizontal direction. The direction detection unit 3 has a vertical imaging direction (second imaging direction) of the second camera so that the bottom surface of the cylindrical structure CB can be imaged in the example shown in FIG. 2 so that the linear mark MK can be imaged. It is arranged on the main body of the aviation unit 7 so as to face downward along the direction. It is preferable that the second imaging direction of the second camera coincides with a perpendicular line (a line along the vertical direction) passing through the central position of the aviation unit 7. The altitude measuring unit 6 is measurable in the main body of the aviation unit 7, the control processing unit 8 and the storage unit 9 are housed in the main body of the aviation unit 7, and the IF unit 10 can input and output the aviation unit. It is housed in the main body of the aviation unit 7, and the communication unit 11 is communicably housed in the main body of the aviation unit 7.

The aviation unit 7 autonomously performs attitude control and the like based on the measurement results of the various sensors by using various sensors such as an IMU (Inertial Measurement Unit) necessary for autonomous flight and a known conventional method. It is equipped with a microcomputer that specifically controls flight. During the autonomous flight of the aviation unit 7, in the present embodiment, the control processing unit 8 instructs the position, altitude, and direction in the horizontal plane, and the aviation unit 7 flies according to the instruction, so that the aviation unit 7 flies. 7 is controlled. The microcomputer of the aviation unit 7 may also be used as the control processing unit 8 and the storage unit 9.

The storage unit 9 is a circuit connected to the control processing unit 8 and stores various predetermined programs and various predetermined data under the control of the control processing unit 8. The various predetermined programs include, for example, a control processing program, and the control processing program includes control for controlling each part 2 to 7 and 9 to 11 of the data acquisition device S according to the function of each part. The cylindrical structure in the orthogonal plane (horizontal plane in the present embodiment) orthogonal to the extension direction of the cylindrical structure based on the program and the positions of the aviation unit 7 measured by the first and second position measuring units 4 and 5. A position control program that controls the aviation unit 7 so as to be located at the central position, an emergency processing program that performs emergency processing such as collision avoidance, and the like are included. The various predetermined data include, for example, data necessary for executing each of these programs, data inside the structure, and the like. Such a storage unit 9 includes, for example, a ROM (Read Only Memory) which is a non-volatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) which is a rewritable non-volatile storage element, and the like. The storage unit 9 includes a RAM (Random Access Memory) or the like that serves as a working memory of the so-called control processing unit 8 that stores data or the like generated during the execution of the predetermined program.

The direction detection information processing circuit of the direction detection unit 3 may also be used as the control processing unit 8 and the storage unit 9, and the storage unit 9 uses the orientation correspondence data as 1 of the various predetermined data. You may memorize it as one.

The control processing unit 8 controls each unit 2 to 7 and 9 to 11 of the data acquisition device S according to the function of each unit, and the data acquisition unit 2 controls the position, altitude and orientation of the aviation unit 7 to form a cylinder. It is a circuit for acquiring the internal data of the structure. The control processing unit 8 includes, for example, a CPU (Central Processing Unit) and peripheral circuits thereof. The control processing unit 8 is functionally configured with the control unit 81, the position control unit 82, and the emergency processing unit 83 by executing the control processing program.

The control unit 81 controls each of the units 2 to 7 and 9 to 11 of the data acquisition device S according to the functions of the respective units, and controls the entire data acquisition device S. Then, in the present embodiment, when the position control unit 82 notifies the position control unit 82 of the data acquisition direction of the data acquisition unit 2, the altitude of the aviation unit 7, and the data acquisition instruction, the control unit 81 follows the data acquisition instruction. The acquisition unit 2 is made to acquire the internal data, the internal data is acquired from the data acquisition unit 2, and the data acquisition direction of the data acquisition unit 2 and the aviation unit 7 notified from the position control unit 82 are added to the acquired internal data. It is stored in the storage unit 9 as one of the internal data of the structure in association with each other.

The position control unit 82 is said to be on an orthogonal plane (horizontal plane in this embodiment) orthogonal to the extension direction of the cylindrical structure CB based on the positions of the aviation unit 7 obtained by the first and second position measurement units 4 and 5. The aviation unit 7 is controlled so as to be located at the center position of the cylindrical structure. More specifically, since the position control unit 82 is located at the center position on the orthogonal plane of the cylindrical structure CB, the position control unit 82 instructs the aviation unit 7 to move by a predetermined movement amount, so that the first and first positions are controlled. 2 Based on the position of the aviation unit 7 obtained by the position measurement units 4 and 5, the aviation unit 7 is controlled so as to be located at the center position on the orthogonal plane of the cylindrical structure CB.

More specifically, since the second position measuring unit 5 is a backup of the first position measuring unit 4 and the cylindrical structure CB has a circular shape on the orthogonal plane, the position control units 82 have a plurality of different positions in the circumferential direction. Based on each distance measured by the first position measuring unit 4 in the measurement direction, the predetermined movement amount is obtained so that the measured distances are equal to each other, and the movement is performed by the determined predetermined movement amount. The aviation unit 7 is controlled so as to. For example, the position control unit 82 described above so that the three measured distances are equal to each other based on the three distances measured by the first position measurement unit 4 at intervals of 120 degrees in the circumferential direction. A predetermined movement amount is obtained, and the aviation unit 7 is controlled so as to move by the determined movement amount. Then, when the aviation unit 7 is controlled based on each distance measured by the first position measuring unit 4, for example, the measurement cannot be performed by the first position measuring unit 4 due to non-reception of the measurement pulse wave or the like. In the case of, it is determined that the first position measurement unit 4 is malfunctioning, and the position control unit 82 uses the measurement result of the second position measurement unit 5 instead of the measurement result of the first position measurement unit 4. The aviation unit 7 is controlled as described above. Alternatively, for example, since the cylindrical structure CB has a circular shape on the orthogonal plane and the aviation unit 7 is controlled at its central position, the difference between the previous measurement result and the current measurement result is predicted to be small. Therefore, when the difference between the previous measurement result and the current measurement result exceeds a preset threshold value, it is determined that the first position measurement unit 4 is malfunctioning, and the position control unit 82 measures the first position. Instead of the measurement result of the unit 4, the measurement result of the second position measurement unit 5 is used to control the aviation unit 7 as described above.

In the present embodiment, the position control unit 82 further directs the data acquisition direction to a predetermined direction based on the data acquisition direction (direction of the aviation unit 7) of the data acquisition unit 2 obtained by the direction detection unit 3. In addition, it controls the aviation unit 7. For example, the position control unit 82 rotates while hovering the aviation unit 7 so as to be located at the center position of the cylindrical structure CB so as to acquire internal data over the entire circumference of the inner wall surface of the cylindrical structure CB. The aviation unit 7 is controlled so that the data acquisition direction is sequentially directed in each direction by rotating the data by a predetermined angle in the direction. The predetermined angle depends on, for example, the data acquisition range of the data acquisition unit 2, such as several degrees, 10 degrees, or 20 degrees, and the circumferential length (circumferential length) of the inner wall surface of the cylindrical structure CB. Is set appropriately.

Further, in the present embodiment, the position control unit 82 controls the aviation unit 7 so that the aviation unit 7 has a predetermined altitude based on the altitude obtained by the altitude measurement unit 6. More specifically, the position control unit 82 instructs the aviation unit 7 to rise by a predetermined height in order to reach a predetermined altitude, so that the position control unit 82 is obtained by the altitude measurement unit 6. The aviation unit 7 is controlled so that the aviation unit 7 has a predetermined altitude based on the altitude.

The emergency processing unit 83 performs emergency processing to avoid a collision between the aviation unit 7 and the inner surface of the cylindrical structure. More specifically, in the present embodiment, for example, in the emergency processing unit 83, the horizontal distance from the aviation unit 7 measured by the first and second position measuring units 4 and 5 to the inner wall surface of the cylindrical structure CB is predetermined. When the value becomes equal to or less than the set predetermined threshold value, the emergency processing unit 83 transmits a signal (warning signal) for warning the operator of the collision to the emergency operation unit 12 via the communication unit 11. In response to this, when a signal (avoidance instruction signal) for instructing collision avoidance is received from the emergency operation unit 12 via the communication unit 11, the emergency processing unit 83 starts from the inner surface of the cylindrical structure CB in advance. In order to separate by a set distance, the aviation unit 7 is instructed to move by a predetermined amount of movement in preference to the instruction of the position control unit 82.

The emergency operation unit 12 is a device that instructs the aviation unit 7 to avoid a collision. More specifically, the emergency operation unit 12 outputs a collision warning when the communication interface circuit that communicates with the communication unit 11 and the warning signal are received from the data acquisition device S via the communication interface circuit. For example, an output unit such as a speaker, an indicator light, and a display device, an input unit such as a push button switch that receives an instruction for transmitting an avoidance instruction signal, and the communication interface circuit, the output unit, and the input unit, respectively. It is configured to include, for example, a control circuit such as a microcomputer that controls according to each function.

Next, the operation of this embodiment will be described. FIG. 4 is a flowchart showing the operation of the data acquisition device regarding the acquisition of internal data of the cylindrical structure. FIG. 5 is a diagram for explaining how the data acquisition device acquires the internal data of the cylindrical structure. FIG. 6 is a diagram for explaining control of the data acquisition direction in the data acquisition device. FIG. 6A shows a case where the data acquisition direction (first imaging direction) is 0 °, FIG. 6B shows a case where the data acquisition direction is 90 °, FIG. 6C shows a case where the data acquisition direction is 180 °, and FIG. 6D. Indicates a case where the data acquisition direction is 270 °.

When the power of the data acquisition device S having such a configuration is turned on, the necessary initialization of each part is executed and the operation of the data acquisition device S is started. In the control processing unit 8, the control processing unit 81 is functionally configured with the control unit 81, the position control unit 82, and the emergency processing unit 83 by executing the control processing program.

Regarding the acquisition of the internal data of the cylindrical structure CB, the data acquisition device S operates as follows, and during this operation, the emergency processing unit 83 is inside the own machine S and the cylindrical structure CB as described above. Take emergency measures to avoid collision with the wall surface. The internal data acquisition interval by the data acquisition unit 2 in the circumferential direction is appropriately set as described above, but here, for the sake of simplification of the explanation, it is set to 90 degrees. The same can be explained for other angles.

Regarding the acquisition of the internal data of the cylindrical structure CB, in FIG. 4, first, the linear mark MK is formed (S1). More specifically, the mark forming portion 1 is operated, and as shown in FIG. 5, the mark forming portion 1 forms a linear mark MK on the bottom surface of the cylindrical structure CB. For example, the LED tape light is laid on the bottom surface of the cylindrical structure CB so as to extend in a straight line.

Next, a predetermined initial setting is executed (S2). For example, the aviation section 7 of the cylindrical structure CB has the aviation section 7 so that the center position of the aviation section 7 and the center position CP of the bottom surface of the cylindrical structure CB coincide with each other so that the center position of the aviation section 7 can be easily controlled. Placed on the bottom.

Next, the aviation unit 7 moves in the height direction by a predetermined distance h (S3). More specifically, the position control unit 82 of the control processing unit 8 controls the aviation unit 7 so that the aviation unit 7 has a predetermined altitude based on the altitude obtained by the altitude measurement unit 6. For example, in the first (first) ascent, the aviation unit 7 is located in the orthogonal plane of the height position HP1 at the altitude h. Further, for example, in the second ascent, the aviation unit 7 is located in the orthogonal plane of the height position HP2 at an altitude of 2h (= h + h). The predetermined distance h is, for example, 0.5 m, 1 m, 1.5 m, or the like, and is appropriately set according to the data acquisition range of the data acquisition unit 2. The predetermined distance h is preferably set so that the internal data at the adjacent height positions are partially overlapped at each end. In such a setting, when the aviation unit 7 moves in the height direction by the predetermined distance h in the first (first) ascent, the internal data of the inner surface from the bottom surface to the distance h / 2 is acquired by the data acquisition unit 2. Therefore, the aviation unit 7 may be controlled so as to move by half (h / 2) of the predetermined distance h in the first ascent.

Next, the aviation section 7 measures the position of the aviation section 7 and moves so that the position of the aviation section 7 is located at the center position on the orthogonal plane of the cylindrical structure CB, and the direction of the aviation section 7 ( The data acquisition direction of the data acquisition unit 2) is detected, and the aviation unit 7 is rotated so as to face a predetermined direction (S4). More specifically, the position control unit 82 is positioned at the center position on the orthogonal plane of the cylindrical structure CB based on the positions of the aviation unit 7 obtained by the first and second position measurement units 4 and 5. The aviation unit 7 is controlled so as to move by a predetermined movement amount, the aviation unit 7 moves according to this control, and the position control unit 82 moves the data acquisition direction (aviation) of the data acquisition unit 2 obtained by the direction detection unit 3. Based on the orientation of the unit 7), the aviation unit 7 is controlled so that the data acquisition direction faces a predetermined direction, and the aviation unit 7 rotates according to this control.

For example, in the orthogonal plane at the height position HP at the altitude h, in the first control, the aviation unit 7 is controlled so that the position of the aviation unit 7 is located at the center position, as shown in FIG. 6A. , In order to adjust the direction of the aviation unit 7 (data acquisition direction of the data acquisition unit 2) to 0 °, the direction is controlled so as to be along the extension direction of the linear mark MK. In the second control, the aviation unit 7 is controlled so that the position is located at the center position, and by turning counterclockwise (or by turning clockwise), the direction is as shown in FIG. 6B. In order to adjust to 90 °, the orientation is controlled to be orthogonal to the extension direction of the linear mark MK. In the third control, the aviation unit 7 is controlled so that the position is located at the center position, and by turning counterclockwise (or by turning clockwise), the direction is as shown in FIG. 6C. In order to adjust to 180 °, the orientation is controlled to be along the extension direction of the linear mark MK. In the fourth control, the aviation unit 7 is controlled so that the position is located at the center position, and by turning counterclockwise (or by turning clockwise), the direction is as shown in FIG. 6D. In order to adjust to 270 °, the orientation is controlled to be orthogonal to the extension direction of the linear mark MK. By turning in one direction in this way, the data acquisition direction (direction of the aviation unit 7) of the data acquisition unit 2 can be set with one linear linear mark MK.

Next, the aviation unit 7 acquires internal data by the data acquisition unit 2 and stores it in the storage unit 9 (S5). More specifically, when the position control unit 82 controls the position and direction of the aviation unit 7 in the process S4, the position control unit 82 issues the data acquisition direction of the data acquisition unit 2, the altitude of the aviation unit 7, and the data acquisition instruction of the control unit 81. Notify to. Upon receiving this notification, the control unit 81 causes the data acquisition unit 2 to acquire the internal data, acquires the internal data from the data acquisition unit 2, and applies the acquired internal data to the notified data of the data acquisition unit 2. The acquisition direction and the altitude of the aviation unit 7 (the altitude of the data acquisition unit 2) are associated with each other and stored in the storage unit 9 as one of the internal data of the structure. For example, in the first (first) instruction, the internal data in the 0 ° direction at the height position HP1 at the altitude h is acquired, and the internal data, the data acquisition direction 0 °, and the altitude h are associated with each other to form a structure. It is stored in the storage unit 9 as one of the internal data. Further, for example, in the second instruction, the internal data in the 90 ° direction at the height position HP1 at the altitude h is acquired, and the internal data, the data acquisition direction 90 °, and the altitude h are associated with each other and the internal data of the structure. It is stored in the storage unit 9 as the other one. Further, for example, in the eighth instruction, the internal data in the 270 ° direction at the height position HP2 at the altitude of 2h is acquired, and the internal data, the data acquisition direction 270 °, and the altitude 2h are associated with each other and the internal data of the structure. It is stored in the storage unit 9 as the other one.

Next, the aviation unit 7 determines whether or not the internal data in each direction has been acquired by the control unit 81 (S6). As a result of this determination, if the internal data in each direction has not been acquired (No), the control unit 81 returns the process to the process S4. As a result, each process of process S4 to process S6 is sequentially executed, internal data in the next data acquisition direction is acquired in the orthogonal plane at the height position HP of the altitude h, and the internal data of the structure is stored. Will be done. On the other hand, when the internal data in each direction is acquired as a result of the determination (Yes), the position control unit 82 has the direction of 0 ° by turning counterclockwise (or by turning clockwise). The aviation unit 7 is controlled so as to be, and then the process S7 is executed.

In this process S7, the aviation unit 7 determines whether or not the control unit 81 has reached a preset predetermined altitude, for example, the altitude of the highest imaging position in the cylindrical structure CB. As a result of this determination, if the altitude has not reached the predetermined altitude (No), the control unit 81 returns the process to the process S3. As a result, each process of process S3 to process S7 is executed in sequence, and each internal data in each direction is acquired in the orthogonal plane at the height position HP at the next altitude h, and the internal data of each structure is obtained. Be remembered. On the other hand, as a result of the determination, when the altitude has reached the predetermined altitude (Yes), the control unit 81 then executes the process S8.

In this process S8, the aviation unit 7 descends to the bottom surface of the cylindrical structure CB by the control unit 81, lands on the bottom surface, and ends this process.

When the aviation unit 7 lands, the operator (user) takes out and acquires the internal data of the structure stored in the storage unit 9 via the IF unit 10. By referring to the internal data of the acquired structure internal data (structure internal image in the present embodiment), the operator can inspect the inner surface of the cylindrical structure CB. When an abnormality is found in the internal image of the structure, the operator can obtain the position of the abnormality by referring to the data acquisition direction and altitude associated with the internal image of the structure in which the abnormality is found. The abnormality is, for example, a crack, a defect of an inner surface covering member (lining material), a stain, or the like.

As described above, since the linear mark MK is formed in the data acquisition device S and the data acquisition method implemented in the data acquisition device S in the present embodiment, the data acquisition direction is obtained using the formed linear mark as a mark. be able to. Therefore, the data acquisition device S and the data acquisition method can acquire the internal data whose data acquisition direction is known when the internal data of the cylindrical structure CB is acquired.

Since the data acquisition device S and the data acquisition method include the aviation unit 7, the inside of the cylindrical structure CB at a plurality of locations (positions) without using a relatively large-scale temporary construction such as a scaffold or a gondola. You can get the data.

Since the data acquisition device S and the data acquisition method control the aviation unit 7 so as to be located at the center position of the cylindrical structure CB on the orthogonal plane based on the measured position of the aviation unit 7, the expected accuracy. You can get the internal data with.

Since the data acquisition device S and the data acquisition method control the aviation unit 7 so that the data acquisition direction faces a predetermined direction, the internal data of the cylindrical structure CB can be acquired in the predetermined direction.

In the above-described embodiment, the linear mark MK is formed on a surface (bottom surface in the above example) orthogonal to the extension direction of the cylindrical structure CB, but the linear mark MK is an extension of the cylindrical structure CB. It may be formed so as to extend in the extension direction on a surface along the direction (a side surface in the above-mentioned cylindrical structure CB). In such a case, the direction detection unit 3 is arranged so that the second imaging direction of the second camera faces the horizontal direction. Since the second imaging direction of the second camera is the normal direction of the image captured by the second camera (the normal direction of the area image sensor), the orientation correspondence data is captured by the second camera. This is data in which the vertical direction passing through the center position in the image is associated with the direction of the aviation unit 7, and the direction detection 3 is the horizontal direction between the extracted linear mark MK and the vertical direction passing through the center position in the image. The data acquisition direction can be obtained from the distance in the direction. In the detection and control of the direction of the process S4, in the first control, the position control unit 82 controls the aviation unit 7 so that the extracted linear mark MK and the vertical direction passing through the center position in the image coincide with each other. do. As a result, the second imaging direction (direction of the aviation unit 7) of the second camera becomes 0 °. In each of the second to fourth controls, the second imaging direction (direction of the aviation unit 7) of the second camera is performed by turning counterclockwise by 90 ° (or by turning clockwise) using a gyro sensor or the like. , The data acquisition direction of the data acquisition unit 2) can be set to 90 °, 180 °, and 270 °. Alternatively, by forming a plurality of linear marks MK (for example, 4 or 6) having different colors at predetermined intervals (for example, 90 degrees or 60 degrees) in the circumferential direction, the data acquisition direction of the data acquisition unit 2 May be required.

In order to express the present invention, the present invention has been appropriately and sufficiently described through the embodiments with reference to the drawings above, but those skilled in the art can easily change and / or improve the above embodiments. It should be recognized that it can be done. Therefore, unless the modified or improved form implemented by a person skilled in the art is at a level that deviates from the scope of rights of the claims stated in the claims, the modified form or the improved form is the scope of rights of the claims. It is interpreted as being comprehensively included in.

S Data acquisition device 1 Mark formation unit 2 Data acquisition unit 3 Direction detection unit 4 First position measurement unit 5 Second position measurement unit 6 Altitude measurement unit 7 Aviation unit 8 Control processing unit 81 Control unit 82 Position control unit

Claims (5)

A mark forming portion that forms a linear mark extending in one direction on the inner surface of a cylindrical structure that is a cylindrical member,
A data acquisition unit that acquires predetermined data representing the internal state of the cylindrical structure, and
A direction detecting unit for obtaining a data acquisition direction of the data acquisition unit inside the cylindrical structure based on the linear mark is provided.
Data acquisition device. It has the data acquisition unit and the direction detection unit, and further includes an aviation unit to fly.
The data acquisition device according to claim 1. A position measuring unit that measures the position of the aviation unit inside the cylindrical structure, and a position measuring unit.
Position control that controls the aviation unit so that it is located at the center position of the cylindrical structure on an orthogonal plane orthogonal to the extension direction of the cylindrical structure based on the position of the aviation unit measured by the position measurement unit. With a department and more,
The aviation unit has the position measuring unit and the position control unit.
The data acquisition device according to claim 1 or 2. The position control unit further controls the aviation unit so that the data acquisition unit faces a predetermined direction based on the data acquisition direction of the data acquisition unit obtained by the direction detection unit.
The data acquisition device according to claim 3. A mark forming step of forming a linear mark extending in one direction on the inner surface of a cylindrical structure which is a cylindrical member,
A data acquisition process for acquiring predetermined data representing the internal state of the cylindrical structure, and
A direction detection step for obtaining a data acquisition direction in the data acquisition step inside the cylindrical structure based on the linear mark is provided.
Data acquisition method.

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