JP2023179623A - Moving body, patrol inspection system, and patrol inspection method - Google Patents

Abstract

To provide a moving body capable of storing an object of inspection and an inspection route at a time of patrol inspection of a plant facility using a moving body without the necessity of preliminary preparation of drawing data and an operator having a special technique and qualification, a patrol inspection system, and a patrol inspection method.SOLUTION: A moving body that accompanies a worker who patrols, and includes a route memory unit which stores a patrol route and an apparatus memory unit which stores an object-of-inspection apparatus, a patrol inspection system including the moving body, and a patrol inspection method are provided in order to solve the problem. Accordingly, information necessary for patrol inspection can be stored in the moving body without the necessity of preliminary preparation of drawing data concerning a place of inspection and an operator who has a sophisticated technique. Moreover, since it is easy to modify the patrol route to be stored in the moving body, even when the object of inspection is changed to another, a load on the worker will not be increased but the situation can be coped with immediately.SELECTED DRAWING: Figure 4

Description

The present invention relates to a mobile object, a patrol inspection system, and a patrol inspection method for carrying out a patrol inspection of plant equipment.

Generally, in a plant, workers conduct patrol inspections in order to maintain and manage installed facilities and equipment. However, a plant is equipped with a large number of various types of facilities and equipment within a large site. For this reason, it requires a great deal of effort for workers to thoroughly check each piece of equipment and equipment. Additionally, as equipment and equipment within plants become multifunctional, the number of items to be checked increases, and the workload associated with inspections increases. Considering the labor shortage and human costs due to the recent population decline, it is preferable to reduce the number of patrol inspections by workers.

BACKGROUND ART In recent years, a technology has been attracting attention in which an unmanned mobile body having an inspection function is circulated within plant equipment to perform patrol inspections in place of workers.

For example, Patent Document 1 describes a self-propelled sensor in which a sensor for detecting process values in plant equipment or a predetermined area is provided with a drive means for moving to a desired position. This self-propelled sensor can move on laid rails, acquire its own position information using positioning devices such as GPS, and can move to its destination according to movement control commands from a control center. It is stated that the

Japanese Patent Application Publication No. 2003-130695

The self-propelled sensor described in Patent Document 1 has a problem in that it is costly because it is necessary to install rails in advance in order to control the movement position. In addition, since it uses the own location information obtained by positioning equipment such as GPS (satellite positioning system), if the equipment or equipment to be inspected is installed inside a building or underground where radio waves from satellites are difficult to reach. , there is a problem that it is difficult to use.

When location information from a satellite positioning system such as GPS cannot be used, in order to carry out patrol inspections using an unmanned mobile vehicle, it is necessary to have the unmanned mobile vehicle memorize the inspection target and inspection route in advance through manual operation by an operator. It is necessary to prepare a map (drawing data) of the inspection location in advance.
In particular, when using unmanned flying vehicles (drones, etc.) as unmanned vehicles, it is necessary to control the unmanned flying vehicle so that it does not come into contact with equipment and equipment in the plant, so advanced operating techniques and operation of the unmanned flying vehicle are necessary. A qualified operator is required. Furthermore, three-dimensional drawing data of the inspection location is required, but creating the three-dimensional drawing data requires a lot of information processing and is costly. Furthermore, each time there is a change in the inspection target, such as when equipment or equipment in the plant is removed, updated, or expanded, new drawing data is required, and manual operations by operators are required, increasing the workload associated with inspections. The problem is that it increases.

An object of the present invention is to make it possible to memorize inspection targets and inspection routes without requiring advance preparation of drawing data or operators with special skills and qualifications in performing patrol inspections of plant equipment using mobile objects. An object of the present invention is to provide a mobile object, a patrol inspection system, and a patrol inspection method.

As a result of intensive study on the above-mentioned problem, the inventor of the present invention discovered that, in the patrol inspection of plant equipment using a mobile object, it is possible to provide a storage unit that stores the patrol route and inspection targets by accompanying the worker in the patrol inspection of plant equipment using a mobile object. The present invention was completed by discovering that it is possible to store information necessary for patrol inspections in a mobile object without requiring advance preparation or highly skilled operators.
That is, the present invention provides the following moving object, patrol inspection system, and patrol inspection method.

A mobile object of the present invention for solving the above problems is a mobile object that conducts patrol inspections of plant equipment, and which accompanies workers' patrols and includes a route storage unit that stores a patrol route and a storage unit that stores equipment to be inspected. The device is characterized by comprising a device storage section for storing information.
According to this mobile unit, the mobile unit memorizes the patrol route by accompanying the worker on his/her patrols, so there is no need for prior preparation of drawing data related to inspection locations or operators with advanced skills, and the mobile unit can be used for patrol inspections. It is possible to store necessary information in the mobile body. In addition, since it is easy to change the patrol route stored in the mobile unit, it increases the workload of workers even when there is a change in the inspection target, such as the removal, renewal, or addition of equipment or equipment in the plant. This makes it possible to respond quickly without any problems.

Furthermore, an embodiment of the mobile object of the present invention is characterized in that the route storage section also stores the shape of the surrounding environment.
According to this feature, a mobile object can memorize the shape of the surrounding environment (for example, the surface shape and location of structures (equipment, equipment, etc.) around the patrol route) as well as the route it is traveling on. In addition to increasing the recognition accuracy regarding the position of the body itself, it is also easier to obtain information regarding changes in the inspection target. Thereby, it becomes possible to improve the movement accuracy of the moving body related to the patrol inspection.

The patrol inspection system of the present invention for solving the above problems is a patrol inspection system for plant equipment, which includes a mobile body that performs a patrol inspection of plant equipment, and a route that accompanies a worker's patrol and stores the patrol route. The present invention is characterized by comprising a storage unit and an equipment storage unit that stores equipment to be inspected.
According to this patrol inspection system, by using a mobile body that performs patrol inspections, it is possible to reduce the workload of patrol inspections by workers, and the route storage unit and equipment storage unit are used to accompany workers on their patrols. By doing so, the patrol route can be memorized, making it possible to obtain the information necessary for patrol inspections without the need for prior preparation of drawing data related to inspection locations or the need for operators with advanced skills. In addition, since it is easy to change the patrol route stored in the mobile unit, it increases the workload of workers even when there is a change in the inspection target, such as the removal, renewal, or addition of equipment or equipment in the plant. This makes it possible to respond quickly without any problems.

A patrol inspection method of the present invention for solving the above problems is a patrol inspection method for plant equipment, in which a mobile body that performs a patrol inspection of plant equipment is accompanied by a worker on a patrol, and a route is memorized. The present invention is characterized by comprising a storage step and an equipment storage step for storing equipment to be inspected in the movable body.
According to this patrol inspection method, the mobile unit memorizes the patrol route by accompanying the worker on the patrol, so there is no need to prepare drawing data related to the inspection location in advance or an operator with advanced skills is required. Information necessary for inspection can be stored in the mobile object. In addition, since it is easy to change the patrol route stored in the mobile unit, it increases the workload of workers even when there is a change in the inspection target, such as the removal, renewal, or addition of equipment or equipment in the plant. This makes it possible to respond quickly without any problems.

According to the present invention, it is possible to memorize inspection targets and inspection routes in a patrol inspection of plant equipment using a mobile object without requiring advance preparation of drawing data or an operator with special skills and qualifications. A mobile object, a patrol inspection system, and a patrol inspection method can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic explanatory drawing which shows the plant equipment to which the moving body of the 1st embodiment of this invention is applied. FIG. 1 is a schematic explanatory diagram showing the structure of a moving body according to a first embodiment of the present invention. FIG. 3 is a process explanatory diagram related to the patrol inspection method according to the first embodiment of the present invention. It is another process explanatory diagram concerning the patrol inspection method of the 1st embodiment of this invention. FIG. 2 is a schematic explanatory diagram showing the structure of a moving body in a second embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Note that the mobile object and the patrol inspection system described in the embodiments are merely exemplified to explain the mobile object and the patrol inspection system according to the present invention, and the present invention is not limited thereto. Further, the patrol inspection method described in the embodiments is merely exemplified to explain the patrol inspection method using the mobile object and the patrol inspection system according to the present invention, and is not limited thereto.

The mobile object, patrol inspection system, and patrol inspection method of the present invention relate to patrol inspection in the maintenance and management of plant equipment. Although the plant equipment to be inspected is not particularly limited, plant equipment whose location information is difficult to use using a satellite positioning system is suitable. For example, plant facilities in which facilities and equipment are arranged indoors or underground are particularly suitable.
Note that the plant equipment described in the embodiments is an example for explaining the present invention, and is not limited thereto.

[First embodiment]
(Mobile object and patrol inspection system that performs patrol inspection of plant equipment)
FIG. 1 is a schematic explanatory diagram showing plant equipment to which a moving body according to a first embodiment of the present invention is applied. Moreover, FIG. 2 is a schematic explanatory diagram showing the structure of a moving body in the first embodiment of the present invention.
A moving body 1a according to a first embodiment of the present invention is used to perform a patrol inspection inside a plant 100, as shown in FIG. Further, as shown in FIG. 2, the mobile body 1a in this embodiment has a main body 2 including a transportation means 3, a route storage section 4, an equipment storage section 5, an inspection item information acquisition section 6, and an inspection item information transmission/reception section 7. It is equipped with In addition, in FIG. 2, the arrow shown by the dashed-dotted line shows that it is connected so that control or input is possible.

The plant 100 in this embodiment includes a plurality of devices 101. Note that the types of plant 100 and equipment 101 are not particularly limited. Further, although three devices 101 are shown in FIG. 1, the number of devices is not particularly limited.

The main body 2 has a casing 20 and accommodates a structure necessary for patrol inspection.
The main body 2 may have any structure as long as it integrates the structure necessary for patrol inspections and facilitates movement, and the form of the casing 20 is not particularly limited. For example, the shape may be a box-like structure such as a cube or a rectangular parallelepiped, or a sphere. Further, for example, the material is not particularly limited, but it is possible to use a material that is lightweight and strong. Moreover, since it is moved within plant equipment, it is more preferable to use a material that has chemical resistance and water resistance. Further, the size of the casing 20 is not particularly limited, but in plant equipment, there are places where pipes and the like are gathered and the space is narrow. Therefore, it is preferable to downsize the housing 20 so that the entire mobile body 1a can be downsized. This makes it possible to reduce the range in which the mobile body 1a cannot move during a patrol inspection.

The moving means 3 is for moving the main body 2, and includes a drive section 31 and a drive control section 32.
The moving means 3 is not particularly limited in its specific structure as long as it can move the main body 2 stably. Note that the main body 2 may be moved on the ground or in the air.

As an example of the moving means 3, when the main body 2 is a ground vehicle that runs on the ground, the drive unit 31 includes one or more wheels and a motor that rotationally drives the wheels, and the drive control unit 32 includes a motor. The main body 2 may be equipped with a control device such that the main body 2 can move forward and backward and left and right. In addition, in order to perform stable running, it is preferable to have a structure in which four wheels are provided. Further, a shock absorbing structure may be provided to suppress vibrations caused by running.
In addition, as another example of the moving means 3, when the main body 2 is a flying object that moves in the air, the drive unit 31 includes a rotary blade and a motor that rotationally drives the rotary blade, and the drive control unit 32 includes a rotary blade and a motor that rotationally drives the rotary blade. , a motor control device is provided, and the main body 2 is movable back and forth, left and right, and up and down.

The route storage unit 4 accompanies the worker A's tour and stores the route.
The route storage unit 4 includes a worker recognition unit 41 that recognizes worker A who patrols, a worker tracking unit 42 that follows worker A, and a process storage unit 43 that stores the process in which worker A was followed. It is equipped with Further, the route storage section 4 is controllably connected to the drive control section 32 in the moving means 3.

The worker recognition unit 41 allows the moving body 1a to recognize the worker A who indicates the tour route to be stored in the moving body 1a. The worker recognition unit 41 may be anything that can identify the worker A, and its specific structure is not particularly limited.
For example, the worker recognition unit 41 includes one that records the appearance (rear view) of worker A, one that reads identification marks attached to the hat, jacket, etc. worn by worker A, and one that reads identification marks attached to the hat, jacket, etc. worn by worker A. Examples include those that receive communications from a short-range wireless communication unit provided in an information terminal.

The worker following unit 42 is for following the worker A, and controls the drive control unit 32 so that the drive unit 31 of the moving means 3 is driven in accordance with the movement of the worker A. .
The worker tracking unit 42 has means for measuring the distance L between the main body 2 and the worker A identified by the worker recognition unit 41, and tracks the worker A while keeping this distance L substantially constant. It has a means for controlling the drive control section 32 of the moving means 3 so as to do so. The means for measuring the distance L and the means for controlling the drive control section 32 are not particularly limited, and known techniques may be used.
Note that the positional relationship between the worker A and the moving section 1a when the worker A is followed by the worker following section 42 is not particularly limited. For example, the mobile body 1a may track behind the patrolling worker A, or the mobile body 1a may run parallel to the patrolling worker A.

The process storage unit 43 stores the process followed by the worker A by the worker tracking unit 42.
The process storage unit 43 has means for storing the process in which the worker following unit 42 controlled the drive control unit 32. For example, when following worker A, instructions related to movement forward and backward, left and right, and up and down that are input to the drive control unit 32 are recorded, and the speed and direction of the main body 2 are measured and recorded. Examples include things.
Further, the process stored in the process storage unit 43 can be input to the drive control unit 32 via the worker tracking unit 42. As a result, if the starting point of the patrol inspection is the same, it is possible to reproduce the patrol route taken when the mobile body 1a follows the worker A, and it becomes possible to carry out the patrol inspection by the mobile body 1a alone.

The equipment storage unit 5 stores equipment 101 to be inspected.
The device storage section 5 has means for storing the location of the device 101. The storage means is not particularly limited, but examples thereof include a method that is notified by the worker A, and a method that reads information transmitted by the device 101. For example, there are devices that memorize the location or timing at which worker A stopped while patrolling, or devices that memorize the location or timing at which a specific signal emitted by worker A is received by operating an information terminal carried by worker A. It will be done. Other examples include a device that transmits a specific signal from the main body of the device 101 and receives this signal, and a device that attaches an identification symbol to the device 101 and reads this identification symbol.
Further, at this time, information related to inspection items to be acquired by the inspection item information acquisition unit 6, which will be described later, may also be stored. This makes it possible to obtain information regarding appropriate inspection items for each device 101.

The inspection item information acquisition unit 6 is for acquiring information related to inspection items.
Information related to inspection items is not particularly limited. Examples include images (still images/videos), temperature, sounds (vibrations), and smells. The target for acquiring information related to such inspection items may be the device 101 itself or the vicinity of the device 101.
Other examples of information related to inspection items include values indicated by instruments provided in the device 101.

The inspection item information acquisition unit 6 always acquires information related to inspection items when the mobile object 1a reaches the inspection target equipment 101 stored in the equipment storage unit 5 described above, but is not limited to this. Not done. Depending on the content of the information related to the inspection items, information related to the inspection items may be constantly acquired during the patrol inspection.

Examples of the inspection item information acquisition unit 6 include a sensor, a detector, and a recording device that can acquire information related to the above-mentioned inspection items. Examples include cameras that can record still images and videos, temperature sensors, sound sensors, odor sensors, and instrument reading devices.
Further, it is preferable that the inspection item information acquisition unit 6 is configured to combine a plurality of sensors, detectors, and recording devices so as to be able to acquire information related to a plurality of parameters. This makes it possible to obtain sufficient information on inspection items by circulating the mobile body 1a once, and expands the range of equipment to be inspected for which necessary information can be collected by the mobile body 1a. be able to. Therefore, it is possible to reduce the workload in patrol inspection of plant equipment.

A camera serving as an image capturing/recording device may be any device that can record still images and moving images. Further, the type of camera is preferably selected depending on the surrounding environment in which the device 101 is located. For example, if there is no light source in or around the device 101 and brightness cannot be ensured, it is preferable to use an infrared camera that can record even in a dark place. Furthermore, when there is sufficient brightness around the equipment 101 and its surroundings, or when it is necessary to obtain information related to inspection items of the equipment 101 under conditions close to visual inspection by the operator, it is preferable to use a visible light camera. .

The temperature sensor may measure the temperature of the device 101 itself, or may measure the temperature around the device 101. Further, the type of temperature sensor is not particularly limited. Examples of the temperature sensor include a bimetal type or thermal expansion type thermometer, a temperature sensor using a thermocouple or a resistance temperature detector, a temperature sensor that detects infrared rays, a thermo camera, and the like.

The sound sensor may be anything that can detect sound-related information such as sound quality (frequency) and volume, and the type of sound sensor is not particularly limited. Note that the sounds to be detected include not only sounds that humans can hear, but also vibrations, ultrasonic waves, and the like. Examples of the sound sensor include a microphone, an ultrasonic detector, and a vibration sensor.

It is preferable that the odor sensor detects an odor that is expected to occur when the device 101 is abnormal. For example, when the plant 100 is a water treatment plant such as a sewage treatment plant, odor components derived from ammonia and sulfur-based compounds contained in sewage, which is water to be treated, may be detected. Further, when the plant 100 is a power generation plant such as thermal power generation or biomass power generation, odor components derived from hydrocarbon compounds used in fuel, turbine lubricating oil, etc. may be detected.

Examples of odor sensors include odor measuring devices that measure specific single components (e.g., specific malodorous substances such as ammonia and methyl mercaptan) and complex components (e.g., sulfur-based compounds, hydrocarbon-based compounds, and aldehydes). , lower fatty acids, etc.). Additionally, odor sensors that use lipid membranes or semiconductors can be cited as devices that detect odors in a broad sense without specifying the components.

The instrument reading device is not particularly limited as long as it can acquire the values indicated by the instruments provided in the device 101. Examples include those that acquire images of instruments, and those that have a data reception function that receives data if the instruments have a data transmission function.

The inspection item information transmitting/receiving section 7 is for transmitting/receiving the information obtained by the inspection item information acquisition section 6 to/from the outside. The inspection item information acquisition unit 6 and the inspection item information transmitting/receiving unit 7 are connected to each other so as to be able to input/output.

The means by which the inspection item information transmitting/receiving section 7 transmits and receives information is not particularly limited, and a known technique can be used. Note that the destination for transmitting and receiving information may be a management room or an information terminal carried by a worker.

The information transmitted from the inspection item information transmitting/receiving section 7 may be information obtained by directly transmitting the information obtained at the inspection item information acquisition section 6, or may include information obtained in advance by the inspection item information acquisition section 6. Information may be sent together with an alarm regarding the content of the content that is determined to be an abnormality, such as when a set value is exceeded.
By directly transmitting the information obtained by the inspection item information acquisition unit 6, it becomes easy to convert and store information related to inspection items into digital data, and it becomes possible to prevent data leakage of inspection items. Furthermore, if information obtained by the inspection item information acquisition unit 6 that indicates that an abnormality has occurred is transmitted together with an alarm, it becomes possible to promptly take subsequent action. .

The frequency of transmitting information from the inspection item information transmitting/receiving section 7 can be selected as appropriate. For example, there are those that transmit information all the time and those that transmit information at predetermined intervals. In addition, selection and instructions for the type of information to be transmitted and commands related to transmitting the information are transmitted via the control room or information terminals carried by workers, and the inspection item information transmitting/receiving unit 7 receives the commands. For example, when the information is sent, the information is sent.

(Method of patrolling inspection of plant equipment)
FIG. 3 and FIG. 4 are process explanatory diagrams related to the method for patrolling inspection of plant equipment in this embodiment. Note that structures that are the same as those described in FIGS. 1 and 2 are denoted by the same reference numerals, and the description thereof will be omitted.
The patrol inspection method for plant equipment in this embodiment uses the above-mentioned mobile body 1a, and includes a route storage step in which the mobile body 1a is accompanied on a patrol by worker A, and a patrol route is stored, and an equipment storage step in which equipment to be inspected is stored. It is something that

First, as shown in FIG. 3, a point P in the plant 100 is set as the starting point of a patrol route, and the worker A is recognized by the worker recognition unit 41 of the mobile body 1a (route storage step 1).
Next, as shown in FIG. 4, the worker A starts patrolling, and the moving body 1a follows the worker A using the worker following section 42 (route storage step 2-1). At this time, the process storage unit 43 records the process performed by the worker tracking unit 42 (route storage step 2-2).
During the tour, in order to store information about the equipment 101 to be inspected in the mobile unit 1a, worker A stops in front of the equipment 101 or informs the mobile unit 1a of the existence of the equipment 101 via the information terminal he carries. It is stored in the device storage section 5 (device storage step). Further, at this time, information related to inspection items to be acquired by the device 101 may also be stored in the mobile body 1a.
As a result, the mobile body 1a stores the route of the worker A's tour and the equipment to be inspected.

Then, based on the information in the process storage unit 43, the moving body 1a can perform a patrol inspection along the stored patrol route by controlling the moving means 3 with the point P as the starting point.
Also, based on the information in the equipment storage unit 5, the inspection item information acquisition unit 6 acquires information related to inspection items, and transmits the information to the management room or information terminal via the inspection item information transmission/reception unit 7 as necessary. Send.

As described above, in the mobile object, patrol inspection system, and patrol inspection method in this embodiment, by having the mobile object accompany the worker on his/her patrol, the mobile object memorizes the patrol route, so drawing data related to the inspection location is stored. The information necessary for patrol inspections can be stored in the mobile unit without the need for advance preparation or highly skilled operators. In addition, since it is easy to change the patrol route stored in the mobile unit, it increases the workload of workers even when there is a change in the inspection target, such as the removal, renewal, or addition of equipment or equipment in the plant. This makes it possible to respond quickly without any problems.

[Second embodiment]
FIG. 5 is a schematic explanatory diagram showing the structure of a moving body in the second embodiment of the present invention.
A moving object 1b according to the second embodiment of the present invention is provided with a surrounding environment storage section 44 that stores the shape of the surrounding environment in addition to the route storage section 4 in the moving object 1a according to the first embodiment. Here, the shape of the surrounding environment refers to the surface shape and location of structures (equipment, equipment, etc.) around the patrol route, the topography around the patrol route (slope, height difference, etc.), etc. . In addition, information related to the shape of the surrounding environment is used as one of the pieces of information for understanding the relative positional relationship between the moving object 1b and the surrounding environment of the patrol route in order to understand the position of the moving object 1b itself. It is something that can be done.
Note that the description of structures that are the same as those in the first embodiment will be omitted.

The surrounding environment storage unit 44 stores information regarding the shape of the surrounding environment of the tour route.
The surrounding environment storage unit 44 has means for acquiring information regarding the shape of the surrounding environment on the tour route when the worker A is accompanying the worker A on his tour. Examples include image capturing/recording devices and scanners that use light and sound (ultrasound). As a result, when the worker tracking unit 42 follows the worker A, the amount of information related to the position of the mobile body 1b itself increases, and it becomes possible to memorize the patrol route with higher accuracy.
The surrounding environment storage unit 44 only needs to be able to obtain information related to the surrounding environment related to the patrol route, and does not need information (map data) about the entire plant 100. Therefore, there is an advantage that the amount of information to be stored does not become enormous.

When the surrounding environment storage unit 44 is provided and the patrol route is stored, the mobile body 1b can grasp information related to its own position in the plant 100, so it is possible to fix the point at which it starts patrolling. This eliminates the need to carry out patrol inspections from any location.

The surrounding environment storage unit 44 also includes means for acquiring information regarding the shape of the surrounding environment when performing a patrol inspection by the mobile body 1b alone, and performing a comparison operation with the stored information regarding the shape of the surrounding environment, and a means for performing a comparison operation with the stored information regarding the shape of the surrounding environment. A means for transmitting the results to the outside (a management room, an information terminal of a worker, etc.) may be provided. This makes it possible to grasp changes in the surrounding environment when carrying out patrol inspections on the mobile unit 1b alone, and allows the management office and workers to quickly recognize changes in the surrounding environment. , it becomes possible to take appropriate measures.

Furthermore, by controlling the moving means 3 of the moving object 1b based on the information regarding the shape of the surrounding environment obtained by the surrounding environment storage unit 44 and the above-mentioned comparison calculation results, the moving object 1b collides with the equipment 101 etc. It may be something to avoid doing. Thereby, it becomes possible to move the movable body 1b safely.

As described above, by memorizing the shape of the surrounding environment as well as the patrol route, the mobile body in this embodiment can improve the recognition accuracy of the position of the mobile body itself and improve the accuracy of the stored patrol route. It becomes possible. Thereby, it becomes possible to improve the movement accuracy of the moving body related to the patrol inspection.
Furthermore, the mobile object in this embodiment can easily obtain information regarding changes in the inspection target. As a result, even if there is a change in the inspection target, it is possible to respond quickly without increasing the burden on the operator.

Furthermore, the moving body in this embodiment may be applied to the patrol inspection system and patrol inspection method of the first embodiment. As a result, it is possible to provide a patrol inspection system and a patrol inspection method that can improve the accuracy of stored patrol routes and quickly respond to changes in inspection targets.

Note that the embodiments described above are examples of a mobile object, a patrol inspection system, and a patrol inspection method. The movable body, patrol inspection system, and patrol inspection method according to the present invention are not limited to the embodiments described above, and the movable body, patrol inspection system, and patrol inspection method according to the embodiments described above are not limited to the embodiments described above. Modifications may be made to the system and patrol inspection methods.

For example, in the mobile object of this embodiment, instead of providing an inspection item information transmitting and receiving unit that transmits and receives information related to inspection items, a data storage unit that stores information related to inspection items as data may be provided.
As a result, even under conditions where it is difficult to transmit and receive information to the outside, data is accumulated within the mobile body, allowing a worker to collect data as appropriate.

Further, in the mobile object of this embodiment, both an inspection item information transmitting/receiving section and a data storage section may be provided.
At this time, information related to inspection items is divided into those that are constantly sent and received, those that are stored as data and sent and received periodically, and those that are stored as data and retrieved later. It is also possible to prioritize information recognized by rooms and workers. This makes it possible to shorten the time required for judgment by the management office and workers, and to obtain and store necessary information as records.

In addition, the patrol inspection system and patrol inspection method of this embodiment provide a locking part for locking a moving body near the equipment to be inspected, and acquire information related to the inspection items of the equipment to be inspected and the mobile body. It is also possible to supply power (charge) to the transportation means. In particular, when the moving object is a flying object, the attitude of the moving object can be stabilized when acquiring information related to inspection items. Furthermore, by acquiring information and supplying power at the same location, it is possible to smoothly patrol the mobile body. Note that the locking portion may be provided separately, or may be a portion of the existing equipment. Examples include installing a new pedestal on which moving objects can be loaded, and utilizing horizontal areas of existing equipment.

Further, in the patrol inspection system and the patrol inspection method of this embodiment, the moving body that performs the patrol inspection, the route storage section, and the equipment storage section may be provided separately. At this time, the mobile object shall be equipped with a means of transportation and a means for acquiring information related to inspection items, and shall receive and utilize the information stored in the route storage section and the equipment storage section as information from the outside. can be mentioned. As a result, when a new mobile unit is used for patrol inspections, such as when a mobile unit has a problem and is replaced or updated, or when the number of mobile units is increased, workers can use the new mobile unit for patrolling. It becomes possible to take over information on the patrol route and equipment to be inspected necessary for patrol inspections without having to accompany the vehicle again.

Further, the patrol inspection system and the patrol inspection method of the present embodiment may use a ground vehicle or a flying vehicle as the moving body, but may also use a combination of a ground vehicle and a flying vehicle. This makes it possible to expand the inspection range and improve the efficiency of patrol inspections.

The mobile object, the patrol inspection system, and the patrol inspection method for carrying out a patrol inspection of plant equipment according to the present invention are suitably used for the maintenance and management of plant equipment. In particular, it is suitably used for the maintenance and management of plant equipment under conditions where it is difficult to obtain position information using a satellite positioning system.

1a, 1b moving body, 2 main body, 20 housing, 3 moving means, 31 drive section, 32 drive control section, 4 route storage section, 41 worker recognition section, 42 worker following section, 43 process storage section, 44 periphery environment storage unit, 5 equipment storage unit, 6 inspection item information acquisition unit, 7 inspection item information transmission/reception unit, 100 plant, 101 equipment, A worker, L distance between mobile object and worker, P patrol starting point

Claims (4)

A mobile body that conducts patrol inspections of plant equipment,
a route storage unit that accompanies the worker's patrol and stores the patrol route;
A mobile object, comprising: an equipment storage section that stores equipment to be inspected. The moving body according to claim 1, wherein the route storage unit also stores the shape of the surrounding environment. A patrol inspection system for plant equipment,
A mobile unit that conducts patrol inspections of plant equipment;
a route storage unit that accompanies the worker's patrol and stores the patrol route;
A patrol inspection system comprising: an equipment storage unit that stores equipment to be inspected. A method for patrolling plant equipment, the method comprising:
a route storage step of causing a mobile unit that performs a patrol inspection of plant equipment to accompany a worker on a patrol and storing the patrol route;
A patrol inspection method, comprising: an equipment storage step of storing equipment to be inspected in the movable body.