JP3401136B2 - Plant equipment inspection system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention replaces the regular inspections and patrol inspections that are performed daily by supervisors in plants and the like, and when an abnormality occurs at an inspection point including equipment,
The present invention relates to a plant equipment inspection device and a plant equipment inspection system having a function of investigating an abnormal place efficiently, in detail, and with high confidence.

[0002]

2. Description of the Related Art Among conventional plant equipment inspecting apparatuses and plant equipment inspecting systems for automatically inspecting inspection points including equipment and equipment in a plant, microphones and ITVs are most commonly used monitoring equipments. Cameras, odor sensors, vibration sensors, and other fixed-type monitoring devices that are installed at predetermined measurement points in the plant, and mobile robots equipped with sensors that move inside the plant by moving means such as monorails There is a monitoring device. Each monitoring device transmits the signal obtained from the measurement result to the central monitoring device. The central computer installed in the central monitoring device receives these signals and performs appropriate signal processing,
This is to judge the abnormality of the equipment in the plant and provide the judgment result to the monitoring staff.

As an example of a conventional mobile equipment monitoring system and plant equipment inspection system which are plant equipment inspection equipment, for example, reference 1: "Hydroelectric power plant unmanned premises patrol support system" (Nosaka, et al., Hitachi Review, Vol. .75, N
o. 12, 1993, pp. 69-72) or Document 2: "Plant patrol robot incorporating four senses function" 4
Type 301 "" (Watari, Instrumentation, Vol. 37, No. 4,
1994, pp. 95-100).

The above-described conventional plant equipment inspection device and plant equipment inspection system were developed for unattended inspection work in a plant, especially in a power plant, and are equipped with an ITV camera and a microphone as sensors.

Next, the operation will be described. In the plant equipment inspection device as the conventional mobile monitoring device described above, the state of the power plant equipment is sensed based on the measurement data from the sensor installed at the preset location that travels along the preset travel route. Then, the measurement data is transmitted to the central computer. The central computer performs appropriate signal processing on the basis of the sensor signal which is the transmitted measurement data to determine an abnormality of the power plant equipment, and when it is determined to be abnormal, an alarm is issued to a monitoring person. That is, the above-described plant facility inspection device is equipped only with the sensing function, and all signal processing is performed by the central computer side.

The various types of sensors installed in this plant facility inspection device operate independently of each other, but they send and receive information including the obtained measurement data to and from each other to provide detection information with high confidence. Therefore, for example, when an abnormality is measured by a certain type of sensor, a detailed and highly reliable facility inspection operation such as confirming the abnormality by another type of sensor cannot be performed. In addition, it does not have a function to detect anomalies with high confidence by combining anomalies of a type that cannot be detected by only one type of sensor with other sensors to transmit and receive measurement data of each other and interpolate each other. .

[Problems to be Solved by the Invention]

[0007]

Since the conventional plant equipment inspection device and plant equipment inspection system are configured as described above, when the plant equipment inspection device in the plant equipment inspection system has visited a large number of monitoring points. To
It is necessary to send the measurement data obtained at each monitoring point to the central computer, and the amount of data sent will be huge,
There is a problem that the load is concentrated on the display device that displays data for the central computer and the supervisor.

[0008] In addition, patrols in the plant make a comprehensive judgment using the five senses whether or not there is an abnormality in the condition of the inspection location including equipment while moving on the site. In the inspection device and the plant equipment inspection system, abnormality determination is performed based on the measurement data transmitted from individual sensors such as images and sound. Therefore, there is a problem that the quality is inferior when compared with the judgment result of the patrol officer who complements a plurality of measurement data and makes a comprehensive judgment.

Further, since the abnormality determination of the condition of the inspection location including the equipment is carried out independently for each sensor, the abnormality determination is performed by re-detecting the abnormality occurring at a place other than the place where the sensor is installed by another sensor. There was a problem that it was difficult to increase the reliability of the.

Further, even though many kinds of sensors are installed in the plant equipment inspection device, since the data cannot be communicated among the individual sensors, the kind of detection data which cannot be obtained by a certain sensor is detected. However, there is a problem that the other sensors cannot detect each other and compensate each other.

[0011]

[0012]

[0013]

The present invention solves the above problems.
Based on the location information of the plant equipment inspection device or by communicating the location information of the plant equipment inspection device with each other, the state of the inspection location can be determined by using the plant equipment inspection device located at the optimum place. The purpose is to obtain a plant equipment inspection system that detects with high confidence and performs inspection work efficiently.

Further, according to the present invention, various types of information obtained from the mobile type plant equipment inspection device and the fixed type sensor are integrated, and the obtained information is efficiently presented to an observer in an easily understandable form. The purpose is to obtain a plant equipment inspection system that works.

[0016]

[0017]

[0018]

[0019]

[0020]

[0021]

According to a first aspect of the present invention, there is provided a plant facility inspection system comprising a plurality of facilities in a plant.
Multiple sensors that sense the status of inspection points including equipment
Sensor means and provided for the plurality of sensor means,
By changing the direction, position, etc. of each of the plurality of sensor means,
From a plurality of sensor driving means,
Sensor selecting means for selecting the signal of the
Processes the signals selected by the stages,
Select one of the steps and, if necessary, the condition of the inspection point
Signal to generate a control signal for resensing
Processing means and control signal transmitted from the signal processing means
Is received, and based on the control signal, the sensor driving means
And drive amount control for controlling the operation of the sensor selection means
Signal and sensor select signal generated, said drive generated
Quantity control signal and the sensor selection signal drive the sensor
Means and control signal generation to be sent to said sensor selection means
Means, the plurality of sensor means, and the plurality of sensor drives
Means, the sensor selection means, the signal processing means, the control
A moving mechanism that mounts a signal generating means and moves along a predetermined path
Means and the current position of the device itself in the plant is detected
Inspection location including position detection means and equipment in the plant
Map database means storing the arrangement information of the
The current position of the device itself detected by the position detection means and
With the arrangement information stored in the map database means
The location where the comparison is performed and a correction signal for correcting the position is generated.
Figure data collation correction means, the signal processing means,
Transmitted from the plurality of sensor means using the correction signal.
Equipped with multiple plant equipment inspection devices that correct the generated signals
If any of the above plant equipment inspection devices
Check the status of inspection points including multiple equipment in the
When detecting and outputting detection data, the above-mentioned multiple plants
Based on the information indicating the condition of the equipment inspection device, the detection data
Based on at least the plurality of plant equipment inspection devices
Also one or more of the plant equipment inspection devices have the abnormal status
The inspection points are measured.

A plant equipment inspection system according to a second aspect of the present invention receives a plurality of plant equipment inspection devices and current position information of the plurality of plant equipment inspection devices, and transmits from any of the plurality of plant equipment inspection devices. When the information indicating the abnormal condition of the inspection location is received, at least one or more plant equipment inspecting equipment near the inspection location of the abnormal condition is selected from the plurality of plant equipment inspecting equipment based on the current position information. , And a central command means for instructing execution of state measurement by moving the selected plant equipment inspection device to a location where the state abnormality is inspected, thereby at least one of the plurality of plant equipment inspection devices based on the detection data and the current position information. One or more plant equipment inspection devices move to inspection points with abnormal conditions, measure the state of inspection points in more detail, and gain high efficiency efficiently In performs a state detection of the inspection point.

A plant equipment inspection system according to a third aspect of the present invention comprises a plurality of plant equipment inspection apparatuses, and each plant equipment inspection apparatus transmits / receives signal information of its own position and control information in the plant to and from each other. Have. With this, when any of the plurality of plant equipment inspection devices detects an abnormality in the state of the inspection location, the position information of the inspection location where the abnormality has occurred is transmitted to the other plurality of plant equipment inspection equipment via the signal transmission / reception means. , At least one of the plurality of plant equipment inspection devices close to the inspection location in the abnormal state based on the calculation result Select one or more. The selected plant equipment inspection device moves to the inspection location in abnormal condition, measures the condition of the inspection location in more detail, and the plant equipment inspection equipment independently and efficiently performs the detection with high confidence. It is a thing.

The plant equipment inspection system according to the invention of claim 4 comprises a plurality of plant equipment inspection devices and a central command means for managing the operation of the plurality of plant equipment inspection devices. When one of the multiple plant equipment inspection devices detects an abnormality in the state of the inspection location, the detection information is received and based on the information indicating the current position and the moving direction transmitted from each of the plurality of plant equipment inspection devices. Select a plant equipment inspection device that can move to the inspection location in a short time, instruct the selected plant equipment inspection device to move the inspection location, and detect the state of the inspection location in detail and efficiently with high confidence. Is.

A plant equipment inspection system according to a fifth aspect of the present invention comprises a plurality of plant equipment inspection apparatuses, and each of the plurality of plant equipment inspection apparatuses transmits and receives a signal for transmitting and receiving its own position information and control information in the plant. It has a transmitting / receiving means. Thereby, when any of the plurality of plant equipment inspection devices detects an abnormality in the state of the inspection location, the position information of the inspection location where the abnormality has occurred is transmitted to the other plurality of plant equipment inspection equipment via the signal transmission / reception means. . Multiple other plant equipment inspection devices receive the position information of the inspection point where the abnormality occurs, calculate the distance to the inspection point, the optimum route and the movement time based on the current position, movement direction and movement speed of itself, and then calculate The result is returned to the plant equipment inspection device. Based on the calculation result, the plant equipment inspection device selects at least one or more plant equipment inspection devices from the plurality of plant equipment inspection devices that are close to the inspection point in the abnormal state,
This is to move the inspection point in an abnormal state and measure the state of the inspection point in detail efficiently and with high confidence.

A plant equipment inspection system according to a sixth aspect of the present invention includes at least one or more plant equipment inspection devices and a plurality of equipment devices in the plant that collectively control the information transmitted from the plant equipment inspection devices. First command means for grasping the state of the inspection location and controlling each operation of the plant equipment inspection device, and at least 1 fixedly installed at the inspection location including the equipment in the plant and measuring the state of the inspection location One or more fixed sensor means, a second command means that controls the operation of the fixed sensor means by supervising the information from the fixed sensor means, grasping the state of the inspection location including equipment in the plant, and the first command means. Based on the information from the instructing means and the second instructing means, the overall operation and maintenance status of the inspection location including equipment and equipment in the plant is grasped, integrated, and integrated overall point A central command unit for providing the state of the portion to the monitoring personnel. As a result, the information of various forms obtained from the plant equipment inspection device and the fixed sensor means can be provided to the supervisor in an easy-to-understand form, and the abnormality occurrence at the inspection location including the equipment can be quickly determined with high accuracy. To help.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below. Embodiment 1. 1 is a block diagram showing a plant equipment inspection device according to Embodiment 1 of the present invention. In the figure, 101 is a plant equipment inspection device, and 102 is a moving mechanism unit (moving mechanism means) that travels on a predetermined orbit. , 103
Reference numeral 105 denotes a plurality of sensors (a plurality of sensor means), 106
Reference numeral 108 denotes a sensor drive unit (a plurality of sensor drive means) that changes the direction, posture, vertical position, etc. of each sensor 103 to 105, and 109 is one of the sensor signals transmitted from the plurality of sensors 103 to 105. To a sensor selection unit (sensor selection means) for selecting a plurality of sensor signals, 110
Is a signal processing unit (signal processing means) for processing the selected sensor signal.

Reference numeral 111 generates and transmits a drive amount control signal for controlling the operation of the sensor drive units 106 to 108 and a selection signal for controlling the operation of the sensor selection unit 109 based on the processing result obtained by the signal processing unit. A control signal generator (control signal generator) 112 for controlling the external interface for controlling various signal transmission / reception operations performed between the external equipment and the plant facility inspection apparatus 101. Reference numerals 113-115 denote sensors 103-105. From the sensor selection unit 109 to the sensor selection unit 109, 116 is a sensor signal selected by the sensor selection unit 109 and transmitted to the signal processing unit 110, and 118 is processed by the signal processing unit 110 and transmitted to the control signal generation unit 111. The processing result 119 is the sensor driving units 106 to 10
8 is a drive amount control signal transmitted to 8, and 120 is a sensor selection signal for controlling the operation of the sensor selection unit 109. Each of the sensors 103 to 105 and each of the sensor driving units 106 to 108 are combined to form each sensor unit.

In the plant equipment inspecting apparatus according to the first embodiment, the signal processing unit 11 is provided in the plant equipment inspecting apparatus 101.
0 is provided, and when the measurement data detected by a certain sensor 103 to 105 indicates an abnormal state of an inspection location including equipment in the plant, the plant equipment inspection device 101 itself sends a sensor from each sensor 103 to 105. By analyzing the signal, the control signal generation unit 111 generates an abnormality symptom signal and transmits it to each of the sensors 103 to 105, and the state of the inspection point in the plant is measured again in detail by the other sensors 103 to 105. The reliability of accuracy is improved, and the amount of signals transmitted to and received from a higher order command device (not shown) is reduced to reduce the load on the higher order command device.

Next, the operation will be described. The plant equipment inspection device 101 according to the first embodiment includes a moving mechanism unit 10
2, the entire plant equipment inspection device 101 moves to the inspection location in the plant. A monorail or the like is used as the moving mechanism. The plurality of sensors 103 to 105 measure various physical quantities at inspection points in the plant including each equipment in the plant while the plant equipment inspection device 101 is moving or stopped. The measurement data measured by the plurality of sensors 103 to 105 is always used as a sensor signal for each sensor 103 to 105.
Although transmitted from 105 to the sensor selection unit 109, one or a plurality of sensor signals selected by the sensor selection unit 109 are transmitted to the signal processing unit 110.

In the signal processing unit 110, the sensor selection unit 10
The one or more sensor signals selected at 9 are processed according to a predetermined method. If the processing result indicates the occurrence of an abnormal sign of the equipment in the plant, the equipment that is the source of the sensor signal indicating the abnormal sign (hereinafter referred to as the abnormal sign signal), the type of the abnormal sign signal, etc. judge. Based on this determination result, the control signal generation unit 111 drives the plurality of sensors 103 to 105 in order to control so that the direction of the plant equipment inspection device 101 is directed to the equipment that is the source of the abnormality sign signal. Depending on the types of the drive amount control signal 119 and the abnormality sign signal, a plurality of sensors 103 to 105
A sensor selection signal 120 for selecting an optimum sensor from among the above is generated.

After the plant facility inspection apparatus 101 moves to the target facility device, the sensors 103 to 105 measure the state of the target facility device according to the drive amount control signal 119 and the sensor selection signal 120. When the signal processing unit 110 processes the sensor signal obtained by this measurement and it is determined that the state of the target equipment is abnormal, the external interface
The alarm information is transmitted to a higher order command device (not shown) via the monitoring unit 112.

As the sensors of the plurality of sensors 103 to 105, for example, a visible image sensor, an infrared image sensor, an acoustic sensor, an odor sensor, a temperature sensor or the like is used. Further, as driving methods of the sensor driving units 106 to 108, there are rotation by a pan head, rotation / parallel movement by a movable arm, vertical movement, and the like. Further, in the above description, according to the processing result of the sensor signal selected and measured by the signal processing unit 110 for the second time, the alarm is transmitted to the higher order command device (not shown) via the external interface unit 112. Although it is configured, an optimal sensor may be selected according to the type of abnormality, and the processing method in the signal processing unit 110 may be switched according to the selected sensor.

As described above, according to the first embodiment, the signal processing unit 110 is added to the moving plant equipment inspection device.
Is provided, and the measurement data detected by a certain sensor 103 to 105 indicates an abnormality in the state of the inspection point in the plant,
The plant equipment inspection device 101 itself analyzes the sensor signal, and if necessary, the control signal generation unit 111 generates an abnormality symptom signal and transmits it to each of the sensors 103 to 105, and the other sensor 10
Since the state of the inspection point is measured again by using 3 to 105, it is possible to reduce the amount of signal transmission / reception with the higher order command device and reduce the load of the higher order command device, and as a whole, with high efficiency and high confidence. It can measure the condition of each inspection point in the plant.

Embodiment 2. 2 is a block diagram showing a plant facility inspection apparatus according to Embodiment 2 of the present invention. In the figure, 201 is a weak directional sensor (weak directional sensor means), 202 is a strong directional sensor (strong directional sensor). Means), 203 is a strong directional sensor driving unit (strong directional sensor driving unit), and the strong directional sensor unit has a strong directional sensor 202 and a strong directional sensor driving unit 203.
Reference numeral 204 is a sensor signal selection unit, 205 is a first signal processing unit (first signal processing means), 206 is a control signal generation unit, 2
Reference numeral 07 denotes a second signal processing unit (second signal processing means), 20
Reference numeral 8 is a plant facility inspection device. First signal processing unit 2
05 and the second signal processing section 207 form a signal processing section (signal processing means) 209. The same components as those of the first embodiment shown in FIG. 1 are designated by the same reference numerals, and duplicate description will be omitted.

In the plant equipment inspection device 208 of the second embodiment, the weak directional sensor 201 is normally used to inspect the state of the inspection location of equipment and the like in a wide range of the plant as much as possible, and an abnormality occurs. Strong directivity sensor 20
By using 2 to check the abnormal parts in detail,
It measures the condition of the inspection points in the plant.

Next, the operation will be described. In general, the weak directional sensor 201 monitors an inspection location including each equipment and equipment over a wide area in the plant, and a signal obtained from the weak directional sensor 201 is first detected via the sensor signal selection unit 204. To the signal processing unit 205. The first signal processing unit 205 receives and analyzes the signal from the weak directional sensor 201. When an abnormality is detected as a result of the analysis, the direction and distance to the abnormal portion are calculated. Control signal generator 2
In 06, the sensor drive amount is determined from the direction and distance information of the abnormal portion transmitted from the first signal processing unit 205, and the drive amount control signal 119 is generated so that the strong directional sensor 202 faces the abnormal portion. . The moving mechanism unit 102 moves the plant equipment inspection device 208 to the vicinity of the abnormal portion based on the control signal transmitted from the first signal processing unit 205, and the strong directional sensor driving unit 203 causes the control signal generating unit 206 to move. The strong directivity sensor 202 is rotated or moved in parallel to the location of the abnormality based on the drive amount control signal 119 transmitted from the. Then, the strong directional sensor 20
The data measured in 2 is transmitted to the second signal processing unit 207 via the sensor signal selection unit 204, and further detailed analysis processing of the abnormal state is performed here.

The weak directional sensor 201 in the above description includes an omnidirectional microphone, a wide-angle camera, an odor sensor, etc., and the strong directional sensor 202 includes a directional microphone, a telephoto camera, etc., and a combination thereof. The state of the inspection point can be measured by various inspection methods.

As described above, according to the second embodiment, normally, the weak directional sensor 201 is used to inspect as wide a range as possible, and the strong directional sensor 202 is used only when an abnormality occurs. Since the abnormal portion is inspected in detail, in addition to the effects of the first embodiment, efficient equipment inspection can be performed.

Embodiment 3. 3 is a block diagram showing a plant equipment inspection device according to a third embodiment of the present invention. In the figure, 301 is a position detection unit (position detection means), 302 is a map database (map database means), and 303 is a map. A data collating unit, 304 is an information correcting unit, 305 is a plant facility inspection device, and 306 is a signal processing unit. Map data collating unit 303 and information correcting unit 3
At 04, a map data collation correction unit (map data collation correction means) 307 is formed. The same components as those of the first embodiment shown in FIG. 1 are designated by the same reference numerals, and duplicate description will be omitted.

The plant equipment inspection device 305 moves in accordance with a movement command value given from the outside or calculated internally in order to carry out an inspection work at an inspection place including various equipments in the plant. However, the actual movement amount of the plant equipment inspection device 305 may be accompanied by a minute error as compared with the movement command value which is the control data.
For example, the moving mechanism unit 1 in the plant equipment inspection device 305
If the wheel diameter, belt length, etc. of 02 is different from the design specifications, or if slipping occurs due to dust during movement, the position / orientation deviation of the plant equipment inspection device 305 is As a result, the signal processing unit 3
This causes a decrease in the accuracy of abnormality detection in 06.

The plant equipment inspection device 305 according to the second embodiment is the plant equipment inspection device 305 in the plant.
By correcting the position and the posture of, the state of the inspection location including the equipment is measured with high accuracy and high confidence.

Next, the operation will be described. First, the position detection unit 301 estimates the current position and orientation (direction) of the plant equipment inspection device 305 itself based on the movement command value each time the inspection movement work of the plant equipment inspection device 305 is completed, and the obtained estimation The data is transmitted to the map database 302 and the map data collating unit 303. Map database 302
Is a plant equipment inspection device 305 based on the estimated data of the current position and attitude transmitted from the position detection unit 301.
The peripheral device arrangement is searched, and the search result is transmitted to the map data matching unit 303. The map data matching unit 303 generates sensor information that should be obtained by each of the sensors 103 to 105 based on the search result transmitted from the map database 302, and transmits the generated sensor information to the information correction unit 304. To do. The information correction unit 304 uses the generated sensor information and the various sensors 103 to 105 actually obtained.
The comparison processing with the sensor information from is executed.

As the sensor information, for example, the sensor 10
When 3 to 105 are television cameras, it is image information, and when the sensors 103 to 105 are microphones, it is azimuth information of each equipment. In this way, the various sensors 103-
Sensor information generated for each 105 and various sensors 10
The information correction unit 304 executes the comparison process with the actual sensor information transmitted from 3 to 105, and based on the error amount obtained as the execution result of the comparison process, the plant equipment inspection device 305.
The estimated position / orientation shift amount of is calculated.

Next, at the time of inspecting the equipment and the like, the signal processing unit 306 processes the data transmitted from the various sensors 103 to 105 and installs the equipment where the plurality of abnormalities are installed, that is, the position of the equipment and Abnormal content (fever, pronunciation,
Image movement, odor occurrence, etc.) are extracted. The extraction result is transmitted to the information correction unit 304.

The information correction unit 304 corrects the position information for the candidates of the installation location of the equipment indicating each abnormal state using the previously calculated position and orientation deviation amounts, and the corrected position information is used as map data. It is sent to the collating unit 303. In the map data collating unit 303, the candidate of the installation location of the facility device indicating various position-corrected abnormal states is searched for in the map database 3
The data corresponding to the candidate of the abnormal equipment location is selected by collating with the data in 02. Then, the content of the abnormality is compared with the data of each equipment. As a result of the comparison, if the equipment data can be considered as a phenomenon at the time of normal operation of the equipment, the candidate for the abnormal portion is deleted.

On the other hand, if it is not possible to determine that the phenomenon is a normal operation of the equipment data, it is considered that an abnormal state is likely to occur, and the weighting factor value of the candidate of the installation location of the equipment indicating the abnormal state is set high. The signal is transmitted to the signal processing unit 306.
The signal processing unit 306 receives the equipment device data transmitted from the map data matching unit 303, selects the sensors 103 to 105 based on the equipment device data, and transmits the selection result to the control signal generation unit 111. . The subsequent operation is the same as the operation of the plant facility inspection apparatus 101 according to the first embodiment.

In the above description, the case where the image, the sound and the odor are used as the sensor information has been described, but it goes without saying that the invention can be applied to the case where other sensor information is used. Further, all or part of the data stored in the map database 302 may be acquired or updated from the outside via the external interface unit 112.

As described above, according to the third embodiment, the position and orientation of the plant equipment inspection device 305 in the plant is corrected by using the data stored in the map database 302, and the equipment is included. It is possible to measure the state of the inspection location with high accuracy and high confidence.

Fourth Embodiment 4 is a block diagram showing a plant facility inspection apparatus according to Embodiment 4 of the present invention, in which reference numeral 401 denotes a sensor 103 in a sensor unit.
Is a state detecting unit (state detecting unit) that detects the current position, posture, speed, etc., of the sensor 103 and generates information regarding the movement of the sensor 103, 402 is a data error correcting unit (data error correcting unit), and 403 is a plant equipment inspection device. is there. The same components as those of the first embodiment shown in FIG. 1 are designated by the same reference numerals, and duplicate description will be omitted.

In the plant equipment inspection device 403 according to the fourth embodiment, the sensor 1 in the plant equipment inspection device 403 is used.
Sensor 103 by detecting the current position, posture, speed, etc.
Information on the movement of the sensor 10 is generated based on this information.
The sensor signal output from the sensor 3 is corrected to accurately measure the state of the inspection location including the equipment.

Next, the operation will be described. The state detection unit 401 in the sensor unit detects the current position, posture, speed, etc. of the sensor 103 itself and grasps information regarding the movement of the sensor 103. The data error correction unit 402 includes the state detection unit 4
01 receives the information about the movement of the sensor 103, and corrects the error of the sensor signal of the sensor 103 caused by the movement or the like. For example, when the sensor 103 is an image sensor, only a blurred image may be obtained as a sensor signal due to the image deletion phenomenon on the image that occurs as the sensor 103 moves. In this case, the state detection unit 401
The data error correction unit 402 corrects and restores the sensor signal of the blurred image transmitted from the sensor 103 by using the information such as the moving direction and the speed of the sensor 103 generated in (3).

If the sensor 103 is an acoustic sensor,
As the sensor 103 moves, the apparent frequency and the like change due to the Doppler effect. In this case, the data error correction unit 402 corrects the acoustic data of the sensor signal transmitted from the sensor 103, using the information such as the moving direction and speed of the sensor 103 generated by the state detection unit 401. The corrected sensor signal is transmitted to the sensor selection unit 109 as a sensor signal. The operation in the plant equipment inspection device 403 after that is the same as the plant equipment inspection device 10 of the first embodiment.
This is the same as the operation in 1.

As described above, according to the fourth embodiment, the current position, attitude, speed, etc. of the sensor 103 in the plant equipment inspection device 403 are detected to generate information regarding the movement of the sensor 103, and this information is generated. Since the sensor signal obtained from the sensor 103 is corrected based on the above, the state of the inspection location including the equipment can be measured with high accuracy, and the reliability of the measurement can be improved.

Embodiment 5. FIG. 5 is an explanatory diagram showing a plant facility inspection system according to a fifth embodiment of the present invention. In the figure, 501 is a central command device (central command means), and 502, 503, 504 are the first to fourth embodiments. 50 is a plant equipment inspection device according to item 505.
3, 504 after movement, 510, 511 are equipments in the plant, 520 is a map database in the central command device 501, 530 is a plant equipment inspection device 502.
~ 504 movement trajectories. The plurality of plant equipment inspection devices 502, 503, and 504 have the configuration and functions described in the fifth embodiment in addition to the configurations and functions of the plant equipment inspection devices described in the first to fourth embodiments. .

In the plant equipment inspection system according to the fifth embodiment, when the plant equipment inspection devices 502 to 504 detect an abnormal state of the equipment 510, 511,
The central command device 501 is for each plant equipment inspection device 502-
The map database 520 that stores the position information of 504 is searched, and the plant equipment inspection device that is at the optimum position and movable with respect to the equipment under the abnormal condition is selected, and the equipment under the abnormal condition is targeted. It moves to the vicinity of the equipment to detect the abnormal state of the equipment more accurately.

Next, the operation will be described. The central command device 501 includes a plurality of plant facility inspection devices 502 to 504.
When the abnormality occurrence information related to the inspection location including the equipment transmitted from is received, an alarm is issued.
For example, assume that an overheat abnormality has occurred in the equipment 510 at the present time. The plant equipment inspection device 502 during the equipment inspection work detects that an overheat abnormality has occurred near the equipment devices 510 and 511 based on the information about the odor output from the odor sensor (not shown), and outputs the detection information. It is transmitted to the central command device 501 by a communication cable built in the moving track or wirelessly. However, the actual abnormal place is on the back side of the equipment 510, and it is not possible to specify the exact abnormal place in the equipment 510. For this reason, the level of certainty of the abnormality occurrence information transmitted from the plant facility inspection device 502 to the central command device 501 is low, and has not reached the threshold for sounding an alarm warning in the central command device 501.

At this time, the central command device 501 obtains the current position information of the plurality of plant equipment inspection devices 502 to 504 which are candidates for the abnormal place from the layout information of each equipment stored in the map database 520. Search for. As a result of the search, the back side of the equipment 510 and the back of the equipment 511 are selected on the basis of the current position information of the plurality of plant equipment inspection devices 502 to 504 which are candidates for the abnormality occurrence place, and these equipment 510, Plant equipment inspection device 503 with the shortest travel time to 511
504 to select these plant equipment inspection devices 50
A movement command is transmitted to 3,504.

The plant equipment inspection devices 503 and 504 are
The movement command from the central command device 501 is received, and based on this, it moves to the positions 505 and 506, and the equipment inspection work is executed there. In this case, the plant equipment inspection device 503
At position 505, the occurrence of an abnormality in the equipment 510 can be detected by a plurality of sensors. Central command device 50
1 is a plant equipment inspection device 5 at positions 505 and 506.
The inspection results of 03 and 504 are received, and the received data are integrated to generate abnormality occurrence information indicating a sufficient certainty factor of the abnormality occurrence in the equipment 510, and an alarm warning is generated based on the abnormality occurrence information.

As described above, according to the fifth embodiment, the plant equipment inspection device 5 that has an abnormal state of equipment is inspected.
When 02 to 504 detect, the central command device 501 is a plant capable of moving to an optimum position for the equipment device 501 in which an abnormality has occurred, based on the map database 520 storing the position information of each plant equipment inspection device 502 to 504. It is possible to select the equipment inspection devices 503 and 504 and move the plant equipment inspection devices 503 and 504 to the vicinity of the target equipment 510 to detect the abnormal state of the equipment 510 in detail, and highly reliable detection data. Can improve the efficiency of inspection work.

Sixth Embodiment FIG. 6 is an explanatory diagram showing a plant equipment inspection system according to Embodiment 6 of the present invention. In the figure, reference numerals 602, 603 and 604 denote a plurality of plant equipment inspection apparatuses, and 605 and 606 are plant equipment inspection apparatuses 603. , 604 after movement, 622,
623 and 624 are plant equipment inspection devices 602-604.
Signal transmitting / receiving unit (signal transmitting / receiving means), 642, 64
Reference numeral 3,644 is a movement route determination unit in the plant equipment inspection devices 602-604. Multiple plant equipment inspection devices 6
Nos. 02 to 604 have the configuration and the function described in the sixth embodiment in addition to the configuration and the function of the plant facility inspection device described in the first to fourth embodiments. In addition,
The same components as those of the fifth embodiment shown in FIG. 5 are designated by the same reference numerals, and the duplicate description will be omitted.

In the plant equipment inspecting system according to the sixth embodiment, the plant equipment inspecting apparatuses 602 to 604 having an abnormality in the state of the equipments 510 and 511 detect the detected information, and the detected information is detected by a plurality of other plant equipment inspecting apparatuses 602 to 602. Each plant facility inspection device 6 that has transmitted the detection information to 604 and received the detection information
02 to 604 are equipments 510 and 511 in which an abnormality has occurred.
And the arrival time are calculated, and the calculation result is returned to the plant equipment inspection devices 602 to 604 that have transmitted the detection information. Based on the obtained calculation result, the plant equipment inspection devices 602 to 604 generate equipment equipment 510, 5 in which an abnormality has occurred.
By selecting and moving the plant equipment inspection devices 602 to 604 close to 11, equipment equipment 510, promptly and with high reliability,
The abnormality of the state 511 is detected.

Next, the operation will be described. For example, assume that an overheat abnormality is occurring in the equipment 510 at the present time. Plant equipment inspection device 60 during equipment inspection work
2 detects that an overheat abnormality has occurred near the equipment 510, 511 based on odor information from an odor sensor (not shown). However, the location of the abnormality is the equipment 51
Since it occurs on the back side of 0, it is not possible to specify the exact location of the abnormal state in the equipment 510. Therefore, from the plant equipment inspection device 602 to the central command device 50
The level of certainty of the abnormality occurrence information transmitted to 1 is low,
The central command device 501 has not reached the threshold for sounding an alarm warning.

At this time, the plant equipment inspecting apparatus 602 estimates the location of the abnormality and generates position information of the estimated location, and then all other plant equipment inspecting apparatuses 603, 6
04 to the position information of the abnormal occurrence estimated position. Each of the plant equipment inspection devices 603 and 604 receives this position information, and in the internal movement route determination units 643 and 644,
The optimum movement route and movement time for moving to the abnormality occurrence estimated location are calculated, and the calculation result is used as the plant equipment inspection device 60.
Reply to 2. The plant equipment inspection device 602 examines the calculation result transmitted from each plant equipment inspection device,
The plant equipment inspection devices 603 and 604 having a short travel time to the abnormality occurrence estimated location are selected, and a movement command is transmitted to the plant equipment inspection devices 603 and 604.

Each of the plant equipment inspection devices 603 and 604 receives the movement command from the plant equipment inspection device 602, moves to positions 605 and 606, and performs inspection work there. As a result, the plant equipment inspection device 603
It is possible to quickly detect the location of the abnormality in the equipment 510 at the position 605 with high confidence using a plurality of sensors. The data detected by the plant equipment inspection devices 603 and 604 at the positions 605 and 606 are transmitted from the plant equipment inspection devices 603 and 604 to the central command device 501. The subsequent operation is the same as that of the plant facility inspection system of the fifth embodiment.

As described above, according to the sixth embodiment, the plant equipment inspecting devices 602 to 604 that have an abnormality in the state of the equipments 510 and 511 detect and the detection information is detected by a plurality of other plant equipment inspecting devices. The plant equipment inspection device 602 to 604 transmitted, other plant equipment inspection devices 602 to 604 calculated various information such as the distance to the equipment devices 510 and 511 in which an abnormality occurred, and transmitted the calculation result to the detection information. Reply to 602-604. The plant equipment inspection devices 602 to 604 select the plant equipment inspection devices 602 to 604 close to the equipment devices 510 and 511 in which the abnormality has occurred, based on the returned calculation results, and select the selected plant equipment inspection devices 602 to 604. Equipment 510,
511, the abnormality of the state of the equipments 510 and 511 can be detected quickly and with high confidence, and the load on the central command device 501 can be reduced.

Embodiment 7. FIG. 7 is an explanatory diagram showing a plant equipment inspection system according to Embodiment 7 of the present invention. In the figure, 701 is a central command device (central command means), 702 to 705 are a plurality of plant equipment inspection devices,
706 and 707 are plant equipment inspection devices 702-7
The position after movement 05, 713 to 715 are the movement directions of the plant equipment inspection devices 703 to 705, and 530 is the movement trajectory of the plant equipment inspection devices 703 to 705. The plurality of plant equipment inspection devices 702 to 705 have the configuration and functions of the seventh embodiment in addition to the configurations and functions of the plant equipment inspection devices of the first to fourth embodiments. The same components as those of the fifth embodiment shown in FIG. 5 are designated by the same reference numerals, and duplicate description will be omitted.

In the plant equipment inspection system according to the seventh embodiment, the plant equipment inspection devices 702 to 705 which detect an abnormal state of the equipment devices 510 and 511 transmit detection information to the central command device 701, and the central command device 701 transmits the detected information. 701 calculates the distance and the moving direction to each plant equipment inspection device 702-705 and the equipment device 510,511 under abnormal condition, and the shortest distance plant equipment inspection device 702-705.
To move to the vicinity of the equipments 510 and 511 under abnormal conditions, to detect the states of the equipments 510 and 511 in detail there, and to quickly and accurately detect the abnormalities of the states of the equipments 510 and 511. Is.

Next, the operation will be described. The central command device 701 includes a plurality of plant equipment inspection devices 702 to 705.
Upon receiving the abnormal part occurrence information transmitted from, an alarm is issued. For example, it is assumed that an overheat abnormality is occurring in the equipment 510 at the present moment. The plant equipment inspection device 702 during equipment inspection work
Based on the odor information from an odor sensor (not shown), it is detected that an overheat abnormality has occurred near the equipment 510, 511, and the detection information is sent to the central command device 701. Alternatively, it is transmitted via radio or the like. However, the location of the abnormality has occurred on the back side of the equipment 510, and the location of the abnormality cannot be accurately identified. For this reason, the level of certainty of the abnormality occurrence information transmitted from the plant facility inspection device 702 to the central command device 701 is low, and therefore the central command device 701 has not reached the threshold value for sounding an alarm.

At this time, the central command device 701 searches the internal map database 520 to obtain the current position information and movement information of the plurality of plant equipment inspection devices 703 to 705, and finds the shortest distance to the target movement position where the abnormality has occurred. A plant equipment inspection device 703 to 705 having a moving time is selected. In this case, the plant equipment inspection device 703 is moved to the target movement position 706. The plant equipment inspection device 705 is located at the shortest distance to the position 707.
05 is moving in a direction away from the equipment 511.

On the other hand, the plant equipment inspection device 704 is far from the target position 707 but is moving toward the target position 707. The central command device 701 moves the plant equipment inspection device 705 to the position 707 by changing the direction and moves the plant equipment inspection device 704 to the position 70.
The time required for moving to No. 7 is compared, the plant equipment inspection device 704 having the minimum travel time is selected, and a movement command is transmitted to the selected plant equipment inspection device 704. Selected plant equipment inspection device 7
04 moves to the target position 707 and performs inspection work there.

The central command device 701 receives the inspection results carried out at the positions 706, 707 from the plant equipment inspection devices 703, 704, and integrates the received data to make it possible to detect the occurrence of abnormality in the equipment 510 sufficiently. Anomaly occurrence information indicating the certainty factor is generated, and an alarm warning is generated based on this.

As described above, according to the seventh embodiment, the plant equipment inspecting apparatuses 702 to 705 detect an abnormal state of the equipment 510 and 511, and send the detection information to the central commanding apparatus 701, and the central commanding apparatus 701 transmits the information. The command device 701 calculates a distance and a moving direction to each of the plant facility inspection devices 702 to 705 and the facility devices 510 and 511 in which an abnormality has occurred, and the plant facility inspection devices 702 to 705 with the shortest distance are used to determine the facility device 510 in the state of the abnormality. Since the state of the equipment 510, 511 is moved to the vicinity of 511 and the state of the equipment 510, 511 is detected there, the abnormality of the state of the equipment 510, 511 can be detected with high reliability and speed.

Eighth Embodiment FIG. 8 is an explanatory diagram showing a plurality of plant equipment inspection systems according to Embodiment 8 of the present invention. In the figure, 802 to 805 are a plurality of plant equipment inspection devices, 806 and 807 are target positions after movement, and 813. 815 is a plant equipment inspection device 803-8
05 moving directions 822, 823, 824,
825 is a signal transmission / reception unit (signal transmission / reception means) on each of the plant equipment inspection devices 802 to 805, 842, 843, 84.
Reference numerals 4 and 845 denote movement route determination units on the plant equipment inspection devices 802 to 805. The plurality of plant equipment inspection devices 802 to 805 have the configuration and functions described in the eighth embodiment in addition to the configurations and functions of the plant equipment inspection devices described in the first to fourth embodiments. The same components as those of the fifth embodiment shown in FIG. 5 are designated by the same reference numerals, and duplicate description will be omitted.

In the plant equipment inspecting system according to the eighth embodiment, when a certain plant equipment inspecting apparatus 802 to 805 detects an abnormality in the state of the equipments 510 and 511, the other plant equipment inspecting apparatuses 802 to 805 are in trouble. The position information of the estimated occurrence location is transmitted to calculate the movement route and the shortest movement time to the equipment devices 510 and 511 which are the abnormal situation occurrence estimation locations in the plant, and the plant equipment inspection devices 802 to 805 having the shortest movement time are set. The selected and selected plant equipment inspection devices 802 to 805 are moved to the target point to detect the states of the equipment devices 510 and 511.

Next, the operation will be described. For example, assume that an overheat abnormality is occurring in the equipment 510 at the present time. Plant equipment inspection device 80 during equipment inspection work
2 detects that an overheat abnormality has occurred near the equipment 510, 511 based on odor information from an odor sensor (not shown). However, the location of the abnormality is the equipment 51
It occurs on the back side of 0, and it is not possible to specify the exact location of the abnormality. For this reason, the level of certainty of the abnormality occurrence information transmitted from the plant facility inspection device 802 to the central command device 501 is low, and therefore the central command device 501 has not reached the threshold for sounding an alarm.

At this time, the plant facility inspection device 802
Is a plurality of other plant equipment inspection devices 803 to 805.
To the position information of the estimated abnormal place. Movement route determination unit 84 in each plant facility inspection device 803 to 805
3, 844 and 845 calculate the optimum movement route and the shortest movement time relating to the movement from the position of itself and the movement direction / moving speed to the abnormality occurrence estimated position, and transmit the calculation result to the plant equipment inspection device 802. The plant equipment inspection device 802 receives the calculation result from each plant equipment inspection device, and for example, the plant equipment inspection device 803 can move to the target position 806 in the shortest time, and to the target position 807 from the relationship with the moving direction. When the plant equipment inspection device 804 determines that the plant equipment inspection device 804 can move in the shortest time, the plant equipment inspection device 802 selects the plant equipment inspection devices 803 and 804 having the shortest movement time to the target position, and issues a movement command to this plant equipment inspection device. It is transmitted to 803 and 804.
The selected plant facility inspection devices 803 and 804 receive the movement commands and then receive the respective target positions 806 and 80.
7, the target facility equipment 510, 511 is inspected there.

The central command device 501 receives the inspection results carried out at the positions 806, 807 from the plant equipment inspection devices 803, 804, and integrates the received data to make it possible to sufficiently detect the abnormality in the equipment 510. Anomaly occurrence information indicating the certainty factor is generated, and an alarm warning is generated based on this.

As described above, according to the eighth embodiment, the plurality of plant equipment inspection devices 802 to 805 transmit and receive information to and from each other, and have the shortest movement time to the inspection location where an abnormal situation is highly likely to occur. Plant equipment inspection device 8
02-805 is selected and moved.
It is possible to quickly detect the occurrence of an abnormal situation at 0,511 with high confidence and quickly, and reduce the load on the central command device 501.

Ninth Embodiment FIG. 9 is an explanatory diagram showing a plant facility inspection system according to a ninth embodiment of the present invention. In the figure, 917 and 918 are a plurality of mobile facility inspecting devices, specifically, the first to fourth embodiments. Alternatively, the plant facility inspection device described in the fifth to eighth embodiments,
901 receives and supervises the information transmitted from the mobile equipment inspection devices 917 and 918, and manages each mobile equipment inspection device 91.
A command device (first command means) 117 for controlling the operations of the mobile devices 7 and 918 is a communication transmission line used for transmitting and receiving information between the mobile equipment inspection devices 917 and 918 and the command device 901. The equipment inspection devices 917 and 918 and the command device 901 form a mobile equipment inspection system.

The command device 901 for controlling the operation of the mobile equipment inspection devices 917, 918 is a communication interface section 902 for transmitting and receiving signals to and from the plurality of mobile equipment inspection devices 917, 918, a control module 903,
It has a communication interface unit 904 for transmitting and receiving data to and from a higher-level device (for example, a central monitoring device 907 described later).

Reference numerals 908 and 909 denote fixed sensors 910 installed on equipment in the plant equipment inspection system.
911 is a transmission path of information transmitted from the fixed sensors 908 and 909, and 912 is a command device (second command) that receives and controls information from the fixed sensors 908 and 909 and controls the operation of the fixed sensors 908 and 909. Means), and the fixed sensors 908 and 909 and the command device 912 constitute a fixed type equipment inspection system.

The command device 912 that controls the operation of the fixed sensors 908 and 909 is a communication interface unit 913 for performing signal transmission between the fixed sensors 908 and 909 and the command device 912, a control module 914, and a host device (for example, , A communication interface unit 9 for transmitting and receiving data to and from a central monitoring device 907 described later.
Have 15.

Reference numeral 906 denotes a communication interface unit for communicating between the central monitoring device 907 and the lower devices, and 90.
Reference numeral 7 denotes a central monitoring device (central monitoring means) that controls the entire plant facility inspection system. The communication interface unit 906 and the command device 901 are connected via a communication transmission line 905, and the communication interface unit 906 and the command device 912 are connected via a signal transmission line 916. As described above, the plant equipment inspection system according to the ninth embodiment includes the mobile equipment inspection system, the fixed equipment inspection system, the communication interface unit, and the central monitoring device 907.

In the plant facility inspection system according to the ninth embodiment, the operation of the mobile facility inspection system including the mobile facility inspection devices 917 and 918 and the fixed sensors 908 and 909 etc. are performed when an abnormality occurs in the state of the facility equipment. Integrating the operation of the fixed type equipment inspection system including, the state of the inspection place including each equipment under the control of the central monitoring device 907 is efficiently measured, and various forms of information that are easy to understand are provided. It is provided to the observer.

Next, the operation will be described. The mobile equipment inspection devices 917 and 918 detect position information on their own orbits and transmit detection results while moving on orbits laid in advance in the plant, and information of mounted sensors (not shown). If it is determined that the information is abnormal, the alarm information is transmitted to the command device 901 via the communication transmission path 117.

Alarm signals from the mobile equipment inspection devices 917 and 918 are transmitted to the control module 903 via the communication interface section 902 in the command device 901. The command device 901 grasps the abnormality of the state of the equipment on the basis of the alarm signals from the mobile equipment inspection devices 917 and 918, and the mobile equipment inspection device 91.
Each position of 7 and 918 is grasped, and when the state of the equipment is abnormal, the mobile equipment inspection devices 917 and 918 are inspected so as to have an optimal arrangement according to the state of the abnormality occurrence. It instructs the devices 917 and 918 to move. Further, when an abnormality occurs in the equipment, the alarm information is also output to the central monitoring device 907 via the communication interface unit 904, the communication transmission line 905, and the communication interface unit 906.

On the other hand, the signals transmitted from the fixed sensors 908 and 909 fixedly installed to various equipment in the plant are transmitted to the control module via the transmission lines 910 and 911 and the communication interface unit 913 in the command device 912. It is input to 914. The command device 912 processes the signals from the fixed sensors 908 and 909 and determines whether there is an abnormality in the state of the target equipment. When the command device 912 determines that an abnormality has occurred in the equipment, the alarm information is transmitted to the central monitoring device 907 via the communication interface unit 915, the signal transmission path 916, and the communication interface unit 906.

When an abnormality occurs in the equipment, the central monitoring device 9
07 receives the alarm information transmitted from the command devices 901 and 912, provides the alarm information to the monitoring staff, and is further transmitted from the mobile equipment inspection devices 917 and 918 and the fixed sensors 908 and 909. Oversee information and present more detailed information to observers. For example, fixed sensor 90
When 8, 909 detects an abnormality in the equipment, the central monitoring device 907 generates a movement command for moving the mobile equipment inspection devices 917, 918 to the position of the target equipment, and commands the generated movement command. It is transmitted to the mobile equipment inspection devices 917 and 918 via the device 901. The mobile equipment inspection devices 917 and 918 move to the target equipment and detect the state of the equipment based on the received movement command.

The detection information regarding the equipment is the command device 90.
1 to the central monitoring device 907. In addition to the information from the fixed sensors 908 and 909, the central monitoring device 907 also detects the detection information obtained by the detection operation of the mobile facility inspection devices 917 and 918, for example, image information and audio information regarding the target facility equipment. It is also presented to the observer, and the observer makes a comprehensive judgment based on this information.

In the above description, the signals transmitted from the sensors in the mobile equipment inspection devices 917 and 918 to the command device 901 and the signals transmitted from the fixed sensors 908 and 909 to the command device 912 are assumed to be analog signals. However, for example, a sensor having an analog / digital conversion processing function is installed in place of the sensors in the mobile equipment inspection devices 917 and 918 or the fixed sensors 908 and 909,
It is also possible to transmit a digital signal as the transmission signal. In this case, by using a digital signal, noise during transmission can be reduced and the transmission speed can be improved. Further, the mobile equipment inspection devices 917 and 918 or the fixed sensors 908 and 909 are the command devices 901 and 9 respectively.
Under the control of 12 or the central monitoring device 907, a plurality of them may be combined or used alone.

As described above, according to the ninth embodiment, the state of the equipment is measured by using the mobile equipment inspection system and the fixed equipment inspection system, and various forms in which the measurement information can be easily understood. Since it can be provided to the monitoring staff, the monitoring staff can easily and quickly understand the state of the equipment and can accurately determine the occurrence of an abnormality in the inspection location of the equipment. Furthermore, mobile equipment inspection devices 917 and 918
Since the state of each equipment is detected under the overall system that integrates the equipment inspection system including the equipment and the equipment inspection system including the fixed sensors 908, 909, etc., the efficient and integrated operation of each equipment inspection system. Is possible.

[0093]

[0094]

[0095]

[0096]

[0097]

[0098]

As described above, according to the first aspect of the present invention, the state of the inspection point including a plurality of equipments in the plant is checked.
A plurality of sensor means for sensing the state,
Sensor means and each of the plurality of sensor means.
A plurality of sensor driving means for changing directions, positions, etc.
And a sensor for selecting signals from the plurality of sensor means
Selector and signal selected by the sensor selector
And select one of the plurality of sensor means
If necessary, re-sensing the status of the above inspection points
Signal processing means for generating a control signal for
Receiving a control signal transmitted from the processing means,
Based on the sensor driving means and the sensor selection hand
Drive amount control signal and sensor selection signal to control the operation of the stage
Signal is generated, and the generated drive amount control signal and the
A sensor selection signal to the sensor drive means and the sensor selection signal.
Selecting means for transmitting to the selecting means and the plurality of sensors.
Means, the plurality of sensor driving means, the sensor selection hand
Stage, the signal processing means, and the control signal generating means are mounted.
The moving mechanism that moves along a predetermined route and the device itself
Position detection means to detect the current position in the
The location where the location information of the inspection points including the equipment in the
It is detected by the figure database means and the position detecting means.
Present position of the device itself and in the map database means
The position is compared with the location information stored in
Map data collation correction means for generating a correction signal for correction and
And the signal processing means uses the correction signal to
A plurality of correcting the signals transmitted from the plurality of sensor means
Equipped with a plant equipment inspection device of
One of the equipment inspection devices is equipped with multiple equipment in the plant.
Detect abnormalities in the inspection location including
The status of the multiple plant equipment inspection devices,
Based on the information, based on the detected data
At least one plant for inspecting equipment
Since the equipment inspection device is configured to measure the inspection point of the abnormal state, there is an effect that the state of the inspection point with high confidence can be detected.

According to the second aspect of the invention, the central command means receives the current position information of the plurality of equipment inspection devices, and detects the abnormality of the state of the inspection location transmitted from any of the plurality of plant equipment inspection devices. When receiving the information shown, based on the current position information, at least one or more plant equipment inspection devices near the inspection location of the abnormal state are selected from the plurality of plant equipment inspection devices, and the selected plant equipment inspection device is selected. Is configured to instruct the execution of the measurement of the status by moving to the inspection location of the status abnormality, so that at least one or more of the plant equipment inspection devices of the plurality of plant equipment inspection devices are based on the detection data and the current position information. There is an effect that the state of the inspection location can be efficiently detected with a high degree of certainty by moving to the inspection location of the abnormal state along the optimum movement route, measuring the state of the inspection location in detail.

According to the third aspect of the present invention, each of the plant equipment inspecting apparatuses has a signal transmitting / receiving means for mutually transmitting / receiving its own position information and control information in the plant. When detecting an abnormality in the state of the inspection location, the position information of the inspection location where the abnormality occurs is transmitted to multiple other plant equipment inspection devices via signal transmission / reception means, and the inspection is performed at the other multiple plant equipment inspection devices. Calculate the distance to the location and the travel time, send the calculation result back, select at least one or more of the multiple plant equipment inspection devices near the inspection location in the abnormal state based on the calculation result, and select the plant equipment Since the inspection device is configured to move to an inspection point in an abnormal state and measure the state of the inspection point, it is possible to detect the state of the inspection point and inspect multiple plant equipment. There is an effect that can be performed on location unique and efficient high confidence.

According to the fourth aspect of the invention, when any of the plurality of plant equipment inspection devices detects an abnormality in the state of the inspection location, the central command means receives the detection information, and the plurality of plant equipment inspection devices are inspected. Select the plant equipment inspection device that can move to the inspection point in a short time based on the information indicating the current position and movement direction sent from each of the above, and instruct the selected plant equipment inspection device to move to the inspection point. Since it is configured to measure the condition of the inspection point in detail,
This has the effect of efficiently detecting the state of the inspection location with high confidence.

According to the fifth aspect of the present invention, each of the plurality of plant equipment inspecting devices has a signal transmitting / receiving means for transmitting / receiving its own position information and control information in the plant. When any one detects an abnormality in the state of the inspection point, it transmits the position information of the inspection point where the abnormality occurred to multiple plant equipment inspection devices via signal transmission / reception means, and the other multiple plant equipment inspection devices After receiving the location information of the inspection location where an abnormality has occurred and calculating the distance to the inspection location, the optimum route and the travel time based on the current position, movement direction and movement speed of the self, the calculation result is returned to the plant equipment inspection device. , The plant equipment inspection device selects at least one or more of a plurality of plant equipment inspection devices near the inspection location in the abnormal state based on the calculation result, and the selected plant Since the inspection equipment is configured to move to the inspection location in an abnormal state along the optimal movement route and to measure the state of the inspection location in detail, there is an effect that the state of the inspection location can be efficiently detected with high confidence. .

According to the invention described in claim 6 , the first command means controls the information transmitted from the plant equipment inspection device to grasp the state of the inspection location including a plurality of equipment devices in the plant, The plant controls the operation of each equipment inspection device, and the second command means is fixedly installed at the inspection location including the equipment in the plant and controls the information from the fixed sensor means for measuring the state of the inspection location. The state of the inspection location including the equipment in the plant is grasped and the operation of the fixed sensor means is controlled, and the central command means carries out the equipment in the plant based on the information from the first command means and the second command means. Since it is configured to grasp and supervise the overall operation and maintenance status of inspection points including equipment, and to provide the integrated comprehensive inspection point status to the monitoring personnel, it is possible to use the plant equipment inspection device and fixed sensor means. Is able to provide to the various forms of information in an easy form understood wardens, there is rapidly implement can effect the determination of abnormality of inspection locations including equipment with high accuracy.

[Brief description of drawings]

FIG. 1 is a block diagram of a plant equipment inspection device according to a first embodiment of the present invention.

FIG. 2 is a block diagram of a plant equipment inspection device according to a second embodiment of the present invention.

FIG. 3 is a block diagram of a plant equipment inspection device according to a third embodiment of the present invention.

FIG. 4 is a block diagram of a plant equipment inspection device according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram of a plant facility inspection system according to a fifth embodiment of the present invention.

FIG. 6 is a block diagram of a plant facility inspection system according to a sixth embodiment of the present invention.

FIG. 7 is a block diagram of a plant facility inspection system according to a seventh embodiment of the present invention.

FIG. 8 is a block diagram of a plant facility inspection system according to an eighth embodiment of the present invention.

FIG. 9 is a block diagram of a plant facility inspection system according to a ninth embodiment of the present invention.

[Explanation of symbols]

102 moving mechanism section (moving mechanism means), 103, 10
4,105 sensors (a plurality of sensor means), 106,1
07, 108 sensor drive unit (a plurality of sensor drive means), 109 sensor selection unit (sensor selection means), 11
0 signal processing section (signal processing means), 111 control signal generating section (control signal generating means), 201 weak directivity sensor (weak directivity sensor means), 202 strong directivity sensor (strong directivity sensor means), 203 strong Directional sensor driving unit (strong directional sensor driving unit), 205 first signal processing unit (first signal processing unit), 207 second signal processing unit (second signal processing unit), 301 position detection unit (Position detection means), 302 map database (map database means), 307 map data collation correction section (map data collation correction means), 401 state detection section (state detection means), 402 data error correction section (data error correction means) , 501, 701 Central command device (central command means), 502, 503, 504, 602, 603, 60
4,702,703,704,705,802,80
3,804,805 Plant equipment inspection device, 622
623, 624, 822, 823, 824, 825 signal transmitter / receiver (signal transmitter / receiver), 901 command device (first command device), 907 central monitoring device (central monitoring device), 908, 909 fixed sensor (fixed sensor) Means), 912 command device (second command means), 917,
918 Mobile equipment inspection device (plant equipment inspection device).

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiro Nakajima 2-3-3 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation (72) Inventor Mineo Higuchi 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Incorporated (72) Inventor Yoshitaka Onishi 2-3-3 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Co., Ltd. (56) Reference JP-A-5-281104 (JP, A) JP-A-4-324787 (JP , A) JP-A-6-119046 (JP, A) JP-A-4-333903 (JP, A) JP-A-6-233419 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB) Name) G05B 23/02 G01D 21/00 G06F 3/14 G08C 25/00

Claims (6)

(57) [Claims] 1. An inspection including a plurality of equipment in a plant
A plurality of sensor means for sensing the state of the location;
A plurality of sensors provided for a plurality of sensor means
Multiple sensor drives that change the direction, position, etc. of each means
Moving means and signals from the plurality of sensor means are selected.
Sensor selection means, and selected by the sensor selection means
Processed signal and select one of the sensor means.
If necessary, re-sensing the condition of the above inspection point
Signal processing means for generating a control signal for
The control signal transmitted from the signal processing means is received, and the control signal is received.
Sensor driving means and the sensor based on a control signal
Drive amount control signal and sensor for controlling operation of selection means
A selection signal is generated, and the generated drive amount control signal and
The sensor selection signal is transmitted to the sensor driving means and the sensor.
A control signal generating means for transmitting to the sensor selecting means,
Sensor means, the plurality of sensor driving means, the sensor
The selection means, the signal processing means, and the control signal generation means
Moving mechanism means for placing and moving on a predetermined pathAnd the device itself
ofPosition detection means for detecting the current position in the plant,
Stores the location information of inspection points including equipment in the plant
By the map database means and the position detecting means
DetectedThe device itselfCurrent location and the map database
Comparing with the arrangement information stored in the means,Concerned
Map data collation correction that generates a correction signal to correct the position
And means,The aboveSignal processing means,Use the correction signal
ThereThe aboveCorrects signals transmitted from multiple sensor means
RuEquipped with multiple plant equipment inspection devices, Any one of the plurality of plant equipment inspection devices is a plant
Abnormality in the condition of inspection points including multiple equipment in
And output the detection data,
Inspection deviceState ofBased on the information indicating the state,
At least one of the plurality of plant equipment inspection devices
One or more of the plant equipment inspection devices have
Plant equipment inspection system characterized by measuring inspection points
Stem. Wherein receiving the current location information of multiple plant equipment inspection apparatus, an abnormal state of the check point comprising a plurality of equipment in the plant that has been transmitted from any of said plurality of plant equipment inspection device When receiving the information indicating, at least one or more of the plant equipment inspection devices near the inspection location of the state abnormality are selected from among the plurality of plant equipment inspection devices based on the current position information, and the selected and further comprising a central command hand stage for measuring a state to move the plant facility inspection device to inspect locations of the abnormal state
The plant equipment inspection system according to claim 1 . Each wherein multiple plant facility inspection apparatus,
It has a signal transmitting and receiving means for transmitting and receiving together the positional information and the control information thereof in the plant, one of the plurality of plant equipment inspection apparatus, an abnormal state of the check point comprising a plurality of equipment in said plant When detected, the position information of the inspection location where the abnormality has occurred is transmitted to the other plurality of plant equipment inspection equipment via the signal transmission / reception means, and the other plurality of plant equipment inspection equipment is connected to the inspection location. After calculating the distance and the traveling time, the calculation result is returned, and at least one or more of the plurality of plant equipment inspection devices near the inspection point in the abnormal state are selected based on the calculation result and selected. the plant equipment inspection apparatus is moved to the inspection position of the abnormal state, according to claim 1 <br/> plan, wherein the benzalkonium was measured state of the inspection points was Equipment inspection system. Wherein any of the multiple number of plant equipment inspection equipment
Upon detecting an abnormal state of the check point comprising a plurality of equipment devices Gapu the plant receives the detection information, the information indicating the current position and the moving direction transmitted from each of said plurality of plant equipment inspection device On the basis, a central command to select the plant equipment inspection device in a position that can be moved to the inspection point in a short time, move the selected plant equipment inspection device to the inspection point, and measure the state of the inspection point plan <br/> preparative equipment inspection system according to claim 1, further comprising a hand stage. Each wherein multiple plant facility inspection apparatus,
It has a signal transmitting and receiving means for transmitting and receiving together the positional information and the control information thereof in the plant, one of the plurality of plant equipment inspection apparatus, an abnormal state of the check point comprising a plurality of equipment in said plant When detected, the position information of the inspection location of the abnormality occurrence is transmitted to the other plurality of plant equipment inspection apparatuses via the signal transmission / reception means, and the other plurality of plant equipment inspection apparatuses are inspected for the abnormality occurrence. After receiving the position information of the location and calculating the distance to the inspection location, the optimum route and the traveling time based on the current position of the vehicle, the traveling direction, and the traveling speed, the calculation result is returned to the plant facility inspection device, plant equipment inspection device selects at least one or more of the plurality of plant equipment inspection device close to the inspection position of the abnormal state based on the calculation results, -Option was <br/> plant equipment inspection system of claim 1, wherein said Turkey is measured state to move the plant facility inspection device to inspect locations of the abnormal state. 6. first controlling the operation of each of oversees information transmitted from plant equipment inspection device to grasp the status of the inspection portion comprising a plurality of equipment within the plant the plant equipment inspection device Commanding means, at least one fixed sensor means fixedly installed at an inspection location including a plurality of equipments in the plant, and measuring the state of the inspection location, and information from the fixed sensor means Then, the second command means for grasping the state of the inspection location including the equipment in the plant and controlling the operation of the fixed sensor means, and the information from the first command means and the second command means A central monitoring means for controlling the overall operation / maintenance state of the inspection location including the equipment in the plant, and providing the overall state of the inspection location including the integrated overall plurality of equipment to the supervisor. When Claim, characterized in that it comprises
1. The plant equipment inspection system according to 1.