JP6393630B2 - Inspection apparatus and inspection method - Google Patents

Description

  The present invention relates to an inspection apparatus and an inspection method for inspecting cables and wires such as overhead electric wires.

Overhead electric wires such as power transmission lines are subject to corrosion due to secular change, damage due to lightning, etc., and therefore must be inspected regularly.
In recent years, it has been proposed and in practical use to inspect an overhead electric wire using an apparatus for inspecting the overhead electric wire while traveling on the overhead electric wire (hereinafter referred to as an “overhead electric wire inspection device”). The inspection using the overhead wire inspection device is simpler and safer than, for example, a person actually rides on the overhead wire and performs the inspection.

The overhead electric wire inspection apparatus is equipped with a camera. By photographing an overhead wire with a camera, when the overhead wire has an abnormality such as damage, the abnormality can be detected from the photographed image.
Patent Document 1 describes a self-propelled inspection device that moves along an overhead wire and inspects the overhead wire. The inspection apparatus described in Patent Document 1 includes a rotor, and there is a description of a point that moves along an overhead electric wire by performing aerial flight like a helicopter.

JP 2006-529077 A

  An overhead electric wire is suspended, for example, between steel towers, and is disposed at a high place. For this reason, when inspecting with an overhead wire inspection device, it is necessary to place the overhead wire inspection device on the overhead wire disposed at a high place. In addition, equipment (obstacles) such as a suspension insulator and a spacer is attached to the overhead wire, and when the overhead wire inspection apparatus moves on the overhead wire, it is necessary to overcome these obstacles.

For this reason, as described in Patent Document 1, the inspection device itself includes a rotor for flight, and the inspection device performs flying in the air, so that the inspection device can be placed on an overhead electric wire in a high place. It is easy and can easily get over obstacles.
By the way, a small flying object with a rotor that is supposed to be used in combination with this type of inspection apparatus is a battery that is driven by a rotor to rotate, and normally allows continuous flight. Time is limited to relatively short times.

Therefore, when the overhead wire inspection device is moved along the overhead wire in flight on the rotor, it is impossible to inspect the overhead wire for a long time without power supply means for rotationally driving the rotor. There is a problem.
In the case of the inspection apparatus described in Patent Document 1, it has been proposed that the inspection apparatus itself includes a pantograph that takes in electric power from nearby overhead electric wires and continuously drives the rotor with the electric power received by the pantograph. .

  However, in the case of a configuration in which the rotor flies with the power received from the overhead wire, there is a problem that only the overhead wire in the live state can be inspected. That is, when inspecting overhead wires, there are cases where the overhead wires are inspected in a non-live line state where power transmission is stopped, and cases where the overhead wires are inspected in a live line state during power transmission. Is preferably compatible with both cases. In addition, in the case of an inspection device in which the rotor flies with electric power received from an overhead electric wire, it is impossible to inspect a wire or the like installed on a bridge.

  An object of this invention is to provide the inspection apparatus and inspection method which can always test | inspect cables and wires, such as an overhead electric wire, favorable.

The inspection apparatus of 1st invention is an inspection apparatus provided with the main-body part which test | inspects the state of a cable or a wire, and the carrier part which conveys a main-body part.
And a main-body part is provided with the test | inspection function part which test | inspects the state of a cable or a wire, and the driving | running | working part which runs the main-body part mounted on the cable or the wire.
The carrier unit includes a flying unit that floats the carrier unit.
Further, at least one of the main body part and the carrier part is provided with a connection mechanism part for connecting and disconnecting the main body part and the carrier part.
One of the main body part and the carrier part is provided with a reference part for position detection, and the other of the main body part and the carrier part is provided with a position detection part for detecting the reference part. Based on the detected position, when it is determined that the relative position of the main body portion and the carrier portion is an appropriate position, the connection mechanism portion connects the main body portion and the carrier portion.

  The inspection device of the second invention is the position of the inspection device in the inspection function unit for inspecting the state of the cable or the wire, the traveling unit for running the inspection device mounted on the cable or the wire, and the separate carrier unit. And a connecting part for holding the inspection device in the carrier part.

The inspection method of 1st invention is an inspection method which inspects using the apparatus provided with the main-body part which test | inspects the state of a cable or a wire, and the carrier part which conveys a main-body part.
And the inspection function part with which the main-body part was equipped inspects the state of a cable or a wire, the traveling process which runs the main-body part mounted on the cable or the wire, and the carrier part and the main-body part are attached and detached. A connection process for freely connecting, and a flight process for floating the main body part in a state where the carrier part is connected to the main body part.
And either one of the main body part and the carrier part is provided with a reference part for position detection, and either one of the main body part and the carrier part is provided with a position detection part for detecting the reference part. Based on the position detected by the position detection unit, when it is determined that the relative position of the main body unit and the carrier unit is an appropriate position, the connection is performed.

In the inspection method of the second invention, the inspection function part provided in the main body part of the inspection apparatus inspects the state of the cable or the wire, and the traveling that runs the main body part of the inspection apparatus placed on the cable or the wire. Using the reference part provided in the main body of the inspection apparatus, the position detection process for detecting the position of the inspection apparatus by the carrier part that performs the floating process, and the position of the inspection apparatus while confirming the position by the position detection process . And a connecting process for detachably connecting a carrier part for performing a floating process to the main body part.

  According to the present invention, since the main body travels over the cable or the wire, the flying flight by the carrier section occurs when the main body is placed on or lowered from the cable or the wire, and the main body is obstructed on the cable or the wire. It only needs to be done when passing through an object, and a minimal flying flight. Therefore, the carrier portion may be driven by a relatively small capacity battery and fly in a short time, and both the inspection of the live cable and the inspection of the non-hot cable or wire can be performed. Moreover, since the carrier part is detachable from the main body part, the main body part can be made small, and a good inspection can be performed in a state where the load on the cable or the wire is small.

It is a perspective view showing the example of whole composition of the inspection device by the example of one embodiment of the present invention. It is a block diagram which shows the internal structural example of the test | inspection apparatus by one embodiment of this invention. It is a perspective view which shows the example of the state which the main-body part and carrier part of the inspection apparatus by one embodiment of this invention connected. It is a side view which shows the example of the state which the main-body part and carrier part of the test | inspection apparatus by one embodiment of this invention connected. It is a flowchart which shows the operation example when the carrier part of the test | inspection apparatus by one embodiment of this invention connects with a main-body part. It is explanatory drawing which shows the process example at the time of performing the test | inspection of the cable by one embodiment of this invention. It is explanatory drawing which shows the state at the time of a test | inspection apparatus driving | running | working the cable of the up-slope by one embodiment of this invention. It is a perspective view which shows the example of whole structure of the test | inspection apparatus by the modification of one embodiment of this invention.

Hereinafter, an embodiment of the present invention (hereinafter referred to as “this example”) will be described with reference to the accompanying drawings.
[1. Overall configuration of inspection device]
FIG. 1 shows the overall configuration of the inspection apparatus 100 of this example.
The inspection apparatus 100 includes a main body part 110 and a carrier part 150. In addition, a controller 190 for wirelessly operating the main body 110 and the carrier 150 is provided.
The main body 110 is placed on the overhead electric wire 11 and runs on the overhead electric wire 11 to inspect the overhead electric wire 11. The carrier unit 150 includes rotating rotors 151 to 154. The carrier unit 150 floats and flies as the rotors 151 to 154 are rotated by driving by the rotor motors 151a to 154a (FIG. 2). The height of the carrier unit 150 and the flying position are controlled by the rotational states of the four rotors 151 to 154. The carrier unit 150 may fly alone or in a state where the main body unit 110 is connected.

The main body 110 includes a plurality of traveling pulleys 111 to 113 and clamp pulleys 114 and 115. The traveling pulleys 111 to 113 function as a traveling unit of the main body 110. As shown in FIG. 1, when the main body 110 is placed on the overhead wire 11, the traveling pulleys 111 and 112 and the clamp pulleys 114 and 115 sandwich the overhead wire 11 from above and below. The main body 110 is configured not to drop off the overhead wire 11 by sandwiching the overhead wire 11 between the traveling pulleys 111 and 112 and the clamp pulleys 114 and 115 as described above. The clamp pulleys 114 and 115 are separated from the overhead electric wire 11 when the main body 110 is placed on the overhead electric wire 11 and when the main body 110 is removed from the overhead electric wire 11.
The traveling pulleys 111 and 112 are rotated by driving by the pulley driving unit 144 (FIG. 2). As the traveling pulleys 111 and 112 rotate, the main body 110 travels on the overhead wire 11.

  The main body unit 110 includes a plurality of cameras 121 to 125 and photographs the overhead electric wire 11 adjacent to the main body unit 110 and the surroundings of the main body unit 110. In FIG. 1, only two cameras 121 and 122 arranged close to the overhead electric wire 11, a camera 123 arranged on the upper surface of the main body 110, and a camera 124 arranged on the front surface of the main body 110 are only shown. Indicates. A camera 125 (not shown) is disposed on the rear surface of the main body 110. Further, the main body 110 includes a sensor 126 (FIG. 2) that measures a state such as a diameter of the overhead electric wire 11 and a travel distance (travel position).

In addition to the camera 123, a reference marker 131 and connecting holes 132 and 133 are disposed on the upper surface of the main body 110. The reference marker 131 is used by the carrier unit 150 to detect the position where the reference marker 131 is displayed by the camera 182 (FIG. 4) provided in the carrier unit 150. The reference marker 131 is used as a reference part for detecting a relative position with respect to the main body part 110 when the carrier part 150 is connected to the main body part 110.
The connection holes 132 and 133 are used as connection parts when the main body part 110 is connected to the carrier part 150.

  The carrier unit 150 includes covers 161 to 164 on the outer peripheral portions of the respective rotors 151 to 154. The covers 161 to 164 function to prevent the rotors 151 to 154 from coming into contact with the overhead electric wire 11 when the carrier unit 150 flies.

The carrier unit 150 includes two arms 171 and 172. The two arms 171 and 172 function as a connection mechanism that connects and disconnects the main body 110.
Respective arms 171 and 172 have base end sides 171a and 172a attached to the carrier portion 150, which can be rotated by about 90 ° in directions indicated by arrows θ1 and θ2 when driven by the arm drive portion 174 (FIG. 2). .
Moreover, the front end sides 171b and 172b of the two arms 171 and 172 are hook-shaped. The hook-shaped distal ends 171 b and 172 b are fitted into the connection holes 132 and 133 of the main body 110, so that the carrier 150 is connected to the main body 110. The two arms 171 and 172 are in a horizontal state (the state shown in FIG. 1) when disconnected, and are in an upright state bent by about 90 ° from the horizontal state when connected.

  The carrier unit 150 includes an upper camera 181 and a lower camera 182 (FIG. 4). The upper camera 181 images the upper side of the carrier unit 150, and the lower camera 182 images the lower side of the carrier unit 150. Images taken by these cameras 181 and 182 are used for position control when the carrier unit 150 is connected to the main body 110. The cameras 181 and 182 of the carrier unit 150 can also photograph the overhead wire 11 and inspect the state of the overhead wire 11 from the photographed image.

  Note that the image captured by each of the cameras 121 to 125 attached to the main body 110 and the image captured by the carrier unit 150 are displayed on the display unit 193 of the controller 190. Further, the controller 190 can control the traveling state of the main body 110 and the flying state (flight state) of the carrier unit 150.

[2. Internal structure of inspection equipment]
FIG. 2 shows an internal configuration example of the inspection apparatus 100 of this example.
The main body 110 includes a wireless communication unit 141, an inspection function unit 142, a travel control unit 143, and a pulley drive unit 144. The wireless communication unit 141 performs wireless communication with the controller 190 and the carrier unit 150. The inspection function unit 142 is supplied with image data captured by the cameras 121 to 125 and detection data of the sensor 126. In the sensor 126, for example, the diameter of the overhead electric wire is measured.

The inspection function unit 142 performs inspection processing such as determination of whether or not there is an abnormality in the overhead electric wire based on the supplied image data and detection data. In addition, collected image data and detection data are stored in a data storage unit (not shown) included in the inspection function unit 142. The inspection function unit 142 may only collect image data and detection data, and the determination of the state of the overhead wire may be performed by an external analysis device (computer device).
Part or all of the image data and detection data collected by the inspection function unit 142 is supplied from the wireless communication unit 141 to the controller 190.

  The traveling control unit 143 controls the traveling process by the traveling pulleys 111 to 113 of the main body 110 by sending a command to the pulley driving unit 144. The traveling control unit 143 also controls the execution and release of the clamped state by the clamp pulleys 114 and 115. Execution and release of the travel and clamp state by the travel control unit 143 is performed based on data received from the controller 190 by the wireless communication unit 141.

  The carrier unit 150 includes a wireless communication unit 183, a flight control unit 184, and a connection control unit 173. The wireless communication unit 183 performs wireless communication with the controller 190 and the main body unit 110. The flight control unit 184 controls the driving state of the four rotor motors 151a to 154a and controls the flight state due to the rotation of the rotors 151 to 154. At this time, the flight control unit 184 detects the posture, the flight altitude, and the flight position of the carrier unit 150 by using a sensor (not shown), and controls the flight so as to achieve an appropriate flight.

  The connection control unit 173 controls the arm driving unit 174 that performs the rotation driving of the arms 171 and 172, and performs the connection process. For example, when connecting the carrier unit 150 to the main body unit 110, the arm driving unit 174 moves the arms 171 and 172 from the horizontal state to the upright state according to an instruction from the connection control unit 173. Further, when the carrier unit 150 is separated from the main body unit 110, the arm driving unit 174 moves the arms 171 and 172 from the upright state to the horizontal state in accordance with an instruction from the connection control unit 173.

These connection and disconnection processing operations are performed based on data received by the wireless communication unit 183 from the controller 190. The connection operation by the connection control unit 173 is executed when it is determined from the image captured by the lower camera 182 that the relative positional relationship between the carrier unit 150 and the main body unit 110 is appropriate. That is, the lower camera 182 of the carrier unit 150 captures the reference marker 131 on the upper surface of the main body unit 110, and the connection control unit 173 determines the relative positional relationship between the carrier unit 150 and the main body unit 110. When it is determined that the carrier unit 150 is directly above the main body unit 110, the connection control unit 173 gives an instruction to move the arms 171 and 172 from the horizontal state to the upright state.
Image data captured by the upper camera 181 and the lower camera 182 is wirelessly transmitted from the wireless communication unit 183 to the controller 190.

The controller 190 includes a wireless communication unit 191, a control unit 192, a display unit 193, and an operation unit 194. The wireless communication unit 191 performs wireless communication with the main body unit 110 and the carrier unit 150. The control unit 192 controls the display of the received image and detection data on the display unit 193, and controls the wireless transmission of the operation data received by the operation unit 194 from the wireless communication unit 191. The operation unit 194 may be a touch panel integrated with the display unit 193.
The operator gives instructions regarding the flight of the carrier unit 150 and the traveling and inspection of the main body unit 110 by an operation using the operation unit 194. In addition, regarding the connection and disconnection between the carrier unit 150 and the main body unit 110, the operator gives an instruction through an operation using the operation unit 194.

The controller 190 may prepare a dedicated device for controlling the inspection apparatus 100 of this example. However, the controller 190 may function as the controller 190 by mounting a program on a commercially available tablet terminal, for example.
The main unit 110, the carrier unit 150, and the controller 190 are operated by a power source supplied from a battery (not shown) incorporated therein.

[3. Explanation of coupling mechanism between main body and carrier]
3 and 4 show a state where the main body part 110 and the carrier part 150 are connected.
In a state where the main body 110 and the carrier 150 are connected, the two arms 171 and 172 of the carrier 150 are in an upright state. At this time, if the relative position of the main body 110 and the carrier 150 is appropriate, the distal ends 171b and 172b of the arms 171 and 172 are connected to the connecting holes 132 and 133 on the main body 110 as shown in FIG. Inserted into. The hook-shaped tip sides 171 b and 172 b are fitted into the connection holes 132 and 133 of the main body 110, and the carrier 150 is connected to the main body 110.
When the carrier unit 150 flies in the connected state as described above, the main body unit 110 is transported.

  When the connection is released, the distal ends 171b and 172b of the arms 171 and 172 are separated from the connection holes 132 and 133 on the main body 110 side and are in a horizontal state (the state shown in FIG. 1). When this connection is released, the carrier unit 150 flies alone.

The flowchart of FIG. 5 shows an operation example when the carrier unit 150 is connected to the main body unit 110.
First, the carrier unit 150 flies and moves to the vicinity immediately above the main body unit 110. At this time, based on the judgment of the carrier unit 150 itself or an instruction from the controller 190, the carrier unit 150 adjusts the flight position (step S11). Then, the connection control unit 173 determines whether or not the position of the reference marker 131 on the upper surface of the main body unit 110 is appropriate from the image captured by the lower camera 182 of the carrier unit 150 (step S12).

  If it is determined in step S12 that it is not appropriate, the process returns to step S11, and the carrier unit 150 adjusts its flight position. When it is determined in step S12 that the position of the reference marker 131 is appropriate, the connection control unit 173 gives an instruction to rotate the arms 171 and 172 to execute the connection operation (step S13). Thereafter, the carrier unit 150 performs flying and the like, and conveys the connected main body unit 110 to a predetermined position (step S14).

[4. Example of inspection operation]
FIG. 6 shows an example in which the inspection apparatus 100 is used to inspect four overhead wires 11 to 14.
In this example, four main body portions 110a, 110b, 110c, and 110d are prepared.
First, the carrier unit 150 flies directly above the overhead wire 11 and places the body portion 110 a on the overhead wire 11 as indicated by an arrow F <b> 1 with the body portion 110 a connected. At this time, the carrier unit 150 performs positioning so that the pulleys 111 to 113 are placed on the overhead wire 11 while photographing the surroundings with the upper camera 181 and the lower camera 182. Then, the carrier part 150 cuts off the main body part 110a and flies to a place where the main body parts 110b on the ground are arranged as indicated by an arrow F2. On the main body 110a side, the clamping work by the clamp pulleys 114 and 115 is performed immediately before being separated from the carrier 150.

  Thereafter, as indicated by arrows F3, F4, F5, F6, and F7, the carrier unit 150 conveys the main body 110b to the overhead electric wire 12, conveys the main body 110c to the overhead electric wire 13, and the overhead electric wire of the main body 110d. 14 are sequentially transferred.

  The four main body portions 110a, 110b, 110c, and 110d mounted on the four overhead wires 11 to 14 perform a traveling process of individually traveling on the overhead wires 11 to 14 based on an instruction from the controller 190. And inspect each overhead wire 11-14.

By the way, the overhead electric wires 11 to 14 are provided with facilities such as a hanging insulator and a spacer. Among these facilities, for a facility having a low height or a facility having a small size, a mechanism that climbs over while adjusting the distance between the pulleys 111 and 112 of the main body portions 110a to 110d and the pair of clamp pulleys 114 and 115. Can be made. On the other hand, in the case of equipment that cannot be overcome by adjusting the distance between the pulleys 111 and 112 and the clamp pulleys 114 and 115, the main body portions 110a to 110d become obstacles when traveling on the overhead wires 11 to 14. For this reason, the carrier part 150 conveys each main-body part 110a-110d by flight, when passing an obstacle.
For example, as shown in FIG. 6, when the main body part 110b on the overhead electric wire 12 approaches the insulator 15, the carrier part 150 flies to just above the main body part 110b and is connected to the main body part 110b. Process. And the carrier part 150 moves the main-body part 110b to the position which got over the insulator 15, as shown by arrow F11.
The carrier unit 150 performs the operation of overcoming such an obstacle on each of the main body units 110a, 110b, 110c, and 110d. The above-described mechanism for overcoming an obstacle by adjusting the distance between the pulleys 111 and 112 and the clamp pulleys 114 and 115 is an example, and the main body 150 may include another mechanism for overcoming the obstacle.

And after inspection of each overhead electric wires 11-14 by main part 110a-110d is completed, career part 150 performs work which lowers main parts 110a-110d in order from overhead electric wires 11-14.
By performing the inspection work in this manner, the carrier unit 150 flies only when the main body 110 is placed on or lowered from the overhead wire, or when the main body 110 passes an obstacle on the overhead wire. What is necessary is just a short flying flight. Accordingly, the carrier unit 150 may be driven by a relatively small capacity battery to fly for a short time, and the carrier unit 150 needs to include a large battery and an external power supply means for performing a long continuous flight. There is no.
Moreover, since the main-body part 110 drive | works with the drive by the built-in battery, it becomes possible to test | inspect whether an aerial wire is a hot-wire state or a non-hot-wire state.

  Furthermore, the main body 110 traveling on the overhead electric wire can be configured to be very small and lightweight because the carrier section 150 is a separate body, and the drive power when the main body 110 travels can be reduced. Thus, the main body 110 can be driven for a long time by the battery. In addition, the light weight of the main body 110 means that there is little burden on the overhead electric wire when traveling over the overhead electric wire, and the overhead electric wire can hang down due to the weight of the main body 110 when the main body 110 travels. The inspection is low and good inspection can be performed.

  In addition, in the example of FIG. 6, it was set as the example which prepared the main-body parts 110a-110d by the number of the overhead wires 11-14. On the other hand, the main body part 110 may be a single unit, and the main body part 110 may be moved by the carrier part 150 in order to move the overhead electric wires 11 to 14 in order and inspect one by one. Alternatively, a plurality of carrier units 150 may be prepared so that the plurality of main body units 110 can be conveyed simultaneously.

  In addition, a main body having a configuration different from that of the main body 110 is prepared, and a sensor (for example, an eddy current sensor wire that is different from the sensor 126 included in the main body 110 is provided in the main body having the other configuration. A sensor for inspecting the internal state) may be provided. Then, the carrier unit 150 may place both the main body unit 110 and the main body unit having a different configuration on the overhead electric wire 11 sequentially, and sequentially inspect the overhead electric wire 11 at each main body unit. Alternatively, according to the inspection contents of the overhead electric wire 11, the carrier unit 150 may replace the main body unit 110 with a main body unit having a different configuration to inspect various items.

[5. Example of running state]
In the example described with reference to FIG. 6, when the main body 110 travels on the overhead wires 11 to 14, the carrier portion 150 is in a separated state. On the other hand, when the main body 110 travels on the overhead wires 11 to 14, the carrier portion 150 may remain connected.
In this case, when the main body part 110 to which the carrier part 150 is connected travels on the overhead electric wires 11 to 14, the flying force of the carrier part 150 may assist the travel of the main body part 110. Good.

  For example, as shown in FIG. 7, as the overhead electric wire 11 held by the steel tower approaches the steel tower, the upward inclination angle θa becomes a larger angle. In such a case, in the main body 110, the sensor 126 detects the tilt angle. When the detected inclination angle θa exceeds a predetermined threshold, the travel control unit 143 of the main body 110 is difficult to travel the main body 110 only by the driving force M1 of the pulley drive unit 144. Determine and instruct the carrier unit 150 to assist.

  The carrier unit 150 that has received the assist instruction starts the flying flight and generates a force M2 due to the flying flight. Therefore, a force M2 due to flying flying is added to the driving force M1 of the pulley driving unit 144 in the main body 110, and a sufficient force is obtained for the main body 110 to travel on the inclined overhead electric wire 11. Therefore, even an inclined overhead electric wire can be inspected satisfactorily.

[6. Modified example]
The inspection apparatus 100 shown in FIGS. 1 to 6 is configured such that the main body 110 travels on one overhead electric wire. On the other hand, you may apply this invention to the inspection apparatus provided with the main-body part which drive | works on a several overhead electric wire.
FIG. 8 shows a configuration example of an inspection apparatus 200 including a main body 210 that is placed on two parallel overhead wires 11 and 12 and that is self-propelled. The carrier unit 150 included in the inspection apparatus 200 has the same configuration as the carrier unit 150 shown in FIG.

The main body 210 includes four wheels 211 to 214, the wheels 211 and 213 are placed on one overhead wire 11, and the wheels 212 and 214 are placed on the other overhead wire 12. Each of the wheels 211 to 214 is rotated by driving by a driving unit in the main body unit 210.
The main body 210 also includes a plurality of cameras 221, 222, and 223 that take a picture of the state of the overhead wire and the surroundings, and a sensor (not shown) that measures the state of the overhead wire and the travel distance (travel position). . A reference marker 231 and connecting holes 232 and 233 are arranged on the upper surface of the main body 210.

  When connecting the carrier part 150 to the main body part 210, the arms 171 and 172 of the carrier part 150 are inserted into the connection holes 232 and 233. The alignment at the time of connection is performed by detecting the position of the reference marker 231 from the image captured by the lower camera 182 on the carrier unit 150 side.

A main body 210 that travels on a plurality of overhead wires 11 and 12 as shown in FIG. 8 can be carried by flying by the carrier 150, and the main body 110 shown in FIG. The same effect as when used is obtained. In addition, in the case of the main-body part 210 shown in FIG. 8, you may make it provide the mechanism for getting over the comparatively small obstruction attached to the overhead electric wire. For example, there is provided a climbing mechanism that can be selectively set between a state in which the front wheels 211 and 212 of the main body 210 are lifted and a state in which the rear wheels 213 and 214 are lifted by changing the weight balance of the main body 210. You may make it get over obstacles.
Moreover, it is good also as a main-body part which drive | works on the 3 or more overhead wire instead of the main-body part 210 shown in FIG.

  Further, when the carrier unit 150 is connected to the main body unit 110 or 210, the carrier unit 150 automatically determines whether or not the mutual position is appropriate in the example of the flowchart of FIG. On the other hand, an operator operating the controller 190 may instruct the connection from the controller 190 while viewing the display of the image captured by the lower camera 182 of the carrier unit 150.

In addition, when the carrier unit 150 is connected to the main body unit 110 or 210, a reference marker is provided on the main body unit 110 or 210, and the carrier unit 150 images the marker with the camera 182 to perform alignment. . On the other hand, the carrier unit 150 side may be provided with a reference marker, and the cameras 123 and 223 of the main body unit 110 may perform alignment from an image obtained by photographing the carrier unit 150. Or both the carrier part 150 and the main-body parts 110 and 210 may confirm a position mutually.
Further, the alignment using the reference marker is an example, and the position detection reference unit may be obtained with other configurations. For example, the camera 182 of the carrier unit 150 may take an image of the coupling holes 132 and 133 of the main body 110 and perform alignment based on the positions of the coupling holes 132 and 133.
Alternatively, instead of the reference marker disposed on the upper surface of the main body 110, a magnetic force or a transmission signal generated from the main body 110 may be used as the reference portion.

  In addition, the members that can be moved at the time of connection (arms 171 and 172 in FIG. 1) are provided only on the carrier portion 150 side. You may make it lock to. Alternatively, only the main body 110, 210 side may be moved to perform the connecting operation.

Furthermore, the structure for performing the connection using the arms 171 and 172 shown in FIG. 1 and the like shows an example of the connection mechanism part, and the carrier part 150 and the main body parts 110 and 210 are connected in other structures. It is good also as composition which performs. For example, an electromagnet may be provided in one of the carrier part 150 and the main body parts 110 and 210, and the carrier part 150 and the main body parts 110 and 210 may be connected by adsorption by magnetic force.
In the example shown in FIG. 3, the carrier unit 150 is connected so as to suspend the main body 110. However, the main body 110 may be placed on the upper side of the carrier 150.

  Moreover, although the main body part 110 has a built-in battery, the main body part 110 is provided with a power receiving part that receives power from an overhead electric wire in a live state, so that the main body part 110 can run and inspect with the received power. May be performed.

  In the above-described embodiment, the inspection devices 100 and 200 self-propelled the overhead wire to inspect the overhead wire, but the carrier portion 150 and the main body portions 110 and 210 are connected without being disconnected. It is also possible to inspect the state of the overhead wire from the captured image by photographing the overhead wire with the inspection cameras 123 to 125 while flying in the state.

  In the above-described embodiment, the inspection devices 100 and 200 are used to inspect overhead electric wires. In contrast, the inspection devices 100 and 200 may inspect cables other than overhead wires and wires installed in various structures such as bridges.

  Moreover, the external shape of the main-body part 110 and the carrier part 150 of the embodiment mentioned above shows an example, and it is good also as another shape. For example, the carrier unit 150 includes four rotors 151 to 154, but other numbers of rotors may be arranged. Or you may provide the flying part which floats by structures other than a rotor.

Furthermore, the present invention is not limited to the above-described embodiments, and various other application examples and modifications can be taken without departing from the gist of the present invention described in the claims.
For example, in the above-described embodiment, the configuration of the apparatus is described in detail and specifically in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the configuration having all the configurations described. .
Further, the signal flow lines shown in the drawings such as FIG. 2 indicate what is considered necessary for the description, and do not necessarily indicate all lines necessary for the apparatus. Actually, it may be considered that almost all the components are connected to each other.

  DESCRIPTION OF SYMBOLS 11-14 ... Overhead electric wire, 15 ... Insulator, 100 ... Inspection apparatus, 110 ... Main part, 111-113 ... Travel pulley, 114, 115 ... Clamp pulley, 121-125 ... Camera, 126 ... Sensor, 131 ... For reference Marker, 132, 133 ... connecting hole, 141 ... wireless communication unit, 142 ... inspection function unit, 143 ... travel control unit, 144 ... pulley drive unit, 150 ... carrier unit, 151-154 ... rotor, 151a-154a ... rotor Motor, 161-164 ... cover, 171, 172 ... arm, 173 ... connection control unit, 174 ... arm drive unit, 181 ... upper camera, 182 ... lower camera, 183 ... wireless communication unit, 184 ... flight control unit, 190 ... Controller, 191 ... Wireless communication unit, 192 ... Control unit, 193 ... Display unit, 194 ... Operation unit, 200 ... Inspection device, 210 Body part, 211 to 214 ... wheel, 221 to 223 ... camera, 231 ... reference markers, 232, 233 ... connecting hole

Claims (9)

An inspection apparatus comprising a main body for inspecting a state of a cable or a wire, and a carrier for conveying the main body,
The main body is
And inspection function unit for inspecting the state of the cable or wire,
A traveling part for traveling the main body part placed on the cable or wire,
The carrier part is
Including a flying part for levitating the carrier part,
Furthermore, at least one of the main body portion and the carrier portion includes a connection mechanism portion that connects and disconnects the main body portion and the carrier portion ,
Either one of the main body part and the carrier part is provided with a reference part for position detection,
The other of the main body part and the carrier part is provided with a position detection part for detecting the reference part,
Based on the position detected by the position detection unit, when it is determined that the relative position of the main body unit and the carrier unit is an appropriate position, the connection mechanism unit connects the main body unit and the carrier unit. The inspection device that was made to do . The traveling unit includes a driving force for traveling the main body unit along the cable or wire when the cable or wire has an ascending slope of a predetermined angle or less,
2. When the cable or the wire has an ascending slope exceeding a predetermined angle, the flying force of the flying portion of the carrier portion connected to the main body portion is used to assist the traveling of the main body portion. The inspection device described. Flight portion of the carrier portion is a rotor which is driven to rotate, the inspection apparatus according to claim 1 or 2 and a cover to prevent contact between the rotor and the cable or wire. The flying part flies flying in a state where the main body part and the carrier part are connected by the connecting mechanism part, so that the main body part is placed on the cable or the wire, or the main body part is attached to the cable or down from the wire, or inspection apparatus according to any one of claims 1 to 3 as the main body rides over the mounted obstacle to the cable or wire, carried out at least one of. An inspection device for inspecting the state of a cable or wire,
And inspection function unit for inspecting the state of the cable or wire,
A traveling unit for traveling the inspection device placed on the cable or wire;
A reference unit for detecting the position of the inspection apparatus in a separate carrier unit;
An inspection device comprising: a connecting portion for holding the inspection device at the carrier portion. In an inspection method for inspecting using a device provided with a main body part for inspecting the state of a cable or a wire and a carrier part for conveying the main body part,
Inspection function portion to which the body portion is equipped with, an inspection process for inspecting the condition of the cable or wire,
A traveling process for traveling the main body placed on the cable or wire;
A connection process in which the carrier part and the main body part are detachably connected;
In a state that said carrier portion and said body section is engaged, looking contains a flight processing for floating the main body portion,
Either one of the main body part and the carrier part is provided with a reference part for position detection,
The other of the main body part and the carrier part is provided with a position detection part for detecting the reference part,
An inspection method in which, in the connection process, connection is performed when it is determined that the relative position between the main body and the carrier is an appropriate position based on the position detected by the position detector . In the traveling process, when the cable or wire has an ascending slope of a predetermined angle or less, the main body is traveled along the cable or wire, and the cable or wire has an ascending slope exceeding a predetermined angle. The inspection method according to claim 6 , wherein the travel of the main body part is assisted by a levitation force by a flying part of the carrier part connected to the main body part. By performing the flight process with the main body part and the carrier part connected in the connection process, the main body part is placed on the cable or wire, or the main body part is lowered from the cable or wire, or inspection method according to claim 6 or 7 as the main body rides over the cable or obstructions attached to the wire, it performs at least one of. An inspection method for inspecting a state of a cable or a wire using an inspection function unit provided in a main body of the inspection device,
The inspection function unit included in the main body of the inspection device is an inspection process for inspecting the state of the cable or wire,
A traveling process for traveling the main body of the inspection apparatus placed on the cable or wire,
A position detection process for detecting the position of the inspection device in a carrier portion that performs a floating process using a reference portion provided in a main body of the inspection device;
Wherein while confirming the position by the position detecting process, the main body portion of the inspection apparatus, inspection method and a coupling treatment for detachably connecting the carrier unit for performing floating process.

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