JP6505927B1 - Inspection method using unmanned small-sized flying object and unmanned small-sized flying object used therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inspection method using an unmanned miniature flight vehicle capable of inspecting the interior of the structure while easily realizing stable flight in the interior space of the structure, and an unmanned miniature flight vehicle used therefor .
The unmanned small-sized flying object 1 is caused to fly in the internal space of the structure, and the inspection method using the unmanned small-sized flying object 1 is performed. A guide 8 for guiding the airframe 10 along the rod-like body 23 is provided, and the linear body 23 is installed in a stretched state in the internal space, and the unmanned small flight vehicle 1 is installed along the linear body 23 by the guide 8 While flying, inspect the inside of the structure.
[Selected figure] Figure 3

Description

  The present invention relates to an inspection method using an unmanned miniature flight vehicle for inspecting the interior of a structure by flying an unmanned miniature flight object in an inner space such as a chimney or a furnace, and an unmanned miniature flight object used therefor.

  In the past, gondola and balloons were used to inspect the inner walls of tall chimneys and incinerators, but such inspections require manpower, time and effort, as well as preparation and inspection of equipment. It takes a lot of labor and time to remove it, the cost of the inspection work is high, and the inspection work also takes days.

  On the other hand, in recent years, unmanned small-sized flying vehicles called drone and multicopter with multiple propellers can be obtained at low cost, and inspection and measurement can be performed by remote control of unmanned small-sized flying vehicles equipped with cameras and measuring instruments. Effort has been reduced.

  For example, in Patent Document 1, “Inspecting the interior of the structure such as the inside of the boiler or chimney, the radio wave from the satellite does not reach, so the flight position can not be grasped by GPS and stable operation can not be performed. There is a problem that the inspection technology by machine can not be applied. "(Paragraph [0005] of patent document 1)," the unmanned person who secured the positional information on the inside of the structure such as the boiler furnace and the chimney The structure of an unmanned floating machine that can be used for inspections, and it is possible to significantly reduce labor, cost and inspection period, for example, because there is no need to set up a scaffolding (paragraph [0026] of Patent Document 1). Indoor surveillance systems have been proposed.

JP, 2016-15628, A

  However, in the indoor monitoring system described in Patent Document 1, it is necessary to mount dedicated equipment such as a distance measurement unit and an inertia measurement unit on the unmanned floating machine, and further, horizontal distance measurement process, attitude angle acquisition process, horizontal distance correction There was a need for dedicated software to carry out the process, such as the process and the horizontal distance acquisition process.

  That is, the indoor monitoring system described in Patent Document 1 is premised on preparing an unmanned floating machine to which dedicated equipment and software are added, and the inspection inside the structure is not easily realized. .

  The present invention solves the above-described conventional problems, and uses an unmanned miniature flight vehicle capable of inspecting the interior of a structure while easily achieving stable flight in the interior space of the structure. It is an object of the present invention to provide an inspection method and an unmanned miniature flight vehicle used therefor.

  In order to achieve the above object, the inspection method using an unmanned miniature flight vehicle according to the present invention fly an unmanned miniature flight vehicle into the interior space of a structure to perform an inspection of the interior of the structure. In the inspection method used, the unmanned small-sized flying object is provided with a guide for guiding the airframe along the linear body, and the linear body is installed in a stretched state in the internal space, and the guide is And inspecting the interior of the structure while flying the unmanned miniature flight vehicle along the linear body.

  According to this configuration, since the unmanned small-sized flying object flies along the linear body, the flight course is physically limited to maintain a constant distance between the unmanned small-sized flying object and the inner wall. This can prevent contact with the inner wall, and enables stable flight even in the interior space of a structure that is a non-GPS environment. In addition, the configuration of the unmanned small-sized flight vehicle is not particularly different from general-purpose products, there is no need to add special equipment and software, and the installation of linear objects does not require large-scale equipment. . That is, according to the present invention, it is possible to easily and stably carry out an unmanned small-sized flying object and inspection with an unmanned small-sized flying object in the internal space of a structure, and reduce labor and time for preparation and removal of equipment after inspection It is possible to inspect the inside of the structure in a short time with few workers.

  In the inspection method using the unmanned small-sized flying object of the present invention, the unmanned small-sized flying object is provided with a pressing member for pressing the linear body, and the frictional force by pressing the linear body with the pressing member It is preferable to reduce the flight speed of the unmanned miniature vehicle by According to this configuration, when the descent speed of the unmanned small-sized flying object suddenly increases, the descent speed of the unmanned small-sized flying object can be decelerated, so that the descent of the unmanned small-sized flying object can be prevented.

  The unmanned miniature flying object of the present invention is an unmanned miniature flying object used in the inspection method using the unmanned miniature flying object of the present invention, comprising a guide for guiding the fuselage along the linear body. It is characterized by

  Another unmanned miniature flying object of the present invention is an unmanned miniature flying object for use in a preferred inspection method using the unmanned miniature flying object of the present invention, wherein a pressing member for pressing the linear body is provided. It features.

  The effects of the present invention are as described above, and in summary, it is possible to realize stable and easy flight of an unmanned small-sized flying object and inspection with an unmanned small-sized flying object in the internal space of a structure. The labor and time for removal can be reduced, and the inside of the structure can be inspected in a small number of workers and in a short time.

BRIEF DESCRIPTION OF THE DRAWINGS The external appearance perspective view of the unmanned small flight vehicle concerning one embodiment of the present invention. Schematic which shows the mode of the inspection by the unmanned small flight vehicle concerning one embodiment of the present invention. FIG. 1 is an external perspective view of an unmanned small flying vehicle according to an embodiment of the present invention during inspection. In an embodiment of the present invention, a flowchart showing the steps of preparation. In one embodiment of the present invention, it is a schematic diagram showing near the top of a chimney. The flowchart which shows the process of inspection setup and the inspection in a chimney in one Embodiment of this invention. In one embodiment of the present invention, the schematic which shows the lower part of a chimney. The principal part enlarged view of the unmanned small flight vehicle concerning another embodiment of the present invention.

  The present invention relates to inspection using an unmanned miniature vehicle. The unmanned small-sized flying object is a drone called a drone or multicopter, and flies by remote control by, for example, radio control. The inspection according to the present invention is to make an unmanned small-sized flying object fly in the interior space of a structure such as a large furnace or chimney such as a factory or a refuse incineration facility, and inspect the inside of the structure. Is not particularly limited. The inspection is, for example, photographing by a camera, but is not limited to this and includes measurement by a measuring instrument.

  The inspection according to the present invention is suitable for inspection under a non-GPS (GLOBAL POSITIONING SYSTEM) environment where radio waves from satellites can not be received, and the internal space of the structure for flying an unmanned small-sized flying object is a large furnace, chimney, etc. Not only the interior space of the longitudinally extended structure, but also the interior space such as a large diameter pipeline, tunnel, tunnel, underground road, sewer pipe, etc. which extends horizontally or diagonally, in the subway station, It may be an internal space of a structure such as an underground mall, an underground facility, or a large dome facility.

  Further, the internal space of the structure is not limited to a closed space such as an internal space such as a chimney, but includes an open space inside or below the bridge or the like.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows an external perspective view of the unmanned small-sized miniature aircraft 1 according to an embodiment of the present invention. The main body 2 is disposed at the central portion, and the propellers 4 are attached to four arms 3 constituting the main body 2. A propeller guard 5 is provided at an end of each arm 3 so as to prevent the propeller 4 from contacting the wall surface.

  The legs 6 and the camera 7 are attached to the lower part of the main body 2. The camera 7 is for photographing an inspection object. Although not shown, in the main body 2, a receiver, a motor, a flight controller, a battery and various sensors are incorporated. By the operation of the transmitter 11 by the operator, a command such as rise and fall is issued to the receiver, and this command is sent to the flight controller via the receiver and processed together with information from various sensors to rotate the propeller 4 The number is determined.

  The configuration of the unmanned small-sized flying object 1 is not particularly different from that of the general-purpose product, and the unmanned small-sized flying object 1 is not limited to the above-described configuration, as long as it can be remotely operated. The unmanned small-sized flying object 1 is different from the general purpose product in that a guide 8 is provided. Hereinafter, in the present embodiment, a main part including the main body 2 of the unmanned small-sized flying object 1 is referred to as an airframe 10 for the convenience of description.

  The guide 8 is for guiding the airframe 10 along a linear body (not shown in FIG. 1). The linear body is, for example, a wire (see the guide wire 23 in FIG. 2), but it may be a yarn, a rope, or a long rod-like rod-like body.

  The guide 8 may be a separate part from the airframe 10 or may be integrally formed with the airframe 10 as a part of the airframe 10. In the example of FIG. 1, the guide 8 is a separate part from the airframe 10 and is attached to the airframe 10 by a clamper 9 integral with the airframe 10. The guide 8 is a pipe through which a linear body can be inserted, but it may be any as long as it can guide the machine body 10 along the linear body, and may be an annular body such as a ring or a hole formed in the machine body 10 .

  Since the unmanned small-sized flying object 1 is guided along the linear body by inserting the linear body into the guide 8, the unmanned small-sized flying object 1 is stabilized and the flight is stabilized, as will be described later in detail. And the inspection work by the unmanned small-sized flying object 1 becomes easy. Hereinafter, it demonstrates concretely, referring FIGS. 2-7.

  FIG. 2 is a schematic view showing a state of inspection by the unmanned small-sized flying object 1. A lever 21 is attached to the top of the chimney 20, a fixing wire 22 is fixed to the lever 21, and a guide wire 23 is fixed to an end of the fixing wire 22 via a shackle 24. The guide wire 23 is suspended in the chimney 20, and the lower end thereof is supported by the guide wire fixing jig 25.

  FIG. 3 shows an enlarged view in the vicinity of the unmanned small flight vehicle 1 in the chimney 20. As shown in FIG. A guide wire 23 is inserted through a guide 8 provided in the unmanned small-sized flying object 1. By this, in FIG. 2, the unmanned small-sized flying object 1 can fly along the guide wire 23. The unmanned small-sized flying object 1 can be inspected by photographing the inside of the chimney 20 with the camera 7 while flying along the guide wire 23. In the example of FIG. 2, the inspection target is the lining (surface treatment) of the inner wall of the chimney 20. The inspection target is not limited to the inner wall, and the entire interior of the structure is targeted, for example, a manhole or a thermometer provided on the inner wall.

  Hereinafter, the inspection by the unmanned small-sized flying object 1 will be described in the order of steps. FIG. 4 is a flow chart showing the preparatory process, and FIG. 5 is a schematic view showing the vicinity of the top of the chimney 20. First, materials and materials are unloaded at the top of the chimney 20 (step 100 in FIG. 4). As shown in FIG. 5, a stage 26 is provided so as to surround the chimney 20, materials can be unloaded on the stage 26, and an operator can perform preparatory work on the stage 26.

  After unloading of materials, as shown in FIG. 5, the lever 21 and the fixing wire 22 are installed at the top of the chimney 20 (step 101 in FIG. 4), and then the fixing wire 22 is inserted via the shackle 24. The guide wire 23 fixed to the end of the ditch is dropped into the chimney 20 (step 102 in FIG. 4). At the end of the preparatory work, a net 27 is placed on the top of the chimney 20 as shown in FIG. The net 27 is for preventing the unmanned small-sized flight vehicle 1 from jumping out of the chimney 20.

  FIG. 6 is a flow chart showing the steps of inspection setup and inspection in the chimney, and FIG. 7 is a schematic view showing the lower part of the chimney 20. As shown in FIG. In the preparatory process, the guide wire 23 is suspended in the chimney 20, and the unmanned small flight vehicle 1 is attached to the guide wire 23 (Step 104 in FIG. 6). This attachment is performed by inserting the guide wire 23 through the guide 8 as shown in FIG.

  Subsequently, the guide wire 23 is attached to the guide wire fixing jig 25 installed at the bottom of the chimney 20, and the guide wire 23 is stretched (Step 105 in FIG. 6). At this time, the guide wire 23 is installed in a state of being extended in the inner space of the chimney 20. In the present embodiment, the guide wire 23 extends vertically, but may extend as it faces the inner wall of the structure, or may be inclined.

  Through the steps up to this point, the inspection setup is completed, and the unmanned miniature flight vehicle 1 becomes ready for flight. In this state, the operator 30 in the temporary Bite scaffold 31 operates the transmitter 11 to fly the unmanned miniature flight vehicle 1 (Step 106 in FIG. 6). At this time, the unmanned small-sized flying object 1 flies along the guide wire 23.

  In FIG. 7, the pilot 30 operates the transmitter 11 while flying the unmanned small flight vehicle 1, and images the inside of the chimney 20 with the camera 7 provided in the unmanned small flight vehicle 1 (step 107 in FIG. 6). In the present embodiment, the camera 7 uses a high sensitivity camera capable of photographing even in a dark place. The unmanned miniature vehicle 1 may be equipped with a 360 ° camera separately from the cameras 7 and l. In this case, prior to photographing by the camera 7, the entire view in the chimney 20 can be photographed by the 360 ° camera and preliminary inspection can be performed.

  As described above, although the unmanned small-sized miniature aircraft 1 can be remotely controlled using the transmitter 11, there is a risk of crash if the descent speed rapidly increases. For this reason, it is desirable to provide the unmanned small-sized flying object 1 with a braking mechanism. FIG. 8 shows an enlarged view of an essential part of the unmanned small-sized flying object 12 according to another embodiment of the present invention. The unmanned miniature flying object 12 has a braking mechanism 40 attached to the main body 13. A servo mechanism 44 is attached to a base 45 constituting the braking mechanism 40. A cam 41 integral with a braking pin 42, which is a pressing member, is attached to a rotation shaft (not shown) of a motor incorporated in the servo mechanism 44.

  The operator operates the transmitter 11 to drive the braking mechanism 40 when confirming that the descent speed has suddenly increased on the monitor of the transmitter 11. When the braking mechanism 40 is driven, the cam 41 is rotated, the guide wire 23 is sandwiched between the braking pin 42 and the wall surface 43 of the base 45, and the descent speed of the unmanned small flight vehicle 12 is reduced. Can prevent the fall of

  The braking mechanism 40 shown in FIG. 8 is an example, and may be any mechanism that reduces the flight speed of the unmanned small-sized flying object by the frictional force caused by pressing the linear body by the pressing member. For example, a mechanism may be configured in which the pressing member moves linearly, and the pressing member may be advanced to sandwich the linear body with the wall surface to apply a frictional force to the linear body.

  Hereinafter, the present embodiment will be described more specifically while listing the effects. Since the unmanned small-sized flying object 1 flies along the guide wire 23, the flight course is physically limited and a fixed distance is maintained between the unmanned small-sized flying object 1 and the inner wall. This can prevent contact with the inner wall, and enables stable flight even in the interior space of a structure that is a non-GPS environment.

  More specifically, normally, the flight of the unmanned small-sized flying object 1 requires a maneuver to fly the airframe 10 in three dimensions, and a maneuver in a narrow space requires a finer maneuver, but In the embodiment, since the unmanned miniature flight vehicle 1 flies along the guide wire 23, it is sufficient to steer in one direction, which makes the maneuver easy.

  Further, when the unmanned small-sized flying object 1 is made to fly in a narrow space such as a chimney, the airframe 10 itself is moved by the law of inertia under the influence of the wind generated by the airframe 10 itself. In the present embodiment, since the unmanned small-sized flying object 1 flies along the guide wire 23, the guide wire 23 restricts the movement of the unmanned small-sized flying object 1 in the front and rear, and the left and right can be controlled.

  Furthermore, in the present embodiment, for example, the guide wire 23 is installed near the center of the chimney 20 in FIG. 2, but since the guide wire 23 can be arbitrarily installed at a position without interference, it is necessary to avoid the internal structure Even when photographing close to a wall surface is required, the distance between the airframe and the internal structure or the wall surface can be easily adjusted by appropriately changing the installation position of the guide wire 23.

  Although the effects of the present invention have been described above, as described above, the configuration of the unmanned small-sized flying object 1 is not particularly different from that of a general-purpose product, and there is no need to add special equipment or software. The 23 installations do not require large-scale equipment. That is, according to the present invention, it is possible to realize stable and easy flight of an unmanned small-sized flying object and inspection with an unmanned small-sized flying object, while reducing labor and time for preparation of equipment and removal after inspection. Inspection of the inside of the structure becomes possible in time.

1, 12 unmanned small air vehicle 7 camera 8 guide 10 airframe 11 transmitter 20 chimney 23 guide wire (wire body)
40 Braking mechanism 42 Braking pin (pressing member)

Claims (3)

An unmanned small-sized flying object is used to make an unmanned small-sized flying object fly into the internal space of the structure and check the inside of the structure,
The unmanned miniature flight vehicle is provided with a guide for guiding the airframe along the linear body;
Installing the linear body in the inner space in a stretched state,
While flying the unmanned miniature aircraft along said linear member by the guide, have rows internal inspection of the structure,
A servo mechanism for providing a pressing member for pressing the linear body to the unmanned miniature flying object, and reducing a flying speed of the unmanned miniature flying object by a frictional force caused by pressing the linear body by the pressing member An inspection method using an unmanned miniature flight vehicle characterized in that it is mounted .   An unmanned miniature aircraft for use in an inspection method using an unmanned miniature aircraft according to claim 1, wherein a guide for guiding the airframe along the linear body is provided. Small flying body. It is an unmanned small-sized flying object used for the inspection method using the unmanned small-sized flying object according to claim 1 , wherein a servo mechanism provided with a pressing member for pressing the linear body is provided. Flying body.

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