JP7019010B2 - Survey equipment and computer programs for inner walls of pipelines - Google Patents

Description

Cross reference

This application is a divisional application of Japanese Patent Application No. 2018-518300 claiming priority based on Japanese Patent Application No. 2016-98133 filed in Japan on May 16, 2016, and the contents described in the application. Is incorporated herein by reference. In addition, the contents described in the patents, patent applications and documents cited in the present application are incorporated herein by reference.

The present invention relates to a device for finding, inspecting, and investigating abnormal parts such as cracks and water leaks in the inner wall of a sewer pipe, and a computer program for executing them.

For sewer pipes as public infrastructure, we would like to find abnormal or deteriorated parts by inspection at an early stage, and take measures such as repair or replacement.
On the other hand, most of the sewer pipes are underground and usually hold water, so the inspection work is not easy.
In Patent Document 1, the shape inside the tube is irradiated in all directions by light, the three-dimensional shape of the inner surface of the tube is calculated based on the captured image and the amount of movement in the tube, and the deterioration state of the inner surface of the tube is accurately and quickly determined. A pipe inner surface shape measuring device capable of measuring is disclosed.

In Patent Document 2, even if a pipeline or the like has foreign matter such as sludge, clay, slurry, silt, sand, and rubble accumulated inside, it is not buried in these foreign matter or bitten by the foreign matter. In addition, it runs stably without entanglement of algae and grass in the water, and it is possible to efficiently inspect the inside of the pipeline within a short time with a simple operation, and it is excellent in operability and handling, and has defects. Disclosed is a technique capable of easily and surely recording the location of occurrence of silt.

Patent Document 3 discloses a technique for photographing an inspection of a structure such as a bridge with an unmanned aerial vehicle (so-called "flying drone") and investigating a damage situation.

Japanese Patent No. 3837431 Japanese Patent No. 5575158 JP-A-2015-34428

(Transportation of equipment to sewer pipes)
The techniques disclosed in Patent Document 1 and Patent Document 2 have some achievements, such as eliminating the need for an operator to infiltrate the pipeline to be inspected.
However, the traveling vehicle as the in-pipe inspection device disclosed in Patent Document 2 has a size and weight that cannot be manually transported because it is transported to a point to be inspected. Therefore, it is premised on large-scale equipment for preparation and withdrawal, such as the need for a dedicated vehicle for raising and lowering the vertical holes.

If the flying drone can be flown into the pipeline to be inspected and the inner wall of the pipeline can be photographed, the size and weight of the flying drone are smaller and lighter than the traveling vehicle as an in-pipe inspection device. There is a high possibility that things can be adopted.
However, on the premise that the flying drone is used for inspections related to structures such as bridges, the flying drone is premised on grasping the position by GPS and flying in an open space such as outdoors.
Since GPS radio waves do not reach the pipeline to be inspected and it is assumed that the flight is in a closed space surrounded by top, bottom, left and right, the current technology cannot be adopted as it is.

The problem to be solved by the present invention is that when a flying drone is adopted for inspecting the inner wall of a pipeline, the flying drone should be made to fly stably, an abnormal part in the inner wall of the pipeline should be found, and the location thereof. Is to identify.

(Stable flight in the pipeline)
If the theme is to fly stably in the pipeline, the theme can be further subdivided as follows.
The first is to fly the flying drone in a non-GPS environment, that is, to specify its own position (hereinafter referred to as "problem A-1").
Second, stabilize yourself in a closed system (hereinafter referred to as "Problem A-2").
Third, to proceed in the longitudinal direction in the closed system (hereinafter referred to as "problem A-3").
Fourth, prevent or suppress damage when it comes into contact with the wall surface (hereinafter referred to as "Problem A-4").
Fifth, it should be restored when it comes into contact with the wall surface and loses stability or crashes (hereinafter referred to as "Problem A-5").
Sixth, take some kind of backup system in case of failure to recover (hereinafter referred to as "Problem A-6").
It should be noted that the above does not cover all the issues, and each issue is not independent. Furthermore, the invention of the present application does not mean to solve all the problems.

(Discovery of abnormal parts on the inner wall of the pipeline and identification of the location)
When the theme is to find an abnormal part in the inner wall of the pipeline and identify the abnormal part, the theme can be further subdivided as follows.
First, for photographing the inner wall of the pipeline, it is provided with a function capable of photographing without light, or is irradiated with sufficient light (hereinafter referred to as "Problem B-1").
Secondly, when photographing the inner wall of the pipeline, the image should be taken without blurring (hereinafter referred to as "problem B-2").
Thirdly, when taking a picture of the inner wall of the pipeline, the picture is taken with a focus (focused on) (hereinafter referred to as "Problem B-3").
Fourth, it is possible to take pictures even on the inner wall below the surface of the water (hereinafter referred to as "Problem B-4").
Fifth, it is possible to find an abnormal part from the captured image (hereinafter referred to as "Problem B-5").
Sixth, the location of the abnormal location can be identified (hereinafter referred to as "Problem B-6").
It should be noted that the above does not cover all the issues, and each issue is not independent. Furthermore, the invention of the present application does not mean to solve all the problems.

(First invention)
The first invention in the present application relates to an apparatus for investigating an inner wall of a pipeline using a flying drone (20) capable of flying unmanned in a pipeline (for example, a sewage pipe 10).
The flying drone (20) includes a vertical transmitter / receiver that oscillates infrared or laser light toward the upward and downward walls in the vertical direction and receives the reflected wave or reflected light.
A horizontal transmitter / receiver that oscillates infrared or laser light toward the right and left walls in a cross section perpendicular to the direction of travel and receives the reflected or reflected light.
A vertical control means for controlling the distance between the flying drone (20) and the upper and lower wall surfaces within a predetermined range based on the timing of oscillation and reception in the vertical transceiver.
A left-right control means for controlling the distance between the flight drone (20) and the right and left wall surfaces within a predetermined range based on the timing of oscillation and reception in the horizontal transceiver.
A camera (22) that photographs the inner wall of the pipeline and acquires shooting data,
The current position grasping means for grasping the current position of the flight drone (20) in the pipeline, and
A shooting data recording means that records the shooting position by associating it with the shooting data taken by the camera using the current position grasping means.
(See FIGS. 2 and 11).

(Glossary)
A "pipeline" is a pipe for moving a liquid, such as a sewage pipe, an agricultural water pipe, or an oil pipeline.
It is desirable that the flying drone (20) is provided with a propeller guard to prevent the propeller from colliding with the pipe wall. The flight speed varies depending on various environments and conditions such as the shooting environment, but in a flight of 1 meter per second, it was possible to identify the corroded part of the inner wall of the pipeline by acquiring image data with an omnidirectional camera. ..
In order to fly near the center of the pipeline, to know the distance from the inner wall of the pipeline, it is the vertical transmitter / receiver that oscillates infrared or laser light and receives the reflected infrared wave or the reflected light of the laser light. It is a horizontal transmitter / receiver. The "vertical transmitter / receiver and horizontal transmitter / receiver" includes, for example, a triangle using a PSD range sensor (infrared LED and PSD (Position Sensitive Detector)) capable of oscillating and receiving infrared rays in two directions, up / down and left / right. A sensor that outputs an analog voltage according to the distance to the object by the survey method) is adopted.
A "pipe" is a pipe for water and sewage, a pipe for moving various liquids (for example, petroleum) and gas (for example, city gas).

As the "camera (22)", for example, an omnidirectional camera (omnidirectional camera) is adopted. In the case of an infrared camera, lighting may not be required, but generally, a light source (for example, a light 23) for illuminating the inner wall surface of the tube is provided. The camera lens should be bright (low F-number). In experiments using LEDs as the light source, it is desirable to secure an illuminance of 100 lux or more for photographing the inner wall of the pipe (exposed reinforcing bars on the inner wall of the pipe, deterioration of aggregates, presence of cracks, etc.). Discoverable) turned out. However, if the illuminance is too high (for example, 300 lux or more), the captured image becomes white.
In addition to or in place of the camera, a laser ultrasonic measuring instrument that irradiates the inner wall of the conduit with laser light and receives and records the reflected ultrasonic waves may be provided. A "laser infrared measuring instrument" is a device that can grasp scratches and defects. That is, infrared rays are excited inside the material irradiated with the laser beam. The excited infrared rays become scattered waves due to scratches and defects in the material. By receiving the scattered wave, scratches and defects can be grasped.
The “within a predetermined range” of the distance from the wall surface is, for example, 20 to 40% of the inner diameter of the pipe, although it varies depending on the size and performance of the flying drone (20), the inner diameter (D) of the pipe, and the like.
The current position data grasped by the "current position grasping means" is associated with the shooting data acquired by the camera (22) and / or the infrared data received by the laser infrared measuring device.

(Action)
A vertical transmitter / receiver oscillates infrared or laser light toward an upward wall and a downward wall or water surface in the vertical direction, and receives the reflected wave or laser light. Based on the timing of oscillation and reception in the vertical transceiver, the vertical control means controls so that the distance between the flying drone (20) and the upper and lower wall surfaces is within a predetermined range.
Further, the horizontal transmitter / receiver oscillates infrared rays or laser light toward the wall in the right direction and the left direction in the cross section perpendicular to the traveling direction, and receives the reflected wave or the reflected light. Based on the timing of oscillation and reception in the horizontal transceiver, the left and right control means control so that the distance between the flying drone (20) and the right and left wall surfaces is within a predetermined range.
In the flying drone (20), the camera (22) photographs the inner wall of the pipeline while adjusting the distances from the vertical and left and right wall surfaces. Since the captured image data is recorded by associating the imaging position with the imaging data recording means, it contributes to diagnosing the state of the inner wall of the tube for each imaging location and identifying an abnormal part.
When the flight drone (20) is equipped with a laser infrared measuring device, it irradiates the inner wall of the conduit with laser light, receives the reflected infrared rays, and records the infrared data. ..

(Variation 1 of the first invention)
The flying drone (20) in the first invention may be provided with a light source (23) for photographing the inner wall of the pipeline with the camera (23) (see FIG. 1).

The light source (23) is preferably 150 lux or more, for example. Although it depends on conditions such as flight speed and camera resolution, 170 to 230 lux is more preferable for a flight speed of about 1 meter per second. Depending on the irradiation angle and the angle of the wall surface, an event occurred in which "blown out" occurred in the acquired image at 300 lux.

(Variation 2 of the first invention)
The first invention may be formed as follows.
That is, when a plurality of non-powered IC tags (for example, RFID15A, 15B, 15C, ...) Are provided in advance in the pipeline, the current position grasping means is the non-powered IC tag and the pipeline. The flight drone (20) is provided with a short-range wireless communication device that executes short-range wireless communication between the corresponding position table storage means that stores the correspondence table with the position in the above and the non-powered IC tag.
Then, the short-range wireless communication device may acquire the current position data of the flight drone (20) by using the corresponding position table storage means by wirelessly communicating with the non-powered IC tag.

(Action)
The flight drone (20) carries out short-range wireless communication with the unpowered IC tag by traveling in the pipeline. The current position data of the flight drone (20) is acquired by using the corresponding position table storage means.
The acquired current position data is associated with the image data taken by the camera (22) (and / or the infrared data received by the laser infrared measuring instrument), or is recorded as a flight record.

(Variation 3 of the first invention)
The first invention may be formed as follows.
That is, the current position grasping means includes a pipeline inner wall image table that stores image data of the pipeline inner wall in advance, and a vision sensor that acquires image data of the pipeline inner wall.
The current position data of the flight drone (20) may be acquired by using the image data acquired by the vision sensor and the pipeline inner wall image table.

The current position of the flight drone (20) may be grasped only by the vision sensor, or may be used in combination with the short-range wireless communication with the wireless IC tag described above. Data are compared by combining multiple types of means for grasping the current position, and an appropriate position is set as the current position.

(Variation 4 of the first invention)
The first invention may be formed as follows.
That is, a relay mobile device (for example, a float type drone 30 or an amphibious drone 50) that moves in a pipeline following the flight drone (20).
It is equipped with a data acquisition / analysis machine (for example, built in a support car 40 located outside the pipeline) that communicates with the relay mobile device (30 or 50).
The relay mobile device (30 or 50) receives shooting data and current position data from the flight drone (20), and transmits the received shooting data and current position data to the data collection / analysis machine (40).
The data collection / analysis machine (40) may record the shooting data and the current position data received from the relay mobile device (30 or 50) (see FIG. 5).

(Action)
The relay mobile device (30 or 50) receives shooting data and current position data from the flying drone (20) while moving in the pipeline following the flying drone (20). Then, the photographing data and the current position data are transmitted to the data acquisition analyzer (40).
The data acquisition analyzer (40) records the shooting data and the current position data received from the relay mobile device (30 or 50).

(Variation 5 of the first invention)
The above-mentioned variation 4 in the first invention may be formed as follows.
That is, the data acquisition and analysis machine (40) analyzes the shooting data and the current position data to calculate the control data necessary for the movement of the flight drone (20) and / or the acquisition of the shooting data. It may be provided with a calculation means and a control data transmission means for transmitting the control data calculated by the control data calculation means to the flight drone (20) via the relay mobile device (30 or 50) (Fig.). See 9 and 10).

The data acquisition analyzer (40) analyzes the captured data and the current position data. Then, it is assumed that a situation has occurred that does not exist in the flight control program pre-installed in the flight drone (20).
The control data calculation means in the data collection analyzer (40) calculates the control data necessary for the movement and / or acquisition of the shooting data of the flight drone (20). Then, the necessary control data is transmitted to the flight drone (20) by the control data transmission means via the relay mobile device (30 or 50).

(Variation 6 of the first invention)
The above-mentioned variations 4 and / or 5 in the first invention may be formed as follows.
That is, the data output means for outputting the shooting data and the current position data received after passing through the relay mobile device (30 or 50), and the operator who verifies the shooting data and the current position data output by the data output means fly. A control data input means for inputting operator control data necessary for moving and / or acquiring shooting data of the drone (20) is provided.
Then, the control data transmission means may transmit the operator control data to the flight drone (20) via the relay mobile device.

(Action)
In variation 5 described above, the control data of the flight drone (20) was automatically created, but unlike that case, the operator who verified the shooting data and the current position data is the control data (operator control) of the flight drone (20). Data) is entered.
The input operator control data is transmitted by the operator control data transmission means to the flight drone (20) via the relay mobile device (30 or 50).

(Variation 7 of the first invention)
The relay mobile device in the above-mentioned variations 4 to 6 in the first invention may be an amphibious vehicle that can move with or without water in the pipeline (see FIG. 8).

(Variation 8 of the first invention)
In the variations 4 to 7 in the first invention, the data collection / analyzer and the transport device thereof (for example, the support car 40 equipped with a hydrogen engine) are powered by the regenerated energy fuel, and the transport device is the above-mentioned. The flying drone (20) may be stored and carried (see FIG. 5).

"Energy fuel" includes regenerated energy such as hydrogen produced by utilizing the exhaust heat of sewage and light oil produced from waste plastic, as well as electric energy and solar power generation by a power generation device using such regenerated energy. Also includes electrical energy from natural energy such as wind power generation.
In addition, in the variation in which not only the flight drone (20) but also the relay mobile device (30 or 50) exists, the relay mobile device (30 or 50) may be stored and transported.

(Variation 9 of the first invention)
The first invention may be formed as follows.
That is, the flight drone (20) is provided with a gas densitometer for detecting the concentration of a predetermined gas in the pipeline (10).
Here, the "gas densitometer" is, for example, a hydrogen sulfide densitometer that detects the concentration of hydrogen sulfide, an oxygen densitometer that detects the oxygen concentration, and the like.

Since the generation of such gas causes corrosion of the pipeline, it may be possible to identify the corroded part.
Further, for example, hydrogen sulfide is a typical cause of odor, and therefore contributes to the identification of the place where odor is generated. Since hydrogen sulfide is heavier than air, it often stays under the pipe line or near the water surface in the sewer pipe. However, since it is agitated with the flight of the flying drone (20), it is not necessary to approach the lower side of the pipeline or the water surface for concentration measurement.

(Variation 10 of the first invention)
The first invention may be formed as follows.
That is, when the above-mentioned current position grasping means is provided with a plurality of barcodes (for example, a one-dimensional bar code or a two-dimensional bar code) in advance in the pipeline, the barcode and the position in the pipeline are provided. The flight drone (20) is provided with a corresponding position table storage means for storing the corresponding table and a barcode reader for reading the barcode.
Then, the bar code reader may read the bar code to acquire the current position data of the flight drone (20) by using the corresponding position table storage means.
When the "bar code" is a two-dimensional bar code, the camera can also be used as the bar code reader.

(Variation 11 of the first invention)
The first invention may be formed as follows.
That is, it is provided with a drone departure / arrival port (folding port 70A) that is lowered to a predetermined depth along the longitudinal direction of the vertical hole (manhole 13) to form a departure / arrival boat for the flight drone (20).
The drone departure / arrival port (folding port 70A) is a vertical pole (expandable pole 71) used by lowering it in the vertical direction, and a port support frame (72) supported so as to be rotatable with respect to the vertical pole (71). ), The support mechanism (support link 73) that regulates the rotation angle of the port support frame (72), and the support mechanism (73) in the port support frame (72) are supported on the opposite side. It includes a port body (74).
The port body (74) includes a landing surface (74A) for landing and landing the flight drone (20).
The support mechanism (73) has a first position such that the angle formed by the longitudinal direction of the port support frame (72) with the longitudinal direction of the vertical pole (71) is an acute angle, and the landing surface (the landing surface). The port support frame (72) will be supported so as to allow the 74A) to take a second position, which is horizontal after being separated from the vertical pole (71).

The drone departure / arrival port (folding port 70A) can also be provided as an invention independent of the first invention. That is, it is useful to provide it as a mere drone departure / arrival port (folding port 70A), not as a part of a pipeline inner wall investigation device using a flying drone. This is because there is no simple way to carry the drone from the entrance of the vertical hole (manhole 13) to the pipeline under investigation.

(Variation 1 of drone departure / arrival port)
The variation 11 of the first invention described above may be formed as follows.
That is, around the departure / arrival surface (74A), a support plate (77) for expanding the projected area in the vertical direction on the departure / arrival surface (74A) when the second position is formed is provided. The support plate (77) is formed so as to be foldable so as to narrow the projected area in the vertical direction on the landing surface (74A) when the first position is formed.

By folding so as to narrow the projected area in the vertical direction, it contributes to reducing the probability of hitting the wall of the hole (13) when the port body (74) or the like moves through the hole (manhole 13) in the vertical direction.

(Variation 2 of drone departure / arrival port)
The variation 11 of the first invention described above may be formed as follows.
That is, the lower side of the port body (74) is provided with a leg portion (78) for leveling the departure / arrival surface (74A) when the lower end is in contact with the inner wall of the lower surface of the pipeline. .. The leg portion (78) has a structure in which the area corresponding to the flow of the liquid becomes smaller when the liquid is present in the pipeline.

(Variation 3 of drone departure / arrival port)
The variation 11 of the first invention described above may be formed as follows.
That is, the support plate (77) is provided with a plate-shaped member made of a cushioning material at least on the surface of the landing surface (74A).

(Variation 4 of drone departure / arrival port)
The variation 11 of the first invention described above may be formed as follows.
That is, it may be provided with a charging facility capable of charging the flying drone (20) landing on the departure / arrival surface (74A).
The flight drone (20) can be charged while landing on the landing surface (74A) to extend the cruising range for new flights.

(Variation 5 of drone departure / arrival port)
The variation 11 of the first invention described above may be formed as follows.
That is, a drone storage data receiving means for receiving predetermined data stored in the flight drone (20) landing on the departure / arrival surface (74A), and
The drone-stored data receiving means may be provided with a drone-stored data transmitting means for transmitting predetermined data received by the drone-stored data receiving means to the data receiving storage means installed outside the vertical hole.

The "predetermined data" is, for example, shooting data acquired by the camera (22), position data related to a shooting location associated with the shooting data, and the like.
As the flying drone (20) is landing on the landing surface (74A), it is possible to back up such predetermined data. Therefore, even if a trouble occurs in the flight drone (20) after the backup, the backed up data can be reliably recovered.

(Variation 12 of the first invention)
The first invention may be formed as follows.
That is, it is provided with a drone recovery device that lowers the hole (human hole 13) in the vertical direction to a predetermined depth along the longitudinal direction and collects the drone (20, 30, 50).
The drone recovery device is a drone hook that hooks a wire (suspended wire 80) that is used by lowering it in the vertical direction and a drone (20, 30, 50) that is fixed to the tip of the wire (80) and is flushed into sewage. It is provided with tools (adhesive tape 91, recovery net 92).

The drone recovery device described above can also be provided as an invention independent of the first invention. That is, it is useful to provide it as a mere drone recovery device, not as a part of a pipeline inner wall survey device using a flying drone. This is because various drones (20, 30, 50) that are part of the investigation device for the inner wall of the pipeline are not provided with a means for recovering them when they are flushed into the sewage.

(Variation of drone recovery device in the first invention)
The drone hooking tool in the drone collecting device used in the first invention may be formed as follows.
That is, it expands and contracts when the fluid is taken in and out, and when the liquid is injected, it has a shape suitable for hooking the drone flowing into the liquid flowing in the pipeline.
When the injected liquid is withdrawn, it is formed so as to have a shape that makes it easy to move up and down in the longitudinal direction in the vertical hole (see FIG. 20).

A drone hook that "expands and contracts when fluid is taken in and out" is, for example, formed by a tube that communicates from one mouth to the other, and can be deflated and made smaller in the absence of liquid. It is convenient for moving the longitudinal hole in the vertical direction, and when infused with liquid, it is like a flying drone forming a stitch that extends to the inner diameter of the pipeline under investigation (see FIG. 20). ..
For the injection of the liquid, for example, a pump is used, and as the liquid, for example, water is used.

(Variation 13 of the first invention)
The first invention may be formed as follows.
That is, a scale wire (61) that is lowered along the longitudinal direction of the hole in the vertical direction and is continuously reached in the longitudinal direction in the above-mentioned pipeline to be investigated.
A position confirming tool (60) equipped with an evenly spaced fixed body (for example, a float ball 63) fixed to the scale wire (61) at equal intervals is provided.
The current position grasping means in the flight drone (20) grasps the current position by recognizing that the equidistant fixed bodies (63) are close to each other (see FIG. 21).

For the "equally spaced fixed body (63)", it is desirable to use a material that floats with respect to the liquid flowing in the pipeline. If no liquid is flowing, it will be rubbed against the inner wall of the pipeline, so it is desirable to use a material that is resistant to wear. As a means for the flying drone (20) to recognize this "equally spaced fixed body", for example, when short-distance wireless communication is performed by incorporating an RFID, the flying drone (20) has a different surface color and pattern. There are cases such as when the camera is visually recognized by the built-in camera of 20).
The "scale wire (61)" may be a flexible string-like body when the liquid is flowing in the pipeline, but can be pushed out so that it can be used even when the liquid is not flowing. Use a steel wire or the like with a certain degree of hardness.

The position confirming tool (60) can also be provided as an invention independent of the first invention. That is, it is useful to provide it not as a part of the investigation device for the inner wall of the pipeline using a flying drone but as a mere position confirmation tool. This is because there is no simple method for grasping the position in the longitudinal direction in the pipeline to be investigated.

(Second invention)
The second invention in the present application is a flying drone (20) that flies unmanned in the pipeline while grasping the position in the pipeline and photographs the inner wall of the pipeline to acquire shooting data, and the above-mentioned flying drone (the above-mentioned flying drone). 20) The present invention relates to a computer program for controlling an investigation device for an inner wall of a pipeline, which comprises a relay mobile device that moves in the pipeline according to 20), a data collection / analysis device that communicates between the relay mobile device, and the relay mobile device.
The computer program receives the data receiving procedure for receiving the shooting data and the current position data from the flying drone (20) via the relay mobile device, and the shooting data and the current position data received in the data receiving procedure. The data recording procedure to be recorded is executed by the computer of the data collection / analyzer.
Each of the above steps is executed in collaboration with a central processing unit (CPU) as hardware and a computer program.

(Variation 1 of the second invention)
The second invention may be as follows.
That is, a control data calculation procedure for calculating the control data necessary for the movement of the flight drone (20) and / or the acquisition of the shooting data by analyzing the shooting data and the current position data received in the data receiving procedure. When,
A control data transmission procedure for transmitting the control data calculated in the control data calculation procedure to the flight drone (20) via the relay mobile device, and a control data transmission procedure.
May be executed by the computer of the data collection and analysis machine.

(Variation 2 of the second invention)
The second invention may be as follows.
That is, the data collection / analyzer has a data output means for outputting the shooting data and the current position data received in the above-mentioned data reception procedure, and the shooting data and the current position data output by the data output means. It is assumed that the verified operator is provided with a control data means for inputting the operator control data necessary for the movement and / or acquisition of the shooting data of the flight drone (20).
Then, in the control data transmission procedure, the operator control data may be transmitted to the flight drone (20) via the relay mobile device.

(Means for Providing the Second Invention)
The computer program according to the second invention can also be stored and provided in a recording medium. It can also be provided via a communication line.
Here, the "recording medium" is a medium capable of carrying a computer program that cannot occupy space by itself, and is, for example, a hard disk, a CD-R, a DVD-R, or the like.

According to the first invention, a flight drone for inspecting the inner wall of a pipeline can be stably flown, an abnormal part in the inner wall of the pipeline can be found, and the location of the inner wall of the pipeline can be identified. We were able to provide a survey device.
According to the second invention, the flight drone for inspecting the inner wall of the pipeline can be stably flown, the abnormal part in the inner wall of the pipeline can be found, and the location thereof can be specified. We were able to provide a computer program to control the research equipment.

It is a conceptual diagram which shows the whole of 1st Embodiment. It is a figure which shows the relationship between the cross section in the longitudinal direction of a pipeline in 1st Embodiment, and an unmanned aerial vehicle (flying drone). It is a conceptual diagram which shows the relationship between the unmanned aerial vehicle (flying drone) used in the first embodiment, and the traveling direction thereof. It is a conceptual diagram which shows the position in the longitudinal direction with a pipeline and an aerial moving machine (flying drone) in 1st Embodiment. It is a conceptual diagram which shows the whole of the 2nd Embodiment. It is a conceptual diagram which shows the relay mobile device (float type drone) used in the 2nd Embodiment. It is a conceptual diagram which shows the unmanned aerial vehicle (flying drone) used in the 2nd Embodiment. It is a conceptual diagram which shows the whole of the 3rd Embodiment. It is a conceptual diagram which shows the transfer of data in an unmanned aerial vehicle (flying drone), a relay mobile device (amphibious drone), and a support car used in the third embodiment. It is a conceptual diagram which shows the operation example in the data collection analysis apparatus (personal computer) mounted on a support car. It is a block diagram which organized the hardware composition in some embodiments into an input means, a calculation means / control means, and an output means. It is a conceptual diagram which shows the whole of the 4th Embodiment. It is a conceptual diagram which shows the whole of the 5th Embodiment. It is a top view and a side view which shows an example of a drone departure and arrival port which makes takeoff and landing of a flying drone. It is a figure which shows the water avoidance port as a variation of a drone departure / arrival port. It is a figure which shows the cantilever port by a hanging wire as a variation of a drone departure and arrival port. It is a figure which shows the pulley type port as a variation of a drone departure / arrival port. It is a figure which shows the drone recovery tool for collecting the flying drone which has fallen in the sewer pipe and cannot take off. It is a figure which shows the variation of the drone collection tool. It is a figure which shows the variation of the drone collection tool. It is a conceptual diagram which shows the position confirmation tool used for the flight drone to recognize the position in the longitudinal direction of a pipeline. It is a conceptual diagram which shows the multifunctionalization of a drone departure / arrival port (charging of a drone, collection of data stored in a drone). It is a figure which shows an example of a flying drone.

Hereinafter, the present invention will be described in more detail with reference to some embodiments and drawings.
The drawings used here are FIGS. 1 to 23.

(Fig. 1)
FIG. 1 conceptually shows the whole of the first embodiment.
The target of the inspection is the sewer pipe 10 buried underground. The sewer pipe 10 in this embodiment has an inner diameter (D) of 2.2 meters and is connected to the ground by a hole called a manhole 13 which is vertically longitudinal.
A flight drone 20 (aerial mobile device) capable of unmanned independent flight is carried by a support car 40 to a place close to the manhole 13, and from the manhole 13 to the sewer pipe groove 11 inside the sewer pipe 10. Let it enter.
If the inner diameter of the tube is larger than 2 meters, it is possible to fly without any problem. If the inner diameter of the tube is smaller than 2 meters, it will be necessary to use a flying drone with a smaller size.

The flying drone 20 is equipped with a camera 22 for photographing the inner wall of the sewer pipe 10 and a light 23 for obtaining the amount of light for photographing with the camera 22. In addition to the camera 22 (or instead of the camera), a laser infrared measuring device that irradiates the inner wall of the conduit with a laser beam and receives and records the reflected infrared rays may be provided. Although not shown, the flying drone 20 is also equipped with a magnetic compass.
In most cases, sewage 12 is present in the sewage pipe 10. The flight drone 20 flies above the sewage surface 12A so as not to touch the inner wall of the pipe. FIG. 1 expresses that when the flying drone 20 is hovering as a premise of movement, the reflected wind may push down the flying drone 20 along the sewage surface 12A and the inner wall of the pipe.

(Fig. 2)
FIG. 2 conceptually shows the mechanism by which the flying drone 20 is located substantially in the center on a vertical cross section of the sewer pipe 10.
Although detailed hardware is not shown in FIG. 2, the flying drone 20 is equipped with an infrared vertical transceiver and an infrared horizontal transceiver. Instead of infrared rays, a laser beam may be oscillated and the reflected light may be received (received).

When ultrasonic waves (ultrasonic sensors) were used instead of infrared rays, it was confirmed that if the inner diameter of the pipeline was small, diffused reflection would occur and the distance could not be measured accurately. In other words, if the inner diameter of the pipeline is large, it is presumed that ultrasonic waves can be used.

The infrared vertical transmitter / receiver oscillates infrared rays toward the upward and downward walls in the vertical direction and receives the reflected waves. As a result, the flying drone 20 grasps the distance to the upper and lower wall surfaces. Then, it is determined whether it is better to maintain the position, move up or down, and the like, and if necessary, emit a control signal to the propeller as a vertical control means.

The infrared horizontal transmitter / receiver oscillates infrared rays toward the right and left walls in the cross section perpendicular to the traveling direction and receives the reflected waves. As a result, the flying drone 20 grasps the distance to the left and right wall surfaces. Then, it is determined whether it is better to maintain the position, to move to the right or to the left, and the like, and if necessary, a control signal to the propeller is emitted as a left-right control means.
The frequencies of infrared rays oscillating in the horizontal direction and the vertical direction are different. This is to prevent the received reflected wave from being confused.

(Fig. 3)
FIG. 3 is an enlarged view of the flying drone 20, which also shows a state of flying toward the longitudinal direction of the sewer pipe.
Although not shown, the traveling direction is provided with a traveling direction infrared transmitter / receiver that transmits infrared rays and receives the reflected waves when the infrared rays are reflected.
When the reflected wave is received, it can be recognized that there is an obstacle. The frequency of the infrared rays oscillating in the traveling direction is different from the frequency of the infrared rays oscillating in the horizontal and vertical directions shown in FIG.

The flying drone 20 shown here is equipped with four propellers 21 and a light and a camera in the central part of the airframe. The light includes an upper light 23A that illuminates the upper side of the airframe and a lower light 23B that illuminates the lower side of the airframe. The camera includes an upper camera 22A for photographing the upper side of the airframe and a lower camera 22B for photographing the lower side (lower half of the sewer pipe) of the airframe. The light and camera allow the flying drone 20 to continuously photograph the inner wall of the sewer pipe.

Although not shown, the propeller 21 is provided with a guard to prevent the propeller 21 from being damaged even if it comes into contact with a wall surface or the like.
Although not shown, a vision sensor is provided in addition to the cameras 22A and 22B. The current position is grasped by collating the photographed data of the inner wall acquired by the vision sensor with the image data of the inner wall acquired in advance.

(Fig. 4)
FIG. 4 conceptually shows an example as a technique for grasping where the flying drone 20 is located in the sewer pipe.
RFID 15A, 15B, 15C, ... Are buried at equal intervals (for example, every 1 meter) near the upper surface of the inner wall of the sewer pipe 10. RFID is also called a non-powered IC tag and has a built-in IC chip capable of individual identification. Although it does not have a power supply itself, when a dedicated receiver equipped with a power supply is brought close to it, the receiver and RFID perform two-way communication. As a receiver, it is possible to recognize that an IC chip capable of individual identification is nearby.

The flight drone 20 shown in FIG. 4 is provided with a dedicated receiver capable of short-range wireless communication with RFID as described above.
FIG. 4 illustrates that the flying drone 20 has passed the RFID 15A and is in the process of bidirectional communication with the 15B. Since the flight drone 20 is provided with a corresponding position table storage chip that stores a corresponding table between the non-powered IC tag and the position in the pipeline in advance, it is possible to grasp where the sewage pipe is.

By recording the communication start time and the communication end time with the predetermined RFID, it can be seen that the flight drone 20 was flying in the vicinity of the RFID 15B at those times. By associating with the above-mentioned shooting data by the camera, it is possible to grasp at which position the shooting data was shot.
It should be noted that bidirectional communication between the two RFIDs may be executed between the two RFIDs, but if the strength of the radio waves can be converted into data, it is possible to grasp the position in more detail.

Although not shown, instead of RFID 15A, 15B, 15C, ..., Plates printed with one-dimensional barcodes are arranged and fixed at predetermined intervals, and the one-dimensional barcodes are mounted on the flying drone 20. It may be read by a code reader.
Further, the one-dimensional bar code may be used as a two-dimensional bar code. When a two-dimensional bar code is adopted, the camera reads the two-dimensional bar code and converts it into predetermined data instead of the bar code reader.

The RFID and the barcode may be used together instead of being an alternative. By using them together, it is possible to suppress the occurrence of a situation in which the position cannot be specified at all even if there is a problem in reading one of them.

(Fig. 5)
FIG. 5 illustrates a second embodiment in which a relay mobile device is adopted.
The relay mobile device in this embodiment is a float type drone 30 that follows the flight drone 20 and moves inside the sewer pipe 10. Details will be described later with reference to FIG.
The float type drone 30 floats on the sewage 12 and is connected to the flying drone 20 by a multifunction cable 25. Further, it is connected to the data acquisition / analysis machine mounted (built-in) in the support car 40 by a gable 35 such as a power supply.

(Fig. 6)
As shown in FIG. 6, the float type drone 30 has a float 31 which is a main body having a small specific gravity, a propeller 32 for propulsion fixed to the float 31 and propelling the water surface, and a subject by the camera 22 of the flying drone 20. It includes a light 33 that irradiates light.
Since the light 33 exists, the flying drone 20 does not have the light 23 as shown in FIG.

The multifunctional cable 25 connected to the flying drone 20 is used to receive shooting data taken by the flying drone 20 and to transmit control data of the flying drone 20.
Further, the power cable 35 connected to the support car 40 can transmit shooting data taken by the flying drone 20, control data of the flying drone 20, and / or to the floating drone 30 and / or the flying drone 20. Receives the supplied electrical energy.

(Fig. 7)
As described above, FIG. 7 shows a flying drone 20A not equipped with the light 23.
A camera (upper camera 22A, lower camera 22B) for photographing the wall surface of the sewer pipe 10 illuminated by the light 33 of the float type drone 30 is mounted.
Further, the shooting data taken by the upper camera 22A and the lower camera 22B are transmitted to the float type drone 30 via the multifunction cable 25.

The multifunctional cable 25 is not tensioned, but it is desirable to keep it in a slack state so as not to touch the water surface. However, if the traveling speed of the flying drone 20A is faster than that of the float type drone 30, tension will be applied. In this case, the output of the propeller 32 of the float type drone 30 is increased, and the float type drone 30 is controlled to catch up with the traveling speed of the flying drone 20A.

In order to execute this control, the connection portion of the multifunction cable 25 in the float type drone 30 is provided with a tension meter capable of grasping the tension, and the control device of the propeller 32 uses the measured value by the tension meter to propeller the propeller. It controls the output of 32.
The tension meter can also grasp how long the multifunctional cable 25 is. Therefore, the distance between the float type drone 30 and the flying drone 20A can be roughly grasped. By grasping how long the cable 35 such as the power supply is extended, the position of the flying drone 20A can also be grasped.

The power cable 35 can grasp how long the support car 40 has been pulled out, and can roughly grasp the distance between the float type drone 30 and the support car 40. That is, the position of the flying drone 20A can be roughly grasped.

(Fig. 8)
In the third embodiment shown in FIG. 8, the amphibious drone 50 is adopted as the relay mobile device.
The amphibious drone 50 is capable of wheel running so that it can follow the flying drone 20 even if it is a sewer pipe with little or no sewage that cannot be advanced by the float type drone 30.
Further, the amphibious drone 50 shown in this embodiment is provided with an antenna 51 for wireless communication with the flying drone 20, and unlike the float type drone 30, is not provided with a multifunction cable 25.

The amphibious drone 50 shown in this embodiment is not provided with a light, and the flying drone 20 is provided with a light 23 (same as the first embodiment).
In this embodiment, a communication cable 36 is used for connecting the amphibious drone 50 and the support car 40 instead of a power cable or the like. Since the amphibious drone 50 does not have a light and consumes little power, the communication cable 36 transmits shooting data, position data, etc. received from the flying drone 20, and various data to be transmitted to the flying drone 20. It has a function to receive (including control signals) from the data collection and analyzer.

(Fig. 9)
The flight drone 20 illuminates the subject with a light and shoots it with a camera, and transmits the shot data and the separately grasped position data to the amphibious drone 50 by wireless communication (1). The amphibious drone 50 transfers shooting data and position data to a data acquisition / analysis machine via a communication cable 36 (2).
The data collection analyzer that has received the shooting data and the position data analyzes the shooting data and the position data and calculates the control data (3).

For example, if the shooting data of a certain position data is unclear, control data is automatically created so that the shooting data of that position data is acquired again when the flying drone returns, and the control data is used. Is transmitted to the amphibious drone 50 (4).
Upon receiving the control data, the amphibious drone 50 transfers the control data to the flight drone 20 (5).

(Fig. 10)
The control data described above with reference to FIG. 9 shows an example automatically created by the data acquisition analyzer, but FIG. 10 illustrates a case where the operator creates the control data.
First, the data collection and analysis machine outputs the shooting data and the current position data by the flight drone 20 transferred from the amphibious drone 50 to the monitor (1). The operator who browses the output data verifies the state of the flying drone 20 and the like (2).
The operator inputs control data for operating the flight drone 20 (or creates and inputs it by a data collection and analysis machine) when it is determined to be necessary, and sends it to the flight drone 20 via the amphibious drone 50. (3).

In order for the operator to verify whether the flight drone 20 is as intended by the operator by the transmitted control data, the shooting data and the current position data by the flight drone 20 are output again (4).
Then, the operator verifies the output shooting data and the current position data (5).
Although not shown, if further control data is required, the control data is input again and transmitted to the flight drone 20.

(Fig. 11)
FIG. 11 roughly classifies the hardware and functions mounted on the flying drone into input means, arithmetic means / control means, and output means, and illustrates the relationship between them.
Input means include a camera, an infrared forward transceiver, an infrared vertical transceiver, an infrared horizontal transceiver, and a short-range wireless communication device. A relay mobile device may also be interpreted as an input means in the sense that it receives control data.

The control means include a vertical control means that receives the reflected wave from the infrared vertical transmitter / receiver and analyzes it to create a control signal, and a vertical control means that receives the reflected wave from the infrared horizontal transmitter / receiver and analyzes it to create a control signal. The left and right control means for creating the current position, the current position grasping means for grasping the current position by wireless communication with the short-range wireless communication device, and the like are included.
As output means, a propeller that receives and drives control signals for changing various movements and positions, a light that illuminates the subject of the camera to obtain shooting data, and data of shooting data and current position data. Includes relay mobile devices for transmission to collection and analysis machines.

(Fig. 12)
The fourth embodiment shown in FIG. 12 will be described focusing on the differences from the embodiment shown in FIG.
The amphibious drone 50 as a relay mobile device is equipped with a light 53, and the flying drone 20 is not equipped with a light.
On the other hand, there is wireless communication between the flying drone 20 and the amphibious drone 50. Instead of this wireless communication, a multifunctional cable 25 may be adopted.

(Fig. 13)
The fifth embodiment shown in FIG. 13 will be described focusing on the differences from the embodiment shown in FIG.
The float type drone 30 as a relay mobile device is equipped with an antenna 31 so that wireless communication is performed with the flying drone 20. On the other hand, since the light is not installed, the flight drone 20 is equipped with the light 23.
By the way, when the flight drone is equipped with a laser infrared measuring device that irradiates the inner wall of the conduit with a laser beam and receives and records the reflected infrared rays instead of the camera, the light 23 (described above) Or 53) becomes unnecessary.
On the other hand, when a camera and a laser infrared measuring device are mounted on the flight drone, the possibility of oversight can be reduced because the abnormality detection of the inner wall of the pipeline can be performed by two types of devices.

According to the first to fifth embodiments, the flight drone 20 (also 20A) is stably flown in the pipeline (sewage pipe 10), an abnormal part in the inner wall of the pipeline is found, and the same. It provides technology that contributes to location identification.
For example, the technique described with reference to FIG. 4 enables flight in a non-GPS environment and identification of its own position (solving problem A-1).
The technique described with reference to FIG. 2 makes it possible to stabilize itself in a closed system (solving problem A-2).
The technique described with reference to FIG. 3 makes it possible to advance in the longitudinal direction in a closed system (solving problem A-3).
By providing the propeller 21 with a guard, it is possible to prevent or suppress damage when the propeller 21 comes into contact with the wall surface (solves "Problem A-4").

According to the technique described with reference to FIG. 10, it is possible to recover the problem if it comes into contact with the wall surface and loses stability or crashes (solves "Problem A-5").
Although the operation of the operator will be complicated, there is a possibility that some kind of backup system can be taken if the technology cannot be restored by the technique described with reference to FIG. 10 (solving "Problem A-6").

As described with reference to FIGS. 3 and 6, it is possible to photograph the inner wall of the pipeline by equipping the flying drone 20 or the relay mobile device 30 (or 50) with the light 23 (or the lights 33 and 53). (Solve problem B-1).
By the technique described with reference to FIG. 2, it is possible to shoot without blurring or to shoot with a focus (solves problems B-2 and 3).
By providing the technique described with reference to FIG. 3, that is, the lower light 23B and the lower camera 22B, it is possible to take a picture even on the inner wall under the water surface (solve the problem B-4).

The captured video data can be confirmed by an expert because the flight drone 20 takes it home or transfers it to a data collection / analysis device. Therefore, it is possible to find an abnormal part from the captured image (solve problem B-5).
By the technique described with reference to FIG. 4, the location of the abnormal part can be specified (problem B-6 is solved).

(Fig. 14)
FIG. 14 shows a drone provided with a port body 74 for lowering the flight drone 20 from the ground side of the manhole 13 to the intersection with the sewer pipe 10 and starting the flight in the longitudinal direction (horizontal direction) of the sewer pipe 10. The structure of the departure / arrival port 70 is shown.
The drone departure / arrival port 70 is a folding port 70A that is convenient for taking off and landing of the flight drone 20 and can narrow the projected area in the vertical direction when moving the manhole 13 in the longitudinal direction (vertical direction). ing.

The folding port 70A has a telescopic pole 71 which is a straight pipe for moving the front port main body 74 to a predetermined position in the longitudinal direction (vertical direction) of the manhole 13, and a frame support shaft 75 with respect to the telescopic pole 71. A port support frame 72 that is axially supported so as to be rotatable around the port support frame 72, and a support link 73 for restricting the rotation angle of the port support frame 72 are provided.

The port support frame 72 is formed of two crank-shaped frames, and the end portion of the plan shape opposite to the frame support shaft 75 is located so as to sandwich the port body 74, and the port body is formed. The port main body 74 is pivotally supported by the port support shaft 76 so as to be rotatable with respect to the 74.
The longitudinal direction of the port support frame 72 rotates to a position perpendicular to the longitudinal direction of the telescopic pole 71, and is stabilized at that position by the support link 73.

The support link 73 is fixed so as to be rotatable with respect to the port support frame 72 and slidable with respect to the telescopic pole 71.
The upper end of the support link 73 fixes the support link operation wire 73A built in the telescopic pole 71. The folding mechanism of the port support frame 72 is realized by pulling or loosening the support link operation wire 73A.

The port body 74 forms a hemispherical departure / arrival port that is axially supported by the port support shaft 76 on the side opposite to the support link 73 in the port support frame 72. The hemispherical upper surface is the departure / arrival surface 74A.
The folding mechanism separates the first position such that the longitudinal direction of the port support frame 72 from the longitudinal direction of the vertical pole 71 is an acute angle, and the landing surface (74A) away from the vertical pole (71). It is possible to take a second position, which is horizontal above.
The port body 74 is entirely made of a mesh material, making it difficult for the flying drone 20 to receive the airflow generated from the propeller during takeoff and landing.

Around the port body 74, a large number of support plates 77 are provided to expand the projected area in the vertical direction on the landing surface 74A when the first position is formed. The support plate 77 has a curved surface that bulges outward when viewed from the departure / arrival surface 74A, and is continuous with the departure / arrival surface 74A.
When the departure / arrival surface 74A in the second position is viewed from above, the shape is such that the petals spread around the departure / arrival surface 74A, and the departure / arrival surfaces 74A sides overlap each other.

Further, the support plate 77 is formed so as to be foldable so as to narrow the projected area in the vertical direction on the departure / arrival surface 74A when the support plate 77 is in the first position.
After moving from the first position to the second position, the vertical projected area on the landing surface 74A should be expanded by performing operations such as loosening the support plate operation wire 77C connected to the ground through the inside of the telescopic pole 71. Rotates to.

When the support plate 77 on the telescopic pole 71 side is moved from the second position to the first position, the support plate 77 on the telescopic pole 71 side comes into contact with the telescopic pole 71 and rotates, so that the inner surface of the support plate 77 rotates so as to approach the departure / arrival surface 74A. Since the support plate 77 that is not in contact with the telescopic pole 71 also has an overlapping portion with the support plate 77 that is in contact with the telescopic pole 71, the inner surface of the support plate 77 rotates so as to approach the departure / arrival surface 74A. As a result, the projected area in the vertical direction on the landing surface (74A) is narrowed when the second position is formed.

The folding port 70A, which is in the first position, mounts the flight drone 20B on the departure / arrival surface 74A at the time of introduction into the manhole 13, and lowers the flight drone 20B so that the departure / arrival surface 74A reaches the intersection with the sewer pipe 10 in the manhole 13.
In the first position, the support plate 77 is closed so as to surround the departure / arrival surface 74A, and the flying drone 20B is contained in the closed surface, so that there is little risk of damaging the flying drone 20B.

When the departure / arrival surface 74A reaches the intersection with the sewer pipe 10 in the manhole 13 in the state of the first position, the support link operation wire 73A is loosened. Then, the end portion of the support link 73 on the telescopic pole 71 side is lowered, and the port support frame 72 rotates until its longitudinal direction becomes horizontal. At that time, the end portion of the support link 73 on the telescopic pole 71 side is regulated so as to reach the lowermost end and not to be lower than that.

The frame support shaft 76 may be regulated by a gear or the like so that the port support frame 72 does not fall below the horizontal direction.
When the longitudinal direction of the port support frame 72 becomes horizontal, the support plate 77 opens under its own weight, making it easier for the flight drone 20B to take off from the departure / arrival surface 74A.

The folding port 70A, which is in the second position, is slightly off the center of the landing surface 74A when the flying drone (guarded drone 20B) lands because the support plate 77 is open so as to be continuous with the landing surface 74A. However, it is guided to the departure / arrival surface 74A by the support plate 77.
Further, when starting from the departure / arrival surface 74A, the support plate 77 is less likely to get in the way.

The telescopic pole 71 is formed by connecting pipes (or rods) having a predetermined length. Therefore, when the folding port 70A is not used (the state before use and the state after use), the connection is disconnected so that it is convenient to carry and store.

In the vicinity of the port main body 74 of the telescopic pole 71, a takeoff / landing camera 71A capable of photographing the vicinity of the departure / arrival surface 74A is provided together with a light (not shown). This is for the staff on the ground to confirm the takeoff and landing of the flying drone 20B.

(Fig. 15)
FIG. 15 shows, as a variation of the drone departure / arrival port 70, a water avoidance port 70B provided with a leg 78 in contact with the inner wall of the lower surface of the sewer pipe.
The water avoidance port 70B is formed of a plurality of elongated rod-shaped bodies, and when the lower end thereof is in contact with the inner wall of the lower surface of the sewer pipe, the landing surface 74A is horizontal. Therefore, when the inner wall of the lower surface of the sewer pipe is curved, the lengths of the plurality of rods forming the leg 78 also differ depending on the portion to be fixed.

Forming the leg 78 with a plurality of elongated rod-shaped bodies reduces the area of the sewer pipe, which is in contact with the water flow. This is because if the area exposed to the water flow is large, the drone departure / arrival port 70 tends to become unstable.

The water avoidance port 70B is suspended by a plurality of suspension wires 80. Both ends of the suspension ring 79, which is a semi-elliptical ring, are axially supported by the port body 74, and the suspension wire 80 is also fixed to the suspension ring 79, and the suspension wire 80 is pulled upward. .. Then, when the suspension ring 79 reaches the departure / arrival surface 74A to the intersection with the sewer pipe 10 in the manhole 13, the suspension wire 80 pulling the suspension ring 79 is loosened and exists above the departure / arrival surface 74A. Try not to. By doing so, the flight drone 20B can be easily taken off from the departure / arrival surface 74A.

In the water avoidance port 70B, the suspension wire 80 is also fixed to the support plate 77. When the suspension wire 80 is tense, it is folded so as to narrow the projected area in the vertical direction on the landing surface 74A. When the suspension wire 80 is loose, the lower end of the support plate 77 is axially supported so as to increase the projected area in the vertical direction on the landing surface (74A).
The suspension wire 80 closest to the inner wall of the manhole 13 is provided with a plurality of pipe wall contact members 81 that come into contact with the inner wall of the manhole 13 at equal intervals. When the pipe wall contact member 81 abuts on the inner wall of the manhole 13, the water avoidance port 70B can be moved up and down stably in the longitudinal direction (vertical direction) of the manhole 13.

(Fig. 16)
FIG. 16 shows a cantilever port 70C with a suspension wire 80 provided with a pipe wall contact member 81 in contact with the vertical inner wall of the manhole 13 as a variation of the drone departure / arrival port 70.
The cantilever port 70C is suspended by a fishing wire 80 having one end in the horizontal direction of the port body 74 fixed. The suspension wire 80 is provided with a plurality of pipe wall contact members 81 that come into contact with the inner wall of the manhole 13, so that the cantilever port 70C can be moved up and down stably in the longitudinal direction (vertical direction) of the manhole 13. Can be done.

Further, the suspension wire 80 is also fixed to the other end of the port body 74 in the horizontal direction, and the suspension wire 80 is fixed to the opening plate 77B that expands the departure / arrival surface 74A when loosened.
On the other hand, the suspension wire 80 provided with the pipe wall contact member 81 is a cushion plate 77A having a cushioning material on the surface on the departure / arrival surface 74A side. When the flight drone 20B lands on the landing surface 74A, the cushion plate 77A plays a role of reducing the damage even if it collides.

(Fig. 17)
FIG. 17 shows a pulley type port 70D using a hanger fixing member 81A, a hanger 83, a pulley 82, etc. fixed to the vertical inner wall of the manhole 13 as a variation of the drone departure / arrival port 70.
The pulley type port 70D includes a pulley 82 in which a hanger 83 is fixed to the hanger fixing member 81A and is axially supported by the hanger 83, and a winding wire 80A wound around the pulley 82.
The pulley 82 is provided with a wire take-up drum (not shown). When the wire take-up drum sends out the winding wire 80A, the port main body 74 lowers the manhole 13, and when the wire take-up drum winds the winding wire 80A, the port main body 74 raises the manhole 13.

In the case of the pulley type port 70D, the pipe wall contact member 81 is not provided on the winding wire 80A, but is positioned on the inner wall of the manhole 13 by another means (for example, another wire). The pipe wall contact member 81 can stably move the pulley type port 70D up and down in the longitudinal direction (vertical direction) of the manhole 13.
The port body 74 is provided with the cushion plate 77A and the opening plate 77B as in the case of the cantilever port 70C.

(Fig. 18)
In FIGS. 18 and 19, the drone collection for collecting the flying drone 20B that has fallen into the sewer pipe 10 and cannot fly, the float type drone 30 that has become stuck due to a failure, the amphibious drone 50, and the like. The tool 90 is shown.

The drone recovery tool 90 shown in FIG. 18 is an adhesive drone recovery device by fixing a water-resistant adhesive tape 91 to the lower ends of a plurality of hanging wires 80. The suspension wire 80 closest to the inner wall of the manhole 13 is provided with a plurality of pipe wall contact members 81 that come into contact with the inner wall of the manhole 13 at equal intervals.
Further, near the lower end of the adhesive tape 91, a water sensing sensor (not shown) is provided. By detecting the presence of water, the water sensing sensor grasps how much the adhesive tape 91 is immersed in the flowing sewage and reduces collection mistakes.

In addition, in order to prevent submersion in the flying drone 20B, it is recommended to equip somewhere in the aircraft with a float member with an extremely light specific gravity or an airbag that reacts with water so that the aircraft will not be submerged in water. desirable.

For the convenience of collection work, an upstream confirmation camera 94 for viewing the upstream side and a collection confirmation camera 95 for viewing what is caught on the adhesive tape 91 are installed in the vicinity of the adhesive tape 91 in the drone collection tool 90. Be prepared.

A magnet (including an electromagnet) may be used as a drone recovery means in place of the adhesive tape 91 or in combination with the adhesive tape 91. This is because magnetic materials are used in at least part of the drone.

(Fig. 19)
The drone recovery tool 90 shown in FIG. 19 is a net-type drone recovery device by fixing a recovery net 92 to the lower ends of a plurality of suspension wires 80 and providing a weight 93 suspended at the lower ends of the recovery net 92. It is set to 90B.
Further, the suspension wire 80 closest to the inner wall of the manhole 13 is provided with a plurality of pipe wall contact members 81 that come into contact with the inner wall of the manhole 13 at equal intervals.

In this net-type drone recovery device 90B, the weight 93 is provided with a water sensing sensor (not shown). The function of the water sensor is similar to that of the adhesive drone recovery device.
Further, the upstream confirmation camera 94 and the collection confirmation camera 95 for the convenience of the collection work are the same as those of the embodiment shown in FIG.

(Fig. 20)
FIG. 20 shows a liquid inflatable drone recovery tool 90C provided with a telescopic frame 96 formed of a synthetic rubber tube as a variation of the drone recovery tool.
In this liquid expansion type drone recovery tool 90C, the expansion / contraction frame 96 is expanded / contracted by the inflow / outflow of fluid by the pump 97 shown in FIG. 20 (b). As shown in FIGS. 20 (c) and 20 (d), the net shape is suitable for hooking a drone flowing into the liquid flowing in the pipeline when the liquid is injected.
When the injected liquid is withdrawn, as shown in FIG. 20 (b), the shape of the manhole 13 in the vertical direction is easily moved up and down in the longitudinal direction.

Injecting and extracting liquid is carried out by installing a pump (not shown) on the ground.
Water is most commonly used for expansion, but other liquids may be selected depending on the conditions for recovery.

In the drone recovery tool 90C shown in this embodiment, it is described that the whole is formed of a synthetic rubber tube, but only the part reaching the sewer pipe 10 (the part corresponding to the drone hook) is made of a synthetic rubber tube. It may be formed.
The material of the drone recovery tool 90C is not limited to synthetic rubber.

(Fig. 21)
FIG. 21 shows a position confirming tool 60 used by the flying drone to grasp the current position.
The position confirming tool 60 is lowered along the longitudinal direction of the hole in the vertical direction and continuously reaches the scale wire 61 in the longitudinal direction in the pipeline to be investigated, and the scale wire 61 is equal to or equal to the scale wire 61. The float balls 63 fixed at intervals and the wire winding drum 62 for winding and feeding the scale wire 61 are provided.
The wire take-up drum 62 feeds the scale wire 61 so that the float ball 63 reaches the end of the pipeline where the inner wall survey was performed. Since the float balls 63 are fixed at equal intervals, it is possible to lay a means for grasping the current position by subtracting the height direction of the manhole 13.
The current position grasping means in the flight drone (20) grasps the current position by recognizing that the equidistant fixed bodies (63) are close to each other (see FIG. 21).

The float ball 63 uses a material that floats with respect to the liquid flowing in the pipeline. Moreover, each surface pattern is different. In addition, it has a built-in RFID. The camera mounted on the flying drone 20 allows the float ball to be visually recognized and the current position can be confirmed by performing short-distance communication with the RFID.
If the liquid does not flow, it will be rubbed against the inner wall of the pipeline, so it is desirable to use a material that is resistant to wear.

The scale wire 61 may be a flexible string-like body when the liquid is flowing in the pipeline, but is stiff enough to be pushed out so that it can be used even when the liquid is not flowing. Adopt a certain steel wire or the like.

(Fig. 22)
FIG. 22 is a conceptual diagram showing that two functions have been added to the drone departure / arrival port 70 as shown in FIGS. 14 to 17.
First, it is equipped with a charging facility so that the flying drone 20B that has landed on the departure / arrival surface 74A of the drone departure / arrival port 70 can carry out forward power. The charging equipment shown in FIG. 22 is shown as being not connected to the ground, and is assumed to be battery-powered, but is not limited to battery-powered. Further, a wireless power supply system capable of supplying power without contacting the departure / arrival surface 74A may be adopted.

Further, the drone storage data receiving means for sucking up the image data of the inner wall of the pipeline and the position data associated with the image data from the flight drone 20B landing on the departure / arrival surface 74A of the drone departure / arrival port 70 is provided.
The drone storage data receiving means may also employ a wireless communication system capable of sucking up data even if the flying drone 20B is not in contact with the departure / arrival surface 74A.

The data received by the drone storage data receiving means is sent to the data receiving and storing means on the ground by serial communication. The data reception / storage means is illustrated as being provided in, for example, the support car 40 on the ground.

(Fig. 23)
FIG. 23 shows the dimensions of the flying drone 20 (with the propeller guard removed).
Four propellers are arranged in a 6 cm square center frame. The diameter of each propeller is 23 centimeters (9 inches), and the total width is within 50 centimeters.
However, the size and type of the flying drone are appropriately selected depending on the type of the target pipeline. The one shown in FIG. 23 is one used when photographing the inner wall of the sewer pipe having a diameter of 2.2 meters.

The present invention lays a sewage pipe, a manufacturing industry of an unmanned aerial vehicle that is premised on flight in a closed system surrounded by a closed system where GPS radio waves do not reach, a software development industry that develops a computer program for flight control, and a sewage pipe. It has the potential to be used in the civil engineering and construction industry, the service industry for maintenance and inspection in pipelines, etc.

D; Inner diameter 10 of the pipe (sewage pipe); Sewage pipe 11; Inside the sewer pipe groove 12; Sewage 12A; Water surface 13; Manhole 15; RFID
20; Flying Drone 20A; Flying Drone (without lights)
21; Propeller 22; Camera 22A; Upper camera 22B; Lower camera 23; Light 23A; Upper light 23B; Lower light 25; Multi-function cable 30; Float type drone (data repeater, relay mobile device)
31; Float 32; Propeller 33; Light 35; Power supply, etc. Gable 36; Communication cable 40; Drone support car (data collection and analysis machine)
50; Amphibious drone (data repeater)
51; Antenna 53; Light 60; Positioning tool 61; Scale wire 62; Wire take-up drum 63; Float ball 70; Drone departure / arrival port 70A; Folding port 70B; Water avoidance port 70C; Cantilever port 70D; Sliding port 71 Vertical pole (expandable pole) 71A; Takeoff / landing confirmation camera 72; Port support frame 73; Support mechanism (support link) 73A; Support link operation wire 74; Port body 74A; Departure / arrival surface 75; Frame support shaft 76; Port support shaft 77; Support plate 77A; Cushion plate 77B; Open plate 77C; Support plate operation wire 78; Leg 79; Suspension ring 80; Suspension wire 81; Pipe wall contact member 82; Slider 83; Hanger 90; Drone recovery device 90A; Adhesive drone recovery device 90B; Net type drone recovery device 90C; Liquid expansion type drone recovery device 91; Adhesive tape 92; Recovery net 93; Weight 94; Upstream confirmation camera 95; Recovery confirmation camera 96; Telescopic frame 97; pump

Claims (24)

A flying drone that can fly unmanned in the pipeline,
A relay mobile device that follows the flying drone and moves in the pipeline,
A device for investigating the inner wall of a pipeline, comprising a data acquisition / analysis machine that communicates with the relay mobile device via a first cable.
The flying drone
A vertical transmitter / receiver that oscillates infrared or laser light toward an upward and downward wall in the vertical direction and receives the reflected wave or reflected light.
A horizontal transmitter / receiver that oscillates infrared or laser light toward the right and left walls in a cross section perpendicular to the direction of travel and receives the reflected or reflected light.
A camera that shoots the inner wall of the pipeline and acquires shooting data,
A vertical control means for controlling the distance between the flying drone and the upper and lower wall surfaces within a predetermined range based on the timing of oscillation and reception in the vertical transceiver.
Left and right control means for controlling the distance between the flying drone and the right and left wall surfaces within a predetermined range based on the timing of oscillation and reception in the horizontal transceiver.
The current position grasping means for acquiring the current position data for grasping the current position of the flying drone in the pipeline, and the current position grasping means.
Equipped with
The relay mobile device is
A propeller that follows the flying drone and propels the water surface in the pipeline,
A light source that irradiates the subject with the camera and
A data communication means that receives the shooting data and the current position data from the flight drone and transmits the shooting data and the current position data to the data collection / analyzer.
Equipped with
The data acquisition / analysis machine is an apparatus for investigating an inner wall of a pipeline, comprising a photographing data recording means for recording the current position data in association with the photographing data received from the relay mobile device. The relay mobile device communicates with the flight drone via a second cable, and communicates with the flight drone via a second cable.
The data communication means receives the shooting data and the current position data from the flying drone via the second cable, and collects and analyzes the shooting data and the current position data via the first cable. The investigation device for an inner wall of a pipeline according to claim 1, wherein the data is transmitted to a machine. The relay mobile device is
A tension meter provided at the connection portion of the second cable and grasping the tension of the second cable,
A propeller control means that controls the output of the propeller so as to maintain the tension of the second cable based on the measured value by the tension meter.
2. The apparatus for investigating an inner wall of a pipeline according to claim 2. The data acquisition and analysis machine
A control data calculation means for calculating the control data necessary for the movement of the flight drone and / or the acquisition of the shooting data by analyzing the shooting data and the current position data.
A control data transmission means for transmitting the control data calculated by the control data calculation means to the flight drone via the relay mobile device, and a control data transmission means.
The apparatus for investigating an inner wall of a pipeline according to any one of claims 1 to 3, wherein the apparatus is provided with. When the shooting data received from the relay mobile device is unclear, the control data calculation means returns to the position indicated by the current position data associated with the shooting data when the flight drone returns to the position . The investigation device for an inner wall of a pipeline according to claim 4, wherein the control data for causing the flight drone to acquire the photographed data again is calculated. The current position grasping means is used when a plurality of non-powered IC tags are previously provided in the pipeline.
Corresponding position table storage means for storing the correspondence table between the non-powered IC tag and the position in the pipeline,
A short-range wireless communication device that executes short-range wireless communication with the non-powered IC tag, and
In preparation for the flight drone
Claims 1 to 5, wherein the short-range wireless communication device acquires the current position data of the flight drone by using the corresponding position table storage means by wirelessly communicating with the non-powered IC tag. The investigation device for the inner wall of the pipeline according to any one of the items. The current position grasping means is
An image table of the inner wall of the pipeline, which stores image data of the inner wall of the pipeline in advance,
Equipped with a vision sensor that acquires image data of the inner wall of the pipeline,
The pipeline according to any one of claims 1 to 6, wherein the current position data of the flight drone is acquired by using the image data acquired by the vision sensor and the pipeline inner wall image table. Inner wall survey device. The data acquisition and analysis machine
A data output means for outputting the shooting data and the current position data received from the relay mobile device, and
A control data input means for inputting the operator control data necessary for the operator who verified the shooting data and the current position data output by the data output means to move the flight drone and / or acquire the shooting data.
An operator control data transmission means for transmitting the operator control data input by the control data input means to the flight drone via the relay mobile device, and an operator control data transmission means.
The apparatus for investigating an inner wall of a pipeline according to any one of claims 1 to 7, wherein the apparatus is provided with. The device for investigating an inner wall of a pipeline according to any one of claims 1 to 8, wherein the relay mobile device is an amphibious vehicle that can move with or without water in the pipeline. The data acquisition analyzer and its transport device are powered by the regenerated energy fuel and are also powered by the regenerated energy fuel.
The device for investigating an inner wall of a pipeline according to any one of claims 1 to 9, wherein the flying drone can be stored and carried. The device for investigating an inner wall of a pipeline according to any one of claims 1 to 10, wherein the flying drone is provided with a gas concentration meter for detecting the concentration of a predetermined gas in the pipeline. The current position grasping means is
When a plurality of barcodes are provided in advance in the pipeline, a corresponding position table storage means for storing a correspondence table between the barcode and a position in the pipeline, and a corresponding position table storage means.
A barcode reader that reads the barcode and
In preparation for the flight drone
The invention according to any one of claims 1 to 11, wherein the barcode reader acquires the current position data of the flight drone by using the corresponding position table storage means by reading the barcode. Investigation device for the inner wall of the pipeline. Equipped with a drone departure / arrival port that lowers to a predetermined depth along the longitudinal direction of the vertical hole and forms a departure / arrival boat for the flying drone.
A vertical pole that is used by lowering it in the vertical direction,
A port support frame that is rotatably supported with respect to its vertical pole,
A support mechanism that regulates the rotation angle of the port support frame,
A port body supported on the opposite side of the support mechanism in the port support frame.
The port body is equipped with a landing surface for the landing and landing of the flying drone.
The support mechanism has a first position such that the angle formed by the longitudinal direction of the port support frame with the longitudinal direction of the vertical pole is an acute angle, and a first position such that the landing surface is separated from the vertical pole and becomes horizontal. The investigation device for an inner wall of a pipeline according to any one of claims 1 to 12, wherein the port support frame is supported so as to be able to take two positions. Around the landing surface, a support plate for expanding the projected area in the vertical direction on the landing surface when the second position is formed is provided.
13. The inner wall of a pipeline according to claim 13, wherein the support plate is formed so as to be foldable so as to narrow the projected area in the vertical direction on the landing surface when the first position is formed. Investigation equipment. The lower side of the port body is provided with a leg portion for leveling the departure / arrival surface when the lower end is in contact with the inner wall of the lower surface of the pipeline.
The device for investigating the inner wall of a pipeline according to claim 13, wherein the legs have a structure in which the area corresponding to the flow of the liquid is small when the liquid is present in the pipeline. The investigation device for an inner wall of a pipeline according to claim 14 , wherein the support plate is provided with a plate-shaped member made of a cushioning material at least on the surface of the landing surface. The investigation device for an inner wall of a pipeline according to any one of claims 13 to 16, further comprising a charging facility capable of charging the flying drone landing on the landing surface. A drone storage data receiving means for receiving predetermined data stored in the flight drone landing on the landing surface, and a drone storage data receiving means.
A drone storage data transmission means for transmitting predetermined data received by the drone storage data receiving means to a data reception storage means installed outside in the vertical hole, and a drone storage data transmission means.
The apparatus for investigating an inner wall of a pipeline according to any one of claims 13 to 17, wherein the apparatus is provided with. It is equipped with a drone recovery device that lowers the flight drone to a predetermined depth along the longitudinal direction of the hole in the vertical direction and recovers the flying drone.
The drone collection device is
The wire used by lowering it in the vertical direction,
A drone hook that is fixed to the tip of the wire and hooks the flying drone that flows into the liquid flowing in the pipeline.
The apparatus for investigating an inner wall of a pipeline according to any one of claims 1 to 18, wherein the apparatus is provided with. The drone hooking tool expands and contracts when a fluid is taken in and out, and has a shape suitable for hooking a drone flowing into the liquid flowing in the pipeline when a liquid is injected.
The investigation device for an inner wall of a pipeline according to claim 19, wherein when the injected liquid is withdrawn, it is formed so as to have a shape that makes it easy to move up and down in the longitudinal direction in the vertical hole. A scale wire that is lowered along the longitudinal direction of the hole in the vertical direction and is continuously reached in the longitudinal direction in the pipeline to be investigated.
An evenly spaced fixed body fixed to the scale wire at equal intervals,
Equipped with a position checker equipped with
The pipeline according to any one of claims 1 to 20, wherein the current position grasping means in the flying drone grasps the current position by recognizing that the equidistant fixed bodies are close to each other. Inner wall survey device. A flight drone that flies unmanned in the pipeline while grasping the position in the pipeline and photographs the inner wall of the pipeline to acquire shooting data.
A relay mobile device including a propeller that follows the flying drone and propels the water surface in the pipeline, and a light source that irradiates a subject by the camera of the flying drone.
A computer program for controlling an investigation device for an inner wall of a pipeline, comprising a data collection / analysis machine that communicates with the relay mobile device via a first cable.
A data reception procedure for receiving the shooting data received from the flight drone by the relay mobile device and the current position data for grasping the current position of the flight drone in the pipeline via the first cable.
A data recording procedure for recording the current position data in association with the shooting data received in the data reception procedure, and a data recording procedure.
Is executed by the computer of the data acquisition and analysis machine. A control data calculation procedure for calculating the control data necessary for the movement of the flight drone and / or the acquisition of the shooting data by analyzing the shooting data and the current position data received in the data receiving procedure.
A control data transmission procedure for transmitting the control data calculated by the control data calculation procedure to the flight drone via the relay mobile device, and a control data transmission procedure.
22 is the computer program according to claim 22, wherein the computer of the data acquisition and analysis machine is executed. The data acquisition / analyzer is provided with a data output means for outputting the shooting data and the current position data received in the data reception procedure.
A control data means for inputting operator control data necessary for the movement of the flight drone and / or acquisition of the shooting data by an operator who has verified the shooting data and the current position data output by the data output means.
Equipped with
23. The computer program according to claim 23 , wherein the control data transmission procedure transmits the operator control data to the flight drone via the relay mobile device.

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