WO2016002236A1 - 構造物の屋内監視システム及び方法 - Google Patents

構造物の屋内監視システム及び方法 Download PDF

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Publication number
WO2016002236A1
WO2016002236A1 PCT/JP2015/051360 JP2015051360W WO2016002236A1 WO 2016002236 A1 WO2016002236 A1 WO 2016002236A1 JP 2015051360 W JP2015051360 W JP 2015051360W WO 2016002236 A1 WO2016002236 A1 WO 2016002236A1
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Prior art keywords
distance
unit
position information
unmanned floating
floating machine
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Ceased
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PCT/JP2015/051360
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English (en)
French (fr)
Japanese (ja)
Inventor
河野　貴之
陽一郎 津村
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Mitsubishi Heavy Industries Ltd
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Mitsubishi Heavy Industries Ltd
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Priority to US15/322,230 priority Critical patent/US10359778B2/en
Priority to EP15814504.5A priority patent/EP3147743B1/en
Priority to CN201580034665.7A priority patent/CN106662880B/zh
Publication of WO2016002236A1 publication Critical patent/WO2016002236A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G01C3/08—Use of electric radiation detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/70—UAVs specially adapted for particular uses or applications for use inside enclosed spaces, e.g. in buildings or in vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates to an indoor monitoring system and method for a structure.
  • boiler furnaces used in thermal power plants need to be opened at the time of production and periodically after the start of operation, and an operator needs to enter the inside for maintenance inspection.
  • this maintenance inspection it is necessary to clarify the inspection location, but the boiler furnace has a large capacity and it is difficult to accurately grasp the inspection location visually. Therefore, conventionally, the worker's whereabouts or maintenance inspection position has been grasped by measuring and marking the height position and the left and right position of the inspection location with a tape measure or the like. Requires a lot of labor, cost, and inspection period.
  • Patent Document 1 a technique for cleaning the inside of a structure such as a chimney with an unmanned inspection device.
  • Patent Document 1 a technique for cleaning the inside of a structure such as a chimney with an unmanned inspection device.
  • this proposal also requires a frame for installing the wire, and labor, cost, and inspection period are required for the preparation.
  • Patent Document 2 For outdoor structures, it has been proposed to apply unmanned inspection technology that does not require scaffolding using a drone and GPS (Global Positioning System) (Patent Document 2).
  • Patent Document 3 a system capable of indoor flight without using GPS has also been proposed.
  • Patent Document 3 has a problem that a feature point (or pattern) is required on the ground instead of using GPS, and the place where the feature point (or pattern) can be installed is limited. Moreover, since structures such as boiler furnaces and chimneys are closed spaces in the dark, there is a problem that feature points cannot be confirmed.
  • the present invention enables an uninhabited inspection in which internal position information is ensured, for example, an indoor monitoring system for a structure that can reduce labor, cost, and inspection period due to the absence of scaffolding construction, and It is an object to provide a method.
  • the first invention of the present invention for solving the above-described problems is an unmanned floating machine equipped with a floating means for floating the inside of a structure by remote operation, and the unmanned floating machine mounted on the unmanned floating machine.
  • a distance measuring unit that measures the distance between the machine and the inner wall surface of the structure, and an inertial measurement unit that is mounted on the unmanned floating machine, grasps a body posture of the unmanned floating machine, and is mounted on the unmanned floating machine, The current position of the unmanned floating machine according to the imaging unit for imaging the structure on the wall surface side of the structure, the operation unit for remotely operating the unmanned floating machine, the information of the distance measuring unit, and the information of the inertial measuring unit
  • a flight position information acquisition unit that acquires information, a monitor unit that displays image information from the imaging unit, and position information from the flight position information acquisition unit, and in the flight position information acquisition unit,
  • the unmanned floating by the distance measurement unit Obtained by the horizontal distance measurement step of measuring horizontal distance information between the inner wall surface of the structure and the posture angle
  • An indoor monitoring system for a structure is characterized in that a distance acquisition step and a horizontal current position information acquisition step of acquiring horizontal current position information from known cross-sectional shape information of the structure are executed.
  • the distance measurement unit measures distance information in the height direction of either the top or bottom of the unmanned floating aircraft and the structure.
  • a distance measurement step a posture angle acquisition step for acquiring the posture angle of the unmanned floating machine, and a height for correcting the distance information in the height direction using the posture angle acquired in the posture angle acquisition step.
  • An indoor monitoring of a structure comprising: performing a vertical distance correction step, and a height direction current position information acquisition step of acquiring current position information in a height direction from known vertical cross-sectional shape information of the structure In the system.
  • a third invention is an indoor monitoring system for a structure according to the first invention, wherein a plurality of measurements are performed in the horizontal distance measurement step, and an average distance is used as the horizontal distance information.
  • a fourth invention is the indoor monitoring system for a structure according to the second invention, wherein a plurality of measurements in the height direction distance measurement step are performed, and the averaged distance is used as distance information in the height direction. It is in.
  • a fifth invention is the first or second invention, wherein the flight position information acquisition unit is mounted on an unmanned floating aircraft, the acquired current position information is transmitted to the ground side by the transmission unit, and is displayed on the monitor unit. It is in the indoor monitoring system of the structure characterized by.
  • the flight position information acquisition unit is mounted on a controller terminal on the ground unit side, and the information on the distance measurement unit and the information on the inertia measurement unit are transmitted by the transmission unit to the ground unit.
  • the current position information is displayed on the monitor unit after being transmitted to the side and processed in the flight position information acquisition unit.
  • a seventh invention is an indoor surveillance system for a structure according to the first or second invention, wherein the imaging unit is one or both of a still image capturing unit and a moving image capturing unit.
  • An eighth invention is an indoor surveillance system for a structure according to the first or second invention, wherein a guard portion is provided around the unmanned floating machine.
  • the 9th invention uses the unmanned floating machine provided with the floating means which floats the inside of a structure in the air by remote control, and is mounted in the unmanned floating machine,
  • the unmanned floating machine and the inner wall surface of the structure A distance measuring step for measuring a distance; an inertial measuring step mounted on the unmanned floating machine; for grasping a body posture of the unmanned floating machine; and a structure on the wall surface side of the structure mounted on the unmanned floating machine.
  • a monitor display step for displaying image information from the imaging step and position information from the flight position information acquisition step, and in the flight position information acquisition step, the unmanned floater When A horizontal distance measurement step for measuring horizontal distance information with the inner wall surface of the structure, a posture angle acquisition step for acquiring a posture angle of the unmanned floating machine by the inertia measurement step, and a posture angle acquired by the posture angle acquisition step.
  • a horizontal distance acquisition process that acquires the distance between at least two points on the front, rear, left, and right sides of the unmanned floating aircraft based on the yaw angle acquired in the inertial measurement process and a horizontal distance correction process that corrects the horizontal distance information using
  • an indoor monitoring method for a structure which includes performing a process and a horizontal current position information acquisition step of acquiring horizontal current position information from known cross-sectional shape information of the structure.
  • a height direction that measures distance information in a height direction of either the top or bottom of the unmanned floating aircraft and the structure by the distance measurement step A distance measurement step and a posture angle acquisition step for acquiring the posture angle of the unmanned floating machine by the inertia measurement step, and a height for correcting the distance information in the height direction using the posture angle acquired in the posture angle acquisition step.
  • An indoor monitoring of a structure comprising: performing a vertical distance correction step, and a height direction current position information acquisition step of acquiring current position information in a height direction from known vertical cross-sectional shape information of the structure Is in the way.
  • An eleventh aspect of the invention is an indoor monitoring method for a structure according to the ninth aspect of the invention, wherein a plurality of points are measured in the horizontal distance measuring step, and an average distance is used as the horizontal distance information.
  • a twelfth aspect of the invention is the indoor monitoring method for a structure according to the tenth aspect of the invention, wherein a plurality of measurements in the height direction distance measurement step are performed, and the averaged distance is used as distance information in the height direction. It is in.
  • a thirteenth invention is characterized in that, in the ninth or tenth invention, the flight position information acquisition step is processed on the unmanned floating aircraft side, and the acquired current position information is transmitted to the ground part side and displayed on a monitor. There is an indoor monitoring method for structures.
  • the flight position information acquisition step is processed on the ground side, the distance measurement step information and the inertial measurement step information are transmitted to the ground side, An indoor monitoring method for a structure, which is processed in a flight position information acquisition step and displays current position information on a monitor.
  • a fifteenth aspect of the invention is an indoor monitoring method for a structure according to the ninth or tenth aspect of the invention, wherein the imaging step is one or both of a still image imaging step and a moving image imaging step.
  • the present invention for example, it is possible to perform an unmanned inspection in which position information inside a structure such as a boiler furnace or a chimney is ensured, for example, a significant reduction in labor, cost, and inspection period by eliminating the need for scaffolding. Can be achieved.
  • FIG. 1 is a schematic diagram of an unmanned floating machine according to a first embodiment.
  • FIG. 2 is a schematic diagram illustrating a state in which the boiler furnace according to the first embodiment is inspected.
  • FIG. 3 is a block configuration diagram of the indoor monitoring system for a structure according to the first embodiment.
  • FIG. 4 is a block diagram of an indoor monitoring system for another structure according to the first embodiment.
  • FIG. 5 is a diagram illustrating an example of a scan range when a laser scanner is used as the distance measurement unit according to the first embodiment.
  • FIG. 6 is a diagram illustrating three modes of posture positions of the unmanned floating machine according to the first embodiment.
  • FIG. 7 is a horizontal position monitoring flowchart according to the first embodiment.
  • FIG. 8 is a position monitoring flowchart in the height direction according to the first embodiment.
  • FIG. 9 is a diagram illustrating an example of acquisition of the current position in the horizontal direction according to the first embodiment.
  • FIG. 1 is a schematic diagram of an indoor monitoring system for a structure according to the first embodiment.
  • FIG. 2 is a schematic diagram illustrating a state in which the boiler furnace according to the first embodiment is inspected.
  • FIG. 3 is a block configuration diagram of the indoor monitoring system for a structure according to the first embodiment.
  • the indoor monitoring system for a structure according to the present embodiment is a floating means that floats and moves the inside of a closed structure 50 such as a boiler furnace by remote control.
  • the unmanned floating machine 11 provided with the propeller 22 and a distance measuring unit (for example, a laser scanner, an ultrasonic sensor, etc.) mounted on the unmanned floating machine 11 and measuring the distance between the unmanned floating machine 11 and the inner wall surface of the structure 50.
  • a distance measuring unit for example, a laser scanner, an ultrasonic sensor, etc.
  • IMU Inertial Measurement Unit
  • IMU Inertial Measurement Unit
  • Information (signals) and inertial measurement of an image pickup unit (still image pickup unit 13A, moving image pickup unit 13B) 13 an operation unit 15 for remotely operating the unmanned floating machine 11, and a distance measurement unit 12
  • the flight position information acquisition unit 16 that acquires the current position information of the unmanned floater 11, the image information from the imaging unit 13, and the position information from the flight position information acquisition unit 16 are displayed.
  • a monitor unit 14 is a laser beam emission part.
  • a distance measurement step in which the distance measurement unit 12 measures horizontal distance information (r (t), ⁇ s ) between the unmanned floating aircraft 11 and the inner wall surface of the structure 50.
  • the attitude angle acquisition step step S-2) of acquiring the attitude angle of the unmanned floating machine 11 by the inertial measurement unit, and the horizontal distance information using the attitude angle acquired in step 2
  • the distance correction step step 3: S-3 for correcting (r (t), ⁇ s ) and the yaw angle acquired by the inertial measurement unit, at least two points (front and rear) (L f (t)) and left (L L (t)), front (L f (t)) and right (L R (t)), rear (L B (t)) and left (L L (t) ))
  • a distance acquisition step step 4: S-4) for acquiring the distance between the rear (L B (t)) and the right (L R (t)), and the structure 50 is known
  • a simple structure 50 such as a boiler furnace or a chimney is targeted. Since it is inside the structure 50, a distance measurement unit (for example, a laser scanner, an ultrasonic sensor, etc.) 12 that does not use GPS and an inertial measurement unit (Inertial Measurement Unit) that is a group of sensors used for controlling the attitude of the unmanned floating machine 11
  • a distance measurement unit for example, a laser scanner, an ultrasonic sensor, etc.
  • IMU inertial Measurement Unit
  • the flight position and video of the unmanned floater 11 are displayed on the monitor unit 14 of the personal computer PC of the ground station installed outside the closed structure (boiler furnace) 50.
  • the unmanned floating machine 11 is operated by the operation unit 15 while checking the damaged part), and the inner wall inspection of the closed space of the boiler furnace 50 is performed.
  • the unmanned floating machine 11 is introduced from the entrance of the boiler furnace 50 shown in FIG. 2, and then the inside of the boiler furnace 50 is raised by a predetermined distance, and the operation part 15 on the ground side is operated along the inner surface of the four-direction wall. And turn. Then, it is raised again by a predetermined distance, and is similarly turned along the inner surface of the wall in the four directions. This operation is repeated until the top of the boiler furnace 50 is inspected and then lowered to finish the inspection.
  • the degree of damage such as cracks in the piping on the inner surface is performed by the imaging unit.
  • the monitor unit 14 can check the flight position and the damaged part, so that the position information inside can be checked by unmanned inspection. Is possible.
  • the unmanned floating machine 11 is protected by a body guard part 21 (front guard part 21A, left guard part 21B, right guard part 21C, rear guard part 21D).
  • Propeller 22 which is a floating means provided on the upper surface of the four corners of guard unit 21, distance measuring unit 12 mounted at the center of airframe body 21E, and still image capturing unit installed at a part of front guard unit 21A 13 ⁇ / b> A and a moving image capturing unit 13 ⁇ / b> B installed on the rear guard unit 21 ⁇ / b> D via the support unit 13 b. Since the distance measuring unit 12 scans a predetermined angle ( ⁇ 135 ° in this embodiment), it can be turned by a turning means (not shown).
  • the imaging unit 13 for confirming the internal information may be either the still image capturing unit 13A or the moving image capturing unit 13B.
  • FIG. 5 shows an example of the scanning range of the laser scanner.
  • a scanner type range sensor “UTM-30LX (trade name)” manufactured by Hokuyo Electric Co., Ltd. was used.
  • this scanner type range sensor is a two-dimensional scanning type optical distance sensor that measures the distance to a detection object while scanning with laser light, and the scan angle is ⁇ around 0 °. 135 °.
  • a distance (r) is an actually measured distance from the laser scanner of the distance measuring unit 12 to the inner wall 50a, and ⁇ is an angle of the measured scan step.
  • the scanning measurement step (s) in this apparatus is in increments of 0.25 °.
  • FIG. 6 is a diagram illustrating three modes of posture positions of the unmanned floating machine according to the first embodiment.
  • An inertial measurement unit is a device that detects three-axis angles (or angular velocities) and accelerations that control motion.
  • the upper stage in FIG. 6 is a state of vertical rotation of the unmanned floating machine 11, and a turn (pitch (upward pitch)) that raises or lowers the front guard part 21 ⁇ / b> A (nose side) facing the inner wall 50 a side. ⁇ )).
  • the middle stage shows the left-right rotation of the unmanned floating machine 11. The nose is shifted left and right, and the left guard part 21 ⁇ / b> B and the right guard part 21 ⁇ / b> C are swung left and right (yaw ( ⁇ )).
  • the lower stage shows a state of rotation around the axis in the traveling direction of the unmanned floating machine 11, and is a turn (roll ( ⁇ )) that tilts the machine body to the left and right.
  • the left and right sides of the aircraft are based on the direction of travel.
  • the flight position information acquisition unit 16 calculates the true distance based on the actual distance information of the distance measurement unit 12 and the attitude angle information of the inertia measurement unit (IMU). This is because the unmanned floating aircraft 11 does not always fly according to the XY coordinates, and thus correction is necessary.
  • FIG. 7 is a horizontal position monitoring flowchart according to the first embodiment.
  • the measurement in the horizontal direction is performed by the first step (S-1) to the fifth step (S-5).
  • an initial orientation information acquisition step (S-0) for acquiring initial orientation information when the unmanned floating machine 11 is installed in the bottom of the structure 50 is provided prior to this measurement.
  • this step may be omitted.
  • the first step is a horizontal distance measuring step (S-1) in which the distance measuring unit 12 measures horizontal distance information (r (t), ⁇ S ) between the unmanned floating machine 11 and the inner wall 50a of the structure 50. ).
  • the second step is an attitude angle acquisition step (S-2) in which the inertial measurement unit (IMU) acquires the attitude angle of the unmanned floating machine 11.
  • IMU inertial measurement unit
  • the third step is a horizontal distance correction step (S-3) for correcting the horizontal distance information (r (t), ⁇ S ) using the posture angle acquired in the second step (S-2). .
  • the fourth step is based on the yaw angle ( ⁇ ) acquired by the inertial measurement unit (IMU), and at least two points (front (L F (t )) And left (L L (t)), front (L F (t)) and right (L R (t)), rear (L B (t)) and left (L L (t)), rear ( This is a horizontal distance acquisition step (S-4) for acquiring the distance between L B (t)) and right (L R (t)).
  • ⁇ yaw angle
  • the fifth step is a horizontal direction current position information acquisition step (S-5) in which the current position information in the horizontal direction is acquired from the known cross-sectional shape information of the structure 50.
  • the true distance information in the horizontal direction in consideration of the attitude angle at the time of measurement of the unmanned floating machine 11 can be acquired.
  • the measurement distance is corrected with the acquired posture angle in the third step (S-3) as follows.
  • the laser measurement point obtained by (r (t), ⁇ S ) is converted into (x R , y R ) coordinates. This coordinate transformation is obtained from the following equation (1).
  • Equation (2) The value obtained from Equation (2) is converted into the (r, ⁇ ) coordinate system of laser measurement. This coordinate transformation is obtained from the following equation (3).
  • the front-rear and left-right distances of the unmanned floating machine 11 are acquired based on the yaw angle ⁇ (t) acquired by the inertial measurement unit (IMU).
  • the scan angle is out of the predetermined scan range, the distance from the wall side is not adopted.
  • the data of the scan angle where the scan angle ⁇ 1 ⁇ (t) is the front distance L F (t) ⁇
  • the current position (x (t), y ( t)) is obtained.
  • the true current position can be acquired, and the imaging information and the position information captured at the current position can be confirmed on the monitor unit 14.
  • FIG. 8 is a position monitoring flowchart in the height direction according to the first embodiment.
  • the initial orientation information acquisition step (S-10) for acquiring the initial orientation information uses the information in the initial orientation information acquisition step (S-0) for acquiring the initial orientation information in the horizontal direction.
  • the measurement in the height direction is performed by the following eleventh step (S-11) to fourteenth step (S-14).
  • the eleventh step is a height direction distance measuring step in which the distance measuring unit 12 measures distance information (L D (t), ⁇ s ) on the lower side in the height direction of the unmanned floating machine 11 and the structure 50. (S-11).
  • the measurement with the laser beam in the height direction is performed by a reflection optical system such as a mirror (not shown).
  • the distance information (L U (t), ⁇ s ) on the upper side may be measured by reflecting the distance upward.
  • the twelfth step is a posture angle acquisition step (S-12) in which the inertial measurement unit (IMU) acquires the posture angle of the unmanned floating machine 11.
  • IMU inertial measurement unit
  • the distance information (L D (t)) in the height direction is corrected using the posture angles ( ⁇ (t), ⁇ (t)) acquired in the twelfth step (S-12). This is a height direction distance correction step (S-13).
  • the 14th step is a height direction current position information acquisition step (S-14) for acquiring the current position information in the height direction from the known longitudinal section shape information of the structure 50.
  • the corrected measurement point (z ′ (t)) is obtained from the following equation (4).
  • the horizontal direction and the height direction can be converted from the actual measurement distance to the true distance, and the position information can be acquired with certainty.
  • FIG. 3 is a block diagram of the indoor monitoring system for structures according to the first embodiment.
  • FIG. 4 is a block diagram of an indoor monitoring system for another structure according to the first embodiment.
  • the position information processing is executed on the unmanned floating machine 11 side.
  • the flight position information acquisition unit 16 is mounted at a predetermined location (not shown) on the unmanned floating aircraft 11 side, where the true current position information is acquired, and the acquired true current position information is displayed.
  • the data is transmitted to the ground side by the transmission unit 13 a and displayed on the monitor unit 14.
  • the unmanned floating machine 11 is operated by receiving a signal from the operation unit 15 by the receiving unit 15 a and issuing a flight command to the floating unit driving unit 19.
  • the imaging information of the imaging unit 13 (still image imaging unit 13A, moving image imaging unit 13B) 13 is simultaneously transmitted on the ground side via the transmission unit 13a and displayed on the monitor unit 14. Yes.
  • the position information processing is performed on the controller terminal side of the personal computer PC on the ground.
  • the flight position information acquisition unit 16 is mounted on a controller terminal of a PC on the ground side (base station), and information (signal) of the distance measurement unit 12 and information (signal) of the inertia measurement unit (IMU) Is transmitted to the ground portion side by the transmitter 13a. And it is processed in the flight position information acquisition part 16 based on the received information, true current position information is acquired, and this acquired current position information is displayed on the monitor part 14.
  • the imaging information captured by the imaging unit 13 is transmitted by the transmission unit 13a.
  • the imaging information is temporarily transmitted to the unmanned floating machine 11 side. May be stored in the memory unit of the imaging unit, and information may be sent to the ground station after the observation is finished so that the imaging information matches the position information.
  • the position information inside the structure 50 such as the boiler furnace and the chimney can be surely checked by an unmanned person, for example, labor due to the fact that no scaffolding is required, Cost and inspection period can be greatly reduced.
  • the measurement by the distance measuring unit 12 is set as one point of information, but the present invention is not limited to this, and the accuracy of position measurement may be improved based on the measurement information of a plurality of points. Good.
  • a plurality of points are extracted with the scan angle in the distance measuring unit 12 as the center, and the average is used as each distance. If more than half of the plurality of points become abnormal in distance measurement or become unmeasurable, they are not used for position monitoring. As a result, the influence of the distance acquisition error can be reduced.
  • Unmanned floating machine 12
  • Distance measuring unit laser scanner
  • Imaging unit still image imaging unit 13A, moving image imaging unit 13B
  • DESCRIPTION OF SYMBOLS 14
  • Operation part 16
  • Flight position information acquisition part 21

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