WO2016098146A1 - Système d'inspection de structure non destructrice - Google Patents

Système d'inspection de structure non destructrice Download PDF

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Publication number
WO2016098146A1
WO2016098146A1 PCT/JP2014/006344 JP2014006344W WO2016098146A1 WO 2016098146 A1 WO2016098146 A1 WO 2016098146A1 JP 2014006344 W JP2014006344 W JP 2014006344W WO 2016098146 A1 WO2016098146 A1 WO 2016098146A1
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WO
WIPO (PCT)
Prior art keywords
flying object
flight
inspection system
exploration
photographing
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PCT/JP2014/006344
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English (en)
Japanese (ja)
Inventor
良平 上瀧
大介 貝應
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株式会社 スカイロボット
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Priority to PCT/JP2014/006344 priority Critical patent/WO2016098146A1/fr
Publication of WO2016098146A1 publication Critical patent/WO2016098146A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N25/00—Investigating or analyzing materials by the use of thermal means
    • G01N25/72—Investigating presence of flaws

Definitions

  • the present invention relates to an inspection system for detecting an abnormality or a failure part of a concrete structure / building, and a thermography camera and / or a visible image camera is used to detect a point where a defect occurs from the sky by a flying object.
  • the marker is used
  • It relates to an inspection system that can be marked by launching and adhering to the detection location, and in particular, it is made of concrete around the entire periphery of the flying object by installing a camera that can shoot all directions. Detect and detect images in all directions without leaving any defects on the structure or building surface It relates to the structure nondestructive inspection system capable.
  • Concrete structures and structures are generally used most widely as building materials because they are strong and can reduce costs, and can easily form the desired shape of the structure. It has become an important building material that constitutes buildings such as houses, buildings, and condominiums from public structures such as bridges, tunnels, dams, and roads. Concrete structures and structures are often used because they can provide the required strength at low cost, but due to their properties, it is not possible to completely prevent cracks from occurring during or after the formation process. Currently. Cracks on the surface can be found from the appearance by visual inspection of the structure, but if a defect such as a crack occurs inside the structure, it is extremely difficult to find the defect visually. It is. For this reason, various nondestructive inspection methods have been developed for inspecting internal defects of concrete structures and buildings.
  • thermography method in which the surface temperature of a concrete structure / building is photographed with a thermography camera, and the temperature difference data is analyzed with a computer to inspect defects in the internal structure.
  • a multi-copter in order to easily and safely shoot even at inspection sites where it is difficult to install a thermography camera, a multi-copter is equipped with a thermography camera and operated from the ground, and image data transmitted from above the inspection site is transmitted to the ground. It has become possible to accurately detect defects in the internal structure of concrete at elevated places in viaducts and high-rise buildings.
  • Multicopters can be hovered, so they are suitable for flying vehicles equipped with inspection devices, but they are easily affected by wind, and they are avoided by remote operation and automatic piloting due to strong winds during inspection flights outdoors. There has been a problem that the tilt angle is so large that it cannot be performed, or that it is temporarily removed from the planned flight path and touches an obstacle.
  • the multicopter is equipped with a thermography camera and / or a visible image camera and marking means for identifying the defective part, and can be photographed in all directions, at a low cost and safely. It is possible to automatically avoid and protect the flying body and surrounding structures from crash impacts, and the flying body itself can easily collect the aircraft by transmitting a signal when landing unexpectedly Development of a possible non-destructive inspection system for structures was desired.
  • An object of the present invention is to provide a nondestructive inspection system for a concrete structure / building in which an exploration device and a marker high-pressure launching device for identifying a faulty part are mounted on a remotely-controllable flying body in order to solve the above-described problems.
  • a flying object equipped with a flight control mechanism is made to glide or aerial stop flight (stop flying) by a ground control device, and a concrete defect is detected by a thermography camera and / or a visible image camera of an exploration device mounted on the flying object.
  • a structure nondestructive inspection system includes an exploration device mounted on a flying object to detect and detect the amount of heat / temperature of the surface of the structure and transmit exploration result information; A vehicle equipped with a probe and equipped with a function for gliding and / or stopping flying remotely in the air; A ground control device for controlling the flight path, flight angle, and exploration device, a processing device for receiving and analyzing exploration result information, Marking means for marking a defect (mark), Photographing detection means for photographing the top and bottom and / or side surfaces of the structure of the flying object; It is the configuration equipped with.
  • an exploration device mounted on the flying object to capture and detect the amount of heat / temperature on the surface of the structure and transmit exploration result information, and a gliding and / or flying flight by remotely operating the exploration device
  • An aircraft equipped with a function, a ground control device that controls the flight path and flight angle of the flying vehicle, and the exploration device, a processing device that receives and analyzes the exploration result information, and marks (marks) the defective part
  • a non-destructive inspection system for a structure comprising marking means for Photographing detection means for photographing the top and bottom and / or side surfaces of the structure of the flying object; Equipped with an obstacle detection device consisting of ultrasonic sensors and / or lasers at a plurality of locations, and when the flying object approaches the obstacle more than a certain distance, a flight correction device that emits a warning sound and corrects the flight position;
  • an impact shock absorber that activates and deploys
  • the marking means is composed of a marker high-pressure emitting device and / or a laser pointer for attaching a marking agent.
  • the flying vehicle is equipped with an emergency GPS signal for recovery of the aircraft and a location information transmission device that generates a search alert sound when the shock absorber is activated. is there.
  • the photographing detection means is composed of one or a plurality of thermographic cameras and / or visible image cameras.
  • the photographing detection means is composed of an omnidirectional camera capable of photographing 360 degrees on the entire periphery in all planes.
  • the marker high-pressure firing device is configured to fire the marker with compressed carbon dioxide.
  • the exploration device is configured to measure and detect the amount of heat generated on the surface of the structure with a thermography camera.
  • the structure nondestructive inspection system Since the structure nondestructive inspection system according to the present invention is configured as described in detail above, it has the following effects. 1. Regardless of the concrete structure or building constructed at any scale or location, the distance between the flying object and the concrete structure or building is kept constant by the remote flight control mechanism of the flying object.
  • the control means mounted on the exploration device detects the shooting with the shooting detection means kept at a fixed angle with respect to the concrete structure / building, and based on the analysis results of the processing device, In order to specify the mark, the marker can be marked with a high-pressure marker launcher.
  • thermography camera and / or the visible image camera mounted on the exploration device it is possible to visually check the visible image in addition to the detection of the defective portion by the thermographic image.
  • thermography camera and / or the visible image camera mounted on the exploration device it is possible to visually check the visible image in addition to the detection of the defective portion by the thermographic image.
  • 6 By using an omnidirectional camera as the imaging detection means, it is possible to capture a 360-degree detection image with the flying object hovered at a fixed location.
  • the marker Since the marker is fired with compressed carbon dioxide, it can be accurately marked by high pressure firing while maintaining a certain distance from the surface of the structure. 8). By measuring and detecting the amount of heat generated on the surface due to the abnormality or failure of the structure, it becomes possible to detect defects inside the structure that cannot be recognized from the surface.
  • Block diagram of a structure nondestructive inspection system according to the present invention The figure of the flying body of the structure nondestructive inspection system according to the present invention The figure of the control apparatus and processing apparatus of the structure nondestructive inspection system concerning this invention
  • the structure nondestructive inspection system 1 includes a flying object 10, a control device 20, a search device 30, and a processing device 40.
  • the flying object 10 includes a flight control mechanism 12, a flight correction device 14, an impact buffer device 16, and a position information transmission device 18.
  • the exploration device 30 includes an angle sensor 32, an angle adjustment unit 33, a side surface photographing detection unit 34, an upper and lower photographing detection unit 35, a search result information transmission unit 36, a marker high-pressure emitting device and / or a laser pointer 37.
  • the exploration device 30 is configured to be mounted on the flying object 10.
  • FIG. 1 is a block diagram of a structure nondestructive inspection system 1 according to the present invention.
  • the flight of the remote vehicle 10 by the remote operation by the control device 20 on the ground, the flight of the remote vehicle 10, the search by the search device 30, the marking by the marker high-pressure launcher and / or the laser pointer 37, and the flight correction mechanism 14 are used. It consists of a system that controls contact avoidance with an obstacle, shock absorption at the time of a crash by the impact buffering device 16, and crash site detection by the position information transmitting device 18.
  • FIG. 2 is a diagram of the flying body of the structure nondestructive inspection system according to the present invention.
  • the flying object 10 includes a flight control mechanism 12, a flight correction device 14, an impact buffer device 16, a position information transmission device 18, an angle sensor 32 that is a part of the exploration device 30, and angle adjustment means. 33 and an exploration result upward transmission means 36 are mounted, and a side surface imaging detection means 34, a vertical imaging detection means 35, a marker high-pressure emitting device and / or a laser pointer 37 are mounted outside the aircraft 10. It is a configuration.
  • FIG. 3 is a diagram of the control device 20 and the processing device 40 of the structure nondestructive inspection system according to the present invention.
  • the control device 20 is equipped with a route / flight angle control means 22 and an exploration device control means 24, and the processing device 40 is equipped with exploration result information receiving means 42 and a measurement result analysis means 44, and flies from the ground.
  • the body 10 and the exploration device 30 are remotely controlled.
  • the flying object 10 is equipped with a flight correction device 14, an impact buffer device 16, and a position information transmission device 18, and further, a marker high-pressure launcher and / or a laser pointer 37. It is possible to carry out gliding or stopping flight (stopping in the air) by remote control. Although it is possible to detect surface temperature differences due to cracks in concrete structures and structures, and to take aerial shots by simply gliding, it is possible to detect abnormalities or failures more accurately, and to obtain clear exploration results (thermography In order to obtain an image and / or a visible image), the flying object 10 is preferably a rotary wing aircraft such as an unmanned multicopter capable of stationary flight (air-stop flight), vertical movement, and parallel movement.
  • a rotary wing aircraft such as an unmanned multicopter capable of stationary flight (air-stop flight), vertical movement, and parallel movement.
  • the aircraft 10 includes a flight control mechanism 12 equipped on the aircraft 10, a flight correction device 14, an impact buffer 16, a position information transmitter 18, and an angle sensor 32 equipped on the exploration device 30.
  • the angle adjustment means 33, the side face photographing detection means 34, the up and down photographing detection means 35, the exploration result information transmission means 36, and the marker high-pressure emitting device and / or the laser pointer 37 are mounted so that the output is sufficient to fly. It only needs to be secured.
  • the flight control mechanism 12 is a device that controls the flight path, altitude, and flight angle of the flying object by receiving a signal transmitted from the ground control device 20, and the flying object 10 and a concrete structure / building made of concrete. It is a configuration that makes it possible to keep the distance or angle constant.
  • the flight control mechanism 12 includes flight control means according to a conventional technique, and can search a range to be searched for a concrete structure / building to be searched in a stable flight state.
  • the flight correction device 14 includes an obstacle detection device 14a including an ultrasonic sensor and / or a laser, a warning sound generation device 14b, and a flight position correcting means, and is provided with ultrasonic sensors provided at a plurality of locations on the flying object 10.
  • the obstacle detection device 14a composed of a laser always measures the distance between the obstacle in the flight and the flying object 10, thereby enabling the flying object to navigate safely.
  • the route / flight angle control means of the ground control device In addition to the command signal from, the flight position of the flying object 10 is instantly corrected with priority.
  • the flying object 10 contacts a concrete structure / building, and also an unexpected obstacle, a concrete structure / building to be inspected, and the flying object 10 itself. Can be avoided.
  • the distance from the obstacle can be changed as appropriate according to the type, structure, construction location, etc. of the concrete structure / building to be searched.
  • the shock absorbing device 16 includes a parachute and / or an air bag 16a and an automatic activation mechanism 16b.
  • the flying vehicle 10 becomes unable to fly due to an accident or failure, it is separated from a command signal from the control device 20.
  • the parachute and / or the air bag 16a mounted on the flying object 10 is instantaneously activated and deployed by the automatic starting mechanism 16b. Equipped with the shock absorber 16, the flying object 10 can not fly and collides with the side of a concrete structure / building, or crashes on the floor or roof.
  • the shock absorber 16 can be manually deployed by remote control.
  • the position information transmission device 18 includes a GPS signal transmission unit 18a and a search alert transmission unit 18b.
  • a GPS signal for collecting the aircraft and a warning sound for searching are transmitted. It is possible to grasp the current position of the flying object 10 and the falling route after the failure by the transmitted GPS signal, and even if it has crashed in a place where it cannot be seen, it can be recovered based on that information It is possible for the worker who heads to find the falling point accurately and quickly by the warning sound of the search alert transmission means 18b and to collect the aircraft.
  • the control device 20 is a command tower provided on the ground including a route / flight angle control means 22 and a search device control means 24, and controls the flying vehicle 10 and the search device 30 in the sky by remote control from the ground. It is a configuration.
  • the route / flight angle control means 22 is a remote operation system of the flying object 10 incorporated in the control device 20. Flight of the flying object 10 manually (or automatically) by the flight control mechanism 12 based on a thermographic image and / or visible image in flight taken by aerial imaging by a side imaging detection means 34 and / or vertical imaging detection means 35 described later. It is possible to control the route and angle.
  • a program such as the flight speed, range, altitude, and angle of the flying object 10 is input in advance, and based on that, the aircraft 10 is made to fly by automatic remote operation, and a thermographic image and / or a visible image of the surface portion of the defective part of the structure It is also possible to shoot.
  • the exploration device control means 24 includes an angle sensor 32, an angle adjustment means 33, a side photographing detection means 34, a vertical photographing detection means 35, an exploration result information transmission means 36, which are mounted on the exploration device 30 described later.
  • This is a system for remotely controlling the marker high-pressure launcher and / or the laser pointer from the ground. From the flight position and the flight angle, the position of the side photographing detection means 34 and / or the vertical photographing detection means 35 is kept at an optimum distance and angle for inspection with respect to a concrete structure / building, and the marker high-pressure firing device And / or remote control from the ground so that the marking agent or laser marking emitted from the laser pointer 37 can be accurately marked. It is also possible to manually control the exploration device 30 based on video and data, and it is also possible to perform automatic exploration by a control instruction given in advance.
  • the exploration device 30 includes an angle sensor 32, an angle adjustment unit 33, a side surface photographing detection unit 34, an upper and lower photographing detection unit 35, a search result information transmission unit 36, a marker high-pressure emitting device and / or a laser pointer 37.
  • the device mounted on the exploration device is controlled from the ground by a signal transmitted from the exploration device control means 24 of the ground control device.
  • the exploration device 30 captures the characteristic that when a defect such as a crack is generated inside a concrete structure / building, the surface of the defective portion shows a different amount of heat storage / heat generation than other parts, and thermography A camera detects the temperature change and detects and identifies the presence of a defect in the concrete structure or building.
  • the angle sensor 32 is a sensor that detects the angle between the surface of the concrete structure / building and the side surface photographing detection means 34 and / or the top and bottom photographing detection means 35 with ultrasonic waves and / or lasers. The angle is measured so that the photographing detection means 34 and / or the upper and lower photographing detection means 35 and the marker high-pressure firing device and / or the laser pointer 37 for firing the marking agent and the concrete structure / building are kept at a constant angle. It is a configuration.
  • the optimal angle for detecting the amount of surface heat varies depending on the construction angle of the inspection surface of the target concrete structure or building, the thermography camera used and / or the visible image camera, the weather, etc. By appropriately setting an optimum angle, the angle sensor 32 sends a signal for correcting the angle to the angle adjusting means 33 in consideration of the flight angle of the flying object.
  • the angle adjusting means 33 adjusts (corrects) the angles of the exploration device 30 and the marker high-pressure emitting device and / or the laser pointer 37 based on the command signal of the angle sensor 32, and the ultrasonic wave emitted from the angle sensor 32 and / or Or it is the structure which controls so that the angle with respect to the concrete structure and building surface measured with the laser may be kept at the optimum angle according to the situation of the exploration site.
  • the angle adjusting means 33 may be any mechanism that can finely adjust the angle steplessly, such as a servo motor, and can be replaced by another conventional technique.
  • the side photographing detection means 34 is composed of a thermography camera incorporated in the exploration device, senses the temperature difference of the surface of the concrete structure / building to be inspected, and photographs a heat storage location or a heat radiation location different from the normal portion.
  • the side photographing detection means 34 can be a visible image camera. In the present embodiment, only one unit is mounted on the bottom surface of the flying object, but the concrete structure / building to be inspected is used. Depending on the size and shape of the vehicle 10 or the size and weight of the flying object 10, it is possible to equip a plurality of side surface photographing detection means at various angles. The position is not limited to the configuration shown in the present embodiment. In addition, in this embodiment, the side surface photographing detection means 34 is installed on the bottom surface of the flying object, but it is also possible to equip the top surface and the side surface with various angles using a gimbal or the like as appropriate.
  • the upper and lower photographing detection means 35 is a camera for photographing a visible image composed of an omnidirectional camera equipped with a plurality of lenses incorporated in an exploration device, and the entire structure or building made of concrete to be inspected is composed of a plurality of lenses. By simultaneously capturing and synthesizing the images at the same time, it is possible to view on-time images from all directions on the inspection site on the display of the processing device 40 on the ground.
  • the upper and lower photographing detection means 35 can be a thermography camera. In the present embodiment, only one unit is mounted on the upper surface of the flying object, but a concrete structure / construction to be inspected is used. A plurality of units can be mounted in accordance with the specifications of the object and the flying object 10, and the number and position of the upper and lower photographing detection means 35 and the type of camera are not limited to the configuration of the present embodiment.
  • the exploration result information transmitting means 36 is composed of data communication means according to the prior art, and is a concrete structure photographed by the side surface photographing detecting means 34 and / or the vertical photographing detecting means 35 (thermographic camera and / or visible image camera). -Based on the surface temperature of the building, the image data of the abnormal or defective portion inside the concrete is transmitted to the exploration result information receiving means 42 incorporated in the control device on the ground.
  • the marking means is a marker high-pressure launching device
  • the marker high-pressure launching device and / or the laser pointer 37 is marked with a high-pressure carbon dioxide gas on the surface of a concrete structure / building to clarify the failure location.
  • the marker high-pressure launching device and / or the laser pointer 37 is adjusted to the optimum launch angle and launch distance by the angle sensor 32 and the angle adjusting means 33 provided in the exploration device 30, and the marker is adjusted by the expansion pressure of the compressed carbon dioxide gas. (Marking agent) is fired.
  • the marker high-pressure launching device and / or the laser pointer 37 when the marking means is a laser pointer, is a concrete structure or building made of concrete in order to clarify the defective part by laser marking with a high-power laser.
  • This is a device for marking the surface of the aircraft 10 and is configured to be mounted on the flying object 10.
  • the laser beam emitted from the laser pointer can reach a straight line without being affected by gravity, wind force or the like until reaching the target.
  • it falls gradually toward the ground in a parabolic shape according to the flight distance.
  • laser marking with a laser pointer it is possible to always accurately mark the aiming position.
  • the processing device 40 includes an exploration result information receiving means 42 and a measurement result analyzing means 44, and is provided on the ground and transmitted from the exploration result information transmitting means 36 mounted on the flying object 10 above the exploration site. And / or the received image which is visible image data is received and analyzed.
  • the exploration result information receiving means 42 is a data receiving system incorporated in the processing device 40 provided on the ground, and is composed of data communication means according to the prior art, and the exploration result mounted on the flying aircraft 10.
  • On-time image data of a concrete structure / building taken by the side photographing detecting means 34 and / or the vertical photographing detecting means 35 (thermographic camera and / or visible image camera) transmitted from the information transmitting means 36 is recorded. Receive on the ground. Further, the search result received by the search result information receiving means 42 can be displayed on the display of the measurement result analyzing means 44.
  • the measurement result analysis means 44 is an image analysis system incorporated in the processing device 40 provided on the ground, and the thermography data and / or the visible image of the concrete structure / building received by the exploration result information reception means 42. Analyze the data, and find defects such as cracks in the concrete by the change in temperature shown in the image. When it is determined that a defect or defective portion is present, the marker attached to the relevant portion is fired using the marker high-pressure firing device and / or the laser pointer 37, or the wall surface is marked with the laser pointer. The Further, the measurement result analyzing means 44 can combine the image data of the omnidirectional camera mounted on the flying object 10 and display the entire 360 ° image on all the planes around the flying object. is there.
  • the exploration device 30, the exploration result information transmission unit 36, the marker high-pressure projecting device and / or the laser pointer 37 are mounted on the flying object 10, and based on the image data taken by the thermography camera.
  • This enables on-time non-destructive inspection of concrete structures and buildings from the ground.
  • the survey does not require workers to visit the site for direct inspection, and it is possible to perform inspections over a wide area in a short time. Destructive inspection is now possible.
  • the side photographing detection means 34 as a thermography camera and the vertical photographing detection means 35 as an omnidirectional camera for visual image photographing.
  • the conventional inspection method using a flying object equipped with only a single camera only the distance between the plane facing the camera and the flying object could be confirmed, so it flew over the obstacles directly above and the unevenness of the left and right structures. There was a situation where the body approached abnormally or contacted.
  • a plurality of images taken by an omnidirectional camera (upper and lower imaging detection means 35) including a plurality of lenses are synthesized, so that the entire periphery of the flying object is 360 in all directions. This makes it possible to grasp the accurate current position of the flying object while checking the situation of the degree. In addition, it is possible to observe the image data safely on the ground by shooting under the bridge pier and photographing the concrete surface directly above.
  • the detection device 14a can automatically detect an abnormal approach and automatically return the flight position of the flying object 10 to a safe place.
  • a warning sound is automatically emitted from the warning sound generating device 14b, and evacuation is recommended around. Therefore, it is possible to convey the occurrence of an abnormal situation to people (animals) around the concrete structure or building to be inspected, and to take action to avoid a contact accident.
  • the parachute and / or the airbag is automatically deployed, so that the falling speed at the time of dropping is greatly reduced, and the impact is also given by the airbag at the time of landing. It absorbs and makes it possible to protect the exploration device equipped with precision equipment such as a camera and the flying object itself from damage.
  • the shock absorbing device 16 it is possible to prevent the structure of the crash site from being damaged, and it is safe even if it comes in contact with a human being or an animal at an emergency landing point. ing.
  • the GPS signal transmitting means 18a transmits a GPS signal
  • the search alert transmitting means 18b generates a search alert. Even when the video data transmission from the camera is turned off, it is possible to check the moving direction of the flying object on the display on the display of the processing device 40.
  • the search alert transmission means 18b generates an alert sound to notify the recovery worker of his / her crash location, thereby making it possible to easily perform the search and recovery operation of the flying object.
  • the marking is performed at the same time as the detection with the marker high-pressure launching device and / or the laser pointer 37, thereby specifying the position of the later date based on the thermographic data and / or the visible image data. Work is not necessary, and even a huge concrete structure / building can easily reach the defective part, so it is not only the cost of inspecting the concrete structure / building, but also a subsequent review And the cost required for repairs can be reduced.
  • the structure nondestructive inspection system according to the present invention can be safely inspected by the flight correction device 14, and the impact buffering device 16 protects the flying body and the mounted equipment, so that buildings and humans can be protected. ⁇ It is structured with consideration for animal safety.
  • the location information transmission device 18 makes it easy to find when it arrives, so it is possible to greatly reduce the search cost and the search personnel.
  • thermo camera and a visible image camera and photographing the fire site from the sky it is possible to accurately grasp the point where the flame is burning more intensely without being visually impaired such as smoke.
  • marker high-pressure launcher and / or laser pointer with a fire extinguishing agent throwing device and minimize the damage to the fire by accurately firing the throwing extinguishing agent at the accurately found flame point.
  • by replacing the mounted camera with an infrared camera survivors can be easily detected even when the fire is full of smoke, and the distance between concrete structures and buildings and flying objects can be detected. It is also possible to rescue the survivor at an early stage by irradiating the survivor left behind with the laser range pointer and transmitting the GPS position information of this place to the rescue team.
  • the structure nondestructive inspection system according to the present invention was developed to detect internal defects in concrete structures and buildings made of concrete.
  • the inspection for concrete is described in detail.
  • the flying object flies at various angles, altitudes, and ranges, and the heat generation part can be detected by a thermography camera and / or a visible image camera, the entire system such as a high-rise building is inspected. It is also possible to do.

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Abstract

L'invention concerne un système d'inspection de structure non destructrice permettant de monter un dispositif de recherche dans un objet volant actionnable à distance, de maintenir en permanence une distance fixe entre le dispositif de recherche et une structure/un bâtiment en béton ou autre, et de réaliser une inspection non destructrice de la structure/le bâtiment dans toute la zone périphérique de l'objet volant à l'aide d'une caméra infrarouge et/ou d'une caméra d'image visible. La structure selon la présente invention comprend : un dispositif de recherche; un objet volant dans lequel le dispositif de recherche est monté; un moyen de commande permettant de commander le dispositif de recherche, l'angle de vol et l'itinéraire de l'objet volant; un moyen de traitement permettant de recevoir, d'analyser et de traiter des informations de résultat de recherche; un moyen de marquage permettant de marquer des zones anormales à l'aide d'un dispositif d'amorçage de marqueur à haute pression et/ou d'un pointeur laser; et un moyen d'imagerie/de détection permettant d'imager et de détecter la température de surface de la partie supérieure/inférieure et/ou des surfaces latérales de la structure/du bâtiment.
PCT/JP2014/006344 2014-12-19 2014-12-19 Système d'inspection de structure non destructrice WO2016098146A1 (fr)

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Cited By (7)

* Cited by examiner, † Cited by third party
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JP6441421B1 (ja) * 2017-07-28 2018-12-19 株式会社ＴｏｎＴｏｎ 外面材調査システム
CN109187618A (zh) * 2018-09-21 2019-01-11 杭州纳戒科技有限公司 物流箱监测机构及系统
JP2019016119A (ja) * 2017-07-05 2019-01-31 能美防災株式会社 火災監視システム
JPWO2019106714A1 (ja) * 2017-11-28 2020-11-19 株式会社自律制御システム研究所 無人航空機、無人航空機の飛行制御装置、無人航空機の飛行制御方法、及びプログラム
WO2021015215A1 (fr) * 2019-07-23 2021-01-28 東洋製罐株式会社 Système de traitement de données d'image, véhicule aérien sans pilote, procédé de traitement de données d'image et programme
JP2021057078A (ja) * 2020-12-24 2021-04-08 株式会社自律制御システム研究所 無人航空機、無人航空機の飛行制御装置、無人航空機の飛行制御方法、及びプログラム
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JP7093164B2 (ja) 2017-07-05 2022-06-29 能美防災株式会社 火災監視システム
JP6441421B1 (ja) * 2017-07-28 2018-12-19 株式会社ＴｏｎＴｏｎ 外面材調査システム
JP2019027908A (ja) * 2017-07-28 2019-02-21 株式会社ＴｏｎＴｏｎ 外面材調査システム
JPWO2019106714A1 (ja) * 2017-11-28 2020-11-19 株式会社自律制御システム研究所 無人航空機、無人航空機の飛行制御装置、無人航空機の飛行制御方法、及びプログラム
CN109187618A (zh) * 2018-09-21 2019-01-11 杭州纳戒科技有限公司 物流箱监测机构及系统
CN109187618B (zh) * 2018-09-21 2020-11-20 杭州纳戒科技有限公司 物流箱监测机构及系统
WO2021015215A1 (fr) * 2019-07-23 2021-01-28 東洋製罐株式会社 Système de traitement de données d'image, véhicule aérien sans pilote, procédé de traitement de données d'image et programme
JP2021057078A (ja) * 2020-12-24 2021-04-08 株式会社自律制御システム研究所 無人航空機、無人航空機の飛行制御装置、無人航空機の飛行制御方法、及びプログラム
JP7184381B2 (ja) 2020-12-24 2022-12-06 株式会社Acsl 無人航空機、無人航空機の飛行制御装置、無人航空機の飛行制御方法、及びプログラム
CN115343298A (zh) * 2022-09-06 2022-11-15 水利部交通运输部国家能源局南京水利科学研究院 无人机搭载遥控弹射的附着式标尺系统与标记方法

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