WO2017199940A1 - Dispositif d'inspection pour paroi interne de conduit, et programme d'ordinateur - Google Patents

Dispositif d'inspection pour paroi interne de conduit, et programme d'ordinateur Download PDF

Info

Publication number
WO2017199940A1
WO2017199940A1 PCT/JP2017/018326 JP2017018326W WO2017199940A1 WO 2017199940 A1 WO2017199940 A1 WO 2017199940A1 JP 2017018326 W JP2017018326 W JP 2017018326W WO 2017199940 A1 WO2017199940 A1 WO 2017199940A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
drone
wall
current position
flying
Prior art date
Application number
PCT/JP2017/018326
Other languages
English (en)
Japanese (ja)
Inventor
幹夫 浦部
尚 磯崎
麻理奈 滝本
熊田　貴之
和也 酒井
Original Assignee
株式会社日水コン
ブルーイノベーション株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社日水コン, ブルーイノベーション株式会社 filed Critical 株式会社日水コン
Priority to JP2018518300A priority Critical patent/JP6783303B2/ja
Publication of WO2017199940A1 publication Critical patent/WO2017199940A1/fr

Links

Images

Classifications

    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present invention relates to a device for finding, checking 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.
  • Sewage pipes as public infrastructure wants to detect abnormalities and deteriorated parts by inspection at an early stage and repair or replace them.
  • most of the sewage pipes exist in the ground, and are usually filled with water, so the inspection work is not easy.
  • Patent Document 1 the shape in the tube is irradiated in all directions with light, the three-dimensional shape of the tube inner surface is calculated based on the captured image and the amount of movement in the tube, and the deterioration state of the tube inner surface is accurately and quickly determined.
  • a pipe inner surface shape measuring apparatus capable of measuring is disclosed.
  • Patent Document 2 even if it is a pipe line in which foreign matter such as sludge, clay, slurry, silt, sand, and rubble is accumulated, it is not buried in these foreign matter or biting foreign matter. In addition, underwater algae and grass do not get entangled, it can run stably, and it can inspect the inside of the pipeline efficiently in a short time with simple operation. A technique capable of easily and reliably recording the occurrence location of the above has been disclosed.
  • Patent Document 3 discloses a technique for photographing an inspection of a structure such as a bridge with an unmanned aerial mobile device (so-called “flight drone”) or investigating a damage state.
  • Patent Document 1 and Patent Document 2 Transportation of equipment to sewer pipes
  • the techniques disclosed in Patent Document 1 and Patent Document 2 have a certain degree of achievement, such as eliminating the need for an operator to submerge into a pipeline to be inspected.
  • the traveling vehicle as the in-pipe inspection apparatus disclosed in Patent Document 2 is transported to a point to be inspected, it has a size and weight that cannot be transported manually. For this reason, a special vehicle is required to raise and lower the vertical hole, and it is premised on large facilities for preparation and withdrawal.
  • the flying drone can fly in 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 the in-pipe inspection device.
  • the flying drone is premised on grasping the position by GPS and flying in an open space outside. In the pipeline to be inspected, GPS radio waves do not reach and it is assumed that the flight is in a closed space surrounded by the top, bottom, left, and right, so 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 employed to inspect the inner wall of a pipeline, the flight drone can be stably operated, an abnormal point in the inner wall of the pipeline is found, and the location thereof To identify.
  • the theme can be further subdivided as follows.
  • the flying drone is allowed to fly in a non-GPS environment, that is, its own position is specified (hereinafter referred to as “task A-1”).
  • Second to stabilize itself in a closed system (hereinafter referred to as “Problem A-2”).
  • Thirdly proceed in the longitudinal direction in the closed system (hereinafter referred to as “Problem A-3”).
  • Fourth preventing or suppressing damage in the case of contact with the wall surface (hereinafter referred to as “Problem A-4”).
  • Process A-6 if there is no return, some kind of backup system should be taken (hereinafter referred to as “Problem A-6”).
  • the above does not cover all the issues, and each issue is not independent.
  • the present invention does not solve all the problems.
  • the theme can be further subdivided as follows. First, for photographing the inner wall of the duct, a function capable of photographing without light is provided, or sufficient light is irradiated (hereinafter referred to as “Problem B-1”). Secondly, in photographing the inner wall of the pipeline, photograph without blurring (hereinafter referred to as “Problem B-2”). Third, in photographing the inner wall of the pipeline, focus (focus) and photograph (hereinafter referred to as “Problem B-3”).
  • Process B-4 it is possible to photograph even the inner wall below the water surface (hereinafter referred to as “Problem B-4”).
  • Process B-5 it is possible to find an abnormal part from the captured video (hereinafter referred to as “Problem B-5”).
  • the location of the abnormal part can be identified (hereinafter referred to as “Problem B-6”).
  • the above does not cover all the issues, and each issue is not independent. Furthermore, the present invention does not solve all the problems.
  • the first invention in the present application relates to a pipe inner wall investigation apparatus using a flying drone (20) capable of unmanned flight in a pipe (for example, a sewer pipe 10).
  • the flying drone (20) includes a vertical transceiver 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 transceiver that oscillates infrared or laser light toward the right and left walls in a cross section perpendicular to the traveling direction and receives the reflected wave or reflected light; and Up and down 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 oscillation and reception timings in the vertical transceiver, Left and 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 oscillation and reception timing in the horizontal transceiver;
  • a camera (22) for photographing the inner wall of the pipeline and acquiring photographing data
  • the “pipe” is a pipe for moving a liquid, such as a sewer pipe, an agricultural water pipe, and an oil pipeline.
  • the flying drone (20) preferably includes a propeller guard for preventing the propeller from colliding with the pipe wall.
  • the flight speed varies depending on various environments and conditions such as the shooting environment, it was possible to determine the corrosion location on the inner wall of the pipe line by acquiring image data with a spherical camera when flying at 1 meter per second. .
  • an infrared or laser beam is oscillated, and the infrared reflected wave or the reflected laser beam is received by a vertical transceiver and It is a horizontal transceiver.
  • a vertical transceiver and horizontal transceiver for example, a triangle using a PSD distance sensor (infrared LED and PSD (Position Sensitive Detector) capable of oscillating and receiving infrared light in two directions, up and down, and left and right.
  • PSD distance sensor infrared LED and PSD (Position Sensitive Detector) capable of oscillating and receiving infrared light in two directions, up and down, and left and right.
  • a sensor that outputs an analog voltage according to the distance to the object by a surveying method is adopted.
  • the “pipe” is a pipe for moving water and sewage pipes, various liquids (for example, petroleum) or gas (for example, city gas).
  • the “camera (22)” employs, for example, an omnidirectional camera (omnidirectional camera).
  • illumination may not be necessary, but generally a light source (for example, a light 23) for irradiating the inner wall surface of the tube is provided.
  • the camera lens is preferably bright (low F number).
  • an LED as the light source, it is desirable that an illuminance of 100 lux or more is secured for photographing the inner wall of the pipe (exposed rebar on the inner wall of the pipe, deterioration of aggregates, presence of cracks, etc.). It was discovered). However, if the illuminance is too high (for example, 300 lux or more), the captured image becomes white.
  • a laser ultrasonic measuring device that receives and records ultrasonic waves reflected by irradiating the inner wall of the pipe with laser light may be provided.
  • a “laser infrared measuring device” is a device that can grasp scratches and defects. That is, infrared light is excited inside the material irradiated with the laser light. 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.
  • “Within a predetermined range” regarding the distance from the wall surface varies depending on the size and performance of the flying drone (20), the inner diameter (D) of the pipe line, etc., but is, for example, 20 to 40% of the inner diameter of the pipe.
  • the data of the current position grasped by the “current position grasping means” is linked with the photographing data acquired by the camera (22) and / or the infrared data received by the laser infrared measuring instrument.
  • a vertical transceiver oscillates infrared light or laser light toward an upper wall and a lower wall or water surface in the vertical direction, and receives the reflected wave or laser light. Based on the oscillation and reception timings in the vertical transceiver, the vertical control means controls the distance between the flying drone (20) and the upper and lower wall surfaces to be within a predetermined range. Further, the horizontal transceiver oscillates infrared light or laser light toward the right and left walls in the cross section perpendicular to the traveling direction, and receives the reflected wave or reflected light.
  • the left / right control means controls so that the distance between the flying drone (20) and the right and left wall surfaces is within a predetermined range.
  • the camera (22) images the inner wall of the pipeline while adjusting the distance from the upper and lower and left and right wall surfaces.
  • the photographed image data is recorded with the photographing position linked by the photographing data recording means, and thus contributes to diagnosing the state of the inner wall of the tube for each photographing place and identifying the abnormal part. If the flying drone (20) is equipped with a laser infrared measuring device, the inner wall of the pipeline is irradiated with laser light, the reflected infrared ray is received, and the infrared data is recorded. .
  • 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, for example, 150 lux or more. Although it varies depending on conditions such as flight speed and camera resolution, 170-230 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 that “whiteout” occurred in the acquired image occurred at 300 lux.
  • the first invention may be formed as follows. That is, in the case where a plurality of non-power supply IC tags (for example, RFIDs 15A, 15B, 15C,...) Are provided in the pipeline in advance, the current position grasping means is connected to the non-power-supply IC tag and the pipeline.
  • the flight drone (20) includes a short-range wireless communication device that performs short-range wireless communication between a corresponding position table storage unit that stores a correspondence table with a position in the above and the non-powered IC tag. And it is good also as acquiring the present position data of the flying drone (20) using the said corresponding position table memory
  • the flying drone (20) performs short-range wireless communication with a non-powered IC tag by traveling in the pipeline.
  • the current position data of the flying drone (20) is acquired using the corresponding position table storage means.
  • the acquired current position data is associated with image data (and / or infrared data received by the laser infrared measuring instrument) taken by the camera (22) or left as a flight record.
  • 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 flying drone (20) may be acquired using the image data acquired by the vision sensor and the pipe inner wall image table.
  • the grasping of the current position of the flying drone (20) is not only performed by a vision sensor, but also a combination with the above-described short-range wireless communication with a wireless IC tag may be used.
  • a combination of a plurality of types of means for grasping the current position is used to compare data, and an appropriate position is set as the current position.
  • the first invention may be formed as follows. That is, a relay mobile device (for example, the float type drone 30 or the amphibious drone 50) that moves in the pipeline following the flight drone (20), A data collection and analysis machine (for example, built in the 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 flying drone (20), and transmits the received shooting data and current position data to the data collection analyzer (40). The data collection / analysis machine (40) may record the shooting data and the current position data received from the relay mobile machine (30 or 50) (see FIG. 5).
  • a relay mobile device for example, the float type drone 30 or the amphibious drone 50
  • a data collection and analysis machine for example, built in the support car 40 located outside the pipeline
  • the relay mobile device (30 or 50) receives shooting data and current position data from the flying drone (20), and transmits the received shooting data and current position data to the data collection analyzer (40).
  • the relay mobile device (30 or 50) receives the shooting data and the current position data from the flying drone (20) while moving in the pipeline following the flying drone (20). Then, the imaging data and the current position data are transmitted to the data collection analyzer (40). The data collection / analysis machine (40) records the photographing data and the current position data received from the relay mobile device (30 or 50).
  • the data collection and analysis machine (40) calculates control data necessary for moving the flight drone (20) and / or acquiring the shooting data by analyzing the shooting data and the current position data. It is also possible to provide a calculation means and a control data transmission means for transmitting the control data calculated by the control data calculation means to the flying drone (20) via the relay mobile device (30 or 50) (FIG. 9 and 10).
  • a data collection analyzer (40) analyzes the photographing data and the current position data. Then, suppose that it has been determined that a situation that does not exist in the flight control program pre-installed in the flight drone (20) has occurred.
  • the control data calculation means in the data collection analyzer (40) calculates the control data necessary for the movement of the flying drone (20) and / or acquisition of imaging data. 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).
  • the aforementioned 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 from the relay mobile device (30 or 50), and the operator who has verified the shooting data and the current position data output by the data output means flies. Control data input means for inputting operator control data necessary for the movement of the drone (20) and / or acquisition of imaging data. And the said control data transmission means is good also as transmitting the said operator control data to the said flight drone (20) via the said relay mobile station.
  • control data of the flying drone (20) is automatically created.
  • the operator who verified the shooting data and the current position data has the control data (operator control) of the flying drone (20).
  • the operator control data input means transmits the input operator control data to the flying drone (20) via the relay mobile device (30 or 50).
  • the relay mobile device in the above-mentioned variations 4 to 6 in the first invention may be amphibious that can move even if there is no water in the pipeline (see FIG. 8).
  • the data collection analyzer and its transport device use the regenerated energy fuel as a power source, and the transport device
  • the flying drone (20) may be stored and transportable (see FIG. 5).
  • “Energy fuels” include renewable energy such as hydrogen produced using waste heat from wastewater, light oil produced from waste plastics, etc., as well as electric energy from solar power generation using such renewable energy, solar power generation It also includes electric energy from natural energy such as wind power generation.
  • the relay mobile device (30or50) may also be housed and transported.
  • the first invention may be formed as follows. That is, the flight drone (20) is provided with a gas concentration meter for detecting the concentration of a predetermined gas in the pipe (10).
  • the “gas concentration meter” is, for example, a hydrogen sulfide concentration meter that detects the concentration of hydrogen sulfide, an oxygen concentration meter that detects the oxygen concentration, or the like.
  • the corroded portion may be identified.
  • hydrogen sulfide is a typical cause of odor, and thus contributes to the identification of the place where odor is generated.
  • the sewage pipe often stays under the pipe or near the water surface. 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.
  • the first invention may be formed as follows. That is, when the current position grasping means is provided with a plurality of barcodes (for example, one-dimensional barcode or two-dimensional barcode) in the pipeline in advance, the barcode and the position in the pipeline
  • the flight drone (20) includes a corresponding position table storage unit that stores a corresponding table and a bar code reader that reads the bar code. And it is good also as acquiring the present position data of the flying drone (20) using the said corresponding position table memory
  • the “bar code” is a two-dimensional bar code
  • the first invention may be formed as follows. That is, a drone landing port (folding port 70A) is provided which is lowered to a predetermined depth along the longitudinal direction of the vertical hole (human hole 13) and forms a landing boat for the flying drone (20).
  • the drone landing port (folding port 70A) includes a vertical pole (expandable pole 71) used by being lowered in the vertical direction, and a port support frame (72) supported so as to be rotatable with respect to the vertical pole (71). ), A support mechanism (support link 73) for restricting the rotation angle of the port support frame (72), and the support mechanism (73) of the port support frame (72) on the opposite side.
  • the port body (74) includes a landing surface (74A) for landing and landing of the flying drone (20).
  • the support mechanism (73) includes a first position where the longitudinal direction of the port support frame (72) makes an acute angle with the longitudinal direction of the vertical pole (71), and the landing surface ( 74A) is supported by the port support frame (72) so as to be able to take the second position that is horizontal after being separated from the vertical pole (71).
  • the drone arrival / departure port (folding port 70A) can be provided as an invention independent of the first invention. In other words, it is beneficial to provide a mere drone port (folding port 70A), not as a part of a pipe inner wall investigation device using a flying drone. This is because a simple method for carrying a drone from the entrance of the vertical hole (human hole 13) to the pipe to be investigated is not provided.
  • a support plate (77) is provided around the landing surface (74A) for expanding the vertical projection area on the landing surface (74A) when the second position is established.
  • the support plate (77) is formed so as to be foldable so as to reduce the vertical projection area on the landing surface (74A) when the first position is established.
  • Folding to narrow the vertical projection area contributes to reducing the probability of hitting the wall of the hole (13) when the port body (74) moves through the hole (human hole 13) in the vertical direction.
  • the lower side of the port main body (74) is provided with a leg portion (78) for leveling the landing surface (74A) when the lower end contacts the inner wall of the lower surface of the pipe. .
  • the leg part (78) is made into the structure where the area which hits the flow of the liquid becomes small when the liquid exists in a pipe line.
  • the support plate (77) includes a plate-like member made of a cushioning material on at least the surface of the landing surface (74A).
  • drone stored data receiving means for receiving predetermined data stored in the flying drone (20) landing on the departure / arrival surface (74A);
  • a drone storage data transmission unit that transmits predetermined data received by the drone storage data reception unit to a data reception storage unit installed outside the vertical hole may be provided.
  • 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.
  • a backup regarding such predetermined data can be taken. Therefore, even if a trouble occurs in the flying drone (20) after the backup, the backed up data can be reliably collected.
  • the first invention may be formed as follows.
  • a drone collecting device is provided that lowers the drone (20, 30, 50) to a predetermined depth along the longitudinal direction of the vertical hole (human hole 13).
  • the drone collection device is a drone hook that hooks a wire (hanging wire 80) to be used in the vertical direction and a drone (20, 30, 50) that is fixed to the tip of the wire (80) and flows into sewage. (Adhesive tape 91, collection net 92).
  • the drone collection device can also be provided as an invention independent of the first invention.
  • the drone hooking tool in the drone collecting apparatus used in the first invention may be formed as follows. In other words, it expands and contracts when fluid is taken in and out, and when a liquid is injected, it becomes a shape suitable for hooking a drone flowing in the liquid flowing in the pipe line, When the injected liquid is extracted, it is formed so that the longitudinal direction of the vertical hole is easily raised and lowered (see FIG. 20).
  • a drone hook that “expands and contracts by fluid in / out” is formed by, for example, a tube communicating from one mouth to the other, and can be deflated and reduced in the absence of liquid, It is convenient for moving the longitudinal direction of the vertical hole, and when liquid is injected, it is like a flying drone forming a stitch that extends to the inner diameter of the pipe line under investigation (see FIG. 20).
  • a pump is used, and for example, water is used as the liquid.
  • the first invention may be formed as follows. That is, the scale wire (61) that is lowered along the longitudinal direction of the vertical hole and continuously reaches the longitudinal direction in the pipe line to be investigated, A position confirmation tool (60) comprising an equally-spaced fixed body (for example, a float ball 63) fixed at regular intervals to the scale wire (61), The current position confirmation means in the flying drone (20) recognizes the current position by recognizing that the equally-spaced fixed body (63) is close (see FIG. 21).
  • the “equally spaced fixed body (63)” desirably employs a material that floats against the liquid flowing in the pipe. When the liquid is not flowing, it will be rubbed against the inner wall of the conduit, so it is desirable to use a material that is resistant to wear.
  • the flying drone (20) As a means for the flying drone (20) to recognize this “equally spaced fixed body”, for example, when performing short-range wireless communication by incorporating an RFID, the flying drone ( 20) and the like are viewed with a built-in camera.
  • the “scale wire (61)” may be a flexible string when the liquid is flowing in the conduit, but can be pushed out to be used even when the liquid is not flowing. Adopt steel wire with a certain degree of rigidity.
  • the position confirmation tool (60) can be provided as an invention independent of the first invention. In other words, it is useful not only as a part of a pipe inner wall investigation device using a flying drone but also as a simple position confirmation tool. This is because a simple method for grasping the position in the longitudinal direction in the pipe to be investigated is not provided.
  • the second invention in the present application is a flying drone (20) that captures the position in the pipeline while flying unmannedly in the pipeline and photographs the inner wall of the pipeline to obtain imaging data
  • the flying drone ( 20) relates to a computer program for controlling a pipeline inner wall investigation device including a relay mobile device that moves in a pipeline following the above 20) and a data collection analyzer that communicates with the relay mobile device.
  • the computer program includes a data reception procedure for receiving shooting data and current position data from the flying drone (20) via the relay mobile device, and the shooting data and current position data received in the data reception procedure.
  • the data recording procedure for recording is executed by the computer of the data collection analyzer.
  • Each of the above procedures is executed in cooperation with a central processing unit (CPU) as hardware and a computer program.
  • CPU central processing unit
  • the second invention may be as follows. That is, the control data calculation procedure for calculating the control data necessary for the movement of the flying 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.
  • the second invention may be as follows. That is, the data collection / analyzer includes the data output means for outputting the photographing data and the current position data received in the data reception procedure, and the photographing data and the current position data output by the data output means.
  • the verified operator includes control data means for inputting operator control data necessary for the movement of the flying drone (20) and / or the acquisition of imaging data. And the said control data transmission procedure is good also as transmitting the said operator control data to the said flight drone (20) via the said relay mobile station.
  • the computer program according to the second invention can be provided by being stored in a recording medium. It can also be provided via a communication line.
  • the “recording medium” is a medium that can carry a computer program that cannot occupy a space by itself, such as a hard disk, a CD-R, a DVD-R, or the like.
  • the first invention it is possible to stably fly a flying drone for inspecting the inner wall of the pipeline, to find an abnormal point on the inner wall of the pipeline, and to identify the location of the inner wall of the pipeline.
  • An investigation device could be provided.
  • the flight drone for inspecting the inner wall of the pipeline can stably fly, the abnormal location on the inner wall of the pipeline can be found, and the location of the inner wall of the pipeline can be specified.
  • a computer program for controlling the investigation device could be provided.
  • FIGS. 1 to 23 are FIGS. 1 to 23.
  • FIG. 1 conceptually shows the entire first embodiment.
  • the object of inspection is a sewer pipe 10 buried underground.
  • the sewage pipe 10 in this embodiment has a pipe inner diameter (D) of 2.2 meters, and is connected to the ground by a hole called a human hole 13 that forms a longitudinal direction in the vertical direction.
  • a flying drone 20 airborne mobile device capable of unmanned and self-sustained flight is transported by a support car 40 to a place close to the human hole 13, and from the human hole 13 to a sewer pipe groove 11 inside the sewer pipe 10. Let it enter.
  • the inner diameter of the tube is larger than 2 meters, it is possible to fly without any problem.
  • the inner diameter of the tube is smaller than 2 meters, there is a need to adopt a thing having a small flying drone 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 a light quantity for photographing with the camera 22.
  • a laser infrared measuring instrument that receives and records infrared rays reflected by irradiating the inner wall of the pipe with laser light may be provided.
  • the flying drone 20 is also equipped with a magnetic compass.
  • sewage 12 is present in the sewage pipe 10.
  • the flying drone 20 flies over the sewage surface 12A so as not to contact the inner wall of the pipe. In FIG. 1, when the flying drone 20 is hovered as a premise of movement, it is expressed that the reflected wind may push down the flying drone 20 along the sewage surface 12A and the pipe inner wall.
  • FIG. 2 conceptually shows a mechanism for the flying drone 20 to be positioned substantially in the center on a vertical cross section in the longitudinal direction of the sewer pipe 10.
  • the flying drone 20 is equipped with an infrared vertical transceiver and an infrared horizontal transceiver. Instead of infrared light, laser light may be oscillated and the reflected light received (received).
  • the infrared vertical transmitter / receiver oscillates infrared rays toward the upward and downward walls in the vertical direction and receives the reflected waves. Thereby, 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, or it is better to move up or down, and a control signal to the propeller is issued as a vertical control means as necessary.
  • the infrared horizontal transmitter / receiver oscillates infrared rays toward the right and left walls in a cross section perpendicular to the traveling direction, and receives the reflected waves.
  • 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, it is better to move to the right or left, and a control signal to the propeller is issued as a left / right control means as necessary.
  • the frequencies of infrared rays oscillating in the horizontal direction and the vertical direction are different. This is to prevent the received reflected waves from being complicated.
  • FIG. 3 is an enlarged view of the flying drone 20 and also shows a state of flying in the longitudinal direction of the sewer pipe.
  • the traveling direction infrared transceiver is provided that transmits infrared rays and receives the reflected waves when the infrared rays are reflected. When a reflected wave is received, it can be recognized that there is an obstacle. Note that the frequency of infrared light oscillating in the traveling direction is different from the frequency of infrared light oscillating in the horizontal and vertical directions shown in FIG.
  • the flying drone 20 shown here has four propellers 21 and a light and a camera at the center of the aircraft.
  • the light includes an upper light 23A that illuminates the upper side of the aircraft and a lower light 23B that illuminates the lower side of the aircraft.
  • the camera includes an upper camera 22A for photographing the upper side of the aircraft and a lower camera 22B for photographing the lower side (lower half of the sewer pipe) of the aircraft. With this light and camera, the flying drone 20 can continuously photograph the inner wall surface of the sewer pipe.
  • the propeller 21 is provided with a guard to prevent the propeller 21 from being damaged even if it contacts a wall surface or the like.
  • a vision sensor is provided in addition to the cameras 22A and 22B. The current position is grasped by comparing the image data of the inner wall acquired by the vision sensor with the image data of the inner wall acquired in advance.
  • FIG. 4 conceptually shows an example of a technique for grasping where the flying drone 20 is located in the sewer pipe.
  • RFIDs 15A, 15B, 15C,... are embedded at equal intervals (for example, every 1 meter).
  • RFID is also referred to as a non-powered IC tag, and includes an IC chip that can identify a solid. Although it does not have a power supply itself, when a dedicated receiver equipped with a power supply is brought closer, the receiver and the RFID perform bidirectional communication. As a receiver, it is possible to recognize that there is an IC chip that can identify an individual nearby.
  • the flying drone 20 shown in FIG. 4 includes a dedicated receiver capable of short-range wireless communication with the RFID as described above.
  • FIG. 4 shows that the flying drone 20 passes through the RFID 15A and is performing bidirectional communication with 15B. Since the flight drone 20 is preliminarily provided with a correspondence position table storage chip that stores a correspondence table between the non-powered IC tag and the position in the pipeline, it is possible to know where the sewage pipe is.
  • the flying drone 20 was flying in the vicinity of the RFID 15B at those times.
  • the camera By associating with the above-described shooting data by the camera, it is possible to grasp at which position the shooting data is shot. There may be a case where two-way communication with two RFIDs is executed between two RFIDs. However, if data up to the strength of radio waves can be converted into data, it becomes possible to grasp a more detailed position.
  • a plate on which a one-dimensional barcode is printed is arranged and fixed at a predetermined interval, and the one-dimensional barcode is mounted on the bar mounted on the flying drone 20. It may be read by a code reader. Also, the one-dimensional barcode may be a two-dimensional barcode. When a two-dimensional barcode is adopted, the camera reads the two-dimensional barcode instead of the barcode reader and converts it into predetermined data.
  • RFID and barcode may be used in combination instead of the alternative. By using it together, it is possible to suppress the occurrence of a situation where the position cannot be specified at all even if any reading is defective.
  • FIG. 5 illustrates a second embodiment employing a relay mobile device.
  • the relay mobile device in this embodiment is a float type drone 30 that moves inside the sewer pipe 10 following the flying drone 20. Details will be described later with reference to FIG.
  • the float drone 30 floats in the sewage 12 and is connected to the flying drone 20 by the multi-function cable 25. Further, it is connected to a data collection / analysis machine mounted (incorporated) in the support car 40 by a gable 35 such as a power source.
  • the float drone 30 includes a float 31 that is a main body having a small specific gravity, a propeller 32 that is fixed to the float 31 and propels the water surface, and a subject by the camera 22 of the flying drone 20. And a light 33 for irradiating light. Since this light 33 exists, the flying drone 20 does not have the light 23 as shown in FIG.
  • the multi-function cable 25 connected to the flying drone 20 is used for receiving photographing data photographed by the flying drone 20 and transmitting control data of the flying drone 20.
  • the power supply cable 35 connected to the support car 40 transmits photographing data taken by the flying drone 20, transmits control data of the flying drone 20, and transmits to the float drone 30 and / or the flying drone 20. Receive the supplied electrical energy.
  • FIG. 7 shows the flying drone 20A not equipped with the light 23 as described above.
  • Cameras upper camera 22A and lower camera 22B for photographing the wall surface of the sewer pipe 10 illuminated by the light 33 of the float drone 30 are mounted. Also, image data captured by the upper camera 22A and the lower camera 22B are transmitted to the float drone 30 via the multi-function cable 25.
  • the multi-function cable 25 is not tensioned, but it is desirable to keep the slack so as not to touch the water surface.
  • tension is applied. In this case, the output of the propeller 32 of the float drone 30 is increased so that the float drone 30 can catch up with the traveling speed of the flying drone 20A.
  • connection portion of the multi-function cable 25 in the float drone 30 is provided with a tension meter that can grasp the tension, and the control device of the propeller 32 uses the measured value of the tension meter to control the propeller. 32 outputs are controlled.
  • the tension meter can also grasp how long the multi-function cable 25 is. Therefore, the distance between the float drone 30 and the flying drone 20A can be roughly grasped. By knowing 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 is drawn, and can roughly grasp the distance between the float drone 30 and the support car 40. That is, the position of the flying drone 20A can be roughly grasped.
  • an amphibious drone 50 is employed as a relay mobile device.
  • the amphibious drone 50 is capable of running on a wheel so that the drone 20 can follow the flying drone 20 even if the sewage pipe has little or no sewage that cannot be advanced by the float drone 30.
  • the amphibious drone 50 shown in this embodiment includes an antenna 51 for wireless communication with the flying drone 20, and does not include the multi-function cable 25 unlike the float drone 30.
  • the amphibious drone 50 shown in this embodiment does not include a light, and the flight drone 20 includes a light 23 (same as in the first embodiment).
  • the amphibious drone 50 and the support car 40 are connected with a communication cable 36 instead of a power cable or the like. Since the amphibious drone 50 is not equipped with a light and has low power consumption, the communication cable 36 transmits shooting data and position data received from the flying drone 20, and various data to be transmitted to the flying drone 20. It has a function of only receiving (including control signals) from the data collection analyzer.
  • the flying drone 20 illuminates the subject with a light and photographs it with a camera, and transmits the photographing data and position data separately grasped to the amphibious drone 50 by wireless communication (1).
  • the amphibious drone 50 transfers the photographing data and the position data to the data collection analyzer via the communication cable 36 (2).
  • the data collection and analysis machine that has received the shooting data and position data analyzes the shooting data and position data and calculates control data (3).
  • the control data is automatically created so that the shooting data at that position data is once again acquired. Is transmitted to the amphibious drone 50 (4).
  • the amphibious drone 50 that has received the control data transfers the control data to the flying drone 20 (5).
  • FIG. 10 The control data described above with reference to FIG. 9 shows an example in which the data collection / analysis machine has automatically created, but FIG. 10 illustrates the case where the operator creates control data.
  • the data collection / analyzer outputs to the monitor the shooting data and current position data of the flying drone 20 transferred from the amphibious drone 50 (1).
  • the operator viewing the output data verifies the state of the flying drone 20 (2).
  • the operator inputs control data for operating the flight drone 20 (or causes the data collection / analysis machine to create and input the control data) and transmits the control data to the flight drone 20 via the amphibious drone 50. (3).
  • photographing data and current position data by the flying drone 20 are output again (4). Then, the operator verifies the output photographing data and current position data (5). Although illustration is omitted, when further control data is required, the control data is input and transmitted to the flying drone 20 again.
  • FIG. 11 shows the relationship between the hardware and functions installed in the flying drone roughly divided into input means, calculation means / control means, and output means.
  • the input means includes 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 of receiving control data.
  • the control means is a vertical control means for receiving a reflected wave from an infrared vertical transceiver and analyzing it to create a control signal; a control signal for receiving a reflected wave from an infrared horizontal transceiver and analyzing it Left and right control means for creating the current position, current position grasping means for grasping the current position by wireless communication with the short-range wireless communication device, and the like.
  • output means propellers that are driven in response to control signals for various movements and position changes, light for irradiating light on the subject of the camera to obtain shooting data, shooting data and current position data Includes a relay mobile device for transmission to a collection analyzer.
  • FIG. 12 The fourth embodiment shown in FIG. 12 will be described focusing on 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.
  • the flying drone 20 and the amphibious drone 50 is wireless communication. Instead of this wireless communication, a multi-function cable 25 may be employed.
  • FIG. 13 The fifth embodiment shown in FIG. 13 will be described focusing on differences from the embodiment shown in FIG.
  • a float type drone 30 as a relay mobile device is equipped with an antenna 31 so as to perform wireless communication with the flying drone 20.
  • the flying drone 20 is mounted with the light 23.
  • the flying drone is equipped with a laser infrared measuring machine that receives and records the reflected infrared rays by irradiating the inner wall of the pipe with laser light instead of the camera, the light 23 (described above) Or 53) becomes unnecessary.
  • the camera and the laser infrared measuring instrument are mounted on the flying drone, the abnormality detection of the inner wall of the pipe line can be executed by two types of devices, so the possibility of oversight can be reduced.
  • the flying drone 20 (also 20A) is allowed to fly stably in the pipe (the sewer pipe 10), the abnormal part is found on the inner wall of the pipe, and the It provides technology that contributes to identifying locations.
  • the technology described with reference to FIG. 4 makes it possible to fly in a non-GPS environment and specify its own position (solves Problem A-1).
  • the technique described with reference to FIG. 2 makes it possible to stabilize itself in a closed system (solves Problem A-2).
  • the technique described with reference to FIG. 3 makes it possible to proceed in the longitudinal direction in the closed system (solves 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”).
  • the inner wall of the pipeline can be photographed by providing the light 23 (or lights 33 and 53) for the flying drone 20 or the relay mobile device 30 (or 50).
  • (Solves Problem B-1) The technique described with reference to FIG. 2 makes it possible to shoot without blurring or to focus and shoot (solves problems B-2 and 3).
  • the photographed video data can be taken back by the flying drone 20 or transferred to the data collection and analysis device, so that an expert can confirm it. Therefore, it is possible to find an abnormal part from the photographed video (solves Problem B-5).
  • the technique described with reference to FIG. 4 makes it possible to identify the location of an abnormal location (solves Problem B-6).
  • FIG. 14 shows a drone having a port body 74 for lowering the flying drone 20 from the ground side of the human hole 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 arrival / departure port 70 is shown.
  • This drone departure / arrival port 70 is a folding port 70A that is convenient for taking off and landing of the flying drone 20 and that can narrow the vertical projection area when the longitudinal direction (vertical direction) of the human hole 13 is moved. ing.
  • the folding port 70A includes a telescopic pole 71 that is a straight pipe for moving the front port body 74 to a predetermined position in the longitudinal direction (vertical direction) of the human hole 13, and a frame support shaft 75 with respect to the telescopic pole 71. And a support link 73 for restricting the rotation angle of the port support frame 72.
  • the port support frame 72 is formed of two frames having a crank shape, and an end portion on the opposite side to the frame support shaft 75 in the planar shape is positioned so as to sandwich the port main body 74.
  • the port body 74 is axially supported by the port support shaft 76 so that it can be rotated with respect to the port 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 that it can rotate with respect to the port support frame 72 and can slide with respect to the telescopic pole 71.
  • the upper end of the support link 73 fixes a support link operation wire 73 ⁇ / b> A 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 main body 74 forms a hemispherical landing port supported on the port support shaft 76 on the opposite side of the port support frame 72 from the support link 73.
  • the hemispherical top surface is the landing surface 74A.
  • the folding mechanism has a first position in which the angle formed by the longitudinal direction of the port support frame 72 and the longitudinal direction of the vertical pole 71 is an acute angle, and the landing surface (74A) is separated from the vertical pole (71). It is possible to take a second position that is level above.
  • the port main body 74 is entirely formed of a mesh material, and makes it difficult for the flying drone 20 to receive an airflow generated from the propeller when taking off and landing.
  • the support plate 77 has a curved surface that swells outward as viewed from the landing surface 74A, and is continuous with the landing surface 74A.
  • the support plate 77 is formed so as to be foldable so as to reduce the vertical projection area on the landing surface 74A when the support plate 77 is in the first position. After moving from the first position to the second position, the projection area in the vertical direction on the landing surface 74A is expanded by performing an operation such as loosening the support plate operation wire 77C connected to the ground through the inside of the telescopic pole 71. To turn.
  • the support plate 77 on the telescopic pole 71 side rotates in contact with the telescopic pole 71 and rotates so that the inner surface of the support plate 77 approaches the landing 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 has been in contact, the support plate 77 rotates so that the inner surface of the support plate 77 approaches the landing surface 74A. As a result, when the second position is established, the vertical projection area on the landing surface (74A) is reduced.
  • the folding port 70 ⁇ / b> A in the first position is loaded with the flying drone 20 ⁇ / b> B on the landing surface 74 ⁇ / b> A when introduced into the human hole 13, and is lowered so that the landing surface 74 ⁇ / b> A reaches the intersection with the sewer pipe 10 in the human hole 13.
  • the support plate 77 is closed so as to surround the landing surface 74A, and the flying drone 20B is accommodated in the closed state, so that the possibility of damaging the flying drone 20B is small.
  • the support link operation wire 73A is loosened. Then, the end of the support link 73 on the telescopic pole 71 side is lowered, and the port support frame 72 is rotated until its longitudinal direction becomes horizontal. At that time, the end of the support link 73 on the side of the telescopic pole 71 is regulated so as to reach the lowest end and not lower than that.
  • the frame support shaft 76 may be regulated by a gear or the like so that the longitudinal direction of the port support frame 72 does not fall below the horizontal.
  • the support plate 77 is opened by its own weight, and the flying drone 20B can easily fly off the landing surface 74A.
  • the folding port 70A in the second position is slightly open from the center of the landing surface 74A when the flying drone (guard drone 20B) is landing because the support plate 77 is open so as to be continuous with the landing surface 74A. However, the support plate 77 guides the landing surface 74A. In addition, the support plate 77 is unlikely to get in the way when starting from the landing surface 74A.
  • the telescopic pole 71 is formed by connecting a pipe (or rod) having a predetermined length. For this reason, when the folding port 70A is not used (the state before use, the state after use), the connection is removed to make it easy to carry and store.
  • a take-off and landing camera 71A capable of photographing the vicinity of the landing surface 74A together with a light (not shown). This is because the staff on the ground confirms the arrival and departure of the flying drone 20B.
  • a water avoidance port 70 ⁇ / b> B provided with a leg portion 78 in contact with the inner wall of the lower surface of the sewer pipe is shown as a variation of the drone landing port 70.
  • the water avoidance port 70B is formed of a plurality of elongated rod-like bodies, and when the lower end portion is in contact with the inner wall of the lower surface of the sewer pipe, the landing surface 74A is horizontal. Accordingly, when the inner wall of the lower surface of the sewer pipe is curved, the lengths of the plurality of rod-shaped bodies that form the legs 78 also differ depending on the portion to be fixed.
  • the leg 78 is formed of a plurality of elongated rod-like bodies so that when the water flow is in the sewer pipe, the area of the water flow is reduced. This is because the drone arrival / departure port 70 is likely to become unstable if the area hitting the water flow is large.
  • the water avoidance port 70B is suspended by a plurality of suspension wires 80. Both ends of a suspension ring 79, which is a semi-elliptical ring, are axially supported by the port body 74, and the suspension wire 79 is also fixed to the suspension wire 80, and the suspension wire 80 is pulled upward. . Then, when the landing ring 74A reaches the intersection with the sewer pipe 10 in the human hole 13, the hanging ring 79 loosens the hanging wire 80 that has pulled the hanging ring 79, and exists above the landing surface 74A. Do not. By doing so, the flying drone 20B is easily taken off from the landing surface 74A.
  • the suspension wire 80 is also fixed to the support plate 77.
  • the suspension wire 80 is strained, it is folded so as to narrow the vertical projection area on the landing surface 74A.
  • the suspension wire 80 is slack, the lower end of the support plate 77 is axially supported so as to widen the vertical projection area on the landing surface (74A).
  • the suspension wire 80 closest to the inner wall of the human hole 13 is provided with a plurality of tube wall contact members 81 that contact the inner wall of the human hole 13 at equal intervals. Since the tube wall contact member 81 contacts the inner wall of the human hole 13, the water avoidance port 70B can be moved up and down stably in the longitudinal direction (vertical direction) of the human hole 13.
  • a cantilever port 70 ⁇ / b> C with a suspension wire 80 including a tube wall abutting member 81 in contact with the vertical inner wall of the human hole 13 is shown.
  • the cantilever port 70 ⁇ / b> C is suspended by a fishing wire 80 with one end in the horizontal direction of the port body 74 fixed.
  • the suspension wire 80 includes a plurality of tube wall abutting members 81 that abut against the inner wall of the human hole 13 so that the cantilever port 70 ⁇ / b> C can be moved up and down stably in the longitudinal direction (vertical direction) of the human hole 13. Can do.
  • the suspension wire 80 is also fixed to the other end of the port body 74 in the horizontal direction.
  • the suspension wire 80 is fixed to an opening plate 77B that expands the landing surface 74A when loosened.
  • the suspension wire 80 provided with the tube wall abutting member 81 is a cushion plate 77A having a cushioning material on the surface on the landing surface 74A side.
  • the cushion plate 77A plays a role in reducing the damage even when the flying drone 20B collides when landing on the landing surface 74A.
  • FIG. 17 In FIG. 17, as a variation of the drone arrival / departure port 70, a pulley-type port 70 ⁇ / b> D using a hanger fixing member 81 ⁇ / b> A, a hanger 83, a pulley 82, and the like fixed to the vertical inner wall of the human hole 13 is shown.
  • the pulley-type port 70D includes a hanger 83 that is fixed to the hanger fixing member 81A, a pulley 82 that is axially supported by the hanger 83, and a winding wire 80A that is wound around the pulley 82.
  • the pulley 82 includes a wire winding drum (not shown). When the wire winding drum feeds the winding wire 80A, the port body 74 descends the manhole 13, and when the wire winding drum winds the winding wire 80A, the port body 74 ascends the manhole 13.
  • the tube wall contact member 81 is not provided on the winding wire 80A but is positioned on the inner wall of the human hole 13 by another means (for example, another wire).
  • the pulley-type port 70D can be moved up and down stably in the longitudinal direction (vertical direction) of the human hole 13.
  • the cushion plate 77A and the opening plate 77B are provided as in the case of the cantilever port 70C.
  • FIG. 18 18 and 19
  • drone recovery for recovering a flying drone 20B that has fallen into the sewage pipe 10 and has stopped flying a float drone 30 that has become unable to move due to a malfunction, an amphibious drone 50, and the like.
  • Tool 90 is shown.
  • the drone collection tool 90 shown in FIG. 18 is an adhesive drone collection device by fixing a water-resistant adhesive tape 91 to the lower ends of a plurality of suspension wires 80.
  • the suspension wire 80 closest to the inner wall of the human hole 13 is provided with a plurality of tube wall contact members 81 that contact the inner wall of the human hole 13 at equal intervals.
  • a water detection sensor (not shown) is provided near the lower end of the adhesive tape 91. The water detection sensor detects the presence of water, thereby grasping how much the adhesive tape 91 is immersed in the flowing sewage and reducing the recovery error.
  • the flying drone 20B is provided with a member that does not sink the aircraft in water, such as a float member having a very low specific gravity or an air bag that reacts with water. desirable.
  • an upstream confirmation camera 94 for viewing the upstream side and a collection confirmation camera 95 for viewing the object caught on the adhesive tape 91 are provided in the vicinity of the adhesive tape 91 in the drone collection tool 90. Prepare.
  • a magnet (including an electromagnet) may be used as a drone collecting means. This is because magnetic materials are used for at least part of the drone.
  • a drone collection tool 90 shown in FIG. 19 includes a weight 93 suspended from the lower end of the collection net 92 while fixing the collection net 92 to the lower ends of the plurality of suspension wires 80, thereby providing a net type drone collection apparatus. 90B.
  • the suspension wire 80 that is closest to the inner wall of the human hole 13 is provided with a plurality of tube wall contact members 81 that are in contact with the inner wall of the human hole 13 at equal intervals.
  • This net-type drone collection device 90B includes a water detection sensor (not shown) on the weight 93.
  • the function of the water sensor is the same as that of the adhesive drone collection device.
  • the upstream confirmation camera 94 and the collection confirmation camera 95 for convenience of collection work are the same as those in the embodiment shown in FIG.
  • FIG. 20 shows a liquid inflatable drone collection tool 90C provided with a telescopic frame 96 formed of a synthetic rubber tube as a variation of the drone collection tool.
  • This liquid expansion type drone collection tool 90C expands and contracts the expansion / contraction frame 96 by pumping in and out of the fluid by a pump 97 shown in FIG.
  • FIGS. 20 (c) and 20 (d) when a liquid is injected, it has a net shape suitable for catching a drone flowing in the liquid flowing in the conduit.
  • the injected liquid is extracted, as shown in FIG. 20B, the longitudinal direction of the human hole 13 in the vertical direction is easily raised and lowered.
  • Liquid injection and extraction are performed 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.
  • the entire structure is described as being formed of a synthetic rubber tube.
  • the portion reaching the sewer pipe 10 (the portion corresponding to the drone hook) is a synthetic rubber tube. It is good also as forming.
  • the material of the drone collection tool 90C is not limited to synthetic rubber.
  • FIG. 21 shows a position confirmation tool 60 used by the flying drone to grasp the current position.
  • the position confirmation tool 60 is lowered along the longitudinal direction of the hole in the vertical direction and continuously reaches the longitudinal direction in the pipe line to be investigated, the scale wire 61 and the like.
  • a float ball 63 fixed at an interval and a wire take-up drum 62 for taking up and feeding out the scale wire 61 are provided.
  • the wire take-up drum 62 sends out the scale wire 61 so that the float ball 63 reaches the end of the pipe line where the investigation of the inner wall is performed. Since the float balls 63 are fixed at equal intervals, a means for confirming the current position can be laid by subtracting the height direction of the human hole 13.
  • the current position confirmation means in the flying drone (20) recognizes the current position by recognizing that the equally-spaced fixed body (63) is close (see FIG. 21).
  • the float ball 63 employs a material that floats with respect to the liquid flowing in the pipeline. Moreover, each surface pattern is different. In addition, it incorporates RFID. The current position can be confirmed by viewing the float ball with a camera mounted on the flying drone 20 and performing short-range communication with the RFID. In addition, when the liquid is not flowing, since it will be rubbed against the inner wall of the pipe line, it is desirable to employ 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 pipe line, but to be usable even when the liquid is not flowing, the scale wire 61 is hard enough to be pushed out. Adopt steel wire etc.
  • FIG. 22 is a conceptual diagram showing that two functions are added to the drone arrival / departure port 70 as shown in FIGS.
  • a charging facility is provided so that the flying drone 20B that has landed on the landing surface 74A of the drone port 70 can be forward-powered.
  • the charging facility shown in FIG. 22 is illustrated as not being connected to the ground, and is assumed to be battery-powered, but is not limited to battery-powered. Moreover, you may employ
  • a drone storage data receiving means for sucking up image data of the inner wall of the pipeline, position data associated therewith, and the like from the flying drone 20B landed on the landing surface 74A of the drone landing port 70 is provided.
  • the drone stored data receiving means may also adopt a wireless communication system capable of sucking data even when the flying drone 20B is not in contact with the landing surface 74A.
  • the data received by the drone stored data receiving means is sent to the data receiving and storing means on the ground by serial communication.
  • the data receiving and accumulating means is illustrated as being provided in the ground support car 40, for example.
  • FIG. 23 shows the dimensions of the flying drone 20 (with the propeller guard removed).
  • Four propellers are arranged on a 6cm square center frame.
  • Each propeller has a diameter of 23 centimeters (9 inches) and a total width within 50 centimeters.
  • the size and type of the flying drone are appropriately selected according to the type of the target pipeline.
  • FIG. 23 shows one used when photographing the inner wall of a sewer pipe having a pipe diameter of 2.2 meters.
  • the present invention provides a manufacturing industry for unmanned flying drones, software development for developing computer programs for flight control, and sewage pipes that are premised on flight in a closed system where GPS radio waves do not reach and are surrounded by top, bottom, left and right. It can be used in the civil engineering and construction industry and the service industry that conducts maintenance inspections in pipelines.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Hydrology & Water Resources (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Health & Medical Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Sewage (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention vise à faire voler un drone aérien de manière stable, découvrir des parties anormales sur une paroi interne de conduit et identifier leurs emplacements lors de l'adoption du drone aérien pour inspecter la paroi interne d'un conduit. À cet effet, le haut et le bas, et la gauche et la droite sont commandés en fournissant, à un drone aérien (20), un émetteur-récepteur vertical qui oscille une lumière infrarouge ou laser vers les parois supérieure et inférieure dans la direction verticale et reçoit la lumière réfléchie; et un émetteur-récepteur horizontal qui oscille une lumière infrarouge ou laser vers les parois gauche et droite dans la section transversale perpendiculaire à la direction de déplacement, et reçoit la lumière réfléchie. Le dispositif d'inspection comporte : une caméra (22) qui représente la paroi interne du conduit et acquiert les données d'imagerie; un moyen de détermination de position actuelle pour déterminer la position actuelle du drone aérien (20) dans le conduit; et un moyen d'enregistrement de données d'imagerie qui relie la position d'imagerie aux données d'imagerie provenant de la caméra (22) et les enregistre.
PCT/JP2017/018326 2016-05-16 2017-05-16 Dispositif d'inspection pour paroi interne de conduit, et programme d'ordinateur WO2017199940A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018518300A JP6783303B2 (ja) 2016-05-16 2017-05-16 管路内壁の調査装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016098133 2016-05-16
JP2016-098133 2016-05-16

Publications (1)

Publication Number Publication Date
WO2017199940A1 true WO2017199940A1 (fr) 2017-11-23

Family

ID=60325314

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/018326 WO2017199940A1 (fr) 2016-05-16 2017-05-16 Dispositif d'inspection pour paroi interne de conduit, et programme d'ordinateur

Country Status (2)

Country Link
JP (2) JP6783303B2 (fr)
WO (1) WO2017199940A1 (fr)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101960021B1 (ko) * 2017-12-29 2019-03-19 염길동 전기맨홀을 진단하는 드론 및 전기맨홀진단시스템
JP2019132611A (ja) * 2018-01-29 2019-08-08 日立Ｇｅニュークリア・エナジー株式会社 調査システム及び調査方法
JP2019164751A (ja) * 2018-03-14 2019-09-26 栗田工業株式会社 無人移動ユニットおよび巡回点検システム
JP2019167044A (ja) * 2018-03-26 2019-10-03 株式会社日立製作所 無人飛行体導入装置、無人飛行体を用いた管路内作業システム及び作業方法。
JP2020011593A (ja) * 2018-07-18 2020-01-23 株式会社フジタ 作業機械を監視する移動式飛行体装置
JP2020078209A (ja) * 2018-11-09 2020-05-21 中国電力株式会社 点検システム、点検支援方法および点検支援プログラム
WO2020137968A1 (fr) * 2018-12-25 2020-07-02 トッパン・フォームズ株式会社 Système de lecture rfid
WO2021070308A1 (fr) * 2019-10-09 2021-04-15 日本電信電話株式会社 Aéronef sans pilote, et procédé de commande d'aéronef sans pilote
JP2021079891A (ja) * 2019-11-21 2021-05-27 エヌ・ティ・ティ・アドバンステクノロジ株式会社 飛行制御システム、飛行制御装置、飛行体、及び飛行制御方法
CN113212732A (zh) * 2021-06-16 2021-08-06 桂林电子科技大学 一种用于管道监测的可伸缩折叠式无人机
JP2021128061A (ja) * 2020-02-13 2021-09-02 日本ニューロン株式会社 水道管の漏水検出方法、漏水修繕方法及びそれらの装置
JP2021160580A (ja) * 2020-03-31 2021-10-11 西武建設株式会社 ドローン誘導方法およびその装置
JP2021160579A (ja) * 2020-03-31 2021-10-11 西武建設株式会社 ドローン誘導方法およびその装置
JP2021187247A (ja) * 2020-05-28 2021-12-13 楽天グループ株式会社 飛行体
CN116011163A (zh) * 2023-02-07 2023-04-25 江阴市千里马电工材料有限公司 基于水渠检测的双向电缆铺设需求解析系统
US20230175247A1 (en) * 2020-03-16 2023-06-08 Nippon Telegraph And Telephone Corporation Inspection device, inspection method, and program
USD1001009S1 (en) 2021-06-09 2023-10-10 Amax Group Usa, Llc Quadcopter
USD1003214S1 (en) 2021-06-09 2023-10-31 Amax Group Usa, Llc Quadcopter
USD1010004S1 (en) 2019-11-04 2024-01-02 Amax Group Usa, Llc Flying toy
USD1035787S1 (en) 2022-06-24 2024-07-16 Amax Group Usa, Llc Flying toy
US12121826B2 (en) 2021-05-27 2024-10-22 Amax Group Usa, Llc Hand gesture controlled flying toy

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102481892B1 (ko) * 2022-05-03 2022-12-27 주식회사 정영 지하시설물 노후관로의 감시가 가능한 드론 측량 시스템 및 방법
JP2024119069A (ja) * 2023-02-22 2024-09-03 株式会社三井E&S 検査方法および検査装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61204503A (ja) * 1985-03-08 1986-09-10 Hitachi Cable Ltd 移動体の位置検知方式
JPH0538684A (ja) * 1991-07-30 1993-02-19 Toshiba Corp ロボツト保全システム
JPH0980161A (ja) * 1995-09-16 1997-03-28 Kansei Kogyo Kk 地中管外側の空洞探査方法及び探査機
JP2006051893A (ja) * 2004-08-12 2006-02-23 Seiko Epson Corp 位置・姿勢検出システム
JP2007113240A (ja) * 2005-10-19 2007-05-10 Kitakyushu Foundation For The Advancement Of Industry Science & Technology カメラセンサと距離センサによるロボットの自己位置検知方法及び装置
JP2010086038A (ja) * 2008-09-29 2010-04-15 Kajima Corp 移動体の誘導システム及び誘導方法
JP2010242361A (ja) * 2009-04-06 2010-10-28 Mitsubishi Electric Corp 下水道管渠内の水位計測システム

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997033212A1 (fr) * 1996-03-06 1997-09-12 Gmd - Forschungszentrum Informationstechnik Gmbh Systeme a robot mobile autonome pour navigation par capteurs et cartes dans des reseaux de conduites
JP4223355B2 (ja) * 2003-09-03 2009-02-12 株式会社日立製作所 管内撮影装置
JP4649323B2 (ja) * 2005-12-07 2011-03-09 株式会社アビーズ 農薬散布用ホバークラフト
DE202012100128U1 (de) * 2012-01-13 2012-02-27 Helmut Naber Erfassungssystem zur Informationsgewinnung in rohrartigen Elementen
JP6085153B2 (ja) * 2012-11-26 2017-02-22 日立Ｇｅニュークリア・エナジー株式会社 建屋内調査システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61204503A (ja) * 1985-03-08 1986-09-10 Hitachi Cable Ltd 移動体の位置検知方式
JPH0538684A (ja) * 1991-07-30 1993-02-19 Toshiba Corp ロボツト保全システム
JPH0980161A (ja) * 1995-09-16 1997-03-28 Kansei Kogyo Kk 地中管外側の空洞探査方法及び探査機
JP2006051893A (ja) * 2004-08-12 2006-02-23 Seiko Epson Corp 位置・姿勢検出システム
JP2007113240A (ja) * 2005-10-19 2007-05-10 Kitakyushu Foundation For The Advancement Of Industry Science & Technology カメラセンサと距離センサによるロボットの自己位置検知方法及び装置
JP2010086038A (ja) * 2008-09-29 2010-04-15 Kajima Corp 移動体の誘導システム及び誘導方法
JP2010242361A (ja) * 2009-04-06 2010-10-28 Mitsubishi Electric Corp 下水道管渠内の水位計測システム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
OZASLAN, TOGA ET AL.: "Inspection of Penstocks and Featureless Tunnel-like Environments using Micro UAVs", FIELD AND SERVICE ROBOTICS. SPRINGER TRACTS IN ADVANCED ROBOTICS, vol. 105, 2015, pages 123 - 136, XP055439598 *

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101960021B1 (ko) * 2017-12-29 2019-03-19 염길동 전기맨홀을 진단하는 드론 및 전기맨홀진단시스템
JP2019132611A (ja) * 2018-01-29 2019-08-08 日立Ｇｅニュークリア・エナジー株式会社 調査システム及び調査方法
JP2019164751A (ja) * 2018-03-14 2019-09-26 栗田工業株式会社 無人移動ユニットおよび巡回点検システム
JP7013300B2 (ja) 2018-03-26 2022-01-31 株式会社日立製作所 無人飛行体導入装置、無人飛行体を用いた管路内作業システム及び作業方法。
JP2019167044A (ja) * 2018-03-26 2019-10-03 株式会社日立製作所 無人飛行体導入装置、無人飛行体を用いた管路内作業システム及び作業方法。
JP2020011593A (ja) * 2018-07-18 2020-01-23 株式会社フジタ 作業機械を監視する移動式飛行体装置
JP7176874B2 (ja) 2018-07-18 2022-11-22 株式会社フジタ 作業機械を監視する移動式飛行体装置
JP2020078209A (ja) * 2018-11-09 2020-05-21 中国電力株式会社 点検システム、点検支援方法および点検支援プログラム
JP7187998B2 (ja) 2018-11-09 2022-12-13 中国電力株式会社 点検システム、点検支援方法および点検支援プログラム
WO2020137968A1 (fr) * 2018-12-25 2020-07-02 トッパン・フォームズ株式会社 Système de lecture rfid
JPWO2021070308A1 (fr) * 2019-10-09 2021-04-15
WO2021070308A1 (fr) * 2019-10-09 2021-04-15 日本電信電話株式会社 Aéronef sans pilote, et procédé de commande d'aéronef sans pilote
JP7324388B2 (ja) 2019-10-09 2023-08-10 日本電信電話株式会社 無人航空機および無人航空機の制御方法
USD1010004S1 (en) 2019-11-04 2024-01-02 Amax Group Usa, Llc Flying toy
JP2021079891A (ja) * 2019-11-21 2021-05-27 エヌ・ティ・ティ・アドバンステクノロジ株式会社 飛行制御システム、飛行制御装置、飛行体、及び飛行制御方法
JP7376780B2 (ja) 2019-11-21 2023-11-09 日本電信電話株式会社 飛行制御システム、飛行制御装置、飛行体、及び飛行制御方法
JP2021128061A (ja) * 2020-02-13 2021-09-02 日本ニューロン株式会社 水道管の漏水検出方法、漏水修繕方法及びそれらの装置
JP7448936B2 (ja) 2020-02-13 2024-03-13 日本ニューロン株式会社 水道管の漏水修繕方法
US12012207B2 (en) * 2020-03-16 2024-06-18 Nippon Telegraph And Telephone Corporation Inspection device, inspection method, and program
US20230175247A1 (en) * 2020-03-16 2023-06-08 Nippon Telegraph And Telephone Corporation Inspection device, inspection method, and program
JP7092821B2 (ja) 2020-03-31 2022-06-28 西武建設株式会社 ドローン誘導方法およびその装置
JP7227936B2 (ja) 2020-03-31 2023-02-22 西武建設株式会社 ドローン誘導方法およびその装置
JP2021160579A (ja) * 2020-03-31 2021-10-11 西武建設株式会社 ドローン誘導方法およびその装置
JP2021160580A (ja) * 2020-03-31 2021-10-11 西武建設株式会社 ドローン誘導方法およびその装置
JP2021187247A (ja) * 2020-05-28 2021-12-13 楽天グループ株式会社 飛行体
US12121826B2 (en) 2021-05-27 2024-10-22 Amax Group Usa, Llc Hand gesture controlled flying toy
USD1001009S1 (en) 2021-06-09 2023-10-10 Amax Group Usa, Llc Quadcopter
USD1003214S1 (en) 2021-06-09 2023-10-31 Amax Group Usa, Llc Quadcopter
CN113212732A (zh) * 2021-06-16 2021-08-06 桂林电子科技大学 一种用于管道监测的可伸缩折叠式无人机
USD1035787S1 (en) 2022-06-24 2024-07-16 Amax Group Usa, Llc Flying toy
CN116011163A (zh) * 2023-02-07 2023-04-25 江阴市千里马电工材料有限公司 基于水渠检测的双向电缆铺设需求解析系统
CN116011163B (zh) * 2023-02-07 2023-08-18 江阴市千里马电工材料有限公司 基于水渠检测的双向电缆铺设需求解析系统

Also Published As

Publication number Publication date
JPWO2017199940A1 (ja) 2019-05-23
JP6783303B2 (ja) 2020-11-11
JP2021011266A (ja) 2021-02-04
JP7019010B2 (ja) 2022-02-14

Similar Documents

Publication Publication Date Title
WO2017199940A1 (fr) Dispositif d'inspection pour paroi interne de conduit, et programme d'ordinateur
CN112098326B (zh) 针对桥梁病害的自动检测方法和系统
CN104568983B (zh) 基于主动式全景视觉的管道内部缺陷检测装置及方法
JP6937800B2 (ja) 管内調査用浮流装置、管内調査方法及び管内調査システム
KR100939529B1 (ko) 관로 내외면 동시 탐사 분석 시스템
US11796493B2 (en) System and method for identifying lithology based on images and XRF mineral inversion
US11619757B2 (en) Modular system for deployment and retrieval of marine survey nodes
JP2019077293A (ja) 無人航空機を用いた水文調査基地及び水文調査方法
US9857311B2 (en) Methods and systems for nondestructive testing with accurate position
EP3140679A1 (fr) Système capteur pour enregistrements sismiques
US20200049302A1 (en) Method and apparatus to detect flaws in metallic pipe
CN106226830A (zh) 一种海洋磁力探测方法及装置
US20150047420A1 (en) Method and System for Hydrocarbon Release Management
JP2008308916A (ja) 流路管内調査装置、流路管内調査装置を利用した管内調査方法、流路管内調査方法における未回収物の回収方法
US20100266156A1 (en) Optical sedimentation recorder
CN210243838U (zh) 用于无压输水隧洞的无人巡视装备
KR101060995B1 (ko) 배관 내 그림자를 이용한 랜드마크 인식방법에 기반한 배관탐사 로봇시스템
CN109358058B (zh) 管道状态检测系统和方法
Gotts et al. Development of a prototype autonomous inspection robot for offshore riser cables
KR102138126B1 (ko) 하수관로 탐사 시스템 및 방법
KR20140112243A (ko) 지하매설배관 오염 조사장치
KR102572904B1 (ko) 무인 항공기 및 검사 방법
Sharma et al. Benthic disturbance and impact experiments in the Central Indian Ocean Basin
JP2005134338A (ja) 海底観測システム
WO2022008271A1 (fr) Dispositif d'inspection pour inspecter un bâtiment ou une structure

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2018518300

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17799364

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 17799364

Country of ref document: EP

Kind code of ref document: A1