JP6733925B2 - Inspection method using unmanned small air vehicle and unmanned small air vehicle used for the inspection method - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection method using an unmanned small air vehicle for inspecting the inside of a structure by flying an unmanned small air vehicle in an internal space such as a chimney or a furnace, and an unmanned small air vehicle used for the inspection method.

Conventionally, inspection of the inner walls of high chimneys, incinerators, etc. has used gondola and balloons.However, such inspection work requires labor and time, as well as equipment preparation and inspection. Since it takes a lot of labor and time to remove it, the inspection work cost becomes high and the inspection work also takes days.

On the other hand, in recent years, unmanned small air vehicles called drones and multicopters with multiple propellers have become available at low cost, and it is possible to perform inspections and measurements by wirelessly operating unmanned small air vehicles equipped with cameras and measuring instruments. Labor has begun to be reduced.

For example, in Patent Document 1, "In the inspection of the inside of a boiler or the inside of a structure such as a chimney, radio waves from a satellite do not reach, so the flight position cannot be grasped by GPS, and stable operation cannot be performed. In view of this, there is a problem that it is not possible to apply the inspection technology using a machine" (paragraph [0005] of Patent Document 1), "unmanned with reliable positional information inside structures such as a boiler furnace and a chimney. It is possible to carry out inspections by means of, for example, a large reduction in labor, cost and inspection period by eliminating the need for scaffolding construction" (paragraph [0026] of Patent Document 1). Indoor surveillance systems have been proposed.

JP, 2016-15628, A

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

That is, the indoor monitoring system described in Patent Document 1 is based on the premise that an unmanned levitation machine to which dedicated equipment and software are added is prepared, and does not easily realize the inspection of the inside of the structure. ..

The present invention solves the above-mentioned conventional problems and uses an unmanned small-sized air vehicle capable of inspecting the inside of a structure while easily realizing stable flight in the internal space of the structure. It is an object of the present invention to provide a conventional inspection method and an unmanned small air vehicle used for the inspection method.

In order to achieve the above object, an inspection method using an unmanned small flying vehicle of the present invention is an unmanned small flying vehicle that inspects the inside of a structure by flying the unmanned small flying vehicle in the internal space of the structure. The inspection method used, wherein the unmanned aerial vehicle is provided with a guide for guiding the aircraft along a linear body, and the linear body is installed in the internal space in an extended state, and the guide is installed. According to, the inside of the structure is inspected while the unmanned small-sized air vehicle is flying along the linear body.

According to this configuration, the unmanned aerial vehicle flies along the linear body, so that the flight course is physically limited and a constant distance is maintained between the flight path and the inner wall. This makes it possible to prevent contact with the inner wall and enable stable flight even in the internal space of the structure, which is a non-GPS environment. In addition, the structure of the unmanned small air vehicle does not differ from general-purpose products in particular, it is not necessary to add special equipment or software, and no large-scale equipment is required for the installation of linear objects. .. That is, in the present invention, it is possible to easily realize stable flight of an unmanned small air vehicle and inspection by the unmanned small air vehicle even in the internal space of the structure, and reduce the labor and time for preparation of equipment and removal after inspection. Therefore, it is possible to inspect the inside of the structure with a small number of workers and in a short time.

In the inspection method using the unmanned aerial vehicle of the present invention, the unmanned aerial vehicle is provided with a pressing member for pressing the linear body, and the frictional force by pressing the linear body with the pressing member. Therefore, it is preferable to reduce the flight speed of the unmanned aerial vehicle. According to this configuration, when the descent speed of the unmanned small-sized air vehicle suddenly increases, the descent speed of the unmanned small-sized air vehicle can be reduced, so that the unmanned small-sized air vehicle can be prevented from falling.

An unmanned aerial vehicle of the present invention is an unmanned aerial vehicle used in an inspection method using the unmanned aerial vehicle of the present invention, and is provided with a guide for guiding the airframe along the linear body. It is characterized by being

Another unmanned aerial vehicle of the present invention is an unmanned aerial vehicle used in a preferred inspection method using the unmanned aerial vehicle of the present invention, wherein a pressing member for pressing the linear body is provided. Characterize.

The effects of the present invention are as described above, and in summary, it is possible to easily and stably perform flight of an unmanned small air vehicle and inspection by the unmanned small air vehicle in the internal space of the structure, and to prepare for equipment and after inspection. The labor and time required for removal are reduced, and it is possible to inspect the inside of the structure with a small number of workers and in a short time.

1 is an external perspective view of an unmanned aerial vehicle according to an embodiment of the present invention. FIG. 3 is a schematic diagram showing a state of inspection by an unmanned aerial vehicle according to an embodiment of the present invention. 1 is an external perspective view of an unmanned small air vehicle according to an embodiment of the present invention during inspection. 3 is a flowchart showing a step of advance preparation according to the embodiment of the present invention. FIG. 3 is a schematic view showing the vicinity of the top of the chimney in the embodiment of the present invention. In one embodiment of the present invention, a flow chart showing the steps of inspection setup and chimney inspection. FIG. 3 is a schematic diagram showing a lower portion of a chimney in one embodiment of the present invention. The principal part enlarged view of the unmanned small air vehicle which concerns on another embodiment of this invention.

The present invention relates to an inspection using an unmanned aerial vehicle. The unmanned aerial vehicle is an unmanned aerial vehicle called a drone or a multicopter, and flies by remote control by radio control, for example. The inspection according to the present invention involves inspecting the inside of a structure by flying an unmanned small air vehicle in the internal space of a structure such as a large furnace or chimney in a factory or a refuse incinerator, and the like. Is not particularly limited. The inspection is, for example, photographing by a camera, but is not limited to this, and includes measurement by a measuring device.

The inspection according to the present invention is suitable for inspection in a non-GPS (GLOBAL POSITIONING SYSTEM) environment in which radio waves from satellites cannot be received, and the internal space of a structure for flying an unmanned small air vehicle is a large furnace or a chimney. Not only the interior space of the structure that extends in the vertical direction, but also the interior space of large-diameter pipelines, tunnels, tunnels, underground passages, sewer pipes, etc. that extend in the horizontal and diagonal directions, inside the subway station, It may be an internal space of a building such as an underground mall, an underground facility, or a large dome facility.

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

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an external perspective view of an unmanned aerial vehicle 1 according to an embodiment of the present invention. The main body 2 is arranged in the central portion, and the propeller 4 is attached to the four arms 3 constituting the main body 2. A propeller guard 5 is provided at the end of each arm 3 to prevent the propeller 4 from contacting the wall surface.

A leg 6 and a camera 7 are attached to the lower portion of the main body 2. The camera 7 is for photographing the inspection object. Although not shown, the main body 2 incorporates a receiver, a motor, a flight controller, a battery, and various sensors. When the operator operates the transmitter 11, a command such as ascending/descending is issued to the receiver, and this command is sent to the flight controller via the receiver, processed together with information from various sensors, and the rotation of the propeller 4 is rotated. The number is determined.

The configuration of the unmanned small flying vehicle 1 is not particularly different from that of a general-purpose product, and the unmanned small flying vehicle 1 is not limited to the above-mentioned configuration, and may be any one that can be remotely controlled. The unmanned aerial vehicle 1 is different from a general-purpose product in that a guide 8 is provided. Hereinafter, in the present embodiment, for convenience of description, a main part including the main body 2 of the unmanned small flying vehicle 1 is referred to as an airframe 10.

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

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

The unmanned small-sized aircraft 1 is guided along the linear body by inserting the linear body through the guide 8. Therefore, as will be described later in detail, the unmanned small-sized aircraft 1 stably flies. Therefore, the inspection work by the unmanned small air vehicle 1 becomes easy. Hereinafter, a specific description will be given with reference to FIGS.

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

FIG. 3 shows an enlarged view of the vicinity of the unmanned small air vehicle 1 inside the chimney 20. A guide wire 23 is inserted through the guide 8 of the unmanned small air vehicle 1. As a result, in FIG. 2, the unmanned aerial vehicle 1 can fly along the guide wire 23. The unmanned aerial vehicle 1 can be inspected by taking an image of the inside of the chimney 20 with the camera 7 while flying along the guide wire 23. In the example of FIG. 2, the inspection target is the lining (surface treatment) of the inner wall of the chimney 20. The object to be inspected is not limited to the inner wall, but the entire inside of the structure is an object, for example, the manhole and the thermometer provided on the inner wall are also inspected.

Hereinafter, the inspection by the unmanned small air vehicle 1 will be described in the order of steps. FIG. 4 is a flow chart showing the steps of advance preparation, and FIG. 5 is a schematic view showing the vicinity of the top of the chimney 20. First, materials and equipment are unloaded on the top of the chimney 20 (step 100 in FIG. 4). As shown in FIG. 5, a stage 26 is provided so as to surround the chimney 20, and materials and equipment can be unloaded on the stage 26, and a worker can perform preparatory work on the stage 26.

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

FIG. 6 is a flowchart showing the steps of the inspection setup and the inspection inside the chimney, and FIG. 7 is a schematic view showing the lower part of the chimney 20. In the preparatory process, the guide wire 23 is hung inside the chimney 20, and the unmanned aerial vehicle 1 is attached to the guide wire 23 (step 104 in FIG. 6). This attachment is performed by inserting the guide wire 23 into the guide 8 as shown in FIG.

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

Through the steps up to this point, the inspection setup is completed, and the unmanned aerial vehicle 1 is ready to fly. In this state, the pilot 30 in the temporary bite scaffold 31 operates the transmitter 11 to fly the unmanned small air vehicle 1 (step 106 in FIG. 6). At this time, the unmanned aerial vehicle 1 flies along the guide wire 23.

In FIG. 7, the pilot 30 operates the transmitter 11 while flying the unmanned aerial vehicle 1 to photograph the inside of the chimney 20 with the camera 7 of the unmanned aerial vehicle 1 (step 107 in FIG. 6 ). In this embodiment, the camera 7 is a high-sensitivity camera capable of shooting even in a dark place. The unmanned aerial vehicle 1 may be equipped with a 360° camera separately from the cameras 7 and 1. In this case, it is possible to perform a pre-inspection by photographing the entire view of the chimney 20 with a 360° camera before photographing with the camera 7.

As described above, the unmanned aerial vehicle 1 can be remotely controlled using the transmitter 11, but if the descending speed suddenly increases, there is a risk of falling. Therefore, it is desirable to provide the unmanned aerial vehicle 1 with a braking mechanism. FIG. 8 shows an enlarged view of a main part of the unmanned aerial vehicle 12 according to another embodiment of the present invention. The unmanned small air vehicle 12 has a braking mechanism 40 attached to the main body 13. A servo mechanism 44 is attached to a base body 45 that constitutes the braking mechanism 40. A cam 41 integrated with a braking pin 42, which is a pressing member, is attached to a rotary shaft (not shown) of a motor incorporated in the servo mechanism 44.

When the operator confirms that the descending speed has suddenly increased on the monitor of the transmitter 11, the operator operates the transmitter 11 to drive the braking mechanism 40. When the braking mechanism 40 is driven, the cam 41 rotates, the guide wire 23 is sandwiched between the braking pin 42 and the wall surface 43 of the base body 45, the descending speed of the unmanned aerial vehicle 12 is reduced, and the unmanned aerial vehicle 12 is reduced. Can be prevented from falling.

The braking mechanism 40 shown in FIG. 8 is an example, and any mechanism may be used as long as it decelerates the flight speed of the unmanned small air vehicle by the frictional force caused by pressing the linear body with the pressing member. For example, a mechanism in which the pressing member moves linearly may be configured so that the pressing member is advanced to sandwich the linear body between the wall surface and the wall surface, and the frictional force is applied to the linear body.

Hereinafter, the present embodiment will be described more specifically while listing the effects. Since the unmanned aerial vehicle 1 flies along the guide wire 23, the flight course is physically limited and a certain distance is maintained between the unmanned aerial vehicle 1 and the inner wall. This makes it possible to prevent contact with the inner wall and enable stable flight even in the internal space of the structure, which is a non-GPS environment.

More specifically, normally, the flight of the unmanned small flying vehicle 1 requires the operation of flying the aircraft 10 in three dimensions, and the operation in a narrow space requires a finer operation. In the embodiment, since the unmanned aerial vehicle 1 flies along the guide wire 23, maneuvering to fly in one direction is sufficient and maneuvering becomes easy.

Further, when the unmanned small flying vehicle 1 is flown in a narrow space such as a chimney, the airframe 10 itself is affected by wind generated by the airframe 10, and the airframe 10 moves back and forth and left and right according to the law of inertia. In the present embodiment, since the unmanned aerial vehicle 1 flies along the guide wire 23, the guide wire 23 restricts the movement in the front-rear direction and the left-right direction, so that the airframe 10 can be stably flown.

Further, in the present embodiment, for example, the guide wire 23 is installed near the center of the chimney 20 in FIG. 2, but since the guide wire 23 can be installed arbitrarily at a position where there is no interference, it is necessary to avoid internal structures. Even when it is necessary to take an image close to the wall surface, it is possible to easily adjust the distance between the machine body and the internal structure or the wall surface by appropriately changing the installation position of the guide wire 23.

Although the effects of the present invention have been described above, as described above, the configuration of the unmanned small air vehicle 1 does not differ from a general-purpose product in particular, and it is not necessary to add special equipment or software to the guide wire. The installation of 23 does not require large-scale equipment. That is, according to the present invention, stable and stable flight of an unmanned small air vehicle and inspection by the unmanned small air vehicle can be realized, and labor and time for preparation of equipment and removal after inspection can be reduced, so that the number of workers and short The inside of the structure can be inspected in time.

1,12 Unmanned small flying vehicle 7 Camera 8 Guide 10 Aircraft body 11 Transmitter 20 Chimney 23 Guide wire (linear body)
40 braking mechanism 42 braking pin (pressing member)

Claims (3)

A method of inspecting an unmanned small air vehicle for inspecting the inside of a structure by flying an unmanned small air vehicle in the internal space of a structure,
The unmanned small air vehicle is provided with a guide for guiding the airframe along the linear body,
The linear body is installed in an extended state in the internal space,
While flying the unmanned aerial vehicle along the linear body by the guide, inspect the inside of the structure,
Attach the lever to the top of the structure, fix the fixing wire to the lever,
An inspection method using an unmanned small flight vehicle, characterized in that the linear body is fixed to an end of the fixing wire via a shackle. The inspection method using the unmanned aerial vehicle according to claim 1, wherein the top of the structure is covered with a net. The unmanned small-sized air vehicle is provided with a pressing member for pressing the linear body, and the flight speed of the unmanned small-sized air vehicle is reduced by a frictional force generated by pressing the linear body by the pressing member. Or, an inspection method using the unmanned aerial vehicle described in 2.

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