JP6636778B2 - Floating inspection device and inspection system equipped with it - Google Patents

Description

  The present invention relates to a levitation type inspection device that includes an unmanned levitation device and equipment such as a camera mounted thereon, and performs an inspection or the like of a bridge lower surface or the like that is difficult to inspect, and an inspection system including the levitation type inspection device. In particular, the present invention relates to a floating inspection device and an inspection system suitable for close visual inspection.

  Due to the recent revision of the Enforcement Regulations of the Road Law, approximately 700,000 road bridges nationwide are required to have a close visual inspection every five years based on a unified national standard. However, in municipalities, it is expected that reliable inspections will be difficult to carry out due to lack of budget, lack of people, and lack of technical skills. In view of such social conditions, in order to realize a society where the eradication of bridges that have not been inspected and the implementation of the specified inspection cycle are surely ensured, it is necessary to lower the bridges (the lower surface of the deck, the outer surface of the girder, It is desirable to develop an inspection system that supports close visual inspection work of the outer surface and the bearing.

  By the way, conventionally, as a device for inspecting a lower surface of a bridge, a device proposed by a predecessor company of the present applicant has been known (see Patent Document 1). This device inspects a long accessory such as a gas pipe on the lower surface of a bridge from an upper passage, and a trolley movable on the upper passage and a base protruding from the trolley and extending in a horizontal direction. An arm, a hanging arm supported by the tip of the base arm and extending vertically, a hanging arm elevating means provided on the trolley to elevate the hanging arm, and an intermediate part fixed to the lower end of the hanging arm A horizontal arm extending in the horizontal direction, a penetrating arm having a lower end fixed to the distal end of the horizontal arm and extending upward, and a television camera attached to the upper end of the penetrating arm via a swing means, The apparatus comprises a weight for maintaining the horizontal balance of the horizontal arm, and image display means provided on the cart and displaying an image taken by a television camera. Included Check, it can be performed accurately in a short period of time without the hassle of.

  In addition, it is conceivable to use an unmanned levitation equipped with a camera for inspecting a part away from the inspector. As such an unmanned levitation, for example, a drone (unmanned aerial vehicle) referred to in the Revised Aviation Law Among them, a multicopter in which a plurality of rotors levitate, fly, and stand still in the air is known (for example, see Patent Document 2). A multicopter is generally equipped with a microcomputer, GPS (Global Positioning System), 3-axis gyro, 3-axis accelerometer, etc., and is capable of autonomous flight. It can be remotely controlled by a control device such as a smartphone, and has a flight camera that captures the field of view in front and below, etc., and can send images of the field of view from the multicopter to the pilot's control device. At present, various types are commercially available at relatively low cost.

JP 2005-133471 A JP 2013-010499 A

  However, when the inventor of the present application examined the technology described in Patent Document 1, in this technology, the television camera was attached to the upper end portion of a entering arm supported via a hanging arm and a horizontal arm via a swing means. Therefore, it has been found that it is structurally difficult to position the position of the television camera with high accuracy with respect to the inspection site, and it is not suitable for use in close visual inspection work.

  For this reason, the inventor of the present application has examined the use of a multicopter as disclosed in Patent Document 2, etc., but the positioning accuracy during flight is not sufficient, and it is difficult to balance the aircraft depending on the mounting position of the inspection camera. It is not easy to perform inspection work at a predetermined position because it becomes difficult.Moreover, since the motor is driven by the mounted battery and the rotor is rotated, the flight time is limited by the capacity of the mounted battery and sufficient work is performed. It has been found that it is difficult to secure time, and it is not suitable for use in close visual inspection work as it is.

  Therefore, an object of the present invention is to provide a levitation type inspection device including an unmanned levitation machine equipped with a camera and suitable for close visual inspection, and an inspection system including the same.

The present invention advantageously solves the above-described problems, and the floating type inspection device of the present invention includes:
An unmanned flight module that levitates, flies, and stands still in the air by a plurality of rotors; A platform body having
A telescopic arm that is provided below the unmanned flight module of the platform fuselage and expands and contracts in the horizontal direction, and a camera module having an inspection camera provided at the tip of the telescopic arm,
With
The camera module is configured to retract the telescopic arm to bring the center of gravity of the camera module closer to the center of gravity of the platform body while the platform body is flying, flying, and standing still in the air, and the suction moving module of the platform body may The telescopic arm is extended while the object is being inspected, and the inspection camera is arranged at a close visual inspection position with respect to the inspection object.

In addition, the inspection system of the present invention
Said floating inspection device,
An inspection unit that receives data of an image captured by the inspection camera of the camera module from the floating inspection device and displays the image on a screen;
An inspection device position specifying unit that fixes a position with respect to the inspection target, measures a distance and a direction to the floating inspection device, and specifies and outputs a three-dimensional position of the floating inspection device from the measurement result;
It is characterized by having.

  In the levitation type inspection device of the present invention, the platform body performs levitation, flight and stationary in the air by an unmanned flying module as an unmanned levitation device by manual operation or automatic operation performed by a pilot or an inspector. In the meantime, the camera module retracts the telescoping arm to bring the center of gravity of the camera module closer to the center of gravity of the platform aircraft, thereby ensuring the stability of the platform aircraft. , While the platform body is sucking and moving to the inspection object with the suction moving module, and while sucking to the inspection object, the camera module extends the telescopic arm and moves the inspection camera to the close visual inspection position to the inspection object. Arranged to enable close visual inspection of inspection target using inspection camera That.

  When the close visual inspection operation is completed, the camera module secures the stability of the platform body by retracting the telescopic arm and bringing the center of gravity of the camera module closer to the center of gravity of the platform body, and the platform body is moved by the suction moving module. The robot is separated from the object to be inspected, and ascends, flies, and stops in the air by an unmanned flight module and returns to a predetermined return place by manual operation or automatic operation performed by a pilot or an inspector.

  Therefore, according to the floating inspection device of the present invention, the platform body is appropriately moved while being sucked to the inspection object by the suction moving module, the camera module extends the telescopic arm, and the inspection camera closely inspects the inspection object with the visual inspection. The inspection camera is located at a position that allows close visual inspection of the inspection target using an inspection camera. Equipped with an unmanned ascent device equipped with a camera, and the inspection camera can be positioned with high precision with respect to the inspection site so as to be suitable for close visual inspection, and a flight and suction transfer module with an unmanned flight module , The inspection part can be efficiently visually inspected in proximity.

  In the levitation type inspection device of the present invention, the unmanned flight module is based on own device information acquisition means including a three-axis acceleration sensor and a three-axis gyro, and at least acceleration and attitude information from the own device information acquisition means. A multicopter equipped with at least a microcomputer for controlling the position and attitude of the own device is preferable because it is commercially available, can be purchased relatively inexpensively, and can be easily flown. The multicopter is further equipped with a radio communication device, which can be remotely controlled by a radio control device by the communication function of the radio communication device, or has a flight camera for photographing the front and the top of the multicopter. It is more preferable to send an image of the field of view to a wired or wireless steering device manually operated by a pilot or the like because the levitation type inspection device can be more easily brought closer to the inspection site to be inspected.

Further, in the floating inspection device of the present invention, when the inspection object includes a structure made of concrete or the like, the suction transfer module may be a device that sucks the inspection object with a vacuum cup, but the inspection object is steel. When a structure made of steel such as a beam is provided, it is preferable that the structure be made to attract the object to be inspected with a magnet because a stable attracting force can be obtained. Although this magnet may be an electromagnet, it is more preferable to use a permanent magnet since an attraction force can be reliably obtained.

  Further, in the levitation type inspection device of the present invention, the platform body sandwiches the inspection object between a plurality of columnar members erected on the upper part of the unmanned flight module and moves in the approaching direction to each other, and It is preferable to have an airframe position adjusting mechanism for positioning the airframe at the center of the inspection object because the suction moving module can be surely sucked to the inspection object.

In the floating type inspection device of the present invention, if the camera module has at least a working means for inspection or repair in addition to the inspection camera , in addition to the close visual inspection, the camera module can use a hammer. This is preferable because repair work such as inspection of paint peeling due to impact or the like and application of paint or an adhesive can be performed.

  On the other hand, in the inspection system of the present invention, the inspection unit receives data of an image taken by the inspection camera of the camera module from the floating inspection device, displays the image on the screen, and displays the inspection device position specifying unit. Measures the distance and direction to the levitated inspection device with the position relative to the inspection object fixed, specifies the three-dimensional position of the levitated inspection device from the measurement results, and outputs it by, for example, displaying it on the screen of the inspection unit. I do.

  Therefore, according to the inspection system of the present invention, the inspection unit displays the image of the inspection camera of the camera module on the screen, and the inspection device position specifying unit is fixed to the inspection target and measured by the distance measuring device. The three-dimensional position of the floating inspection device that is adsorbed to the inspection target is specified and output with high accuracy from the distance and direction to the floating inspection device, so that the inspector can easily perform the close visual inspection work of the inspection object. It can be performed with high accuracy.

  In the inspection system of the present invention, the inspection device position specifying unit scans (scans) a space with, for example, an infrared laser radar device, and thereby a distance and a direction from the inspection device position specifying unit to the floating inspection device. However, if the distance and direction to the floating inspection device are measured from the images of the floating inspection device taken by at least two cameras by the principle of triangulation, the inspection device position identification It is preferable because the unit can be constructed relatively inexpensively, and it is more preferable that the camera is an infrared camera since the position of the floating inspection device can be specified even when the floating inspection device enters a dark place.

  Further, in the inspection system according to the present invention, the inspection device position specifying unit has an automatic tracking device that keeps the cameras directed to the floating inspection device based on images taken by the two cameras. This is preferable because the position of the floating inspection device can be specified continuously.

(A) and (b) are the top view and front view which show one Embodiment of the floating type inspection apparatus of this invention in the state where the camera module contracted the extendable arm. It is a front view showing the levitation type inspection device of the above-mentioned embodiment in the state where a camera module extended a telescopic arm. (A) and (b) are a perspective view and a side view showing an example of a suction moving module of the floating type inspection device of the above-mentioned embodiment together with a body position adjusting mechanism. It is a perspective view showing a floating type inspection device, an inspection unit, and an inspection device position specification unit in one embodiment of an inspection system of the present invention. It is a side view which shows the inspection apparatus position identification unit in the inspection system of the said embodiment in the state which extended the inner pole of the suspension pole. (A) And (b) is the perspective view and side view which show another example of the suction movement module of the floating type inspection device of the said embodiment with a machine body position adjustment mechanism. (A) and (b) are perspective views showing still another example of the suction moving module of the floating type inspection device of the embodiment in a state at the time of suction and a state at the time of separation, respectively. (A) and (b) are the top view and side view which show the suction transfer module of the said example.

  Hereinafter, embodiments of the present invention will be described in detail with reference to examples based on the drawings. Here, FIGS. 1A and 1B are a plan view and a front view showing an embodiment of a floating type inspection device of the present invention in a state where a telescopic arm is contracted by a camera module, and FIG. FIG. 3A is a front view showing the levitation type inspection device of the above-described embodiment with the telescopic arm extended, and FIGS. 3A and 3B are suction movements of the levitation type inspection device of the above-described embodiment. It is the perspective view and side view which show an example of a module with a fuselage position adjustment mechanism, and the code | symbol 1 in a figure shows a floating type inspection device.

  The levitation inspection apparatus 1 of this embodiment shown in FIGS. 1 to 3 includes a self-device information acquisition unit (not shown) including a three-axis acceleration sensor and a three-axis gyro, and acceleration and posture information from at least the self-device information acquisition unit. A microcomputer (not shown) that performs control to stabilize at least the position and attitude of the own device based on the surfacing, flying and stationary in the air, and the function of a wireless communication device (not shown) mounted together For example, an unmanned flight module 2 capable of manual radio control by a normal digital proportional type control device, and a bridge shown in FIG. Movement of the bridge girder G made of steel B by sucking on the lower surface of the lower flange F and separation of the bridge girder G from the lower surface of the lower flange F. And a telescopic arm 5 provided at the center of the lower part of the unmanned flight module 2 of the platform body 4, and a telescopic mast 6 at the tip of the telescopic arm 5. And a camera module 9 having an inspection camera 8 provided via a gimbal mechanism 7. Note that “vertical” and “horizontal” in the description of the camera module 9 mean “vertical” and “horizontal” when the platform body 4 is in a horizontal posture.

  As shown in FIGS. 1 and 2, the unmanned flight module 2 includes a plurality of even-numbered, in the figure, four rotors 2 a (FIG. 1A), each of which is rotationally driven by a plurality of motors (not shown) supplied by cables described later. In this case, the lift generated by each of the rotors is represented by a circle), the levitation and the suspension in the air are performed by balancing the lifts generated by each other, and the lift of the rotor 2a on the rear side in the flight direction is made larger than the lift of the rotor 2a on the front side. The attitude of the platform body 4 can be inclined in the flight direction so that the platform body 4 can fly in an arbitrary direction. By rotating half of the rotors 2a in opposite directions, the reaction of the rotation of the rotors 2a is mutually canceled. Thus, rotation of the platform body 4 can be prevented. Further, the unmanned flight module 2 has a substantially rectangular protective frame 2b that entirely surrounds and protects the rotors 2a, and emits light around the protective frame 2b with an LED therein, which will be described later. A plurality of spherical markers 2c, each of which is photographed by a camera for specifying the position of the inspection device, are attached. And a flight camera 2d for wirelessly transmitting the image to a screen display device attached to the control device and displaying the image on a screen of the screen display device. Note that the marker 2c may not emit light but only reflect.

  The suction transfer module 3 shown in FIG. 3 has a base plate 3a, and the base plate 3a is connected to the upper central portion of the unmanned flight module 2 via a plurality of connecting members 3b. , Two running wheels 3c and 3d are rotatably supported around axes parallel to each other, one running wheel 3c is rotationally driven by a servo motor 3e, and the other running wheel 3d can rotate freely. . As a result, as shown in FIG. 2, the suction moving module 3 abuts on the lower surface of the lower flange F of the steel bridge girder G of the bridge B to be inspected with the two traveling wheels 3c and 3d, and is driven by the servo motor 3e. The running of the traveling wheel 3c allows the vehicle to travel along the lower surface of the lower flange F thereof.

  A swing plate 3g having a permanent magnet 3f mounted thereon is swingably supported on the base plate 3a between the two traveling wheels 3c and 3d, and the swing plate 3g is interposed via a worm gear mechanism 3h. The other end of the oscillating plate 3g is coupled to one end of a wire 3k wound around a pulley 3j supported below the base plate 3a, The other end of the wire 3k is disposed below the base plate 3a, and is connected at one end to the other end of the auxiliary spring 31 hung on the base plate 3a. The lower surface of the lower flange F of the steel bridge girder G of the bridge B to be inspected against which the two running wheels 3c and 3d come into contact with the swing driving force of the motor 3i and the tensile force of the auxiliary spring 3l which assists the motor. From the lower surface of the bridge girder G A suction position apart or can swing between a substantially lower surface of leaves larger separations between the lower flange F so force do not span the lower surface of the lower flange F of the bridge girder G. In addition, a frame 3m is provided between the two running wheels 3c and 3d so as to surround the permanent magnet 3f, and the frame 3m extends in a direction perpendicular to the direction in which the two running wheels 3c and 3d are aligned. Two auxiliary wheels 3n are supported at a distance from each other, and these auxiliary wheels 3n prevent the suction transfer module 3 that has been magnetically attracted to the lower surface of the lower flange F of the bridge girder from falling on the lower surface of the lower flange F. Play a role in preventing.

  A body position adjusting mechanism 10 is further provided on the base plate 3a. The body position adjusting mechanism 10 is a guide rail 10a extending in a direction perpendicular to the direction in which the two running wheels 3c and 3d are aligned. Two slide plates 10b guided along the guide rails 10a and moved along the guide rails 10a, two columnar members 10c erected on the slide plates 10b, respectively. It has a drive pulley 10d arranged and formed with a plurality of circumferential grooves, guide pulleys 10e provided at both ends of the guide rail 10a, and a servomotor 10f for driving the drive pulley 10a to rotate. One end of two wires (not shown) is connected to each of the two slide plates 10b, and one wire is directly copied to the drive pulley 10d. After being wound around, the other end is fixed to the drive pulley 10d, and the other wire is wound around a guide pulley 10e closer to the slide plate 10b to which the one end is connected, and then stretched from there to the drive pulley 10d. After being passed over and wound around the drive pulley 10d a plurality of times, the other end is fixed to the drive pulley 10d.

  In the machine position adjusting mechanism 10, when the servo motor 10f rotates the driving pulley 10d in a predetermined direction, the two one wires whose one ends are respectively connected to the two slide plates 10b are connected to the driving pulley. At the same time as being wound around 10d, the other two wires, one ends of which are respectively connected to the two slide plates 10b, are drawn out from the drive pulley 10d, and the two slide plates 10b, and 2 When one of the columnar members 10c is moved along the guide rail 10a in the direction in which they approach each other, and the servo motor 10f rotates the drive pulley 10d in the opposite direction to the above, one ends are respectively connected to the two slide plates 10b. The other two wires are wound around the drive pulley 10d, and at the same time, one ends of the two wires are connected to the two slide plates 10b. Two said one wire went fed from the drive pulley 10d which, two sliding plate 10b and thus the two columnar members 10e is moved along the guide rail 10b to each other spaced direction. In FIG. 1, the two columnar members 10e are located farthest apart from each other, and the two columnar members 10e indicated by solid lines in FIG. 2 are located closest to each other. As a result, as shown by phantom lines in FIG. 2, for example, the platform body 4 approaches the lower surface of the lower flange F of the steel bridge girder G of the bridge B to be inspected, but the suction transfer module 3 still has the lower flange F When not adsorbed on the lower surface, the lower flange F of the steel bridge girder G of the bridge B to be inspected is sandwiched by the two columnar members 10e from both sides, and the platform body 4 is positioned at the center in the width direction of the lower flange F. Can be located.

  The telescopic arm 5 of the camera module 9 includes a first arm 5a whose base is supported to be able to turn horizontally at a lower portion of a center position in plan view, which is a center of gravity of the unmanned flight module 2 of the platform body 4, and a first arm 5a thereof. A servo motor 5b provided at the base of the arm 5a for horizontally turning the first arm 5a around a vertical axis C1 passing through the center position of the unmanned flight module 2; and allowing the base to be horizontally turned at the tip of the first arm 5a. It has a supported second arm 5c and a servomotor 5d provided at the tip of the first arm 5a and horizontally turning the second arm 5c around a vertical axis C2 passing through the tip.

  The telescoping mast 6 is formed of a multi-cylinder supported at the distal end of the second arm 5c via a support bracket 5e extending obliquely downward so as not to interfere with the platform body 4 in a shortened state. The mast main body 6a and a distal end portion coupled to the innermost cylinder of the mast main body 6a pass through the mast main body 6a, and are housed in an elastically deformable guide tube (not shown) made of resin and coming out of the lower end of the mast main body 6a. It also has an elastically deformable rack (not shown) made of resin and a servomotor 6b provided at the lower end of the mast main body 6a to drive a pinion that meshes with the rack.

  The gimbal mechanism 7 includes a servo motor 7a attached to the tip of the innermost cylinder of the mast main body 6a, and a servo motor 7a rotatably supported around a vertical axis offset with respect to the center axis of the mast main body 6a. , A first bracket 7b rotatably driven about the vertical axis, a servo motor 7c attached to the first bracket 7b, and a servo motor 7c rotatably supported by the first bracket 7b about a horizontal axis. And a second bracket (not shown) that is rotated around the horizontal axis. The inspection camera 8 is attached to the second bracket. The inspection camera 8 may have an illumination device such as an LED that emits illumination light to the front of the camera around the lens, for example. In addition, in place of or in addition to the inspection camera 8, a working tool for at least checking or repairing can be attached to the second bracket. Repair work such as peeling inspection, application of paint or adhesive, and spraying can be performed.

  In the levitation type inspection device 1 of this embodiment having the above-described configuration, the position and the attitude of the platform body 4 of the pilot below the steel bridge girder G of the bridge B to be inspected are visually observed and The platform body 4 ascends, flies, and stops in the air by radio control in which the pilot device is manually operated while checking the image of the flight camera 2d displayed on the screen display device attached to the pilot device. 2B, the camera module 9 retracts the telescopic arm 5 and the telescopic mast 6 to move the center of gravity of the camera module 9 to the platform body 4 as shown in FIG. Of the platform body 4 is secured by approaching the center of gravity of the platform, and when the platform body 4 approaches the lower flange F, the platform body 4 The worm body 4 is attracted to the lower surface of the lower flange F by the magnetic force of the permanent magnet 3f arranged at the attracting position of the attracting / moving module 3, and the extension of the lower flange F is caused by the two running wheels 3c, 3d of the attracting / moving module 3. The camera module 9 moves the telescopic arm 5 as shown in FIG. 2 while traveling along the lower surface of the lower flange F in the existing direction and while the platform body 4 is attracted to the lower surface of the lower flange F. The telescopic mast 6 is extended horizontally to dispose the telescopic mast 6 on the outside of the platform body 4 and the mast body 6a of the telescopic mast 6 is extended upward to connect the gimbal mechanism 7 and the inspection camera 8 to the bridge girder G of the bridge B to be inspected. The gimbal mechanism 7 changes the direction of the inspection camera 8 as appropriate, and the gimbal mechanism 7 appropriately changes the orientation of the inspection camera 8 so that the lower surface of the floor plate P and the bridge Aspect of G, the lower surface of the upper flange, to allow close visual inspection of the upper and lower surfaces and the like of the lower flange F.

  When the close visual inspection operation is completed, the camera module 9 shrinks the mast main body 6a of the telescopic mast 6 and contracts the telescopic arm 5 to bring the center of gravity of the camera module 9 closer to the center of gravity of the platform body 4. The platform body 4 is separated from the lower surface of the lower flange F of the bridge girder G by disposing the permanent magnets 3f of the attraction / moving module 3 at the separated position by the arrangement of the attracting / moving module 3, and the above-mentioned radio control performed by the pilot enables unmanned flight. The module 2 ascends, flies, and stops in the air, and returns to a predetermined return point on the bridge B, for example.

  Therefore, according to the levitation inspection apparatus 1 of this embodiment, the platform body 4 is appropriately moved while being suction-adsorbed to the lower surface of the lower flange F of the steel bridge girder G of the bridge B to be inspected by the suction movement module 3, The camera module 9 extends the telescoping arm 5 and the telescoping mast 6 to visually check the inspection camera 8 against the lower surface of the floor plate P of the bridge girder, the side surface of the bridge girder, the lower surface of the upper flange, the upper surface and the lower surface of the lower flange F, and the like. The gimbal mechanism 7 appropriately changes the direction of the inspection camera 8 and places the inspection camera 8 on the lower surface of the floor plate P of the bridge girder G, the side of the bridge girder G, the lower surface of the upper flange, and the lower flange F by the inspection camera 8. Since it enables close visual inspection work on the upper surface and lower surface, the inspection camera is used to inspect the inspection site such as the center of the lower surface away from the inspector of the bridge B to be inspected. An unmanned levitation machine equipped with the unmanned flying module 8 and the inspection camera 8 can be positioned with high accuracy with respect to the inspection site of the bridge B to be inspected so as to be suitable for close visual inspection. By the flight in 2 and the movement in the suction moving module 3, the inspection site can be efficiently visually inspected.

In addition, according to the levitation inspection device 1 of this embodiment, since the suction moving module 3 is attracted by the permanent magnet to the steel bridge girder G of the bridge B to be inspected, the steel bridge girder of the bridge B to be inspected. A stable suction force on the lower surface of the lower flange F of G can always be reliably obtained regardless of the power supply state to the platform body 4.

  Furthermore, according to the levitation type inspection device 1 of this embodiment, the platform body 4 is a bridge to be inspected between the plurality of columnar members 10c that are erected on the upper part of the unmanned flight module 2 and move in the approaching direction. B has a fuselage position adjusting mechanism 10 that sandwiches the lower flange F of the bridge girder G and positions the platform fuselage 4 at the center of the lower flange F, so that the suction transfer module 3 is removed from the lower surface of the lower flange F. Thus, it can be surely adsorbed on the lower surface without any problem.

  FIG. 4 is a perspective view showing a floating type inspection apparatus, an inspection unit, and an inspection apparatus position specifying unit together with a part of a bridge in one embodiment of the inspection system of the present invention, and FIG. It is a side view which shows the inspection apparatus position identification unit in the state where the inner pole of the suspension pole was extended, and the code | symbol B in the figure is a bridge to be inspected, G is the bridge girder of the bridge B, and F is the same as in the previous drawing. The lower flange of the bridge girder G is shown. Further, reference symbol P indicates a floor plate of the bridge B, E indicates a ground cover slightly elevated from a sidewalk of the side of the floor plate P, and H indicates a railing provided on the ground cover E.

  The inspection system according to this embodiment includes the floating inspection device 1 according to the above-described embodiment illustrated in FIGS. 1 to 3 and is disposed on a floor plate P of a bridge B to be inspected, for example, on a sidewalk. The inspection auxiliary device 12 connected to the levitation type inspection device 1 by the cable 11, the ground cover E slightly elevated from the sidewalk of the bridge B, and the inspection fixed to the rail H provided on the ground cover E And a device position specifying device 13.

  The inspection auxiliary device 12 is provided with a plurality of casters 12a at a lower part and a wheelbarrow-type device main body 12c provided with a grip 12b at a rear portion, and is mounted on the device main body 12c, and has arithmetic processing and image processing as described later. And a notebook-type personal computer 12d for displaying a screen on a display, for example. In the apparatus main body 12c, in addition to the personal computer 12d, the floating type inspection device 1 and the inspection device position specifying device 13, For a long time, for example, several days. The cable 11 supplies power from the battery to the floating inspection device 1 and also sends a command signal from the personal computer 12 d to the suction moving module 3, the camera module 9 and the body position adjustment mechanism 10 of the floating inspection device 1. The suction and transfer module 3, the camera module 9, and the body position adjustment mechanism 10 can be operated by wire, and the data of the image taken by the inspection camera 8 of the camera module 9 from the levitation type inspection device 1 can be transmitted by wire. The image is sent to the computer 12d, and the personal computer 12d receives the image and displays it on the screen of the display. Therefore, the personal computer 12d forms an inspection unit. The device body 12c may be equipped with another power source such as an engine-driven generator or a solar panel instead of or in addition to the large-capacity battery.

  The inspection device position specifying device 13 includes a U-shaped upper clamp 13a that is fixed to the column H by sandwiching the column H between a holding screw screwed to the rear plate and the front plate. The U-shaped lower clamp 13b fixed to the ground cover E by sandwiching the ground cover E between the combined holding screws and the front plate, the front end portions and the rear end portions are joined to each other, and Two guides that are horizontally supported by a guide member 13c on the clamp 13a so as to be able to move forward and backward, and that are fixed at the advance and retreat positions by presser screws provided on the guide member 13c and project from the floor plate of the bridge B to the side of the floor plate. The upper and lower end portions, the intermediate portions and the lower end portions are connected to each other, and the upper end portion is swung around the horizontal axis extending in the longitudinal direction of the floor plate of the bridge B by the distal end portion of the reciprocating boom 13d. Pivotally connected to the lower clamp 13b at an intermediate portion thereof so as to be swingable about a horizontal axis extending in the longitudinal direction of the floor plate of the bridge B by two turn-buckle-shaped first connecting rods 13e which can be extended and retracted. Two outer poles 13f extending in the vertical direction and connecting the lower clamp 13b to the front ends of the two reciprocating booms 13d and the rear plate of the upper clamp 13a, respectively. The second connecting rod 13g and the third connecting rod 13h, thereby adjusting the fixed position of the two reciprocating booms 13d to accurately move the two outer poles 13f in the vertical direction. It can be extended and fixed to the bridge B to be inspected.

  The inspection device position specifying device 13 is also housed in the two outer poles 13f so as to be able to move up and down, respectively, and has two lower ends connected to each other, and two rear poles 13i and two rear end booms 13d. A manual winch 13j which is mounted on a part and rotates the drum via a gear type speed reducer with a handle, and locks the drum at an arbitrary rotational position with a stopper engaged with the gear of the gear type speed reducer; A pulley 13k provided at the upper end of the outer pole 13f, and one end wound around the drum of the manual winch 13j, and an intermediate part wound around the pulley 13k, extending downward along the two outer poles 13f. And an inner pole lifting wire 131 connected to the lower end of the inner pole 13i at the other end, thereby removing the stopper of the manual winch 13j. By rotating the drum with the handle, the inner pole elevating wire 13l can be paid out to lower the two inner poles 13i, or the inner pole elevating wire 13l can be involved to raise the two inner poles 13i. .

  The inspection device position identification device 13 further includes two inspection device position identification cameras 16 supported at the lower ends of two inner poles 13i via a gimbal mechanism 14 and a support frame 15, and the gimbal mechanism Reference numeral 14 denotes a pan servomotor 14a fixed to the lower ends of the two inner poles 13i in a direction in which the output shaft extends in the vertical direction, and a pan servomotor 14a in a direction in which the output shaft extends in the horizontal direction. A tilting servomotor 14b fixed to an output shaft of the tilting servomotor 14b, and the support frame 15 extends in a vertical direction in a ladder shape, and a central portion thereof is connected to an output shaft of the tilting servomotor 14b. The two inspection device position identifying cameras 16 are fixed to the upper and lower ends of the support frame 15 so as to be directed below the floor plate of the bridge B to be inspected and the bridge girder G, respectively. Accordingly, by appropriately operating the pan servo motor 14a and the tilt servo motor 14b, the shooting directions of the two inspection apparatus position specifying cameras 16 are swung right and left (pan) vertically ( Tilt). Further, each of the two inspection device position identifying cameras 16 includes a camera body capable of capturing an infrared image as a moving image, and an illumination light disposed around a lens of the camera body and including infrared rays toward the front of the camera body. And a lighting device such as a high-brightness LED.

  The pan servo motor 14a and the tilt servo motor 14b of the gimbal mechanism 14 and the two inspection device position specifying cameras 16 are connected to the personal computer 12d by wire or wirelessly. It operates based on the program provided, and the inspector operates the operation keys of the keyboard, thereby appropriately operating the pan servomotor 14a and the tilt servomotor 14b to change the photographing direction of the inspection device position identifying camera 16 to the left and right. The plurality of markers 2c around the levitation type inspection device 1 adsorbed on the lower flange F of the bridge girder G can be swung up and down (panned) and tilted up and down so that the plurality of markers 2c are illuminated by the lighting device or inside the markers. In the state where the LED is turned on, the two inspection device position identifying cameras 16 emit infrared light. The three-dimensional position of each marker 2c and, consequently, the floating type inspection are calculated by the arithmetic processing based on the principle of triangulation from the difference in the position of the image of the same marker 2c photographed by the two inspection device position identifying cameras 16 on the screen. The position and orientation of the device 1 are determined with high accuracy, and displayed on the screen of the display together with the image of the inspection site photographed by the inspection camera 8 of the floating inspection device 1. Therefore, the personal computer 12d also constitutes an inspection device position specifying unit in combination with the inspection device position specifying device 13.

  In the inspection system of the present embodiment having the above-described configuration, the personal computer 12d is operated by an inspector who is on the floor plate of the bridge B to be inspected and communicates with a pilot under the bridge wirelessly or the like. By sending command signals to the suction moving module 3, the camera module 9 and the body position adjusting mechanism 10 by wire, when the levitation type inspection device 1 sufficiently approaches the lower flange F of the bridge girder G, the body position adjusting mechanism 10 is operated. The floating inspection device 1 is positioned at the center in the width direction of the lower flange F, and then the suction moving module 3 is operated to adsorb the floating inspection device 1 to the lower surface of the lower flange F and travel along the lower surface as appropriate. Then, the camera module 9 is operated to extend the telescopic arm 5 and the telescopic mast 6, and the gimbal mechanism 7 is operated. The inspection camera 8 arranged side of the lower surface and the bridge girder G floorboards P, the lower surface of the upper flange, the proximity visual inspection location with respect to the upper surface and the lower surface or the like of the lower flange F. Thereafter, the personal computer 12d receives the data of the image photographed by the inspection camera 8, displays the image on the screen of the display, and the inspection device position specifying device 13 fixes the position with respect to the bridge B to be inspected. Then, the floating inspection device 1 is photographed by the two inspection device position specifying cameras 16, and the personal computer 12 d uses the images of the inspection device position specifying cameras 16 to perform the floating inspection from the inspection device position specifying device 13. The distance and direction of the device 1 are measured, the three-dimensional position of the levitation inspection device 1 is specified from the measurement result, and the three-dimensional position is output by displaying it on the screen of a display.

  Therefore, according to the inspection system of this embodiment, the personal computer 12d constituting the inspection unit activates the suction moving module 3, the camera module 9 and the body position adjusting mechanism 10 in a wired manner, and the floor plate P of the bridge B to be inspected. Inspection sites such as the lower surface of the bridge, the side surface of the bridge girder, the lower surface of the upper flange, the upper surface and the lower surface of the lower flange F can be photographed by the inspection camera 8 of the camera module 9, and an image of the inspection region photographed by the inspection camera 8 Is displayed on the screen, and the inspection device position identification device 13 and the personal computer 12d constituting the inspection device position identification unit are measured based on images from the two inspection device position identification cameras 16 as distance measuring devices. 3D position of the floating inspection device 1 adsorbed on the bridge B from the distance and direction of the floating inspection device 1 The so identifies and outputs with high accuracy can be inspector performed easily and highly accurately close visual inspection of the inspection target.

  Moreover, according to the inspection system of this embodiment, the distance and direction of the floating inspection device 1 are determined by the personal computer 12d from the images of the floating inspection device 1 taken by the two inspection device position specifying cameras 16 based on the principle of triangulation. , The inspection device position specifying unit can be constructed relatively inexpensively, and since the inspection device position specifying camera 16 is an infrared camera, the floating type inspection device 1 can be used in a dark place. Even if it enters, the position of the floating type inspection device 1 can be specified.

  Further, according to the inspection system of this embodiment, the inspection auxiliary device 12 supplies power to the levitation type inspection device 1 via the cable 11, transmits a command signal, and photographs with the inspection camera 8 from the levitation type inspection device 1. Since the image data is received, the restriction of the inspection time due to the capacity of the battery mounted on the levitation type inspection apparatus 1 is substantially eliminated, and the transmission and reception of signals are stably performed without being disturbed by noise or the like. You can do.

  Note that, as in the above embodiment, the personal computer 12d measures the distance and direction of the floating type inspection device 1 based on the principle of triangulation from the images of the floating type inspection device 1 taken by the two inspection device position specifying cameras 16 as in the above embodiment. Instead of scanning, for example, the infrared laser radar device scans (scans) a certain range of space where the levitation type inspection device 1 flies with the infrared laser, the distance and direction of the levitation type inspection device 1 from the infrared laser radar device. May be requested.

  FIGS. 6A and 6B are a perspective view and a side view showing another example of the suction transfer module of the floating type inspection device of the above-described embodiment together with the body position adjustment mechanism. Since differences from the embodiment are mainly described, the same parts as those in the previous embodiment are denoted by the same reference numerals.

  In the suction moving module 3 of this example, three traveling wheels 3c and 3d are supported on a base plate 3a so as to be rotatable around axes parallel to each other, and two traveling wheels 3c on the same axis are two Each is driven to rotate by a servomotor 3e, and one traveling wheel 3d on another axis can rotate freely. As a result, the suction moving module 3 is brought into contact with the lower surface of the lower flange F of the steel bridge girder G of the bridge B to be inspected by the three traveling wheels 3c and 3d, and the two traveling by the two servomotors 3e. By independent rotation of the wheel 3c, it is possible to travel while adjusting the traveling direction along the extending direction of the lower surface of the lower flange F thereof.

  On the base plate 3a, two permanent magnets 3f are fixedly mounted between the three running wheels 3c and 3d, and an L-shaped bell crank 3o is mounted at a position adjacent to the permanent magnets 3f. The push-off roller 3p is swingably supported through the bell-crank 3o, and one end of the bell-crank 3o is driven to swing by a servomotor 3i, so that the permanent magnet 3f causes the servo-motor 3i to be pushed-off via the bell-crank 3o. Is retracted from the lower surface of the lower flange F of the steel bridge girder G of the bridge B to be inspected, with which the three running wheels 3c and 3d abut, the lower surface of the lower flange F is attracted by the magnetic force of the permanent magnet 3f. Then, the suction moving module 3 is held on the lower surface of the lower flange F, and the servo motor 3i pushes the pushing roller 3p through the bell crank 3o, as shown in FIG. When the lower surface of the lower flange F of the bridge G is protruded from the lower surface of the lower bridge F with the release rollers 3p, the magnetic force of the permanent magnet 3f is applied to the lower surface of the lower flange F of the bridge girder G. Substantially no longer.

  FIGS. 7 (a) and 7 (b) are perspective views showing still another example of the suction transfer module of the floating inspection device of the above embodiment in a state at the time of suction and a state at the time of separation, respectively, and FIG. FIGS. 8A and 8B are a plan view and a side view showing the suction transfer module of the above example. Here, differences from the previous embodiment will be mainly described. Similar parts are denoted by the same reference numerals.

  In the suction moving module 3 of this example, four running wheels 3c and 3d are supported on a base plate 3a so as to be rotatable around axes parallel to each other, and two running wheels 3c on the same axis are two Each of the two traveling wheels 3d on the same axis is rotationally driven by a servomotor 3e, and is rotationally driven by being coupled to the two traveling wheels 3c by a belt transmission mechanism. As a result, the suction moving module 3 is brought into contact with the lower surface of the lower flange F of the steel bridge girder G of the bridge B to be inspected by the four running wheels 3c and 3d, and the four running by the two servomotors 3e. The wheels 3c and 3d can run while adjusting the running direction along the extending direction of the lower surface of the lower flange F by independent rotational driving of the left and right wheels 3c and 3d.

  On the base plate 3a, four permanent magnets 3f are fixedly mounted between the four traveling wheels 3c and 3d, and two right and left auxiliary wheels 3n surround the four permanent magnets 3f. Is provided, and a central portion of the frame 3m is swingably supported by the base plate 3a, and an extruding roller 3p is provided at one end of the frame 3m. The servo motor 3i is oscillated and driven by the servo motor 3i via the mechanism 3q, whereby the permanent magnet 3f causes the servo motor 3i to push out the roller 3p via the belt transmission type speed reducing mechanism 3q and the steel bridge girder G of the bridge B to be inspected. Of the lower flange F, the lower surface of the lower flange F is attracted by the magnetic force of the permanent magnet 3f when it is retracted from the lower surface with which the four running wheels 3c and 3d abut. 3 is held on the lower surface of the lower flange F, and the servo motor 3i pushes the release roller 3p through the belt transmission type reduction mechanism 3q, as shown in FIGS. 7 (b) and 8 (b). When the lower surface of the lower flange F is protruded with the release rollers 3p, the magnetic force of the permanent magnet 3f is substantially applied to the lower surface of the lower flange F of the bridge girder G. Is beyond reach.

  As described above, the present invention has been described based on the illustrated examples. However, the present invention is not limited to the above-described examples, and may be appropriately changed within the scope of the claims. The flight module 2 teaches an on-board microcomputer of the flight path to the vicinity of the inspection target to be inspected and the suction / separation operation to the vicinity of the inspection target, thereby performing autonomous flight without manual operation by the operator. It may be configured to perform adsorption to an object and return separately from an inspection object.

  The personal computer 12d of the inspection assisting device 12 performs image processing such as pattern matching on the image from the inspection device position identifying camera 16 and recognizes the floating inspection device 1 in the image, thereby providing a gimbal mechanism. 14 is operated as appropriate to continuously direct the inspection device position specifying camera 16 toward the levitation type inspection device 1, automatically track the levitation type inspection device 1, and continuously determine the three-dimensional position of the levitation type inspection device 1. Is also good.

  Further, when the inspection work can be sufficiently performed by the battery mounted on the floating type inspection device 1, the cable 11 connecting the inspection auxiliary device 12 and the floating type inspection device 1 may be omitted. In that case, the personal computer 12d The transmission and reception of the command signal between the suction movement module 3, the camera module 9 and the body position adjusting mechanism 10, and the transmission and reception of the image signal between the inspection camera 8 and the personal computer 12d may be performed wirelessly. good. Further, at least one of the suction moving module 3, the camera module 9, and the body position adjusting mechanism 10 may be operated wirelessly by the pilot by the pilot.

  Thus, according to the levitation type inspection device of the present invention, the platform body is appropriately moved while being sucked to the inspection target by the suction moving module, and the camera module extends the telescopic arm to move the inspection camera to the inspection target with respect to the inspection target. The inspection camera is located at a position that allows close inspection of the inspection target with the inspection camera. Equipped with an unmanned levitation machine equipped with a rocket, and its inspection camera can be positioned with high accuracy with respect to the inspection target so as to be suitable for close visual inspection. , The inspection site can be efficiently visually inspected in proximity.

  According to the inspection system of the present invention, since the inspection unit supplies at least power to the levitation type inspection device via the electric cable, the flight time of the levitation type inspection device is substantially eliminated, and sufficient operation time is secured. The inspection unit displays an image of the inspection camera of the camera module on a screen, and the inspection device locating unit detects the distance to the floating inspection device measured by at least two distance measuring devices. Since the three-dimensional position of the floating type inspection device that is adsorbed on the inspection target, which is specified with high accuracy from the inspection target, is displayed, the inspector can easily and precisely perform the close visual inspection work on the inspection target, and Since the electric cable connects the inspection unit and the levitation type inspection device, the levitation type inspection device itself and the surrounding environment due to an unexpected drop It is possible to prevent scratches.

Reference Signs List 1 floating type inspection device 2 unmanned flight module 2a rotor 2b protective frame 2c marker 2d flight camera 3 suction moving module 3a base plate 3b connecting material 3c, 3d running wheel 3e, 3i servo motor 3f permanent magnet 3g rocking plate 3h worm gear Mechanism 3j Pulley
3k wire 3l auxiliary spring 3m frame 3n auxiliary wheel 3o bell crank 3p push-off roller 3q belt transmission type deceleration mechanism 4 platform body 5 telescopic arm 5a first arm 5b, 5d servo motor 5c second arm 5e support bracket 6 telescopic mast 6a Mast body 6b Servo motor 7 Gimbal mechanism 7a, 7c Servo motor 7b First bracket 8 Inspection camera 9 Camera module 10 Body position adjusting mechanism 10a Guide rail 10b Slide plate 10c Columnar member 10d Drive pulley 10e Guide pulley 10f Servo motor 11 Cable 12 Inspection auxiliary device 12a Casters 12b Grip 12c Device body 12d Personal computer 13 Inspection device position specifying device 13a Upper clamp 13b Lower clamp 13c Guide member 13d Reciprocating boom 13e First connecting rod 13f Outer pole 13g Second connecting rod 13h Third connecting rod 13i Inner pole 13j Manual winch 13k Pulley 13l Inner pole lifting wire 14 Gimbal mechanism 14a Pan servo motor 14b Tilt servo Motor 15 Support frame 16 Inspection device position specifying camera B Bridge E Ground cover F Lower flange G Bridge girder H Rail P Floor plate

Claims (9)

An unmanned flight module that levitates, flies, and stands still in the air by a plurality of rotors; A platform body having
A telescopic arm that is provided below the unmanned flight module of the platform fuselage and expands and contracts in the horizontal direction, and a camera module having an inspection camera provided at the tip of the telescopic arm,
With
The camera module is configured to retract the telescopic arm to bring the center of gravity of the camera module closer to the center of gravity of the platform body while the platform body is flying, flying, and standing still in the air, and the suction moving module of the platform body may A floating type inspection apparatus characterized in that the telescopic arm is extended and the inspection camera is arranged at a close visual inspection position with respect to the inspection object while the telescopic arm is being attracted to the inspection object.   The unmanned flight module performs self-machine information acquisition means including a three-axis acceleration sensor and a three-axis gyro, and controls to stabilize at least the position and posture of the self-machine based on acceleration and posture information from at least the self-machine information acquisition means. The floating inspection device according to claim 1, wherein the inspection device is a multicopter equipped with a microcomputer for performing the inspection. The levitation type inspection device according to claim 1, wherein the suction moving module is a device that attracts the inspection target with a magnet.   The platform airframe is configured to sandwich the inspection target between a plurality of columnar members that are erected on the upper part of the unmanned flight module and move in the approaching direction to each other, and position the platform airframe at a central portion of the inspection target. The levitation inspection device according to any one of claims 1 to 3, further comprising a position adjustment mechanism. The levitation inspection apparatus according to any one of claims 1 to 4, wherein the camera module has at least an operation unit for inspection or repair in addition to the inspection camera. A levitation inspection device according to any one of claims 1 to 5,
An inspection unit that receives data of an image captured by the inspection camera of the camera module from the floating inspection device and displays the image on a screen;
An inspection device position specifying unit that fixes a position with respect to the inspection target, measures a distance and a direction to the floating inspection device, and specifies and outputs a three-dimensional position of the floating inspection device from the measurement result;
An inspection system characterized by comprising:   The inspection device position specifying unit measures a distance and a direction with respect to the floating inspection device based on a principle of triangulation from images of the floating inspection device captured by at least two cameras. Inspection system as described. The inspection system according to claim 7 , wherein the two cameras are infrared cameras.   9. The inspection device position specifying unit according to claim 7, further comprising an automatic tracking device that keeps pointing the cameras at the floating inspection device based on images taken by the two cameras. Inspection system as described.

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