JP2014227166A - Flying body type visual inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flying body capable of having countermeasures against collision with an obstacle, reducing damage upon falling, and improving safety of a third party.SOLUTION: A flying body type visual inspection device is constituted by a plurality of propellers and motors, a main controller 30 for controlling the propellers and motors, an auxiliary controller 32, a storage battery for power source, a collision prevention guide (cover), a remote controlled gimbal, a camera for visual inspection, a wireless unit for images, and a supporting frame therefor. A distance measuring unit 31 automatically measures the position to an inspection object, and when the distance is within a predetermined range, the control function of the auxiliary controller automatically adjusts the output power of each rotor before the flying body collides so as to avoid collision by moving the flying body in a vertical direction and moving the flying body horizontally by tilting. Moreover, when the collision avoidance is too late and a collision occurs, the collision prevention guide (cover) equipped around each rotor protects the propellers to prevent sudden falling and to improve safety upon collision with a third party.

Description

The present invention is equipped with a device for acquiring a camera image from a remote location by remotely operating a bridge, a tunnel, a dam, etc., and recording / storing a moving image or a still image on the mounted camera, and visually checking with a camera or a monitor. The present invention relates to a flying type inspection apparatus having a function.

In recent years, the development of a small vehicle that can be remotely controlled using a radio control is progressing. In particular, the development of a small and lightweight battery makes it possible to automatically fly by stable remote operation by extending the hover time of an electric radio-controlled flying vehicle and by developing attitude control technology using a microcomputer or the like.

The posture maintenance function of the multi-rotor type small air vehicle enables stable hovering by improving the performance of an electronic gyro, an acceleration sensor, and the like.

In recent years, small aircraft using radio-controlled vehicles can hold vertical and horizontal positions by improving automatic flight technology using GPS position information, and some devices have a function of resisting movement due to crosswinds. In addition, it is possible to specify a movement route by automatic flight.

In order to realize automatic flight in such an automatic flight type robot, a self-position / posture estimation function that recognizes the current position and posture of the robot is indispensable. For example, the automatic flight type robot detects the surrounding state, A method has been proposed in which a self-position is estimated based on the data and a map is generated at the same time. This method is a technique called SLAM (Simultaneous Localization and Mapping), and since the robot can estimate its own position while generating a map, it has a feature of automatically flying.

JP-A-9-251600

JP 2009-297449 A

Up to now, it has been difficult to visually inspect large rivers and mountainous bridges, bridges with complex structures, and wide bridges. In particular, the conventional bridge inspection vehicle has a large road occupancy width and requires traffic regulation, which is an obstacle to road traffic. In addition, there were problems with the safety of the inspector and installation costs when installing the scaffolding. Furthermore, there are some places where it is difficult to apply the visual inspection under the girders of wide bridges due to the lack of bridge inspection arm. Also, in the visual inspection of the wall surface of a large structure such as a dam, the conventional method has a problem of safety and cost in case of rope access.

When using a remote-controlled small aircraft (multi-rotor aircraft) utilizing conventional radio-controlled technology for visual inspection of structures, etc., the operability and the stability of the aircraft are greatly reduced depending on the conditions of use. . For example, it is difficult to receive GPS directly on the underside of the bridge, and the altitude and horizontal position of the flying object cannot be specified. This reduces the function of preventing lateral movement during hovering. Also, under the bridge, the turbulence of airflow is likely to occur, and the operability of manual operation is reduced.

Since the position information and altitude information from GPS can be easily obtained in a wide outdoor space, the flying object can be expected to maintain its position by automatic control corresponding to the influence of crosswinds, etc. Since GPS cannot be received directly inside, it is necessary to take measures against collision with obstacles of the flying object during visual inspection and shooting, to reduce damage when dropped, and to improve safety to a third party due to the influence of crosswinds.

In order to obtain clear moving images and still images by inspection shooting with a remotely operated small aircraft, the functions of maintaining altitude and maintaining the distance from the wall surface are required.

Where a conventional flying object cannot directly receive GPS radio waves, it is easily affected by crosswinds, increasing the possibility of collision with surrounding obstacles. Therefore, the apparatus of the present invention includes a plurality of propellers and motors, a main control device for controlling them, an auxiliary control device, a power storage battery, a collision prevention guide (cover), a remote control gimbal, and a visual inspection. A flying object type visual inspection apparatus composed of a camera, an image radio, and a frame for supporting the camera is used.

In addition, the distance to the target is automatically measured by the distance measuring device installed on the aircraft, and when it falls within the range of the predetermined distance, each rotor is automatically turned on before each aircraft collision by the control function of the auxiliary control device. The output is adjusted automatically every time, and the aircraft is moved horizontally by tilting it up and down or tilted to avoid collision. In addition, when the collision avoidance is delayed, the propeller parts are protected by the collision prevention guides (covers) installed around the rotors to prevent sudden drops and prevent collisions with third parties. Improve safety.

The auxiliary control device according to the present invention adds a means for avoiding collision with an obstacle to an existing flying object operated by radio.

By placing an auxiliary control device having a distance measuring device between the receiver and the main control device, an obstacle is detected and the flying object is caused to perform an avoidance operation.

The auxiliary control device receives as input the control signal for raising and lowering the airframe, which is the output of the receiver.

The distance measuring device measures a distance by transmitting an ultrasonic wave and receiving an ultrasonic wave reflected by an obstacle.

It is assumed that the distance measuring device is configured to generate a signal corresponding to the distance to the obstacle.

The anti-collision guide (cover) is circular or rectangular to mitigate the impact between the propeller and the object, and improves safety when the propeller is directly dropped or collides with a third party.

The distance measuring device can use visible light or invisible light.

The auxiliary control device generates and outputs a control signal as a substitute for the control signal input from the receiver in response to the signal from the distance measuring device.

The main control device controls the motor according to the output from the receiver and the auxiliary control device.

The main control device processes the output from the auxiliary control device as an input signal as if it were the output from the receiving device.

By placing the auxiliary control device, the operation of the main control device can be changed without knowing the details of the main control device.

When the pilot lowers the aircraft, there is no risk that the aircraft will approach an obstacle above the aircraft and collide.

The signal output from the receiver is a rectangular wave with a fixed period, and the aircraft is controlled by the time during which the signal is in a HIGH state.

When the signal for raising or lowering the aircraft input from the receiver is larger or smaller than a certain value, it is calculated whether the aircraft is ascending or descending.

When the aircraft is rising and the signal corresponding to the distance from the obstacle from the distance measuring device is larger or smaller than a certain value, a signal for lowering the aircraft is generated.

In the flying object type visual inspection device, a gimbal capable of photographing the front and upper surfaces of the flying object is provided to facilitate visual inspection of the bridge lower surface (under the girder), the bridge support (fulcrum portion), and the substructure wall. Also, in the visual inspection of the wall such as a dam, the use of a variable gimbal improves the photographing performance by remote operation during the visual inspection.

The flying object collision prevention control function of the present invention facilitates visual inspection of bridges in large rivers and mountains, bridges with complicated structures, and wide bridges that have been considered difficult so far. In particular, the conventional method of bridge inspection has been a barrier to road traffic due to the necessity of traffic regulation, but such problems are greatly improved. In addition, the installation of the scaffolding construction has problems of safety of the inspector and the installation cost of the scaffolding, and this can also greatly reduce the cost. Furthermore, although there are some places where it is difficult to apply the bridge inspection vehicle in the visual inspection of the underside of the wide bridge, it is also expected to reduce the places where inspection is difficult by the apparatus of the present invention.

In the past, visual inspection of dam walls was performed manually by rope access, and there were always safety issues and inspection costs, but the adoption of this system improved safety and reduced inspection costs. Reduction is possible.

In the inspection of the tunnel, the distance maintenance from the wall surface and the collision prevention function enable easy visual inspection without using an aerial work vehicle or a ladder.

It is a top view of the flying body type visual inspection apparatus of the present invention. Example 1 It is a sectional side view of the flying object type visual inspection apparatus of the present invention. Example 1 FIG. 3 is a detailed plan view of a collision prevention guide frame of the flying object type visual inspection apparatus of the present invention. Example 1 FIG. 3 is a detailed side sectional view of a collision prevention guide frame of the flying object type visual inspection apparatus of the present invention. Example 1 It is a block diagram of the auxiliary control device mounted on the flying object type visual inspection device of the present invention. FIG. 3 is a flowchart for preventing a collision of an auxiliary control device against an ascending obstacle of the flying object type visual inspection apparatus of the present invention. It is a flowchart for the interruption process of the auxiliary controller between the receiver and the main controller mounted in the flying object type visual inspection apparatus of the present invention. It is a pulse figure of the auxiliary control device carried in the flying object type visual inspection device of the present invention.

This apparatus has a number of propellers 3 shown in the plan view of FIG. 1 and the side sectional view of FIG. 2, and the attitude is automatically adjusted by the flight control of the main controller 30 mounted on the central control unit 7. It is a device that can perform rotation control for holding and can be remotely operated by radio controlled radio. This apparatus is composed of the gimbal 6 and the auxiliary control apparatus 32 which can be operated remotely as shown in FIG. Further, a propeller collision preventing guide 4 is installed.

The auxiliary control device according to the present invention adds a means for avoiding collision with an obstacle to an existing airborne visual inspection device operated by radio.

By placing an auxiliary control device 32 including a distance measuring device 31 between the receiver 33 and the main control device 30, the obstacle 38 is detected and the flying object is caused to perform an avoidance operation.

The auxiliary control device 32 receives as input the control signal 36 for raising and lowering the airframe, which is the output of the receiver 33.

The distance measuring device 31 measures the distance by transmitting the ultrasonic wave 37 and receiving the ultrasonic wave reflected by the obstacle 38.

It is assumed that the distance measuring device 31 is configured to generate a signal corresponding to the distance from the obstacle 38.

The distance measuring device 31 can use visible light or invisible light.

The auxiliary control device 32 generates a control signal in place of the control signal input from the receiver 33 in accordance with the signal from the distance measuring device 31 and outputs it.

The main control device 30 controls the motor 12 in accordance with outputs from the receiver 33 and the auxiliary control device 32.

The main controller 30 processes the output from the auxiliary controller 32 as an input signal as if it were an output from the receiver.

By placing the auxiliary control device 32, the operation of the main control device 30 can be changed without knowing the details of the main control device 30.

When the pilot lowers the aircraft, there is no risk that the aircraft will approach the obstacle 38 above the aircraft and collide.

The signal output from the receiver 33 is a rectangular wave with a fixed period, and the aircraft is controlled by the time when the signal is in a HIGH state.

When the signal for raising or lowering the aircraft input from the receiver 33 is larger or smaller than a certain value, it is calculated whether the aircraft is climbing or descending.

When the airframe is rising and the signal according to the distance from the distance measuring device 31 to the obstacle 38 is larger or smaller than a certain value, a signal for lowering the airframe is generated.

The guide frames 4 and 20 are circular or rectangular and have a structure and a material that reduce the impact of the propeller 3 and the obstacle 38. In particular, when the propeller 3 and the guide 20 are close to each other, an inlet loss and an outlet loss of the fluid occur, so the cross-sectional shape is considered in consideration of the streamline type. The guide frame fixing portion 21 is configured to support the guide frame 20.

This device can be used for visual inspection of bridges, visual inspection of wall surfaces of dams, visual inspection of wall surfaces of tunnels, etc., and flight robots for investigating damage situations during disasters.

Visual inspection of bridges allows intrusion and investigation into places where direct people cannot go, such as bridges over large rivers and mountains, and can be applied to wide bridges where conventional bridge inspection cars etc. are not applicable. Is possible. It can also be used for visual inspection of high places such as cable-stayed bridges and arch bridges.

In the visual inspection of the wall of the dam, the dam is inspected and photographed for the concrete on the front, back and top surfaces of the fuselage or the deteriorated part of the steel material.

In the visual inspection of the tunnel wall surface, it is possible to perform a visual inspection photographing while maintaining a distance from the wall surface in the tunnel.

In the survey of the damage situation at the time of disaster, there are some places that can not fly low due to the regulation of large helicopters. However, the newly developed device can fly at low altitudes and can shoot from close heights.

The auxiliary control device of the flying object type visual inspection device of the present invention can obtain a control function such as collision prevention without rewriting the software inside the main control device. For this reason, unlike the conventional apparatus, the existing apparatus can be improved at low cost. Although FIG. 5 shows an example of a vertical collision prevention function, by controlling the rotation of each propeller with the same means, the flying body can be tilted and moved in the horizontal direction. Therefore, by applying this principle, it is possible to obtain a horizontal collision prevention function. For this reason, application to helicopters and spherical vehicles other than the aircraft type visual inspection device is also possible.

1 Main frame of flying object 2 Ranging device (side)
3 Propeller 4 Propeller collision prevention guide (cover)
5 Ranging device (vertical direction)
6 Gimbal (including camera for shooting)
7 Central control component storage (main control device 30, ranging device 31, auxiliary control device 32, receiver 33, image radio, battery, motor amplifier)
8 Cover for control parts
9 Propeller Collision Prevention Guide (Cover) Fixing Section 10 Ranging Device Mounting Section 11 Flying Object Leg 12 Motor
20 Propeller Collision Prevention Guide (Cover) Main Body 21 Propeller Collision Prevention Guide (Cover) Fixing Unit 30 Main Controller 31 Distance Measuring Device (Vertical Direction, Side)
32 Auxiliary control device 33 Receiver 34 Control signal 35 from the main control device (Motor-12)
36 Control signal from receiver 40 Start 41 Initialization 42 Determination that the aircraft is rising and the distance to the obstacle is smaller than the specified value 43 Generate control signal to lower the aircraft 50 Interrupt processing 51 Counter-> Pulse width 52 Set the output signal to LOW.
53 0 → Width of pulse 54 Output signal is set to HIGH 55 Return 60 Pulse width 61 Period (about 20 milliseconds)

Claims (4)

This device includes a plurality of propellers and motors, a main control device for controlling them, an auxiliary control device, a power storage battery, a collision prevention guide (cover), a remote control gimbal, a visual inspection camera, and an image radio. And a flying object type visual inspection device composed of a frame for supporting it. The flying object type visual inspection apparatus according to claim 1, further comprising a control means for automatically avoiding a collision with an obstacle by mounting an auxiliary control device on an existing flying object remotely controlled by radio. Aircraft type visual inspection device. The flying object type visual inspection apparatus according to claim 1, further comprising a collision prevention guide (cover) for a propeller for reducing direct collision with a wall surface or an object and reducing damage to main parts. Aircraft type visual inspection device. 2. The flying object type visual inspection apparatus according to claim 1, further comprising a gimbal capable of photographing the front and top directions of the flying object.

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