Monitoring system for treatment facility

Abstract

To provide a monitoring system for treatment facility capable of easily monitoring a treatment station.SOLUTION: A system comprises: an unmanned aircraft; a flight control unit for causing the unmanned aircraft to fly along a flight route and to patrol monitoring points on the flight route; a detection device for detecting operating states of the monitoring points; and an abnormality diagnosis device for diagnosing presence or absence of abnormalities at the monitoring points. During a second or subsequent patrol of the unmanned aircraft, when a diagnosis result of the abnormality diagnosis device at the monitoring point that is obtained during at least a preceding patrol is either a possible abnormality or an abnormality, the flight control unit does not cause the unmanned aircraft to fly to the monitoring point which has been determined as either the possible abnormality or the abnormality, determines another monitoring point as a next flight destination, and causes the unmanned aircraft to fly to the determined next flight destination.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a monitoring system for a processing facility. [Background technology]

[0002] Water treatment plants use a variety of rotating equipment such as agitators, pumps, dehydrators, etc. It is important to accurately grasp the condition of rotating equipment in water supply plants, sewage treatment plants, and wastewater treatment plants in factories, etc. Patent Document 1 describes a condition monitoring method for monitoring the condition of a rolling bearing using physical quantities measured by a sensor installed in a tested device, and includes the steps of: performing a fast Fourier transform at least once on measurement waveform data measured by the sensor to generate a converted waveform; calculating a first feature from a partial waveform of the converted waveform in at least three feature calculation ranges centered on at least three peaks of the converted waveform; and detecting an abnormality in the rolling bearing using the first feature. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-45472 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the state of the rotating equipment is grasped by a sensor installed in the device under test, but sensors must be installed in all rotating equipment and abnormal rotating equipment must be searched for, making monitoring extremely difficult. The present invention has been made in consideration of the above-mentioned problems, and has an object to provide a monitoring system for a treatment facility that can easily monitor a treatment plant. [Means for solving the problem]

[0005] The monitoring system for the treatment facility is Unmanned aerial vehicles and , multiple treatment plants The drone is then placed on a flight route connecting the monitoring points set for each of the A flight control unit that flies the aircraft a flight control unit that causes the unmanned aerial vehicle to patrol the monitoring points on the flight route; and, The aircraft is provided with a detection device that detects the operating status of the monitoring point on the flight route, and an abnormality diagnosis device that diagnoses the presence or absence of an abnormality in the monitoring point, and the abnormality diagnosis device diagnoses the possibility of an abnormality or the presence or absence of an abnormality in the monitoring point based on the detection result of the detection device. , The flight control unit causes the unmanned aerial vehicle to patrol the flight route at least twice, and if, during the second or subsequent patrol, the diagnosis result of the abnormality diagnosis device at the monitoring point obtained during at least the previous patrol is either a possible abnormality or an abnormality, the flight control unit does not fly the unmanned aerial vehicle to the monitoring point determined to be either a possible abnormality or an abnormality, but determines a monitoring point different from the monitoring point as the next destination, and flies the unmanned aerial vehicle to the determined next destination.

[0006] The flight control unit: In the second or subsequent patrol, if it is determined that the unmanned aerial vehicle should not be flown to the next destination on the flight route, a monitoring point other than the monitoring point that is the next destination on the flight route is determined as the destination of the unmanned aerial vehicle based on the detection result of the detection device at the monitoring point obtained during the previous patrol, and Aircraft To the decided destination Fly 。 The flight control unit, in a second or subsequent patrol, when a diagnosis result of the abnormality diagnosis device at the monitoring point obtained during a previous patrol satisfies a preset condition, It is determined that the unmanned aerial vehicle is to fly to the monitoring point which is the next flight destination on the travel route. . The unmanned aerial vehicle is provided with a storage device that stores the detection results obtained during patrol as monitoring information together with the detection time of the detection device for the monitoring points set in the multiple treatment plants, and the flight control unit determines whether or not to fly the unmanned aerial vehicle to the monitoring point that is the next flight destination based on the monitoring information stored in the storage device. .

[0007] In the second or subsequent patrol, if the next destination is a monitoring point that was determined to be possibly or has an abnormality as a result of diagnosis by the abnormality diagnosis device during the previous patrol, and if the detection time of the detection device during the previous patrol is within a predetermined time period going back from the current time, the flight control unit does not fly the unmanned aerial vehicle to the monitoring point that was determined to be possibly or has an abnormality, but determines a monitoring point different from the monitoring point as the next destination, and flies the unmanned aerial vehicle to the determined next destination. .

[0008] In the second or subsequent patrol, if the next flight destination is a monitoring point that was determined to have a possible abnormality or to have an abnormality as a diagnosis result of the abnormality diagnosis device during the previous patrol, and if the detection time of the detection device during the previous patrol that was determined to have a possible abnormality or to have an abnormality exceeds a predetermined time retroactively from the current time, the flight control unit The unmanned aerial vehicle Fly Let's go R . The monitoring point is a rotating device installed in the treatment plant. . Effect of the Invention

[0009] According to the present invention, a treatment plant can be easily monitored. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 illustrates a monitoring system for a processing facility. [Diagram 2] FIG. 1 is a diagram illustrating an example of a water treatment facility. [Diagram 3] FIG. 2 is a diagram showing an example of a layout of a water treatment facility and an equipment diagram of the water treatment facility viewed from above. [Figure 4] An enlarged view of the unmanned aerial vehicle. [Figure 5A] 1 is a diagram showing a first detection device directed toward a rotating device at a monitoring point Pn. [Figure 5B] FIG. 13 is a diagram showing a state in which a second detection device is brought close to a suspected abnormal device. [Figure 6] FIG. 13 is a diagram illustrating an example of a vibration spectrum of a suspected abnormal device. [Figure 7A]This is a diagram showing the attraction surface of the attraction part (electromagnet) attached so that it faces outward (sideways). [Figure 7B] This is a diagram showing the adhesive surface of the adhesive part (electromagnet) facing outward (upper). [Figure 7C] This is a diagram showing an attraction part (electromagnet) attached to a stay protruding downward. [Figure 8] This is the operation flow of an unmanned aerial vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] FIG. 1 is a diagram showing a monitoring system 1 for a processing facility. The treatment facility monitoring system 1 shown in FIG. First, the treatment facility will be described using the water treatment facility 2 as an example. 2 and 3, the water treatment facility 2 is a facility for treating water, such as a drinking water treatment facility, a sewage treatment facility, etc. For example, when the water treatment facility 2 is a sewage treatment facility, as shown in Fig. 2, the water treatment facility 2 includes a plurality of treatment plants, such as a water intake treatment plant 11, a first sedimentation treatment plant 12, a reaction treatment plant 13, a second sedimentation treatment plant 14, and a discharge treatment plant 15.

[0012] The water intake treatment plant 11 is a treatment plant that takes in and treats sewage, and includes, for example, a first water intake tank 11a and a second water intake tank 11b. The first water intake tank 11a and the second water intake tank 11b are provided with a plurality of rotating devices 21 such as pumps that direct the sewage (treated water) of the water intake treatment plant 11 to the first sedimentation treatment plant 12. Note that the first water intake tank 11a and the second water intake tank 11b are merely examples, and the number, position, size, etc. of the water intake tanks are not limited.

[0013] The first settling treatment plant 12 is a treatment plant where sludge and the like contained in sewage (treated water) is settled, and includes a first settling tank 12a, a second settling tank 12b, and a third settling tank 12c. The first settling tank 12a, the second settling tank 12b, and the third settling tank 12c are provided with a plurality of rotating devices 22 such as motors that drive scrapers. Note that the first settling tank 12a, the second settling tank 12b, and the third settling tank 12c are merely examples, and the number, position, size, and the like of the settling tanks are not limited.

[0014] The reaction treatment plant 13 is a treatment plant that decomposes sewage (treated water) by microorganisms and the like, and includes a first reaction tank 13a, a second reaction tank 13b, and a third reaction tank 13c. The first reaction tank 13a, the second reaction tank 13b, and the third reaction tank 13c are provided with a plurality of rotating devices 23 such as motors that drive agitators that agitate the sewage (treated water). The first reaction tank 13a, the second reaction tank 13b, and the third reaction tank 13c are also provided with a plurality of rotating devices 24 such as motors for blowers. The first reaction tank 13a, the second reaction tank 13b, and the third reaction tank 13c are merely examples, and the number of reaction tanks is not limited.

[0015] The second settling treatment plant 14 is a treatment plant that settles the mud (activated sludge) formed by the reaction treatment plant 13, and includes a first settling tank 14a and a second settling tank 14b. The first settling tank 14a and the second settling tank 14b are provided with a plurality of rotating devices 25, such as motors that drive scrapers. Note that the first settling tank 14a and the second settling tank 14b are merely examples, and the number, position, size, etc. of the reaction tanks are not limited.

[0016] The discharge treatment plant 15 is a treatment plant that performs final treatment on the sewage (treated water), and includes a first discharge tank 15a and a second discharge tank 15b. The first discharge tank 15a and the second discharge tank 15b are provided with a plurality of rotating devices 26, such as pumps, that discharge the sewage (treated water) of the discharge treatment plant 15 into a river. Note that the first discharge tank 15a and the second discharge tank 15b are merely examples, and the number, position, size, etc. of the discharge tanks are not limited.

[0017] The treatment facility monitoring system 1 is a system that monitors facilities such as the water treatment facility 2. The treatment facility monitoring system 1 is a system that monitors equipment such as rotating equipment 21-26 installed in the water treatment facility 2. For ease of explanation, the monitoring of the rotating equipment 21-26 will be described, however, the equipment is not limited to the rotating equipment 21-26 and may be any equipment installed in the facility.

[0018] As shown in FIG. 4, the monitoring system 1 for the treatment facility includes a first detection device 31 and a second detection device 32. The first detection device 31 is a device that detects a first operating state of the rotating devices 21-26 at a position away from the rotating devices 21-26. The first detection device 31 is, for example, an imaging device such as a CCD camera or an infrared camera, a sound detection sensor, etc., and detects captured images of the rotating devices 21-26 (equipment captured images), captured images of the surroundings of the rotating devices 21-26 including the treatment plant (surrounding captured images), sounds (driving sounds) of the rotating devices 21-26, etc. as the first operating state.

[0019] The second detection device 32 is a device that approaches the rotating devices 21-26 from a position away from the rotating devices 21-26 to detect a second operating state of the rotating devices 21-26 when it is determined that there is a possibility of an abnormality in the rotating devices 21-26 based on the first operating state. The second detection device 32 is a device that detects vibrations when the rotating devices 21-26 are rotating. The second detection device 32 is, for example, an acceleration detection sensor that detects the acceleration of the measurement part, a speed detection sensor that detects the speed of the measurement part, a displacement detection sensor that detects the amount of displacement of the measurement part, etc. That is, the second detection device 32 is a device that detects vibrations of the measurement part based on the acceleration, speed, displacement, etc. of the measurement part.

[0020] 1 and 4, the first detection device 31 and the second detection device 32 are provided on an aircraft (unmanned aircraft) 70. Next, the aircraft (unmanned aircraft) 70 will be described. The unmanned aerial vehicle 70 is, for example, a multicopter. The unmanned aerial vehicle (multicopter) 70 has a main body 70a, an arm 70b provided on the main body 70a, a plurality of rotors 70c provided on the arm 70b, and a skid 70d provided on the main body 70a. The plurality of rotors 70c are devices that generate lift for flight. The unmanned aerial vehicle 70 is provided with at least two or more rotors 70c, and preferably four or more rotors 70c. Each of the plurality of rotors 70c includes a rotor that applies a rotational force and a blade (propeller) that rotates by driving a roller.

[0021] 1, the unmanned aerial vehicle 70 has a power storage device 71, a position detection device 73, a storage device 74, a communication device 75, and a control device (flight control unit) 76. The power storage device 71 is a device that stores electric power, such as a battery or a capacitor. The power storage device 71 is, for example, inside the main body 70a or attached to the main body 70a. Moreover, the position detection device 73 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system, and has the same configuration as the position detection device 73. The own position detected by the position detection device 73 may be called the "flight position." Furthermore, the position detection device 73 can detect height information (altitude). The position detection device 75 may be a line tracer or a device that detects distance.

[0022] The communication device 75 is a communication device (communication module) that performs either direct communication or indirect communication with an external device, and can perform wireless communication using, for example, the IEEE802.11 series of communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network).The communication device 75 may also be a communication device (communication module) that performs wireless communication using a mobile phone communication network or a data communication network.

[0023] The control device (flight control unit) 76 is a device that controls the multiple rotors 70c, and is composed of a CPU and the like. When the unmanned aerial vehicle 70 has at least two rotors 70c, the control device (flight control unit) 76 outputs a control signal to the rotor to make the rotation speed of the blade on one side smaller than the rotation speed of the blade on the other side, thereby moving the unmanned aerial vehicle toward the blade on one side, or to make the rotation speed of the blade on the other side smaller than the rotation speed of the blade on the other side, thereby moving the unmanned aerial vehicle toward the blade on the other side. That is, the control device (flight control unit) 76 controls the traveling direction of the unmanned aerial vehicle 70 by making the rotation speed of the blade on the traveling direction side of the multiple blades smaller than the rotation speed of the blade on the opposite side to the traveling direction. The control device (flight control unit) 76 also makes the unmanned aerial vehicle 70 hover by keeping the rotation speed of the multiple blades constant.

[0024] In addition, the unmanned aerial vehicle 70 may be an aerial vehicle controlled by a remote control device or an aerial vehicle that flies independently, and is not limited to this. As shown in FIG. 4, the first detection device 31 is detachably attached to the lower part of the main body 70a of the unmanned aerial vehicle 70, or is provided on the main body 70a via a bracket 78. The first detection device 31 may be built into the main body 70a. The first detection device 31 can be swung in the vertical direction Y1 or horizontal direction X1 by the bracket 78, and can change the image capturing direction, the sound collecting direction, that is, the monitoring direction. The horizontal and vertical swings of the first detection device 31 can be controlled by the control device (flight control unit) 76. For example, when the unmanned aerial vehicle 70 is operated by a remote control device, the control device (flight control unit) 76 acquires a control signal transmitted from the remote control device via the communication device 75 and swings the first detection device 31 in the horizontal or vertical direction according to the acquired control signal.

[0025] The tip of the arm 70b of the unmanned aerial vehicle 70 is provided with an attraction section capable of being attracted to the rotating devices 21-26. The attraction section is an electromagnet 81, which is the tip of the arm 70b, and a second detection device 32 is provided near the electromagnet 81. When a current is passed through a coil (not shown), the electromagnet 81 generates a magnetic force and at least the attraction surface 81a becomes a magnet, and when the application of the current to the coil is stopped, the magnetic force disappears and the attraction surface 81a does not act as a magnet. The application of the current to the coil of the electromagnet 81 is performed by a control device (flight control unit) 76.

[0026] In the treatment facility monitoring system 1, the water treatment facility 2 and the like are monitored by the first detection device 31 and the second detection device 32. Monitoring can be performed by flying an unmanned aerial vehicle 70 having the first detection device 31 and the second detection device 32 above the water treatment facility 2, for example, according to the flight route FR1 shown in FIG. The setting of the flight route FR1 will be described below.

[0027] The processing facility monitoring system 1 includes a computer 40 having a display device 41. The computer 40 is a fixed computer such as a cloud server or an on-premise server, or a portable computer such as a smartphone, a tablet, or a notebook computer. The computer 40 has a flight creation unit 40A that creates a flight route FR1. The flight creation unit 40A is composed of an electric and electronic circuit provided in the computer 40, a program stored in the computer 40, and the like. The display device 41 is composed of a liquid crystal panel, an organic EL panel, and the like. The computer 40 has a flight creation unit 40A that creates a flight route FR1.

[0028] When a predetermined operation is performed, the flight creation unit 40A displays the setting screen M1 shown in FIG. 3 on the display device 41. The setting screen M1 displays a facility diagram D1 (a diagram of the treatment plants (a water intake treatment plant 11, a first sedimentation treatment plant 12, a reaction treatment plant 13, a second sedimentation treatment plant 14, and a discharge treatment plant 15) simulating the water treatment facility 2. In addition, the fields of the setting screen M1 are associated with position information (latitude, longitude, altitude, X, Y, Z coordinate system, etc.). For example, when a position is selected on the screen by the pointer 42, the flight creation unit 40A sets the selected position as a flight position. When multiple flight positions are set, the flight creation unit 40A creates a line connecting the multiple flight positions as a flight route FR1. In this way, the flight creation unit 40A can create a flight route FR1 on the water treatment facility 2 (facility diagram D1).

[0029] Furthermore, the flight creation unit 40A sets an arbitrary flight position among the multiple flight positions as a monitoring point (monitoring point) Pn (n=1, 2, 3, . . .). The monitoring point Pn indicates a position where the first detection device 31 detects the first operating state of the rotating devices 21-26 (equipment captured images of the rotating devices 21-26, surrounding captured images, driving sounds, etc.), and the first stage of monitoring of the rotating devices 21-26 is performed at the monitoring point Pn.

[0030] The flight creation unit 40A sets monitoring points Pn corresponding to each of the multiple treatment plants where the rotating equipment 21-26 are installed, i.e., the treatment tanks (11a, 11b, 12a, 12b, 12c, 13a, 13b, 13c, 14a, 14b, 15a, 15b). For example, in the water treatment facility 2 of FIG. 3, the flight creation unit 40A sets 12 monitoring points Pn (n=1-12). In this manner, the flight route FR1 including the monitoring points Pn set by the flight creation unit 40A is transmitted to the unmanned aerial vehicle 70.

[0031] When the control device (flight control unit) 76 of the unmanned aerial vehicle 70 acquires the flight route FR1, it causes the unmanned aerial vehicle 70 to take off from the takeoff and landing station 85 and fly toward a monitoring point Pn assigned to the flight route FR1. When the control device (flight control unit) 76 reaches the monitoring point Pn, as shown in FIG. 5A, the control device (flight control unit) 76 directs the first detection device 31 toward the direction in which the rotating devices 21-26 are installed. The first detection device 31 detects a first operating state (equipment captured image, surrounding captured image, driving sound, etc.) of the rotating devices 21-26. When the unmanned aerial vehicle 70 acquires the first operating state, it determines whether or not there is a possibility of an abnormality in the rotating devices 21-26 from the first operating state.

[0032] Specifically, the unmanned aerial vehicle 70 is equipped with an abnormality diagnosis device 79. The abnormality diagnosis device 79 is composed of an electric / electronic circuit, a CPU, etc., and can determine abnormalities in the rotating devices 21-26 and the like. The abnormality diagnosis device 79 analyzes the device captured images of the rotating devices 21-26 or the captured images of the surroundings, and determines whether there is a possibility of an abnormality from the appearance of the rotating devices 21-26. If the appearance of the rotating devices 21-26 is significantly different from the appearance at the time of design or maintenance, for example, if deformation of the main body of the rotating devices 21-26, deformation or oil leakage of the bearings, deformation of the control panel, etc. are observed, the abnormality diagnosis device 79 determines that there is a possibility of an abnormality. On the other hand, if deformation of the main body of the rotating devices 21-26, deformation of the bearings, deformation of the control panel, etc. are not observed, the abnormality diagnosis device 79 determines that there is no possibility of an abnormality.

[0033] Alternatively, the abnormality diagnosis device 79 analyzes the sounds of the rotating devices 21-26 and determines whether there is a possibility of an abnormality from the sounds (driving sounds) generated from the rotating devices 21-26. The abnormality diagnosis device 79 determines that there is a possibility of an abnormality when the driving sounds of the rotating devices 21-26 are significantly different from those at the time of design and those at the time of maintenance, for example, when the driving sounds of the rotating devices 21-26 are abnormal sounds. On the other hand, when the driving sounds of the rotating devices 21-26 are not abnormal sounds, the abnormality diagnosis device 79 determines that there is no possibility of an abnormality.

[0034] In the above-mentioned anomaly diagnosis device 79, the determination of the possibility of an anomaly is one example and is not limited thereto. For example, the determination is applied to a trained model that determines an anomaly from captured images (equipment captured images, surrounding captured images) and driving sounds, and the trained model determines whether or not there is a possibility of a malfunction. The trained model can be constructed by inputting captured images (equipment captured images, surrounding captured images) and driving sounds of the rotating devices 21 to 26 at the time of malfunction into a computer or the like and performing deep learning.

[0035] When the abnormality diagnosis device 79 determines that there is a possibility of an abnormality in the rotating equipment 21-26, the control device (flight control unit) 76 of the unmanned aerial vehicle 70 flies the unmanned aerial vehicle 70 toward the rotating equipment (the abnormality candidate equipment) determined to have a possible abnormality. When the unmanned aerial vehicle 70 adheres to the abnormality candidate equipment, the second detection device 32 detects the second operating state (vibration) of the abnormality candidate equipment. As shown in FIG. 3, for example, when the abnormality candidate device is the rotating device 21a installed in the second water intake tank 11b, the unmanned aerial vehicle 70 leaves the predetermined flight route FR1, flies along the flight route FR2, and approaches the rotating device 21a. Also, as shown in FIG. 5B, when the unmanned aerial vehicle 70 comes close to the abnormality candidate device (rotating device 21a), it identifies the attraction point by image recognition of the marker and detailed coordinate information. The control device (flight control unit) 76 causes a current to flow through the coil of the electromagnet 81, thereby attracting the attraction surface 81a to the main body of the rotating device 21a. That is, the unmanned aerial vehicle 70 attracts the electromagnet 81 to the abnormality candidate device (rotating device 21a), thereby bringing the second detection device 32 closer to the abnormality candidate device.

[0036] When the unmanned air vehicle 70 acquires the second operating state, it judges whether or not there is a possibility of an abnormality in the abnormal candidate device (rotating device 21a) from the second operating state. The abnormality diagnosis device 79 diagnoses an abnormality in the abnormal candidate device (rotating device 21a) based on the second operating state. For example, when the second operating state (detection target) is vibration, the abnormality diagnosis device 79 obtains a vibration spectrum (spectrum indicating vibration intensity) of the abnormal candidate device (rotating device 21a) shown in FIG. 6 by performing a fast Fourier transform or the like on a vibration waveform indicating the vibration. When the vibration spectrum of the abnormal candidate device (rotating device 21a) at a predetermined frequency is equal to or greater than a threshold value, the abnormality diagnosis device 79 judges that the abnormal candidate device (rotating device 21a) is abnormal, and when the vibration spectrum of the abnormal candidate device (rotating device 21a) is less than the threshold value, it judges that the abnormal candidate device (rotating device 21a) is not abnormal.

[0037] In the above-described anomaly diagnosis device 79, the determination of an anomaly is one example and is not limited thereto. For example, the determination is made by applying a trained model for determining an anomaly from the vibration of the rotating equipment 21-26, and using the trained model to determine whether or not there is a fault. The trained model can be constructed by inputting the vibration waveforms of the rotating equipment 21-26 at the time of a fault into a computer or the like and performing deep learning.

[0038] When the abnormality candidate device (rotating device 21a) is abnormal, the abnormality diagnosis device 79 transmits information (abnormality information) indicating that the abnormality candidate device (rotating device 21a) is abnormal to the computer 40. When the computer 40 acquires the abnormality information, it displays, on a screen or the like displayed by the display device 41, the location of the abnormality candidate device (rotating device 21a) and a message indicating that it is abnormal. If it is determined based on the second operating state that the abnormal candidate equipment (rotating equipment 21a) is abnormal, the unmanned aerial vehicle 70 is attached to the abnormal candidate equipment (rotating equipment 21a), the first detection device 31 is directed toward the abnormal candidate equipment (rotating equipment 21a) to redetect the first operating state of the abnormal candidate equipment (rotating equipment 21a), and the redetected first operating state is transmitted to the computer 40. In this way, if it is determined based on the second operating state that the abnormal candidate equipment (rotating equipment 21a) is abnormal, it is possible to reconfirm what the first operating state was.

[0039] On the other hand, if the abnormality diagnosis device 79 determines that the suspected abnormal device (rotating device 21a) is not abnormal, the control device (flight control unit) 76 stops applying current to the electromagnet 81, then causes the unmanned aerial vehicle 70 to rise away from the suspected abnormal device (rotating device 21a), fly as shown in flight route FR3 as shown in Figure 3, and return to flight route FR1. When the unmanned aerial vehicle 70 returns to the flight route FR1, the control device (flight control unit) 76 flies the unmanned aerial vehicle 70 toward the next monitoring point P3. Note that in the above-mentioned embodiment, the rotating device 21a is used as an example to explain the abnormality candidate device, but the abnormality candidate device is not limited, and the flight routes FR2 and FR3 are merely examples and are not limited.

[0040] 7A to 7C show modified examples of the attraction portion (electromagnet) 81 and the second detection device 32. In FIG. As shown in Figure 7A, the suction portion (electromagnet) 81 may be fixed to the arm 70b of the unmanned aerial vehicle 70 so that the suction surface 81a of the suction portion (electromagnet) 81 faces sideways, and the second detection device 32 may be fixed so as to be aligned vertically to the suction portion (electromagnet) 81.

[0041] 7B, a stay 86 protruding upward may be provided on the main body 70a of the unmanned aerial vehicle 70, and the attraction part (electromagnet) 81 and the second detection device 32 may be fixed to the stay 86. In this case, the attraction part (electromagnet) 81 is fixed to the stay 86 so that the attraction surface 81a faces upward. 7C, instead of the skid 70d, a stay 87 protruding downward may be provided on the main body 70a of the unmanned aerial vehicle 70, and the attraction part (electromagnet) 81 and the second detection device 32 may be fixed to the stay 87. In this case, the attraction part (electromagnet) 81 is fixed to the stay 87 so that the attraction surface 81a faces downward.

[0042] As shown in FIGS. 7A to 7C, even if the attraction surface 81a of the attraction portion (electromagnet) 81 and the outer surface of the second detection device 32 are aligned (even if the attraction surface 81a and the outer surface of the second detection device 32 are not in the same plane), Alternatively, the adsorption surface 81a and the second detection device 32 may be different from each other. Fig. 8 shows an operation flow of the unmanned aerial vehicle 70 monitoring the water treatment facility 2. As shown in Fig. 8, when the flight control unit 76 acquires the flight route FR1 (S1), it causes the unmanned aerial vehicle 70 to take off from the take-off and landing station 85 and fly toward the monitoring point Pn (S2). The flight route FR1 may be queried from the unmanned aerial vehicle 70 to the computer 40, or may be transmitted from the computer 40 to the unmanned aerial vehicle 70.

[0043] When the unmanned aerial vehicle 70 reaches the monitoring point Pn, the first detection device 31 detects a first operating state (equipment image, surrounding image, driving sound, etc.) (S3). The abnormality diagnosis device 79 determines whether or not the rotating equipment corresponding to the treatment plant of the monitoring point Pn may be abnormal based on the first operating state (S4). If the rotating equipment is likely to be abnormal (S4, Yes), the abnormality diagnosis device 79 sets the rotating equipment corresponding to the treatment plant of the monitoring point Pn as an abnormal candidate equipment (S5), the flight control unit 76 flies the unmanned aerial vehicle 70 toward the abnormal candidate equipment (S6), and the second detection device 32 detects a second operating state (vibration) of the abnormal candidate equipment (S7). The abnormality diagnosis device 79 determines whether or not the abnormal candidate equipment is abnormal based on the second operating state (S8). If the abnormal candidate equipment is abnormal (S8, Yes), the unmanned aerial vehicle 70 transmits the position of the abnormal candidate equipment and abnormality information indicating the abnormality to the computer 40 via the communication device 75 (S9). In addition, if there is another rotating equipment 21 corresponding to the treatment facility of monitoring point Pn (S10, Yes), the flight control unit 76 flies the unmanned aerial vehicle 70 toward the other rotating equipment 21 (S11) and returns the processing to S5.

[0044] On the other hand, if there is no possibility of an abnormality in the rotating equipment (S4, No), the flight control unit 76 judges whether or not all the monitoring points Pn have been monitored (S12). If not all the monitoring points Pn have been monitored (S12, No), the flight control unit 76 counts up n (S13) and returns the process to S2, thereby flying toward the next monitoring point Pn. If all the monitoring points Pn have been monitored (S12, Yes), the aircraft may return to the takeoff and landing station 85 and land, or may return to the first monitoring point P1 and repeat S2 to S12 to monitor while patrolling, or may patrol once each time the flight route FR1 is acquired. In addition, normal results may be sent together to the computer 40.

[0045] As described above, the unmanned aerial vehicle 70 can perform monitoring while moving through the monitoring points Pn set on the flight route FR1. The storage device 74 of the unmanned aerial vehicle 70 may store the first and second operating states together with the time as monitoring information each time the first operating state is acquired at the monitoring point Pn or the second operating state of the abnormality candidate device is acquired. In this case, when the rotating device is likely to be abnormal at the monitoring point Pn (S4, Yes), the flight control unit 76 refers to the monitoring information corresponding to the monitoring point Pn and determines whether to move toward the abnormality candidate device based on the referred monitoring information. For example, the flight control unit 76 refers to the time of the monitoring information and calculates the time (elapsed time) from the present time when it is determined that there is a possibility of an abnormality, and if the elapsed time is within a predetermined time, for example, several tens of minutes ago, several hours ago, or one day ago, the unmanned aerial vehicle 70 does not move toward the abnormality candidate device but moves to the next monitoring point Pn. That is, for example, if there is a possibility of a similar abnormality during the patrol monitoring within one day, the unmanned aerial vehicle 70 continues the patrol monitoring without approaching the abnormality candidate device because the unmanned aerial vehicle 70 has already approached and monitored the abnormality candidate device. On the other hand, if the elapsed time is several days or more, the flight control unit 76 moves the unmanned aerial vehicle 70 closer to the abnormal candidate equipment and detects the second operating state of the abnormal candidate equipment.

[0046] In addition, in the above-described embodiment, the first detection device 31 and the second detection device 32 are provided on the unmanned aerial vehicle 70, but the second detection device 32 may be provided on the unmanned aerial vehicle 70, and the first detection device 31 that is not provided on the unmanned aerial vehicle 70 may be provided on the treatment plant. In other words, the first detection device 31 or the second detection device 32 may be provided on the unmanned aerial vehicle 70. When the first detection device 31 is provided on the treatment plant, the first operating status of the first detection device 31 is transmitted to the unmanned aerial vehicle 70, and the unmanned aerial vehicle 70 acquires the first operating status and determines whether there is a possibility of an abnormality from the acquired first operating status, and if there is a possibility, flies toward the abnormality candidate equipment.

[0047] Although the abnormality diagnosis device 79 is provided in the unmanned aerial vehicle 70, it may be provided in the computer 40. In this case, the abnormality diagnosis device 79 and the unmanned aerial vehicle 70 communicate with each other to determine the possibility of an abnormality or an abnormality from the first operating state and the second operating state. The result determined by the abnormality diagnosis device 79 is transmitted to the unmanned aerial vehicle 70, and the flight control unit 76 controls the flight of the unmanned aerial vehicle 70 based on the result determined by the abnormality diagnosis device 79, in the same manner as the operation of FIG. 8.

[0048] In addition, past inspection results (possible abnormality, abnormal, normal), etc. can be input into the computer 40 to perform deep learning, and for equipment with many abnormalities, measurements can be performed by the second detection device 32 or the first detection device 31. The monitoring system 1 for the processing facility includes a first detection device 31 that detects a first operating state of the equipment (rotating equipment 21-26) at a position away from the equipment installed in the facility, a second detection device 32 that approaches the equipment (rotating equipment 21-26) from a position away from the equipment to detect a second operating state of the equipment (rotating equipment 21-26) when it is determined that there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state, and an abnormality diagnosis device 79 that diagnoses an abnormality in the equipment (rotating equipment 21-26) based on the second operating state detected by the second detection device 32. According to this, as a first step, it is determined whether there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state acquired from a position away from the equipment (rotating equipment 21-26), and then as a second step, it is possible to determine whether there is an abnormality in the equipment (rotating equipment 21-26) based on the second operating state acquired from a position close to the equipment (rotating equipment 21-26). That is, since monitoring of abnormalities in the devices (rotating devices 21 to 26) is divided into a first stage and a second stage, it is possible to efficiently monitor abnormalities in the devices (rotating devices 21 to 26).

[0049] The first detection device 31 and / or the second detection device 32 are provided on an aircraft (unmanned aircraft 70) capable of flying around the equipment (rotating equipment 21-26). With this, by flying the unmanned aircraft 70, it is possible to easily monitor abnormalities in the equipment (rotating equipment 21-26). The processing facility monitoring system 1 includes an electromagnet 81 that is provided on an air vehicle (unmanned air vehicle 70) and can be attracted to equipment (rotating equipment 21-26), and the second detection device 32 is brought close to the equipment (rotating equipment 21-26) by attracting the electromagnet 81 to the equipment (rotating equipment 21-26). This allows the second detection device 32 to be easily brought close to the equipment (rotating equipment 21-26) when monitoring is performed by the unmanned air vehicle 70 flying above the equipment (rotating equipment 21-26).

[0050] The processing facility monitoring system 1 detects the first operating state by the first detection device 31 when the air vehicle (unmanned air vehicle 70) is in close proximity to the equipment (rotating equipment 21-26). This allows the first operating state to be acquired when the air vehicle is in close proximity to the equipment (rotating equipment 21-26). The air vehicle (unmanned air vehicle 70) has a flight control unit 76 that controls flight to bring the air vehicle (unmanned air vehicle 70) closer to the equipment (rotating equipment 21-26) when there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state. This allows the second detection device 32 to easily approach the equipment (rotating equipment 21-26) when monitoring the equipment (rotating equipment 21-26) using the unmanned air vehicle 70 flying above the equipment.

[0051] The first detection device 31 is a sound detection sensor, a CCD camera, or an infrared camera that detects sounds around the devices (rotating devices 21-26), and the second detection device 32 is a vibration detection sensor that detects vibrations of the devices (rotating devices 21-26). With this, in the first stage, it is possible to determine whether there is an abnormality from sounds (driving sounds) even at a location away from the devices (rotating devices 21-26), and in the second stage, it is possible to determine whether there is an abnormality from the vibrations of the devices (rotating devices 21-26).

[0052] The air vehicle (unmanned air vehicle 70) comprises a main body 70a, an arm 70b provided on the main body 70a, a rotor 70c provided on the arm 70b, a first detection device 31 that detects a first operating state of equipment (rotating equipment 21-26) installed in a facility from a position away from the equipment, and a second detection device 32 that approaches the equipment (rotating equipment 21-26) from a position away from the equipment to detect a second operating state of the equipment (rotating equipment 21-26) when there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state. According to this, by flying the air vehicle (unmanned air vehicle 70), in a first stage, it is possible to determine whether there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on a first operating status acquired from a location distant from the equipment (rotating equipment 21-26), and then in a second stage, it is possible to determine whether there is an abnormality in the equipment (rotating equipment 21-26) based on a second operating status acquired from a location close to the equipment (rotating equipment 21-26). That is, since the monitoring of abnormalities in the equipment (rotating equipment 21-26) is divided into a first stage and a second stage, it is possible to efficiently monitor abnormalities in the equipment (rotating equipment 21-26).

[0053] The air vehicle (unmanned air vehicle 70) is equipped with an electromagnet 81 that can be attracted to the equipment (rotating equipment 21-26), and the second detection device 32 approaches the equipment (rotating equipment 21-26) when the electromagnet 81 is attracted to the equipment (rotating equipment 21-26). In this way, when monitoring the equipment (rotating equipment 21-26) with the unmanned air vehicle 70 flying above the equipment, the second detection device 32 can be easily brought close to the equipment (rotating equipment 21-26).

[0054] The air vehicle (unmanned air vehicle 70) is equipped with a flight control unit 76 that controls flight to bring the air vehicle (unmanned air vehicle 70) closer to the equipment (rotating equipment 21-26) when there is a possibility of an abnormality in the equipment (rotating equipment 21-26) based on the first operating state. This makes it possible to approach the equipment (rotating equipment 21-26) and acquire the second operating state only when there is a possibility of an abnormality in the equipment (rotating equipment 21-26), thereby improving the efficiency of monitoring.

[0055] In addition, past inspection results (possible abnormality, abnormal, normal), etc. can be input into the computer 40 to perform deep learning, and for equipment with many abnormalities, measurements can be performed by the second detection device 32 or the first detection device 31. The treatment facility monitoring system 1 is a treatment facility monitoring system 1 that monitors a facility in which multiple treatment plants are installed by an aircraft (unmanned aircraft 70), and includes at least a flight route FR1 along which the aircraft (unmanned aircraft 70) flies, a flight creation unit that creates a monitoring point Pn for monitoring a specific treatment plant among the multiple treatment plants, and a flight control unit 76 that flies the aircraft (unmanned aircraft 70) toward the monitoring point Pn created by the flight creation unit. This makes it possible to easily monitor the specific treatment plant at the monitoring point Pn while flying the aircraft (unmanned aircraft 70) along the flight route FR1.

[0056] When an abnormality is detected at the monitoring point Pn, the flight control unit 76 flies the flying object (unmanned flying object 70) toward the equipment (rotating equipment 21-26) installed in the treatment plant. In this way, only when an abnormality is detected at the monitoring point Pn, the flying object (unmanned flying object 70) is brought close to the equipment (rotating equipment 21-26) to monitor the equipment (rotating equipment 21-26), thereby improving the efficiency of monitoring.

[0057] When the flight control unit 76 determines that there is no abnormality in the equipment (rotating equipment 21-26), it moves the aircraft (unmanned aircraft 70) to a monitoring point Pn corresponding to another treatment plant different from the treatment plant where the equipment (rotating equipment 21-26) is installed. This allows the treatment plants to be monitored in order when there are multiple treatment plants. When the flight control unit 76 determines that there is no abnormality in the equipment (rotating equipment 21-26), if there is equipment (rotating equipment 21-26) other than the equipment (rotating equipment 21-26) determined to be normal in the treatment plant, it moves the air vehicle (unmanned air vehicle 70) toward the other equipment (rotating equipment 21-26). In this way, when there are multiple equipment (rotating equipment 21-26) in the treatment plant, it is possible to thoroughly monitor the equipment (rotating equipment 21-26) installed in the treatment plant.

[0058] The air vehicle (unmanned air vehicle 70) is equipped with an abnormality diagnosis device 79 that diagnoses abnormalities in the equipment (rotating equipment 21-26). This makes it possible to determine abnormalities in the equipment (rotating equipment 21-26) while flying the air vehicle (unmanned air vehicle 70) using the abnormality diagnosis device 79, thereby improving the efficiency of monitoring abnormalities in the equipment (rotating equipment 21-26). The processing facility monitoring system 1 includes a storage device 74 that stores monitoring information at a monitoring point Pn, and a flight control unit 76 determines whether or not to fly an air vehicle (unmanned air vehicle 70) toward equipment (rotating equipment 21-26) based on the monitoring information stored in the storage device 74. This makes it possible to refer to past monitoring information to determine whether to fly toward equipment (rotating equipment 21-26), and therefore, for example, it is possible to prevent redundant monitoring of equipment (rotating equipment 21-26) that was determined to be abnormal a short time ago, thereby improving monitoring efficiency.

[0059] The air vehicle (unmanned air vehicle 70) is equipped with an imaging device that images the equipment (rotating equipment 21-26) or the treatment plant, and the imaging device images the equipment (rotating equipment 21-26) or the treatment plant at the monitoring point Pn. This makes it possible to grasp the condition of the equipment (rotating equipment 21-26) or the treatment plant from the captured image of the equipment (rotating equipment 21-26) or the treatment plant.

[0060] When the processing facility monitoring system 1 detects an abnormality in the equipment (rotating equipment 21-26), it transmits an image captured by an imaging device to the monitoring computer 40. This allows the monitor to quickly grasp the abnormal state by looking at the captured image transmitted to the computer 40. The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0061] 1: Surveillance system 40: Computer 40A: Flight Creation Department 74:Storage device 76: Flight control unit 79: Abnormality diagnosis device FR1: Flight route FR2: Flight route FR3: Flight route P1: Monitoring point P3: Monitoring point Pn: Monitoring point

Claims

1. An unmanned aerial vehicle; a flight control unit that flies the unmanned aerial vehicle on a flight route connecting monitoring points set at each of a plurality of treatment plants, and that causes the unmanned aerial vehicle to patrol the monitoring points on the flight route; A detection device for detecting the operation status of the monitoring points on the flight route; an abnormality diagnosis device for diagnosing the presence or absence of an abnormality at the monitoring point; the abnormality diagnosis device diagnoses the possibility of an abnormality or the presence or absence of an abnormality at the monitoring point based on the detection result of the detection device; The flight control unit: Making the unmanned aerial vehicle complete at least two circuits along the flight route; In a second or subsequent patrol, if the diagnosis result of the abnormality diagnosis device at the monitoring point obtained during at least the previous patrol is either a possible abnormality or an abnormality, the processing equipment monitoring system does not fly the unmanned aerial vehicle to the monitoring point determined to be either a possible abnormality or an abnormality, but instead determines a monitoring point different from the monitoring point as the next destination, and flies the unmanned aerial vehicle to the determined next destination.

2. The flight control unit: The processing equipment monitoring system of claim 1, wherein if it is determined during a second or subsequent patrol that the unmanned aerial vehicle should not be flown to the next destination on the flight route, a monitoring point other than the next destination on the flight route is determined as the destination of the unmanned aerial vehicle based on the detection results of the detection device at the monitoring point obtained during the previous patrol, and the unmanned aerial vehicle is flown to the determined destination.

3. The flight control unit: A monitoring system for processing equipment as described in claim 1 or claim 2, which decides to fly the unmanned aerial vehicle to the monitoring point which is the next destination on the flight route if, during a second or subsequent patrol, the diagnosis result of the abnormality diagnosis device at the monitoring point obtained during the previous patrol satisfies a predetermined condition.

4. The unmanned aerial vehicle is provided with a storage device that stores the detection results obtained during patrol as monitoring information together with the detection times of the detection devices for the monitoring points set in the plurality of treatment plants; A monitoring system for processing equipment described in any one of claims 1 to 3, wherein the flight control unit determines whether or not to fly the unmanned aerial vehicle to the monitoring point, which is the next destination, based on the monitoring information stored in the memory device.

5. The flight control unit: A monitoring system for processing equipment described in any one of claims 1 to 4, wherein, during a second or subsequent patrol, if the next destination is a monitoring point that was determined to be possibly or indeed abnormal as a diagnosis result of the abnormality diagnosis device during the previous patrol, and the detection time of the detection device during the previous patrol is within a predetermined time period prior to the current time, the unmanned aerial vehicle is not flown to the monitoring point that was determined to be possibly or indeed abnormal, but a monitoring point different from the monitoring point is determined as the next destination, and the unmanned aerial vehicle is flown to the determined next destination.

6. The flight control unit: In the second or subsequent patrols, if the monitoring point that was determined to be possibly abnormal or to have an abnormality as a result of the diagnosis by the abnormality diagnosis device during the previous patrol is the next flight destination, A monitoring system for processing equipment as described in claim 5, wherein if the detection time of the detection device during a previous patrol that is determined to be a possible or abnormal condition exceeds a predetermined time retroactively from the current time, the unmanned aerial vehicle is flown to the monitoring point, which is the next destination that is determined to be a possible or abnormal condition.

7. A monitoring system for treatment equipment described in any one of claims 1 to 6, wherein the monitoring point is a rotating device installed at the treatment plant.

Images