Flame detector test device

Abstract

To achieve a flame detector test device that can easily execute an operation test of a flame detector installed at a high place without using a support rod in various installation environments.SOLUTION: A flame detector test device has: a remote controller that transmits a plurality of remote control commands on the basis of an operation input of a test worker; a flying robot that is flyable on the basis of a flight control command included in the plurality of remote control commands; an actuation tester body that is loaded in the flying robot, and irradiates the flame detector with test light for performing an actuation test of the flame detector on the basis of an irradiation control command included in the plurality of remote control commands; and a camera that is loaded in the actuation tester body, and photographs an image in an irradiation direction of the test light for determining a relative position of the actuation tester body to the flame detector, in which the remote controller has a display unit that displays the image photographed by the camera.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a flame detector testing device that uses an aerial robot to perform an operation test of a flame detector. [Background technology]

[0002] 2. Description of the Related Art There are various types of flame detectors as disaster prevention devices for detecting and notifying fires. Specific types of flame detectors include infrared spot detectors and ultraviolet spot detectors.

[0003] Infrared spot detectors and ultraviolet spot detectors must be tested for operation during legally required fire inspections and maintenance inspections. To perform such tests, a flame detector operation tester is used (see, for example, Non-Patent Document 1).

[0004] The flame detector operation tester according to Non-Patent Document 1 uses two types of light sources and is configured to emit infrared and ultraviolet light simultaneously, making it possible to handle operation tests of both infrared spot type detectors and ultraviolet spot type detectors. Operation tests of infrared spot type detectors and ultraviolet spot type detectors can be carried out using the flame detector operation tester according to Non-Patent Document 1, roughly as follows.

[0005] <Infrared spot detector operation test> Infrared spot detectors operate by detecting the "flicker" of infrared light. Therefore, the flame detector operation tester checks the operation of infrared spot detectors by flickering the infrared light emitted by a krypton light bulb through the blinking of an internal electric circuit.

[0006] <Ultraviolet spot detector operation test> Ultraviolet spot detectors operate by detecting ultraviolet light, so the flame detector operation tester checks the operation of the ultraviolet spot detector by emitting weak ultraviolet light, similar to that of a lighter flame, from an ultraviolet discharge tube, which matches the spectral sensitivity of the ultraviolet spot detector.

[0007] The procedure for the operation test using the flame detector operation tester is roughly as follows. Step 1: Power on Turn on the power switch. This causes the krypton bulb to flash and the ultraviolet discharge tube to light up.

[0008] Step 2: Place a flame detector operation tester within the operating distance and conduct an operation test. The operating distance of the flame detector operation tester is within 20 cm in front of the flame detector. Therefore, an operation test can be performed by placing the flame detector operation tester within 20 cm in front of the flame detector to be tested and irradiating the light receiving surface of the flame detector with the center of the flashing infrared light.

[0009] Step 3: Operational test evaluation If the flame detector operates within 30 seconds of being irradiated with light, the flame detector is normal. On the other hand, if the flame detector does not operate within 30 seconds of being irradiated with light, the flame detector is abnormal. The flame detector is equipped with a confirmation light that lights up when it is activated, and by visually checking whether the confirmation light lights up within 30 seconds, it can be determined whether the detector has operated normally. [Prior art documents] [Non-patent literature]

[0010] [Non-Patent Document 1] Nohmi Fire Prevention Co., Ltd. website, Flame detector operation tester (URL: https: / / www.nohmi.co.jp / shoninzu / 015 / 015-0001.html) Summary of the Invention [Problem to be solved by the invention]

[0011] When using the flame detector operation tester described in Non-Patent Document 1 to test the operation of a flame detector installed at a high altitude, the tester will generally need to attach the flame detector operation tester to one end of a support rod and, while holding the other end of the support rod, position the flame detector operation tester so that it is within 20 cm in front of the flame detector.

[0012] However, in large-scale facilities, the flame detector may be installed in a ceiling part that is too high for the support rod to reach. In addition, depending on the installation environment, the flame detector may be installed above a duct, pipe, etc. Furthermore, there may be cases where an object is installed on the floor directly below the flame detector.

[0013] In these cases, it is impossible or difficult to perform a flame detector operation test using a support rod directly below the flame detector. Also, while it is possible to temporarily set up scaffolding for the operation test, this is time-consuming.

[0014] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a flame detector testing device that can easily perform operational tests of flame detectors installed at high altitudes in various installation environments without using support rods. [Means for solving the problem]

[0015] The flame detector testing equipment according to the present disclosure includes a remote controller that transmits a plurality of remote control commands based on operational input by a tester, a flying robot capable of flying based on flight control commands included in the plurality of remote control commands, an operation tester main body mounted on the flying robot and irradiating the flame detector with test light for performing an operation test of the flame detector based on irradiation control commands included in the plurality of remote control commands, and a camera mounted on the operation tester main body and capturing an image in the irradiation direction of the test light to determine the relative position of the operation tester main body with respect to the flame detector, and the remote controller has a display unit that displays the image captured by the camera. Effect of the Invention

[0016] According to the present disclosure, it is possible to obtain a flame detector testing device that can easily perform operational tests of flame detectors installed at high altitudes in various installation environments without using support rods. [Brief description of the drawings]

[0017] [Figure 1] 1 is a functional block diagram of a flame sensor testing device according to a first embodiment of the present disclosure. FIG. [Diagram 2] 1 is an explanatory diagram showing a configuration example of a flame detector test device according to a first embodiment of the present disclosure. [Diagram 3] FIG. 2 is an explanatory diagram relating to a method for performing an operation test of a flame detector installed at a high place using the flame detector testing device according to the first embodiment of the present disclosure. [Figure 4] 1 is an explanatory diagram relating to precise positioning control of a flying robot performed by the flame detector test device according to embodiment 1 of the present disclosure. FIG. [Diagram 5] FIG. 11 is a functional block diagram of a flame sensor testing device according to a second embodiment of the present disclosure. [Figure 6] FIG. 11 is a functional block diagram of a flame sensor testing device according to a third embodiment of the present disclosure. [Figure 7] FIG. 11 is an explanatory diagram showing a configuration example of a flame detector testing device according to a third embodiment of the present disclosure. [Figure 8] FIG. 11 is an explanatory diagram relating to a method for conducting an operation test of a flame detector installed at a high place using a flame detector testing device according to embodiment 3 of the present disclosure. [Figure 9] 11 is an explanatory diagram relating to precise positioning control of a flying robot performed by a flame detector testing device according to embodiment 3 of the present disclosure. FIG. [Figure 10] FIG. 13 is an explanatory diagram showing an index pattern used to visually check whether the relative position of a flying robot with respect to a flame detector is within the range of an allowable operating distance in the fourth embodiment of the present disclosure. [Figure 11]FIG. 13 is a first explanatory diagram relating to precise positioning control of a flying robot performed by a flame detector testing device according to embodiment 4 of the present disclosure using an index pattern. [Figure 12] FIG. 23 is a second explanatory diagram regarding the precise positioning control of a flying robot performed by the flame detector testing apparatus according to the fourth embodiment of the present disclosure using an index pattern. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, preferred embodiments of the flame detector testing device of the present disclosure will be described with reference to the drawings. The flame detector testing device according to the present disclosure has a technical feature in that, in order to perform an operation test of a flame detector installed at a high place, an operation tester main body equipped with a camera is mounted on a flying robot that can be controlled for positioning by a remote controller. As a result, it is possible to perform an operation test while checking the relative position of the operation tester main body with respect to the flame detector and the operation result by images.

[0019] Embodiment 1 1 is a functional block diagram of a flame detector test apparatus according to a first embodiment of the present disclosure. The flame detector test apparatus according to the first embodiment includes a flying robot 1 and a remote controller 100.

[0020] The flying robot 1 is a multicopter type unmanned aerial vehicle, such as a drone, that can fly by remote control using a remote controller 100. The functions of the flying robot 1 shown in FIG. 1 are divided into functions executed by a robot main body unit 10 and a robot mounted unit 20.

[0021] The robot main body 10 is the original functional part that performs unmanned flight based on remote control, and is equipped with a flying robot control unit 11. The flying robot control unit 11 executes flight control of the flying robot 1 based on flight control commands received from the remote controller 100.

[0022] On the other hand, the robot mounting unit 20 is a functional part mounted on the flying robot 1 in order to easily perform operational testing of the flame detector remotely, and is equipped with an operational tester main body 21, an angle adjustment mechanism 22, and a camera 23.

[0023] The operation tester main body 21 is mounted on the flying robot 1, and irradiates the flame detector with test light for testing the operation of the flame detector based on an irradiation control command received from the remote controller 100. That is, the operation tester main body 21 executes a function equivalent to that of the flame detector operation tester according to Non-Patent Document 1 based on an irradiation control command from the remote controller 100.

[0024] The angle adjustment mechanism 22 is a mechanism that enables changing the irradiation direction of the test light by the operation tester main body 21 mounted on the flying robot 1. Specifically, the angle adjustment mechanism 22 enables changing the angle of the operation tester main body 21 mounted on the flying robot 1 by manual operation or automatic operation based on a remote control command transmitted from the remote controller 100.

[0025] In the present embodiment 1, a case will be described in which the angle adjustment mechanism 22 is realized by manual operation. In this case, it is possible to use a mechanism that can adjust the installation angle with respect to the support rod, which is included in the flame detector operation tester according to Non-Patent Document 1.

[0026] Moreover, the case where angle adjustment mechanism 22 is realized by automatic operation will be described later in the second and third embodiments.

[0027] The camera 23 is mounted on the operation tester body 21 and can capture images for determining the relative position of the operation tester body 21 with respect to the flame detector. Unlike a camera for capturing images of scenery or the like from the sky using a drone, the camera 23 captures images in the irradiation direction of the test light output from the operation tester body 21, and captures images in the direction of the flame detector installed on the ceiling or the like.

[0028] Since the camera 23 is mounted on the operation tester main body 21, when the operation tester main body 21 is rotated by the angle adjustment mechanism 22, the camera 23 rotates together with the operation tester main body 21, and can capture an image in the direction of irradiation of the test light output from the operation tester main body 21.

[0029] Meanwhile, the functions of the remote controller 100 shown in FIG. 1 are divided into functions executed by a flight control operation unit 101, a radiation control operation unit 102, and a display unit 111, respectively.

[0030] The flight control operation unit 101 generates flight control commands based on operational input by a tester and outputs the flight control commands to the flying robot control unit 11, thereby realizing the function of controlling the flying robot 1 by remote control.

[0031] The irradiation control operation unit 102 generates an irradiation control command based on operational input by the tester and outputs the irradiation control command to the operation tester main body 21, thereby realizing the function of remotely controlling the power-on of the operation tester main body 21 and the irradiation of the test light.

[0032] The display unit 111 realizes a function of receiving an image captured by the camera 23 mounted on the flying robot 1 as a video signal and displaying an image visible to the test personnel. By visually checking the image captured by the camera 23 mounted on the flying robot 1 as an image displayed on the display unit 111, the test personnel can confirm the relative position of the operation tester main body 21 with respect to the flame detector, and can also confirm the state of the confirmation light that turns on in response to the activation of the flame detector.

[0033] In other words, even if the flame detector is installed at a high position and its location and the operating status of the confirmation light are difficult to confirm from the ground, the test personnel can rely on the image displayed on the display unit 111 to guide the flying robot to an appropriate position relative to the flame detector to conduct an operation test and also to check the operation.

[0034] Fig. 2 is an explanatory diagram showing a configuration example of a flame detector test device according to the first embodiment of the present disclosure. More specifically, Fig. 2(A) shows a state in which an operation tester main body 21 equipped with a camera 23 is adjusted by manually operating an angle adjustment mechanism 22 so that a test light can be irradiated directly above the robot main body 10.

[0035] Also, Figure 2 (B) shows the operation tester main body 21 equipped with a camera 23 adjusted by manually operating the angle adjustment mechanism 22 so that the test light can be irradiated in a direction tilted from directly above the robot main body 10.

[0036] Therefore, the tester can manually adjust the angle of the operation tester main body 21 equipped with the camera 23 in the appropriate direction depending on the installation direction of the flame detector 200 to be subjected to the operation test, which is installed on the ceiling or the like, and then fly the flying robot 1 to perform the operation test.

[0037] Fig. 3 is an explanatory diagram relating to a method for performing an operation test of a flame detector installed at a high place using the flame detector testing apparatus according to the first embodiment of the present disclosure. Fig. 3 illustrates a case in which the flame detector 200 to be tested for operation is installed on a tilted ceiling surface at a high place. To perform an operation test on the flame detector 200 in such an installation state using the flame detector testing apparatus according to the first embodiment, a tester sequentially performs the following procedures.

[0038] <Step 1: Manual operation of angle adjustment mechanism 22> With the flying robot 1 placed on the ground, the tester manually operates the angle adjustment mechanism 22 to adjust the angle of the operation tester main body 21 equipped with the camera 23 so that it matches the installation angle of the flame detector installed on the ceiling surface. An example of the state after the angle adjustment corresponds to the state shown in Figure 2(B) above.

[0039] <Step 2: Rough positioning control of flying robot 1> A tester flies the flying robot along a desired route toward the flame detector 200 to be tested for operation by operating the flight control operation unit 101 of the remote controller 100. In Fig. 3, a first route R1 and a second route R2 are illustrated as examples of the desired route.

[0040] For example, if there are flight obstacles such as piping or lighting on the path of the first route R1, the tester can select the second route R2 to avoid the flight obstacles, bring the flying robot 1 closer to the flame detector 200 to be tested for operation, and perform rough positioning.

[0041] <Step 3: Precise positioning control of flying robot 1> The tester adjusts the relative position of the operation tester main body 21 with respect to the flame detector 200 by moving the position of the flying robot while visually checking the image captured by the camera 23 via the display unit 111. As a result, the tester can perform accurate positioning control so that the operation tester main body 21 faces the flame detector 200 at an appropriate position.

[0042] Here, the technique for adjusting the relative position while visually checking the image will be further explained with reference to Fig. 4. Fig. 4 is an explanatory diagram relating to precise positioning control of a flying robot performed by the flame detector test device according to the first embodiment of the present disclosure. Fig. 4 illustrates three cases (A) to (C) as follows.

[0043] <Case (A): When the relative position of the operation tester body 21 with respect to the flame detector 200 is appropriate> Case (A) shows a normal state in which the direction of irradiation of test light by the operation tester body 21 coincides with the central axis of the flame detector 200 and the operation tester body 21 faces the flame detector 200.

[0044] Fig. 4(A1) shown in the upper part is a diagram showing the relative position of the operation tester main body 21 with respect to the flame detector 200 in a normal state. Also, Fig. 4(A2) shows a state in which an image captured by the camera 23 is displayed on the display unit 111 in the relative position shown in (A1).

[0045] An examiner who visually checks the image of Figure 4 (A2) displayed on display unit 111 can infer that flame detector 200 is in a normal state, since it is located close to the center of display unit 111 and is displayed as a nearly perfect circle.

[0046] <Case (B): When the relative position of the operation tester body 21 with respect to the flame detector 200 is shifted> Case (B) shows a shifted state in which the direction of irradiation of test light by the operation tester main body 21 is shifted relative to the central axis of the flame detector 200 and the operation tester main body 21 faces the flame detector 200.

[0047] Fig. 4(B1) shown in the upper part is a diagram showing the relative position of the operation tester main body 21 with respect to the flame detector 200 in the shifted state. Also, Fig. 4(B2) shows a state in which an image captured by the camera 23 is displayed on the display unit 111 in the relative position shown in (B1).

[0048] An examiner who visually views the image of Figure 4 (B2) displayed on the display unit 111 can infer that the flame detector 200 is in a shifted state because it is positioned in a position shifted from the center of the display unit 111 and is displayed in a shape that is close to a perfect circle.

[0049] <Case (C): When the relative position of the operation tester body 21 with respect to the flame detector 200 is misaligned> Case (C) shows an off-axis state in which the direction of test light emitted by the operation tester main body 21 is off-axis with respect to the central axis of the flame detector 200 and the operation tester main body 21 faces the flame detector 200.

[0050] Fig. 4(C1) shown in the upper part is a diagram showing the relative position of the operation tester main body 21 with respect to the flame detector 200 in an axially misaligned state. Also, Fig. 4(C2) shows a state in which an image captured by the camera 23 is displayed on the display unit 111 in the relative position shown in (C1).

[0051] An examiner who visually examines the image of Figure 4 (C2) displayed on the display unit 111 can infer that although the flame detector 200 is located close to the center of the display unit 111, it is displayed as a distorted circle when viewed from an angle, and thus is in an axis misaligned state.

[0052] In order to accurately adjust the relative position of the operation tester main body 21 with respect to the flame detector 200, it is important to adjust the relative position within an appropriate working distance range of the operation tester main body 21. A method for adjusting the relative position so as to be within such an appropriate working distance range will be described in detail in the fourth embodiment with reference to Figs. 10 to 12.

[0053] <Step 4: Operation test> After precise positioning control of the flying robot 1 is completed by step 3, the tester performs an operation test by inputting an operation to the irradiation control operation unit 102 of the remote controller 100 to irradiate test light toward the flame detector 200 to be subjected to the operation test.

[0054] Furthermore, as a result of carrying out the operation test, the tester can confirm that the confirmation light of the flame detector 200 that is the subject of the operation test is on by looking at the image on the display unit 111. Therefore, even if it is difficult to directly see the confirmation light of the flame detector 200 from the ground, the tester can easily and accurately determine the state of the confirmation light by looking at the display unit 111.

[0055] As described above, according to embodiment 1, by being equipped with the functional configuration shown in FIG. 1, it is possible to realize a flame detector testing device that can easily perform operational tests of flame detectors installed at high altitudes in various installation environments without using a support rod.

[0056] In particular, by visually checking the images displayed on the display unit, test personnel can guide the flying robot to the appropriate position to conduct operation tests and confirm the operation results, making it easy to conduct operation tests of flame detectors installed at high altitudes.

[0057] Embodiment 2 In the second embodiment, a configuration in which angle adjustment mechanism 22 is realized by automatic operation based on a remote control command from remote controller 100 will be described with reference to FIG.

[0058] Fig. 5 is a functional block diagram of a flame detector testing device according to embodiment 2 of the present disclosure. The functional block diagram shown in Fig. 5 according to embodiment 2 differs from the functional block diagram shown in Fig. 1 according to embodiment 1 above in the following two points.

[0059] <Difference 1: The angle adjustment mechanism in the flying robot 1 is motorized> 1 according to the first embodiment, an angle adjustment mechanism 22 is used that enables the angle of the operation tester body 21 mounted on the flying robot 1 to be changed by manual operation. In contrast, in FIG. 5 according to the second embodiment, an angle adjustment mechanism 22a is used that enables the angle of the operation tester body 21 mounted on the flying robot 1 to be changed by automatic operation based on a remote control command from a remote controller 100.

[0060] As an example, the angle adjustment mechanism 22a can be configured as a one-axis motor that can rotate the irradiation direction of the test light within one plane based on a rotation control command received from the remote controller 100.

[0061] <Difference 2: A rotation control operation unit is added to the remote controller 100> 5 according to the second embodiment, a rotation control operation unit 103 for generating a rotation control command is newly added in the remote controller 100. Specifically, the rotation control operation unit 103 generates a rotation control command equivalent to a remote control command based on an operation input by an examiner, and outputs the rotation control command to the angle adjustment mechanism 22a, thereby remotely controlling the irradiation direction of the test light.

[0062] Therefore, the operator can change the angle of the operation tester main body 21 mounted on the flying robot 1 by automatic operation based on a remote control command from the remote controller 100. For example, the tester can perform automatic operation while the flying robot 1 is on the ground. Furthermore, the tester can also perform automatic operation while visually checking the image displayed on the display unit 111 while the flying robot 1 is flying, such as when the flying robot 1 approaches the flame detector 200 that is the subject of the operation test.

[0063] As described above, according to the second embodiment, by being equipped with the functional configuration shown in FIG. 5, it is possible to realize a flame detector testing device that can easily perform operational tests of flame detectors installed at high altitudes in various installation environments without using a support rod, and it is also possible to adjust the angle of the operation tester body equipped with a camera at any timing while the flying robot is flying.

[0064] For example, even if multiple flame detectors are not necessarily installed at the same angle and it becomes necessary to perform an operation test on flame detectors installed at different angles, the angle can be adjusted during flight as part of remote control by the remote controller. As a result, it is possible to eliminate the need to land the flying robot on the ground to adjust the angle, and to shorten the test time.

[0065] Embodiment 3 In the third embodiment, in addition to the same configuration as in the second embodiment, in which the angle adjustment mechanism 22a is realized by automatic operation based on a remote control command from the remote controller 100, the angle adjustment mechanism 22a further includes a laser pointer that irradiates three or more laser beams in a direction parallel to the optical axis of the test light. Such a configuration will be described with reference to FIG.

[0066] Fig. 6 is a functional block diagram of a flame detector testing device according to embodiment 3 of the present disclosure. Compared with the functional block diagram shown in Fig. 1 according to embodiment 1, the functional block diagram shown in Fig. 6 according to embodiment 3 has difference 3 described below in addition to difference 1 and difference 2 described in embodiment 2.

[0067] <Difference 3: Added a laser pointer to the operation tester body> 6 according to the third embodiment, a laser pointer 24 for irradiating three or more laser beams in a direction parallel to the optical axis of the test light is newly added to the robot mounting unit 20 of the flying robot 1. The laser pointer 24 is mounted on the operation tester main body 21.

[0068] Although not shown in the drawings, it is possible to configure the laser pointer 24 to be switched ON / OFF remotely based on a remote control command from the remote controller 100. Alternatively, it is also possible to configure the laser pointer 24 to be switched ON / OFF remotely in synchronization with the ON / OFF switching of the camera based on a remote control command from the remote controller 100.

[0069] Camera 23 captures an image of an area including points irradiated by three or more laser beams in the image. Therefore, display unit 111 can display an image including points irradiated by three or more laser beams captured by camera 23.

[0070] Next, a specific configuration and function further including the laser pointer 24 will be described with reference to FIGS.

[0071] Fig. 7 is an explanatory diagram showing a configuration example of a flame detector testing device according to embodiment 3 of the present disclosure. More specifically, Fig. 7(A) shows a state in which an operation tester main body 21 equipped with a camera 23 and a laser pointer 24 can irradiate a test light directly above the robot main body 10 by automatically operating an angle adjustment mechanism 22a using a remote controller 100.

[0072] Also, Figure 7 (B) shows a state in which an operation tester main body 21 equipped with a camera 23 and a laser pointer 24 can irradiate test light in a direction tilted from directly above the robot main body 10 by automatically operating an angle adjustment mechanism 22a using a remote controller 100.

[0073] Therefore, regardless of whether the flying robot 1 is stopped on the ground or in flight, the tester can adjust the angle of the operation tester main body 21, which is equipped with the camera 23 and laser pointer 24, to an appropriate direction depending on the installation direction of the flame detector 200 to be tested for operation, which is installed on the ceiling or the like, and then perform the operation test.

[0074] Fig. 8 is an explanatory diagram relating to a method for performing an operation test of a flame detector installed at a high place using a flame detector testing device according to embodiment 3 of the present disclosure. Fig. 8 illustrates a case in which the flame detector 200 to be tested is installed on the surface of a high ceiling. In particular, Fig. 8 illustrates a case in which operation tests of flame detectors 200(1) and 200(2) installed at different angles to the ceiling are performed in sequence.

[0075] To sequentially perform operation tests on flame detectors 200(1), 200(2) installed in this manner using the flame detector testing device according to the third embodiment, a tester sequentially performs the following procedures.

[0076] <Step 1: Automatic operation of angle adjustment mechanism 22a> With the flying robot 1 placed on the ground, the tester automatically operates the angle adjustment mechanism 22a by inputting an operation to the rotation control operation unit 103 of the remote controller 100, thereby adjusting the angle of the operation tester main body 21 equipped with the camera 23 so that it matches the installation angle of the flame detector 200(1) installed on the ceiling surface. An example of the state after adjustment corresponds to the state shown in Figure 7(B) above.

[0077] In addition, in the third embodiment, a configuration is provided that allows automatic operation of the angle adjustment mechanism 22a. Therefore, instead of performing step 1, a tester can adjust the angle of the operation tester main body 21 equipped with the camera 23 at any timing while the flying robot 1 is flying. Alternatively, a rough angle adjustment can be performed on the ground, and a precise angle adjustment can be performed immediately before the operation test is performed.

[0078] <Step 2: Rough positioning control of flying robot 1> A tester flies the flying robot along a desired route toward the flame detector 200(1) to be tested for operation by operating the flight control operation unit 101 of the remote controller 100. In Fig. 8, a first route R1 and a second route R2 are shown as examples of the desired route.

[0079] For example, if there are flight obstacles such as piping or lighting on the path of the first route R1, the tester can select the second route R2 to avoid the flight obstacles and bring the flying robot 1 closer to the flame detector 200(1) to be tested for operation, thereby performing rough positioning.

[0080] <Step 3: Precise positioning control of flying robot 1> While visually checking the image captured by the camera 23 via the display unit 111, the tester moves the position of the flying robot 1 to adjust the relative position of the operation tester main body 21 with respect to the flame detector 200(1).

[0081] In the third embodiment, the tester can visually confirm, as an image displayed on the display unit, the relative positional relationship of the flame detector 200(1) to the points irradiated by the three or more laser pointers 24. As a result, the tester can perform accurate positioning control, including adjusting the angle of the operation tester main body, so that the operation tester main body 21 faces the flame detector 200(1) at an appropriate position.

[0082] Here, the technique for adjusting the relative position while visually checking the image will be further explained with reference to Fig. 9. Fig. 9 is an explanatory diagram relating to precise positioning control of a flying robot performed by a flame detector testing device according to a third embodiment of the present disclosure. Fig. 9 illustrates three cases (A) to (C) as follows.

[0083] <Case (A): When the relative position of the operation tester body 21 with respect to the flame detector 200(1) is appropriate> Case (A) shows the normal state in which the direction of irradiation of the test light by the operation tester main body 21 coincides with the central axis of the flame detector 200(1) and the operation tester main body 21 faces the flame detector 200(1).

[0084] Fig. 9(A1) shown in the upper part is a diagram showing the relative position of the operation tester main body 21 with respect to the flame detector 200(1) in a normal state. Also, Fig. 9(A2) shows a state in which an image captured by the camera 23 is displayed on the display unit 111 in the relative position shown in (A1).

[0085] 9(A2) and later-described Fig. 9(B2) and Fig. 9(C2) show an example of a state in which irradiation points 24a, 24b, and 24c of three laser pointers 24 are displayed in an image. Here, the three laser pointers 24 are mounted on the operation tester main body 21, and irradiate laser light in a direction parallel to the optical axis of the test light.

[0086] Therefore, the examiner can use the irradiation points 24a, 24b, and 24c displayed at fixed positions on the screen of the display unit 111 as an index pattern that indicates the relative positional relationship with the flame detector 200(1).

[0087] An examiner who visually examines the image of Figure 9 (A2) displayed on display unit 111, including the index pattern made up of irradiation points 24a, 24b, and 24c, can infer that flame detector 200(1) is located close to the center of display unit 111 and is displayed in a shape that is close to a perfect circle, based on the relative positional relationship between the outer periphery of flame detector 200(1) and the irradiation points 24a, 24b, and 24c, and therefore is in a normal state.

[0088] <Case (B): When the relative position of the operation tester main body 21 with respect to the flame detector 200(1) is shifted> Case (B) shows a shifted state in which the direction of the test light emitted by the operation tester main body 21 is shifted relative to the central axis of the flame detector 200(1) and the operation tester main body 21 faces the flame detector 200(1).

[0089] Fig. 9(B1) shown in the upper part is a diagram showing the relative position of the operation tester main body 21 with respect to the flame detector 200(1) in the shift state. Also, Fig. 9(B2) shows a state in which an image captured by the camera 23 is displayed on the display unit 111 in the relative position shown in (B1).

[0090] An examiner who visually views the image of Figure 9 (B2) displayed on display unit 111 with the index pattern made up of irradiation points 24a, 24b, and 24c can infer that flame detector 200(1) is positioned shifted from the center of display unit 111 and is displayed in a shape close to a perfect circle, based on the relative positional relationship between the outer periphery of flame detector 200(1) and irradiation points 24a, 24b, and 24c, and therefore is in a shifted state.

[0091] <Case (C): When the relative position of the operation tester main body 21 with respect to the flame detector 200(1) is misaligned> Case (C) shows an axially misaligned state in which the direction of the test light emitted by the operation tester main body 21 is misaligned with the central axis of the flame detector 200(1) and the operation tester main body 21 faces the flame detector 200(1).

[0092] Fig. 9(C1) shown in the upper part is a diagram showing the relative position of the operation tester main body 21 with respect to the flame detector 200(1) in an axially misaligned state. Fig. 9(C2) shows a state in which an image captured by the camera 23 is displayed on the display unit 111 in the relative position shown in (C1).

[0093] An examiner who visually examines the image of Figure 9 (C2) displayed on display unit 111, which includes the index pattern made up of irradiation points 24a, 24b, and 24c, can infer that, based on the relative positional relationship between the outer periphery of flame detector 200(1) and irradiation points 24a, 24b, and 24c, flame detector 200(1) is located close to the center of display unit 111, but is displayed as a distorted circle when viewed from an angle, and therefore is in an axis-offset state.

[0094] In order to accurately adjust the relative position of the operation tester body 21 with respect to the flame detector 200(1), it is important to adjust the relative position within an appropriate operating distance range that the operation tester body 21 has.

[0095] In the third embodiment, the irradiation points 24a, 24b, and 24c are displayed as an index pattern within the image. Therefore, for example, as in Fig. 9(A2), when the outer periphery of the flame detector 200(1) is displayed as a size that touches the irradiation points 24a, 24b, and 24c, the examiner can infer that the positioning has been achieved within the range of the allowable operating distance.

[0096] Furthermore, if the outer periphery of flame detector 200(1) is displayed as a small size that does not contact irradiation points 24a, 24b, and 24c, or if it is displayed as a large size that overlaps irradiation points 24a, 24b, and 24c, the tester can infer that it is outside the range of allowable operating distances and that the relative distance needs to be corrected.

[0097] A method for adjusting the relative positions so as to fall within an appropriate working distance range will be described in detail in the fourth embodiment with reference to FIGS.

[0098] <Step 4: Operation test> After precise positioning control of the flying robot 1 is completed by step 3, the test staff performs an operation test by inputting an operation to the irradiation control operation unit 102 of the remote controller 100 to irradiate test light toward the flame detector 200(1) to be subjected to the operation test.

[0099] Note that, as a result of carrying out the operation test, the tester can confirm that the confirmation light of the flame detector 200(1) that is the subject of the operation test is on by looking at the image on the display unit 111. Therefore, even if it is difficult to directly see the confirmation light of the flame detector 200 from the ground, the tester can easily and accurately determine the state of the confirmation light by looking at the display unit 111. <Step 5: Rough positioning control of flying robot 1> The tester flies the flying robot along a desired route toward the second flame detector 200(2) to be tested for operation by operating the flight control operation unit 101 of the remote controller 100. In FIG. 8, the third route R3 is illustrated as an example of the desired route.

[0100] <Step 6: Automatic operation of the angle adjustment mechanism 22a for the next operation test of the flame detector 200(2)> After completing the operation test of the first flame detector 200(1) through steps 1 to 4, the tester automatically operates the angle adjustment mechanism 22a while performing step 5 to match the installation angle of the second flame detector 200(2).

[0101] Specifically, the tester automatically operates the angle adjustment mechanism 22a by inputting an operation to the rotation control operation unit 103 of the remote controller 100, thereby adjusting the angle of the operation tester main body 21 equipped with the camera 23 so as to match the installation angle of the flame detector 200(2) which is the second operation test subject. An example of the state after adjustment corresponds to the state shown in Fig. 7(A) above.

[0102] This type of angle adjustment can be performed in the air at any time while the flying robot 1 is flying toward the second flame detector 200(2) after the operation test of the first flame detector 200(1) is completed, thereby shortening the test time.

[0103] <Step 7: Precise positioning control of flying robot 1> The test staff performs precise positioning control of the flying robot 1 relative to the second flame detector 200(2). The specific method is the same as step 3 performed for the first flame detector 200(2), and so a description thereof will be omitted.

[0104] <Step 8: Operation test> The tester performs an operation test on the second flame detector 200(2). The specific procedure is the same as that in step 4 performed on the first flame detector 200(2), and therefore a description thereof will be omitted.

[0105] When continuing to conduct operation tests on the third or subsequent flame detectors, the test personnel will repeat steps 5 to 8 as appropriate.

[0106] As described above, according to the third embodiment, by being provided with the functional configuration shown in FIG. 6, it is possible to achieve the same effect as the second embodiment, and also to more accurately and easily adjust the relative position between the flame detector and the operation tester main body by using the index pattern created by the laser pointer.

[0107] Embodiment 4 In the fourth embodiment, a method for adjusting the relative position within an appropriate working distance range of the actuation tester main body 21 will be described in detail with reference to the drawings.

[0108] 10 is an explanatory diagram showing an index pattern used to visually check whether the relative position of the flying robot with respect to the flame detector is within the range of the allowable operating distance in the fourth embodiment of the present disclosure. The index pattern 30 used in the fourth embodiment is composed of an outer circumferential pattern 31 and an inner circumferential pattern 32.

[0109] The operating distance of the flame detector operation tester is within 20 cm in front of the flame detector 200. Therefore, as an example, the following description will be given assuming that the allowable operating distance range is 10 cm to 18 cm.

[0110] The reason why the lower limit is set to 10 cm is to provide a margin for the relative distance so that the operation tester main body 21 mounted on the flying robot 1 can avoid interference with the flame detector 200, which is the subject of the operation test, when controlling the position of the flying robot 1. The reason why the upper limit is set to 18 cm is to provide a margin for the operating distance of 20 cm or less, taking into consideration that the flying robot 1 does not come to a complete standstill.

[0111] The greater the relative distance between the operation tester main body 21 and the flame detector 200, the smaller the size of the flame detector 200 displayed on the display unit 111, and the smaller the relative distance, the larger the size of the flame detector 200 displayed on the display unit 111.

[0112] Therefore, outer periphery pattern 31 is set so as to match the outer periphery size of flame detector 200 imaged by camera 23 and displayed on display unit 111 when the relative distance set as the lower limit value is 10 cm.

[0113] Furthermore, the inner circumference pattern 32 is set so as to match the outer circumference size of the flame detector 200 imaged by the camera 23 and displayed on the display unit 111 when the relative distance set as the upper limit value is 18 cm.

[0114] The outer circumferential pattern 31 and the inner circumferential pattern 32, whose sizes are set in this manner, are arranged to form concentric circles to set the index pattern 30. This index pattern 30 can be electrically displayed in the center of the display unit 111 so as to overlap with the captured image, but it can also be achieved by attaching a transparent sticker on which the index pattern is drawn to the surface of the display unit 111.

[0115] By using such an index pattern 30, the tester can remotely control the position of the flying robot 1 so that the outer periphery of the flame detector 200 displayed on the display unit is between the outer periphery pattern 31 and the inner periphery pattern 32, thereby adjusting the relative position within an appropriate operating distance range of the operation tester main body 21. A specific example will be described with reference to Figs. 11 and 12.

[0116] Fig. 11 is a first explanatory diagram relating to precise positioning control of a flying robot performed by a flame detector testing device according to embodiment 4 of the present disclosure using an index pattern 30. The first explanatory diagram shown in Fig. 11 illustrates three cases (A) to (C) as follows. However, this first explanatory diagram illustrates cases where all of cases (A) to (C) fall within the range of the allowable operating distance.

[0117] <Case (A): When the relative position of the operation tester body 21 with respect to the flame detector 200 is appropriate> Case (A) shows a normal state in which the direction of irradiation of test light by the operation tester body 21 coincides with the central axis of the flame detector 200 and the operation tester body 21 faces the flame detector 200.

[0118] In this state, the outer periphery of the flame detector 200 is displayed as a shape close to a perfect circle between the outer periphery pattern 31 and the inner periphery pattern 32, and the center of the outer periphery of the flame detector 200 coincides with the center of the index pattern 30.

[0119] Therefore, an examiner who visually checks the image of FIG. 11(A) displayed on the display unit 111 can infer that precise positioning control of the flying robot 1 is being performed within the range of the allowable operating distance.

[0120] <Case (B): When the relative position of the operation tester body 21 with respect to the flame detector 200 is shifted> Case (B) shows a shifted state in which the direction of irradiation of test light by the operation tester main body 21 is shifted relative to the central axis of the flame detector 200 and the operation tester main body 21 faces the flame detector 200.

[0121] In such a state, although the outer circumference of the flame sensor 200 is displayed as being close to a perfect circle, the center of the outer circumference of the flame sensor 200 does not coincide with the center of the index pattern 30, and the outer circumference of the flame sensor 200 is out of between the outer circumference pattern 31 and the inner circumference pattern 32.

[0122] Therefore, a tester who visually views the image of Figure 11 (B) displayed on the display unit 111 can infer that the flame detector 200 is in a shifted state away from the center of the display unit 111, which is an inappropriate position for performing an operation test, and that the position of the flying robot 1 needs to be corrected.

[0123] <Case (C): When the relative position of the operation tester body 21 with respect to the flame detector 200 is misaligned> Case (C) shows an off-axis state in which the direction of test light emitted by the operation tester main body 21 is off-axis with respect to the central axis of the flame detector 200 and the operation tester main body 21 faces the flame detector 200.

[0124] In such a state, the outer periphery of flame detector 200 is displayed as a distorted perfect circle, and the center of the outer periphery of flame detector 200 does not match the center of index pattern 30. Depending on the situation, the outer periphery of flame detector 200 may or may not fit between outer periphery pattern 31 and inner periphery pattern 32.

[0125] Therefore, a tester who visually views the image of Figure 11 (B) displayed on the display unit 111 can infer that the position of the operation tester main body 21 relative to the flame detector 200 is off-axis, which is an inappropriate position for performing an operation test, and that the position of the flying robot 1 needs to be corrected.

[0126] Next, the correction of the relative distance will be described. Fig. 12 is a second explanatory diagram regarding the precise positioning control of the flying robot performed by the flame detector test device according to the fourth embodiment of the present disclosure using the index pattern 30. The second explanatory diagram shown in Fig. 12 illustrates three cases (A) to (C) as follows.

[0127] However, in this second explanatory diagram, all of the cases (A) to (C) are not in a shifted or misaligned state, but rather illustrate cases in which the direction of irradiation of the test light by the operation tester main body 21 coincides with the central axis of the flame detector 200, but the relative distance is different.

[0128] <Case (A): When the relative distance of the operation tester main body 21 to the flame detector 200 is within the range of the allowable operation distance> Case (A) shows a normal state in which the relative distance between the operation tester main body 21 and the flame detector 200 is within the range of the allowable operating distance.

[0129] In this state, the outer periphery of the flame detector 200 is displayed as a shape close to a perfect circle between the outer periphery pattern 31 and the inner periphery pattern 32, and the center of the outer periphery of the flame detector 200 coincides with the center of the index pattern 30.

[0130] Therefore, an examiner who visually checks the image of FIG. 12(A) displayed on the display unit 111 can infer that precise positioning control of the flying robot 1 is being performed within the range of the allowable operating distance.

[0131] <Case (B): When the relative distance of the operation tester main body 21 to the flame detector 200 is too short and is outside the range of the allowable operating distance> Case (B) shows a state in which the relative distance between the operation tester main body 21 and the flame detector 200 is shorter than 10 cm and outside the range of the allowable operating distance.

[0132] In this state, the outer periphery of the flame detector 200 is displayed as being close to a perfect circle, but the outer periphery of the flame detector 200 is displayed as being larger than the outer periphery pattern 31 .

[0133] Therefore, a tester who sees the image of Figure 12 (B) displayed on the display unit 111 can infer that the relative distance between the operation tester main body 21 and the flame detector 200 is less than 10 cm, which is an inappropriate position for performing an operation test, and that the position of the flying robot 1 needs to be corrected away from the flame detector 200.

[0134] <Case (C): When the relative distance of the operation tester body 21 to the flame detector 200 is too long and is outside the range of the allowable operating distance> Case (C) shows a state in which the relative distance between the operation tester main body 21 and the flame detector 200 is longer than 18 cm and is outside the range of the allowable operating distance.

[0135] In this state, the outer periphery of the flame detector 200 is displayed as being close to a perfect circle, but the outer periphery of the flame detector 200 is displayed inside the inner periphery pattern 32 and as being small in size.

[0136] Therefore, a tester who sees the image of Figure 12 (C) displayed on the display unit 111 can infer that the relative distance between the operation tester main body 21 and the flame detector 200 is longer than 18 cm, which is an inappropriate position for conducting an operation test, and that the position of the flying robot 1 needs to be corrected in a direction closer to the flame detector 200.

[0137] As described above, according to embodiment 4, by providing a configuration using the index pattern shown in FIG. 10, a tester can easily determine whether or not the flying robot is in an appropriate position for an operation test based on the visual results of the display unit.

[0138] Furthermore, from the visual results of the display, the test personnel can understand if the flying robot is in an inappropriate position for the operation test, whether it is in a shifted state, an axis misalignment state, or is too close or too far away from the allowable operating distance range.

[0139] As a result, the tester can quickly understand the direction in which to move the flying robot to an appropriate position based on the results of the assessment, and can quickly and easily perform remote control to point the operation tester body directly at the flame detector within the allowable operating distance range.

[0140] If the main body of the operation tester can be directly facing the flame detector within the range of the allowable operating distance, the irradiation energy of the test light can be reduced. Furthermore, by utilizing the index pattern, positioning control can be completed in a shorter time. In this way, by realizing energy saving and shortening the test time, it is possible to reduce the number of batteries installed in the flying robot, or to extend the usable time even with the same battery capacity. [Explanation of symbols]

[0141] 1 flying robot, 10 robot main body, 11 flying robot control unit, 20 robot mounting unit, 21 operation tester main body, 22 angle adjustment mechanism, 22a angle adjustment mechanism, 23 camera, 24 laser pointer, 24a to 24c irradiation points, 30 index pattern, 31 outer peripheral pattern, 32 inner peripheral pattern, 100 remote controller, 101 flight control operation unit, 102 irradiation control operation unit, 103 rotation control operation unit, 111 display unit, 200, 200(1), 200(2) flame detector.

Claims

1. a remote controller that transmits a plurality of remote control commands based on an operation input by an examiner; a flying robot capable of flying based on a flight control command included in the plurality of remote control commands; an operation tester main body that is mounted on the flying robot and that irradiates a test light to the flame detector for performing an operation test of the flame detector based on an irradiation control command included in the plurality of remote control commands; a camera mounted on the operation tester body and configured to capture an image in the irradiation direction of the test light in order to determine the relative position of the operation tester body with respect to the flame detector; Equipped with The remote controller has a display unit that displays the image captured by the camera. Flame detector test equipment.

2. the operation tester body has an angle adjustment mechanism capable of changing the irradiation direction of the test light based on a rotation control command included in the plurality of remote control commands; The remote controller outputs the rotation control command, which is generated based on an operation input by the tester who visually recognizes the image displayed on the display unit, to the angle adjustment mechanism, thereby remotely controlling the irradiation direction of the test light.

2. The flame detector testing apparatus of claim 1.

3. A laser pointer mounted on the operation tester body and irradiating three or more laser beams in a direction parallel to the optical axis of the test light. Further equipped with The camera captures an image of an area in which the irradiation points of the three or more laser beams are included in the image, The display unit displays the image including the irradiation points by the three or more laser beams captured by the camera.

3. The flame detector testing device according to claim 1 or 2.

4. When the flame detector to be the subject of the operation test captured by the camera is displayed, an index pattern for visually checking whether the relative position of the flying robot with respect to the flame detector is within a range of an allowable operating distance for the operation test performed by the operation tester main body is displayed at a fixed position on the screen of the display unit or is affixed to the screen.

3. The flame detector testing device according to claim 1 or 2.

Images