Gas sensing device

Abstract

To provide a gas sensing device that can accurately detect (measure) gas generated (flowing out) from a surface to be inspected, without being influenced by descending air currents of an unmanned flight vehicle.SOLUTION: A gas sensing device is provided with: an unmanned flight vehicle 1 that is made to start flying or made stop flying by rotation of rotary vanes 25; a winch 2, arranged in the unmanned flight vehicle 1, which reels out and winching a towing member 39; and a gas sensor 5, mounted on the towing member 39, which senses gas generated from a surface F to be inspected. The unmanned flight vehicle 1 is made to stop flying over the surface F to be inspected, at a flying altitude at which a non-air current region ND to which descending air currents generated by rotation of the rotary vanes 25 do not flow is formed between the unmanned flight vehicle 1 and the surface F to be inspected. When the unmanned flight vehicle 1 is made to stop flying, the winch 2 reels out the towing member 39, makes the gas sensor 5 descend into the non-air current region ND and oppositely arranges the sensor on the surface F to be inspected, with an inspection interval W.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to a gas detection device that detects gas generated (flowing out) from an inspection target surface such as the ground or the surface (outer peripheral surface) of a gas pipe. [Background technology]

[0002] As a technology for detecting gas leaks, Patent Document 1 discloses a gas detection device. The gas detection device includes an unmanned aerial vehicle (drone) having multiple propellers and a gas detection unit installed in the unmanned aerial vehicle. In the gas detection device, the unmanned aerial vehicle is flown along the gas pipeline by the rotation of each propeller, and checks for gas leaks using the gas detection unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6703756 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, when an unmanned aerial vehicle flies along a gas pipeline, the downwash caused by the rotation of the unmanned aerial vehicle's propellers stirs up the air in the area where the gas is stagnating, making it impossible to accurately detect the gas concentration, etc.

[0005] The present invention provides a gas detection device that can accurately detect (measure) gas generated (flowing out) from an inspection target surface without being affected by the downdraft of an unmanned aerial vehicle. [Means for solving the problem]

[0006] The invention of claim 1 of the present invention is a gas detection device for detecting gas generated from a surface to be inspected, comprising an unmanned aerial vehicle that moves or flies stationary by the rotation of a rotor, a winch that is placed on the unmanned aerial vehicle and pays out and reels in a towing member, and a gas detector that is attached to the towing member and detects gas generated from the surface to be inspected, wherein the unmanned aerial vehicle flies stationary above the surface to be inspected at a flight altitude that forms an airless area between the unmanned aerial vehicle and the surface to be inspected that is not reached by the downdraft caused by the rotation of the rotor, and the winch pays out the towing member while the unmanned aerial vehicle is in the stopped flight, and lowers the gas detector into the airless area to position it opposite the surface to be inspected at a detection distance. In claim 1, the unmanned aerial vehicle can also be configured to fly hovering above the surface to be inspected at a flight altitude that can create an airless area (an area that is not affected by the downdraft caused by the rotation of the rotor, or an area where no downdraft is generated by the rotation of the rotor) between the unmanned aerial vehicle (rotor) and the surface to be inspected, where the downdraft caused by the rotation of the rotor does not reach. In claim 1, the unmanned aerial vehicle can also be configured to fly hovering above the surface to be inspected at a flight altitude (a flight altitude that can be formed) that forms an airflow area (an area affected by the downdraft due to the rotation of the rotor, or an area where a downdraft due to the rotation of the rotor occurs, and an area not reached by the downdraft (an area not affected by the downdraft, an area where a downdraft does not occur) between the unmanned aerial vehicle (rotor) and the surface to be inspected. In claim 1, the unmanned aerial vehicle flies hovering above the surface to be inspected, and while the unmanned aerial vehicle is hovering, the winch reeles out a towing member to lower the gas detector to a position (area) between the unmanned aerial vehicle (rotor) and the surface to be inspected that is outside the area where a downdraft due to the rotation of the rotor is expected, and the gas detector is positioned facing the surface to be inspected with a detection distance between them. Effect of the Invention

[0007] According to the present invention, by lowering the gas detector into the airless region and placing it opposite the surface to be inspected across a detection distance (spacing), the gas detector can detect (measure) gas generated (flowing out) from the surface to be inspected within the airless region. This makes it possible to detect (measure) accurate gas data (gas concentration data) in the area where the gas remains, without being affected by the downstream airflow caused by the rotation of the rotor blades. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a front view showing a gas detection device (unmanned aerial vehicle, winch, gas detector, distance detector, camera, support, and horizontal maintenance device). [Diagram 2] FIG. 2 is a plan view (top view) showing the gas detection device (unmanned aerial vehicle). [Diagram 3] FIG. 2 is a bottom view (underside view) showing the gas detection device (unmanned aerial vehicle, winch). [Figure 4] A block diagram showing the wireless receiver, aircraft control unit, rotor motor, and power supply of an unmanned aerial vehicle in a gas detection device. [Diagram 5] FIG. 2 is a partially enlarged front view of the winch shown in FIG. [Figure 6] 2 is a block diagram showing a wireless receiving unit, a hoisting control unit, an electric motor, a payout amount detection unit, a memory unit, and a power supply of a winder in a gas detection device. FIG. [Figure 7] FIG. 4 is an enlarged view of part A in FIG. [Figure 8] This is a block diagram showing a gas detection unit (wireless receiver, gas detection control unit, gas detector, wireless communication unit), a distance detection unit (wireless receiver, distance detection control unit, distance detector, wireless transmission unit), and a camera unit (wireless receiver, camera control unit, camera, wireless transmission unit) in a gas detection device. [Figure 9] FIG. 2 is a block diagram showing an operation device in the gas detection device. [Figure 10] FIG. 2 is a block diagram showing a display device in the gas detection device. [Figure 11]This is a diagram showing areas in an unmanned aerial vehicle 1 that are reached by downdrafts caused by the rotation of the rotor blades, and areas that are not reached by downdrafts caused by the rotation of the rotor blades. [Figure 12] This is a front view of the unmanned aerial vehicle installed at the takeoff and landing point. [Figure 13] This is a front view of an unmanned aerial vehicle flying hovering above a surface to be inspected at a flight altitude. [Figure 14] This is a front view of the unmanned aerial vehicle in stationary flight, with the towing member unleashed and the gas detector positioned facing the measurement point on the surface to be inspected, separated by a detection interval (detection distance). [Figure 15] FIG. 15 is an enlarged view of part A in FIG. [Figure 16] FIG. 4 is a flow chart illustrating a series of processing steps in the gas detection device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A gas detection device according to the present invention will be described with reference to FIGS.

[0010] 1 to 16, a gas detection device X (gas detection device / gas detection system) detects gas generated (flowing) from an inspection target surface F. The inspection target surface F is, for example, the ground or the surface (outer surface) of a gas pipe. The gas is, for example, a gas that is toxic to humans (animals), such as a flammable gas, sulfur dioxide (sulfur), hydrogen sulfide, or chlorine gas (musical performance gas). The flammable gas is liquefied propane gas (LPG: liquefied petroleum gas) or natural gas (city gas: gas containing methane as the main component and including ethane, propane, etc.).

[0011] As shown in Figures 1 to 10, the gas detection device X comprises an unmanned aerial vehicle 1, a winch 2, a support body 3 (support member), a gas detection unit 4 (gas detector 5), a distance detection unit 6 (distance detector 7), a camera unit 8 (camera 9), a level maintenance device 10 (leveller), an operating device 11 and a display device 12.

[0012] The unmanned aerial vehicle 1 is an unmanned aerial vehicle (UAV), such as an octocopter (drone), as shown in Figures 1 to 3. The unmanned aerial vehicle 1 (drone) has an airframe 15, multiple (eight) rotor units 16, a wireless receiver 17, an airframe control unit 18, and a memory unit 19 (airframe memory unit), as shown in Figures 1 to 4.

[0013] As shown in FIGS. 1 to 3, the airframe 15 has an airframe section 21, a plurality (eight) of rotor arms 22, and a plurality (a pair) of support legs 23, 24.

[0014] As shown in Figs. 1 to 4, the body section 21 has a body front surface 21A (upper surface) and a body rear surface 21B (lower surface) in the direction A (vertical direction) of the body center line α of the body 15 (body section).

[0015] 1 to 3, the rotor arms 22 are disposed at equal angles (for example, 45 degrees) between each other in the circumferential direction about the airframe center line α of the airframe 15. The rotor arms 22 extend radially outward from the airframe section 21.

[0016] 1 and 3, the support legs 23, 24 are arranged on the rear surface 21B (lower surface) of the machine body section 21 with a gap between each of the support legs 23, 24. Each of the support legs 23, 24 is attached to the rear surface 21B of the machine body section 21 and extends (arranged) protruding downward from the rear surface 21B of the machine body section 21. Each of the support legs 23, 24 has a leg end surface 23A, 24A at a protruding end protruding from the rear surface 21B of the machine body section 21.

[0017] 1 to 3, each rotor unit 16 is attached to the tip side of each rotor arm 22. Each rotor unit 16 has rotor blades 25 (propeller) and a rotor motor 26 (electric motor). The rotor motor 26 of each rotor unit 16 is fixed to the tip side of each rotor arm 22. 1 to 3, the rotor blades 25 are connected to a motor shaft 26A (rotation shaft) of a rotor motor 26, and are rotated by the rotor motor 26. The rotor motor 26 of each rotor unit 16 is connected to a power source 27, as shown in FIG.

[0018] 4, the wireless receiver 17 is mounted (disposed) inside the aircraft unit 21 (inside the aircraft 15) and is connected to the aircraft control unit 18 and the power source 27. The wireless receiver 17 receives flight mode commands (flight mode signals) from the operation device 11 (wireless transmitter 76) and outputs flight mode commands [movement flight commands (movement flight signals), stop flight commands (stop flight signals)] to the aircraft control unit 18.

[0019] The aircraft control unit 18 is, for example, a CPU (central processing unit) and is mounted (disposed) inside the aircraft unit 21 (inside the aircraft 15) as shown in Fig. 4. The aircraft control unit 18 is connected to the rotor motors 26, wireless receivers 17 and power sources 27 of each rotor unit 16 as shown in Fig. 4.

[0020] 4, the aircraft control unit 18 inputs flight mode commands (flight mode signals) from the wireless receiving unit 17 and controls the rotation (number of rotations, direction of rotation) of the rotor motors 26 of each rotor unit 16 to cause the unmanned aerial vehicle 1 to move (ascending, descending, moving forward, backward, left, right, left, right, etc.) and to stop (hovering / hovering). The unmanned aerial vehicle 1 is moved or stopped by the rotation of each rotor 25 (propeller).

[0021] 1, 2 and 5, the winch 2 is an electric winch and has a winch body 35 (casing / housing), a rotating body 36 (winding drum), a power transmission mechanism 37 (reduction gear mechanism), an electric motor 38 (winding motor), a pulling member 39 (linear member), a wireless receiver 40, a payout amount detection unit 41, a winding control unit 42, a memory unit 43 and a power source 44, and pays out and reels in the pulling member 39. The winch 2 pays out the pulling member 39 from the rotating body 36 and reels in the pulling member 39 around the rotating body 36.

[0022] The winding body 35 (case / housing) has a storage space δ therein, as shown in FIGS.

[0023] The rotating body 36 (winding drum) is formed, for example, in a cylindrical shape. As shown in Figures 1 and 5, the rotating body 36 is disposed in the storage space δ of the winding body 35. The rotating body 36 is axially supported (supported) by the winding body 35 within the winding body 35 so as to be freely rotatable.

[0024] 1 and 5, the power transmission mechanism 37 is disposed inside the winding body 35. The power transmission mechanism 37 has a plurality of gears, and is coupled (connected) to one cylinder end 36A in the direction B of the cylinder center line σ of the rotor 36 inside the winding body 35 (inside the housing).

[0025] The electric motor 38 (winding motor) rotates the rotating body 36. The electric motor 38 is disposed inside the winding body 35 (inside the housing) as shown in Figs. 1 and 5. The electric motor 38 is disposed inside the winding body 35, facing one tube end 36A in the direction B of the tube center line σ of the rotating body 36. The electric motor 38 is coupled (connected) to the power transmission mechanism 37. The motor shaft 38A (rotating shaft) of the electric motor 38 is coupled (connected) to the power transmission mechanism 37 as shown in Figs. 1 and 5. The electric motor 38 (motor shaft 38A) is coupled (connected) to the rotating body 36 (winding drum) via the power transmission mechanism 37. The electric motor 38 rotates (forward rotation / reverse rotation) the rotating body 36 via the power transmission mechanism 37 (reduction gear mechanism).

[0026] The pulling member 39 (linear member) is a wire, a chain, a rope, etc. As shown in Fig. 1 and Fig. 5, the pulling member 39 is fixed at one member end 39A side (one tip side) to the rotating body 36, wound up on the rotating body 36, and disposed on the rotating body 36. The pulling member 39 is disposed with the other member end 39B side (the other tip side) pulled out from inside the hoisting body 35 (storage space δ).

[0027] 6, the wireless receiving unit 40 is mounted (disposed) on the winding main body 35 (housing) and is connected to the winding control unit 42 and the power source 44. The wireless receiving unit 40 receives a payout command (payout signal), a winding command (winding signal), and a stop command (stop signal) from the operation device 11 (wireless transmitting unit 80), and outputs the payout command (payout signal), the winding command (winding signal), and the stop command (stop signal) to the winding control unit 42.

[0028] 6, the payout amount detection unit 41 is mounted (disposed) on the winding main body 35 (housing) and is connected to the winding control unit 42 and the power source 44. The payout amount detection unit 41 detects the payout amount of the pulling member 39 paid out from the rotating body 36 and the winding amount of the pulling member 39 wound around the rotating body 36, and outputs a payout amount signal (payout amount data) and a winding amount signal (winding amount data) to the winding control unit 42.

[0029] The winding control unit 42 is, for example, a CPU (central processing unit) and is mounted (placed) on the winding main body 35 (housing) as shown in Fig. 6. The winding control unit 42 is connected to the wireless receiving unit 40, the payout amount detection unit 41, the electric motor 38, the memory unit 43 and the power source 44.

[0030] 6, when a pay-out command (pay-out signal) and a winding command (winding signal) are input from the wireless receiver 40, the winding control unit 42 rotates (forward rotation / reverse rotation) the electric motor 38. When a stop command (stop signal) is input from the wireless receiver 40, the winding control unit 42 stops the rotation of the electric motor 38. As shown in FIG. 6, when the winding control unit 42 receives the payout amount signal from the payout amount detection unit 41, the winding control unit 42 outputs the payout amount signal to the storage unit 43 as payout amount data.

[0031] 6, the memory unit 43 (winding memory unit) is, for example, a RAM (Random Access Memory), and is mounted (placed) on the winding main body 35 (housing). The memory unit 43 is connected to the winding control unit 42 and a power source 44. When the memory unit 43 receives an unwinding amount signal from the winding control unit 42, it stores the unwinding amount signal as unwinding amount data.

[0032] The winch 2 is disposed on the unmanned aerial vehicle 1 as shown in Figures 1, 3, and 5. The winch 2 is disposed on the underside 21B of the airframe section 21, and is attached to the airframe section 21 (airframe 15 / unmanned aerial vehicle 1) from the underside 21B.

[0033] The winch 2 is disposed between the support legs 23, 24 in the unmanned aerial vehicle 1, as shown in Figures 1, 3 and 5. The winch 2 is fixed to the unmanned aerial vehicle 1 (airframe section 21) by attaching the winch body 35 to the underside 21B of the airframe section 21 between the support legs 23, 24, with the cylinder center line σ of the rotating body 36 facing between the support legs 23, 24. The winch 2 is disposed between the support legs 23, 24, with the cylinder center line σ of the rotating body 36 perpendicular to the body center line α of the airframe section 21. As shown in Figures 1 and 5, the winch 2 is positioned with the other member end 39B of the towing member 39 facing the leg end surfaces 23A, 23B of each support leg 23, 24, and the winch body 35 is attached to the aircraft section 21 (airframe 15) from the underside 21B of the aircraft section 21, and fixed to the unmanned aerial vehicle 1 (airframe section 21). The winch 2 is fixed to the unmanned aerial vehicle 1 (airframe section 21) with the other member end 39B (the other tip) of the towing member 39 facing away (downward) from the airframe section 21 (airframe underside 21B).

[0034] As shown in FIGS. 1, 3 and 7, the support 3 supports a gas detection unit 4 (gas detector 5), a distance detection unit 6 (distance detector 7), and a camera unit 8 (camera 9).

[0035] 1, 3 and 7, the support 3 has, for example, a support substrate 51 and a support plate 52 (support vertical plate). The support substrate 51 is formed in a rectangular plate shape, and has a plate front surface 51A and a plate back surface 51B in the plate thickness direction. The support plate 52 is disposed on one plate length end 51a side in the longitudinal direction C (plate length direction) of the support substrate 51, and is fixed to the support substrate 51. The support plate 52 is fixed to the support substrate 51 from the plate back surface 51B. The support plate 52 is disposed perpendicular to (intersecting) the plate back surface 51B (plate front surface 51A) of the support substrate 51, and protruding from the plate back surface 51B of the support substrate 51.

[0036] 1, 2 and 7, gas detection unit 4 is attached to and supported by support body 3. Gas detection unit 4 has a wireless receiving section 55, gas detection control section 56, and gas detector 5, as shown in FIG.

[0037] 8, the wireless receiver 55 is mounted (placed) on the support 3, and is connected to the gas detection controller 56 and a power source 68. The wireless receiver 55 receives a gas detection start command (gas detection start signal / start signal) from the operation device 11 (wireless transmitter 82), and outputs a gas detection start command (start command) to the gas detection controller 56.

[0038] As shown in FIG. 8, the gas detection control unit 56 is mounted (placed) on the support 3, and is connected to the wireless receiving unit 55, the gas detector 5, and a power source 68. When a gas detection start command (gas detection start signal) is input from wireless receiving unit 55, gas detection control unit 56 causes gas detector 5 to start gas detection (gas measurement).

[0039] The gas detector 5 is a gas sensor (gas concentration sensor) that detects gases [harmful gases: propane gas, city gas, sulfur (sulfur), hydrogen sulfide, chlorine gas (performance gas), etc.] and measures the gas concentration. The gas detector 5 is, for example, a semiconductor gas detector (semiconductor gas sensor), a catalytic combustion gas detector (catalytic combustion gas sensor), or an electrochemical gas detector (electrochemical gas sensor). The gas detector 5 uses a combustible gas sensor, a sulfur dioxide sensor, a hydrogen sulfide sensor, or a chlorine gas sensor depending on the type of gas (combustible gas, sulfur dioxide, hydrogen sulfide, chlorine gas, etc.) generated (flowing out) from the inspection target surface F.

[0040] 1, 3 and 7, the gas detector 5 is removably disposed on the support 3. The gas detector 5 abuts against the rear surface 51B of the support substrate 51, is removably attached to the support substrate 51 (support substrate 3), and is supported by the support substrate 3 (support substrate 51). The gas detector 5 is a combustible gas sensor, a sulfur dioxide sensor, a hydrogen sulfide sensor, or a chlorine gas sensor, and is removably attached to the support substrate 51 depending on the type of gas to be detected (measured). The gas detector 5 is connected to a gas detection control unit 56 and a power source 68. The gas detector 5 has a gas display unit 57, and displays the detected (measured) gas concentration, etc. (gas concentration data) on the gas display unit 57.

[0041] 1, 3 and 7, the distance detection unit 6 is attached to and supported by the support body 3. The distance detection unit 6 has a wireless receiving section 58, a distance detection control section 59, and a distance detector 7, as shown in FIG.

[0042] 8, the wireless receiving unit 58 is mounted (placed) on the support 3 and connected to the distance detection control unit 59 and a power source 68. The wireless receiving unit 58 receives a distance detection start command (distance detection start signal / start signal) from the operation device 11 (wireless transmitting unit 84) and outputs a distance detection start command (start command) to the distance detection control unit 59.

[0043] 8, the distance detection control unit 59 is mounted (placed) on the support body 3 and connected to the wireless receiving unit 58, the distance detector 7, and a power source 68. When a distance detection start command (distance detection start signal) is input from the wireless receiving unit 58, the distance detection control unit 59 causes the distance detector 7 to start detecting the distance (measuring the distance).

[0044] The distance detector 7 is a distance sensor that detects the distance to the inspection target surface F (ground surface G). The distance detector 7 is an optical distance sensor (reflective sensor) that has a light emitting part that emits light and a light receiving part that receives light. The distance detector 7 (reflective sensor) is disposed on the support 3 as shown in Fig. 1, Fig. 3 and Fig. 7. The distance detector 7 is disposed between the gas detector 5 and the support plate 52 at a distance from the gas detector 5 and the support plate 52 in the longitudinal direction C of the support substrate 51. The distance detector 7 is disposed with its light emitting section and light receiving section (not shown) facing the opposite side (downward) to the plate back surface 51B of the support substrate 51. The distance detector 7 abuts against the plate back surface 51B of the support substrate 51, is attached to the support substrate 51 (support substrate 3), and is supported by the support substrate 3 (support substrate 51). 8, the distance detector 7 (reflective sensor) is connected to a distance detection control unit 59 and a power source 68. The distance detector 7 has a distance display unit 60, and displays the detected (measured) distance (distance data) on the distance display unit 60.

[0045] 1, 3 and 7, camera unit 8 is attached to and supported by support 3. Camera unit 8 has a wireless receiving unit 65, a camera control unit 66, a wireless transmitting unit 67, and a camera 9, as shown in FIG.

[0046] 8, the wireless receiving unit 65 is mounted (placed) on the support 3 and connected to the camera control unit 66 and a power source 68. The wireless receiving unit 65 receives a shooting start command (shooting start signal) from the operation device 11 (wireless transmitting unit 82) and outputs the shooting start command (shooting start signal) to the camera control unit 66.

[0047] As shown in FIG. 8, the camera control unit 66 is mounted (placed) on the support 3, and is connected to the wireless receiving unit 65, the wireless transmitting unit 67, the camera 9, and a power source 68. When a shooting start command (shooting start signal) is input from the wireless receiving unit 65, the camera control unit 66 causes the camera 9 to start shooting. When the camera control unit 66 receives images captured by the camera 9 (an image of the gas display unit 57 and the gas concentration displayed on the gas display unit 57, and an image of the distance display 60 and the distance displayed on the distance display unit 60), it outputs them to the wireless transmission unit 67.

[0048] 8, the wireless transmission unit 67 is mounted (placed) on the support 3, and is connected to the camera control unit 66 and a power source 68. When the wireless transmission unit 67 inputs images (an image of the gas display unit 57 and the gas concentration displayed on the gas display unit 57, an image of the distance display unit 60, and an image of the distance displayed on the distance display unit 60) from the camera control unit 66, it transmits the images (image data) to the display device 12 (wireless receiving unit 90).

[0049] The camera 9 is disposed on the support 3 as shown in Figures 1, 3 and 7. The camera 9 is disposed between the distance detector 7 and the support plate 52 in the longitudinal direction C of the support substrate 51, at a distance from the distance detector 7. The camera 9 is disposed with the camera optical axis directed toward the gas detector 5 and the distance detector 7. The camera 9 is attached to the support plate 52 (support 3) in contact with the support plate 52. The camera 9 is supported by the support 3 (support plate 52). 8, the camera 9 is connected to a camera control unit 66 and a power supply 68. The camera 9 captures the gas display unit 57 of the gas detector 5 and the gas concentration (gas concentration data) displayed on the gas display unit 57, and the distance display unit 60 of the distance detector 7 and the distance (distance data) displayed on the distance display unit 60, and outputs the captured images to the camera control unit 66 as image data.

[0050] 1, the level maintenance device 10 is disposed on the support 3 and fixed to the support 3 (support substrate 51). The level maintenance device 10 is located at the center of the support substrate 51 (rectangular support substrate) and disposed on a surface 51A of the support substrate 51. The level maintenance device 10 abuts against the surface 51A of the support substrate 51, is attached to the support substrate 51 from the surface 51A, and is fixed to the support substrate 3.

[0051] As shown in FIG. 1, the horizontal maintenance device 10 is disposed between the support legs 23, 24 of the unmanned aerial vehicle 1 at a distance from each other. The horizontal maintenance device 10 is attached to the other member end 39B of the towing member 39 of the winch 2 and is connected to the winch 2 (towing member 39). The horizontal maintenance device 10 is disposed between the winch 2 (winding body 35) and the leg end surfaces 23A, 24A of each of the support legs 23, 24 when the towing member 39 is wound around the rotating body 36. The horizontal maintenance device 10 horizontally supports the support body 3, the gas detection unit 4 (gas detector 5), the distance detection unit 6 (distance detector 7), and the camera unit 8 (camera 9). The horizontal maintenance device 10 maintains the support body 3 (gas detector 5, distance detector 7, and camera 9) horizontally with respect to the towing member 39.

[0052] 1, 3 and 7, when the level maintenance device 10 is attached to the towing member 39, the support 3, the gas detector 5, the distance detector 7 and the camera 9 are disposed between the support legs 23, 24 of the unmanned aerial vehicle 1 at intervals between them. When the towing member 39 is wound around the rotating body 36, the support 3, the gas detector 5, the distance detector 7 and the camera 9 are disposed between the winch 2 (winding body 35) and the leg end faces 23A, 24A of the support legs 23, 24. The support 3 is attached and connected to the towing member 39 (the other member end 39B) via the horizontal maintenance device 10. The gas detector 5, the distance detector 7, and the camera 9 are attached and connected to the towing member 39 (the other member end 39B) via the support 3 and the horizontal maintenance device 10.

[0053] 9, the operation device 11 has a flight operation unit 75 and a wireless transmission unit 76. The flight operation unit 75 has a control lever 78, and is connected to the wireless transmission unit 76 and a power source 95.

[0054] When operated, the control lever 78 outputs flight mode commands (flight mode signals) for the unmanned aerial vehicle 1 to the wireless transmitter 76.

[0055] The wireless transmitter 76 is connected to the flight control unit 75 (control lever 78) and a power source 95, as shown in FIG. When a flight mode command (movement flight command, stop flight command) is input from the control lever 78, the wireless transmitter 76 transmits the flight mode command (flight mode signal) to the wireless receiver 17 (unmanned aerial vehicle 1).

[0056] As shown in FIG. 9, the operating device 11 includes a winding operating section 79 and a wireless transmitting section 80.

[0057] 9, the winding operation unit 79 is connected to the wireless transmission unit 80 and a power source 95. The winding operation unit 79 outputs a winding command (winding signal) to the wireless transmission unit 80 by a winding operation (operation). The winding operation unit 79 outputs a unwinding command (unwinding signal) to the wireless transmission unit 80 by a unwinding operation (operation). The winding operation unit 79 outputs a stop command (stop signal) to the wireless transmission unit 80 by a stop operation (operation).

[0058] As shown in Figure 9, when the wireless transmitting unit 80 inputs a winding command (winding signal), a reeling command (reeling signal), or a stop command (stop signal) from the winding operation unit 79, it transmits the winding command, the reeling command, and the stop command to the wireless receiving unit 40 (winch 2).

[0059] As shown in FIG. 9, the operation device 11 includes a gas detection operation unit 81 and a wireless transmission unit 82.

[0060] 9, gas detection operation unit 81 is connected to wireless transmission unit 82 and power source 95. Gas detection operation unit 81 outputs a gas detection start command (gas detection start signal) to wireless transmission unit 82 when operated.

[0061] 9, wireless transmitting unit 82 is connected to gas detection operation unit 81 and power source 95. When a gas detection start command (gas detection start signal) is input from gas detection operation unit 81, wireless transmitting unit 82 transmits the gas detection start command to wireless receiving unit 55 (gas detector 5).

[0062] As shown in FIG. 9, the operation device 11 includes a distance detection operation unit 83 and a wireless transmission unit 84.

[0063] 9, the distance detection operation unit 83 is connected to a wireless transmission unit 84 and a power source 95. The distance detection operation unit 83 outputs a distance detection start command (distance detection start signal) to the wireless transmission unit 84 when operated.

[0064] 9, the wireless transmitting unit 84 is connected to the distance detection operation unit 83 and a power source 95. When the wireless transmitting unit 84 receives a distance detection start command (distance detection start signal) from the distance detection operation unit 83, it transmits the distance detection start command to the wireless receiving unit 58 (distance detector 7).

[0065] As shown in FIG. 9, the operation device 11 includes a camera operation unit 85 and a wireless transmission unit 86.

[0066] 9, the camera operation unit 85 is connected to a wireless transmission unit 86 and a power source 95. The camera operation unit 85 outputs a shooting start command (shooting start signal) to the wireless transmission unit 86 when operated.

[0067] 9, the wireless transmission unit 86 is connected to the camera operation unit 85 and a power source 95. When the wireless transmission unit 86 receives a shooting start command (shooting start signal) from the camera operation unit 85, it transmits the shooting start command to the wireless receiving unit 65 (camera 9).

[0068] The display device 12 includes a wireless receiving unit 90 and a display unit 91, as shown in FIG.

[0069] 10, the wireless receiving unit 90 is connected to a display unit 91 and a power source 97. When an image captured by the camera 9 (image data of the gas display unit 57 and the gas concentration displayed on the gas display unit 57, and image data of the distance displayed on the distance display unit 6 and the distance display unit 60) is input from the wireless transmitting unit 67, the wireless receiving unit 90 outputs the image (image data) to the display unit 91. When the wireless receiving unit 90 receives an image (image data) from the wireless transmitting unit 67 (gas detector 5), it outputs the image data (image data of the gas display unit 57 and the gas concentration displayed on the gas display unit 57, and image data of the distance display unit 60 and the distance displayed on the distance display unit 60) to the display unit.

[0070] 10, the display unit 91 is, for example, a liquid crystal display, and is connected to the wireless receiving unit 90 and a power source 97. When the display unit 91 receives images (an image of the gas display unit 57 and an image of the distance display unit 60) from the wireless receiving unit 90, it displays the images (image data of the gas concentration displayed in the gas display unit 57 and image data of the distance displayed in the distance display unit 60).

[0071] Next, a series of processing steps in the gas detection system will be described with reference to FIGS.

[0072] <Stop flight altitude etc. determination process: Figure 16: ST10> The stop flight altitude etc. determination process (Figure 16: ST10) determines the altitude H (flight altitude value H) at which the unmanned aerial vehicle 1 (gas detection device X) stops and flies before gas detection by measuring (detecting) it in advance.

[0073] In gas detection device X, a person inspecting gas flow (gas leakage) from inspection target surface F (hereinafter referred to as the "inspector") measures (detects) and determines (sets) the flight altitude value H (flight altitude) at which the unmanned aerial vehicle 1 will fly at rest, as shown in Figure 11.

[0074] As shown in FIG. 11, flight altitude value H (flight altitude) is measured (detected) using gas detection device X actually used for gas detection and, for example, flow velocity detector 101 (flow rate detector). 11, gas detection device X has pulling member 39 wound around rotating body 36, and supports 3, gas detection unit 4 (gas detector 5), distance detection unit 6 (distance detector 7), camera unit 8 and horizontal maintenance device 10 disposed (located) between each of support legs 23, 24, and also disposed (located) between winding body 35 and each of leg end faces 23A, 24A of each of support legs 23, 24. With pulling member 39 wound around rotating body 36, gas detector 5, distance detector 7 and camera 9 are disposed (located) in storage position P between winding body 35 (winch 2) and each of leg end faces 23A, 24A of each of support legs 23, 24. The storage position P is a position in the direction A of the aircraft center line α of the aircraft 15, where a sensor storage spacing ε is between the gas detector 5 (distance detector 7) and the leg end faces 23A, 24A of each support leg 23, 24, and a camera storage spacing γ is between the camera 9 and the leg end faces 23A, 24A of each support leg 23, 24 (hereinafter referred to as "storage position P").

[0075] Measurement (detection) of the flight altitude value H (flight altitude) is performed outdoors or indoors in a windless state, as shown in Fig. 11. The flow velocity detector 101 (flow rate detector) is installed outdoors or indoors in a windless state. The flow velocity detector 101 is installed at a height L from the ground G (floor surface) outdoors or indoors in a windless state. The height L is, for example, any height within a range of 150 cm (centimeters) to 200 cm (centimeters). The gas detection device X winds the towing member 39 around the rotating body 36, places the gas detector 5, distance detector 7 and camera 9 in the storage position P1, and abuts the leg end surfaces 23A, 24A of each support leg 23, 24 of the unmanned aerial vehicle 1 against the ground G (floor surface), causing the unmanned aerial vehicle 1 to land on the ground G (floor surface) outdoors or indoors in windless conditions.

[0076] As shown in FIG. 9, an inspector operates distance detection operation unit 83 in gas detection device X to output a distance detection start command (distance detection start signal) to wireless transmission unit .

[0077] As shown in FIGS. 8 and 9, when a distance detection start command is input from the distance detection operation unit 83, the wireless transmission unit 84 transmits the distance detection start command to the wireless reception unit 58.

[0078] As shown in FIG. 8, when wireless receiving unit 58 receives a distance detection start command from wireless transmitting unit 84, it outputs the distance detection start command to distance detection control unit 59.

[0079] As shown in FIG. 8, when a distance detection start command is input from the wireless receiving unit 58, the distance detection control unit 59 causes the distance detector 7 to start detecting (measuring) the distance.

[0080] As shown in FIGS. 8 and 9, an examiner operates camera operation unit 85 in gas detection device X to output an imaging start command (imaging start signal) to wireless transmission unit 86.

[0081] As shown in FIG. 9, when a shooting start command is input from the camera operation unit 85, the wireless transmission unit 86 transmits the shooting start command to the wireless reception unit 65 (camera 9).

[0082] As shown in FIG. 9, when the wireless receiving unit 65 receives a shooting start command (shooting start signal) from the wireless transmitting unit 86, it outputs the shooting start command to the camera control unit 66.

[0083] As shown in FIG. 8, when a shooting start command is input from the wireless receiving unit 65, the camera control unit 66 causes the camera 9 to start shooting.

[0084] As shown in FIG. 8, camera 9 photographs distance display unit 60 of distance detector 7, the distance (distance data) displayed on distance display unit 60, and gas display unit 57 of gas detector 5, and outputs the image data to camera control unit 66.

[0085] As shown in FIG. 8, when image data (image data of distance data displayed on distance display unit 60 and distance display unit 66) is input from camera 9, camera control unit 66 outputs the image data to wireless transmission unit 67.

[0086] As shown in Figures 8 and 10, when the wireless transmitting unit 67 inputs image data (image data of the distance display unit 60 and the distance data displayed on the distance display unit 60) from the camera control unit 66, it transmits the image data to the wireless receiving unit 90.

[0087] As shown in FIG. 10, when wireless receiving unit 90 receives image data (image data of distance display unit 60 and distance data to be displayed on distance display unit 60) from wireless transmitting unit 67, it outputs the image data to display unit 91.

[0088] As shown in FIG. 10, when image data is input from the wireless receiving unit 90, the display unit 91 displays the distance display unit 60 and the distance data to be displayed on the distance display unit 60.

[0089] When the inspector starts detection (measurement) using the distance detector 7 and starts taking pictures with the camera 9, he operates the control lever 78 (flight control unit 75) as shown in Figure 9 to output an ascent flight command (ascent flight signal) to the wireless transmission unit 76.

[0090] As shown in FIGS. 4 and 9, when an ascent command is input from a control lever 78, the wireless transmitting unit 76 transmits the ascent command to the wireless receiving unit 17.

[0091] As shown in FIG. 4, when the wireless receiver 17 receives an ascent command from the wireless transmitter 76, it outputs the ascent command to the aircraft control unit 18.

[0092] As shown in Figure 4, when the aircraft control unit 18 inputs an ascent command (ascent signal) from the wireless receiving unit 17, it controls the rotation of the rotor motors 26 (each rotor 25) of each rotor unit 16 to cause the unmanned aerial vehicle 1 to take off from the ground G and fly upward.

[0093] While watching the distance (distance data) displayed on the display unit 91 during the ascending flight of the unmanned aerial vehicle 1, the inspector checks the distance (distance data) at which the flow velocity (flow rate) Va measured (detected) by the flow velocity detector 101 (flow rate detector) becomes zero (Va=0). The distance (distance data) measured (detected) by the distance detector 7 becomes the flight altitude value H (flight altitude) of the unmanned aerial vehicle 1.

[0094] The distance (flight altitude value H) of the unmanned aerial vehicle 1 at which the flow velocity (flow rate) Va = 0 (zero) measured (detected) by the flow velocity detector 101 (flow rate detector) is the distance (flight altitude value H) that is beyond the reach of the downdraft DW (downwash) caused by the rotation of each rotor 25 of the unmanned aerial vehicle 1 (not affected by the downdraft caused by the rotation of each rotor 25), as shown in Figure 11. As shown in Fig. 11, the unmanned aerial vehicle 1, flying and hovering at a flight altitude H above the ground G (floor surface) outdoors or indoors, forms an area AD (area affected by the downdraft caused by the rotation of each rotor 25) reached by the downdraft caused by the rotation of each rotor 25, and an area ND (area not affected by the downdraft caused by the rotation of each rotor 25) not reached by the downdraft caused by the rotation of each rotor 25, between the unmanned aerial vehicle 1 (each rotor 25) and the ground G (floor surface). The area not reached by the downdraft caused by the rotation of each rotor 25 (no airflow area) is an area at a height L from the ground G (floor surface). The detection interval W (detection distance) is determined (set) based on the flight altitude value H (flight altitude data). The detection interval W (detection distance W) is an interval (shorter distance) smaller than the height L of the no-airflow region ND.

[0095] <Gas detector installation process: ST11 in Figure 16> In the gas detector mounting step (ST11 in FIG. 16), a gas detector 5 corresponding to a gas generated (flowing out) from the inspection target surface F is mounted on the support 3 (support substrate 51).

[0096] In gas detection device X, traction member 39 is wound around rotor 36, and gas detector 5, distance detector 7 and camera 9 are disposed in storage position P.

[0097] As shown in Figs. 1 and 12, the inspector attaches to the support 3 (support substrate 51) a combustible gas sensor 5 corresponding to the combustible gas generated (flowing out) from the inspection target surface F. The inspector attaches to the support 3 (support substrate 51) a sulfur dioxide sensor 5 corresponding to the sulfur dioxide generated (flowing out) from the inspection target surface F. The inspector attaches to the support 3 (support substrate 51) a hydrogen sulfide sensor 5 corresponding to the hydrogen sulfide generated (flowing out) from the inspection target surface F. The inspector attaches to the support 3 (support substrate 51) a hydrogen sulfide sensor 5 corresponding to the hydrogen sulfide generated (flowing out) from the inspection target surface F. The inspector attaches to the support 3 (support substrate 51) a chlorine gas sensor 5 corresponding to the chlorine gas generated (flowing out) from the inspection target surface F.

[0098] <Unmanned aerial vehicle installation process: ST12 in Figure 16> In the unmanned aerial vehicle installation process (ST12 in Figure 16), the unmanned aerial vehicle 1 is installed (landed) on the ground G at the takeoff and landing point D.

[0099] As shown in FIG. 12, the inspector attaches the gas detection sensor 5 to the support 3, and then places (installs) the gas detection device X (unmanned aerial vehicle 1, winch 2, support 3, gas detection unit 4, distance detection unit 6, camera unit 8, and horizontal maintenance device 10) on the ground G of a safe take-off and landing point D away from the surface F to be inspected. As shown in FIG. 12, the gas detection device X points the gas detector 5 and distance detector 7 toward the ground G of the take-off and landing point D, and the leg end surfaces 23A, 24A of each support leg 23, 24 of the unmanned aerial vehicle 1 abut against the ground G of the take-off and landing point D, causing the unmanned aerial vehicle 1 to land on the ground G of the take-off and landing point D. The unmanned aerial vehicle 1 lands on the ground G of the take-off and landing point D by abutting the leg end surfaces 23A, 24A of each support leg 23, 24 against the ground G of the take-off and landing point D, and is installed.

[0100] <Movement flight process: ST13 in Figure 16> In the flight and movement step (ST13 in FIG. 16), the unmanned aerial vehicle 1 is caused to fly above the measurement location on the surface F to be inspected.

[0101] 9, the examiner operates the control lever 78 (flight operation unit 75) in the operation device 11 to output a movement flight command (movement flight signal) to the wireless transmission unit 76. The control lever 78 outputs the movement flight command (movement flight signal) to the wireless transmission unit 76 based on the movement flight operation (operation).

[0102] As shown in FIG. 9, when a movement flight command (movement flight signal) is input from a control lever 78 (flight operation unit 75), the wireless transmitter 76 transmits the movement flight command to the wireless receiver 17 (unmanned aerial vehicle 1).

[0103] In the unmanned aerial vehicle 1, when the wireless receiver 17 receives a movement flight command from the wireless transmitter 76, it outputs the movement flight command to the aircraft control unit 18.

[0104] As shown in Figure 4, when the aircraft control unit 18 inputs a mobile flight command (mobile flight signal) from the wireless receiving unit 17, it controls the rotation of the rotor motors 26 of each rotor unit 16 (the rotation of each rotor 25) to cause the unmanned aerial vehicle 1 to take off from the take-off and landing point D and perform a mobile flight (fly up, fly down, move forward, backward, left, right, move left, move right).

[0105] As shown in FIG. 13, the inspector operates (controls) control lever 78 to move and fly unmanned aerial vehicle 1 (gas detection device X) into the air above surface F to be inspected.

[0106] 9, when the inspector flies the unmanned aerial vehicle 1 (gas detection device X) above a measurement location F1 on an inspection target surface F, he operates a control lever 78 (flight operation unit 75) to output a stop flight command (stop flight signal) to a wireless transmission unit 76. The control lever 78 outputs the stop flight command (stop flight signal) to the wireless transmission unit 76 based on the stop flight operation (operation).

[0107] As shown in FIG. 9, when a stop flight command (stop flight signal) is input from the control lever 78, the wireless transmitter 76 transmits the stop flight command to the wireless receiver 17 (unmanned aerial vehicle 1).

[0108] In the unmanned aerial vehicle 1, when the wireless receiver 17 receives a stop flight command (stop flight signal) from the wireless transmitter 76, it outputs the stop flight command to the aircraft control unit 18.

[0109] 4 and 13, when the aircraft control unit 18 inputs a stationary flight command from the wireless receiving unit 17, it controls the rotation of the rotor motors 26 (each rotor 25) of each rotor unit 16 to cause the unmanned aerial vehicle 1 to stationary flight (hover) above the measurement location F1 on the inspection target surface F. The unmanned aerial vehicle 1 is stationary flight with the gas detector 5 and distance detector 7 facing the inspection target surface F.

[0110] <Stop flight process: ST14 in Figure 16> In the hovering flight process (ST14 in FIG. 16), the unmanned aerial vehicle 1 is caused to hover (hover / hover flight) at a flight altitude H above a measurement location on the surface F to be inspected.

[0111] The examiner operates the camera operation unit 85 in the operation device 11 as shown in FIG.

[0112] As shown in FIG. 9, when a shooting start command (shooting start signal) is input from camera operation unit 85, wireless transmission unit 86 transmits the shooting start command (shooting start signal) to wireless reception unit 65 (camera 9).

[0113] As shown in FIG. 8, when the wireless receiving unit 65 receives a shooting start command (shooting start signal) from the wireless transmitting unit 86, it outputs the shooting start command (shooting start signal) to the camera control unit 66.

[0114] As shown in FIG. 8, when a shooting start command (shooting start signal) is input from the wireless receiving unit 65, the camera control unit 66 causes the camera 9 to start shooting.

[0115] As shown in FIG. 8, camera 9 photographs the gas display unit 57 of gas detector 5 and the gas concentration (gas concentration data) displayed on gas display unit 57, and photographs the distance display unit 60 of distance detector 7 and the distance (distance data) displayed on distance display unit 60, and outputs them to camera control unit 66 as image data.

[0116] As shown in FIG. 8, when image data is input from camera 9, camera control unit 66 outputs the image data to wireless transmission unit 67.

[0117] As shown in FIG. 8, when image data captured by camera 9 is input from camera control unit 66, wireless transmission unit 67 transmits the image data to wireless reception unit 90 (display device 12).

[0118] As shown in FIG. 10, when an image (image data) captured by the camera 9 is input from the wireless transmission unit 67, the wireless reception unit 90 outputs the image data to the display unit 91.

[0119] As shown in FIG. 10, when image data is input from the wireless receiving unit 90, the display unit 91 displays the gas display unit 57, the gas concentration (gas concentration data) displayed on the gas display unit 57, the distance display unit 60, and the distance (distance data) displayed on the distance display unit 60.

[0120] 9, the examiner operates the distance detection operation unit 83 in the operation device 11 to output a distance detection start command (distance detection start signal) to the wireless transmission unit 84. The distance detection operation unit 83 outputs the distance detection start command to the wireless transmission unit 84 based on the operation.

[0121] As shown in FIG. 8, when a distance detection start command is input from distance detection operation section 83, wireless transmission section 84 transmits the distance detection start command to wireless reception section 58 (distance detection unit 6).

[0122] In the distance detection unit 6, when the wireless receiving section 58 receives a distance detection start command (distance detection start signal) from the wireless transmitting section 84, as shown in FIG.

[0123] As shown in FIG. 8, when a distance detection start command is input from the wireless receiving unit 58, the distance detection control unit 59 causes the distance detector 7 to start detecting (measuring) the distance.

[0124] The distance detector 7 displays the detected (measured) distance (distance data) on a distance display unit 60, as shown in FIG.

[0125] As shown in FIG. 9, the examiner operates the control lever 78 (for descending flight operation or ascending flight operation) to output a descending flight command or an ascending flight command to the wireless transmission unit 76.

[0126] As shown in Figure 9, when a descent flight command or an ascending flight command is input from the control lever 78, the wireless transmitting unit 76 transmits a descent flight command (descent flight signal) or an ascending flight command (ascending flight signal) to the wireless receiving unit 17 (unmanned aerial vehicle 1).

[0127] In the unmanned aerial vehicle 1, when the wireless receiver 17 receives a descent command or an ascent command from the wireless transmitter 76, as shown in FIG. 4, it outputs the descent command or the ascent command to the aircraft control unit 18.

[0128] As shown in Figures 4 and 13, when the aircraft control unit 18 inputs a descent command or an ascending command from the wireless receiving unit 17, it controls the rotation of the rotor motors 26 (each rotor 25) of each rotor unit 16 to cause the unmanned aerial vehicle 1 to ascend or descend relative to the surface F to be inspected.

[0129] As shown in Figures 9 and 13, the inspector operates the control lever 78 (descent operation, ascent operation) to fly the unmanned aerial vehicle 1 (gas detection device X) downward or upward above the inspection target surface F, thereby causing the unmanned aerial vehicle 1 (gas detection device X) to fly downward or upward to the flight altitude value H (flight altitude data). As shown in Figures 10 and 13, while looking at the distance data displayed on the display unit 91 (distance displayed on the distance display unit 60), the inspector operates the control lever 78 for descending or ascending to fly the unmanned aerial vehicle 1 downward or upward relative to the surface F to be inspected, and when the distance data on the display unit 91 is the flight altitude value H (flight altitude data), the control lever 78 is changed from the descending flight operation (or ascending flight operation) to the stop flight operation, and a stop flight command (stop flight signal) is output to the wireless transmission unit 76.

[0130] As shown in FIG. 9, when a stop flight command (stop flight signal) is input from the control lever 78, the wireless transmitter 76 transmits the stop flight command to the wireless receiver 17 (unmanned aerial vehicle 1).

[0131] As shown in FIG. 4, when the wireless receiver 17 receives a flight suspension command from the wireless transmitter 76, it outputs a flight suspension command to the aircraft control unit 18.

[0132] 4, when the aircraft control unit 18 inputs a stop flight command (stop flight signal) from the wireless receiving unit 17, it controls the rotation of the rotor motors 26 (each rotor 25) of each rotor unit 16 to cause the unmanned aerial vehicle 1 (gas detection device X) to stop flying (hover) at a flight altitude value H (flight altitude H) above the inspection target surface F. The unmanned aerial vehicle 1 stops flying (hover) above the inspection target surface F (measurement location F1).

[0133] In the hovering flight process (ST14 in Figure 16), the unmanned aerial vehicle 1 is hovered above the surface F to be inspected at a flight altitude H that forms an area AD (airflow area) between each rotor 25 (unmanned aerial vehicle 1) and the surface F to be inspected, where the downdraft caused by the rotation of each rotor 25 reaches, and an area ND (no-airflow area) where the downdraft caused by the rotation of each rotor 25 does not reach, as shown in Figure 13.

[0134] When the unmanned aerial vehicle 1 (gas detection device X) flies and stops at a flight altitude H (the value of the flight altitude), the unmanned aerial vehicle 1 forms an area AD (airflow area) reached by the downdraft DW caused by the rotation of each rotor 25, and an area ND (no-airflow area) not reached by the downdraft DW caused by the rotation of each rotor 25, between the unmanned aerial vehicle 1 (each rotor 25) and the surface to be inspected F, as shown in Figures 11 and 13.

[0135] The area AD reached by the downdraft caused by the rotation of each rotor 25 (area affected by the downdraft caused by the rotation of each rotor 25) is formed in an area obtained by subtracting height L from the flight altitude value H between each rotor 25 (unmanned aerial vehicle 1) and the inspection target surface F, as shown in Figures 11 and 13. The area ND not reached by the downdraft caused by the rotation of each rotor 25 (area not affected by the downdraft DW caused by the rotation of each rotor 25) is formed in an area at height L from the inspection target surface F between each rotor 25 and the inspection target surface F. The area ND not reached by the downdraft DW caused by the rotation of each rotor 25 is formed continuously with the airflow area.

[0136] <Gas detector lowering process: ST15 in Figure 16> In the gas detector descent process (ST in Figure 16), while the unmanned aerial vehicle 1 is in stopped flight, the towing member 39 is unwound from the rotor 36, and the gas detector 5, distance detector 7 and camera 9 are lowered from the unmanned aerial vehicle 1 (winch 2) into the no-airflow area ND (an area not reached by the downward airflow DW caused by the rotation of each rotor 25), and the gas detector 5 is positioned facing the measurement point on the inspection target surface F, separated by the detection interval W (detection distance).

[0137] 9, when the inspector stops flying the unmanned aerial vehicle 1 at flight altitude H, he operates (unwinding operation) the winding operation unit 79 and outputs a unwinding command to the wireless transmission unit 80. The winding operation unit 79 outputs a unwinding command (unwinding signal) to the wireless transmission unit 80 based on the operation (unwinding operation).

[0138] As shown in FIG. 9, when a reel-out command is input from the winding operation unit 79, the wireless transmitting unit 80 transmits the reel-out command (reel-out signal) to the wireless receiving unit 40 (winch 2).

[0139] In the winch 2, when the wireless receiving unit 40 receives a pay-out command from the wireless transmitting unit 80 as shown in FIG.

[0140] As shown in Fig. 6 and Fig. 14, when the winding control unit 42 receives a payout command (payout signal) from the wireless receiving unit 40, it drives the electric motor 38 to rotate (reverse rotation) the rotor 36 and pay out the towing member 39 from the rotor 36. The towing member 39 wound around the rotor 36 is paid out from the rotor 36 by the rotation (reverse rotation) of the rotor 36. The support body 3, the gas detection unit 4 (gas detector 5), the distance detection unit 6 (distance detector 7), the camera unit 8 (camera 9) and the horizontal maintenance device 10 are lowered from the unmanned aerial vehicle 1 (winch 2) in stopped flight toward the measurement location F1 on the inspection target surface F by the payout of the towing member 39.

[0141] 6, when the winding control unit 42 inputs a payout command from the wireless receiving unit 40, it starts detection (measurement) of the payout amount by the payout amount detection unit 41. The payout amount detection unit 41 detects (measures) the payout amount of the pulling member 39 paid out from the rotating body 36, and outputs a payout amount signal (payout amount data) to the winding control unit 42.

[0142] As shown in Figures 14 and 15 , while looking at the distance data displayed on display unit 91 (an image of the distance data displayed on distance display unit 60), when the distance data displayed on display unit 91 (the distance displayed on distance display unit 60) reaches the detection interval W, the inspector stops the winding operation unit 79 and outputs a stop command (stop signal) to the wireless transmission unit 80.

[0143] As shown in FIG. 9, when a stop command (stop signal) is input from the winding operation unit 79, the wireless transmitting unit 80 transmits the stop command (stop signal) to the wireless receiving unit 40 (winch 2).

[0144] As shown in FIG. 6, when the wireless receiver 40 receives a stop command (stop signal) from the wireless transmitter 80 (operation device 11), it outputs a stop command (reel-out stop command) to the winding control section .

[0145] As shown in FIG. 6, when a stop command (stop signal) is input from the wireless receiving unit 40 (operation device 11), the hoisting control unit 42 stops the electric motor 38 and stops the payout of the traction member 39. As a result, as shown in Figures 14 and 15, the gas detector 5 and the distance detector 7 are lowered from the unmanned aerial vehicle 1 (winch 2) during stopped flight into the airless area ND (inside an area not reached by the downward air current DW caused by the rotation of each rotor 25) by the reeling out of the towing member 39, and positioned opposite the measurement point F1 on the inspection target surface F at a detection interval W (detection distance). The gas detector 5 and the distance detector 7 are positioned above the measurement point F1 on the inspection target surface F at a detection interval W (detection distance) within the airless area ND. 14 and 15, the camera 9 is lowered from the unmanned aerial vehicle 1 (winch 2) during stopped flight into the no-airflow area ND (inside an area not reached by the downdraft DW caused by the rotation of each rotor 25) by the reeling out of the towing member 39, and is positioned facing the measurement point F1 on the inspection target surface F at an interval V (distance). The winding control unit 42 (winding control unit) inputs the reeling amount signal (reeling amount data) from the reeling amount detection unit 41, and stores the reeling amount signal when the electric motor 38 is stopped (the reeling amount signal when the reeling out of the towing member 39 is stopped) in the memory unit 43 as the reeling amount data. In the gas detector lowering process (ST15 in Figure 16), as shown in Figures 14 and 15, while the unmanned aerial vehicle 1 is in stopped flight, the winch 2 unleashes the towing member 39 from the rotor 36, lowers the gas detector 5 into the no-airflow area ND (an area not reached by the downward airflow DW caused by the rotation of each rotor 25), and positions the gas detector 5 facing the measurement point F1 on the inspection surface F, separated by a detection interval W (detection distance). While the unmanned aerial vehicle 1 is stationary in flight, the winch 2 reeles out the towing member to lower the gas detector 5 to a position (area ND not reached by the downdraft DW due to the rotation of the rotor 25) between the unmanned aerial vehicle 1 (rotor 25) and the measurement point F1 on the surface to be inspected F outside the area AD where the downdraft DW due to the rotation of the rotor 25 is expected to occur, between the unmanned aerial vehicle 1 (rotor 25) and the measurement point F1 on the surface to be inspected, and positions the gas detector 5 facing the measurement point F1 on the surface to be inspected F, separated by a detection interval W (detection distance).

[0146] <Gas detection (measurement) process: ST16 in Figure 16> In the gas detection (measurement) step (ST16 in FIG. 16), the gas (gas concentration) generated (flowing out) from the measurement point F1 on the inspection target surface F is detected (measured) by the gas detector 5.

[0147] 10, the examiner looks at the distance data displayed on display unit 91 (distance data displayed on distance display unit 60), and when the distance data reaches detection interval W (detection distance), operates gas detection operation unit 81 to output a gas detection start command (gas detection start signal) to wireless transmission unit 82. Gas detection operation unit 81 outputs the gas detection start command (gas detection start signal) to wireless transmission unit 82 based on the operation, as shown in FIG.

[0148] As shown in FIG. 9, when a gas detection start command is input from gas detection operation unit 81, wireless transmitting unit 82 transmits the gas detection start command (gas detection start signal) to wireless receiving unit 55 (gas detector 5).

[0149] In gas detection unit 4, upon receiving a gas detection start command from wireless transmission unit 82 (operation device 11), wireless reception unit 55 outputs the gas detection start command (gas detection start command) to gas detection control unit 56, as shown in FIG.

[0150] As shown in FIG. 8, when a gas detection start command (gas detection start signal) is input from wireless receiving unit 55, gas detection control unit 56 causes gas detector 5 to start gas detection (detection of gas concentration).

[0151] As shown in FIG. 8, the gas detector 5 detects (measures) gas (gas concentration) generated (flowing out) from a measurement point F1 on the inspection target surface F, and displays the gas concentration on a gas display unit 57.

[0152] As shown in FIG. 8, the camera 9 captures the gas indicator 57 of the gas detector 5 and the gas concentration (gas concentration data) displayed on the gas indicator 57, and outputs the captured image (image data) to the camera control unit 66.

[0153] The camera control unit 65 outputs image data captured by the camera 9 (an image of the gas display unit 57 and the gas concentration displayed on the gas display unit 57) to the wireless transmission unit 67, as shown in FIG.

[0154] As shown in FIG. 8, when image data captured by the camera is input from the camera control unit 66, the wireless transmission unit 67 transmits the image data to the wireless reception unit 90 (display device 12).

[0155] As shown in FIG. 8, when the wireless receiving unit 90 receives an image captured by the camera 9 (an image of the gas display unit 57, the gas concentration displayed on the gas display unit 57, the distance display unit 66, and the distance data displayed on the distance display unit 60) from the wireless transmitting unit 67, the wireless receiving unit 90 outputs the image data to the display unit 91.

[0156] As shown in FIG. 10, when display unit 91 receives images captured by camera 9 (images of gas display unit 57, gas concentration displayed on gas display unit 57, distance display unit 60, and distance data displayed on distance display unit 60) from wireless receiving unit 90, it displays the images captured by camera 9 (images of gas display unit 57 and gas concentration displayed on gas display unit 57, and images of distance display unit 60 and distance data displayed on distance display unit 60). By looking at the gas concentration displayed on the display unit 91, the inspector can recognize the gas generated (flowing out) from the measurement point F1 on the inspection target surface F and the gas concentration.

[0157] <Gas detector raising process: ST17 in Figure 16> In the gas detector raising process (ST17 in Figure 16), while the unmanned aerial vehicle 1 is in stopped flight, the pulled-out traction member 39 is wound onto the rotating body 36, and the gas detector 5, distance detector 7 and camera 9 are raised from within the airless area ND to the unmanned aerial vehicle 1 (storage position P).

[0158] 9, when the inspector checks the gas concentration displayed on the display unit 91, he or she operates the winding operation unit 79 to wind the gas, and outputs a winding command (winding signal) to the wireless transmission unit 80. The winding operation unit 79 outputs the winding command (winding signal) to the wireless transmission unit 80 based on the winding operation.

[0159] As shown in FIG. 9, when a winding command is input from the winding operation unit 79, the wireless transmitting unit 80 transmits the winding command (winding signal) to the wireless receiving unit 40 (the winder 2).

[0160] As shown in FIG. 6, when the wireless receiving unit 40 receives a winding command from the wireless transmitting unit 80, it outputs the winding command to the winding control unit .

[0161] As shown in FIG. 6, when a winding command (winding signal) is input from the wireless receiving unit 40, the winding control unit 42 reads out the payout amount data from the storage unit 43.

[0162] As shown in FIG. 6, when a winding command is input from the wireless receiving unit 40, the winding control unit 42 starts detection (measurement) of the winding amount by the unreeled amount detection unit 41.

[0163] As shown in FIG. 6, the payout amount detection unit 41 detects (measures) the amount of the pulling member 39 wound around the rotor , and outputs a winding amount signal (winding amount data) to the winding control unit .

[0164] 6 and 13, when the winding control unit 42 receives a winding command (winding signal) from the wireless receiving unit 40, it drives the electric motor 38 to rotate the rotating body 36 (forward rotation) and winds the unwound traction member 39 onto the rotating body 36. The unwound traction member 39 is wound onto the rotating body 36 by the rotation of the rotating body 36 (forward rotation). The support body 3, gas detection unit 4 (gas detector 5), distance detection unit 6 (distance detector 7), camera unit 8 (camera 9) and level maintenance device 10 are raised from within the airless area ND toward the unmanned aerial vehicle 1 (storage position P) by winding up the traction member 39, as shown in Figures 13 and 14.

[0165] As shown in Figures 6 and 13, when the winding amount signal (winding amount data) input from the reel-out amount detection unit 41 becomes the reel-out amount data, the winding control unit 42 stops the electric motor 38 and stops winding the pulling member 39. As a result, the support body 3, gas detection unit 4 (gas detector 5), distance detection unit 6 (distance detector 7), camera unit 8 (camera 9) and level maintenance device 10 are raised from the airless area ND to the storage position P (storage position P of the unmanned aerial vehicle 1 during stopped flight) by winding up the towing member 39, as shown in Figures 1 and 13, and are positioned (located) at the storage position P. In the gas detector raising process (ST17 in Figure 16), as shown in Figure 13, while the unmanned aerial vehicle 1 is in stopped flight, the winch 2 winds the pulled-out towing member 39 onto the rotating body 36, raises the gas detector 5 (distance detector 7, camera 9, etc.) to the storage position P1, and places (positions) it in the storage position P.

[0166] In gas detection device X, by repeating ST13 to ST17 in FIG. 16, at a plurality of measurement points F1 on inspection target surface F, gas detector 5 detects (measures) the gas (gas concentration) generated (flowing out) from each measurement point F1.

[0167] As shown in FIG. 12, the inspector operates the control lever 78 to fly and move the unmanned aerial vehicle 1, thereby landing the unmanned aerial vehicle 1 at the takeoff and landing point D (ground G), thereby completing gas detection. [Industrial Applicability]

[0168] It is ideal for detecting (measuring) gases emitted (flowing) from the surface being inspected. [Explanation of symbols]

[0169] X Gas Detection Device 1 Unmanned Aerial Vehicle 2 Hoisting machine 5 Gas detectors 25 Rotor (propeller) 39 Traction member F Inspection surface F1 Measurement point AD Airflow Area (Area) ND No airflow area (area) DW Downdraft

Claims

[Claim 1] A gas detection device that detects gas generated from an inspection target surface, comprising: An unmanned aerial vehicle that moves or stops flying by rotating rotors; A winch disposed on the unmanned aerial vehicle and configured to pay out and reel in a towing member; a gas detector attached to the towing member for detecting gas generated from the inspection target surface; The unmanned aerial vehicle is The unmanned aerial vehicle is stopped and flown above the surface to be inspected at a flight altitude that forms a no-airflow area between the unmanned aerial vehicle and the surface to be inspected, where the downdraft caused by the rotation of the rotor does not reach, The winch comprises: During the stopped flight of the unmanned aerial vehicle, the towing member is let out to lower the gas detector into the airless area and place it opposite the inspection target surface at a detection distance. A gas detection device comprising:

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