Aerial vehicle, inspection method and inspection system

Abstract

To provide a technique for carrying out inspection of an inner wall by making an aerial vehicle fly without contacting (the inner wall or the like of) an inspection structure.SOLUTION: The present invention relates to an aerial vehicle, an inspection method and an inspection system for inspecting an inner wall of a substantially tubular structure by utilizing an aerial vehicle. The aerial vehicle includes: an acquisition part for acquiring a direction of an inner wall for at least an inspection start position; a control part for controlling a direction of an own machine on the basis of the acquired direction; and an inspection part for inspecting the presence / absence of a prescribed phenomenon. The aerial vehicle acquires the direction of the inner wall for at least the inspection start position, and controls the direction of an own machine on the basis of the acquired direction, in order to carry out inspection by making the aerial vehicle fly according to characteristics of the inspection.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an aircraft, an inspection method using the aircraft, and an inspection system.

Background Art

[0002] GPS (Global Positioning System) is often used for the control of aircraft. However, there are cases where GPS radio waves cannot reach, especially when inspecting structures in enclosed areas. Patent Document 1 discloses a system that detects the position that minimizes the distance between the aircraft and the left and right side surfaces by sensors mounted on the aircraft, and controls the flight method of the aircraft (see FIG. 15 of the present application).

[0003] In addition, Patent Document 2 discloses that, particularly when inspecting the inside of a tubular structure portion having a substantially circular cross section with an aircraft, in the method described in Patent Document 1 (i.e., the method of flying while detecting the position that minimizes the distance from the left and right side surfaces), the aircraft ascends or descends in the tube (the left and right width is smaller toward the upper or lower part) (see FIG. 16 of the present application).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the systems described in Patent Document 1 and Patent Document 2, for example, as shown in FIG. 17, When there are recesses or the like on the side surface, the left - right distance L changes abruptly, so there is a risk of hitting the inner wall.

[0006] The present invention has been made in view of such a background, and an object thereof is to provide a technique for flying a flying object so as not to contact an inspection structure (such as the inner wall) and performing inspection of the inner wall.

Means for Solving the Problems

[0007] According to the present invention, a flying object is obtained which includes an acquisition means for acquiring the orientation of the target surface and a control means for controlling the direction of the aircraft based on the acquired orientation.

[0008] Regarding other problems disclosed in the present application and methods for solving them, they will be made clearer in the column of the embodiments of the invention and the drawings.

Effects of the Invention

[0009] According to the present invention, it is possible to fly without contacting an inspection structure (such as the inner wall) and perform inspection of the inner wall.

Brief Description of the Drawings

[0010]

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Figure 17

DETAILED DESCRIPTION OF THE INVENTION

[0011] The contents of the embodiments of the present invention will be listed and described. The aircraft according to the embodiments of the present invention has the following configuration.

[0012] [Item 1] An acquisition means for acquiring the orientation of the target surface, and A control means for controlling the direction of the own aircraft based on the acquired orientation, and an aircraft equipped with. [Item 2] The flying object according to Item 1, wherein the acquisition means acquires the direction by detecting a line component of the target surface. Flying object. [Item 3] The flying object according to Item 2, wherein the acquisition means detects the line component from position information of at least two different points on the target surface. and acquires the direction. [Item 4] The flying object according to either Item 2 or Item 3, wherein the acquisition means acquires a plurality of the line components of the target surface and detects the direction. Flying object. [Item 5] The flying object according to Item 4, wherein the acquisition means detects the direction based on a combined line component obtained by combining a plurality of the line components. and acquires the direction. [Item 6] The flying object according to any one of Items 1 to 5, wherein the acquisition means acquires directions of a plurality of different target surfaces. Flying object. [Item 7] The flying object according to any one of Items 1 to 6, wherein the acquisition means acquires directions of two target surfaces facing each other. Flying object. [Item 8] The flying object according to any one of Items 1 to 7, wherein the acquisition means acquires a direction along a horizontal direction of the target surface. Flying object. [Item 9] The flying object according to Item 1, wherein the acquisition means can acquire distances to two different points on the target surface respectively, and acquires the direction based on the distances. Flying object [Item 10] The flying object according to any one of Items 1 to 9, wherein the acquisition means acquires the orientations of the side surfaces facing each other in the left - right direction, respectively. Flying object. [Item 11] The flying object according to any one of Items 1 to 10, wherein the acquisition means acquires the orientations of the side surfaces facing each other in the up - down direction, respectively. Flying object. [Item 12] The flying object according to any one of Items 1 to 11, wherein the control means performs rotation control around the yaw axis Flying object. [Item 13] The flying object according to Item 12, wherein the control means performs the rotation control within a range of 90 degrees or less in the horizontal direction. Flying object. [Item 14] The flying object according to any one of Items 1 to 13, wherein the control unit performs control so that the orientation of the own aircraft becomes parallel to the orientation of the target surface. Flying object. [Item 15] The flying object according to any one of Items 1 to 14, wherein the acquisition means acquires at least the distance to the target surface, and the control means controls the own aircraft to be at a predetermined distance from the target surface based on the acquired distance. Flying object. [Item 16] The flying object according to any one of Items 1 to 15, further comprising inspection means for inspecting the presence or absence of a predetermined event, wherein the control means flies the flying object according to the characteristics of the inspection. Flying object. [Item 17] The flying object according to any one of Items 1 to 16, The acquisition means includes a LIDAR (Light Detection and Rangi ng) and is a flying object. [Item 18] A flying object according to any one of Items 1 to 17, is configured to fly inside a substantially tubular structure, and the target surface includes the inner wall of the structure, and is a flying object. [Item 19] An inspection method for inspecting the inner wall of a substantially tubular structure using a flying object, including an acquisition step of acquiring the orientation of the inner wall at least at the inspection start position, and a control step of controlling the direction of the own aircraft based on the acquired orientation. Inspection method. [Item 20] The inspection method according to Item 19, wherein the flying object further includes an inspection means for inspecting the presence or absence of a predetermined event, and the control means flies the flying object according to the characteristics of the inspection after controlling the direction of the own aircraft. Inspection method. Inspection method. [Item 21] The inspection method according to Item 19 or Item 20, including a manual control reception step of receiving manual control by an operator until reaching the inspection start position. Inspection method. Inspection method. [Item 22] An inspection system for inspecting the inner wall of a substantially tubular structure using a flying object, wherein the flying object includes an acquisition unit that acquires the orientation of the inner wall at least at the inspection start position, a control unit that controls the direction of the own aircraft based on the acquired orientation, and an inspection unit that inspects the presence or absence of a predetermined event. The flying object acquires the orientation of the inner wall at least at the inspection start position, and based on the acquired orientation, controls the direction of the own aircraft. Control the direction of the own aircraft based on the recording direction, and fly the flying object according to the characteristics of the inspection Perform inspection Inspection system

[0013] <Summary> Hereinafter, a flying object, an inspection method, and an inspection system according to an embodiment of the present invention will be described with reference to the drawings As shown in FIG. 1, the inspection system according to the present invention is, for example, a tunnel, a duct, or an inspection of the inside of a tubular structure 5 surrounded at least on the top, bottom, left, and right It is for doing. It is for.

[0014] In the following description, the "inner wall" existing inside the structure is taken as an example for explanation However, the present invention is not limited to only the inside of the structure, and even outdoors, if there are wall surfaces, side surfaces, and other detection target surfaces corresponding to the following "inner wall", GPS can be used or GPS It can be implemented without using it. It can be implemented without using it.

[0015] As shown in the figure, during inspection, the flying object 1 flies toward a predetermined point 1 equidistant from the left and right inner walls LW, RW and the upper and lower inner walls TW, GND in the inspection direction d. Prior to the inspection The flying object 1 performs initial orientation (calibration) so that the orientation of the own aircraft is an appropriate direction at the inspection start position (details will be described later). Calibration Is essential at the start of inspection, and if the calibration is not performed, an appropriate flight direction cannot be determined inside the closed space Is essential at the start of inspection, and if the calibration is not performed, an appropriate flight direction cannot be determined inside the closed space Is essential at the start of inspection, and if the calibration is not performed, an appropriate flight direction cannot be determined inside the closed space In the case where the calibration is not performed, an appropriate flight direction cannot be determined inside the closed space.

[0016] The above-described flying object, inspection method, and inspection system have the same inventive concept, It is only divided from the viewpoints of hardware, method, and system. Therefore, hereinafter, the present embodiment The form will be described by taking the inspection system as an example.

[0017] FIG. 2 is a block diagram showing the hardware configuration of the flying object used in the present embodiment. The illustrated block diagram is an example, and it may have other functions.

[0018] The flight controller 11 can have one or more processors such as a programmable processor (for example, a central processing unit (CPU)). The flight controller 11 has a memory 12 and can access the memory 12. The memory 12 stores logic, code, and / or program instructions that are executable by the flight controller 11 to perform one or more steps.

[0019] The memory 12 may include a separable medium such as an SD card or a random access memory (RAM), or an external storage device. Data acquired from the camera and sensors 13 may be directly transmitted to and stored in the memory 12. For example, still image / moving image data captured by the camera 13 is recorded in the built-in memory or the external memory. The camera 13 is installed on the flying object via a gimbal 14. The flight controller 11 includes control rules configured to control the state of the flying object 1. For example, the control module adjusts the spatial arrangement, speed, and / or acceleration of the flying object 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz) via the ESC 15 to the propulsion mechanism (such as the motor 16) of the flying object 1. The memory 12 stores logic, code, and / or program instructions that are executable by the flight controller 11 to perform one or more steps.

[0020] The memory 12 may include a separable medium such as an SD card or a random access memory (RAM), or an external storage device. Data acquired from the camera and sensors 13 may be directly transmitted to and stored in the memory 12. For example, still image / moving image data captured by the camera 13 is recorded in the built-in memory or the external memory. The camera 13 is installed on the flying object via a gimbal 14. The flight controller 11 includes control rules configured to control the state of the flying object 1.

[0021] For example, the control module adjusts the spatial arrangement, speed, and / or acceleration of the flying object 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz) via the ESC 15 to the propulsion mechanism (such as the motor 16) of the flying object 1. For example, the control module adjusts the spatial arrangement, speed, and / or acceleration of the flying object 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz) via the ESC 15 to the propulsion mechanism (such as the motor 16) of the flying object 1. For example, the control module adjusts the spatial arrangement, speed, and / or acceleration of the flying object 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz) via the ESC 15 to the propulsion mechanism (such as the motor 16) of the flying object 1. The flight controller 11 includes control rules configured to control the state of the flying object 1. For example, the control module adjusts the spatial arrangement, speed, and / or acceleration of the flying object 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz) via the ESC 15 to the propulsion mechanism (such as the motor 16) of the flying object 1. Control it. The rotation of the propeller 17 by the motor 16 generates lift for the flying object 1. The control module can control one or more of the mounting part and the states of the sensors.

[0022] The flight controller 11 is communicable with a transceiver 18 configured to transmit and / or receive data from one or more external devices (e.g., a transceiver (probe), a terminal, a display device, or other remote controller). The transceiver 18 can use any suitable communication means such as wired communication or wireless communication.

[0023] The transceiver 18 can utilize one or more of, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, etc.

[0024] The transceiver 18 can transmit and / or receive one or more of the data acquired by the sensors 19, the processing results generated by the flight controller 11, predetermined control data, user commands from a terminal or a remote controller, etc.

[0025] The sensors 19 according to the present embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., sonar), or vision / image sensors (e.g., cameras).

[0026] The measurement unit 20 according to the present embodiment is composed of a three-dimensional LIDAR (Light Detection and Ranging). Note that the measurement unit 20 is a stereo camera. ​​​​​​​​​​​​ A mechanism capable of recognizing depth, such as those described above, and a mechanism capable of detecting the distance to a remote object can be adopted regardless of the type. Any mechanism can be adopted as long as it has the required capabilities.

[0027] Referring to FIG. 3, a functional block diagram will be described. The flying object 1 includes an acquisition means, a control means, and an inspection means. The acquisition means acquires the orientation of the inner wall at least at the inspection start position. The above-described sensors may perform some or all of this function. The control means controls the direction of the flying object based on the acquired orientation. The above-described flight controller may perform some or all of this function. The inspection unit is a comprehensive concept that includes, in a broad sense, devices, equipment, etc. used to inspect the presence or absence of predetermined events of the inspection structure (inner wall). For example, imaging devices (visible light, infrared cameras, etc.), key input devices, detection devices (metal detectors), sound collection devices, odor measuring instruments, gas detectors, air pollution measuring instruments, detection devices (devices for detecting cosmic rays, radiation, electromagnetic waves, etc.), etc. All devices necessary to know the state of the inspection structure having an inner wall can be adopted. Illustrative examples include imaging devices (visible light, infrared cameras, etc.), key input devices, detection devices (metal detectors), sound collection devices, odor measuring instruments, gas detectors, air pollution measuring instruments, detection devices (devices for detecting cosmic rays, radiation, electromagnetic waves, etc.), etc. All devices necessary to know the state of the inspection structure having an inner wall can be adopted. sound collection devices, odor measuring instruments, gas detectors, air pollution measuring instruments, detection devices (devices for detecting cosmic rays, radiation, electromagnetic waves, etc.), etc. All devices necessary to know the state of the inspection structure having an inner wall can be adopted. All devices necessary to know the state of the inspection structure having an inner wall can be adopted.

[0028] Referring to FIG. 4, the basic principle of the direction control of the flying object according to the present embodiment will be described. FIG. 4(a) shows the state before direction control, and FIG. 4(b) shows the state after direction control. FIG. 4(a) shows the state before direction control, and FIG. 4(b) shows the state after direction control.

[0029] In FIG. 4(a), the triangular flying object has its direction F deviated from the front (the direction of the flying object for effective operation of the inspection device, etc.). At this point, since the direction F is directed away from the inner wall, if left as it is, the flying object will fly away from the inner wall. Therefore, by using LIDAR, the flying object can detect at least two points P1 and P2 on the inner wall. Therefore, by using LIDAR, the flying object can detect at least two points P1 and P2 on the inner wall. The distances L1 and L2 up to [a certain point] can be obtained.

[0030] Actually, more ranging information corresponding to the resolution of the LIDAR can be obtained, but for simplicity of explanation, only two points P1 and P2 (measurement points) will be taken as an example for explanation. The acquisition means obtains the line component (vector) V1 of the inner wall from the information of the distances L1 and L2. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. As shown in FIG. 4(b), the control means compares the direction F and the line component V1, and performs rotational control in the yaw direction so that the direction (direction F) of the flying object becomes parallel to the inner wall. Thereby, since the flying direction of the flying object becomes parallel to the inner wall, it becomes possible to start the inspection along the correct direction. Note that, as will be described later, in the illustrated example, rotational control was performed in the horizontal yaw direction for calibration. However, depending on the shape and orientation of the inspection structure, rotation

[0031] In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. In the examples of FIGS. 4(a) and 4(b), two points P1 and P2 are used as measurement points to extract the line component V1. However, the number of measurement points used for extracting the line component is not limited to this. For example, it may be adopted as the line component to be used according to the positions of two or more measurement points. In this case, it may be determined whether to adopt or not based on the positional relationship (variation in position, variation in distance between each of them, etc.) of the plurality of measurement points. For example, if the arrangement of the plurality of measurement points is within the range of variation that falls within a predetermined threshold, it may be used as the line component (linear line component) to be adopted. If it is outside the range of variation that falls within the predetermined threshold (i.e., when a straight line cannot be formed), the measurement points constituting the line component may be determined not to be adopted. .

[0032] As shown in FIG. 4(b), the control means compares the direction F and the line component V1, and performs rotational control in the yaw direction so that the direction (direction F) of the flying object becomes parallel to the inner wall. Thereby, since the flying direction of the flying object becomes parallel to the inner wall, it becomes possible to start the inspection along the correct direction. Note that, as will be described later, in the illustrated example, rotational control was performed in the horizontal yaw direction for calibration. However, depending on the shape and orientation of the inspection structure, rotation As shown in FIG. 4(b), the control means compares the direction F and the line component V1, and performs rotational control in the yaw direction so that the direction (direction F) of the flying object becomes parallel to the inner wall. Thereby, since the flying direction of the flying object becomes parallel to the inner wall, it becomes possible to start the inspection along the correct direction. Note that, as will be described later, in the illustrated example, rotational control was performed in the horizontal yaw direction for calibration. However, depending on the shape and orientation of the inspection structure, rotation As shown in FIG. 4(b), the control means compares the direction F and the line component V1, and performs rotational control in the yaw direction so that the direction (direction F) of the flying object becomes parallel to the inner wall. Thereby, since the flying direction of the flying object becomes parallel to the inner wall, it becomes possible to start the inspection along the correct direction. Note that, as will be described later, in the illustrated example, rotational control was performed in the horizontal yaw direction for calibration. However, depending on the shape and orientation of the inspection structure, rotation As shown in FIG. 4(b), the control means compares the direction F and the line component V1, and performs rotational control in the yaw direction so that the direction (direction F) of the flying object becomes parallel to the inner wall. Thereby, since the flying direction of the flying object becomes parallel to the inner wall, it becomes possible to start the inspection along the correct direction. Note that, as will be described later, in the illustrated example, rotational control was performed in the horizontal yaw direction for calibration. However, depending on the shape and orientation of the inspection structure, rotation As shown in FIG. 4(b), the control means compares the direction F and the line component V1, and performs rotational control in the yaw direction so that the direction (direction F) of the flying object becomes parallel to the inner wall. Thereby, since the flying direction of the flying object becomes parallel to the inner wall, it becomes possible to start the inspection along the correct direction. Note that, as will be described later, in the illustrated example, rotational control was performed in the horizontal yaw direction for calibration. However, depending on the shape and orientation of the inspection structure, rotation The direction of rotation control can be any direction. It is not limited to being parallel to the inner wall. For example, calibration may be performed while maintaining a predetermined angle with the inner wall. In this case, the aircraft is rotated and controlled so that the line component V1 and the direction F form a predetermined angle. This can be considered as the case.

[0033] Referring to FIG. 5, the carrier using a plurality of different line components of the same inner wall is acquired by the acquisition means. As shown in the figure, the method of blation is the same as that shown in FIG. By this, multiple line components V1 to V4 are acquired from the same inner wall. Among V1 to V4, only the line component V2 has a different direction compared to the other line components V1, V3, and V4. At this time, the acquisition means performs rotation control on the line component V2 as an irregular line component. In other words, the flying object shown in FIG. 5 has line components V1, V3 The flight direction F is calculated from V4 and rotation control is performed.

[0034] In this way, when there is a missing part in the inner wall (position V2), If only line components were acquired, an error would occur if the line components of the missing part were acquired by chance. However, as shown in Figure 5, the same calibration is performed. If multiple line components with different inner walls are used, the noise line components are eliminated by majority vote. This allows correct calibration regardless of the condition of the inner walls of the inspection structure. In addition, the direction of the aircraft is acquired, and the direction of the aircraft is not matched. Line components may be uniformly excluded. In this case, the direction of the aircraft and the direction of the line components are determined as follows. Alternatively, only those exceeding a certain threshold may be rejected.

[0035] In addition to the majority decision method, the noise elimination method may also be, for example, to compare with the line components on both adjacent sides to determine whether the line component is noise. Also, by comparing the line components on both adjacent sides and adopting the larger (= longer) line component, and further comparing it with the adjacent line component and adopting the larger line component, the largest line component inside the detection range may be adopted by a tournament method such as this (hereinafter referred to as the "tournament method").

[0036] Referring to FIG. 6, for example, a calibration method in the case where there are fine irregularities on the inner wall, such as natural structures or significantly deteriorated artificial structures, will be described. As shown in this way, the acquisition means acquires a plurality of line components V1 to V5 from a predetermined range of the inner wall. After that, by synthesizing the obtained line components V1 to V5, a single synthesized line component (not shown) is obtained, and the direction F is calculated according to the synthesized line component. Note that by acquiring more line components, it becomes possible to acquire a more accurate synthesized line component. Also in this case, it is possible to prevent the accidental acquisition of the line component at the missing portion and the occurrence of incorrect calibration as in the case where only one line component is acquired.

[0037] The above-described embodiments have described a method of performing calibration using one or a plurality of line components of a single inner wall, but it is also possible to use two opposing side surfaces. The method in this case will be described with reference to FIG. 7.

[0038] FIG. 7(a) shows the state before direction control, and FIG. 7(b) shows the state after direction control. The acquisition means is different ​​​​​​Obtain the line components V1 and V2 of the plurality of target surfaces. More specifically, in FIG. 7(a), , for the triangular flying object, the direction F is deviated from the front to the left. At this point, the direction F is away from the inner wall on the right side and approaching the inner wall on the left side. Therefore, if left as it is, it will collide with the left inner wall. Thus, by using LIDAR, the flying object can obtain at least the distances L1 and L2 to at least two points P1 and P2 on the right inner wall, and the distances L3 and L4 to two points P3 and P4 on the left inner wall.

[0039] Note that, similar to the above, in reality, even more ranging information corresponding to the resolution of LIDAR can be obtained. However, for simplicity of explanation, only two points P1, P2 / P3, P4 per inner wall are taken as an example for explanation. The acquisition means obtains the line components V1 and V2 of the inner wall from the information of the distances L1, L2 and the distances L3, L4. As shown in FIG. 7(b), the control means compares the direction F with the line components V1 and V2, and performs rotational control in the yaw direction so that the direction (direction F) of the flying object becomes parallel to the inner wall. As a result, since the flying direction of the flying object becomes parallel to both the left and right inner walls, it becomes possible to start inspection along the correct direction.

[0040] Also, adopt the method described with reference to FIG. 5 or FIG. 6, obtain the direction of the linearly flying object in a majority decision manner from one inner wall and the other inner wall, and uniformly exclude the line components that do not match the direction of the flying object. In this case as well, it may be that only those whose difference between the direction of the flying object and the direction of the line component exceeds a predetermined threshold are excluded. Add (synthesize) the adopted (non-excluded) line components for each inner wall and perform direction control.

[0041] In addition, adopt the method described with reference to FIG. 5 or FIG. 6, obtain the direction of the linearly flying object in a majority decision manner from one inner wall and the other inner wall, and uniformly exclude the line components that do not match the direction of the flying object. In this case as well, it may be that only those whose difference between the direction of the flying object and the direction of the line component exceeds a predetermined threshold are excluded. Add (synthesize) the adopted (non-excluded) line components for each inner wall and perform direction control. It is also possible to exclude only those that exceed a predetermined threshold value. Add (synthesize) the adopted (non-excluded) line components for each inner wall and perform direction control.

[0042] Also, as shown in FIG. 8, even when the directions of one inner wall and the other inner wall are different, it is the same. The inspection structure shown in the figure has a structure that widens towards the front. At this time, if calibration is performed by acquiring only the line component of the right inner wall, after the start of flight, the distance from the left inner wall will increase as it progresses, and inspection cannot be performed under the same conditions in the left - right direction. Therefore, as shown in the figure, the composite line component (composite vector) V3 of the line components V1 and V2 acquired from the inner walls in the left - right direction is generated, and the V3 may be set as the flight direction F. Furthermore, as shown in FIG. 9, when there are irregularities on the right - hand side wall and no irregularities on the left - hand side wall, comparing the sum of the longitudinal components of the left - hand side line components V6 to V9 with the sum of the right - hand side line components V1 to V5, the left - hand side line component is larger. By setting the direction F of the flying object to match the left - hand side line component, it becomes possible to control it in an appropriate direction. As shown in FIG. 10, the rotation control for calibration should be performed within a range of at least 90 degrees or less. However, in the state shown in the figure, since the nose of the flying object was facing the exit (Out) direction, calibration could be performed in the direction where it should fly with rotation control within 90 degrees. During calibration, it is preferably the case that at least the nose is facing the direction to be inspected. As described above, by acquiring the directions (line components) of the two inner walls facing each other, the

[0043]

[0044]

[0045] ​​​​​​​​​​​By performing calibration, calibration according to the internal state of the inspection structure can be performed. Note that the inner wall used for calibration may be not only the inner walls facing each other in the left-right direction but also the inner walls facing each other in the up-down direction.

[0046] That is, as shown in FIG. 11, if the acquisition means performs calibration by acquiring the line components D1 and D2 of the inner walls LW and RW facing each other in the left-right direction respectively, calibration in the flight direction in the horizontal plane (XY plane) can be performed. On the other hand,[[]] as shown in FIG. 12, if the acquisition means performs calibration by acquiring the line components D3 and D4 of the inner walls TW and GND facing each other in the up-down direction respectively, calibration in the flight direction in the vertical direction (YZ plane) can be performed. <Flow of inspection>[[]] (YZ plane) can be performed. (YZ plane) can be performed.

[0047] Subsequently, the flow of the inspection method using the above-described flying object will be described. As shown in FIG. 13,[[]] the inspection is mainly composed of four states. That is, manual control to the inspection start position, arrival at the inspection start point, alignment (calibration), and start of flight inspection are the four states.[[]] Referring also to FIG. 14, the flying object flies manually by receiving manual control, for example, until it reaches the entrance of the inspection structure (inspection start point). When it arrives at the inspection start position, the above-described calibration is performed, and control is performed so that the flying object is in an appropriate direction. Then,[[]] the inside of the structure is inspected by imaging the inner wall or the like.[[]] When the operator approaches the inspection start position or the flying object is installed on the ground or the like at the inspection start position

[0048] ​​​​If possible, perform calibration by installing the flying object near the inspection start position. In this case, it may automatically rise to the height for performing calibration. This may be done.

[0049] Also, although the above-described embodiment mainly explained calibration, for example, it may be to obtain the above-described line components in order to adjust the flight direction during the inspection. By this, it is possible to fly in an appropriate direction even during the inspection.

[0050] Note that the above-described embodiment mainly explained the calibration at the start of the inspection (detecting the directions of the left and right inner walls and changing the direction of the own aircraft), but for example, it may be to correct the direction of the flying object in real time in the same manner during the inspection flight. In this case, the frequency of detecting the inner wall, the detection range, the detection direction, etc. can be adjusted as appropriate. Also, it may be to alternately perform the horizontal detection (FIG. 11) and the vertical detection (FIG. 12) (alternately perform at a predetermined frequency). By this, it becomes possible to fly while keeping the direction of the flying object and the distance from the inner wall constant during the inspection flight.

[0051] As described above, the present invention can be applied to both the calibration before the start of the inspection flight and the flight direction control during the inspection flight. Furthermore, based on the basic control of obtaining the line components of one side surface (inner wall) shown in FIG. 4 and controlling the direction, the following combinations can also be adopted. (1) A method of obtaining a plurality of line components of only one side surface and performing direction control (1-1) A method of obtaining a synthesized line component obtained by synthesizing the obtained plurality of line components and performing direction control (1-2) A method of performing direction control by obtaining an average line component obtained by averaging a plurality of acquired line components (1-3) Among the plurality of acquired line components, the number of line components to be acquired according to the state of the inner wall A method of setting (that is, setting the number of basic acquired line components, increasing the number of line components to be acquired when the inner wall has many undulations, and decreasing the number of line components to be acquired when the inner wall has few undulations, etc.) (1-4) A method of performing weighting and / or comparison of the plurality of acquired line components according to predetermined conditions, and adopting important ones among the line components (for example, the tournament method) (2) A method of performing direction control by obtaining line components of two or more side surfaces (2-1) On each inner wall, obtain a composite line component obtained by synthesizing a plurality of acquired line components, and compare the composite line component obtained from one inner wall with the composite component obtained from the other inner wall to perform direction (2-2) On each inner wall, obtain an average line component obtained by averaging a plurality of acquired line components, and compare the average line component obtained from one inner wall with the average line component obtained from the other inner wall to perform direction (2-3) On each inner wall, a method of setting the number of line components to be acquired according to the state of the inner wall among the plurality of acquired line components (that is, setting the number of basic acquired line components, increasing the number of line components to be acquired when the inner wall has many undulations, and decreasing the number of line components to be acquired when the inner wall has few undulations, etc.) (2-4) On each inner wall, perform weighting and / or comparison of the plurality of acquired line components according to predetermined conditions, adopt important ones among the line components, and perform weighting and / or comparison of the line components adopted on one inner wall and the line components adopted on the other inner wall according to predetermined conditions to perform direction control (2-2) On each inner wall, obtain an average line component obtained by averaging a plurality of acquired line components, and compare the average line component obtained from one inner wall with the average line component obtained from the other inner wall to perform direction (2-3) On each inner wall, a method of setting the number of line components to be acquired according to the state of the inner wall among the plurality of acquired line components (that is, setting the number of basic acquired line components, increasing the number of line components to be acquired when the inner wall has many undulations, and decreasing the number of line components to be acquired when the inner wall has few undulations, etc.) control (2-3) On each inner wall, among the plurality of acquired line components, a method of setting the number of line components to be acquired according to the state of the inner wall (that is, setting the number of basic acquired line components, increasing the number of line components to be acquired when the inner wall has many undulations, and decreasing the number of line components to be acquired when the inner wall has few undulations, etc.) (2-4) On each inner wall, perform weighting and / or comparison of the plurality of acquired line components according to predetermined conditions, adopt important ones among the line components, and perform weighting and / or comparison of the line components adopted on one inner wall and the line components adopted on the other inner wall according to predetermined conditions to perform direction control (2-4) On each inner wall, perform weighting of the plurality of acquired line components according to predetermined conditions and / or comparison, adopt important ones among the line components, and perform weighting and / or comparison of the line components adopted on one inner wall and the line components adopted on the other inner wall according to predetermined conditions to perform direction (2-4) On each inner wall, perform weighting and / or comparison of the plurality of acquired line components according to predetermined conditions, adopt important ones among the line components, and perform weighting and / or comparison of the line components adopted on one inner wall and the line components adopted on the other inner wall according to predetermined conditions to perform direction control (2-5) In addition to the above, a method of obtaining the line components of the respective inner walls, and a method of reflecting the obtained line components of the inner walls in the flight direction are combined in a more effective manner according to the conditions of the wall surface, etc. (That is, the left wall is the combined line component, the right wall is the average line component, and the reflection to the flight method is by weighting, etc.) As described above, according to the present invention, even in a place such as an enclosed space where GPS does not function (or functions with difficulty), by using LIDAR, the flying object 1 can be autonomously flown to inspect (image) a structure having a wall surface. The flying object of the present invention can be used in aircraft-related industries such as multi-copters and drones (particularly, flying objects for detection equipped with detection devices, etc.). Furthermore, the present invention can also be suitably used as a flying object for aerial photography equipped with a camera, etc., and can also be used in various industries such as the security field and infrastructure monitoring. (That is, the left wall is the combined line component, the right wall is the average line component, and the reflection to the flight method is by weighting, etc.)

[0052] As described above, according to the present invention, even in a place such as an enclosed space where GPS does not function (or functions with difficulty), by using LIDAR, the flying object 1 can be autonomously flown to inspect (image) a structure having a wall surface. As described above, according to the present invention, even in a place such as an enclosed space where GPS does not function (or functions with difficulty), by using LIDAR, the flying object 1 can be autonomously flown to inspect (image) a structure having a wall surface. As described above, according to the present invention, even in a place such as an enclosed space where GPS does not function (or functions with difficulty), by using LIDAR, the flying object 1 can be autonomously flown to inspect (image) a structure having a wall surface.

[0053] The flying object of the present invention can be used in aircraft-related industries such as multi-copters and drones (particularly, flying objects for detection equipped with detection devices, etc.). Furthermore, the present invention can also be suitably used as a flying object for aerial photography equipped with a camera, etc., and can also be used in various industries such as the security field and infrastructure monitoring. The flying object of the present invention can be used in aircraft-related industries such as multi-copters and drones (particularly, flying objects for detection equipped with detection devices, etc.). Furthermore, the present invention can also be suitably used as a flying object for aerial photography equipped with a camera, etc., and can also be used in various industries such as the security field and infrastructure monitoring. The flying object of the present invention can be used in aircraft-related industries such as multi-copters and drones (particularly, flying objects for detection equipped with detection devices, etc.). Furthermore, the present invention can also be suitably used as a flying object for aerial photography equipped with a camera, etc., and can also be used in various industries such as the security field and infrastructure monitoring. The flying object of the present invention can be used in aircraft-related industries such as multi-copters and drones (particularly, flying objects for detection equipped with detection devices, etc.). Furthermore, the present invention can also be suitably used as a flying object for aerial photography equipped with a camera, etc., and can also be used in various industries such as the security field and infrastructure monitoring.

[0054] The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included therein. The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included therein. The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included therein.

Explanation of Signs

[0055] 1 Flying object 5 Inspection structure

Claims

1. An acquisition means for acquiring an orientation of a target surface; A control means for controlling a direction of the aircraft based on the acquired orientation. Flying vehicle.

2. 2. The flying object according to claim 1, The acquisition means detects line components of the target surface to acquire the orientation. Flying vehicle.

3. The flying object according to claim 2, The acquiring means detects the line components from position information of at least two different points on the target surface. do, Flying vehicle.

4. The flying object according to claim 2 or 3, the acquiring means acquires a plurality of the line components of the target surface to detect the orientation; Flying vehicle.

5. The flying object according to claim 4, The acquiring means detects the direction based on a composite line component obtained by combining a plurality of the line components. R, Flying vehicle.

6. The flying object according to any one of claims 1 to 5, The acquisition means acquires a plurality of different orientations of the target surface. Flying vehicle.

7. The flying object according to any one of claims 1 to 6, The acquisition means acquires orientations of the two target surfaces facing each other. Flying vehicle.

8. The flying object according to any one of claims 1 to 7, The acquisition means acquires an orientation of the target surface along a horizontal direction. Flying vehicle.

9. 2. The flying object according to claim 1, The acquisition means is capable of acquiring distances to two different points on the target surface, and obtaining the orientation based on the distance. Aircraft

10. The flying object according to any one of claims 1 to 9, The acquisition means acquires the orientations of the side surfaces facing each other in the left and right direction, Flying vehicle.

11. The flying object according to any one of claims 1 to 10, The acquisition means acquires the orientations of the side surfaces that face each other in the vertical direction. Flying vehicle.

12. The flying object according to any one of claims 1 to 11, The control means controls rotation around a yaw axis. Flying vehicle.

13. The flying vehicle according to claim 12, The control means performs the rotation control within a range of 90 degrees or less in the horizontal direction. Flying vehicle.

14. The flying object according to any one of claims 1 to 13, The control means controls the direction of the aircraft so that the direction is parallel to the direction of the target surface. 、 Flying vehicle.

15. The flying object according to any one of claims 1 to 14, The acquisition means acquires at least a distance to the target surface, The control means determines whether the aircraft is at a predetermined distance from the target surface based on the acquired distance. Control so that Flying vehicle.

16. 16. The flying object according to any one of claims 1 to 15, The inspection means for inspecting at least either the presence or absence of a predetermined event or the degree of the predetermined event is updated. We are prepared for The control means flies the aircraft according to the characteristics of the inspection. Flying vehicle.

17. 17. The flying object according to any one of claims 1 to 16, The acquisition means is a LIDAR (Light Detection and Range ng), Flying vehicle.

18. 18. The flying object according to any one of claims 1 to 17, the aircraft is configured to fly within a generally tubular structure; The target surface includes an inner wall of the structure. Flying vehicle.

19. 1. A method for inspecting an inner wall of a generally tubular structure using an aircraft, comprising: An acquisition step of acquiring an orientation of the inner wall at least at an inspection start position; and a control step of controlling a direction of the aircraft based on the acquired orientation. Inspection method.

20. 20. The inspection method according to claim 19, further comprising the steps of: The flying object is configured to check at least either the presence or absence of a predetermined event or the degree of a predetermined event. The inspection means further includes: The control step includes controlling the direction of the vehicle and then moving the vehicle forward according to the characteristics of the inspection. and flying the air vehicle. Inspection method.

21. 21. The inspection method according to claim 19 or 20, further comprising the steps of: A manual control acceptance step for accepting manual control by an operator until the inspection start position is reached Including Inspection method.

22. An inspection system for inspecting an inner wall of a generally tubular structure using an aircraft, comprising: The flying object has an acquisition unit that acquires the orientation of the inner wall at least at an inspection start position; A control unit controls the direction of the aircraft based on the acquired direction, and checks for the presence or absence of a predetermined event. It is equipped with an inspection section, The flying object acquires the orientation of the inner wall at least at an inspection start position, and The direction of the aircraft is controlled based on the direction of the aircraft, and the aircraft is flown according to the characteristics of the inspection. Conduct an inspection, Inspection system.

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