Probe

Abstract

To provide a technique capable of bringing an electrode of a probe into contact with an object while suppressing densification and complication of control of a flying object.SOLUTION: The probe is attached to a front end portion of a shaft extending in a forward direction of the flight vehicle. The probe includes a probe main body formed in an elongated shape extending in a front-rear direction of the flying body, a connecting member that connects a rear end portion of the probe main body and a front end portion of the shaft and is bendable and deformable in an up-down direction of the flying body, and an electrode extending continuously over at least an upper surface, a front surface, and a lower surface of the probe main body. In the probe, when the probe main body comes into contact with the object, the connecting member is bent and deformed in the vertical direction of the flying body, so that the electrode follows the position of the object.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to a probe attached to an air vehicle. [Background technology]

[0002] In recent years, development has progressed on unmanned aerial vehicles, such as unmanned helicopters or drones, that are used for work at high altitudes, etc. One such unmanned aerial vehicle is known to include an imaging means (camera) attached to the base of the unmanned aerial vehicle, an arm attached to the base of the unmanned aerial vehicle, a lateral rotation prevention bar attached to the tip of the arm, and a comparison unit attached to the lateral rotation prevention bar, and by pressing the comparison unit against an inspection object, electricity is passed between an electrically conductive part attached to the lateral rotation prevention bar and an electrically conductive element attached to the comparison unit, thereby operating the imaging means (camera) (taking an image of the inspection object) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-100498 Summary of the Invention [Problem to be solved by the invention]

[0004] It is possible to use an aircraft when inspecting or maintaining equipment installed at high altitudes. One example is using an aircraft to inspect the lightning protection function of a wind turbine. In this case, the tip of a probe mounted on the aircraft is brought into contact with a receptor on the blade of the wind turbine, and a voltage is applied to the receptor from the electrode on the tip of the probe to inspect the continuity between the receptor and the ground electrode.

[0005] However, in order to bring the electrode at the tip of the probe into pinpoint contact with a receptor attached to a curved structure such as the blade of a wind turbine, precise and complex control of the flying object was required.

[0006] The present invention has been made in consideration of the above-mentioned situation, and its purpose is to provide a technology that allows the electrodes of a probe to contact an object while suppressing the precision and complexity of control of the aircraft. [Means for solving the problem]

[0007] One aspect of the present invention is a probe attached to a front end of a shaft extending forward of an aircraft, the probe comprising: a probe body formed in an elongated shape extending in the front-rear direction of the aircraft; a connecting member that connects the rear end of the probe body and the front end of the shaft, the connecting member being a member that bends and deforms in the vertical direction of the flying body in response to an external force and returns to its original shape in response to the release of the external force; an electrode extending continuously across at least the upper, front, and lower surfaces of the probe body; Equipped with When the probe body comes into contact with the object, the connecting member is bent and deformed in the vertical direction of the flying body, so that the electrodes follow the position of the object.

[0008] Another aspect of the present invention is a probe attached to a front end of a shaft extending forward of a flying vehicle, the probe comprising: a probe body formed in an elongated shape extending in the front-rear direction of the aircraft; a connecting member that connects the rear end of the probe body and the front end of the shaft, the connecting member being a member that bends and deforms in the vertical direction of the flying body in response to an external force and returns to its original shape in response to the release of the external force; an electrode covering the front surface of the probe body; Equipped with When the probe body contacts the target object at a position above or below the aircraft, the connecting member bends and deforms in the vertical direction of the aircraft, causing the electrode to follow the position of the target object.

[0009] The present invention can also be understood as an aircraft carrying the above-mentioned probe. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a technology that can bring a probe into electrical contact with an object while suppressing the need for precise and complicated control of the flying object. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing an example of an aspect in which a wind power generator is inspected using a drone. [Figure 2] FIG. 1 is a diagram illustrating an example of a schematic configuration of a drone according to a first embodiment. [Figure 3] FIG. 2 is a diagram showing an example of the overall configuration of a probe mechanism according to the first embodiment. [Figure 4] 1 is a perspective view showing a probe head attachment portion at the front end of the shaft in embodiment 1. FIG. [Figure 5] 3 is a cross-sectional view showing an example of the configuration of a connecting member in the first embodiment. FIG. [Figure 6] 4 is a cross-sectional view showing an example of the configuration of a support member included in the connecting member in the first embodiment. FIG. [Figure 7] 5A and 5B are diagrams illustrating the amount of bending deformation of a connecting member in the first embodiment. [Figure 8] 10 is a diagram showing a state in which the connecting member in the first embodiment is bent upward to the maximum extent. FIG. [Figure 9] FIG. 2 is a side view showing an example of the configuration of a probe head according to the first embodiment. [Figure 10] FIG. 2 is a perspective view showing an example of the configuration of a probe head according to the first embodiment. [Figure 11]FIG. 1 is a first diagram for explaining the operation and effect of the first embodiment. [Figure 12] FIG. 2 is a second diagram for explaining the operation and effect of the first embodiment. [Figure 13] 10 is a side view showing an example of the configuration of a probe head in a first modified example of the first embodiment. FIG. [Figure 14] FIG. 10 is a first diagram for explaining the operation and effect of the first modified example of the first embodiment. [Figure 15] FIG. 2 is a second diagram for explaining the operation and effect of the first modification of the first embodiment. [Figure 16] FIG. 10 is a first diagram for explaining the operation and effect of the second modification of the first embodiment. [Figure 17] FIG. 10 is a second diagram for explaining the operation and effect of the second modification of the first embodiment. [Figure 18] FIG. 10 is a perspective view showing an example of the configuration of a probe head in the second embodiment. [Figure 19] 10A and 10B are diagrams for explaining the operation and effect of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] The probe according to the present invention comprises a probe body, a connecting member, and an electrode, and is attached to the front end of a shaft extending forward of the aircraft. The probe body according to the present invention is formed in an elongated shape extending in the front-rear direction of the aircraft. The connecting member according to the present invention is a member that connects the rear end of the probe body to the front end of the shaft, and bends and deforms in the vertical direction of the aircraft in response to an external force and returns to its original shape in response to release from the external force. Note that the bending and deformation of the connecting member in the vertical direction of the aircraft includes bending and deforming the connecting member in the upward direction of the aircraft and bending and deforming the connecting member in the downward direction of the aircraft. The electrode according to the present invention extends continuously over at least the top, front, and bottom surfaces of the probe body.

[0013] In the probe according to the present invention, when the front surface of the probe body contacts an object such as a receptor, the electrodes come into contact with the object, allowing electricity to flow from the electrodes to the object. This allows for testing the continuity of the object. However, if the surface of the object is curved, an external force may act on the probe, tending to orient the front end of the probe body in a direction perpendicular to the longitudinal direction of the aircraft, when the front surface of the probe body contacts the object. In contrast, in the probe according to the present invention, the connecting member bends upward or downward in response to the external force, causing the contact position of the probe body with the object to change from the front surface to the bottom or top surface. Furthermore, in the probe according to the present invention, the electrodes extend continuously across the top, front, and bottom surfaces of the probe body, allowing the contact state between the electrodes and the object to be maintained even if the contact position of the probe body with the object changes from the front surface to the bottom or top surface. In other words, the probe according to the present invention allows the electrodes to conform to the position of the object when subjected to the external force described above.

[0014] Therefore, the probe according to the present invention can bring the electrodes of the probe into contact with the target object while suppressing the need for precise and complicated control of the flying object.

[0015] Furthermore, in the probe according to the present invention, the connecting member may be configured to bend and deform not only in the vertical direction of the aircraft but also in the horizontal direction of the aircraft. Note that bending and deforming the connecting member in the horizontal direction of the aircraft includes bending and deforming the connecting member in the right direction of the aircraft and deforming the connecting member in the left direction of the aircraft. With such a configuration, it is conceivable that when an external force acts on the probe, tending to orient the front end of the probe body in a direction perpendicular to the longitudinal direction of the aircraft, in response to the front of the probe body coming into contact with the object, the connecting member may bend and deform in the right or left direction of the aircraft. In such a case, the contact position of the probe body with the object changes from the front to the left or right side. Therefore, when the connecting member is configured to bend and deform in the horizontal direction of the aircraft body as well as in the vertical direction of the aircraft, the electrodes according to the present invention may be configured to extend over the upper, front, and lower surfaces of the probe body, as well as the right and left sides of the probe body. This allows the electrodes to follow the position of the object even when the contact position of the probe body with the object changes from the front to the left or right side.

[0016] Furthermore, image recognition by a camera may be used in flight control of an aircraft equipped with a probe. In such cases, the camera may be positioned higher than the probe in the vertical direction of the aircraft. In such an arrangement, if the length (width) of the probe body in the left-right direction of the aircraft is large, the area of ​​the camera's blind spot caused by the probe body becomes large. As a result, when the probe body approaches an object, the probe body may block the object from the camera. In contrast, the probe body according to the present invention may be formed in a generally plate-like shape whose length (width) in the left-right direction of the aircraft body is smaller than its length (height) in the up-down direction. With this configuration, the area of ​​the camera's blind spot caused by the probe body can be kept small. As a result, when the probe body approaches the object, the probe body can be prevented from blocking the object from the camera. Furthermore, with this configuration, the probe body is more likely to bend and deform in the left-right direction of the aircraft body. As a result, even if the connecting member is configured to be less likely to bend and deform in the left-right direction of the aircraft, when an external force acts on the probe to move the front end of the probe body in the left-right direction of the aircraft, the probe body will bend and deform in the left-right direction of the aircraft, allowing the electrode to conform to the position of the target object.

[0017] In another aspect of the present invention, the electrodes may be provided so as to cover only the front surface of the probe body. In such a configuration, when the front surface (electrodes) of the probe body comes into contact with the target object at a position above or below the flying object, the connecting member is bent upward or downward. By controlling the propulsive force of the flying object so as to generate an external force that causes the connecting member to bend upward or downward, the contact position of the front surface of the probe body (electrode) can be made to slip from a position above or below the flying object to the position of the object. This allows the electrode to follow the position of the object.

[0018] In another aspect of the present invention, the probe body may be formed in a generally plate-like shape, with a length (width) in the left-right direction of the aircraft being smaller than the length (height) in the up-down direction of the aircraft. With this configuration, even if the connecting member is configured to bend with difficulty in the left-right direction of the aircraft, the probe body can be bent in the left-right direction of the aircraft. Therefore, by controlling the propulsion force of the aircraft so that an external force that bends the probe body leftward or rightward is generated when the front surface (electrode) of the probe body contacts a position offset to the right or left of the aircraft body relative to the target, the probe body can be bent leftward or rightward, and the contact position of the front surface (electrode) of the probe body can slip from the position offset to the right or left of the aircraft body relative to the target to the position of the target. This allows the electrode to conform to the position of the target, even if the contact position of the front surface (electrode) of the probe body is offset leftward or rightward. The connecting member may be configured to be bent leftward and rightward in addition to the up-down direction of the aircraft body. In such a configuration, the propulsive force of the aircraft can be controlled so that when the front surface (electrode) of the probe body comes into contact with a position to the right or left of the aircraft relative to the target object, an external force is generated that bends and deforms the probe body and / or connecting member to the left or right.

[0019] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative positions, etc. of the components described in the embodiments are not intended to limit the scope of the present invention. Furthermore, the following embodiments can be combined as much as possible.

[0020] <Embodiment 1> In the first embodiment, an example will be described in which a probe according to the present invention is applied to a drone 1 that inspects a wind power generator 20. Fig. 1 is a diagram showing an example of an aspect in which a drone 1 is used to inspect a wind power generator 20.

[0021] (Overall composition) The wind power generator 20 comprises a tower 21 standing upright on the ground and blades 22 attached to the top of the tower 21 and rotating in response to the wind. Receptors 23 are provided on the blades 22 of the wind power generator 20. The receptors 23 are connected to a ground electrode via electric wires or the like, and are configured so that lightning current flows from the receptors 23 to the ground electrode when lightning strikes.

[0022] The drone 1 is an aircraft for inspecting a receptor 23 attached to the blades 22 of a wind turbine generator 20. Such inspection is performed, for example, by detecting the current value flowing through the ground electrode when a voltage is applied to the receptor 23 by the drone 1. To this end, a wire 30 is connected to the drone 1 for supplying inspection power from an inspection device 31 to the drone 1. The inspection device 31 applies a voltage to the receptor 23 using the drone 1 and detects the current value flowing through the ground electrode. The wire 30 may include an electric wire for controlling the drone 1 or an electric wire for supplying power to the drone 1. Furthermore, a drone other than the drone 1 or a robot moving on the tower 21 may be placed on the wire 30 for the purpose of supporting the weight of the wire 30, for example.

[0023] The drone 1 has a probe mechanism 10. The probe mechanism 10 is a mechanism for checking continuity by contacting the receptor 23, and is configured to include an electrode 16A, which will be described later. The electrode 16A of the probe mechanism 10 is connected to the wire 30 described above.

[0024] (Drone) Here, the configuration of the drone 1 in the first embodiment will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of a schematic configuration of the drone 1 in the first embodiment. The drone 1 in the first embodiment is configured to include a main body 110 and a plurality of propulsion units 111.

[0025] The main body 110 includes a body 114 and a plurality of bridges 115 extending radially from the body 114. The plurality of propulsion units 111 are attached to the plurality of bridges 115, respectively. In the example shown in FIG. 2, the plurality of propulsion units 111 are arranged at equal intervals on an imaginary circumference centered on the body 114. Note that the arrangement of the plurality of propulsion units 111 is not limited to the configuration in which the propulsion units 111 are arranged at equal intervals on an imaginary circumference centered on the body 114, and can be changed as appropriate depending on the embodiment. As an example, the position of the propulsion unit 111 arranged in front of the body 114 may be offset closer to the body 114 than on the imaginary circumference, so that the body 114 can be brought closer to the receptor 23, which is the work target.

[0026] Each of the multiple propulsion units 111 includes a propeller 112, which is a rotor, and an actuator 113 for driving the propeller 112 to rotate. The multiple propulsion units 111 may all be the same type of unit, or may be different types of units. The multiple actuators 113 can be controlled independently of each other. This allows the thrust obtained by the multiple propulsion units 111 to be individually controlled. As a result, the flight attitude, flight speed, etc. of the drone 1 can be controlled appropriately.

[0027] Each of the multiple bridges 115 is attached with legs 120 that support the main body 110 when landing. The multiple legs 120 are arranged at equal intervals on an imaginary circumference centered on the body 114, and extend downward from the bridge 115.

[0028] In the example shown in Figure 2, the drone 1 has four propulsion units 111, four bridges 115, and four legs 120, but the number of each of the propulsion units 111, four bridges 115, and four legs 120 is not limited to four and can be changed as appropriate depending on the embodiment.

[0029] In the following description, when the drone 1 is in a hovering state, the direction in which the lift force of the propeller 112 acts (vertically upward (upward in FIG. 2)) is defined as the upward direction of the drone 1, and the direction opposite to the direction in which the lift force acts (vertically downward (downward in FIG. 2)) is defined as the downward direction of the drone 1. Accordingly, the direction perpendicular to the up-down direction is defined as the horizontal direction.

[0030] The body 114 is equipped with a battery for supplying driving power to the actuators 113 of each propulsion unit 111, a control device 60 for controlling the power supply from the battery to the actuators 113, and the like.

[0031] The control device 60 is configured to include a computer having a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), etc., and a flight controller that controls the attitude and movement of the drone 1. Various programs and various tables are stored in the EPROM. The CPU loads and executes the programs stored in the EPROM into the working area of ​​the RAM, and through the execution of these programs, instructions such as ascending and moving are given to the flight controller, and based on these instructions, the flight controller controls the actuators 113, etc. This allows the CPU to realize functions that meet a specific purpose.

[0032] The control device 60 may include a communication unit that communicates with the outside world via wired or wireless communication, receive control commands via the communication unit, and switch the operation content in accordance with the control commands. In this case, as with a normal drone, the control device 60 may have a flight controller control the propulsion unit 111 according to control inputs made by an operator manually operating the controller or according to a flight plan stored in advance in the flight controller. The control device 60 also controls the probe mechanism 10 to contact the receptor 23 based on signals from a laser sensor 101 and a camera 102, which will be described later.

[0033] A support 141 that supports a rod 140 is provided on the upper part of the body 114. The rod 140 is a cylindrical member that extends horizontally. The probe mechanism 10 is attached to one end of such rod 140 via a fixing member 142. In this case, the probe mechanism 10 is positioned above the horizontal plane that includes the four propellers 112.

[0034] In the following description, when the drone 1 is in a hovering state, the direction of the central axis of the rod 140 and the direction from the support part 141 toward the probe mechanism 10 is defined as the forward direction of the drone 1, and the direction from the support part 141 toward the side where the probe mechanism 10 is not attached is defined as the rear direction of the drone 1. Accordingly, the direction diagonally upward and left in FIG. 2 is defined as the right direction of the drone 1, and the direction diagonally downward and right in FIG. 2 is defined as the left direction of the drone 1.

[0035] The probe mechanism 10 is a mechanism for contacting the receptor 23 to check the continuity between the receptor 23 and the ground electrode, and is attached to the front end of the rod 140. The above-mentioned wire 30 is connected to the probe head 16. In the example shown in FIG. 2, the wire 30 is arranged outside the probe mechanism 10, but the wire 30 may also pass through the inside of the probe mechanism 10. The probe mechanism 10 is equipped with a laser sensor 101 for measuring the distance to the target object (i.e., the receptor 23), a camera 102 for image recognition of the position of the receptor 23, and the like.

[0036] (probe mechanism) Here, the configuration of the probe mechanism 10 in the first embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the overall configuration of the probe mechanism 10 in the first embodiment.

[0037] As shown in Fig. 3, the probe mechanism 10 in the first embodiment includes an arm 11, a shaft 12, and two springs 13. The arm 11 is a plate-shaped member extending in the left-right direction from the front end of a rod 140, and is fixed to the front end of the rod 140 via the fixing member 142 described above. Although not shown in Fig. 3, the laser sensor 101 and camera 102 described above are attached to the upper part of the arm 11.

[0038] Each of the left and right ends of the arm 11 is formed with a protrusion 11B that protrudes rearward beyond the central portion 11A of the arm 11. Each of these protrusions 11B is formed with a hole 11C for attaching the spring 13 to the arm 11. When attaching the spring 13 to the arm 11, a pin or bolt may be passed through the hole 11C and the spring 13 may be hooked onto the pin or bolt, or the end of the spring 13 may be directly hooked onto the hole 11C. The arm 11 is also formed with one or more bent portions 11D such that the two protrusions 11B are positioned above the central portion 11A of the arm 11. In one example, the arm 11 may be bent at the bent portion 11D in parallel with the central axis of the shaft 12. Instead of bending the arm 11, a support or the like may be provided on the arm 11 to position the protrusions 11B and the hole 11C above the central portion 11A.

[0039] The shaft 12 is a cylindrical member that moves relative to the arm 11 in the front-to-rear direction, and is supported by the arm 11 via a guide 11E. The guide 11E is attached to the upper side surface of the arm 11 and supports the shaft 12 so that it can move back and forth in the axial direction. As an example, the guide 11E may be configured to include a rolling guide device such as a linear bushing. The shaft 12 is arranged so that its central axis is parallel to the central axis of the rod 140, and moves back and forth parallel to the central axis of the rod 140. A spring connection portion 14 to which the spring 13 is connected is provided at the rear end of the shaft 12. Two holes 14A for attaching the spring 13 are formed in the spring connection portion 14. The holes 14A are formed on the right and left sides of the shaft 12, respectively.

[0040] A probe head 16 is attached to the front end of the shaft 12 via a connecting member 15. The probe head 16 is a device for inspecting the continuity of the receptor 23. One end of the wire 30 described above is connected to the probe head 16, and power for inspection is supplied from an inspection device 31. Details of the connecting member 15 and the probe head 16 will be described later.

[0041] Spring 13 is a tension spring, one end of which is connected to spring connection portion 14 and the other end of which is connected to protrusion 11B. Of the two springs 13, one spring 13 is attached to hole 11C of protrusion 11B on the right side of arm 11 and hole 14A on the right side of spring connection portion 14, and the other spring 13 is attached to hole 11C of protrusion 11B on the left side of arm 11 and hole 14A on the left side of spring connection portion 14. In this case, the central axis of each spring 13 is arranged perpendicular to the central axis of shaft 12 and in the horizontal direction (i.e., the left-right direction) when no external force is applied to shaft 12.

[0042] (Connecting member) The configuration of the connecting member 15 will now be described with reference to Figs. 4 to 8. Fig. 4 is a perspective view showing a mounting portion of the probe head 16 at the front end of the shaft 12. Fig. 5 is a cross-sectional view showing an example of the configuration of the connecting member 15. Fig. 6 is a cross-sectional view showing an example of the configuration of a support member 150 included in the connecting member 15. Fig. 7 is a diagram for explaining the amount of bending deformation of the connecting member 15. Fig. 8 is a diagram showing a state in which the connecting member 15 has been bent upward to its maximum.

[0043] As shown in FIGS. 4 and 5, the connecting member 15 in the first embodiment includes a support member 150 and a flexible member 151.

[0044] The support member 150 is attached to the front end of the shaft 12 and supports the rear end portion of the flexible member 151. In this case, the support member 150 is configured so that a first contact surface 150A that comes into contact with an upper side surface of the rear end portion of the flexible member 151 in the support member 150 extends further forward than a second contact surface 150B that comes into contact with a lower side surface of the rear end portion of the flexible member 151 in the support member 150, as shown in Figures 5 and 6 .

[0045] The flexible member 151 is a member formed in a substantially square rod shape, and the rear end of the probe head 16 is fixed to the front end of the flexible member 151. The flexible member 151 in the first embodiment is a member having flexibility that elastically bends and deforms in response to an external force applied from a direction perpendicular to the axial direction (front-rear direction) of the shaft 12, and restores to its original shape in response to the release of the external force. As an example, the flexible member 151 may be molded from polyurethane such as TPU.

[0046] According to the connecting member 15 configured as described above, the amount of bending deformation of the flexible member 151 in the upward direction is smaller than the amount of bending deformation of the flexible member 151 in the downward direction. 7, when the probe head 16 is attached to the shaft 12 using the connecting member 15, the amount of upward displacement of the front end of the probe head 16 when the connecting member 15 is bent upward to its maximum (A1 in FIG. 7) is smaller than the amount of downward displacement of the front end of the probe head 16 when the connecting member 15 is bent downward to its maximum (A2 in FIG. 7). This makes it possible to keep the maximum upward displacement of the probe head 16 when an external force directed from below to above smaller than the maximum downward displacement of the probe head 16 when an external force directed from above to below is applied to the probe head 16.

[0047] Therefore, in the connecting member 15 of embodiment 1, the forward extension amount of the first contact surface 150A is determined so that the position of the tip of the probe head 16 when the flexible member 151 is bent and deformed upward to the maximum is located below the center of the angle of view of the camera 102 (dotted line C1 in Figure 8) as shown in Figure 8.

[0048] (probe head) Next, the configuration of the probe head 16 in the first embodiment will be described with reference to Fig. 9 and Fig. 10. Fig. 9 is a side view of the probe head 16 as seen from the left side of the drone 1. Fig. 10 is a perspective view showing an example of the configuration of the probe head 16.

[0049] The probe head 16 in the first embodiment is formed in an elongated shape extending in the front-rear direction of the drone 1, as shown in Figures 9 and 10. Specifically, the probe head 16 is formed in a plate shape in which the length (width) in the left-right direction is shorter than the length (height) in the up-down direction, as shown in Figure 10. Furthermore, as shown in Figure 9, the probe head 16 is formed so that the length (height) in the up-down direction continuously decreases from the rear end to the front end in a side view. Note that the shape of the probe head 16 in a side view is not limited to the shape exemplified in Figure 9, and may be changed as appropriate depending on the shape of the receptor 23, etc.

[0050] Furthermore, as shown in FIG. 10 , the probe head 16 in the first embodiment is provided with a semi-cylindrical groove 16B that is continuous across the upper, front, and lower surfaces of the probe head 16. As shown in FIG. 9 , an electrode 16A is disposed in the groove 16B. In one example, the electrode 16A may be formed by winding a cylindrical copper wire having a radius substantially equal to that of the groove 16B around the probe head 16 along the groove 16B. In this case, both ends of the copper wire may be joined at the rear end of the probe head 16 and connected to the wire 30. This forms the electrode 16A that is continuous across the upper, front, and lower surfaces of the probe head 16. Note that the metal wire forming the electrode 16A is not limited to a copper wire, and may be any conductive metal wire. Furthermore, the method for providing the electrode 16A on the upper, front, and lower surfaces of the probe head 16 is not limited to the method described above. As another example, a conductive metal film may be continuously attached to the upper, front, and lower surfaces of the probe head 16.

[0051] In the first embodiment, the probe head 16 corresponds to the "probe body" according to the present invention. Thus, the combination of the connecting member 15 and the probe head 16 achieves the "probe" according to the present invention.

[0052] (Actions and Effects of Embodiment 1) Here, the operation and effect of the first embodiment will be described with reference to Fig. 11 and Fig. 12. In the first embodiment, when inspecting the receptor 23 of the wind power generator 20, the drone 1 is flown so that the front surface of the probe head 16 comes into contact with the receptor 23. In one example, until the image of the receptor 23 can be recognized by the camera 102, the drone 1 is operated visually by the user, and after the image of the receptor 23 can be recognized by the camera 102, the image captured by the camera 102 and the laser sensor 101 are used to operate the drone 1. The drone 1 may fly autonomously based on the distance to the receptor 23 measured by the laser sensor 101. The control device 60 then controls the propulsion unit 111 while bringing the front surface of the probe head 16 into contact with the receptor 23, so that the distance to the receptor 23 or the blade 22 measured by the laser sensor 101 becomes a predetermined distance.

[0053] Note that one type of receptor 23 provided on the blades 22 of the wind turbine generator 20 is a tip type. As illustrated in FIGS. 11 and 12 , the tip type receptor 23 is formed by using an aluminum block or the like at the tip end of the blade 22. Because the tip type receptor 23 has a curved surface, when the front surface of the probe head 16 comes into contact with the receptor 23, an external force may act on the probe head 16 to orient the front end of the probe head 16 in a direction perpendicular to the forward / backward direction of the drone 1. Furthermore, because there are no structures outside the tip type receptor 23 (except on the blade 22 side), when the tip end of the probe head 16 passes outside the receptor 23, the top or bottom surface of the probe head 16 may come into contact with the receptor 23 if position control is performed by the autonomous flight of the drone 1.

[0054] Here, when the blade 22 provided with the tip-type receptor 23 faces downward, an external force that tends to orient the front end of the probe head 16 downward may act on the probe head 16 in response to the front surface of the probe head 16 coming into contact with the receptor 23. When such an external force acts on the probe head 16 of embodiment 1, the flexible member 151 of the connecting member 15 is bent downward, as shown in Fig. 11, and the contact position of the probe head 16 with the receptor 23 changes from the front surface to the upper surface. In embodiment 1, the electrode 16A is continuously provided over the upper surface, front surface, and lower surface of the probe head 16, so that the contact state between the electrode 16A and the receptor 23 is maintained even if the contact position of the probe head 16 with the receptor 23 changes from the front surface to the upper surface. Furthermore, if the drone 1 ascends by autonomous flight while the tip of the probe head 16 has passed outside the receptor 23 (the lower side in FIG. 11), the probe head 16 may come into contact with the receptor 23 from above. In the first embodiment, the electrode 16A is provided continuously over the upper, front, and lower surfaces of the probe head 16, so that even if the upper surface of the probe head 16 comes into contact with the receptor 23, the electrode 16A and the receptor 23 can be in contact with each other.

[0055] Furthermore, when the blade 22 provided with the tip-type receptor 23 faces upward, an external force may act on the probe head 16, tending to orient the front end of the probe head 16 upward, in response to the front surface of the probe head 16 coming into contact with the receptor 23. When such an external force acts on the probe head 16 of embodiment 1, the flexible member 151 of the connecting member 15 is bent upward, as shown in Fig. 12, and the contact position of the probe head 16 with the receptor 23 changes from the front surface to the bottom surface. In embodiment 1, the electrode 16A is continuously provided over the top, front, and bottom surfaces of the probe head 16, so that the contact state between the electrode 16A and the receptor 23 is maintained even if the contact position of the probe head 16 with the receptor 23 changes from the front surface to the bottom surface. Furthermore, if the drone 1 descends by autonomous flight while the tip of the probe head 16 has passed outside the receptor 23 (upper side in FIG. 12), the probe head 16 may come into contact with the receptor 23 from below. In the first embodiment, the electrode 16A is provided continuously over the upper, front, and lower surfaces of the probe head 16, so that even if the lower surface of the probe head 16 comes into contact with the receptor 23, the electrode 16A and the receptor 23 can be in contact with each other.

[0056] In the connecting member 15 and the probe head 16 of the first embodiment, as explained above with reference to FIG. 8, the forward extension amount of the first contact surface 150A of the support member 150 is determined so that the position of the tip of the probe head 16 when the flexible member 151 is bent and deformed in the upward direction to the maximum is located below the center of the angle of view of the camera 102. Even if the flexible member 151 is bent and deformed upward to the maximum, it is possible to prevent the probe head 16 from being displaced to a position where it blocks the view of the receptor 23 from the camera 102. Furthermore, in the first embodiment, as described above with reference to FIG. 10 , the probe head 16 is formed in a plate shape whose length (width) in the left-right direction is shorter than its length (height) in the up-down direction. This makes it possible to minimize the blind spot of the camera 102 caused by the probe head 16, even if the flexible member 151 is bent and deformed upward to the maximum. As a result, it is possible to prevent the camera 102 from being unable to recognize the image of the receptor 23 due to the bending and deformation of the flexible member 151 in the upward direction.

[0057] Therefore, according to the connecting member 15 and the probe head 16 of the first embodiment, when the probe head 16 is brought into contact with an object having a curved surface, such as a tip-type receptor 23, the contact position of the probe head 16 with the receptor 23 can be changed so that the electrode 16A follows the position of the receptor 23. As a result, the electrode 16A of the probe head 16 can be brought into contact with the receptor 23 while suppressing the control of the drone 1 from becoming too precise and complicated.

[0058] (Modification 1 of Embodiment 1) In the above-described first embodiment, an example has been described in which, when the flexible member 151 of the connecting member 15 is bent and deformed in the up-down direction, the electrode 16A of the probe head 16 follows the position of the receptor 23. In the first modification, an example will be described in which, in addition to when the flexible member 151 of the connecting member 15 is bent and deformed in the up-down direction, the electrode 16A of the probe head 16 follows the position of the receptor 23 even when the flexible member 151 of the connecting member 15 is bent and deformed in the left-right direction.

[0059] The connecting member 15 in the first embodiment described above is configured to be elastically bendable and resilient by utilizing the flexibility of the flexible member 151. Therefore, when an external force acts on the probe head 16 from the left or right direction, the flexible member 151 can bend and deform to the right or left. Therefore, in the first modification, the electrode 16A is continuously provided on the upper, front, and lower surfaces of the probe head 16, as well as on the right and left sides. Specifically, the electrode 16A in the first modification includes a copper wire 160A wound along the groove 16B of the probe head 16, and a copper metal film 161A extending over the upper, front, lower, right, and left sides of the probe head 16 around which the copper wire 160A is wound. The metal film 161A may be attached to or wrapped around the upper, front, lower, right, and left sides of the probe head 16 around which the copper wire 160A is wound.

[0060] With the electrode 16A configured in this manner, electricity flowing from the wire 30 to the copper wire 160A can be passed from the copper wire 160A to the metal film 161A. This allows the upper, front, and lower surfaces of the probe head 16, as well as the right and left side surfaces of the probe head 16, to function as electrodes.

[0061] With the connecting member 15 and probe head 16 of Modification 1, when the front surface of the probe head 16 comes into contact with the tip-type receptor 23 provided on the blade 22 facing rightward, an external force acts on the probe head 16 to turn the front end of the probe head 16 rightward, causing the flexible member 151 of the connecting member 15 to bend and deform to the right, as shown in Fig. 14. Accordingly, the contact position of the probe head 16 with the receptor 23 changes from the front surface to the left side. In Modification 1, the electrode 16A is provided continuously over the top, front, bottom, right side, and left side of the probe head 16, so that the contact state between the electrode 16A and the receptor 23 is maintained even if the contact position of the probe head 16 with the receptor 23 changes from the front surface to the left side. Furthermore, if the drone 1 moves to the left by autonomous flight while the tip of the probe head 16 has passed outside the receptor 23 (the right side in FIG. 14), the probe head 16 may come into contact with the receptor 23 from the left side. Since the electrode 16A is continuously provided over the top, front, bottom, right side, and left side of the probe head 16, even if the left side of the probe head 16 comes into contact with the receptor 23, the electrode 16A and the receptor 23 can be in contact with each other.

[0062] Furthermore, with the connecting member 15 and probe head 16 of Modification 1, when the front surface of the probe head 16 comes into contact with the tip-type receptor 23 provided on the blade 22 facing left, an external force acts on the probe head 16 to turn the front end of the probe head 16 leftward, causing the flexible member 151 of the connecting member 15 to bend and deform leftward, as shown in Fig. 15. Accordingly, the contact position of the probe head 16 with the receptor 23 changes from the front surface to the right side. In Modification 1, the electrode 16A is provided continuously over the top, front, bottom, right side, and left side of the probe head 16, so that the contact state between the electrode 16A and the receptor 23 is maintained even if the contact position of the probe head 16 with the receptor 23 changes from the front surface to the right side. Furthermore, if the drone 1 moves to the right by autonomous flight while the tip of the probe head 16 has passed outside the receptor 23 (the left side in FIG. 15), there is a possibility that the probe head 16 will come into contact with the receptor 23 from its right side. In the first modification, the electrode 16A is provided continuously over the top, front, bottom, right side, and left side of the probe head 16, so that even if the right side of the probe head 16 comes into contact with the receptor 23, the electrode 16A and the receptor 23 can be in contact with each other.

[0063] Therefore, with the connecting member 15 and the probe head 16 in the first modification, when the probe head 16 is brought into contact with an object having a curved surface, such as the tip-type receptor 23, not only when an external force is generated to orient the front end of the probe head 16 in the up-down direction, but also when an external force is generated to orient the front end of the probe head 16 in the left-right direction, the electrode 16A can be made to conform to the position of the receptor 23. In particular, in a configuration in which the probe head 16 is formed in a plate shape whose length in the left-right direction (width) is shorter than its length in the up-down direction (height), as in the first embodiment, not only the connecting member 15 but also the probe head 16 is easily bent and deformed in the left-right direction, so that when the front surface of the probe head 16 is brought into contact with an object having a curved surface, the electrode 16A can be made to conform to the position of the object more reliably.

[0064] (Modification 2 of Embodiment 1) In the first embodiment and the first modification, the connecting member 15 is bent and deformed by utilizing the flexibility of the flexible member 151. However, a configuration in which the connecting member 15 is bent and deformed mechanically may also be adopted. As an example, the rear end portion of the probe head 16 may be attached to the support member 150 in a form that allows it to rotate freely around an axis extending in the left-right direction, a stopper that sets a difference between the angle at which the probe head 16 can rotate upward and the angle at which the probe head 16 can rotate downward may be provided on the support member 150, and a biasing means for maintaining the angle of the probe head 16 at a specific angle when no external force is applied may be attached to the support member 150. In this case, the biasing means may be, for example, a pair of compression springs whose biasing forces balance when the probe head 16 is at a specific angle, or a leaf spring formed so that the biasing force balances the weight of the probe head 16 when the probe head 16 is at a specific angle. In this case, the biasing means may be provided with a stopper so that the amount of deformation varies depending on the deformation direction of the probe head 16, so that the magnitude of the restoring force generated varies depending on the rotation direction and rotation angle.

[0065] The connecting member 15 configured as described above can achieve the same effects and advantages as those described in the first embodiment with reference to FIGS. 11 and 12. However, the connecting member 15 of the second modification is difficult to bend and deform in the left-right direction as described in the first embodiment with reference to FIGS. 14 and 15. However, the probe head 16 of the second modification is difficult to bend and deform in the left-right direction as described in the first embodiment with reference to FIG. 10. The electrode 16A in the second modification is formed in a plate shape in which the length (width) in the left-right direction is shorter than the length (height) in the up-down direction. As a result, when an external force acts on the probe head 16 from the left or right direction, the probe head 16 can be bent and deformed to the right or left direction instead of the connecting member 15. Therefore, the electrode 16A in the second modification may be provided continuously over the upper surface, front surface, lower surface, right side surface, and left side surface of the probe head 16, as in the first modification described above.

[0066] With the connecting member 15 and probe head 16 of the second modification, when the front surface of the probe head 16 comes into contact with the tip-type receptor 23 provided on the blade 22 facing rightward, an external force acts on the probe head 16 to turn the front end of the probe head 16 rightward, causing the probe head 16 to bend and deform to the right, as shown in Fig. 16. Accordingly, the contact position of the probe head 16 with the receptor 23 changes from the front surface to the left side. At this time, if the electrode 16A is provided continuously over the top, front, bottom, right side, and left side of the probe head 16, as in the first modification, the contact state between the electrode 16A and the receptor 23 is maintained even if the contact position of the probe head 16 with the receptor 23 changes from the front surface to the left side. Furthermore, even if the drone 1 moves to the left by autonomous flight while the tip of the probe head 16 passes outside the receptor 23 (the right side in Figure 16) and the probe head 16 comes into contact with the receptor 23 from the left side, the electrode 16A and the receptor 23 can be brought into contact.

[0067] Furthermore, with the connecting member 15 and probe head 16 of Modification 2, when the front surface of the probe head 16 comes into contact with the tip-type receptor 23 provided on the blade 22 facing left, an external force acts on the probe head 16 to turn the front end of the probe head 16 leftward, causing the probe head 16 to bend and deform leftward, as shown in Fig. 17. Accordingly, the contact position of the probe head 16 with the receptor 23 changes from the front surface to the right side. At this time, if the electrode 16A is provided continuously over the top, front, bottom, right side, and left side of the probe head 16, as in Modification 1, the contact state between the electrode 16A and the receptor 23 is maintained even if the contact position of the probe head 16 with the receptor 23 changes from the front surface to the right side. Furthermore, even if the tip of the probe head 16 passes outside the receptor 23 (left side in Figure 17) and the drone 1 moves to the right by autonomous flight, and the probe head 16 comes into contact with the receptor 23 from the right side, the electrode 16A and the receptor 23 can be brought into contact.

[0068] Therefore, even if it is difficult to bend the connecting member 15 in the left-right direction, the same effect as in the second modification can be achieved.

[0069] <Embodiment 2> Next, a second embodiment of the present invention will be described. Here, configurations different from the first embodiment will be described, and a description of configurations similar to the first embodiment will be omitted.

[0070] In the above-described embodiment 1, an example was described in which the electrode 16A is provided continuously over the upper, front, and lower surfaces of the probe main body, whereas in embodiment 2, an example is described in which the electrode 16A is provided so as to cover only the front surface of the probe main body.

[0071] 18 is a perspective view showing an example of the configuration of the probe head 16 in the second embodiment. The probe head 16 in the second embodiment is provided with an electrode 16A that covers the front surface of the probe head 16. In one example, the electrode 16A in the second embodiment may be formed in a hemispherical shape that protrudes forward. In another example, the electrode 16A in the second embodiment may be formed in a plate shape. Note that the configuration other than the electrode 16A may be the same as that of the first embodiment described above.

[0072] (Actions and Effects of Embodiment 2) The operation and effect of the second embodiment will be described with reference to FIG. 19 . Here, a disk-type receptor 23 will be taken as an example of the receptor 23 to be inspected. As illustrated in FIG. 19 , the disk-type receptor 23 is a disk-shaped metal (e.g., aluminum) embedded in the surface of the blade 22. Because the disk-type receptor 23 has a diameter of approximately 30 mm to 40 mm, when attempting to bring the front surface (electrode 16A) of the probe head 16 into contact with the receptor 23, the front surface (electrode 16A) of the probe head 16 may come into contact with the surface of the blade 22 around the receptor 23. In such a case, conventionally, the drone 1 would be retracted and another attempt would be made to bring the front surface (electrode 16A) of the probe head 16 into contact with the receptor 23. In contrast, in the second embodiment, the propulsive force of the drone 1 is controlled to bend and deform the connecting member 15, thereby allowing the electrode 16A to follow the position of the receptor 23.

[0073] Here, as illustrated in FIG. 19A, when the front surface (electrode 16A) of the probe head 16 comes into contact with the surface of the blade 22 located above the disk-type receptor 23, as illustrated in FIG. 19B, the drone 1 is controlled to generate a propulsive force in an upward diagonal forward direction, thereby generating an external force that tends to direct the front end of the probe head 16 downward. When such an external force acts on the probe head 16, the flexible member 151 of the connecting member 15 is bent downward, causing the contact position of the front surface (electrode 16A) of the probe head 16 to slip downward. In other words, the contact position of the front surface (electrode 16A) of the probe head 16 can be corrected from a position displaced above the receptor 23 to the position of the receptor 23.

[0074] As an example, the control for generating a propulsive force in the drone 1 in an upward diagonally forward direction may be a control for increasing the upward propulsive force by accelerating the rotational speed of each propeller 112, while accelerating the rotational speed of the right rear and left rear propellers 112 to be faster than the rotational speed of the right front and left front propellers 112, thereby increasing the forward propulsive force.

[0075] Furthermore, when the front surface (electrode 16A) of the probe head 16 comes into contact with the surface of the blade 22 located below the disk-type receptor 23, the drone 1 can be controlled to generate a propulsive force in a downward diagonal forward direction, thereby generating an external force that tends to orient the front end of the probe head 16 upward. This causes the flexible member 151 of the connecting member 15 to bend upward, thereby allowing the contact position of the front surface (electrode 16A) of the probe head 16 to slip upward. In other words, the contact position of the front surface (electrode 16A) of the probe head 16 can be corrected from a position displaced below the receptor 23 to the position of the receptor 23.

[0076] As an example, the control for generating a downward, diagonally forward thrust in the drone 1 may be a control for slowing down the rotational speed of each propeller 112 to reduce the upward thrust, while accelerating the rotational speed of the right rear and left rear propellers 112 to be faster than the rotational speed of the right front and left front propellers 112 to generate a forward thrust.

[0077] Furthermore, since the connecting member 15 of the second embodiment has the same configuration as that of the first embodiment, it can bend and deform not only in the vertical direction but also in the horizontal direction. Therefore, when the front surface (electrode 16A) of the probe head 16 comes into contact with the surface of the blade 22 located to the right of the disk-type receptor 23, the drone 1 can be controlled to generate a propulsive force directed diagonally forward to the right, thereby generating an external force that tends to orient the front end of the probe head 16 to the left. This causes the flexible member 151 of the connecting member 15 to bend and deform leftward, thereby allowing the contact position of the front surface (electrode 16A) of the probe head 16 to slip leftward. In other words, the contact position of the front surface (electrode 16A) of the probe head 16 can be corrected from a position shifted to the right of the receptor 23 to the position of the receptor 23.

[0078] As an example, the control for generating a propulsive force in the drone 1 in the right forward diagonal direction may be a control that accelerates the rotational speed of the left rear propeller 112 and decelerates the rotational speed of the right front propeller 112 without changing the rotational speeds of the right rear and left front propellers 112 (fine adjustments for attitude control of the drone 1 may be performed).

[0079] Furthermore, when the front surface (electrode 16A) of the probe head 16 comes into contact with the surface of the blade 22 located to the left of the disk-type receptor 23, the drone 1 can be controlled to generate a propulsive force diagonally forward and left, thereby generating an external force that tends to orient the front end of the probe head 16 to the right. This causes the flexible member 151 of the connecting member 15 to bend and deform to the right, allowing the contact position of the front surface (electrode 16A) of the probe head 16 to slip to the right. In other words, the contact position of the front surface (electrode 16A) of the probe head 16 can be corrected from a position shifted to the left of the receptor 23 to the position of the receptor 23.

[0080] As an example, the control for generating a propulsive force in the drone 1 in the left forward diagonal direction may be a control that accelerates the rotational speed of the right rear propeller 112 and decelerates the rotational speed of the left front propeller 112 without changing the rotational speeds of the left rear and right front propellers 112 (fine adjustments for attitude control of the drone 1 may be performed).

[0081] According to the second embodiment described above, when the contact position of the front surface (electrode 16A) of the probe head 16 deviates from the position of the receptor 23, the electrode 16A can be made to conform to the position of the receptor 23.

[0082] The connecting member 15 in the second embodiment may be configured to be mechanically bendable and reversible in the vertical direction, as in the second modification of the first embodiment. In this case, instead of bending the connecting member 15, the probe head 16, which is formed in a plate shape with a length (width) in the horizontal direction shorter than its length (height) in the vertical direction, may be bent in the horizontal direction. That is, when the contact position of the front surface (electrode 16A) of the probe head 16 deviates in the horizontal direction from the position of the receptor 23, the drone 1 may be controlled to generate a propulsive force diagonally forward to the left or diagonally forward to the right, thereby bending the probe head 16 in the horizontal direction and causing the contact position of the front surface (electrode 16A) of the probe head 16 to slip in the horizontal direction. This can achieve the same effect as described above.

[0083] <Other embodiments> In the above-described embodiment, a drone 1 that inspects the lightning protection function of a wind turbine 20 was used as an example of an aircraft according to the present invention, but the present invention can also be applied to aircraft that inspect the conductivity of other aircraft than wind turbines 20. [Explanation of symbols]

[0084] 1···Drone, 10···Probe mechanism, 101···Laser sensor, 102···Camera, 11···Arm, 12···Shaft, 15···Connecting member, 150···Support member, 151···Flexible member, 16···Probe head, 16A···Electrode, 160A···Copper wire, 161A···Metal film, 16B···Groove, 20···Wind turbine generator, 22···Blade, 23···Receptor

Claims

1. A probe attached to a front end of a shaft extending forward of the flying vehicle, a probe body formed in an elongated shape extending in the front-rear direction of the aircraft; a connecting member that connects the rear end of the probe body and the front end of the shaft, the connecting member being a member that bends and deforms in the vertical direction of the flying body in response to an external force and returns to its original shape in response to the release of the external force; an electrode extending continuously across at least the upper, front, and lower surfaces of the probe body; Equipped with When the probe body comes into contact with the object, the connecting member is bent and deformed in the vertical direction of the flying body, so that the electrode follows the position of the object. probe.

2. The connecting member is configured to bend and deform in the left-right direction of the aircraft as well as in the up-down direction of the aircraft, the electrodes are configured to extend continuously across the top, front, and bottom surfaces of the probe body as well as right and left side surfaces of the probe body; The probe of claim 1 .

3. The probe body is formed in a substantially plate-like shape, and the length in the left-right direction of the flying object is shorter than the length in the up-down direction of the flying object. The probe of claim 1 .

4. A probe attached to a front end of a shaft extending forward of the flying vehicle, a probe body formed in an elongated shape extending in the front-rear direction of the aircraft; a connecting member that connects the rear end of the probe body and the front end of the shaft, the connecting member being a member that bends and deforms in the vertical direction of the flying body in response to an external force and returns to its original shape in response to the release of the external force; an electrode covering the front surface of the probe body; Equipped with When the probe body contacts the target object at a position that is displaced in the vertical direction of the flying body, the connecting member is bent and deformed in the vertical direction of the flying body, so that the electrode follows the position of the target object. probe.

5. The probe body is formed in a substantially plate-like shape, and the length in the left-right direction of the flying object is shorter than the length in the up-down direction of the flying object. The probe of claim 4.

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