Inspection systems and inspection methods in enclosed spaces

Abstract

This invention provides an inspection system and method for enclosed spaces that allows for efficient inspection of the enclosed space by operating a mobile body placed inside the enclosed space from outside the enclosed space using the mobile body. [Solution] The inspection system 1 in a closed space is an inspection system in a closed space R2 separated from the outside of the closed space R1, and comprises a movable body 80 that can move within the closed space R2 and has an acquisition unit capable of acquiring surrounding information, an operating device 90 provided in the outside of the closed space R1 capable of controlling the movable body 80, and a power supply device 70 provided in the closed space R2 capable of supplying power to the movable body 80, wherein the power supply device 70 supplies power to the movable body 80 when the movable body 80 moves into the power supply space formed in the power supply device 70.

Description

Technical Field

[0001] The present invention relates to an inspection system and an inspection method in a closed space.

Background Art

[0002] Conventionally, in a closed space such as a pit or a utility tunnel provided underground, inspections have been carried out on the presence or absence of abnormalities in pipes, the presence or absence of water leakage from the structure, the presence or absence of cracks in the structure, etc. Inspections in conventional pits or utility tunnels are often carried out visually by inspection workers.

[0003] When inspecting a pit or a utility tunnel visually by an inspection worker, in order to ensure the safety of the inspection worker, first, the concentration of carbon dioxide, etc. in the air in the pit or the utility tunnel is measured. At this time, the measuring instrument is inserted into the pit or the utility tunnel through the floor inspection opening such as a manhole provided in the pit for measurement.

[0004] Next, air is blown into the pit or the utility tunnel by a blower through the opened floor inspection opening to exchange the air in the pit with fresh air outside the pit. By this operation, it is possible to prevent oxygen deficiency when the inspection worker enters the pit.

[0005] Next, after the inspection worker has made entries in the entry / exit record form, etc., the inspection worker enters the pit or the utility tunnel, and performs connections such as lighting and power supply lines to ensure the illuminance in the pit. The inspection worker who has entered the pit visually inspects the presence or absence of abnormalities in the pipes, etc., and exits the pit. The inspection worker who has exited the pit makes an exit record in the entry / exit record form and ends the inspection work in the pit or the utility tunnel.

[0006] Inspecting pits and utility tunnels requires prior safety measures to prevent falls into open floor inspection hatches, ensuring the safety of workers and passersby around the hatches, which is time-consuming. Furthermore, safety checks for inspection workers entering pits and utility tunnels are limited to recording entry and exit, which may not be sufficient. Additionally, conducting primary and secondary inspections requires multiple entries into pits and utility tunnels, necessitating significant labor for the inspection process.

[0007] To reduce the psychological and physical burden on inspection workers, mobile units have been proposed to perform tasks on behalf of workers in work spaces such as pits and utility tunnels (for example, Patent Document 1). [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2023-171501 [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] However, when performing tasks using a mobile device instead of human workers, it is necessary to secure a power source for the device. For example, if a drone is used as the mobile device, it must fly while avoiding contact with pipes installed in the pit, which increases the flight time. Therefore, if a sufficient power source cannot be secured for the mobile device, there is a risk that inspection work by the mobile device cannot be performed adequately.

[0010] Furthermore, enclosed spaces such as pits and utility tunnels are often blind spots. When operating a moving object in a blind spot, the worker must operate the object from a location close to it, requiring them to enter the enclosed space. Therefore, there is a risk that worker safety and the psychological and physical burden may not be sufficiently reduced.

[0011] Based on the above circumstances, the present invention aims to provide an inspection system and inspection method for a closed space in which a mobile body placed inside the closed space can be operated from outside the closed space, and the inside of the closed space can be efficiently inspected by the mobile body. [Means for solving the problem]

[0012] To solve the above problems, this invention proposes the following means. The inspection system for a closed space of the present invention is an inspection system for a closed space separated from the outside of the closed space, comprising: a mobile body that can move within the closed space and has an acquisition unit capable of acquiring surrounding information; an operating device provided outside the closed space and capable of controlling the mobile body; and a power supply device provided within the closed space and capable of supplying power to the mobile body, wherein the power supply device supplies power to the mobile body when the mobile body moves into a power supply space formed in the power supply device.

[0013] The present invention provides an inspection method for a closed space, comprising, in this order: a lid opening step of opening an inspection port that allows communication between the inside of the closed space and the outside of the closed space separated from the inside of the closed space; a movable body insertion step of inserting a movable body into the closed space from the outside of the closed space; and a lid closing step of closing the inspection port from the open state to the closed state. The method further comprises, after the lid closing step, an inspection step of acquiring information from the inside of the closed space using the movable body; and a power supply step of supplying power to the movable body from the power supply device by moving the movable body to a power supply space formed in a power supply device provided in the closed space. [Effects of the Invention]

[0014] According to the inspection system and inspection method for enclosed spaces of the present invention, it is possible to provide an inspection system and inspection method for enclosed spaces in which a mobile body placed inside the enclosed space can be operated from outside the enclosed space, and the inside of the enclosed space can be efficiently inspected by the mobile body. [Brief explanation of the drawing]

[0015] [Figure 1]It is a diagram schematically showing an inspection system in a closed space according to this embodiment. [Figure 2] It is a perspective view showing a power supply device included in the inspection system in the closed space. [Figure 3] It is a perspective view showing a moving body included in the inspection system in the closed space. [Figure 4] It is a perspective view showing a power receiving device of the moving body. [Figure 5] It is a side view schematically showing the posture of the moving body landing on the power supply device. [Figure 6] It is a side view schematically showing the posture of the moving body landing on the power supply device. [Figure 7] It is a side view schematically showing the posture of the moving body landing on the power supply device. [Figure 8] It is a flowchart showing an example of an inspection method in a closed space according to this embodiment.

Mode for Carrying Out the Invention

[0016] An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram schematically showing an inspection system 1 in a closed space according to this embodiment.

[0017] The inspection system 1 in the closed space includes an inspection port 10, a first lid portion 11, a second lid portion 12, a first communication unit 20, a power supply unit 30, a first via unit 40, a second communication unit 50, a second via unit 60, a power supply device 70, a moving body 80, and an operation device 90.

[0018] In the following description, the inspection system 1 in the closed space is also simply referred to as the inspection system 1. The first lid portion 11 and the second lid portion 12 are also simply referred to as lid portions. The first communication unit 20 and the second communication unit 50 are also simply referred to as communication units. The first via unit 40 and the second via unit 60 are also simply referred to as via units.

[0019] As shown in FIG. 1, the inspection system 1 is mainly used in a space having three regions: a ground region R1, a subterranean region R2, and a subsurface region R3, and is an inspection system capable of inspecting the subterranean region R2.

[0020] The ground region R1 is, for example, an outdoor space on the ground of the subterranean region R2 where the inspection is to be performed, or an indoor space such as a building having the subterranean region R2. In the following description, the ground region R1 is also referred to as the outside of the closed space R1.

[0021] The subterranean region R2 is, for example, a closed space such as a pit provided underground or a cable duct. A cable duct is, for example, a structure having a continuous structure for storing a plurality of infrastructures such as equipment piping and electrical wiring, which is buried in the ground with a sealed structure made of concrete and is partitioned from the outside by a manhole.

[0022] The subterranean region R2 does not necessarily have to be a strictly closed space. The subterranean region R2 is, for example, a space where the air flow stagnates. In the following description, the subterranean region R2 is also referred to as the inside of the closed space R2.

[0023] The subsurface region R3 is a space separating the ground region R1 and the subterranean region R2. In the following description, the subsurface region R3 is also referred to as the partition space R3.

[0024] The partition space (subsurface region) R3 only needs to be a region separating the outside of the closed space (ground region) R1 and the inside of the closed space (subterranean region) R2, and may be a solid wall body or a space sandwiched between two wall bodies.

[0025] Also, the inside of the closed space R2 is not limited to a space provided underground outside the closed space R1. The inside of the closed space R2 may be, for example, a room provided in a building or the like and closed by the partition space R3.

[0026] The inspection opening 10 penetrates the partition space R3 and is an opening that allows communication between the outside R1 of the closed space and the inside R2 of the closed space. The inspection opening 10 only needs to allow communication between the outside R1 of the closed space and the inside R2 of the closed space, and its shape is not limited. The inspection opening 10 may be cylindrical or rectangular.

[0027] The inspection opening 10 is large enough to allow a worker to move between the enclosed space outside R1 and the enclosed space inside R2 through the inspection opening 10. The inspection opening 10 is, for example, a manhole provided in the floor surface F outside the enclosed space R1.

[0028] The first cover portion 11 and the second cover portion 12 are cover members capable of closing the inspection opening 10. For example, if the inspection opening 10 is a manhole, the first cover portion 11 and the second cover portion 12 are manhole covers.

[0029] The first cover portion 11 and the second cover portion 12 are detachably provided on the R1 side outside the enclosed space of the inspection port 10. The opening of the inspection port 10 on the R1 side outside the enclosed space is closed by the first cover portion 11 and the second cover portion 12.

[0030] The first cover portion 11 covers a part of the opening of the inspection port 10. The second cover portion 12 covers the portion of the opening of the inspection port 10 that is not covered by the first cover portion 11. In other words, by attaching the first cover portion 11 and the second cover portion 12 to the inspection port 10, the entire opening of the inspection port 10 can be covered and closed by the first cover portion 11 and the second cover portion 12.

[0031] The first lid portion 11 and the second lid portion 12 only need to have a shape that can close the inspection opening 10, and an appropriate shape can be adopted depending on the shape of the inspection opening 10. For example, if the inspection opening 10 is cylindrical, the first lid portion 11 and the second lid portion 12 are circular lid members.

[0032] The first cover portion 11 and the second cover portion 12 are, for example, manhole covers called double covers or parent-child covers. In the first cover portion 11 and the second cover portion 12 that form a parent-child cover, the first cover portion 11 is the child cover and the second cover portion 12 is the parent cover.

[0033] The second cover portion 12, which is the main cover, has an outer shape that is equal to or larger than the edge of the opening of the inspection port 10. Near the center of the second cover portion 12, an opening is provided that leaves a portion of the inspection port 10 open. The first cover portion 11, which is the sub-cover, is attached to the second cover portion 12 and closes the opening provided near the center of the second cover portion 12.

[0034] In the closed state where the first cover 11 and the second cover 12 block the inspection opening 10, removing only the first cover 11 from the inspection opening 10 opens the opening near the center of the second cover 12. Since the opening of the second cover 12 is in communication with the inspection opening 10, even if only the first cover 11 is removed, a part of the inspection opening 10 is opened, and the inspection opening 10 becomes open.

[0035] When the first cover 11 and the second cover 12 are removed from the inspection opening 10, the entire opening of the inspection opening 10 is opened. In other words, by removing the first cover 11 and the second cover 12 from the inspection opening 10, the inspection opening 10 can be opened more widely than when only the first cover 11 is removed from the inspection opening 10.

[0036] The first cover 11 and the second cover 12 may be configured to close off the inspection opening 10 by being adjacent to each other. For example, if the first cover 11 and the second cover 12 are adjacent to each other and each close off half of the opening of the inspection opening 10, then when the first cover 11 and the second cover 12 are removed from the inspection opening 10, the inspection opening 10 can be opened more widely than when only the first cover 11 or only the second cover 12 is removed from the inspection opening 10.

[0037] The first communication unit 20 is a communication device located outside the enclosed space R1. The first communication unit 20 is wirelessly connected to the operating device 90, which will be described later, and is capable of communicating with the operating device 90. The first communication unit 20 and the operating device 90 may also be connected via a wired connection.

[0038] The power supply unit 30 is located outside the enclosed space R1 and is a power supply unit capable of supplying power to various devices connected to the power supply unit 30. The power supply unit 30 is, for example, an outlet located on the wall or floor F of the enclosed space R1.

[0039] The power supply unit 30 has at least two power supply units (outlets). As shown in Figure 1, a radio wave supply unit 30a is connected to the power supply units of the power supply unit 30. The radio wave supply unit 30a supplies communication data from the power supply unit 30 to the equipment connected to the radio wave supply unit 30a by using a communication method called PLC (Power Line Communication), for example. In this embodiment, communication data refers to various information transmitted and received between multiple devices via communication lines, radio waves, etc. Here, of the at least two or more power supply units that the power supply unit 30 has, the one to which the radio wave supply unit 30a is not connected is referred to as the power supply unit 30b. The power supply unit 30 can supply communication data from the radio wave supply unit 30a and can supply power from the power supply unit 30b.

[0040] The radio wave supply unit 30a is connected to the first communication unit 20 via a communication line (communication line L4b described later) and transmits communication data to the first communication unit 20.

[0041] Here, as shown in Figure 1, a distribution board 31 is connected to the power supply unit 30. A power line L1 is connected to the breaker terminal 31a of the distribution board 31, and electricity is supplied from the outside via the power line L1.

[0042] Furthermore, communication line L2 is connected to the breaker terminal 31a, and communication data is sent from the concentrator 32 via communication line L2. The concentrator 32 is, for example, called an MDF (Main Distribution Frame), and is a device that houses all communication lines leading to the outside of the building and centrally manages multiple communication lines.

[0043] Electricity supplied to the breaker terminal 31a from an external source via power line L1 is sent to the power supply unit 30b of the power supply unit 30 via power line L3a, which connects the breaker terminal 31a to the power supply unit 30.

[0044] Furthermore, the communication data sent from the concentrator 32 to the breaker terminal 31a via the communication line L2 is sent to the power supply unit 30 via the communication line L4a connecting the breaker terminal 31a and the power supply unit 30, and then sent to the radio wave supply unit 30a connected to the power supply unit 30. Here, a PLC device is connected to the breaker terminal 31a. The PLC device is a device that transmits communication data using the communication method called PLC (Power Line Communication) described above. The communication line L4a is connected to the breaker terminal 31a via the PLC device. By connecting the breaker terminal 31a and the radio wave supply unit 30a using the PLC described above, the communication line L4a connecting the breaker terminal 31a and the radio wave supply unit 30a can be used for communication. Specifically, the communication line L4a is originally a power line, but by using the PLC described above, it can be used for communication.

[0045] In this way, the power supply unit 30 is supplied with electricity and communication data from an external source. Specifically, in the power supply unit 30, communication data is supplied to the radio wave supply unit 30a, and electricity is supplied to the power supply unit 30b.

[0046] Communication data supplied to the power supply unit 30 is transmitted to the first communication unit 20 via communication line L4b connecting the radio wave supply unit 30a and the first communication unit 20. Communication line L4b connecting the radio wave supply unit 30a and the first communication unit 20 is, for example, a communication line such as a LAN cable. Communication data is transmitted from the breaker terminal 31a to the first communication unit 20 via communication line L4 (communication line L4a and communication line L4b).

[0047] The first passage section 40 is provided on the floor surface F outside the enclosed space R1. Most of the first passage section 40 is provided in the partition space R3, and a portion of the first passage section 40 is exposed from the floor surface F to outside the enclosed space R1. The first passage section 40 may also be provided on the wall surface or the like of outside the enclosed space R1.

[0048] The second communication unit 50 is a communication device installed on the ceiling C of the enclosed space R2. The second communication unit 50 is wirelessly connected to the mobile unit 80, which will be described later, and is a communication device with the mobile unit 80. The second communication unit 50 may be installed on the wall surface of the enclosed space R2, but from the viewpoint of communication performance, it is preferable to install it on the ceiling C of the enclosed space R2.

[0049] The first communication unit 20 and the second communication unit 50 are connected in a communicative manner via the first transit unit 40. The first communication unit 20 is connected to the first transit unit 40 via a communication line L5a, such as a uniaxial cable or coaxial cable. The first transit unit 40 is connected to the second communication unit 50 via a communication line L5b embedded in the partition space R3.

[0050] Here, the second communication unit 50 has three antennas 20a. Of the three antennas 20a, for example, two antennas 20a are used for communication with the operating device 90, which will be described later. Also, one end of the communication line L5a is connected to one of the three antennas 20a, and the other end of the communication line L5a is connected to the first transit unit 40. The number of antennas that the second communication unit 50 has is not limited to three.

[0051] Communication data sent from an external source to the power supply unit 30 is sent from the radio wave supply unit 30a connected to the power supply unit 30 to the first communication unit 20 via communication line L4b, and from the first communication unit 20 to the first transit unit 40 and then to the second communication unit 50 via communication line L5 (communication lines L5a and L5b).

[0052] The first communication unit 20, the first transit unit 40, and the second communication unit 50 may be powered by electricity supplied from the power supply unit 30.

[0053] The second passage section 60 is provided in the ceiling C of the enclosed space R2. Most of the second passage section 60 is provided in the partition space R3, and a portion of the second passage section 60 is exposed from the ceiling C into the enclosed space R2. The second passage section 60 may also be provided on the wall surface of the enclosed space R2.

[0054] The power supply device 70 is a power supply station located in the enclosed space R2 and capable of supplying power to the mobile body 80, which will be described later. Details of the power supply device 70 will be described later.

[0055] The first via section 40 is connected to the power supply section 30b of the power supply section 30 via the power line L3b. The second via section 60 is connected to the first via section 40 via the power line L6a embedded in the partition space R3. The power lines L3b and L6a are, for example, communication cables such as uniaxial cables.

[0056] The power supply device 70 is connected to the second via section 60 via a power line L6b provided in the enclosed space R2. That is, the power supply device 70 is connected to the power supply unit 30 via the first via section 40 and the second via section 60, and is powered by the power supply unit 30b of the power supply unit 30. The power line L6b is, for example, a communication cable such as a uniaxial cable.

[0057] The electricity sent from the power supply unit 30b to the first transit unit 40 via the power line L3b is then sent via the power line L6 (power lines L6a and L6b) to the second transit unit 60 and then to the power supply device 70.

[0058] Power lines L1, L3, and L6 are power lines that transmit electricity. Communication lines L2 and L5 are communication lines that transmit communication data. Communication line L4, which is connected using a PLC, is originally a power line, but is used by the PLC to transmit communication data.

[0059] Figure 2 is a perspective view showing the power supply device 70.

[0060] The power supply device 70 comprises a power supply unit 71, a first guide unit 72, and a second guide unit 73. In the following description, the first guide unit 72 and the second guide unit 73 will also be simply referred to as guide units.

[0061] The power supply unit 71 is connected to the power supply unit 30 via the first via unit 40 and the second via unit 60. The power supply unit 71 is a contactless charging device capable of supplying power to, for example, a storage battery located near the power supply unit 71.

[0062] As shown in Figure 2, the first guide section 72 is a cylindrical member with one opening connected to the power supply section 71. The first guide section 72 does not need to be strictly cylindrical; it may be rectangular. A power supply space 70s is formed inside the first guide section 72.

[0063] The power supply unit 71 is capable of supplying power to a storage battery located in the power supply space 70s. The power supply unit 71 may be a contact-type charging device, and may be capable of supplying power to the storage battery by being connected to the storage battery located in the power supply space 70s via charging terminals.

[0064] As shown in Figure 2, the second guide section 73 is connected to the first guide section 72 and is a hollow, frustoconical member. The second guide section 73 does not need to be strictly frustoconical; it may be frustopyroconical.

[0065] The internal space (power supply space 70s) surrounded by the inner circumferential surface of the first guide section 72 and the internal space surrounded by the inner circumferential surface of the second guide section 73 are in communication. Preferably, the shapes of the opening edges of the first guide section 72 and the second guide section 73 that are connected to each other match.

[0066] The power supply space 70s is any space that can be used to supply power from the power supply unit 71 to the storage battery located in the power supply space 70s, and is not limited to the space enclosed by the inner surface of the first guide unit 72.

[0067] As shown in Figure 2, the second guide section 73 is connected to the power supply section 71 via the first guide section 72, and its diameter increases as it moves away from the power supply section 71.

[0068] The power supply device 70 is positioned in the enclosed space R2 such that the power supply section 71 is mainly on the vertically downward side. The second guide section 73 is enlarged vertically upward. The guide sections 72 and 73 have, for example, a mortar shape that is enlarged vertically upward.

[0069] Figure 3 is a perspective view showing the mobile body 80. The mobile body 80 comprises a mobile body main body 81, a spherical part 82, a connecting part 83, an observation part 84, and a power receiving device 85.

[0070] The mobile body 81 is, for example, a flying drone. The mobile body 80 can move within the enclosed space R2 by the thrust generated by the mobile body 81.

[0071] Here, in a mobile body 80 moving within a closed space R2, the direction mainly vertically upward is referred to as upward UP, the direction opposite to upward UP is referred to as downward LO, the direction of movement is mainly forward FR, and the direction opposite to forward FR is referred to as backward RR. The direction of movement of the mobile body 80 is not limited to forward FR; the mobile body 80 can move in all directions.

[0072] The mobile body 81 comprises a main body section 81a, an arm section 81b, and a propulsion section 81c.

[0073] The main body portion 81a is the base of the mobile body 81 and is located approximately in the center of the mobile body 81.

[0074] The arm portion 81b is a member that extends downward LO from near the outer circumference of the main body portion 81a. In this embodiment, the mobile body 81 comprises four arm portions 81b provided at the four corners of the main body portion 81a.

[0075] The propulsion unit 81c is a propulsion device that generates thrust for the mobile body 80 to move. If the mobile body 81 is a flying drone, the propulsion unit 81c is a propeller rotatably mounted on the arm 81b. The propulsion unit 81c is located at the lower LO end of each of the four arm 81b.

[0076] The mobile body 81 only needs to be configured to fly within a closed space R2, and may have an arm portion 81b extending upward UP from the main body portion 81a, and a propulsion unit 81c provided at the upward UP end of the arm portion 81b. Furthermore, the mobile body 81 may have three or fewer arms 81b and propulsion units 81c, or five or more.

[0077] The spherical portion 82 is a hollow sphere in which the mobile body 81 is housed. The spherical portion 82 does not need to be strictly spherical and may be a hollow polyhedron. Preferably, the spherical portion 82 is a mesh-like sphere with multiple openings that connect the internal space and the external space.

[0078] The end of the lower LO of the spherical portion 82 has a shape that follows a plane perpendicular to the direction connecting the upper UP and the lower LO. Therefore, when the movable body 80 is placed on a horizontal surface with the lower LO facing vertically downward, the movable body 80 is placed stably.

[0079] The connecting portion 83 is a member that connects the arm portion 81b and the spherical portion 82 inside the spherical portion 82. The mobile body 80 has four arm portions 81b and four connecting portions 83, each corresponding to one of them.

[0080] Since the mobile body 81 and the spherical part 82 are connected by the connecting part 83, when the mobile body 81 moves due to the thrust generated by the propulsion unit 81c, the spherical part 82 moves together with the mobile body 81.

[0081] The spherical portion 82 has multiple openings that connect the internal space and the external space of the spherical portion 82. Therefore, if the propulsion unit 81c is a propeller that generates thrust through the airflow created by the rotation of its blades, the thrust generated by the propulsion unit 81c is not obstructed by the spherical portion 82. As a result, the moving body 80 can move using the thrust generated by the propulsion unit 81c housed inside the spherical portion 82.

[0082] The observation unit 84 comprises an acquisition unit 84a and an illumination unit 84b.

[0083] The acquisition unit 84a is capable of acquiring information about the surroundings of the mobile body 80. As shown in Figure 3, the acquisition unit 84a is located in front of the mobile body 80 (FR).

[0084] The acquisition unit 84a is, for example, an imaging device such as a camera capable of photographing the surroundings. The acquisition unit 84a is positioned facing forward FR and mainly photographs objects in front of the moving body 80.

[0085] The acquisition unit 84a may be capable of detecting ambient temperature and humidity, as well as the concentration of carbon dioxide and other substances in the air.

[0086] The illumination unit 84b is an illumination device capable of emitting illumination light. As shown in Figure 3, the illumination unit 84b is located near the acquisition unit 84a and in front of the moving body 80 (FR).

[0087] By illuminating the front FR from the illumination unit 84b, objects in front of the moving body 80 can be illuminated. If the acquisition unit 84a is an imaging device, the visibility of objects in the image captured by the acquisition unit 84a can be improved by capturing images of objects illuminated by the illumination unit 84b with the acquisition unit 84a.

[0088] As shown in Figure 3, the power receiving device 85 is located inside the spherical portion 82, at the end of the lower LO of the spherical portion 82. The power receiving device 85 is positioned in an opening provided at the end of the lower LO of the spherical portion 82. Therefore, the lower LO surface of the power receiving device 85 is exposed to the lower LO from the spherical portion 82.

[0089] Figure 4 is a perspective view showing the power receiving device 85. The power receiving device 85 comprises a power storage unit 85a, a power receiving unit 85b, and a charge control unit 85c.

[0090] The power storage unit 85a is a battery that can store energy when power is supplied from an external source. The power storage unit 85a is connected to the mobile unit body 81 and the observation unit 84 by wires and can supply power to the mobile unit body 81 and the observation unit 84.

[0091] The propulsion unit 81c of the mobile body 81 is driven by power supplied from the energy storage unit 85a, generating thrust. For example, if the propulsion unit 81c is a propeller, the energy storage unit 85a supplies power to an electric motor that rotates the propeller, thereby driving the propulsion unit 81c.

[0092] The mobile unit 80 is equipped with a communication device (not shown) capable of communicating wirelessly with the second communication unit 50. The mobile unit 80 can transmit the acquisition results acquired by the acquisition unit 84a to the second communication unit 50.

[0093] For example, the acquisition unit 84a and the illumination unit 84b acquire ambient information and emit illumination light by being powered by the energy storage unit 85a. The communication device of the mobile body 80 is powered by the energy storage unit 85a, enabling it to transmit the results acquired by the acquisition unit 84a to the second communication unit 50.

[0094] The power receiving unit 85b is the part of the power receiving device 85 that receives power supplied from an external source, and is, for example, a coil antenna. The power receiving unit 85b can charge the energy storage unit 85a by receiving power supplied from an external source.

[0095] The charging control unit 85c is a control unit that controls the charging operation in the power receiving device 85. Specifically, the charging control unit 85c has a charging control circuit 85d, which is a circuit that controls the charging operation. The charging control circuit 85d is connected by wires to the energy storage unit 85a and the power receiving unit 85b. The power receiving unit 85b is controlled by the charging control circuit 85d and can charge the energy storage unit 85a via the charging control circuit 85d.

[0096] In this embodiment, the charging control unit 85c is positioned above the power receiving unit 85b, as shown in Figure 4. In the power receiving device 85, the power receiving unit 85b is positioned at the lowest point LO and is located in an opening provided at the lower end of the spherical portion 82 described above.

[0097] As shown in Figure 1, the operating device 90 is an operating terminal located outside the enclosed space R1 and capable of controlling the mobile body 80. The operating device 90 is, for example, a terminal device such as a smartphone or tablet.

[0098] The operating device 90 can communicate with the first communication unit 20. The first communication unit 20 communicates with the operating device 90 by transmitting and receiving radio waves from the antenna 20a. The first communication unit 20 is also connected to the second communication unit 50 via the communication line L5 and the first transit unit 40. The second communication unit 50 can communicate with the mobile unit 80.

[0099] As shown in Figure 1, the operator W operating the control device 90 is located outside the enclosed space R1. When an operation is input to the control device 90 by the operator W, the input is transmitted from the control device 90 to the mobile body 80 via the first communication unit 20, the first transit unit 40, and the second communication unit 50. For example, the aforementioned communication device on the mobile body 80 receives the operation input to the control device 90 from the second communication unit 50.

[0100] The mobile body 80, which receives operation information input to the control device 90 from the second communication unit 50, is controlled based on the received operation information. The operator W can move the mobile body 80 in any direction by inputting an operation to the control device 90.

[0101] For example, the mobile unit 80 is equipped with a control device capable of controlling the propulsion unit 81c and the observation unit 84 based on operation information received from the second communication unit 50. This control device controls the propulsion unit 81c and the observation unit 84 based on the operation information received by the aforementioned communication device. The control device provided in the mobile unit 80 is, for example, a PLC (Programmable Logic Controller).

[0102] By operating the control device 90, operator W can instruct the mobile body 80 to acquire information using the acquisition unit 84a and to emit illumination light using the illumination unit 84b.

[0103] The results acquired by the acquisition unit 84a are transmitted to the second communication unit 50, and from the second communication unit 50 to R1 outside the enclosed space. The results acquired by the acquisition unit 84a are transmitted to the operating device 90, for example, via the second communication unit 50, the first transit unit 40, and the first communication unit 20.

[0104] Operator W can check the acquisition results of the acquisition unit 84a using the operating device 90. For example, the image captured by the acquisition unit 84a is displayed on a display device such as a display on the operating device 90. By checking the image and other information displayed on the operating device 90, operator W can check the condition of the enclosed space R2 without having to enter the enclosed space R2.

[0105] The acquisition results from the acquisition unit 84a, transmitted to R1 outside the enclosed space via the first communication unit 20 and the second communication unit 50, may also be transmitted to equipment other than the operating device 90. For example, the acquisition results from the acquisition unit 84a may be transmitted to a computer or the like located outside the enclosed space R1, other than the operating device 90, so that an operator other than the operator W operating the operating device 90 can confirm the acquisition results from the acquisition unit 84a.

[0106] Next, the method of supplying power to the mobile body 80 by the power supply device 70 will be explained. Figures 5, 6, and 7 are schematic side views showing the orientation of the mobile body 80 as it lands on the power supply device 70. In Figures 5, 6, and 7, the power supply device 70 is shown by a schematic cross-section.

[0107] The power receiving device 85 and the power supply unit 71 are, for example, a rechargeable battery and charger capable of contactless charging. The power receiving device 85 is positioned in the power supply space 70s opposite the power supply unit 71 and receives power supplied from the power supply unit 71. The power receiving unit 85b of the power receiving device 85 receives power supplied from the power supply unit 71 and charges the energy storage unit 85a via the charging control circuit 85d.

[0108] Figure 5 shows a mobile body 80 that has landed on the power supply device 70, with the power receiving device 85 positioned in the power supply space 70s facing the power supply unit 71. In the power receiving device 85 of the mobile body 80 shown in Figure 5, the power receiving unit 85b can charge the energy storage unit 85a by receiving power from the power supply unit 71.

[0109] In the following explanation, the orientation of the mobile body 80 in which the power receiving device 85 is positioned to receive power from the power supply unit 71, as shown in Figure 5, and the storage unit 85a is in a state where it can be charged, will also be referred to as the charging orientation. When the power receiving device 85 is in the charging orientation, the power receiving unit 85b becomes capable of receiving power from the power supply unit 71, and the storage unit 85a can be charged from the power receiving unit 85b via the charging control circuit 85d.

[0110] Figure 6 shows the moving body 80 in a position where the front FR side is tilted downward LO when it lands on the power supply device 70.

[0111] Because the mobile body 80 has a power receiving device 85 at the end of its lower LO, its center of gravity is biased towards the lower LO. In addition, the spherical portion 82 that forms the outer surface of the mobile body 80 is spherical in shape.

[0112] Therefore, as shown in Figure 6, the mobile body 80, which lands on the power supply device 70 in a forward-tilted position FR, rotates in the rotational direction A due to gravity, and assumes the charging position shown in Figure 5. As a result, the power receiving device 85 is positioned in the power supply space 70s opposite the power supply unit 71, and becomes capable of receiving power from the power supply unit 71.

[0113] Furthermore, the lower end LO of the spherical part 82, on which the power receiving device 85 is provided, has a shape that conforms to a plane that can be placed on the upper surface UP of the power supply unit 71. Therefore, the mobile body 80 in the charging position is stably placed on the power supply unit 71. The mobile body 80 may also be placed on the power supply unit 71 by the power receiving unit 85b, exposed from the opening in the lower LO of the spherical part 82, coming into contact with the upper surface UP of the power supply unit 71.

[0114] Figure 7 shows the mobile body 80 positioned forward FR relative to the power supply device 70 when it is about to land on the power supply device 70. The mobile body 80 shown in Figure 7 has not yet landed on the power supply device 70, but is flying above the power supply unit 71.

[0115] In the movable body 80 shown in Figure 7, when an operation to lower the movable body 80 downward LO is input to the operating device 90, the movable body 80 moves downward LO while maintaining a position biased forward FR relative to the power supply device 70.

[0116] In the mobile body 80 shown in Figure 7, when an operation to stop the generation of thrust by the propulsion unit 81c is input to the control device 90, the mobile body 80 moves downward LO by gravity while maintaining a position biased forward FR relative to the power supply device 70.

[0117] When the moving body 80 shown in Figure 7 moves downward LO, the spherical portion 82 contacts the inner surface of the second guide portion 73, which is reduced in diameter downward LO, from above UP. The moving body 80, having contacted the second guide portion 73, moves downward LO while moving backward RR along the second guide portion 73, and lands on the power supply device 70 in the charging position shown in Figure 5.

[0118] Thus, even if the mobile body 80 lands on the power supply device 70 with a misaligned position relative to the power supply device 70 in the horizontal direction, including the forward FR and rearward RR, the mobile body 80 can assume a charging posture once landing on the power supply device 70 is complete.

[0119] When the mobile unit 80 lands on the power supply unit 70 from above, even if it lands in an inclined position as shown in Figure 6 or in a horizontally shifted position as shown in Figure 7, it can maintain a charging posture and land on the power supply unit 70, reliably receiving power from the power supply unit 71 and charging the energy storage unit 85a.

[0120] The guide units 72 and 73 not only prevent the movable body 80 from shifting position, but also have the function of preventing the movable body 80 from falling from the power supply device 70.

[0121] Because the power supply device 70 has guide sections 72 and 73, when the mobile body 80 is brought onto the power supply device 70, fine adjustment of the position of the mobile body 80 relative to the power supply section 71 is unnecessary, allowing the mobile body 80 to be easily brought onto the power supply device 70 and charged.

[0122] The guide sections 72 and 73 only need to be able to guide the mobile body 80 into the power supply space 70s, and may, for example, be hollow hemispherical in shape with an expanded diameter upwards.

[0123] Next, we will explain the method for inspecting R2 in a closed space using inspection system 1. Figure 8 is a flowchart showing an example of a method for inspecting R2 in a closed space.

[0124] (Step S0) In the inspection method for R2 within a closed space using inspection system 1, first, step S0 (environment construction process) is performed.

[0125] Step S0 is the process of supplying radio waves and electricity to the enclosed space R2, and is a preliminary step for using the mobile device 80 in the enclosed space R2.

[0126] As described above, the power supply unit 30 is supplied with communication data and electricity from an external source via the distribution board 31.

[0127] In step S0, first, the radio wave supply unit 30a is connected to the power supply unit 30. Next, the radio wave supply unit 30a and the first communication unit 20 are connected via the communication line L4b. Furthermore, the first communication unit 20 and the first transit unit 40 are connected via the communication line L5a.

[0128] Furthermore, in step S0, the power supply unit 30b of the power supply unit 30 and the first transit unit 40 are connected via the power line L3b.

[0129] By performing step S0, communication data is sent from the radio wave supply unit 30a of the power supply unit 30 to the second communication unit 50 via the first communication unit 20 and the first transit unit 40, and electricity is sent from the power supply unit 30b of the power supply unit 30 to the power supply device 70 via the first transit unit 40 and the second transit unit 60.

[0130] In this way, within the enclosed space R2, an electrical environment is established in which power can be supplied from the power supply device 70 to the mobile body 80, and a communication environment is established in which the operating device 90 and the mobile body 80 can communicate wirelessly via the second communication unit 50.

[0131] (Step S1) Next, step S1 (first lid opening process) is performed.

[0132] In the first lid opening process (lid opening process) S1, the first lid 11, which is blocking the inspection opening 10, is removed from the inspection opening 10, and the inspection opening 10 is opened from a closed state.

[0133] At this time, the second cover 12 is attached to the inspection opening 10. Therefore, only the portion of the inspection opening 10 that was blocked by the first cover 11 is opened. By removing the first cover 11 from the inspection opening 10, the inspection opening 10 is opened to the extent that the movable body 80 can be inserted into the inspection opening 10. The opening of the inspection opening 10 with only the first cover 11 removed is smaller than the body of a worker, so a worker cannot enter the inspection opening 10.

[0134] (Step S2) Next, step S2 (movable body insertion step) is performed. In the movable body insertion step S2, the movable body 80 is inserted into the inspection opening 10 through the opening of the inspection opening 10 from which only the first cover portion 11 was removed in step S1.

[0135] At this time, the mobile body 80 flies based on the operation input by the worker W into the control device 90 and moves from outside the enclosed space R1 to inside the enclosed space R2 through the inspection opening 10.

[0136] (Step S3) Next, step S3 (first cover closing step) is performed. In the first cover closing step (cover closing step) S3, the first cover 11, which was removed from the inspection opening 10 in step S1, is reattached to the inspection opening 10, and the inspection opening 10 is closed by the first cover 11 and the second cover 12.

[0137] At this time, the movable body 80 inserted into the inspection opening 10 in step S2 is located in the enclosed space R2.

[0138] In steps S1 to S3 described above, the inspection port 10 is opened from a closed state to an open state to the extent that the movable body 80 can be inserted, and then closes again after the movable body 80 is inserted.

[0139] Since the entire opening of the inspection hatch 10 is not fully open, there is no risk of workers or passersby falling into the inspection hatch 10. Therefore, compared to conventional inspection methods in enclosed spaces, there is no need to take measures around the inspection hatch 10 to prevent workers and passersby from falling, thereby improving the safety of workers and passersby and reducing the workload for workers.

[0140] (Step S4) Next, step S4 (primary inspection process) is performed. In the primary inspection process (inspection process) S4, worker W controls the mobile body 80 with the operating device 90 and inspects the enclosed space R2 with the mobile body 80.

[0141] At this time, the operating device 90 located outside the enclosed space R1 and the mobile body 80 located inside the enclosed space R2 are connected to each other via communication units 20 and 50. The operation entered by the worker W into the operating device 90 is transmitted to the first communication unit 20 and then transmitted to the mobile body 80 from the second communication unit 50.

[0142] The enclosed space R2 is a dead zone where wireless communication from outside the enclosed space R1 is blocked, for example, by the concrete partition wall of the partition space R3. Even when the enclosed space R2 is a dead zone, the outside space R1 and the enclosed space R2 can be connected for communication by using the communication units 20 and 50.

[0143] In step S4, the operator W inputs an operation to the control device 90, causing the acquisition unit 84a of the mobile body 80 to acquire information about the surroundings. The operator W may also input an operation to the control device 90, causing the illumination unit 84b of the mobile body 80 to emit illumination light.

[0144] If the acquisition unit 84a is an imaging device, the acquisition unit 84a photographs an object in the enclosed space R2 illuminated by the illumination light of the illumination unit 84b based on an operation input to the operating device 90.

[0145] In step S4, the acquisition unit 84a may acquire the temperature, humidity, and concentration of carbon dioxide, etc., in the air of the closed space R2.

[0146] The mobile unit 80 transmits the results acquired by the acquisition unit 84a to the second communication unit 50. The second communication unit 50 transmits the results acquired by the acquisition unit 84a received from the mobile unit 80 to the first communication unit 20, which is connected to the second communication unit 50 in a communicative manner, thereby transmitting them to R1 outside the enclosed space.

[0147] The acquisition results from the acquisition unit 84a received by the first communication unit 20 are transmitted, for example, to the operating device 90. By checking the acquisition results from the acquisition unit 84a received by the operating device 90, the worker W can inspect the enclosed space R2.

[0148] The acquisition results from the acquisition unit 84a transmitted to R1 outside the enclosed space are, for example, images of piping installed in R2 inside the enclosed space, and structural elements such as the walls and ceiling C of R2 inside the enclosed space. By checking the acquisition results from the acquisition unit 84a, worker W can confirm whether there are any abnormalities in the piping inside R2, whether there is any water leakage from the structural elements, and whether there are any cracks in the structural elements, etc., while remaining outside the enclosed space R1.

[0149] In this embodiment, the mobile body 80 is a flying drone capable of moving in all directions. Therefore, the mobile body 80 can easily move while avoiding pipes and other structures installed in the enclosed space R2.

[0150] The enclosed space R2 is, for example, a closed space such as a pit located underground, where airflow tends to stagnate. Therefore, when workers enter the enclosed space R2, there is a risk that they may be exposed to danger from high concentrations of carbon dioxide or toxic gases.

[0151] By using inspection system 1, worker W can inspect the enclosed space R2 using the mobile body 80 without having to enter the enclosed space R2. Therefore, compared to conventional inspection methods in enclosed spaces where inspection is performed by the worker's visual inspection, worker safety can be improved.

[0152] Furthermore, conventional inspection methods in enclosed spaces require the installation of lighting and other tasks to ensure sufficient illumination within the enclosed space, which is heavy work. By using inspection system 1, workers do not need to enter the enclosed space R2, thus reducing heavy work and lowering the burden on workers.

[0153] (Step S5) Next, step S5 (power supply determination step) is performed. In power supply determination step S5, it is determined whether or not charging is necessary for the mobile body 80.

[0154] For example, the battery level of the mobile unit 80's power receiving device 85 is displayed on the control device 90's display. The operator W checks the battery level of the mobile unit 80 displayed on the control device 90 and determines whether or not it is necessary to supply power to the mobile unit 80.

[0155] If it is determined in step S5 that charging of the mobile unit 80 is unnecessary, the inspection method of the enclosed space R2 by the inspection system 1 proceeds to step S7. Step S7 will be described later.

[0156] If it is determined in step S5 that charging of the mobile body 80 is necessary, the inspection method of the enclosed space R2 by the inspection system 1 proceeds to step S6.

[0157] (Step S6) In step S6 (power supply process), the inspection method of the enclosed space R2 by the inspection system 1 involves supplying power to the mobile body 80 by the power supply device 70.

[0158] In the power supply process S6, the operator W controls the mobile body 80 by operating the control device 90 and positions the mobile body 80 in the power supply space 70s of the power supply device 70. Specifically, the operator W moves the mobile body 80 to the upper UP of the power supply device 70, and then lowers the mobile body 80 to land on the power supply device 70.

[0159] The power supply device 70 has guide sections 72 and 73 that can guide the mobile body 80 into the power supply space 70s. Therefore, even if the mobile body 80 descends with a slight misalignment with the power supply device 70, or if the mobile body 80 lands on the power supply device 70 in an inclined position, the mobile body 80 can be landed on the power supply device 70 in a charging position that allows power to be supplied from the power supply section 71 to the power receiving device 85.

[0160] In this embodiment, the power receiving device 85 and the power supply unit 71 are a rechargeable battery and charger capable of contactless charging. Specifically, the power storage unit 85a can be charged by placing the power receiving unit 85b on the power supply unit 71. The power storage unit 85a of the power receiving device 85 can be charged by landing the mobile body 80 on the power supply device 70 in a charging position and arranging the power receiving unit 85b and the power supply unit 71 facing each other.

[0161] Since the mobile unit 80 can be charged by landing on the power supply unit 71 located in the enclosed space R2, there is no need to move the mobile unit 80 to the outside space R1 for battery replacement, nor is there a need for an operator to bring the battery into the enclosed space R2 to perform the replacement work. Therefore, even if the inspection of the enclosed space R2 by the mobile unit 80 is prolonged, the mobile unit 80 can be efficiently charged and the inspection work can be continued.

[0162] When flying the mobile body 80 in a confined space R2, it is necessary to prevent the mobile body 80 from colliding with walls or equipment in the confined space R2 and falling. For example, if the power supply device 70 is installed near a wall in the confined space R2, collisions of the mobile body 80 with the wall in the confined space R2 may occur when the mobile body 80 lands on the power supply device 70 or when the mobile body 80 takes off from the power supply device 70.

[0163] In this embodiment, the mobile body 80 and the power supply device 70 have a spherical shape formed by a spherical portion 82, and the power supply device 70 has guide portions 72 and 73 that can guide the mobile body 80 into the power supply space 70s. Therefore, even when the power supply device 70 is installed near a wall or the like, the worker W can easily land the mobile body 80 on the power supply device 70 without colliding with the wall or the like in the enclosed space R2.

[0164] The spherical portion 82 that forms the outer shape of the movable body 80 is preferably made of a material and shape that can suppress damage to the movable body 80, the floor surface of the enclosed space R2, and the equipment, even if the movable body 80 falls.

[0165] For example, by using an elastic material for the spherical part 82 and making the spherical part 82 a mesh-like sphere, it is possible to suppress damage to the mobile body 80, the floor surface of the enclosed space R2, and the equipment, even if the mobile body 80 falls.

[0166] (Step S7) Next, step S7 (continuation inspection process) is performed. In the continuation inspection process S7, the inspection of the enclosed space R2 is continued using the mobile body 80 that was charged in step S6.

[0167] Step S7 is performed to complete the initial inspection of R2 in the enclosed space using the mobile body 80. If the initial inspection has been sufficiently performed in Step S4, Step S7 may be omitted.

[0168] When the initial inspection using the mobile body 80 is complete, the worker W may remove the first cover 11 from the inspection port 10 to open the inspection port 10, as in step S1, and move the mobile body 80 from inside the enclosed space R2 to outside the enclosed space R1 for retrieval.

[0169] Alternatively, the initial inspection may be completed without recovering the mobile unit 80, leaving it on the power supply device 70 or the floor surface in the enclosed space R2.

[0170] (Step S8) Next, step S8 (secondary inspection and determination step) is performed. In the secondary inspection and determination step S8, worker W determines whether or not a secondary inspection is necessary based on the results of the primary inspections in steps S4 and S7, in which the mobile body 80 inspected the enclosed space R2.

[0171] For example, if worker W discovers an abnormality in R2 within the enclosed space during the initial inspection using the mobile device 80, a secondary inspection will be conducted.

[0172] If no abnormalities are found in R2 within the enclosed space and it is determined that a secondary inspection is unnecessary, the inspection of R2 within the enclosed space by inspection system 1 is completed.

[0173] If an abnormality is detected in R2 within the closed space, the inspection method for R2 within the closed space using inspection system 1 proceeds to step S9.

[0174] (Step S9) In step S9 (second cover opening process), the first cover 11 and the second cover 12 are removed from the inspection opening 10, and the entire opening of the inspection opening 10 is opened. At this time, if necessary, measures may be taken to prevent surrounding workers or passersby from falling into the inspection opening 10.

[0175] (Step S10) Next, step S10 (secondary inspection process) is performed. The secondary inspection work performed in secondary inspection process S10 is, for example, an inspection work carried out by an operator entering the enclosed space R2.

[0176] In step S9, the worker enters the enclosed space R2 through the inspection opening 10, which has been opened. At this time, since the first cover 11 and the second cover 12 have been removed from the inspection opening 10, the opening of the inspection opening 10 is open enough for the worker to enter.

[0177] If necessary, the worker may use a fan to replace the air in the enclosed space R2 with fresh air outside the enclosed space R1.

[0178] For example, in the initial inspection of steps S4 and S7, if the result obtained by the acquisition unit 84a is the carbon dioxide concentration in the enclosed space R2, and the carbon dioxide concentration obtained by the acquisition unit 84a is a high value, an air exchange operation is performed to prevent workers entering the enclosed space R2 from suffering from oxygen deficiency.

[0179] During the initial inspection, the acquisition unit 84a acquires information about R2 within the closed space, enabling efficient execution of the secondary inspection and preparatory work for the secondary inspection.

[0180] After ensuring the safety of the enclosed space R2, the worker will, if necessary, record entry details and then enter the enclosed space R2 through inspection opening 10 to perform a secondary inspection.

[0181] The enclosed space outside R1 and the enclosed space inside R2 are connected via communication units 20 and 50. Even when a worker performing secondary inspection work enters the enclosed space inside R2, the worker's location can be confirmed via location information tags, etc., through the communication units 20 and 50. Therefore, worker safety can be improved compared to conventional inspection work where it is difficult to confirm the safety of workers while they are inside the enclosed space.

[0182] The second via section 60, located in the enclosed space R2, is connected to the power supply section 30b of the power supply unit 30 via the first via section 40. In step S10, the worker may supply power to the lighting device from the second via section 60 to secure illumination light to light up the enclosed space R2.

[0183] The mobile body 80, which performed the primary inspection work in the enclosed space R2 in steps S4 and S7, may be recovered by a worker who entered the enclosed space R2 for the secondary inspection work.

[0184] Perform the secondary inspection work in step S10 and complete the inspection of R2 in the enclosed space using inspection system 1.

[0185] If secondary inspection work from step S9 onward is not required, the inspection work of R2 within the enclosed space consists only of the primary inspection work performed by the mobile body 80 in steps S4 and S7. Therefore, there is no need for workers to enter R2 within the enclosed space, and the inspection work of R2 within the enclosed space can be carried out efficiently and safely.

[0186] After the inspection work on R2 within the enclosed space is completed, the connection between the first transit section 40, the power supply section 30, and the first communication section 20 may be disconnected.

[0187] For example, disconnect the power line L3b connecting the first transit unit 40 and the power supply unit 30b of the power supply unit 30 from the first transit unit 40 and the power supply unit 30b of the power supply unit 30. Also disconnect the communication line L5a connecting the first transit unit 40 and the first communication unit 20 from the first transit unit 40 and the first communication unit 20. Furthermore, disconnect the communication line L4b connecting the radio wave supply unit 30a of the power supply unit 30 and the first communication unit 20. At this time, also disconnect the radio wave supply unit 30a from the power supply unit 30.

[0188] The enclosed space outside R1 is, for example, a space inside a facility such as a building, and when inspection of the enclosed space inside R2 is not performed, it is the space through which facility users pass.

[0189] When inspection of the enclosed space R2 is not performed, the radio wave supply unit 30a, the first communication unit 20, the power line, and the communication line located outside the enclosed space R1 can be removed to prevent obstruction of pedestrian traffic in the enclosed space R1.

[0190] Since the first passage section 40 is mostly located within the partition space R3, it does not obstruct the passage of pedestrians outside the enclosed space R1.

[0191] Furthermore, the power supply to the power supply device 70 can be stopped by disconnecting the connection between the first transit section 40 and the power supply section 30. Therefore, when the inspection system 1 is not in use, the power supply device 70 can be kept unpowered, which can prevent the power supply device 70 from malfunctioning due to condensation or other factors occurring in the enclosed space R2.

[0192] The first via section 40 has, for example, a lid member that can open and close the opening on the R1 side outside the enclosed space in the first via section 40. When the inspection system 1 performs an inspection of R2 inside the enclosed space, in step S0 described above, the worker opens the lid member of the first via section 40, connects the socket etc. provided inside the first via section 40 to the power supply section 30b and the first communication section 20 of the power supply unit 30 with the power line L3b and the communication line L5a, powers up the inspection system 1, and then performs the inspection of R2 inside the enclosed space.

[0193] After the worker completes the inspection of the enclosed space R2 using the inspection system 1, the worker disconnects the connection between the first via section 40 and the power supply section 30b and the first communication section 20 of the power supply section 30, and closes the cover member of the first via section 40.

[0194] When the inspection of R2 inside the enclosed space by the inspection system 1 is not performed, closing the lid on the R1 side of the first passage section 40 outside the enclosed space prevents the first passage section 40 from causing unevenness on the floor surface F, thereby preventing obstruction of pedestrian traffic.

[0195] According to the inspection system 1 in a closed space of this embodiment, the inspection system is located in a closed space R2 separated from the outside of the closed space R1 and includes a mobile body 80 that can move within the closed space R2 and has an acquisition unit 84a capable of acquiring surrounding information, an operating device 90 provided in the outside of the closed space R1 capable of controlling the mobile body 80, and a power supply device 70 provided in the closed space R2 capable of supplying power to the mobile body 80. The power supply device 70 supplies power to the mobile body 80 as the mobile body 80 moves into a power supply space 70s formed in the power supply device 70.

[0196] The inspection method of the enclosed space inspection system 1 of this embodiment includes, in this order: a lid opening step S1 which opens an inspection port 10 that can communicate the enclosed space R2 and the enclosed space outside R1 separated from the enclosed space R2, from a closed state to an open state; a movable body insertion step S2 which inserts a movable body 80 from the enclosed space outside R1 to the enclosed space R2; and a lid closing step S3 which closes the inspection port 10 from an open state to a closed state. After the lid closing step S3, the method includes an inspection step S4 which acquires information about the enclosed space R2 using the movable body 80, and a power supply step S6 which supplies power to the movable body 80 from the power supply device 70 by moving the movable body 80 to a power supply space 70s formed in a power supply device 70 provided in the enclosed space R2.

[0197] As a result, it is possible to provide an inspection system 1 and inspection method for a closed space in which a mobile body 80 placed in a closed space R2 is operated from outside the closed space R1, and the closed space R2 can be efficiently inspected by the mobile body.

[0198] Although one embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like that do not depart from the spirit of the present invention are also included. Furthermore, the components shown in the above-described embodiment and the following modifications can be combined as appropriate.

[0199] (Variation 1) In the above embodiment, the inspection system 1 includes a power supply unit 30, an inspection port 10, and covers 11 and 12, but the configuration of the inspection system is not limited thereto. The inspection system does not need to include a power supply unit 30, an inspection port 10, and covers 11 and 12.

[0200] For example, in the ground-level area (outside the enclosed space) which is the space within a building or other facility, equipment such as an outlet corresponding to the power supply unit 30, an opening corresponding to the inspection hatch 10, and cover members corresponding to the covers 11 and 12 may be installed.

[0201] In that case, even without newly installing the power supply unit 30, inspection port 10, and cover units 11 and 12 as part of inspection system 1, an inspection system with the same functionality as inspection system 1 can be constructed by utilizing the existing equipment.

[0202] The Sustainable Development Goals (SDGs) are 17 international goals adopted at the UN Summit in September 2015. The inspection system 1 and inspection method in a closed space according to this embodiment can contribute to achieving some of the 17 SDGs, such as goal 12, "Responsible Consumption and Production." [Explanation of Symbols]

[0203] 1. Inspection system in a closed space (inspection system) 10 Inspection hatches 11 First lid part (lid part) 12 Second lid part (lid part) 20. First Communications Department (Communications Department) 40 First transit section (transit section) 50 Second Communications Department (Communications Department) 60 Second transit section (transit section) 70 Power supply device 71 Power supply section 72 First Information Department (Information Department) 73 Second Information Department (Guidance Department) 70s Power Supply Space 80 Mobile Units 81c Promotion Department 82 Spherical part 84a Acquisition Department 85 Power receiving equipment 85a Power storage unit 85b Power receiving section 85d Charging Control Circuit 90 Operating device R1 Ground area (outside closed space) R2 Underground area (in closed space) R3 Underground area (bulkhead space) S0 Environment construction process S1 First lid opening process (lid opening process) S2 Moving object insertion process S3 First lid closing process (lid closing process) S4 Primary Inspection Process (Inspection Process) S5 Power supply determination process S6 Power supply process

Claims

1. An inspection system within a closed space separated from the outside, A mobile body having an acquisition unit capable of acquiring surrounding information and capable of moving within the enclosed space, An operating device provided outside the enclosed space and capable of controlling the moving body, A power supply device provided within the enclosed space and capable of supplying power to the moving body, Equipped with, The power supply device supplies power to the mobile body by having the mobile body move into the power supply space formed in the power supply device. A testing system for enclosed spaces.

2. The system includes a communication unit that transmits the results acquired by the acquisition unit to the outside of the enclosed space. The inspection system in a closed space according to claim 1.

3. The system includes a transit section that allows power to be supplied to the power supply device from outside the enclosed space. The inspection system in a closed space according to claim 1.

4. The power supply device is capable of non-contact power supply to the mobile body. The inspection system in a closed space according to claim 1.

5. The mobile body has a power receiving device that is charged by power supplied from the power supply device, The power receiving device is A power receiving unit, which is arranged in the power supply space and is capable of receiving power from the power supply device, A charging control circuit that controls the power receiving unit, A power storage unit that is charged from the power receiving unit via the charging control circuit, It has, The power supply device is A power supply unit capable of supplying power to the power receiving device arranged in the power supply space, A guide unit capable of guiding the power receiving device into the power supply space, Having, An inspection system in a closed space according to any one of claims 1 to 4.

6. The aforementioned guide section is A cylindrical first guide section connected to the power supply section and having the power supply space formed inside, A second guide portion is connected to the power supply portion via the first guide portion and is a hollow, frustoconical shape that widens in diameter as it moves away from the power supply portion, Having, The inspection system in a closed space according to claim 5.

7. The aforementioned moving body is A propulsion unit capable of generating thrust in the direction of movement of the moving body, A spherical section housing the propulsion unit and the power receiving device inside, Having, The inspection system in a closed space according to claim 5.

8. The moving body is capable of flying within the enclosed space by the propulsion force. The inspection system in a closed space according to claim 7.

9. The acquisition unit is capable of photographing the area around the moving object. The communication unit transmits the image captured by the acquisition unit to the outside of the enclosed space. The inspection system in a closed space according to claim 2.

10. The aforementioned communications unit is A first communication unit is provided outside the enclosed space and is capable of communicating with the operating device, A second communication unit is provided within the enclosed space and is capable of communicating with the first communication unit and the mobile body, Having, The inspection system in a closed space according to claim 2.

11. The enclosed space is provided with a cover that can close an inspection opening that connects the inside of the enclosed space to the outside of the enclosed space, The aforementioned lid portion is A first lid that, when removed from the inspection opening, opens the inspection opening to a size that allows the movable body to be inserted, By removing the second lid together with the first lid from the inspection opening, the second lid opens the inspection opening more widely than when the first lid is removed. Having, The inspection system in a closed space according to claim 1.

12. A lid opening step involves opening an inspection port that allows communication between the inside of a closed space and the outside of the closed space separated from the inside of the closed space, from a closed state to an open state. A moving body insertion step of inserting a moving body into the closed space from outside the closed space, A lid closing step that moves the inspection opening from the open state to the closed state, They are provided in this order, After the lid closing process, An inspection step in which information within the enclosed space is acquired by the mobile body, A power supply step involves moving the moving body to a power supply space formed in a power supply device provided within the enclosed space, thereby supplying power to the moving body from the power supply device, Equipped with, Testing methods in enclosed spaces.

13. The aforementioned inspection process is, The moving body is controlled by an operating device provided outside the enclosed space. The results acquired by the mobile body are transmitted outside the enclosed space. The inspection method in a closed space according to claim 12.

14. Prior to the lid opening step, the system includes an environment construction step that establishes an electrical environment within the enclosed space to enable power supply from the power supply device to the mobile body, and a communication environment within the enclosed space to enable wireless communication between the operating device and the mobile body inserted into the enclosed space. The inspection method in a closed space according to claim 13.

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