Flight inspection equipment

Abstract

To provide a flight inspection device that can stabilize the attitude control of the aircraft during inspection. [Solution] The flight inspection device 10 is a device configured to inspect the condition of the part to be inspected 11 while maintaining flight. The flight inspection device 10 comprises a flight device section 12, an inspection section 13, and a contact section 16. The flight device section 12 is configured to generate thrust for flight and to control its position and attitude in the air. The inspection section 13 is configured to receive a response from the part to be inspected 11 to external forces. The contact section 16 is attached to the flight device section 12 and is configured to make point contact with the part to be inspected 11.

Description

Technical Field

[0001] The present invention relates to a flight inspection device.

Background Art

[0002] Flight inspection devices are widely used for inspecting infrastructure structures (such as bridges, transmission lines, towers, etc.) and for surveying the outer walls of buildings, taking advantage of their mobility and remote operability. In conventional inspection methods, the installation of scaffolds and the use of aerial work platforms are required, which pose problems in terms of work cost, time, and safety. On the other hand, it is expected that these problems can be significantly reduced by using a flying device.

[0003] Specifically, a flying device equipped with a camera and sensors performs visual damage detection, crack measurement, evaluation of the progress of corrosion, etc. Recently, by combining image processing technology utilizing AI, the automation and accuracy improvement of inspections have been progressing.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the inspection method using the flying device described above, there is room for improvement from the viewpoint of performing inspections stably.

[0006] Specifically, when inspecting an inspection surface such as a concrete surface using a flying device, a part of the flying device is made to protrude forward as a contact part, and the inspection is carried out with the contact part being in contact with the inspection surface. At this time, there is a problem that the position and attitude of the flying device are restricted by the contact part, and the stability of the flying device in the flying state is impaired. When the stability of the flying device is impaired, it becomes difficult to perform stable inspections, and there is also a problem that the flying device may fall.

[0007] For example, if multiple points of the aircraft are brought into contact with the inspection surface during an inspection, it may become difficult to control the aircraft's position around any of the three axes (roll, pitch, and yaw), potentially leading to unstable control of the aircraft.

[0008] This invention has been made in view of these problems, and the object of this invention is to provide a flight inspection device that can stabilize the attitude control of an aircraft during inspection. [Means for solving the problem]

[0009] An embodiment of the present invention is a flight inspection device configured to inspect the condition of a part to be inspected while maintaining a flight state, and comprises a flight device section, an inspection section, and a contact section, wherein the flight device section is configured to control its position and attitude in the air while generating thrust for flight, the inspection section is configured to receive a response to an external force on the part to be inspected, and the contact section is attached to the flight device section and configured to make point contact with the part to be inspected.

[0010] Furthermore, in the flight inspection device according to the embodiment of the present invention, the contact portion is configured to make point contact with the inspection target at a single point.

[0011] Furthermore, in the flight inspection device according to the embodiment of the present invention, the contact portion is characterized in that it protrudes forward from the front end of the flight device portion.

[0012] Furthermore, in the flight inspection device according to the embodiment of the present invention, the contact portion is characterized in that it protrudes upward from the upper end of the flight device portion.

[0013] Furthermore, in the flight inspection device according to the embodiment of the present invention, the contact portion is configured to allow the position of its tip to be displaced.

[0014] Furthermore, in the flight inspection device according to the embodiment of the present invention, the contact portion is characterized by being the tip of the rotating portion.

[0015] Furthermore, in the flight inspection device according to an embodiment of the present invention, the flight device section has an extendable section, the extendable section extends outward from the flight device section, and the contact section is disposed on the tip end side thereof.

[0016] Furthermore, in the flight inspection device according to an embodiment of the present invention, the inspection unit comprises an external force application unit and a response receiving unit, wherein the external force application unit is configured to apply an external force to the unit to be inspected, and the response receiving unit is configured to receive a response from the unit to be inspected corresponding to the external force.

[0017] Furthermore, in the flight inspection device according to an embodiment of the present invention, the external force application unit applies an impact to the inspection target unit, and the response receiving unit receives sound or vibration generated from the inspection target unit in response to the external force.

[0018] Furthermore, the flight inspection device according to an embodiment of the present invention further comprises a memory unit, the memory unit stores a normal waveform, which is the waveform of sound or vibration generated when the external force application unit applies the impact to the inspection unit when the inspection target unit is normal, and the observed waveform, which is the waveform of sound or vibration received by the response receiving unit, and the normal waveform are comparable.

[0019] Furthermore, the flight inspection device according to the embodiment of the present invention further comprises a display unit, the display unit being characterized by simultaneously displaying the normal waveform and the observed waveform. [Effects of the Invention]

[0020] An embodiment of the present invention is a flight inspection device configured to inspect the condition of a part to be inspected while maintaining a flight state, and comprises a flight device section, an inspection section, and a contact section, wherein the flight device section is configured to generate thrust for flight and control its position and attitude in the air, the inspection section is configured to receive a response to an external force on the part to be inspected, and the contact section is attached to the flight device section and configured to make point contact with the part to be inspected. According to the flight inspection device of the present invention, because the contact section makes point contact with the part to be inspected, the position and attitude of the flight device is not constrained by the contact of the contact section with the part to be inspected. Therefore, even when the contact section is in contact with the part to be inspected, the flight device section can control its tilting movement along the roll axis, pitch axis, and yaw axis and maintain a desired position and attitude.

[0021] Furthermore, in the flight inspection device according to the embodiment of the present invention, the contact portion is configured to make point contact with the object to be inspected at a single point. According to the flight inspection device of the present invention, the position and attitude during flight can be controlled with even greater freedom.

[0022] Furthermore, in the flight inspection device according to an embodiment of the present invention, the contact portion is characterized in that it protrudes forward from the front end of the flight device portion. According to the flight inspection device of the present invention, because the contact portion protrudes forward, if the part to be inspected is a vertical wall, the condition of the vertical wall can be inspected while the contact portion is in contact with the vertical wall.

[0023] Furthermore, in the flight inspection device according to an embodiment of the present invention, the contact portion is characterized in that it protrudes upward from the upper end of the flight device portion. According to the flight inspection device of the present invention, since the contact portion protrudes forward, if the part to be inspected is a horizontal wall, the condition of the vertical wall can be inspected by bringing the contact portion into contact with the vertical wall.

[0024] Further, in the flight inspection device according to an embodiment of the present invention, the contact portion is configured to be able to displace the position of its tip. According to the flight inspection device of the present invention, by changing the position of the contact portion, inspection can be performed on inspection target portions having various positions and shapes.

[0025] Further, in the flight inspection device according to an embodiment of the present invention, the contact portion is characterized in that it is the tip of the rotating portion. According to the flight inspection device of the present invention, inspection can be performed while changing the position while bringing the rotating portion disposed at the tip of the contact portion into contact with the inspection target portion.

[0026] Further, in the flight inspection device according to an embodiment of the present invention, the flight device portion has an extension portion, and the extension portion extends outward from the flight device portion, and the contact portion is disposed on the tip end side thereof. According to the flight inspection device of the present invention, the position of the contact portion can be easily made a predetermined one.

[0027] Further, in the flight inspection device according to an embodiment of the present invention, the inspection portion has an external force applying portion and a response receiving portion, the external force applying portion is configured to apply an external force to the inspection target portion, and the response receiving portion is configured to receive a response from the inspection target portion corresponding to the external force. According to the flight inspection device of the present invention, by the response receiving portion receiving the response, the state of the inspection target portion can be detected.

[0028] Further, in the flight inspection device according to an embodiment of the present invention, the external force applying portion applies an impact to the inspection target portion, and the response receiving portion receives sound or vibration generated from the inspection target portion in response to the external force. According to the flight inspection device of the present invention, sound or vibration generated from the inspection target portion due to the impact can be received, and by analyzing the sound or vibration, the state of the inspection target portion can be confirmed.

[0029] Furthermore, the flight inspection device according to an embodiment of the present invention further comprises a memory unit, the memory unit stores a normal waveform, which is the waveform of sound or vibration generated when the external force application unit applies the impact to the inspection target unit when the inspection target unit is normal, and the observed waveform, which is the waveform of sound or vibration received by the response receiving unit, and the normal waveform are comparable. According to the flight inspection device of the present invention, the state of the inspection target unit can be determined by comparing the observed waveform and the normal waveform.

[0030] Furthermore, the flight inspection device according to an embodiment of the present invention further comprises a display unit, the display unit being characterized by simultaneously displaying the normal waveform and the observed waveform. According to the flight inspection device of the present invention, the state of the part to be inspected can be determined by checking the display unit. [Brief explanation of the drawing]

[0031] [Figure 1] This is a perspective view showing a flight inspection device according to an embodiment of the present invention. [Figure 2] This is a top view showing a flight inspection device according to an embodiment of the present invention. [Figure 3] A side view showing a flight inspection device according to an embodiment of the present invention. [Figure 4] This is a connection diagram showing a flight inspection device according to an embodiment of the present invention. [Figure 5] This is a side view showing the operation of a flight inspection device according to an embodiment of the present invention. [Figure 6] This is a side view showing another operation of the flight inspection device according to an embodiment of the present invention. [Figure 7A] This graph shows a normal waveform in the detection of a flight inspection device according to an embodiment of the present invention. [Figure 7B] This graph shows the observed waveforms in the detection of a flight inspection device according to an embodiment of the present invention. [Figure 7C] This graph shows the normal waveform and the observed waveform in the detection of the flight inspection device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0032] Embodiments of the present invention will now be described in detail based on the drawings. In the following description, the front-rear direction refers to the front-rear direction of the base body 121. The front of the base body 121 refers to the position of the inspection target 11 with respect to the direction of travel of the flight inspection device 10. The left-right direction refers to the left-right direction when the flight inspection device 10 is viewed from the front. Furthermore, in the following description, the same reference numerals will be used for the same components in principle, and repeated explanations will be omitted.

[0033] Figure 1 is a perspective view showing the flight inspection device 10. Figure 2 is a top view showing the flight inspection device 10. Figure 3 is a side view showing the flight inspection device 10.

[0034] Referring to Figures 1 and 2, the flight inspection device 10 is configured to inspect the condition of the inspection target part 11, which will be described later, while maintaining flight conditions. The flight inspection device 10 mainly comprises a flight device part 12, an inspection part 13, and a contact part 16.

[0035] The flight device unit 12 is configured to generate thrust for flight while controlling its position and attitude in the air. The flight device unit 12 is also known as a drone. The flight device unit 12 mainly consists of a base 121 and a rotor 122.

[0036] The base 121 houses the various devices described later with reference to Figure 4. Four rotors 122 are arranged around the base 121. The thrust generated by the rotation of the rotors 122 causes the flight inspection device 10 to float in the air. Furthermore, by controlling the rotation speed of the rotors 122 while the flight inspection device 10 is floating, the precise position and attitude of the flight inspection device 10 in the air can be maintained or changed. An inspection section 13 and a contact section 16 for performing the inspections described later are arranged on the upper surface of the base 121.

[0037] The position and attitude of the flight device 12 are controlled by six degrees of freedom. The six degrees of freedom are the roll axis, pitch axis, yaw axis, front-rear, left-right, and up-down directions. In this embodiment, as will be described later, the inspection of the inspection target 11, which will be described later, can be performed using the flight inspection device 10 while ensuring each of these degrees of freedom. Therefore, the inspection of the inspection target 11, which will be described later, can be performed while maintaining an extremely stable position and attitude of the flight inspection device 10. In particular, the flight inspection device 10 according to this embodiment enables inspection work to be performed while ensuring degrees of freedom in each of the roll axis, pitch axis, and yaw axis by realizing single-point support for the inspection target 11, which will be described later.

[0038] The inspection unit 13 is configured to receive a response to an external force applied to the unit under inspection 11. Specifically, the inspection unit 13 includes an external force application unit 14 and a response receiving unit 15.

[0039] The external force application unit 14 is configured to apply an external force, which is an impact, to the part to be inspected 11. As an example, the external force application unit 14 has a rod-shaped member 141 that is pushed forward by an elastic body such as a spring or a solenoid. The rod-shaped member 141 is, for example, a steel rod made of metal with an axis along the front-rear direction. Here, the rod-shaped member 141 is positioned on the upper surface of the base body 121, behind the contact portion 16. The rod-shaped member 141 is also positioned behind the through-hole portion 181 that penetrates the lower part of the extension portion 18 along the front-rear direction. Therefore, when the rod-shaped member 141 applies an impact to the part to be inspected 11, which will be described later, the rod-shaped member 141 protrudes forward through the through-hole portion 181 of the extension portion 18. As will be described later, as the rod-shaped member 141 protrudes forward, its front end collides with the surface of the part to be inspected 11, thereby generating an impact.

[0040] The response receiving unit 15 is configured to receive a response from the inspection target unit 11, which will be described later, in response to an external force, which is an impact force. Specifically, the response receiving unit 15 is configured to receive sound or vibration generated from the inspection target unit 11 in response to an external force. The response receiving unit 15 can be an element or device that can receive vibration or sound. For example, the response receiving unit 15 can be a piezoelectric element, a vibration sensor, a microphone, etc. If the response receiving unit 15 is a piezoelectric element, the response receiving unit 15 is disposed at the tip of the rod-shaped member 141.

[0041] The contact portion 16 is attached to the flight device portion 12 and is configured to make point contact with the inspection target portion 11. The contact portion 16 is, for example, the front end of the rotating portion 17.

[0042] An extension portion 18 and a movable support portion 19 are provided at the upper front end portion of the flight device section 12.

[0043] The extension portion 18 extends outward from the flight device portion 12, and a contact portion 16 is rotatably disposed on its tip side. Here, the extension portion 18 is installed near the front end of the upper surface of the base body 121 and inclined upward toward the front. The length and angle of the extension portion 18 may be fixed or may be variable by the movable support portion 19 described below.

[0044] The movable support part 19 is configured to fix the extension part 18 at a predetermined length and angle. The movable support part 19 allows the length of the extension part 18 to be varied by using a nesting structure for the extension part 18. Furthermore, the movable support part 19 employs a hinge joint or the like, which is a movable structure that allows bidirectional rotation, thereby making the angle of the extension part 18 variable.

[0045] The contact portion 16 is configured to make point contact with the inspection target portion 11 at a single point. In this embodiment, the contact portion 16 is the front end of the rotating portion 17. Specifically, the contact portion 16 is a part whose relative position to the flight device portion 12 is fixed, and which can provide single-point support to the inspection target portion 11, which will be described later. Because the contact portion 16 makes point contact with the inspection target portion 11, the position and attitude of the flight device are not constrained by the contact of the contact portion 16 with the inspection target portion 11. Therefore, even when the contact portion 16 is in contact with the inspection target portion 11, the flight device portion 12 can control its tilting movement along the roll axis, pitch axis, and yaw axis and maintain the desired position and attitude.

[0046] In this configuration, the contact portion 16 is configured to protrude forward from the front end of the base body 121. With this configuration, when the flight inspection device 10 inspects the part to be inspected 11 while flying, only the contact portion 16 is constantly in contact with the part to be inspected 11, preventing the flight device portion 12 from coming into contact with the part to be inspected 11. Therefore, the distance between the flight device portion 12 and the part to be inspected 11 can be kept constant, allowing the flight inspection device 10 to fly stably while the inspection can be performed accurately.

[0047] Referring to Figure 3, the upper end of the rotating section 17 is positioned above the upper end of the flight device section 12. Furthermore, the upper end of the rotating section 17 is positioned above the other components constituting the flight inspection device 10. This configuration allows for the inspection of the inspection target section 11 as a ceiling surface, as will be described later. This will be explained later with reference to Figure 6.

[0048] The contact portion 16 is configured to allow displacement of the position of its tip. Specifically, the rotating portion 17, which includes the contact portion 16, is supported by the extending portion 18, and the connection between the extending portion 18 and the base 121 is configured to rotate clockwise or counterclockwise and be fixed at any angle. In this way, the position of the contact portion 16, which is located at the tip of the extending portion 18, can be adjusted in the front-rear or up-down direction. Here, the extending portion 18 is connected to the base 121 via a movable support portion 19, and the position of the rotating portion 17 in the up-down and front-rear directions can be easily changed by changing the centrifugal length and angle of the extending portion 18 using the movable support portion 19.

[0049] The contact portion 16 is the tip of the rotating portion 17. Specifically, the rotating portion 17 is a disc-shaped part, and its center is rotatably mounted on the front end of the extension portion 18. The front end of the rotating portion 17 is the contact portion 16, and this portion comes into contact with the inspection target portion 11, which will be described later. In this embodiment, the front end of the rotating portion 17 is positioned in front of the base body 121. Furthermore, as will be described later, under normal conditions, the rod-shaped member 141 is biased by a biasing means such as a spring (not shown), so that the front end of the rod-shaped member 141 is positioned behind the contact portion 16. On the other hand, when an impact is applied to the inspection target portion 11, which will be described later, the front end of the rod-shaped member 141 protrudes forward beyond the contact portion 16.

[0050] Here, the shape of the rotating part 17 can be other than a disc. For example, the rotating part 17 may be a rotatable object that is roughly spherical in shape. By having a spherical shape for the rotating part 17, the flight inspection device 10 can move in the up, down, left, and right directions while keeping the rotating part 17 pressed against the inspection target part 11, which will be described later.

[0051] Figure 4 is a connection diagram showing the flight inspection device 10.

[0052] The flight inspection device 10 mainly comprises a calculation control unit 22, a battery 23, a sensor 24, a communication unit 25, a camera 26, a motor 123, a storage unit 20, a flight display unit 27, an external force application unit 14, and a response receiving unit 15. Furthermore, the flight inspection device 10 also includes a transceiver 28 and a display unit 21, which are not mounted on the inspection target unit 11.

[0053] The arithmetic control unit 22 is, for example, a CPU and is configured to perform information processing and give instructions for the flight inspection device 10 to fly. Specifically, the arithmetic control unit 22 processes data from the sensors 24 mounted on the flight inspection device 10 in real time, calculates the position, attitude, speed, etc. of the flight inspection device 10, and ensures stable flight. In addition, if the flight inspection device 10 has an autopilot function, the arithmetic control unit 22 adjusts the flight of the drone based on a control algorithm. Furthermore, the arithmetic control unit 22 manages data communication between the flight inspection device 10 and the transceiver 28. For example, it receives commands from the operator via the transceiver 28 and applies them to the motors 123 and rudder of the flight inspection device 10, and transmits status information of the flight inspection device 10 (battery level, flight status, etc.) to the transceiver 28. Furthermore, the arithmetic control unit 22 monitors the status of the battery 23 and performs appropriate battery management, such as issuing warnings based on flight time and remaining charge. Moreover, the arithmetic control unit 22 controls the operation of the external force application unit 14 and the response receiving unit 15 in order to detect the status of the inspection target unit 11.

[0054] Battery 23 is a rechargeable secondary battery mounted on the base 121, and is a lithium-ion battery, for example. Battery 23 supplies power for the operation of each component mounted on the flight inspection device 10. Battery 23 also supplies power for the motor 123 to rotate.

[0055] Sensor 24 is used to control the position and attitude of the flight inspection device 10. Data indicating each physical quantity detected by sensor 24 is transmitted to the arithmetic control unit 22. Examples of sensors 24 include an accelerometer, gyroscope, GPS sensor, and barometric pressure sensor. The accelerometer detects the acceleration acting on the flight inspection device 10. This information is used to measure the movement and vibration of the flight inspection device 10 in real time and to control it to ensure stability during flight. The gyroscope measures the rotational angular velocity of the aircraft. This information is used to accurately understand the attitude of the flight inspection device 10 and maintain balance. The GPS sensor acquires the position information of the flight inspection device 10. This information is used for autonomous flight, hovering, and navigation to follow a specified path. The barometric pressure sensor is used to measure altitude. This information is used to maintain a constant altitude and avoid collisions with the ground or obstacles.

[0056] The communication unit 25 is the part that performs wireless or wired communication with the transceiver 28. The content of the instructions given by the user to the transceiver 28 is input to the calculation control unit 22 via the communication unit 25. In this embodiment, data obtained by the response receiving unit 15 inspecting the inspection target unit 11 is also transmitted to the display unit 21 via the communication unit 25.

[0057] Camera 26 is an imaging device having, for example, a CCD image sensor or a CMOS image sensor. Camera 26 is a device for acquiring visual information in the air. Camera 26 captures images and videos, and the obtained data is transmitted to an external display unit 21 or storage unit 20.

[0058] Motor 123 rotates the rotor 122 mentioned above. By rotating the rotor 122 with motor 123, the flight inspection device 10 floats in the air. While the flight inspection device 10 is floating in the air, the position, attitude, and movement of the flight inspection device 10 can be controlled by adjusting the rotation of motor 123.

[0059] The memory unit 20 is, for example, a semiconductor memory device such as RAM or ROM. As will be described later, the memory unit 20 stores the normal waveform 30, which is the waveform of sound or vibration generated when the external force application unit 14 applies an impact to the unit 11 under inspection when the unit 11 under inspection is normal. As will be described later, in this embodiment, the observed waveform 31, which is the waveform of sound or vibration received by the response receiving unit 15, and the normal waveform 30 can be compared. Based on this comparison result, the status of the unit 11 under inspection can be determined.

[0060] As shown in Figure 3, the flight indicator unit 27 is a display unit installed at the rear end of the base unit 121, etc. The flight indicator unit 27 is configured to emit light of a predetermined color according to the reception result of the response receiving unit 15. This matter will be described later with reference to Figure 5.

[0061] The external force application unit 14 is configured to apply an external force to the inspection target unit 11 based on instructions input from the calculation control unit 22. The inspection target unit 11 includes a rod-shaped member 141 and a solenoid that pushes the rod-shaped member 141 outward. The power of the solenoid causes the tip of the rod-shaped member 141 to strike the surface of the inspection target unit 11, which will be described later.

[0062] The response receiving unit 15 is the part that receives the response generated in conjunction with the operation of the external force applying unit 14. The response receiving unit 15 is, for example, a piezoelectric element disposed inside the rod-shaped member 141 described above. In this case, information indicating the magnitude of the impact detected by the piezoelectric element is transmitted to the calculation control unit 22.

[0063] The transmitter / receiver 28, also known as a proportional transmitter, is a device used by the user to control the operation of the flight inspection device 10. The transmitter / receiver 28 converts the pilot's hand movements into electrical signals and transmits them to the flight inspection device 10 via the communication unit 25.

[0064] The display unit 21 receives and displays the information detected by the aforementioned response receiving unit 15 via the communication unit 25. A liquid crystal display or the like can be used for the display unit 21. As will be described later, the display unit 21 simultaneously displays the normal waveform 30 and the observed waveform 31, which are the results of inspecting the unit to be inspected 11.

[0065] Figure 5 is a side view showing the operation of the flight inspection device 10.

[0066] Here, a concrete structure with a vertical surface is given as an example of the inspection target 11. Concrete structures develop cracks due to aging. Furthermore, moisture can penetrate the interior through these cracks, potentially causing corrosion of the reinforcing steel embedded in the inspection target 11. If the corrosion of the reinforcing steel progresses, the strength of the concrete structure will decrease, raising concerns from a safety standpoint. As the inspection target 11 deteriorates over time, voids will form inside it. The sound and vibration generated when the inspection target 11 is subjected to impact will differ depending on whether or not there are voids inside the inspection target 11. In this embodiment, the inspection target 11 is inspected by utilizing these differences. The flight inspection device 10 of this embodiment can identify the presence or absence of such voids and their locations. This allows for the identification of areas in the inspection target 11 that require repair, and enables maintenance of the inspection target 11 to be performed.

[0067] Specifically, the flight inspection device 10 floats in the air and presses the contact portion 16, which is the front end of the rotating portion 17, against the surface of the part to be inspected 11. This fixes the relative position between the flight inspection device 10 and the part to be inspected 11 in the front-rear direction. Furthermore, the relative position between the rod-shaped member 141 and the surface of the part to be inspected 11 is also fixed. By adjusting the rotation of the rotor 122, the rotating portion 17 can always be pressed appropriately toward the part to be inspected 11.

[0068] In this state, the inspection unit 13 performs the inspection. Specifically, by operating the solenoid, the rod-shaped member 141 is launched forward, and the front end of the rod-shaped member 141 strikes the surface of the inspection target unit 11. As a result, the response receiving unit 15, which is a piezoelectric element, sends a detection signal corresponding to the magnitude of the impact force generated when the rod-shaped member 141 strikes the inspection target unit 11 to the aforementioned calculation control unit 22, and it is stored in the storage unit 20. When storing in the storage unit 20, the three-dimensional position and time of the flight inspection device 10 at the time the response receiving unit 15 detected the impact can also be stored along with the detection signal.

[0069] At this time, the flight display unit 27 can also display the sorted inspection results. For example, the flight display unit 27 can emit light in different colors, such as white, green, or red, depending on the inspection result. If the flight display unit 27 emits white light, it indicates that the rod-shaped member 141 was not properly struck against the inspection target unit 11, that is, the signal obtained by the response receiving unit 15 is extremely small, and the inspection was not performed properly. If it emits green light, it indicates that the response receiving unit 15 is above a certain level, the inspection was performed normally, and no significant voids or other defects have occurred inside the inspection target unit 11, so repair is not necessary. If it emits red light, it indicates that the response receiving unit 15 is above a certain level, the inspection was performed normally, and no significant voids or other defects have occurred inside the inspection target unit 11, so repair is necessary. By displaying the inspection results on the flight display unit 27, the user can know the inspection status and the state of the inspection target unit 11 in real time. In addition, these sorted inspection results can be stored in the aforementioned storage unit 20 along with three-dimensional position information and time information.

[0070] After the inspection by the inspection unit 13 is completed, the motor 123 is increased to speed to raise the flight inspection device 10 by a predetermined amount, and the inspection of the part to be inspected 11 is performed again. At this time, as the flight inspection device 10 rises, the rotating part 17 rotates while being pressed against the part to be inspected 11. Therefore, the contact part 16, which is the front end of the rotating part 17, maintains contact with the part to be inspected 11. Once the flight inspection device 10 has risen by a predetermined amount, the aforementioned inspection is performed again.

[0071] The flight inspection device 10 repeatedly performs such inspections and movements. The data obtained from such inspections may be stored in the memory unit 20, or it may be transmitted to the display unit 21 via the communication unit 25 and then displayed on the display unit 21.

[0072] In this embodiment, since the flight inspection device 10 is supported at a single point relative to the part to be inspected 11, the inspection of the part to be inspected can be performed while the position and attitude of the flight inspection device 10 in the air is stabilized.

[0073] Specifically, the contact portion 16 contacts the vertical surface of the inspection target 11, fixing the positional relationship between the flight inspection device 10 and the inspection target 11 in the front-rear direction. If the flight inspection device 10 had multiple contact portions 16, and all of them were in contact with the inspection target 11, the flight inspection device 10 would not be able to rotate around the yaw axis (vertical axis), potentially making attitude control of the flight inspection device 10 difficult. In this embodiment, since only one contact portion 16 is in contact with the inspection target 11, the flight inspection device 10 is supported at a single point relative to the inspection target 11. Therefore, even when the contact portion 16 is in contact with the inspection target 11, the flight inspection device 10 can rotate around the roll axis (axis extending along the front-rear direction), the pitch axis (axis extending along the left-right direction), and the yaw axis (vertical axis). Thus, the flight inspection device 10 can perform inspections of the inspection target 11 while floating in the air in an extremely stable manner. Furthermore, because the contact portion 16 is the front end of the rotating portion 17, when the flight inspection device 10 rises, the rotating portion 17 rotates while in contact with the inspection target portion 11, allowing the inspection by the rod-shaped member 141 to be performed stably.

[0074] Figure 6 is a side view showing other operations of the flight inspection device 10.

[0075] The operation of the flight inspection device 10 shown in Figure 6 is substantially the same as the operation described with reference to Figure 5. Here, a horizontal ceiling surface is used as the inspection target 11. Therefore, the contact portion 16 is pressed against the lower surface of the inspection target 11, thereby fixing the distance between the base body 121 and the inspection target 11 at a predetermined distance. Even in this case, the flight inspection device 10 is supported at one point on the lower surface of the inspection target 11 via the contact portion 16. At this time, the contact portion 16, which is the upper end of the rotating portion 17, is positioned above the base body 121. Also, the contact portion 16 is positioned above the upper end of the rod-shaped member 141 when it is not pushed upward. Here, when inspecting the inspection target 11, which is the ceiling surface, the angle and length of the extension portion 18 can also be adjusted by the movable support portion 19. On the other hand, if the rotating portion 17 protrudes sufficiently forward and upward, inspections can also be performed on vertical and horizontal planes using the flight inspection device 10 without changing the length and angle of the extension portion 18.

[0076] The rod-shaped member 141 is made movable along the vertical direction by a solenoid.

[0077] When the flight inspection device 10 inspects the ceiling surface, it first floats, pressing the contact portion 16, which is the upper end of the rotating portion 17, against the lower surface of the portion to be inspected 11. Here too, since the contact portion 16 is supported at a single point, the position and attitude of the flight inspection device 10 can be easily stabilized.

[0078] While the contact portion 16 remains pressed upward against the lower surface of the inspection target portion 11, the rod-shaped member 141 is pushed upward by the solenoid, causing the upper end of the rod-shaped member 141 to apply an impact force to the inspection target portion 11. The response receiving unit 15 attached to the tip of the rod-shaped member 141 detects this impact force, and the data based on the detection is stored in the aforementioned storage unit 20. Alternatively, the data based on the detection is displayed on the aforementioned display unit 21.

[0079] Here, the flight inspection device 10 may be configured to inspect the upper surface of the part to be inspected 11. In this case, the extension portion 18 is inclined downward toward the front, a rotating portion 17 is provided at the lower end of the extension portion 18, and the contact portion 16, which is the lower end of the rotating portion 17, contacts the upper surface of the part to be inspected 11. Furthermore, the rod-shaped member 141 is pushed vertically downward, thereby applying an external force to the upper surface of the part to be inspected 11. The response receiving unit 15 detects the impact force generated by this external force.

[0080] Figure 7A is a graph showing the normal waveform 30 detected by the flight inspection device 10. Figure 7B is a graph showing the observed waveform 31 detected by the flight inspection device 10. Figure 7C is a graph showing the normal waveform 30 and the observed waveform 31 detected by the flight inspection device 10. In Figures 7A to 7C, the horizontal axis represents time, and the vertical axis represents the sound pressure level or the amplitude, which is the impact measured by the response receiving unit 15 described above.

[0081] Here, the amplitude observed by the response receiving unit 15 due to the striking of the rod-shaped member 141 is shown. Here, sound pressure level can be used instead of amplitude. If sound pressure level is used, a microphone is placed near the rod-shaped member 141, and the sound pressure level of the sound generated by striking the rod-shaped member 141 against the inspection target unit 11 is recorded and displayed.

[0082] Figure 7A shows the normal waveform 30, which is the sound or vibration waveform generated when the external force application unit 14 applies an impact to the inspection target 11 when the inspection target 11 is normal, that is, when there are no cracks or large cavities in the inspection target 11. Here, for points 1 to 7, when there are no cracks or large cavities, the rod-shaped member 141 is struck and the amplitude observed by the response receiving unit 15 is shown. This data can be obtained by actual experiments or simulations before the observation is performed. Here, the normal waveform 30 is either a normal sound waveform 301 or a normal vibration waveform 302. The normal sound waveform 301 is when the sound pressure level is observed. The normal vibration waveform 302 is when the amplitude, which indicates the magnitude of the vibration, is observed.

[0083] Figure 7B shows the observed waveform 31, which is the amplitude obtained from actual observations. In actual observations, the amplitude measured by the response receiving unit 15 when the rod-shaped member 141 is struck differs depending on the presence or absence of cracks or cavities. Here, the observed amplitude differs at points 1 to 7. The observed waveform 31 is either the observed sound waveform 311 or the observed vibration waveform 312. The observed sound waveform 311 is when the sound pressure level is observed. The observed vibration waveform 312 is when the amplitude, which indicates the magnitude of the vibration, is observed.

[0084] Figure 7C shows a graph overlaid with the normal waveform 30 and the observed waveform 31. This graph can be displayed on the display unit 21 mentioned above. The normal waveform 30 is shown as a dotted line, and the observed waveform 31 is shown as a solid line. The difference between the normal waveform 30 and the observed waveform 31 varies depending on the location. Locations where the difference between the two exceeds a certain level can be identified as locations requiring repair due to the presence of cracks or voids above a certain level. Therefore, by performing re-inspection and repair work only at these locations requiring repair, the costs, effort, time, and expenses required for maintenance of the inspection target part 11, which is a concrete structure, can be reduced.

[0085] Although embodiments of the present invention have been described above, the present invention is not limited thereto, and modifications are possible without departing from the spirit of the invention. Furthermore, the above-described embodiments can be combined with each other.

[0086] Other structures besides concrete structures may be used as the inspection target 11. For example, a metal structure made of painted metal, such as a fuel tank, may be used as the inspection target 11.

[0087] Referring to Figure 5, the contact portion 16 can be any part other than the end of the rotating portion 17. For example, the tip of the extending portion 18 can be used as the contact portion 16. That is, the flight inspection device 10 can be constructed without the rotating portion 17. In this case, the tip of the extending portion 18 can be pressed against the part to be inspected 11, and the rod-shaped member 141 can be struck against the part to be inspected 11 to inspect the condition of the part to be inspected 11. [Explanation of symbols]

[0088] 10 Flight inspection equipment 11. Parts to be inspected 12 Flight equipment section 121 Base 122 Rotor 123 Motor 13. Inspection Department 14. External force application section 141 Rod-shaped member 15 Response receiving unit 16 Contact area 17 Rotating part 18 Stretching section 181 Through hole 19 Movable support part 20 Memory section 21 Display section 22. Arithmetic Control Unit 23 batteries 24 sensors 25 Communications Department 26 cameras 27 Flight display 28 Transmitter / Receiver 30 Normal waveform 301 Normal sound waveform 302 Normal vibration waveform 31 Observed waveforms 311 Observed sound waveform 312 Observed vibration waveforms

Claims

1. This is a flight inspection device configured to inspect the condition of the part to be inspected while maintaining flight conditions. It comprises a flight device section, an inspection section, and a contact section. The aforementioned flight device is configured to generate thrust for flight while controlling its position and attitude in the air. The inspection unit is configured to receive a response to an external force on the part to be inspected. The flight inspection device is characterized in that the contact portion is attached to the flight device portion and is configured to make point contact with the portion to be inspected.

2. The flight inspection device according to claim 1, characterized in that the contact portion is configured to make point contact with the portion to be inspected at a single point.

3. The flight inspection device according to claim 1, characterized in that the contact portion protrudes forward from the front end of the flight device portion.

4. The flight inspection device according to claim 1, characterized in that the contact portion protrudes upward from the upper end of the flight device portion.

5. The flight inspection device according to claim 1, characterized in that the contact portion is configured to allow the position of its tip to be displaced.

6. The flight inspection device according to claim 1, characterized in that the contact portion is the tip of the rotating portion.

7. The aforementioned flight device section has an extendable section, The flight inspection device according to claim 1, characterized in that the extension portion extends outward from the flight device portion and the contact portion is disposed on the tip side thereof.

8. The inspection unit comprises an external force application unit and a response receiving unit. The external force application unit is configured to apply an external force to the part to be inspected. The flight inspection device according to claim 1, characterized in that the response receiving unit is configured to receive a response from the inspection target unit corresponding to the external force.

9. The external force application unit applies an impact to the part to be inspected, The flight inspection device according to claim 8, characterized in that the response receiving unit receives sound or vibration generated from the inspection target unit in response to the external force.

10. It also has a memory unit, The memory unit stores a normal waveform, which is the waveform of the sound or vibration generated when the external force application unit applies the impact to the inspection target unit when the inspection target unit is normal. The flight inspection device according to claim 9, characterized in that the response receiving unit can compare the observed waveform, which is the waveform of the sound or vibration received by the response receiving unit, with the normal waveform.

11. It also includes a display unit, The flight inspection device according to claim 10, characterized in that the display unit simultaneously displays the normal waveform and the observed waveform.

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